Crystallizer nozzle quick-change device of heavy-load AGV composite robot and use method thereof

By integrating navigation, recognition, grasping and control mechanisms, and combining 3D vision and remote control, the heavy-duty AGV composite robot system solves the problem of mismatched service life of immersion nozzles, realizes unmanned rapid replacement, reduces transformation costs and cycle, and improves the safety and efficiency of steel plants.

CN122099298APending Publication Date: 2026-05-29BAOSTEEL ENG & TECH GRP
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BAOSTEEL ENG & TECH GRP
Filing Date
2026-03-04
Publication Date
2026-05-29

AI Technical Summary

Technical Problem

The service life of submerged entry nozzles in existing steel plants is mismatched, leading to frequent replacements. Existing technologies rely on fixed track modifications, which are costly and time-consuming, and cannot achieve unmanned, rapid replacement. Furthermore, the accuracy of AGVs is insufficient.

Method used

The heavy-duty AGV composite robot system integrates navigation, recognition, grasping and control mechanisms, and combines 3D vision and remote control to achieve unmanned and rapid replacement of sprue, avoiding platform modification. The system also improves stability and environmental adaptability through lifting devices and brushes.

Benefits of technology

It enables unmanned quick replacement of water inlets, reduces construction time by 50%, lowers investment costs by 30%, and improves safety and flexibility, making it suitable for various steelmaking platforms.

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Abstract

The present application relates to the field of device for supporting, manipulating or replacing casting nozzle, in particular to a crystallizer nozzle quick-change device of heavy-load AGV composite robot and a use method thereof.A crystallizer nozzle quick-change device of heavy-load AGV composite robot, comprising an industrial robot (1), characterized by further comprising a navigation mechanism, an identification mechanism, a grabbing mechanism and a control mechanism, realizing unmanned quick change of the nozzle; the navigation mechanism is a vehicle body frame (5); the identification mechanism is a 3D vision system; the grabbing mechanism is a tool end gripper, which is fixedly connected to the end of the 3D vision system through a flange; the control mechanism is a robot control cabinet (3) and a remote control station (4).A use method of the crystallizer nozzle quick-change device of heavy-load AGV composite robot, characterized by sequentially implementing the following steps: S1. planning a running route, S2. navigating to a specified position, S3. identifying coordinates, S4. grabbing and assembling the nozzle, and S5. returning to charging.The present application has high integration and quick replacement.
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