Special automatic manipulator for continuous casting steel

Abstract

The invention discloses a special automatic manipulator for continuous casting steel. The automatic manipulator is characterized in that the automatic manipulator is provided with a sleeve connected with a base; the sleeve can ascend and descend and can rotate leftwards and rightwards; the sleeve is connected with a long arm which can extend and contract; a circular ring is arranged at the tail end of the long arm, and can sleeve a long nozzle; the circular ring is connected with the long arm; through a certain mechanical form, front-back overturn and left-right overturn can be realized, and the movement of the long nozzle can be realized. The amount of movement in various freedom degrees is recorded by a sensor, the automatic manipulator can move to a designated position according to an instruction. A camera is arranged nearby the automatic manipulator, place analysis is carried out according to shot images, the automatic manipulator is instructed to move, and full-automatic operation is realized.

Description

technical field [0001] The invention belongs to the field of manipulator equipment, and in particular relates to a special automatic manipulator for continuous casting and pouring steel. Background technique [0002] Continuous casting tundish pouring steel is a dangerous and heavy manual labor. On the current advanced continuous casting machine, electromechanical devices have been realized instead of manual operation. The lifting, moving, and Rotation, flipping and other actions, but the workers are exposed to the outdoors, close to the ladle to be baked at high temperature, and there is a risk of molten steel splashing and scalding when pouring. The present invention replaces traditional handwheels with motors, hydraulic and pneumatic devices, replaces ordinary motors with servo motors with encoders, and replaces human vision with a camera and vision system, thereby improving operating efficiency and precision, reducing labor quota, and improving labor productivity. [00...

AI Technical Summary

Problems solved by technology

[0004] Universal robots are adopted, with flexible movements, large range and high positioning accuracy, but poor adaptability to automatic steel pouring operations on the tundish platform

The reasons are: 1) The distance between the installation point of the robot and the end fixture in the steel pouring operation is long (about 3.5 meters or more), and the arm span of the existing general-purpose robot is difficult to reach, and there is a rotating shaft in the middle, which affects the rigidity; 2) The robot moves from the installation base There are motors, reducers, shafts, and cables at the end of the arm, which are prone to failure when exposed to high temperature baking; 3) According to safety regulations, within the range of robot activities, fences must be installed to seal off the work area, and personnel are not allowed to enter. processing, which is not conducive to the gradual upgrading and transformation of equipment

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