Ladle automatic casting system and method

Abstract

The invention discloses a ladle automatic casting system and method, wherein, a steel-connecting robot can drive a 3D scanner to scan and obtain the coordinates of a positioning plate and a nozzle mechanism at a steel-connecting location and obtain the relative positional relationship between the two, which can drive a 3D The scanner scans to obtain the coordinates of the nozzle cylinder at the steel connection position, and then grabs the nozzle cylinder and installs it on the nozzle mechanism. The robot at the casting position can drive the 3D scanner to scan and obtain the initial position of the locked collaborative manipulator, and then place the long nozzle on the collaborative robot arm. On the mechanical arm, it can drive the 3D scanner to scan and obtain the coordinates of the positioning plate at the casting position, and obtain the coordinates of the nozzle mechanism at the casting position through the relative position relationship, and can pull the unlocked cooperative robot arm to make the long nozzle at the nozzle mechanism. Directly below, the lifting device can drive the locked cooperative mechanical arm to rise to make the long nozzle and the nozzle mechanism contact and seal. The invention has the advantages of high safety, high positioning accuracy, high success rate, long service life, short loading and unloading time of the long nozzle, and high production efficiency.

Description

technical field [0001] The invention belongs to the technical field of iron and steel metallurgy, and in particular relates to a ladle automatic casting system and method. Background technique [0002] During continuous casting, when one ladle of molten steel is cast, the second ladle of molten steel needs to be quickly injected into the tundish, and at the same time, it is necessary to ensure that the molten steel will not be oxidized during the casting process. The current operation process of continuous casting is as follows: after the steel ladle with molten steel reaches the steel receiving position of the rotary table, the operator installs a nozzle cylinder for opening the ladle on the nozzle mechanism at the lower part of the ladle, and then the rotary table rotates the ladle to the casting position. Above the tundish, the operator installs a long nozzle on the nozzle mechanism for isolating oxygen to prevent the oxidation of molten steel during the casting process, ...

AI Technical Summary

Problems solved by technology

[0003] At present, the installation of the nozzle cylinder, installation of the shroud, and removal of the shroud in the continuous casting process are all performed manually. However, the site environment is harsh, the work intensity is high, the accuracy of manual operation is low, and accidents are prone to occur.

In order to reduce the work intensity of operators and reduce potential safety hazards, the scheme of using robots to replace manual operations in high-risk areas is gradually being promoted. Over 800℃), air smoke and dust and other factors, if the robot is directly used for operation, the success rate is low and the service life is low. In addition, when the robot directly installs the shroud, it needs to be disassembled again after the casting is completed. The production efficiency is low and it is not conducive to continuous operation. Production

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