Sliding nozzle device

Abstract

The problem to be solved by the present invention is to provide a sliding nozzle device that enables a maintenance robot to effectively and accurately identify a position. The key point of the present invention is that, in a sliding nozzle device (3) having a fixed metal frame (32) and a sliding metal frame (33) slidably arranged on the fixed metal frame (32), at least a marking block (38a) for enabling the maintenance robot to identify a position is provided on the fixed metal frame (32). More specifically, the marking block (38a) is provided at a position that protrudes from the side or bottom surface of the fixed metal frame (32) toward the sliding metal frame (33) and does not interfere with the sliding metal frame (33) when the sliding metal frame (33) slides.

Description

Technical Field

[0001] The present invention relates to a sliding nozzle device. Background Art

[0002] A sliding nozzle device for adjusting the flow rate of molten steel flowing out of the molten steel container is installed at the bottom of the molten steel container such as the ladle and the pouring spout.

[0003] During maintenance of the sliding nozzle system, the molten steel container is placed at a maintenance site. However, due to the large size of the molten steel container, the position of the sliding nozzle system at the maintenance site varies significantly between each maintenance operation. Therefore, in order to use a maintenance robot to perform maintenance on the sliding nozzle system, the robot must be able to reliably and accurately identify the position of the sliding nozzle system at the maintenance site.

[0004] In this regard, although Patent Document 1 discloses an intention to identify the position of the sliding nozzle device by photographing the photographing reference portion of the sliding nozzle device with a camera (paragraph 0010 of the patent document), the specific position of the photographing reference portion is not disclosed.

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Laid-Open No. 2020-142247 Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide a sliding nozzle device that enables a maintenance robot to effectively and accurately identify a position.

[0008] The present invention provides the following sliding nozzle device.

[0009] 1. A sliding nozzle device comprising a fixed metal frame and a sliding metal frame slidably provided on the fixed metal frame, characterized in that:

[0010] At least on the fixed metal frame, a marking block is provided for the maintenance robot to identify the position.

[0011] The marking block protrudes from the side surface or bottom surface of the fixed metal frame toward the sliding metal frame, and is arranged at a position where it does not interfere with the sliding metal frame when the sliding metal frame slides.

[0012] 2. The sliding nozzle device according to item 1 above, characterized in that:

[0013] The structure is such that, when in use, surface pressure is applied to the fixed metal frame and the sliding metal frame to cause the sliding metal frame to slide within a first sliding range, and when repairing, the sliding metal frame is slid outside the first sliding range to release the surface pressure.

[0014] When the sliding metal frame slides within the first sliding range, the marking block is covered by the sliding metal frame or the shielding plate arranged on the sliding metal frame, and when the sliding metal frame slides out of the first sliding range, it will not be covered by the sliding metal frame or the shielding plate.

[0015] According to the sliding nozzle device of the present invention, the maintenance robot can reliably and accurately recognize its position. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an explanatory diagram showing a maintenance location including a sliding nozzle device according to one embodiment of the present invention.

[0017] Figure 2A This is an explanatory diagram showing the sliding nozzle device in a state where the sliding metal frame is closed during maintenance.

[0018] Figure 2B This is an explanatory diagram showing the sliding nozzle device in a state where the sliding metal frame is opened during maintenance.

[0019] Figure 2C This is an explanatory diagram showing the sliding nozzle device in use.

[0020] Figure 3 It is a perspective view of the installation device.

[0021] Figure 4 It is a side view of the mounting device (only the holding portion is a cross-sectional view).

[0022] Figure 5 Represents the driving device, (a) is a top view, (b) is a front view, and (c) is a right side view.

[0023] Figure 6A It is a three-dimensional diagram of the placement table.

[0024] Figure 6B It is a partial three-dimensional view of the placement table.

[0025] Figure 7 Represents the placement table, (a) is a top view, (b) is a front view, and (c) is a right side view.

[0026] Figure 8 This is a perspective view showing a state where the driving device is placed on a placement table.

[0027] Figure 9 It is a perspective view showing the support portion of the sliding nozzle device.

[0028] Figure 10A It is a front view showing a state in which the mounting device holds the driving device (a state in which the contact portion is at the first position).

[0029] Figure 10B It is a front view showing a state in which the mounting device holds the driving device (a state in which the contact portion is at the second position).

[0030] Figure 11 This is a perspective view showing a state in which an attachment device holding a driving device is in the process of attaching the driving device to a support of a sliding nozzle device.

[0031] Figure 12 It is a front view showing the state in which the mounting device opens the driving device.

[0032] Explanation of symbols

[0033] 1- ladle; 11- bottom of ladle; 2- maintenance area; 21- floor of maintenance area; 22- ladle receiving portion; 23- stand; 3- sliding nozzle device; 31a, 31b- hydraulic cylinder (driving device); 311- cylinder body; 312- cylinder rod; 313- held plate; 314- abutted portion; 315- pressed plate; 316- flange portion; 317- connecting portion; 318- guide plate; 319- guide groove; 32- fixed metal frame; 32a- fixed metal Frame groove; 32b - thick wall portion of the fixed metal frame side wall; 321, 322 - rotation axis; 33 - sliding metal frame; 331 - handle; 34 - spring box; 341 - handle; 35a - upper plate; 35b - lower plate; 36 - support; 361 - opening; 362 - side wall; 363 - back wall; 364 - groove; 364a - cone; 37a, 37b, 37c - shielding plate; 38a, 38b, 38c, 38d - mark block (mark block); 4-manipulator (manipulator); 5-mounting device; 51-parallel hand; 511-parallel claw; 512-main body; 513-mounting plate; 52-holding part; 53-pressing part; 531-holding plate; 532-pressing plate; 533-bolt; 534-coil spring; 535-base plate; 54-force sensor; 541-flange; 542 heat shield; 55-pressing mechanism; 56-excitation mechanism; 56a- Excitation mechanism body; 56b-excitation part; 57-laser irradiator; 58-camera; 6-suspension device; 7-placement table; 71-pillar; 71a-plate part of the pillar; 72-loading table; 721-opening part; 722-side wall part; 723-back wall part; 723a-plate surface of the back wall part; 724-groove; 724a-cone part; 725-contact detection sensor; 726-magnet; 727-support rod; 728-stroke guide. DETAILED DESCRIPTION

[0034] Figure 1 1 shows a maintenance location including a sliding nozzle device which is one embodiment of the present invention.

[0035] In this figure, the ladle 1 after casting is placed horizontally on the ladle receiving portion 22 set on the ground 21 of the maintenance site 2. The sliding nozzle device 3 is installed on the bottom 11 of the ladle. Figure 1 In the embodiment, the sliding direction of the sliding metal frame is approximately the vertical direction.

[0036] On the other hand, the base end of a robot arm 4, an example of a robot, is fixed to a stand 23 installed on the ground 21. Furthermore, a mounting device 5 is bolted to the top end of the robot arm 4. The method of mounting the mounting device 5 to the robot arm 4 is not limited to bolting. For example, a manual changer (handchanger) may be installed on each of the robot arm 4 and the mounting device 5, and the mounting device 5 may be connected to the robot arm 4.

[0037] Furthermore, the robot arm 4 is a six-axis vertical multi-joint robot arm, and thus the posture and position of the mounting device 5 mounted on its top end can be freely moved.

[0038] In this specification, the hydraulic cylinder 31b is used as an example of the driving device. However, the driving device is not limited to the hydraulic cylinder 31b as long as it can slide the sliding metal frame 33 described later. For example, an electric motor can be used.

[0039] A suspension device 6 is provided on the stand 23 for suspending the hydraulic cylinder 31b mounted on the sliding nozzle assembly 3 during maintenance. Specifically, at the maintenance site 2, the hydraulic cylinder 31b mounted on the sliding nozzle assembly 3 is in a so-called suspended state, with its upper end connected to the suspension device 6. In this embodiment, the suspension device 6 includes a balancer mechanism.

[0040] Furthermore, a placement table 7 is provided on the stand 23 on which the hydraulic cylinder 31 b in the suspended state is placed.

[0041] Figure 2A FIG. 3 shows the sliding nozzle device 3 in a state where the sliding metal frame is closed during maintenance. Figure 2B 3 shows a sliding nozzle device 3 with the sliding metal frame opened during maintenance. Figure 2C In FIG, the state of the sliding nozzle device when in use is shown. In addition, although the sliding direction of the sliding metal frame of the sliding nozzle device 3 is horizontal when in use, Figure 2C In order to facilitate the display of the maintenance status Figure 2A and Figure 2B In contrast, the sliding direction of the sliding metal frame is shown as being approximately vertical.

[0042] In this specification, the use of the sliding nozzle is considered to be the use of the sliding nozzle when casting is performed. In addition, the maintenance of the sliding nozzle is considered to be the maintenance of the sliding nozzle when the ladle is moved to a maintenance site.

[0043] The sliding nozzle device 3 includes a fixed metal frame 32, a sliding metal frame 33, and a spring box 34. The fixed metal frame 32 houses an upper plate 35a, and the sliding metal frame 33 houses a lower plate 35b. The sliding metal frame 33 is slidably mounted on the fixed metal frame 32. Furthermore, the sliding metal frame 33 is configured to rotate about a rotation axis 321 relative to the fixed metal frame 32 and to open and close. The spring box 34 is configured to rotate about a rotation axis 322 relative to the fixed metal frame 32 and to open and close. The spring box 34 is provided on each side of the fixed metal frame 32. Furthermore, the spring box 34 applies surface pressure between the fixed metal frame 32 and the sliding metal frame 33 when the sliding metal frame 33 is closed. Furthermore, the spring box 34 also applies surface pressure between the upper plate 35a and the lower plate 35b.

[0044] The sliding nozzle device 3 is equipped with a hydraulic cylinder 31a when in use. In addition, a hydraulic cylinder 31b is installed during maintenance. That is, during use, the sliding metal frame 33 is made to slide within the first sliding range while applying surface pressure to the fixed metal frame 32 and the sliding metal frame 33 using the hydraulic cylinder 31a. Furthermore, during maintenance, the sliding metal frame 33 is made to slide outside the first sliding range using the hydraulic cylinder 31b to release the surface pressure. The hydraulic cylinder 31a used during use is assembled and disassembled at the casting site, and the hydraulic cylinder 31b used during maintenance is installed and disassembled at the casting site. Figure 1 In the maintenance place 2, the hydraulic cylinder 31b used for maintenance is installed and removed. In the present embodiment, the hydraulic cylinder 31b used for maintenance is installed and removed in the maintenance place 2.

[0045] In this embodiment, Figure 3 and Figure 4 1 and 2 , a mounting device 5 for attaching and detaching the hydraulic cylinder 31 b for maintenance to and from the sliding nozzle device 3 is shown. Figure 3 is a perspective view of the mounting device 5, Figure 4 It is a side view of the mounting device 5.

[0046] The mounting device 5 includes a main body 512, parallel hands 51, 51 provided above and below the main body 512, a pressing portion 53 provided on the front of the main body, a force sensor 54, a pressing mechanism 55, an excitation mechanism 56, a laser irradiator 57 and a camera 58.

[0047] The positions of the laser irradiator 57 and the camera 58 are not limited to those in this embodiment; the camera 58 may be arranged at the position of the laser irradiator 57. Furthermore, the laser irradiator 57 and the camera 581 may be arranged together at a single location. The camera 58 captures images of the components of the sliding nozzle device or of the laser beam emitted by the laser irradiator 57.

[0048] In this embodiment, parallel hands 51 , 51 are provided above and below the main body 512 .

[0049] The parallel hands 51 , 51 may be provided on the left and right sides of the main body 512 .

[0050] The parallel hands 51 , 51 can be controlled to move up and down by a not-shown power, ie, expansion and contraction unit, so that the distance between the parallel hands 51 , 51 in the up and down direction can be expanded or contracted.

[0051] Examples of the contraction and expansion unit include a hydraulic cylinder, an air cylinder, an electromagnetic chuck, etc. The contraction and expansion unit is provided on the main body 512, for example.

[0052] In this specification, the action of increasing the distance between the parallel hands 51, 51 is considered as the expansion of the parallel hands 51, 51. In addition, the action of decreasing the distance between the parallel hands 51, 51 is considered as the contraction of the parallel hands 51, 51.

[0053] Furthermore, the parallel hand 51 is U-shaped and includes a parallel claw 511 and a holding portion 52 at the tip of the parallel claw 511 .

[0054] In addition, Figure 4 In the figure, the force sensor 54, the laser irradiator 57 and the camera 58 are omitted.

[0055] The detailed structure of each part of the mounting device 5 will be described later.

[0056] Figure 5 31 b is shown in FIG. 3 , where (a) is a top view, (b) is a front view, and (c) is a right side view.

[0057] The hydraulic cylinder 31b has a cylinder body 311 and a cylinder rod 312 that moves forward and backward from the cylinder body 311. A rectangular retained plate 313 is installed in the cylinder body 311. The retained plate 313 can be retained by the retaining portion 52 of the mounting device 5. Specifically, the retained plate 313 is installed from the center to the upper portion of the hydraulic cylinder 31b. Then, the retaining portion 52 of the mounting device 5 retains the hydraulic cylinder 31b by clamping the retained plate 313 from the top and bottom. In addition, the shape of the retained plate 313 is not limited to a rectangle, as long as it is a shape that can be retained by the retaining portion 52. In addition, it can also be a structure in which the retained plate 313 is clamped from the left and right sides by the retaining portion 52 of the mounting device 5.

[0058] A contact portion 314 extending downward from the plate 313 is mounted on the lower portion of the plate 313. As will be described later, the contact portion 314 can contact the contact portion 55c provided on the top of the pressing mechanism 55 of the mounting device 5. That is, when the hydraulic cylinder 31b is mounted on the support 36 of the sliding nozzle device 3 (see FIG. 3 ), the contact portion 314 can contact the contact portion 55c provided on the top of the pressing mechanism 55 of the mounting device 5. Figure 1 ) when the contact portion 55c can contact the lower portion of the hydraulic cylinder 31b, namely the contacted portion 314.

[0059] Furthermore, a pressed plate 315 is attached to the held plate 313 on the surface opposite to the surface facing the cylinder body 311. As will be described later, the pressed plate 315 is pressed by the pressing plate 532 of the pressing portion 53 of the mounting device 5.

[0060] The lower end portion of the cylinder body 311 is a rectangular flange portion 316 in a plan view. As will be described later, the hydraulic cylinder 31b is mounted on the support 36 by mounting this flange portion 316 on the support 36 of the sliding nozzle device 3.

[0061] On the other hand, a connection portion 317 for detachably connecting to the sliding metal frame 33 of the sliding nozzle device 3 is provided at the lower end of the cylinder rod 312. By connecting the sliding metal frame 33 to the connection portion 317 and moving the cylinder rod 312 forward and backward, the sliding metal frame 33 can slide relative to the fixed metal frame 32.

[0062] In addition, a guide plate 318 is connected to the connecting portion 317. The guide plate 318 moves forward and backward while being guided by a guide groove 319 provided on the side surface of the flange portion 316. Therefore, the connecting portion 317 can move forward and backward smoothly without rotating.

[0063] Next, the placement table 7 will be described. Figure 6A 、 Figure 6B and Figure 7 A placement table 7 is shown in FIG. Figure 6A For a three-dimensional image, Figure 6B It is a partial stereogram. Figure 7 (a) is a top view, Figure 7 (b) is the front view, Figure 7 (c) is the right side view. Figure 8 In FIG, the hydraulic cylinder 31b is placed on the placement table 7. Figure 6B In the figure, the lower sides of a pair of side wall portions 722 described later are omitted.

[0064] The placement table 7 has a Figure 1 The maintenance site 2 shown includes support columns 71 on the stand 23, a plate portion 71 a at the upper end of the support column 71, and a placement table 72 mounted on the plate portion 71 a.

[0065] The placing platform 72 includes an opening 721 into which the cylinder body 311 of the hydraulic cylinder 31b is inserted, a pair of side walls 722 defining the opening 721, and a back wall 723 connecting the pair of side walls 722. Furthermore, the back wall 723 includes a plate surface 723a extending vertically. The placing platform 72 can be secured to the support column 71 by bolting the plate surface 723a of the back wall 723 to the plate portion 71a of the support column 71.

[0066] In this specification, the surfaces of the pair of side walls 722 facing each other are referred to as the inner sides of the pair of side walls 722. Also, the surface of the back wall 723 connected to the inner sides of the side walls 722 is referred to as the inner side of the back wall 723.

[0067] A pair of grooves 724 are provided on the inner sides of the pair of side wall portions 722. Figure 8 As shown, the lower end portion of the cylinder body 311, namely the flange portion 316, is inserted into the pair of grooves 724, and the hydraulic cylinder 31b is placed on the placement table 7 (placement table 72). The top ends of the pair of grooves 724 form tapered portions 724a that widen toward the top end opposite the back wall portion 723. The tapered portions 724a facilitate insertion of the flange portion 316.

[0068] A magnet 726 is provided on the inner side of the back wall 723. Furthermore, a groove is provided on the inner side of the back wall 723, into which a contact detection sensor 725 is inserted. The contact detection sensor 725 detects contact with the flange 316 of the hydraulic cylinder 31b and is comprised of, for example, a limit switch. The magnet 726 utilizes magnetic force to reliably maintain contact between the flange 316 of the hydraulic cylinder 31b and the back wall 723.

[0069] Furthermore, a support rod 727 is provided above the back wall 723. The support rod 727 prevents the flange 316 of the hydraulic cylinder 31b from contacting the side surface of the cylinder body 311 and tilting the cylinder body 311 when the flange 316 contacts the back wall 723.

[0070] An L-shaped stroke guide 728 is provided on the lower surface of one of the pair of side walls 722, extending downward from the lower surface. This stroke guide 728 is used to align the stroke of the cylinder rod 312 of the hydraulic cylinder 31b with the stroke at the intermediate position. Here, the intermediate position of the stroke refers to the position of the cylinder rod 312 when the through-holes of the upper plate 35a and lower plate 35b housed in the fixed metal frame and the sliding metal frame are continuous.

[0071] The stroke guide 728 is used, for example, when the cylinder 31b is temporarily removed during maintenance, while the through-holes of the upper plate 35a and lower plate 35b are maintained continuous. In this case, the cylinder rod 312 of the removed hydraulic cylinder 31b may shift from its neutral position due to its own weight. In this case, the stroke of the cylinder rod 312 can be aligned with its neutral position by aligning the lower end of the connecting portion 317 provided at the lower end of the cylinder rod 312 with the lower end of the stroke guide 728.

[0072] Next, the details of the sliding nozzle device 3 will be described. Figure 2A and Figure 2C As shown, in order to protect the sliding metal frame 33 from splashing of molten steel, heat, etc., a shielding plate 37a is provided on the lower side of the sliding metal frame 33 in the sliding nozzle device 3, with the sliding direction of the sliding metal frame 33 being horizontal during use. Similarly, a shielding plate 37b is also provided on the lower side of the spring box 34, and a shielding plate 37b is provided on the support 36 (refer to FIG. 1 ) on which the hydraulic cylinder 31a or 31b is mounted. Figure 1 ) is also provided with a shielding plate 37c on the lower side.

[0073] exist Figure 9 In FIG. 3 , the support 36 is shown with the shielding plate 37 c removed.

[0074] The support 36 is mounted on the upper end of the fixed metal frame 32 and has an opening 361 for inserting the cylinder body 311 of the hydraulic cylinder 31 b , a pair of side walls 362 forming the opening 361 , and a back wall 363 connecting the pair of side walls 362 .

[0075] In this specification, surfaces of the pair of side wall portions 362 that face each other are referred to as inner sides of the pair of side wall portions 362 .

[0076] A pair of grooves 364 are provided inside the pair of side wall portions 362. By inserting the lower end portion of the cylinder body 311, that is, the flange portion 316, into the pair of grooves 364, for example, Figure 2A As shown, the hydraulic cylinder 31b can be mounted on the support 36. To facilitate insertion of the flange portion 316, the top ends of the pair of grooves 364 are formed with tapered portions 364a that expand toward the top end on the side opposite to the back wall portion 363.

[0077] like Figure 2A As shown, four marking blocks 38a to 38d are provided on the sliding nozzle device 3 to allow the maintenance robot to identify the position. In this embodiment, the maintenance robot is a robot arm 4 including a mounting device 5 and is equipped with a laser irradiator 57 and a camera 58.

[0078] Of the four marking blocks 38a through 38d, marking block 38a is provided on the fixed metal frame 32 to allow a maintenance robot to identify the position of the sliding nozzle assembly 3. Since the fixed metal frame 32 remains in place on the sliding nozzle assembly 3, the maintenance robot can determine the position of the sliding nozzle assembly 3 by identifying marking block 38a.

[0079] In this embodiment, in order for the maintenance robot to recognize the position of the sliding nozzle device 3, laser light is first emitted from the laser irradiator 57 toward the marking block 38a. Next, the position of the marking block 38a is determined based on an image captured by the camera 58, including the shape of the laser light irradiated onto the marking block 38a, the position of the light on the marking block 38a, and the intensity of the light.

[0080] like Figure 2A As shown, the position of the sliding nozzle assembly 3 by the maintenance robot is identified at the maintenance site 2, with the sliding nozzle assembly 3 held approximately vertically upright and the sliding metal frame 33 closed. Therefore, the marking block 38a protrudes from the side or bottom surface of the fixed metal frame 32 toward the sliding metal frame 33. Furthermore, the marking block 38a is positioned so that it does not interfere with the sliding movement of the sliding metal frame 33. This ensures reliable and accurate identification of the marking block 38a without hindering the sliding movement of the sliding metal frame 33.

[0081] Furthermore, in this embodiment, the position where the marking block 38a does not interfere with the sliding metal frame 33 is outside the sliding range of the sliding metal frame 33 during use and maintenance. In particular, in this embodiment, the marking block 38a can be located closer to the support 36 than the head of the sliding metal frame 33 during maintenance. Alternatively, the marking block 38a can be located above the lower end of the groove 32a in the fixed metal frame 32, where the heads of the hydraulic cylinder 31b and the sliding metal frame 33 are located.

[0082] As described above, the sliding nozzle device 3 of this embodiment utilizes a hydraulic cylinder 31a during operation. The hydraulic cylinder 31a applies surface pressure to the fixed metal frame 32 and the sliding metal frame 33, thereby sliding the sliding metal frame 33 within the first sliding range. During maintenance, the hydraulic cylinder 31b is used to slide the sliding metal frame 33 outside the first sliding range, thereby releasing the surface pressure.

[0083] Therefore, if Figure 2C As shown, it is preferred that when in use, when the sliding metal frame 33 slides within the first sliding range, the marking block 38a is covered by the sliding metal frame 33 or the shielding plate 37c provided on the sliding metal frame 33. Figure 2AAs shown, it is preferred that the sliding metal frame 33 is set at a position where it will not be covered by the sliding metal frame 33 or the shielding plate 37c when sliding outside the first sliding range. Thus, the marking block 38a can be protected from splashing, heat, etc. of molten steel when in use.

[0084] In order to protect the marker block 38a from heat, dust, etc., air may be blown to the marker block 38a by branching the air cooling air for the springs in the spring box 34. Alternatively, the sliding movement of the sliding metal frame 33 may be utilized to wipe the marker block 38a.

[0085] like Figure 2A As shown, the preferred position of the marking block 38a is usually near the upper end of the fixed metal frame 33. Figure 9 As shown, the position of the marking block 38a is near the support 36. The support 36 is open in one direction perpendicular to the sliding direction of the sliding metal frame 33 so that the hydraulic cylinder 31b can be installed and removed from the opening facing the one direction. Figure 9 As shown in FIG. 1 , the marking block 38a is preferably arranged on the opposite side of the direction in which the opening faces. Thus, when the hydraulic cylinder 31b is mounted or dismounted, the marking block 38a does not become an obstacle to the mounting or dismounting operation.

[0086] like Figure 2B and Figure 9 As shown, in this embodiment, the sidewall of the fixed metal frame 32 has a protruding thick portion 32b. The marking block 38a is attached to the thick portion 32b of the sidewall of the fixed metal frame 32. The lower end of the thick portion 32b is flush with the lower end of the groove 32a of the fixed metal frame 32. The marking block 38a is positioned above the lower end of the groove 32a of the fixed metal frame 32, preventing it from contacting the sliding metal frame 33.

[0087] On the other hand, in order to identify the position of the support 36, the marking block 38b is provided on the side wall portion 362 of the support 36. When the hydraulic cylinder 31b is attached to or detached from the support 36, identification is performed as needed.

[0088] A marking block 38c is provided on the handle portion 341 that is operated when opening and closing the spring box 34. Furthermore, when opening and closing the spring box 34, identification is performed as needed.

[0089] The marking block 38d is provided on the handle portion 331 that is operated when opening and closing the sliding metal frame 33. Furthermore, when the sliding metal frame 33 is opened and closed, identification is performed as needed.

[0090] These marking blocks 38a to d are installed in a positional relationship close to the next operating point of the maintenance robot. In addition, the marking blocks 38a to d are made of heat-resistant materials such as iron and ceramics.

[0091] Next, the detailed configuration of each portion of the mounting device 5 will be described.

[0092] exist Figure 10A and Figure 10B , the state in which the mounting device 5 holds the hydraulic cylinder 31b is shown. Figure 3 and Figure 4 and Figure 10A and Figure 10B The detailed configuration of each part of the mounting device 5 will be described.

[0093] like Figure 3 and Figure 4 As shown, the top end of the holding portion 52 has an engagement groove 521. The engagement groove 521 can receive the corner of the held plate 313 when the held plate 313 is clamped by the holding portion 52.

[0094] Furthermore, by shrinking the parallel hand 51 using the shrinking and expanding unit, the four retaining portions 52 can be used to hold the four corners of the retained plate 313 of the hydraulic cylinder 31b. At this point, a clearance of 5 mm is maintained between the retained plate 313 and the inner wall of the engaging groove 521. This clearance allows the retained plate 313 to move freely within the clearance in the longitudinal, width, and thickness directions of the retained plate 313.

[0095] Here, the means for holding the held plate 313 is not limited to the parallel hand 51 of this embodiment, and a parallel chuck may be used, for example. Furthermore, the means for holding the held plate 313 is not necessarily limited to a configuration that expands or contracts the pair of holding portions 52 while maintaining parallelism, and may, for example, be configured to expand or contract the distance between the top ends of the pair of holding portions by rotating about the base ends of the pair of holding portions.

[0096] like Figure 4As shown, seven bolts 533 are inserted through seven through-holes in a retaining plate 531 and seven coil springs 534, securing the pressing portion 53 to a base plate 535. The base plate 535 is mounted on the main body 512 of the parallel hand 51. The retaining plate 531 is provided with a gap and includes a pressing plate 532. Furthermore, the pressing plate 532 can move toward the base plate 535, causing the coil springs 534 to flex. The through-holes in the retaining plate 531 are larger than the diameter of the bolts 533. Therefore, a gap exists between the through-holes in the retaining plate 531 and the bolts 533, allowing the pressing plate 532 to tilt. This allows the mounting device 5 to tilt even if the hydraulic cylinder 31b tilts when the cylinder 31b is mounted on the support 36. The pressing plate 532 can tilt in accordance with the tilt of the cylinder 31b, maintaining surface contact between the pressing plate 532 and the pressed plate 315.

[0097] The position of the pressing plate 532 is set so that when the retained plate 313 of the hydraulic cylinder 31b is retained by the retaining portion 52 (engaging groove 521), the pressing plate 532 and the retained plate 315 collide with each other. As a result, the coil spring 534 bends, and the retained plate 313 is pressed against the inner wall surface forming the engaging groove 521 on the cylinder body 311 side.

[0098] The force sensor 54 is bolted to the flange 541 on the side of the parallel hand's main body 512 opposite the pressing portion 53. Specifically, in this embodiment, the force sensor 54 detects the force applied to the holding portion 52 or pressing portion 53 by the hydraulic cylinder 31b. Force sensors that detect force in this manner are also called force sensors, and sensors commonly used in robotic arms and the like can be used. In this embodiment, a six-axis force sensor is used as the force sensor 54. In this embodiment, the force sensor 54 is connected to the camera 58 via a bracket 542.

[0099] The pressing mechanism 55 is composed of a pressing mechanism body 55 a , an operating portion 55 b connected to the pressing mechanism body 55 a , and a spherical contact portion 55 c provided at the tip of the operating portion 55 b .

[0100] The pressing mechanism 55 is mounted on a mounting plate 513 extending downward from the main body 512 of the mounting device 5. Furthermore, two pressing mechanisms 55 are positioned below the retaining portion 52. The operating portion 55b is configured to be retractable from the end of the pressing mechanism body 55a. Furthermore, the operating portion 55b extends forward from the end of the pressing mechanism body 55a. Here, the forward direction of the end of the pressing mechanism body 55a refers to the direction toward the hydraulic cylinder 31b.

[0101] The abutment portion 55c can be displaced to, for example Figure 10A The first position shown in FIG. 1 is abutted against the lower portion of the hydraulic cylinder 31b, that is, the abutment portion 314, and the Figure 10B The second position shown is not in contact with the contacted portion 314. This displacement can be achieved by the extension and retraction of the working portion 55b. That is, although not shown, the pressing mechanism 55 includes a driving mechanism such as an electromagnetic air valve and a cylinder within the pressing mechanism body 55a. By electrically controlling this driving mechanism, the extension and retraction of the working portion 55b can be operated. In addition, by electrically controlling the driving mechanism, the holding action of the holding portion 52 of the mounting device 5 and the movement of the robot arm 4 can be linked to the extension and retraction of the working portion 55b.

[0102] In addition, in this embodiment, the two pressing mechanisms 55 are provided at positions symmetrical with respect to the vertical center axis of the panel mounting device 5 .

[0103] like Figure 4 As shown, the excitation mechanism 56 is composed of an excitation mechanism body 56a provided on the side surface of the main body 512 of the mounting device 5 and an excitation portion 56b provided on the top of the excitation mechanism body 56a. Two excitation mechanisms 56 are provided on the left and right sides of the pressing plate 532 of the mounting device 5. In addition, the excitation mechanism 56 can also be configured to be installed only on either side of the pressing plate 532 of the mounting device 5. Inside the excitation mechanism body 56a, a vibration device not shown, such as a vibration motor, is provided. The vibration device can electrically control the start and stop of the vibration. By vibrating the vibration device, the excitation mechanism body 56a vibrates. The vibration of the excitation mechanism body 56a is transmitted to the excitation portion 56b. The vibration portion 56b abuts against the back surface of the pressing portion 53, thereby being able to transmit the vibration to the pressing portion 53. Although the vibration direction of the excitation mechanism body 56a can also vibrate in a direction parallel to the pressing portion 53, there is a possibility that the excitation portion 56b will deviate in the vibration direction, resulting in a change in the position where the vibration is transmitted to the pressing portion 53. Therefore, it is more preferable that the vibration direction is perpendicular to the pressing portion 53.

[0104] When the pressing portion 53 of the mounting device 5 presses the pressed plate 315 of the hydraulic cylinder 31b, the excitation mechanism body 56a vibrates as needed. This vibration is transmitted from the vibrating portion 56b through the pressing portion 53 to the hydraulic cylinder 31b. In other words, vibrating the excitation mechanism body 56a causes the hydraulic cylinder 31b to vibrate.

[0105] Next, the operation of the mounting device 5 will be described.

[0106] In the maintenance location 2, if Figure 1 As shown, the mounting device 5 mounted on the top of the robot arm 4 is located at the origin. Figure 1As shown, the sliding nozzle assembly 3 is mounted on the bottom 11 of the ladle immediately after casting. However, since the hydraulic cylinder 31a used during operation is removed at the casting site as described above, no drive device is mounted on the support 36 of the sliding nozzle assembly 3 at the maintenance site 2. Meanwhile, the hydraulic cylinder 31b used during maintenance is placed in an overhead position on the placement table 7. The mounting assembly 5 mounts the hydraulic cylinder 31b to the support 36 of the sliding nozzle assembly 3 while maintaining the overhead position. The procedure is as follows. Although the movement of the mounting assembly 5 described below is performed by the robot arm 4, the following description will be based on the movement of the mounting assembly 5.

[0107] The installation device 5 is Figure 1 The origin position shown is moved to the front position of the sliding nozzle device 3 installed on the bottom 11 of the ladle. This front position is indicated on the robot arm 4 in advance.

[0108] At this front position, the mounting device 5 irradiates the marking block 38a with a laser beam from the laser irradiator 57. The position of the marking block 38a is determined based on the image captured by the camera 58, including the shape of the laser beam hitting the marking block 38a, the position of the light on the marking block 38a, and the intensity of the light. If the determined position of the marking block 38a differs from the previously stored position of the marking block 38a, the mounting device 5 calculates the difference between the determined position of the marking block 38a and the previously stored position. The current position of the sliding nozzle assembly 3 is then corrected, and the current position of the sliding nozzle assembly 3 is stored over the previously stored position.

[0109] Next, the mounting device 5 moves to the holding position of the hydraulic cylinder 31b mounted on the placement table 7. This holding position is where the holding portion 52 of the mounting device 5 holds the plate 313 held by the hydraulic cylinder 31b. This holding position is also pre-indicated on the robot arm 4. Upon reaching this holding position, the mounting device 5 expands the distance between its parallel hands 51 to a distance greater than the vertical length of the plate 313 held. Then, after reaching this holding position, the mounting device 5 contracts its parallel hands 51 to clamp the plate 313. In this manner, the plate 313 held by the hydraulic cylinder 31b is held by the holding portion 52 of the mounting device 5.

[0110] Thereafter, the mounting device 5 moves horizontally rearward, whereby the flange portion 316 of the hydraulic cylinder 31b is released from the pair of grooves 364 of the placement table 7, and the hydraulic cylinder 31b is separated from the placement table 7 while maintaining the suspended state.

[0111] Next, the mounting device 5 moves to a position directly in front of the support 36 of the sliding nozzle device 3 while the hydraulic cylinder 31b is kept in the suspended state. This directly in front position is a position immediately before the hydraulic cylinder 31b contacts the pair of side walls 362 forming the opening 361 of the support 36. When the mounting device 5 reaches this directly in front position, as shown in FIG. Figure 10B As shown, the abutting portion 55c of the mounting device 5 is located at the second position where it does not abut against the lower portion of the hydraulic cylinder 31b, that is, the abutted portion 314. In addition, this front position is also indicated in advance on the robot arm 4.

[0112] Next, the mounting device 5 moves forward in the horizontal direction, and the hydraulic cylinder 31b moves to a position where it contacts a pair of side walls 362 of the opening 361 of the support 36. Figure 10A As shown, the abutting portion 55c of the mounting device 5 has moved to a first position where it abuts the lower portion of the hydraulic cylinder 31b, i.e., the abutted portion 314. This abutting position is also pre-designated on the robot arm 4. In this embodiment, the abutting position is where the corner of the flange portion 316 of the hydraulic cylinder 31b reaches and abuts against the tapered portion 364a at the top end of the pair of grooves 364 formed in the pair of side walls 362 of the support 36.

[0113] The mounting device 5 moves further forward in the horizontal direction from the contact position. Then, the flange portion 316 of the hydraulic cylinder 31b is inserted into a pair of grooves 364 formed on a pair of side walls 362 of the support 36, and moves toward the back wall portion 363 of the support 36 while being guided by the pair of grooves 364 (see Figure 11 ).

[0114] During this movement, the pressing plate 532 of the pressing portion 53 of the mounting device 5 is in a state of colliding with the pressed plate 315 of the hydraulic cylinder 31b. Therefore, the holding portion 52 and / or the pressing portion 53 receives a force as a reaction force from the hydraulic cylinder 31b, and the force is detected by the force sensor 54. Then, when the force detected by the force sensor 54 reaches a specified threshold value (for example, 500N), the hydraulic cylinder 31b is opened from the holding portion 52 of the mounting device 5. This is because the flange portion 316 of the hydraulic cylinder 31b reaches the back wall portion 363 of the support 36 and the installation of the hydraulic cylinder 31b is completed. Specifically, when the force detected by the force sensor 54 reaches a specified threshold value of, for example, about 500N, as shown in FIG. Figure 12 As shown, by expanding the parallel hand 51 of the mounting device 5, the hydraulic cylinder 31b is released from the holding portion 52 of the mounting device 5. At the same time, the contact portion 55c is displaced to the second position where it does not contact the lower portion of the hydraulic cylinder 31b, that is, the contacted portion 314.

[0115] As described above, the mounting device 5 of this embodiment includes the retaining portion 52 for retaining the retained plate 313 mounted on the upper portion or center portion of the hydraulic cylinder 31b, and the abutting portion 55c for abutting the abutted portion 314, the lower portion of the hydraulic cylinder 31b, when the hydraulic cylinder 31b is mounted on the support 36. This allows the hydraulic cylinder 31b in an upwardly suspended state to be smoothly mounted on the support 36 of the sliding nozzle device 3 using the robot arm 4. Specifically, conventionally, when the hydraulic cylinder 31b in an upwardly suspended state is held at its upper portion or center portion and is intended to be mounted on the support 36, the lower portion of the hydraulic cylinder 31b is free. Consequently, the lower portion of the hydraulic cylinder 31b becomes unstable, particularly during mounting on the support 36, preventing smooth mounting. In contrast, in the mounting device 5 of this embodiment, when mounted on the support 36 , the abutment portion 55 c abuts against the abutted portion 314 at the bottom of the hydraulic cylinder 31 b , and thus the hydraulic cylinder 31 b in the suspended state can be smoothly mounted on the support 36 .

[0116] In addition, in order to fully exert the effect of the abutment portion 55c, it is preferred that the abutment portion 55c is located at the above-mentioned first position at least between the position where the hydraulic cylinder 31b abuts against a pair of side walls 362 of the support 36 and the position where it abuts against the back wall 363, as in the present embodiment.

[0117] Furthermore, in this embodiment, when the hydraulic cylinder 31b is mounted on the support 36, the holding portion 52 releases the hydraulic cylinder 31b when the force detected by the force sensor 54 reaches a predetermined threshold value. Therefore, the hydraulic cylinder 31b can be mounted reliably.

[0118] Furthermore, in this embodiment, when the hydraulic cylinder 31b is mounted on the support 36, the retaining portion 52 releases the hydraulic cylinder 31b when the force detected by the force sensor 54 reaches a predetermined threshold, that is, when the mounting of the hydraulic cylinder 31b is complete. The retaining portion 52 can also release the hydraulic cylinder 31b during the mounting process. In this case, after the hydraulic cylinder 31b is released, the pressing portion 53 receives a force from the hydraulic cylinder 31b as a reaction force, and this force is detected by the force sensor 54. Furthermore, the retaining portion 52 can terminate the mounting operation when the force detected by the force sensor 54 reaches a predetermined threshold. Therefore, the hydraulic cylinder 31b can be reliably mounted.

[0119] After the installation of the hydraulic cylinder 31b is completed, the installation device 5 moves to Figure 1 The origin position shown moves.

[0120] When removing the hydraulic cylinder 31b from the support 36, the mounting device 5 moves to the front of the hydraulic cylinder 31b, holds the hydraulic cylinder 31b, and then moves horizontally rearward. This allows the hydraulic cylinder 31b to be removed from the support 36. The mounting device 5 then moves to the front of the placement table 7 while holding the hydraulic cylinder 31b. Next, it moves horizontally forward from the front of the placement table 7. The flange 316, or lower end of the cylinder body 311, is inserted into a pair of grooves 724 formed in a pair of side walls 722 of the placement table 7. Guided by these grooves 724, the mounting device 5 moves toward the back wall 723 of the placement table 7. When the contact detection sensor 725 detects contact with the flange 316 of the hydraulic cylinder 31b, the mounting device 5 expands its parallel hand 51. The hydraulic cylinder 31b is then released from the mounting device 5's holding portion 52. Thus, the hydraulic cylinder 31b is placed on the placement table 7. When the placement of the hydraulic cylinder 31b is completed, the mounting device 5 is as shown in FIG. Figure 1 Move to the origin position as shown.

[0121] Furthermore, the hydraulic cylinder 31b is also in the suspended state when the hydraulic cylinder 31b is removed from the support 36. Furthermore, the above-mentioned respective positions during the removal operation are also indicated in advance on the robot arm 4.

Claims

1. A sliding nozzle device comprising a fixed metal frame and a sliding metal frame slidably mounted on the fixed metal frame, wherein during use, surface pressure is applied to the fixed metal frame and the sliding metal frame to cause the sliding metal frame to slide within a first sliding range, and during maintenance, the surface pressure is released by sliding the sliding metal frame outside the first sliding range, characterized in that: At least on the fixed metal frame, a marking block is provided for the maintenance robot to identify the position. The marking block protrudes from the side or bottom surface of the fixed metal frame toward the sliding metal frame, and is arranged at a position where it will not interfere with the sliding metal frame when the sliding metal frame slides. Moreover, when the sliding metal frame slides within the first sliding range, the marking block is covered by the sliding metal frame or the shielding plate arranged on the sliding metal frame, and when the sliding metal frame slides out of the first sliding range, the marking block will not be covered by the sliding metal frame or the shielding plate.

Images