CN110653353A - Movable continuous casting automatic casting device and using method thereof - Google Patents

Abstract

The invention relates to the field of control or regulation for the operation or operation of metal continuous casting, in particular to a movable continuous casting automatic casting device and a method for using the same. A movable continuous casting automatic casting device, comprising a tundish car (1), characterized in that it further comprises a robot (2) and a manipulator (3), wherein the robot (2) and the manipulator (3) are respectively fixed on the tundish car (1). ) on both sides of ); the manipulator (3) realizes the movement of the gripper to any position in the casting area space through the rotation of the three rotating shafts and the lifting of the jacking device; the robot (2) and the manipulator (3) ) via signal cable connection or wireless connection. A method for using a movable continuous casting automatic casting device is characterized in that the following steps are followed in sequence: (1) guiding; (2) grasping; (3) burning oxygen. The invention has a high degree of automation and strong adaptability.

Description

Mobile continuous casting automatic casting device and using method thereof

technical field

The invention relates to the field of control or regulation for the operation or operation of metal continuous casting, in particular to a movable continuous casting automatic casting device and a method for using the same.

Background technique

As automation technology advances, there is an increasing need to replace operators from harsh, hazardous environments. In order to achieve continuous production, modern continuous casting machines mostly use rotary tables or traversing trolleys. Generally, large packages are transferred to rotary tables or traversing trolleys by driving, and the positioning accuracy at this time is mainly determined by the site. The operator's operating habits and operating level are determined, and errors are inevitable. The long nozzle is used between the ladle and the tundish to protect the molten steel from secondary oxidation and prevent the steel flow from splashing. In the current production process, the long-nozzle manipulator is used, and the operator operates on-site to complete the corresponding long-nozzle installation work. However, the high temperature, high dust, and high electromagnetic environment in this area are very dangerous.

SUMMARY OF THE INVENTION

In order to overcome the defects of the prior art and provide a continuous casting equipment with a high degree of automation, safety and reliability, the invention discloses a movable continuous casting automatic casting device and a use method thereof.

The present invention achieves the purpose of the invention through the following technical solutions:

A movable continuous casting automatic casting device, comprising a tundish car, the tundish car is used for placing a ladle, the bottom of the ladle is provided with a long shroud end connected with a long shroud, and is characterized in that: it also includes a robot and a manipulator,

The tundish car can be provided with an optical position mark, the robot is provided with an optical guide device, and the robot and the manipulator are respectively fixed on both sides of the tundish car;

The manipulator includes three rotating shafts, a jacking device and a gripper. The rotation of the rotating shaft is driven by a servo motor. Movement to any position in the area space;

The robot and the manipulator are connected by signal line or wirelessly.

The movable continuous casting automatic casting device is characterized in that: the jacking device of the manipulator selects an electric cylinder or a hydraulic cylinder.

The using method of the described movable continuous casting automatic casting device is characterized in that: the following steps are carried out in sequence:

① Guidance: place the ladle on the tundish car, and the optical guiding device of the robot determines the position of the long nozzle at the bottom of the ladle according to the optical position mark on the tundish car;

A tundish truck is a carrying device used to support, transport and replace the tundish. In the production preparation stage, the tundish car needs to be preheated. After the production starts, the tundish car runs from the preheating position to the production casting position. During the production process, the tundish on the tundish car ensures that the molten steel poured from the ladle is distributed by the tundish to the subsequent stages. in the device;

② Grabbing: The robot controls the manipulator to move the gripper of the manipulator in the casting area space through the rotation of the three rotating axes and the lifting of the jacking device. Considering the factors of the site environment, the optical guiding device of the robot can use the image method or laser method and similar methods, but no matter what detection element is used, it needs to be calibrated. The main purpose of calibration is to unify the relationship between the position coordinate system of the optical guide device and the coordinate system of the end joint of the robot; The guiding device obtains the pixel coordinates of the visual space through imaging or scanning, the manipulator has built-in space coordinates, and obtains the one-to-one correspondence between the pixel coordinates and the visual space coordinates through calibration, and the optical guiding device of the robot obtains the target in the image. The pixel coordinates are converted into the corresponding spatial coordinates, and the robot calculates the movement mode of each axis to reach the target position, and then the robot controls the manipulator to move to the target position. Grab the long shroud in position and set it on the long shroud end at the bottom of the ladle; if the long shroud has been installed in the ladle, the robot controls the manipulator to grab the long shroud at the bottom of the ladle long water mouth;

The servo mechanism of the manipulator is used to control the swing of the arm, the swing of the forearm, the rotation of the forearm and the lift of the forearm;

③ Oxygen burning: When the pouring fails, oxygen burning is required. At this time, the robot and the manipulator cooperate with each other, and the robot clamps the oxygen lance to carry out the oxygen burning operation for the molten steel in the ladle. When the oxygen burning operation is completed, the manipulator immediately The long shroud is installed at the bottom of the ladle.

The use method of the movable continuous casting automatic casting device is characterized in that: during steps 2 and 3, the robot performs temperature measurement, sampling, hydrogen determination, oxygen determination, and covering agent for the ladle according to the needs of the site. related work.

In the present invention, a robot and a fully automatic manipulator are added to the continuous casting and casting area, and the robot and the manipulator are installed on the tundish vehicle, so that the distance between the equipment and the final working point can be shortened. The robot and the manipulator are installed on each tundish vehicle. The two can cooperate with each other to complete related functions, such as nozzle disassembly, temperature measurement, sampling, tundish capping and covering agent, etc., so that the automatic casting work of continuous casting can be divided into two equipments to complete, which improves the system efficiency. Reliability, and finally realize the unmanned continuous casting platform.

The beneficial effects of the invention are: high degree of automation and strong adaptability.

Description of drawings

Figure 1 is a schematic structural diagram of the present invention.

Detailed ways

The present invention is further illustrated by specific examples below.

Example 1

A movable continuous casting automatic casting device includes a tundish 1, a robot 2 and a manipulator 3, as shown in Figure 1, the specific structure is:

The tundish 1 is used to place the ladle, and the bottom of the ladle is provided with a long shroud end connecting the long shroud. The tundish 1 may be provided with an optical position mark, and the robot 2 is provided with an optical guiding device. The robot 2 and the manipulator 3 are respectively Fixed on both sides of the tundish 1;

The manipulator 3 includes three rotating shafts, a jacking device and a gripper. The rotation of the rotating shaft is driven by a servo motor. The manipulator 3 realizes the gripping claw through the rotation of the three rotating shafts and the lifting of the jacking device. Movement to any position in the casting area space;

The robot 2 and the manipulator 3 are connected by a signal line or wirelessly.

In this embodiment, the jacking device of the manipulator 3 selects an electric cylinder or a hydraulic cylinder.

When this embodiment is used, follow the steps to implement in turn:

① Guidance: place the ladle on the tundish 1, and the optical guiding device of the robot 2 determines the position of the long nozzle at the bottom of the ladle according to the optical position mark on the tundish 1;

The tundish vehicle 1 is a carrying device for supporting, transporting and replacing the tundish. In the production preparation stage, the tundish car 1 needs to be preheated. After the production starts, the tundish car 1 travels from the preheating position to the production casting position. During the production process, the tundish on the tundish car 1 ensures that the molten steel poured from the ladle is poured by the tundish. Allocated to subsequent devices;

② Grab: The robot 2 controls the manipulator 3 to move the gripper of the manipulator 3 in the casting area space through the rotation of the three rotating axes and the lifting of the jacking device. Considering the factors of the site environment, the optical guidance of the robot 2 The device can use the image method or the laser method and similar methods, but no matter what kind of detection element is used, it needs to be calibrated. Unified; the optical guiding device of the robot 2 obtains the pixel coordinates of the visual space through imaging or scanning, the manipulator 3 has built-in space coordinates, and obtains the one-to-one correspondence between the pixel coordinates and the visual space coordinates through calibration, and the robot 2 The optical guidance device obtains the pixel coordinates of the target in the image and converts them into corresponding spatial coordinates, and the robot 2 calculates the movement modes of each axis to reach the target position, and then the robot 2 controls the manipulator 3 to move to the target position. If the ladle If the long shroud has not been installed, the robot 2 controls the manipulator 3 to grab the long shroud from a fixed position and set it on the long shroud at the bottom of the ladle; if the long shroud has been installed in the ladle, the robot 2 controls the manipulator 3. Grab the long shroud on the end of the long shroud at the bottom of the ladle;

The servo mechanism of the manipulator 3 is used to control the swing of the big arm, the swing of the forearm, the rotation of the forearm and the lift of the forearm of the manipulator 3 respectively;

③ Oxygen burning: When the pouring fails, oxygen burning needs to be carried out. At this time, the robot 2 and the manipulator 3 cooperate with each other, and the robot 2 clamps the oxygen lance to carry out the oxygen burning operation for the molten steel in the ladle. The manipulator 3 immediately installs the shroud at the bottom of the ladle.

In steps ② and ③, the robot 2 performs temperature measurement, sampling, hydrogen determination, oxygen determination, and covering agent addition to the ladle according to the needs of the site.

Claims (4)

1. a movable continuous casting automatic casting device, comprising a tundish car (1), the tundish car (1) is used for placing a ladle, and the bottom of the ladle is provided with a long nozzle end connecting a long nozzle, it is characterized in that: also including robot (2) and manipulator (3), The tundish (1) is provided with an optical position mark, the robot (2) is provided with an optical guiding device, and the robot (2) and the manipulator (3) are respectively fixed on both sides of the tundish (1); The manipulator (3) includes three rotating shafts, a jacking device and a gripper, the rotation of the rotating shaft is driven by a servo motor, and the manipulator (3) realizes the the movement of the gripper to any position in the casting area space; The robot (2) and the manipulator (3) are connected by a signal line or wirelessly. 2. The movable continuous casting automatic casting device according to claim 1, characterized in that: the jacking device of the manipulator (3) selects an electric cylinder or a hydraulic cylinder. 3. the using method of the movable continuous casting automatic casting device as claimed in claim 1 or 2, is characterized in that: implement successively according to the following steps: ① Guidance: place the ladle on the tundish (1), and the optical guiding device of the robot (2) determines the position of the long nozzle at the bottom of the ladle according to the optical position mark on the tundish (1); ②Grab: The robot (2) controls the manipulator (3) to move the gripper of the manipulator (3) in the casting area space through the rotation of the three rotating shafts and the lifting of the jacking device, and the optical guide of the robot (2) The guiding device obtains the pixel coordinates of the visual space through imaging or scanning, the manipulator (3) has built-in space coordinates, and obtains a one-to-one correspondence between the pixel coordinates and the visual space coordinates through calibration, and the optical guidance of the robot (2) The device obtains the pixel coordinates of the target in the image and converts them into corresponding spatial coordinates, and the robot (2) calculates the motion modes of each axis to reach the target position, and then the robot (2) controls the manipulator (3) to move to the target position. The ladle has not yet been installed with a long shroud, the robot (2) controls the manipulator (3) to grab the long shroud from a fixed position and set it on the long shroud end at the bottom of the ladle; if the ladle has been installed with the long shroud the shroud, the robot (2) controls the manipulator (3) to grab the long shroud on the end of the long shroud at the bottom of the ladle; ③ Oxygen burning: when the pouring fails, oxygen burning is required. At this time, the robot (2) and the manipulator (3) cooperate with each other, and the robot (2) clamps the oxygen lance to carry out the oxygen burning operation for the molten steel in the ladle. After the oxygen burning operation is completed, the manipulator (3) installs the long shroud at the bottom of the ladle immediately. 4. the using method of movable continuous casting automatic casting device as claimed in claim 3 is characterized in that: during step 2. and 3., robot (2) implements temperature measurement, sampling, determination of hydrogen, determination of oxygen to described ladle and adding covering agent.

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