A device for applying a covering agent to a billet based on an industrial robot

Abstract

The application discloses a kind of based on industrial robot's medium package adds covering agent device, including ton package, material taking robot, material taking gripper, hopper, hopper support, material feeding robot, ton package is used to store material, the movable end of material taking robot installs material taking gripper, hopper includes installation flange, long rod, bearing frame in turn, installation flange, bearing frame is placed on hopper support respectively, the movable range of material taking gripper covers ton package, bearing frame, the movable end of material feeding robot is connected installation flange, bearing frame is in the shape of dustpan, and material feeding robot drives hopper to explore into medium package and completes material feeding.The advantages of the present application are: through industrial robot, the whole automation of medium package adds covering agent process is realized, and the safety of scene is improved.Meanwhile, using double sensing structure guarantees the single package material taking of covering agent material, meets the process demand of scene.

Description

Technical Field

[0001] This invention relates to a tundish covering agent application device based on an industrial robot, belonging to the technical field of steelmaking continuous casting automation. Background Technology

[0002] In the continuous casting process of steelmaking, a covering agent needs to be added in the tundish stage to prevent molten steel from being exposed, isolate it from air, and absorb inclusions, thereby improving steel quality and production efficiency. The application of the covering agent should follow the principle of "frequent, small, and even application." However, current technologies mostly rely on manual operation, which is labor-intensive and prone to inconsistencies in success rate and accuracy due to factors such as high on-site temperatures and human error. Furthermore, there are safety risks associated with high temperatures.

[0003] Therefore, in order to ensure the stability of steelmaking continuous casting production and product quality, it is urgent to adopt automated or mechanized methods for adding covering agent materials, and strictly control the amount, location and timing of addition to ensure the safety and effectiveness of the addition process. Summary of the Invention

[0004] Purpose of the invention: To address the above-mentioned problems, the purpose of this invention is to provide a device for adding a covering agent to intermediate packages based on an industrial robot, which can realize the full automation of the process of adding a covering agent to intermediate packages, thereby improving the safety and efficiency of the work site.

[0005] Technical Solution: A device for adding a covering agent to a package based on an industrial robot includes a ton bag, a material handling robot, a material handling gripper, a hopper, a hopper support, and a feeding robot. The ton bag is used to store materials. The material handling gripper is installed on the movable end of the material handling robot. The hopper includes a mounting flange, a long rod, and a support frame connected in sequence. The mounting flange and the support frame are respectively placed on the hopper support. The movable range of the material handling gripper covers the ton bag and the support frame. The movable end of the feeding robot is connected to the mounting flange. The support frame is shaped like a scoop. The feeding robot drives the hopper to probe into the ton bag to complete the feeding.

[0006] The principle of this invention is as follows: Before use, the covering agent material bag is first stored in the ton bag. Then, a picking robot drives a picking gripper to pick up the material bag from the ton bag and place it on the support frame. Next, a feeding robot drives a hopper to probe into the intermediate bag and put the material bag from the support frame into the intermediate bag, completing the automated covering agent addition operation. In this structure, the long rod extends the distance between the intermediate bag and the feeding robot when adding the covering agent, thereby reducing the impact of heat radiation on the feeding robot and improving safety.

[0007] Furthermore, the hopper also includes a quick-change female connector, which is fixed to the mounting flange. The moving end of the feeding robot is equipped with a quick-change male connector, and the quick-change male and female connectors are aligned and matched. In this structure, the quick-change structure enables the detachable assembly of the hopper and the feeding robot, allowing the feeding robot to perform other station operations, such as temperature measurement and sampling, when not performing the covering agent application operation.

[0008] Furthermore, the hopper also includes a pusher drive and a pusher plate. The fixed end of the pusher drive is connected to the long rod, and the movable end is connected to the pusher plate. The pusher plate extends into the support frame and slides along the bottom surface of the support frame to push out materials and material residues.

[0009] Furthermore, the support frame includes an inclined groove and a flat groove. One end of the flat groove is connected to the long rod, and the other end is connected to the inclined groove, thereby further extending the feeding distance and making the feeding smoother.

[0010] Furthermore, the material-grabbing gripper includes a gripper body, a floating module, a first sensing plate, a second sensing plate, a first sensor, a second sensor, and a mounting rod. The gripper body is connected to the mounting rod via the floating module. The first and second sensing plates are fixed to the mounting rod, and the first and second sensors are fixed to the floating module and aligned with the first and second sensing plates, respectively. The alignment times of the first and second sensing plates are staggered and overlapped. In this structure, to ensure that the material-grabbing gripper can grasp only one bag at a time when gripping material in a ton bag, thereby meeting the process requirement of uniform addition of the covering agent, a dual-sensor structure is designed: in the initial position, the first sensor and the first sensing plate are aligned, while the second sensor and the second sensing plate are not aligned. The first sensor displays a signal, and the second sensor displays no signal. This state indicates that the gripper body has gripped 0 bags of material. After initial use, the gripper body picks up materials. Under the influence of gravity, the floating module moves the first and second sensors downwards. The more material picked up, the greater the gravity, and the longer the first and second sensors move downwards. When a single bag of material is picked up, the first and second sensors move downwards, with the first sensor still aligned with the first sensing element, while the second sensor moves to its aligned position with the second sensing element. At this point, the first and second sensors are simultaneously aligned, meaning their alignment times overlap, and both display a signal, indicating that the gripper body has picked up a single bag of material. When material is picked up and the first sensor moves away from its aligned position with the first sensing element, while the second sensor aligns with the first sensing element, the first sensor displays no signal, and the second sensor displays a signal, indicating that the gripper body has picked up multiple bags of material. Thus, by overlapping and interleaving the signals from the two sensors, the quantity of material picked up is accurately sensed, improving the system's automation level.

[0011] Furthermore, a mounting plate is provided on the mounting rod. The floating module includes a spring, a linear bearing, a guide rod, and a fixed plate. The guide rod passes through the mounting plate and connects to the fixed plate. The linear bearing is sleeved on the guide rod, and its outer wall is fixed to the mounting plate. A limiting nut is fixed to the top of the guide rod. The spring is sleeved on the guide rod and connects the limiting nut to the linear bearing. The first sensor and the second sensor are mounted on the guide rod, and the gripper body is mounted on the fixed plate. In this structure, after the gripper body grips the material, the guide rod moves downward along the linear bearing, and the spring is compressed. After the gripper body releases the material, the spring returns to its original position, driving the guide rod to move upward along the linear bearing to return to its original position, thereby forming a floating structure.

[0012] Furthermore, the floating module also includes connecting blocks. The spring, linear bearing, and guide rod are respectively arranged in four groups. A connecting block is installed between the guide rods on opposite sides of a group. The first sensor and the second sensor are respectively fixed on a connecting block to obtain a more stable floating structure.

[0013] Beneficial effects: Compared with existing technologies, the advantages of this invention are: it achieves full automation of the intermediate packaging and covering agent addition process through industrial robots, and improves on-site safety. Simultaneously, the dual-sensor structure ensures single-package dispensing of the covering agent material, meeting on-site process requirements. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0015] Figure 2 Schematic diagram of the assembly structure for quick-change male and quick-change female connectors;

[0016] Figure 3 This is a schematic diagram of the structural state of the material bag with the covering agent in the middle packaging.

[0017] Figure 4 This is a structural diagram of the material handling robot in the material handling state;

[0018] Figure 5 This is a schematic diagram of the three-dimensional structure of the hopper;

[0019] Figure 6 This is a structural schematic diagram of the hopper structure from another perspective.

[0020] Figure 7 This is a schematic diagram of the three-dimensional structure of the material handling gripper;

[0021] Figure 8 for Figure 7 An enlarged view of position A in the middle;

[0022] Figure 9 for Figure 7 An enlarged view of position B in the middle. Detailed Implementation

[0023] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. These embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0024] An industrial robot-based intermediate packaging and covering agent application device, as shown in the attached... Figures 1-3 As shown, it includes a ton bag 1, a material handling robot 2, a material handling gripper 3, a hopper 4, a hopper support 5, a feeding robot 6, and a quick-change male connector 7.

[0025] As attached Figure 4As shown, the ton bag 1 is used to store the covering agent material bags, and the moving end of the material handling robot 2 is equipped with the material handling gripper 3. (See attached diagram) Figure 5 , 6 As shown, the hopper 4 includes a mounting flange 41, a long rod 42, a support frame 43, a quick-change female head 44, a push drive 45, and a push plate 46. The quick-change female head 44, mounting flange 41, long rod 42, and support frame 43 are connected in sequence. The support frame 43 is scoop-shaped and specifically includes an inclined groove 43a and a flat groove 43b. One end of the flat groove 43b is connected to the long rod 42, and the other end is connected to the inclined groove 43a. The fixed end of the push drive 45 is connected to the long rod 42, and the movable end is connected to the push plate 46. The push plate 46 extends into the flat groove 43b of the support frame 43 and slides along the bottom surface of the flat groove 43b. The mounting flange 41 and the support frame are placed on the hopper support 5. The moving range of the picking claw 3 covers the ton bag 1 and the support frame 43. The movable end of the feeding robot 6 is equipped with a quick-change male head 7. The quick-change male head 7 and the quick-change female head 44 are aligned and matched. The feeding robot 6 drives the hopper 4 to probe into the ton bag to complete the feeding.

[0026] In this embodiment, as shown in the appendix Figure 7 , 8 As shown, in order to avoid the material gripper grabbing multiple bags when picking up materials in the ton bag, which would affect the uniform addition of the covering agent in the subsequent intermediate bag, a material bag self-sensing structure was designed, which specifically includes a gripper body 31, a floating module 32, a first sensing plate 33, a second sensing plate 34, a first sensor 35, a second sensor 36, a mounting rod 37, and a mounting plate 38.

[0027] The gripper body 31 is connected to the mounting plate 38 via the floating module 32. The first sensing plate 33, the second sensing plate 34, and the mounting plate 38 are fixed on the mounting rod 37. The first sensor 35 and the second sensor 36 are fixed on the floating module 32 and are respectively aligned with the first sensing plate 33 and the second sensing plate 34. The floating module 32 specifically includes a spring 32a, a linear bearing 32b, a guide rod 32c, and a fixing plate 32d. The guide rod 32c passes through the mounting plate 38 and is connected to the fixing plate 32d. The linear bearing 32b is sleeved on the guide rod 32c and its outer wall is fixed to the mounting plate 38. A limiting nut 32e is fixed to the top of the guide rod 32c. The spring 32a is sleeved on the guide rod 32c and connects the limiting nut 32e to the linear bearing 32b. The first sensor 35 and the second sensor 36 are mounted on the guide rod, and the gripper body 31 is mounted on the fixing plate 32d. The alignment time of the first sensor 35 and the first sensing plate 33 is interleaved and overlaps with the alignment time of the second sensing plate 34 and the second sensor 36.

[0028] Preferably, the material pushing drive can be a cylinder drive, the first sensor 35 and the second sensor 36 can be set at the same height, and the first sensing plate 33 and the second sensing plate 34 can be staggered. The first sensor 35 and the second sensor 36 can be U-shaped sensors, and the sensing ends of the first sensing plate 33 and the second sensing plate 34 extend into the U-shaped openings of the first sensor 5 and the second sensor 6, respectively.

[0029] As attached Figure 7 , 9 As shown, the gripper body 1 can adopt a cylinder-driven double-jaw structure, such as including a gripper cylinder 31a, a linkage mechanism 31b, a left jaw head 31c, and a right jaw head 31d. The left jaw head 31e and the right jaw head 31d have lower teeth a, and the lower teeth a of the left jaw head 31e and the right jaw head 31d mesh with each other. The gripper cylinder 31a drives the linkage mechanism 31b to cause the left jaw head 31e and the right jaw head 31d to mesh together to grip materials. The linkage mechanism 31b specifically adopts a combination of multiple rotating shafts and connecting arms.

[0030] In this embodiment, the alignment time of the first sensor and the first sensing plate is staggered and overlapped with that of the second sensing plate and the second sensor. Specifically, there are three alignment states: First, the first sensor and the first sensing plate are aligned, but the second sensing plate and the second sensor are not aligned. Second, the first sensor, the first sensing plate, the second sensing plate, and the second sensor are aligned simultaneously. Third, the first sensor and the first sensing plate are not aligned, but the second sensing plate and the second sensor are aligned. Before using the mechanical gripper in this embodiment, the installation height of the first and second sensing plates needs to be adjusted according to the weight of the covering agent material bag. Specifically, when not gripping the covering agent material bag, the sensor and the sensing plate should be in the first alignment state; when gripping a single bag of covering agent material, the sensor and the sensing plate should be in the second alignment state; and when gripping multiple bags of covering agent material, the sensor and the sensing plate should be in the third alignment state.

[0031] In this embodiment, the device operates by a material-grabbing robot driving its gripper to the ton bag. A gripper cylinder drives a linkage mechanism, causing the lower teeth of the left and right grippers to mesh together. A self-sensing structure then picks up a single bag of covering agent material and places it on a support frame. Next, a feeding robot drives its hopper into the intermediate bag, and a pusher extends, pushing the covering agent bag into the intermediate bag via a pusher plate, completing the automated addition of the covering agent bag. Simultaneously, the long rod and inclined groove structures extend the distance between the intermediate bag and the feeding robot during covering agent addition, thereby reducing the impact of heat radiation on the feeding robot and improving safety.

Claims

1. A device for adding a covering agent to intermediate packaging based on an industrial robot, characterized in that: The system includes a ton bag (1), a material handling robot (2), a material handling gripper (3), a hopper (4), a hopper support (5), and a feeding robot (6). The ton bag (1) is used to store materials. The material handling gripper (3) is installed on the movable end of the material handling robot (2). The hopper (4) includes a mounting flange (41), a long rod (42), and a support frame (43) connected in sequence. The mounting flange (41) and the support frame are placed on the hopper support (5). The movable range of the material handling gripper (3) covers the ton bag (1) and the support frame (43). The movable end of the feeding robot (6) is connected to the mounting flange (41). The support frame (43) is shaped like a scoop. The feeding robot (6) drives the hopper (4) to probe into the ton bag to complete the feeding. The material handling gripper (3) includes a gripper body (31), a floating module (32), a first sensing plate (33), a second sensing plate (34), a first sensor (35), a second sensor (36), and a mounting rod (37). The gripper body (31) is connected to the mounting rod (37) through the floating module (32). The first sensing plate (33) and the second sensing plate (34) are fixed on the mounting rod (37). The first sensor (35) and the second sensor (36) are fixed on the floating module (32) and are respectively aligned with the first sensing plate (33) and the second sensing plate (34). The alignment time of the first sensor (35) and the first sensing plate (33) is staggered and overlapped with the alignment time of the second sensing plate (34) and the second sensor (36).

2. The intermediate packaging and covering agent application device based on an industrial robot according to claim 1, characterized in that: The hopper (4) also includes a quick-change female head (44), which is fixed on the mounting flange (41). The moving end of the feeding robot (6) is provided with a quick-change male head (7), and the quick-change male head (7) and quick-change female head (44) are aligned and matched.

3. The intermediate packaging and covering agent application device based on an industrial robot according to claim 1, characterized in that: The hopper (4) also includes a pusher drive (45) and a pusher plate (46). The fixed end of the pusher drive (45) is connected to the long rod (42), and the movable end is connected to the pusher plate (46). The pusher plate (46) extends into the support frame (43) and slides along the bottom surface of the support frame (43).

4. The intermediate packaging and covering agent application device based on an industrial robot according to claim 1, characterized in that: The support frame (43) includes a sloping groove (43a) and a flat groove (43b), with one end of the flat groove (43b) connected to the long rod (42) and the other end connected to the sloping groove (43a).

5. The intermediate packaging and covering agent application device based on an industrial robot according to claim 1, characterized in that: The mounting rod (37) is provided with a mounting plate (38). The floating module (32) includes a spring (32a), a linear bearing (32b), a guide rod (32c), and a fixing plate (32d). The guide rod (32c) passes through the mounting plate (38) and is connected to the fixing plate (32d). The linear bearing (32b) is sleeved on the guide rod (32c) and its outer wall is fixed to the mounting plate (38). A limiting nut (32e) is fixed on the top of the guide rod (32c). The spring (32a) is sleeved on the guide rod (32c) and connects the limiting nut (32e) and the linear bearing (32b). The first sensor (35) and the second sensor (36) are mounted on the guide rod. The gripper body (31) is mounted on the fixing plate (32d).

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