System for mounting a drive device using a mounting device

Abstract

The present invention provides an installation device capable of installing a drive device in a suspended state to a slide nozzle device using a robot. Specifically, the present invention is characterized in that, in an installation device (5) for installing a drive device (31b) installed on the tip of a robot (4) and used to connect the upper end to a suspension device to a support (36) of a slide nozzle device (3), there is provided a holding portion (52) for holding the upper portion or the central portion (held by a holding plate (313)) of the drive device (31b), and an abutting portion (55c) capable of abutting against the lower portion (abutted by an abutting portion (314)) of the drive device (31b) when the drive device (31b) is installed to the support.

Description

Technical Field

[0001] The present invention relates to a mounting device for mounting a drive unit onto a sliding nozzle device. Background Technology

[0002] At the bottom of the molten steel container, such as the ladle and gate, a sliding nozzle device is provided for adjusting the flow rate of molten steel flowing out of the container. A drive mechanism for actuating the device is mounted on this sliding nozzle device.

[0003] The installation of the drive unit onto the sliding nozzle assembly is usually performed by an operator. However, since the drive unit is heavy, it is necessary to use a device for installation, and a corresponding device is disclosed in Patent Document 1. In the device of Patent Document 1, the drive unit is installed onto the sliding nozzle assembly by holding the drive unit with a holding mechanism and raising and lowering the holding mechanism.

[0004] Patent documents

[0005] Patent Document 1: Microfilm of Japanese Patent Application No. 62-83141 (Japanese Patent Application No. 63-196354) Summary of the Invention

[0006] The installation of the drive unit onto the sliding nozzle device is carried out in a maintenance area. In maintenance areas, the drive unit installed on the sliding nozzle device is often in a so-called suspended state, where its upper end is connected to a suspension device. With this suspended drive unit, it is difficult to install it onto the sliding nozzle device using a mounting device that raises and lowers the holding mechanism, as disclosed in Patent Document 1. Therefore, a robotic arm or similar mechanical device is required.

[0007] Therefore, the inventors discovered that when a robotic arm is used to hold the drive device in an overhead state and install it onto the sliding nozzle device, the overhead drive device becomes unstable and shakes, which can lead to failure in installation.

[0008] In view of the above, the technical problem to be solved by the present invention is to provide an installation device that can smoothly install a suspended drive device onto a sliding nozzle device using a robotic arm.

[0009] The present invention provides the following installation device.

[0010] 1. A mounting device, mounted on the top of a robotic arm, for mounting a drive unit, whose upper end is connected to a suspension device, to a support for a sliding nozzle device, characterized in that,

[0011] have:

[0012] The retaining part holds the upper or central part of the drive device;

[0013] The abutment portion abuts against the lower part of the drive device when the drive device is installed onto the support.

[0014] 2. The installation device described in 1 above, characterized in that,

[0015] The abutting part can be displaced to a first position abutting against the lower part of the driving device and a second position not abutting against the lower part of the driving device.

[0016] 3. The installation device described in 2 above, characterized in that,

[0017] The support has an opening for inserting the drive device, a pair of sidewalls forming the opening, and a back wall connecting the pair of sidewalls.

[0018] When the drive device is installed on the support, the abutting portion is located in the first position at least between the position where the drive device held on the retaining portion abuts against the side wall portion and the position where it abuts against the back wall portion.

[0019] 4. The installation device according to any one of 1 to 3 above, characterized in that,

[0020] It has a force sensor that detects the force received from the drive device.

[0021] When the drive device is installed on the support, the retaining part releases the drive device when the force detected by the force sensor reaches a predetermined threshold.

[0022] 5. The installation device according to any one of 1 to 3 above, characterized in that,

[0023] It has a force sensor that detects the force received from the drive device.

[0024] When the drive device is installed on the support, the retaining part stops the installation operation when the force detected by the force sensor reaches a predetermined threshold.

[0025] According to the present invention, a robotic arm can be used to smoothly install the suspended drive device onto the sliding nozzle device. Attached Figure Description

[0026] Figure 1 This is an explanatory diagram showing a maintenance location that includes one embodiment of the present invention, namely the installation device.

[0027] Figure 2A This is an explanatory diagram of a sliding nozzle device showing the sliding metal frame closed during maintenance.

[0028] Figure 2BThis is an explanatory diagram of a sliding nozzle device showing the sliding metal frame in the open state during maintenance.

[0029] Figure 2C This is an explanatory diagram showing the sliding nozzle device in use.

[0030] Figure 3 It is a three-dimensional diagram of the installation device.

[0031] Figure 4 This is a side view of the mounting device (only the retaining part is a sectional view).

[0032] Figure 5 The following diagrams represent the drive unit: (a) is a top view, (b) is a front view, and (c) is a right-side view.

[0033] Figure 6A This is a 3D diagram of the placement platform.

[0034] Figure 6B This is a partial 3D view of the placement platform.

[0035] Figure 7 The table is shown in (a) top view, (b) front view, and (c) right side view.

[0036] Figure 8 It is a three-dimensional view showing the state of the drive unit being placed on the platform.

[0037] Figure 9 This is a perspective view showing the support portion of the sliding nozzle device.

[0038] Figure 10A This is a front view showing the state in which the mounting device holds the drive device (with the abutment part in the first position).

[0039] Figure 10B This is a front view showing the state in which the mounting device holds the drive device (with the abutment part in the second position).

[0040] Figure 11 This is a perspective view showing the state in which the mounting device with the drive unit is installed on the support of the sliding nozzle device.

[0041] Figure 12 This is a front view showing the state where the installation device has the drive device turned on.

[0042] Symbol Explanation

[0043] 1-Ladle; 11-Bottom of ladle; 2-Maintenance area; 21-Ground of maintenance area; 22-Ladle receiving part; 23-Frame; 3-Sliding nozzle device; 31a, 31b-Hydraulic cylinder (drive device); 311-Cylinder body; 312-Cylinder rod; 313-Retained plate; 314-Abutted part; 315-Pressed plate; 316-Flange; 317-Connecting part; 318-Guide plate; 319-Guide groove; 32-Fixing metal frame; 32a-Fixing metal frame Frame groove; 32b - Thick wall portion of the side wall of the fixed metal frame; 321, 322 - Rotation shaft; 33 - Sliding metal frame; 331 - Handle portion; 34 - Spring box; 341 - Handle portion; 35a - Upper plate; 35b - Lower plate; 36 - Support; 361 - Opening; 362 - Side wall portion; 363 - Back wall portion; 364 - Groove; 364a - Conical portion; 37a, 37b, 37c - Covering plate; 38a, 38b, 38c, 38d - Marking block (mark 4- Robotic arm (manipulator); 5- Mounting device; 51- Parallel hand; 511- Parallel claw; 512- Body part; 513- Mounting plate; 52- Holding part; 53- Pressing part; 531- Holding plate; 532- Pressing plate; 533- Bolt; 534- Helical spring; 535- Base plate; 54- Force sensor; 541- Flange part; 542- Heat dissipation cover; 55- Pressing mechanism; 56- Vibration mechanism; 56a- Vibration mechanism body; 56b-Vibration section; 57-Laser irradiator; 58-Camera; 6-Suspension device; 7-Placement platform; 71-Support column; 71a-Plate portion of the support column; 72-Placing platform; 721-Opening; 722-Side wall portion; 723-Back wall portion; 723a-Plate surface of the back wall portion; 724-Groove; 724a-Cone; 725-Contact detection sensor; 726-Magnet; 727-Support rod; 728-Stroke guide. Detailed Implementation

[0044] Figure 1 The image shows a maintenance location that includes one embodiment of the present invention, namely, an installation device.

[0045] In this figure, the ladle 1, freshly cast, is laid horizontally on the ladle receiving part 22 on the ground 21 of the maintenance area 2. A sliding nozzle device 3 is installed on the bottom 11 of the ladle, indicating its state during maintenance. Figure 1 In the middle, the sliding direction of the sliding metal frame is roughly vertical.

[0046] On the other hand, in one example of a robotic arm, the base of the robotic arm 4 is fixed to a platform 23 set on the ground 21. Furthermore, a mounting device 5 is bolted to the top of the robotic arm 4. The method of mounting the mounting device 5 to the robotic arm 4 is not limited to bolt fixing; for example, a manual changer can be installed on both the robotic arm 4 and the mounting device 5, and the mounting device 5 can be connected to the robotic arm 4.

[0047] Furthermore, the robotic arm 4 is a 6-axis vertical multi-joint robotic arm. Therefore, the orientation and position of the mounting device 5 mounted on its top can be moved freely.

[0048] In this specification, hydraulic cylinder 31b is used as an example of a drive device. However, the drive device is not limited to hydraulic cylinder 31b as long as it can make the sliding metal frame 33 described later slide; for example, an electric motor can be used.

[0049] On the test stand 23, a suspension device 6 is provided for suspending the hydraulic cylinder 31b mounted on the sliding nozzle device 3 during maintenance. That is, in the maintenance location 2, the hydraulic cylinder 31b mounted on the sliding nozzle device 3 is in a so-called suspended state, with its upper end connected to the suspension device 6. In addition, in this embodiment, the suspension device 6 is equipped with a balancer mechanism.

[0050] In addition, a placement platform 7 is provided on the stand 23 for placing the hydraulic cylinder 31b in a suspended state.

[0051] Figure 2A The image shows a sliding nozzle device 3 with the sliding metal frame closed during maintenance. Figure 2B The image shows a sliding nozzle device 3 with the sliding metal frame open during maintenance. Furthermore, in... Figure 2C The image shows the state of the sliding nozzle device during use. Furthermore, although the sliding direction of the sliding metal frame of the sliding nozzle device 3 is horizontal during use, ... Figure 2C In order to facilitate the indication of the condition during maintenance. Figure 2A and Figure 2B In contrast, the sliding direction of the sliding metal frame is represented as approximately vertical.

[0052] Furthermore, in this specification, the use of a sliding nozzle device for casting is considered as the use of the sliding nozzle. Additionally, the relocation of the ladle to a maintenance area for repair of the sliding nozzle device is considered as maintenance.

[0053] The sliding nozzle device 3 includes a fixed metal frame 32, a sliding metal frame 33, and a spring box 34. An upper plate 35a is housed in the fixed metal frame 32, and a lower plate 35b is housed in the sliding metal frame 33. The sliding metal frame 33 is slidably disposed within the fixed metal frame 32. Furthermore, the sliding metal frame 33 is configured to rotate and open / close relative to the fixed metal frame 32 about a rotation axis 321. The spring box 34 is configured to rotate and open / close relative to the fixed metal frame 32 about a rotation axis 322. Spring boxes 34 are respectively disposed on both sides of the fixed metal frame 32. Moreover, when the sliding metal frame 33 is closed, surface pressure is applied between the fixed metal frame 32 and the sliding metal frame 33 via the spring box 34. Additionally, surface pressure is also applied between the upper plate 35a and the lower plate 35b via the spring box 34.

[0054] A hydraulic cylinder 31a is installed on the sliding nozzle device 3 during use. Furthermore, a hydraulic cylinder 31b is installed for maintenance. That is, during use, the hydraulic cylinder 31a applies surface pressure to the fixed metal frame 32 and the sliding metal frame 33, causing the sliding metal frame 33 to slide within a first sliding range. Moreover, during maintenance, the hydraulic cylinder 31b is used to slide the sliding metal frame 33 outside the aforementioned first sliding range to release the surface pressure. The hydraulic cylinder 31a used during use is assembled and disassembled at the foundry, while the hydraulic cylinder 31b used for maintenance is... Figure 1 The hydraulic cylinder 31b is assembled and disassembled in maintenance location 2. Furthermore, in this embodiment, the assembly and disassembly of the hydraulic cylinder 31b used for maintenance in maintenance location 2 will be described.

[0055] In this embodiment, Figure 3 and Figure 4 The diagram shows a mounting device 5 for attaching and detaching the hydraulic cylinder 31b used during maintenance from the sliding nozzle device 3. Figure 3 This is a perspective view of the installation device 5. Figure 4 This is a side view of the mounting device 5.

[0056] The mounting device 5 includes a main body 512, parallel hands 51 and 51 disposed above and below the main body 512, a pressing part 53 disposed on the front of the main body, a force sensor 54, a pressing mechanism 55, a vibration mechanism 56, a laser irradiator 57, and a camera 58.

[0057] The positions of the laser irradiator 57 and the camera 58 are not limited to those in this embodiment; the camera 58 can also be positioned at the location of the laser irradiator 57. Furthermore, the laser irradiator 57 and the camera 58 can be centrally located in one place. The camera 58 captures images of components of the sliding nozzle device or of the laser light irradiated by the laser irradiator 57.

[0058] In this embodiment, parallel hands 51, 51 are provided above and below the main body 512.

[0059] The parallel hands 51 and 51 can also be positioned on the left and right sides of the main body 512.

[0060] The parallel hands 51, 51 can be controlled to move up and down via a power unit (not shown) to expand or shrink the vertical distance between them.

[0061] Examples of such expansion / contraction units include hydraulic cylinders, pneumatic cylinders, and electromagnetic chucks. These expansion / contraction units are, for example, mounted on the main body 512.

[0062] In this specification, the act of increasing the distance between parallel hands 51, 51 is considered as the expansion of parallel hands 51, 51. Furthermore, the act of decreasing the distance between parallel hands 51, 51 is considered as the contraction of parallel hands 51, 51.

[0063] In addition, the parallel hand 51 is U-shaped and has a parallel claw 511 and a retaining part 52 at the tip of the parallel claw 511.

[0064] In addition, Figure 4 In the text, force sensor 54, laser irradiator 57, and camera 58 are omitted.

[0065] The detailed configuration of each part of the mounting device 5 will be described later.

[0066] Figure 5 The image shows a hydraulic cylinder 31b, (a) is a top view, (b) is a front view, and (c) is a right side view.

[0067] The hydraulic cylinder 31b has a cylinder body 311 and a cylinder rod 312 that moves in and out of the cylinder body 311. A rectangular retaining plate 313 is mounted in the cylinder body 311. This retaining plate 313 is held by the retaining part 52 of the mounting device 5. Specifically, the retaining plate 313 is mounted from the center to the top of the hydraulic cylinder 31b. Then, the retaining part 52 of the mounting device 5 holds the hydraulic cylinder 31b by clamping the retaining plate 313 from above and below. Furthermore, the shape of the retaining plate 313 is not limited to rectangular; it can be any shape that can be held by the retaining part 52. Alternatively, the retaining plate 313 can be clamped from the left and right sides by the retaining part 52 of the mounting device 5.

[0068] At the lower part of the retaining plate 313, an abutment portion 314 extending downward from the retaining plate 313 is installed. As described later, the abutment portion 314 can abut against the abutment portion 55c provided on the top end of the pressing mechanism 55 of the mounting device 5. That is, the hydraulic cylinder 31b is mounted to the support 36 of the sliding nozzle device 3 (see reference 36). Figure 1When the cylinder is in operation, the abutting part 55c can abut against the lower part of the hydraulic cylinder 31b, i.e., the abutting part 314.

[0069] Furthermore, a pressing plate 315 is mounted on the retaining plate 313 on the side opposite to the surface opposite to the cylinder body 311. As will be described later, this pressing plate 315 becomes the part pressed by the pressing plate 532 of the pressing part 53 of the mounting device 5.

[0070] The lower end of the cylinder body 311 is a rectangular flange 316 when viewed from above. As will be described later, the hydraulic cylinder 31b is mounted on the support 36 by mounting the flange 316 onto the support 36 of the sliding nozzle device 3.

[0071] On the other hand, a connecting part 317 is provided on the lower end of the cylinder rod 312 for detachably connecting to the sliding metal frame 33 of the sliding nozzle device 3. By connecting the sliding metal frame 33 to the connecting part 317 and moving the cylinder rod 312 forward and backward, the sliding metal frame 33 can slide relative to the fixed metal frame 32.

[0072] Additionally, a guide plate 318 is connected to the connecting portion 317. This guide plate 318 is guided forward and backward by a guide groove 319 provided on the side of the flange portion 316. Therefore, the connecting portion 317 can move forward and backward smoothly without rotation.

[0073] Next, we will explain the placement platform 7. Figure 6A , Figure 6B and Figure 7 The table 7 is shown in the diagram. Figure 6A It is a 3D image. Figure 6B This is a partial 3D image. Figure 7 (a) is a top view. Figure 7 (b) is the front view. Figure 7 (c) is the right-side view. Furthermore, in Figure 8 The image shows the state where the hydraulic cylinder 31b is placed on the placement table 7. Additionally, in... Figure 6B In the text, the lower side of the pair of sidewall portions 722 described later is omitted.

[0074] The placement platform 7 has a setting Figure 1 The maintenance location 2 shown includes a support column 71 on a frame 23, a plate 71a at the upper end of the support column 71, and a loading platform 72 mounted on the plate 71a.

[0075] The loading platform 72 has an opening 721 into which the cylinder body 311 of the hydraulic cylinder 31b is inserted, a pair of sidewall portions 722 forming the opening 721, and a back wall portion 723 connecting the pair of sidewall portions 722. Furthermore, the back wall portion 723 has a vertically extending plate surface 723a. The loading platform 72 can be fixed to the support column 71 by bolting the plate surface 723a of the back wall portion 723 to the plate portion 71a of the support column 71.

[0076] In this specification, the surfaces of the pair of sidewall portions 722 that face each other are referred to as the inner surfaces of the pair of sidewall portions 722. Furthermore, the surface of the back wall portion 723 that is connected to the inner surfaces of the sidewall portions 722 is referred to as the inner surface of the back wall portion 723.

[0077] A pair of grooves 724 are provided on the inner side of a pair of sidewall portions 722. For example... Figure 8 As shown, the lower end of the cylinder body 311, i.e., the flange portion 316, is inserted into the pair of grooves 724, and the hydraulic cylinder 31b is placed on the placement platform 7 (placement platform 72). The top ends of the pair of grooves 724 form a tapered portion 724a that widens towards the top end opposite to the back wall portion 723. Because of the tapered portion 724a, it is easy to insert the flange portion 316.

[0078] A magnet 726 is provided on the inner side of the back wall portion 723. Furthermore, a groove is provided on the inner side of the back wall portion 723, into which a contact detection sensor 725 is inserted. The contact detection sensor 725 is used to detect the contact of the flange portion 316 of the hydraulic cylinder 31b, and may be configured as a limit switch, for example. The magnet 726 uses magnetic force to ensure that the flange portion 316 of the hydraulic cylinder 31b is in solid contact with and held in place by the back wall portion 723.

[0079] In addition, a support rod 727 is provided above the back wall portion 723. The support rod 727 prevents the flange portion 316 of the hydraulic cylinder 31b from contacting the side of the cylinder body 311 when it comes into contact with the back wall portion 723, thus preventing the cylinder body 311 from tilting.

[0080] On the underside of one of the pair of sidewall portions 722, an L-shaped stroke guide 728 extending downward from that underside is provided. This stroke guide 728 is used to align the stroke of the cylinder rod 312 of the hydraulic cylinder 31b with its intermediate stroke position. Here, the intermediate stroke position refers to the position of the cylinder rod 312 when the through holes of the upper plate 35a and lower plate 35b housed within the fixed metal frame and sliding metal frame are continuous.

[0081] The stroke guide 728 is used, for example, during maintenance when the through holes of the upper plate 35a and the lower plate 35b are continuous, and when there is a process of temporarily removing the cylinder. At this time, the cylinder rod 312 of the removed hydraulic cylinder 31b may shift from its intermediate position due to its own weight. At this time, by aligning the lower end of the connecting portion 317 provided on the lower end of the cylinder rod 312 with the lower end of the stroke guide 728, the stroke of the cylinder rod 312 can be aligned with the intermediate position.

[0082] Next, the details of the sliding nozzle device 3 will be explained. Figure 2A and Figure 2C As shown, to protect the sliding metal frame 33 from splashes of molten steel and heat during use, a shielding plate 37a is provided on the lower side of the sliding metal frame 33, based on the horizontal sliding direction of the sliding metal frame 33 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 (see reference) where the hydraulic cylinder 31a or 31b is mounted. Figure 1 A shielding plate 37c is also provided on the lower side of the ).

[0083] exist Figure 9 In the middle, the support 36 is indicated with the shielding plate 37c removed.

[0084] 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 31b, a pair of side wall portions 362 forming the opening 361, and a back wall portion 363 connecting the pair of side wall portions 362.

[0085] In this specification, the surfaces of a pair of sidewall portions 362 that are opposite to each other are referred to as the inner surfaces of the pair of sidewall portions 362.

[0086] A pair of grooves 364 are provided on the inner side of a pair of sidewall portions 362. The lower end of the cylinder body 311, i.e., the flange portion 316, is inserted 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 the insertion of the flange 316, the top ends of a pair of grooves 364 are formed into tapered portions 364a that widen toward the top end opposite to the back wall portion 363.

[0087] like Figure 2A As shown, four marker blocks 38a to 38d are provided on the sliding nozzle device 3 to enable the maintenance robot to identify the position. Furthermore, in this embodiment, the maintenance robot is a robotic arm 4 including a mounting device 5, and is equipped with a laser illuminator 57 and a camera 58.

[0088] Of the four marker blocks 38a to d, marker block 38a is set on the fixed metal frame 32 to enable the maintenance robot to identify the position of the sliding nozzle device 3. Since the position of the fixed metal frame 32 remains unchanged on the sliding nozzle device 3, the maintenance robot can determine the position of the sliding nozzle device 3 by recognizing marker block 38a.

[0089] In this embodiment, in order for the maintenance robot to identify the position of the sliding nozzle device 3, a laser is first irradiated from the laser irradiator 57 toward the marker block 38a. Next, the position of the marker block 38a is determined based on images captured by the camera 58, such as the shape of the laser irradiating the marker block 38a, the position of the light on the marker block 38a, and the intensity of the light.

[0090] like Figure 2A As shown, the position recognition of the sliding nozzle device 3 of such a maintenance robot is performed in the maintenance area 2, with the sliding nozzle device 3 upright approximately vertical and the sliding metal frame 33 closed. Therefore, the marker block 38a protrudes from the side or bottom of the fixed metal frame 32 toward the sliding metal frame 33. Furthermore, the marker block 38a is positioned so as not to interfere with the sliding metal frame 33 during its sliding motion. Thus, the marker block 38a can be reliably and accurately identified without obstructing the sliding motion of the sliding metal frame 33.

[0091] Furthermore, in this embodiment, the position where the marking block 38a does not interfere with the sliding metal frame 33 refers to the outer side of the sliding range in which the sliding metal frame 33 slides during use and maintenance. In particular, in this embodiment, the marking block 38a may be located closer to the support 36 than the head position of the sliding metal frame 33 during maintenance. Alternatively, it may be located higher than the lower end of the groove 32a of the fixed metal frame 32 where the head of the hydraulic cylinder 31b and the head of the sliding metal frame 33 are located.

[0092] As described above, the sliding nozzle device 3 of this embodiment uses a hydraulic cylinder 31a during use. When the hydraulic cylinder 31a applies surface pressure to the fixed metal frame 32 and the sliding metal frame 33, it causes the sliding metal frame 33 to slide within a first sliding range. During maintenance, the surface pressure can be released by using the hydraulic cylinder 31b to slide the sliding metal frame 33 to the outside of the first sliding range.

[0093] Therefore, as Figure 2C As shown, preferably, during 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. Furthermore, as... Figure 2AAs shown, the sliding metal frame 33 is preferably positioned so that it is not covered by the sliding metal frame 33 or the shielding plate 37c when the slide extends beyond the first sliding range. This protects the marking block 38a from splashes of molten steel, heat, etc., during use.

[0094] In addition, to protect the marker block 38a from heat or dust, the marker block 38a can be air-blown by the air branch of the spring in the spring box 34. Alternatively, the marker block 38a can be brushed by sliding the sliding metal frame 33.

[0095] like Figure 2A As shown, the preferred location of the marking block 38a, as described above, is typically near the upper end of the fixed metal frame 33. That is, as... Figure 9 As shown, the marker block 38a is located near the support 36. The support 36 opens to a direction orthogonal 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 that direction. Therefore, as Figure 9 As shown, the marker block 38a is preferably positioned on the opposite side of the direction in which the opening faces. Therefore, the marker block 38a will not obstruct the installation or removal of the hydraulic cylinder 31b.

[0096] like Figure 2B and Figure 9 As shown, in this embodiment, a thick-walled portion 32b protrudes from a part of the side wall of the fixed metal frame 32. A marking block 38a is installed on the thick-walled portion 32b in the side wall of the fixed metal frame 32. The lower end of the thick-walled portion 32b is flush with the lower end of the groove 32a of the fixed metal frame 32. If the marking block 38a is located above the lower end of the groove 32a of the fixed metal frame 32, it will not come into contact with the sliding metal frame 33.

[0097] On the other hand, a marker block 38b is provided on the side wall portion 362 of the support 36 to identify the position of the support 36. Moreover, identification is performed as needed when installing or removing the hydraulic cylinder 31b from the support 36.

[0098] A marking block 38c is provided on the handle 341 that is operated when opening and closing the spring box 34. Moreover, the marking is performed as needed when opening and closing the spring box 34.

[0099] A marker block 38d is provided on the handle 331, which is operated when opening and closing the sliding metal frame 33. Moreover, identification is performed as needed when opening and closing the sliding metal frame 33.

[0100] These marker blocks 38a-d are installed based on their positional relationship to the next action point of the maintenance robot. Furthermore, the marker blocks 38a-d are made of heat-resistant materials such as iron or ceramic.

[0101] Next, the detailed structure of each part of the mounting device 5 will be explained.

[0102] exist Figure 10A and Figure 10B The image shows the mounting device 5 maintaining the state of the hydraulic cylinder 31b. Refer to the above description together. Figure 3 and Figure 4 and Figure 10A and Figure 10B The detailed structure of each part of the mounting device 5 will be explained.

[0103] like Figure 3 and Figure 4 As shown, the top end of the retaining part 52 has a locking groove 521. When the retaining part 52 clamps the retaining plate 313, the locking groove 521 can accommodate the corner of the retaining plate 313.

[0104] Furthermore, by using the shrinking and expanding unit to reduce the size of the parallel hand 51, the four corners of the held plate 313 of the hydraulic cylinder 31b can be held by the four holding parts 52. At this time, a gap of 5 mm can be ensured between the held plate 313 and the inner wall surface of the engaging groove 521. By setting the gap in this way, the held plate 313 can move arbitrarily within the gap in the length direction, width direction, and thickness direction of the held plate 313.

[0105] Here, the unit holding the plate 313 is not limited to the parallel hand 51 of this embodiment; for example, a parallel chuck can be used. Furthermore, the unit holding the plate 313 is not necessarily limited to a configuration that expands or shrinks the pair of holding portions 52 while maintaining parallelism; for example, it can be configured to expand or shrink the gap between the top portions of the pair of holding portions by a rotational movement centered on the base ends of the pair of holding portions.

[0106] like Figure 4As shown, the pressing part 53 is fixed to the base plate 535 by passing seven bolts 533 through seven through holes in the retaining plate 531 and seven coil springs 534 respectively. The base plate 535 is mounted on the body part 512 of the parallel hand 51. The retaining plate 531 has a gap and a pressing plate 532. Moreover, the pressing plate 532 can move towards the base plate 535 and flex the coil springs 534. The through holes provided in the retaining plate 531 are larger than the diameter of the bolts 533. Therefore, there is a gap between the through holes in the retaining plate 531 and the bolts 533, and the pressing plate 532 can be tilted. Thus, even if the cylinder 31b of the mounting device 5 tilts when the hydraulic cylinder 31b is installed to the support 36, the pressing plate 532 can tilt accordingly to maintain the pressing plate 532 in contact with the surface of the pressed plate 315.

[0107] The position of the pressing plate 532 is set such that when the retaining part 52 (engagement groove 521) holds the retaining plate 313 of the hydraulic cylinder 31b, the pressing plate 532 comes into contact with the pressed plate 315. As a result, the coil spring 534 flexes, and the retaining plate 313 is pressed against the inner wall surface of the cylinder body 311 side of the engagement groove 521.

[0108] Force sensor 54 is bolted to the flange 541 on the side opposite to the pressing part 53 of the body portion 512 of the parallel hand. That is, in this embodiment, force sensor 54 is a force sensor that detects the force received by the holding part 52 or the pressing part 53 from the hydraulic cylinder 31b. Furthermore, such a force sensor is also called a force sensor, and sensors commonly used in robotic arms, etc., can be used. In this embodiment, a 6-axis force sensor is used as force sensor 54. In this embodiment, force sensor 54 is connected to camera 58 via bracket 542.

[0109] The pressing mechanism 55 consists of a pressing mechanism body 55a, a working part 55b connected to the pressing mechanism body 55a, and a spherical abutment part 55c provided on the top of the working part 55b.

[0110] The pressing mechanism 55 is provided on the mounting plate 513 extending downward from the main body 512 of the mounting device 5. Furthermore, two pressing mechanisms 55 are arranged lower than the holding part 52. The working part 55b is configured to extend and retract from the end of the pressing mechanism body 55a. Moreover, the working part 55b extends forward from the end of the pressing mechanism body 55a. Here, "forward" refers to the direction toward the hydraulic cylinder 31b.

[0111] The contact part 55c can be moved to, for example Figure 10A The first position shown is where the lower part of the hydraulic cylinder 31b is abutted by the abutment part 314, and as shown in the figure. Figure 10B The second position shown is not in contact with the abutting part 314. This displacement can be achieved by the extension and retraction of the working part 55b. That is, although not shown, the pressing mechanism 55 has a drive mechanism such as an electromagnetic air valve and a cylinder inside the pressing mechanism body 55a. By electrically controlling this drive mechanism, the extension and retraction of the working part 55b can be operated. In addition, by electrically controlling the drive mechanism, the holding action of the holding part 52 of the mounting device 5 and the movement of the robotic arm 4 can be linked with the extension and retraction of the working part 55b.

[0112] In addition, in this embodiment, the two pressing mechanisms 55 are positioned symmetrically about the vertical center axis of the plate mounting device 5.

[0113] like Figure 4 As shown, the vibration mechanism 56 consists of a vibration mechanism body 56a disposed on the side of the main body 512 of the mounting device 5 and a vibration part 56b disposed on the top of the vibration mechanism body 56a. Two vibration mechanisms 56 are disposed on the left and right sides of the pressing plate 532 of the mounting device 5. Alternatively, the vibration mechanism 56 may be configured to be disposed on either the left or right side of the pressing plate 532 of the mounting device 5. Inside the vibration mechanism body 56a, for example, a vibration device (not shown) such as a vibration motor is disposed. The vibration device can be electrically controlled to start and stop the vibration. By vibrating the vibration device, the vibration mechanism body 56a vibrates. The vibration of the vibration mechanism body 56a is transmitted to the vibration part 56b. The vibration part 56b abuts against the back of the pressing part 53, thereby transmitting the vibration to the pressing part 53. Although the vibration direction of the excitation mechanism body 56a can also be horizontal to the pressing part 53, there is a possibility that the excitation part 56b may deviate in the vibration direction, causing a change in the position where the vibration is transmitted to the pressing part 53. Therefore, it is more preferable that the vibration direction is perpendicular to the pressing part 53.

[0114] When the vibrating mechanism body 56a presses the pressed plate 315 of the hydraulic cylinder 31b by the pressing part 53 of the mounting device 5, it vibrates as needed. This vibration is transmitted from the vibrating part 56b to the hydraulic cylinder 31b through the pressing part 53. In other words, by vibrating the vibrating mechanism body 56a, the hydraulic cylinder 31b can be vibrated.

[0115] Next, the operation of the installation device 5 will be explained.

[0116] In maintenance location 2, such as Figure 1 As shown, the mounting device 5, installed on the top of the robotic arm 4, is located at the origin. Although as... Figure 1As shown, a sliding nozzle device 3 is installed on the bottom 11 of the ladle immediately after casting. However, since the hydraulic cylinder 31a used during operation is removed from the foundry as described above, no drive device is installed on the support 36 of the sliding nozzle device 3 in the maintenance area 2. On the other hand, the hydraulic cylinder 31b used during maintenance is placed on the placement platform 7 in an overhanging state. The mounting device 5 installs the hydraulic cylinder 31b on the support 36 of the sliding nozzle device 3 while maintaining the overhanging state. The steps are as follows. In addition, although the movement of the mounting device 5 described below is all performed by the robotic arm 4, the following description will focus on the movement of the mounting device 5.

[0117] Installation device 5 from Figure 1 The origin position shown is moved to the front position of the sliding nozzle device 3 mounted on the bottom 11 of the ladle. This front position is pre-indicated on the robotic arm 4.

[0118] The mounting device 5 irradiates the marker block 38a with a laser from the laser irradiator 57 from the front position. Then, based on images captured by the camera 58 showing the shape of the laser irradiating the marker block 38a, the position of the light on the marker block 38a, and the intensity of the light, the position of the marker block 38a is determined. If the determined position of the marker block 38a differs from a pre-stored position, the mounting device 5 calculates the deviation of the determined position from the pre-stored position. Then, the position of the sliding nozzle device 3 is corrected. Finally, the current position of the sliding nozzle device 3 is overwritten and stored in the pre-stored position.

[0119] Next, the mounting device 5 moves to the holding position of the hydraulic cylinder 31b mounted on the placement table 7. This holding position refers to the position where the holding part 52 of the mounting device 5 holds the holding plate 313 of the hydraulic cylinder 31b. This holding position is also pre-indicated on the robotic arm 4. Upon reaching this holding position, the mounting device 5 increases the distance between its parallel handles 51 to a length greater than the vertical length of the holding plate 313. Then, after the mounting device 5 reaches this holding position, it narrows the parallel handles 51 to clamp the holding plate 313. Thus, the holding part 52 of the mounting device 5 holds the holding plate 313 of the hydraulic cylinder 31b.

[0120] Subsequently, the mounting device 5 moves rearward in a horizontal direction. As a result, the flange portion 316 of the hydraulic cylinder 31b disengages from the pair of slots 364 of the placement platform 7, and the hydraulic cylinder 31b disengages from the placement platform 7 while maintaining its suspended state.

[0121] Next, with the hydraulic cylinder 31b in an upward-suspended state, the mounting device 5 moves to a position directly in front of the support 36 of the sliding nozzle device 3. This "directly in front" position refers to the position just before the hydraulic cylinder 31b comes into contact with the pair of sidewall portions 362 forming the opening 361 of the support 36. At the moment the mounting device 5 reaches this "directly in front" position, such as... Figure 10B As shown, the abutment portion 55c of the mounting device 5 is located in the second position where it does not abut against the lower part of the hydraulic cylinder 31b, i.e., it is abutted by the abutment portion 314. In addition, this front position is also pre-indicated on the robotic arm 4.

[0122] Next, the mounting device 5 moves forward in the horizontal direction, and the hydraulic cylinder 31b moves to an abutment position where it abuts against a pair of sidewall portions 362 of the opening 361 forming the support 36. Then, if this abutment position is reached, then... Figure 10A As shown, the abutment portion 55c of the mounting device 5 is displaced to a first position where it abuts against the lower part of the hydraulic cylinder 31b, i.e., against the abutment portion 314. This abutment position is also pre-indicated on the robotic arm 4. Furthermore, in this embodiment, the abutment position refers to the position 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 a pair of grooves 364 formed on a pair of sidewall portions 362 of the support 36.

[0123] The mounting device 5 moves further forward in the horizontal direction from the abutment position. As a result, the flange 316 of the hydraulic cylinder 31b is inserted into a pair of grooves 364 formed on a pair of sidewall portions 362 of the support 36, and moves towards the back wall portion 363 of the support 36 while being guided by these grooves 364 (see reference). Figure 11 ).

[0124] During this movement, the pressing plate 532 of the pressing part 53 of the mounting device 5 is in contact with the pressed plate 315 of the hydraulic cylinder 31b. Therefore, the holding part 52 and / or the pressing part 53 receive a reaction force from the hydraulic cylinder 31b, and this force is detected by the force sensor 54. Then, when the force detected by the force sensor 54 is a predetermined threshold (e.g., 500N), the hydraulic cylinder 31b is released from the holding part 52 of the mounting device 5. This is because the flange 316 of the hydraulic cylinder 31b reaches the back wall 363 of the support 36, and the installation of the hydraulic cylinder 31b is complete. Specifically, when the force detected by the force sensor 54 is, for example, a predetermined threshold of approximately 500N, then... Figure 12 As shown, by widening the parallel hand 51 of the mounting device 5, the hydraulic cylinder 31b is opened from the holding part 52 of the mounting device 5. At the same time, the abutting part 55c is displaced to a second position where it is not in contact with the lower part of the hydraulic cylinder 31b, i.e., by the abutting part 314.

[0125] As described above, the mounting device 5 of this embodiment has a holding part 52 that holds the retaining plate 313 mounted on the upper or central part of the hydraulic cylinder 31b; and an abutting part 55c that abuts against the lower part of the hydraulic cylinder 31b, i.e., the abutting part 314, when the hydraulic cylinder 31b is mounted on the support 36. Therefore, the robotic arm 4 can smoothly mount the suspended hydraulic cylinder 31b onto the support 36 of the sliding nozzle device 3. That is, conventionally, when the upper or central part of the hydraulic cylinder 31b is held in a suspended state and it is to be mounted on the support 36, the lower part of the hydraulic cylinder 31b is in a free state. Therefore, especially when mounting it onto the support 36, the lower part of the hydraulic cylinder 31b becomes unstable, making it impossible to mount smoothly. Conversely, in this embodiment, when the mounting device 5 is installed onto the support 36, the abutting part 55c abuts against the abutting part 314 of the lower part of the hydraulic cylinder 31b, so that the hydraulic cylinder 31b in the suspended state can be smoothly installed onto the support 36.

[0126] In addition, in order to fully utilize the effect of the abutting part 55c, it is preferable that the abutting part 55c, as in this embodiment, is located at the first position described above, at least between the position where it abuts against the pair of side wall portions 362 of the hydraulic cylinder 31b and the support 36 and the position where it abuts against the back wall portion 363.

[0127] Furthermore, in this embodiment, since the holding part 52 opens the hydraulic cylinder 31b when the force detected by the force sensor 54 reaches a predetermined threshold during the installation of the hydraulic cylinder 31b onto the support 36, the installation of the hydraulic cylinder 31b can be reliably performed.

[0128] Furthermore, in this embodiment, when installing the hydraulic cylinder 31b onto the support 36, the holding part 52 opens the hydraulic cylinder 31b when the force detected by the force sensor 54 reaches a predetermined threshold, i.e., at the moment the installation of the hydraulic cylinder 31b is completed. During the installation of the hydraulic cylinder 31b onto the support 36, the holding part 52 can also open the hydraulic cylinder 31b midway. In this case, after opening the hydraulic cylinder 31b, the pressing part 53 receives a reaction force from the hydraulic cylinder 31b, and this force is detected by the force sensor 54. Moreover, when the force detected by the force sensor 54 reaches the predetermined threshold, the holding part 52 can stop the installation operation. Therefore, the installation of the hydraulic cylinder 31b can be reliably performed.

[0129] After the hydraulic cylinder 31b is installed, the installation device 5 moves towards... Figure 1 The origin position shown has been moved.

[0130] When removing the hydraulic cylinder 31b from the support 36, the mounting device 5 moves to the front position of the hydraulic cylinder 31b and holds the hydraulic cylinder 31b, then moves horizontally rearward. This allows the hydraulic cylinder 31b to be removed from the support 36. Afterward, while holding the hydraulic cylinder 31b, the mounting device 5 moves to the front position of the placement platform 7. Next, it moves horizontally forward from the front position of the placement platform 7. The lower end of the cylinder body 311, i.e., the flange 316, is then inserted into a pair of grooves 724 formed on a pair of sidewalls 722 of the placement platform 7, and moves towards the back wall 723 of the placement platform 7 while being guided by these grooves 724. Then, when the contact detection sensor 725 detects contact with the flange 316 of the hydraulic cylinder 31b, the mounting device 5 expands its parallel handle 51. Then, the hydraulic cylinder 31b is released from the holding portion 52 of the mounting device 5. Thus, the hydraulic cylinder 31b is placed onto the placement platform 7. When the placement of the hydraulic cylinder 31b is complete, the mounting device 5 is then installed as follows: Figure 1 It moves back to the origin position as shown.

[0131] Furthermore, when the hydraulic cylinder 31b is removed from the support 36, the hydraulic cylinder 31b is also in an upward-suspended state. In addition, the aforementioned positions during the removal operation are also pre-indicated on the robotic arm 4.

Claims

1. A system for mounting a drive device using an mounting device, characterized in that, It includes a suspension device, a drive device connected to the upper end of the suspension device, a support for the sliding nozzle device, and a mounting device. The support has an opening for inserting the drive device, a pair of sidewalls forming the opening, and a back wall connecting the pair of sidewalls. The mounting device is mounted on the top of the robotic arm and is used to mount the drive device, which is in an upward-suspension state, onto the support. The installation device has: A holding part that holds the upper or central portion of the drive device; The abutment portion, when the drive device in its suspended state is installed onto the support, can abut against the lower part of the drive device. The drive device has an abutment portion that is mounted on the lower part of the held plate and extends downward from the held plate. The abutting part can be displaced to a first position where it abuts against the abutting part of the driving device and a second position where it does not abut against the abutting part of the driving device. When the retaining portion of the mounting device holds the retaining plate of the drive device and mounts the drive device in an upward-suspension state onto the support, the abutting portion is located at least in the first position between the position where the drive device held on the retaining portion abuts against the side wall portion and the position where the drive device abuts against the back wall portion.

2. The system for mounting a drive device using an installation device according to claim 1, characterized in that, The mounting device has a force sensor that detects the force received from the driving device. When the drive device is installed on the support, the retaining part releases the drive device when the force detected by the force sensor reaches a predetermined threshold.

3. The system for mounting a drive device using an installation device according to claim 1, characterized in that, The mounting device has a force sensor that detects the force received from the driving device. When the drive device is installed on the support, the retaining part stops the installation operation when the force detected by the force sensor reaches a predetermined threshold.

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