Positioning unit, continuous casting nozzle replacement device and method

Abstract

A positioning unit, a continuous casting nozzle replacement device and a method, the positioning unit is provided with a stepped shaft with different outer diameters, different inner diameter nozzles form different axial installation positions after being matched with the stepped shaft, and the nozzles are centered and clamped by a centering and clamping mechanism. The detection assembly is driven to rise and fall by an electric cylinder, and a detection plate and a linear potentiometer are used to first judge whether the nozzle is pressed into place, and then secondarily probe from a unified standard detection position. The detection interval is obtained according to the axial displacement of the shaft of the electric cylinder moving to the contact triggering position, and compared with the pre-calibrated data to identify the nozzle type. The axial size of each stepped shaft makes different specifications form distinguishable height differences, and improves the allowable measurement error. The supply side rotating platform sends the target nozzle to the removal station according to the identification result, the replacement device completes the disassembly and recovery of the old nozzle and the installation of the target nozzle, and the positioning unit automatically resets after the target nozzle is pulled out, realizing reliable identification, mistake-proof selection and continuous automatic replacement of nozzles with different inner diameters.

Description

Technical Field

[0001] This invention relates to the technology for replacing continuous casting nozzles, and in particular to a positioning unit, a device for replacing continuous casting nozzles, and a method thereof. Background Technology

[0002] Continuous casting is a crucial process in modern steel production. During continuous casting, molten steel passes through a ladle and tundish before being introduced into the crystallizer via a submerged entry nozzle. The submerged entry nozzle not only guides the flow of molten steel but also reduces secondary oxidation caused by contact between the molten steel and air, and improves the quality of the cast billet by controlling the flow state of the molten steel.

[0003] In actual continuous casting production, the same continuous casting equipment typically requires different specifications of nozzles depending on different production conditions. Because different steel grades, billet sizes, and casting speeds require different molten steel flow rates, nozzles need to have varying flow capacities. Currently, the differences between nozzle models are not necessarily reflected in overall structural variations. In some nozzle series, the installation interface, external dimensions, flow channel structure, and outlet form remain largely consistent; different models are created by changing the diameter of the internal through-hole, i.e., the inner diameter, to meet the continuous casting process requirements under different flow rate conditions.

[0004] Therefore, in the continuous casting production process, in addition to replacing the same type of nozzle due to erosion, blockage, or wear caused by long-term use, there are also situations where different inner diameter nozzles need to be selected for switching based on production process requirements. For example, while maintaining the same installation method and external structure, different inner diameter nozzles can be used to adapt to different pouring flow rate requirements.

[0005] Meanwhile, existing automated nozzle replacement equipment is typically designed for fixed nozzle models and lacks the ability to automatically identify nozzles of different specifications. Some existing technologies use labels or visual information to identify nozzle specifications, but in the dusty, dirty, and obstructed conditions of continuous casting sites, labels or visual features may be contaminated or obscured, affecting the stability and reliability of specification identification. The accuracy of identification is low in harsh working environments, making it difficult to meet the requirements of multiple nozzle models coexisting in the production process and automatically selecting the corresponding nozzle model according to process needs.

[0006] Therefore, it is necessary to provide a device that can accurately identify the specifications of continuous casting nozzles and implement specification error prevention control during installation and positioning, so as to avoid mixing nozzles of different specifications, improve the accuracy of nozzle installation and the reliability of continuous casting production. Summary of the Invention

[0007] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a positioning unit, a continuous casting nozzle replacement device and method, wherein the continuous casting nozzle replacement device can identify the type of nozzle to prevent incorrect selection.

[0008] To achieve the above objectives, the present invention provides a positioning unit for positioning water nozzles with different inner diameters. The water nozzles have hollow inner holes, and the inner diameters of the inner holes of different models of water nozzles are different. The unit includes a positioning housing, a housing shaft, and a positioning sliding sleeve. The housing shaft and the positioning sliding sleeve are installed inside the positioning housing. The interior of the positioning sliding sleeve is a sliding sleeve hole. The housing shaft is provided with a stepped shaft, which is composed of at least two steps with different outer diameters. The outer diameter of the steps gradually increases from the end away from the housing shaft to the end connected to the housing shaft. After the sprue is inserted into the sliding sleeve hole, the inner hole of the sprue is fitted onto the outside of the step that matches its inner diameter, so that after the sprues of different inner diameter specifications are installed, their top end faces form different axial distances relative to the axial reference position of the positioning unit.

[0009] As a further improvement of the present invention, it also includes an outer shell end and a positioning inner sleeve. The outer shell end is installed on one end of the positioning outer shell. The positioning inner sleeve is installed inside the positioning outer shell and the outer shell end. The positioning inner sleeve is fixed inside the positioning outer shell, and the end of the positioning inner sleeve is engaged with the outer shell end. The interior of the positioning inner sleeve is a hollow positioning inner sleeve cavity. The positioning sliding sleeve is slidably installed in the positioning inner sleeve cavity. The positioning sliding sleeve is fixed on one end of the positioning sleeve. The positioning sleeve is slidably fitted on the outer shell shaft. The end of the positioning sleeve away from the positioning sliding sleeve is fitted with a sliding sleeve spring, which passes through a limiting ring and is slidably assembled with the limiting ring. The limiting ring is installed in the positioning inner sleeve cavity. The two ends of the sliding sleeve spring are respectively pressed against the limiting ring and the end of the positioning sliding sleeve.

[0010] As a further improvement of the present invention, a sliding sleeve spring is fitted onto the end of the positioning sleeve away from the positioning sliding sleeve, passes through the limiting ring, and is then matched with the clamping sliding sleeve. The clamping sliding sleeve is provided with a clamping cone surface. It also includes at least two centering pressure blocks. The end of the outer shell is provided with a centering slide groove and a pressure block slide groove corresponding to each centering pressure block. The two ends of the centering slide groove are respectively connected to the end through hole and the pressure block slide groove. The centering slide groove is engaged and slidably assembled with the centering slider. The centering slider is disposed on the centering pressure block. The centering pressure block is engaged and slidably installed in the pressure block slide groove. A clamping block is installed on the end of the centering slider away from the centering pressure block. The clamping block is used to fit tightly against the outer wall of the water inlet. The centering pressure block is provided with a centering side block, and the centering side block is provided with a centering inclined surface. The centering inclined surface is directly or indirectly attached to the centering rod. One end of the centering rod passes through the rod hole provided on the end of the outer shell and is assembled with the clamping slip ring. The centering rod is engaged with the rod hole and slidably assembled. The clamping slip ring is slidably fitted outside the positioning inner sleeve. The clamping slip ring is provided with a sliding sleeve block. The sliding sleeve block is provided with a sliding sleeve inclined surface. The sliding sleeve inclined surface is directly or indirectly attached to the roller frame. One end of the roller frame passes through the sliding sleeve groove and enters the positioning inner sleeve cavity. The roller frame and the sliding sleeve groove are engaged and slidably assembled. The sliding sleeve groove is provided on the positioning inner sleeve. The roller frame is provided with a mating conical surface at one end of the sliding sleeve groove. In the initial state, the mating conical surface enters the positioning inner sleeve cavity and fits against the clamping conical surface.

[0011] As a further improvement of the present invention, the centering pressure block and the pressure block groove are directly or indirectly assembled with the two ends of the centering spring, and the centering spring applies a spring force to the centering pressure block away from the end through hole so that the clamping block does not enter the end through hole in the initial state.

[0012] As a further improvement of the present invention, a clamping spring is fitted on the portion of the positioning inner sleeve located between the clamping slip ring and the end of the outer shell. The two ends of the clamping spring are respectively pressed against the clamping slip ring and the end of the outer shell, so that the clamping slip ring is in the position furthest from the end of the outer shell in the initial state.

[0013] As a further improvement of the present invention, the centering inclined surface is in close contact with the centering roller, and the centering roller is mounted on the centering rod through the centering roller shaft; the sliding sleeve inclined surface is in close contact with the sliding sleeve roller, and the sliding sleeve roller is mounted on the roller frame through the sliding sleeve roller shaft.

[0014] The present invention also discloses a continuous casting nozzle replacement device, which includes the above-mentioned positioning unit.

[0015] As a further improvement of the present invention, it also includes a rotating stage and a detection assembly, wherein multiple positioning units are mounted on the rotating stage; The detection assembly includes a detection frame and a detection plate. The detection assembly can rotate relative to the rotary table so that the detection plate sequentially corresponds to the water inlets in different positioning units along the axial direction of the water inlet's inner hole. The detection assembly can also move along the axial direction of the water inlet's inner hole so that the detection plate moves towards or away from the top end face of the water inlet. The detection component is used to apply axial pressure to the top end face of the sprue after the positioning unit is installed, so that the sprue and the positioning unit are positioned. It is also used to detect the position of the top end face of the sprue after the sprue is positioned, so as to identify the sprue model according to the different axial lengths formed after the sprue with different inner diameters and the positioning unit are assembled.

[0016] As a further improvement of the present invention, a partition is installed inside the detection frame, a linear potentiometer is installed on the partition, the telescopic shaft of the linear potentiometer is assembled with the detection plate, the detection plate is assembled with one end of the sliding shaft and the detection guide rail, the sliding shaft and the detection guide rail are respectively slidably assembled with the partition, and a sliding shaft spring is fitted on the outside of the sliding shaft, the two ends of the sliding shaft spring are respectively pressed against the detection plate and the partition, so that the detection plate is in the position furthest from the partition in the initial state; The detection component is connected to the electric cylinder, and the electric cylinder drives the detection component to move axially along the inner hole of the water inlet; After the sprue is installed into the positioning unit, the electric cylinder drives the detection component to move towards the sprue, so that the detection plate contacts the top end face of the sprue and continues to squeeze the sprue, thereby pushing the sprue and the positioning sleeve to move. When the driving power of the electric cylinder reaches the preset power threshold, and / or the change in the output signal of the linear potentiometer relative to the initial value reaches the preset displacement signal threshold, it is determined that the sprue is installed in place. Of course, the judgment criteria can also be when the motor current fed back by the servo driver reaches the preset current threshold and / or when the axial thrust detection value of the electric cylinder reaches the preset thrust threshold.

[0017] After the sprue is installed in place, the electric cylinder drives the detection assembly to move to the standard detection position. At the standard detection position, the detection plate maintains a fixed vertical distance from the rotary table and is separated from the top end face of the sprue. Subsequently, the electric cylinder drives the detection assembly to move from the standard detection position toward the sprue. When the detection plate contacts the top end face of the sprue and the change in the output signal of the linear potentiometer relative to the initial value reaches the preset contact judgment condition, the contact trigger position is determined, and the axial displacement of the electric cylinder shaft from the standard detection position to the contact trigger position is obtained. The sprue model is then identified based on the axial displacement or the corresponding detection distance.

[0018] The preset contact determination conditions can be obtained through a limited number of tests during the equipment debugging phase, based on the signal fluctuation range of the linear potentiometer when the detection plate is not in contact with the water inlet, and the output signal change when a standard water inlet is used for contact detection.

[0019] The present invention also discloses a method for replacing continuous casting nozzles, which is implemented based on the above-mentioned positioning unit and continuous casting nozzle replacement device, and includes the following steps: S100, Sprue Loading and Positioning: The sprues to be used with different inner diameters are respectively installed into the positioning unit on the rotating table, so that the inner diameter of the sprue matches the step on the step shaft; drive the detection component to rotate, so that the detection plate corresponds to the sprue in the corresponding positioning unit in the axial direction of the inner diameter of the sprue; drive the detection component to move towards the sprue, so that the detection plate contacts the top end face of the sprue and continues to squeeze the sprue, so that the sprue and the positioning unit are positioned. S200, sprue specification testing: After the sprue is positioned, the drive detection component is moved to the standard detection position, so that the detection plate maintains a fixed vertical distance from the rotary table and is separated from the top end face of the current sprue. Subsequently, the drive detection component moves from the standard detection position to the current sprue. When the detection plate contacts the top end face of the sprue and the change of the output signal of the linear potentiometer relative to the initial value reaches the preset contact judgment condition, the contact trigger position is determined, and the axial displacement of the electric cylinder shaft from the standard detection position to the contact trigger position is obtained. The axial displacement or the detection interval obtained based on the axial displacement is compared with the corresponding data obtained in advance using different known types of water inlets to determine the type of the current water inlet; S300, Target Inlet Determination and Feeding: After completing the specification test of the current sprue, drive the detection component to exit the current sprue and rotate to the next positioning unit. Repeat S200 to complete the specification test of the sprues in each positioning unit on the rotary table in sequence, and obtain the model of each sprue and the position of its positioning unit. According to the target nozzle model required by the continuous casting process, the target nozzle model and its positioning unit that match the target nozzle model are determined from the nozzles that have completed specification testing. The rotary table is driven to rotate, so that the positioning unit containing the target nozzle is moved to the removal station, and the target nozzle is removed from the positioning unit for nozzle replacement in the continuous casting equipment.

[0020] In this invention, direct or indirect assembly means: direct means direct contact, assembly, and cooperation; indirect means not direct contact, assembly, and cooperation, but contact, assembly, and cooperation are achieved through corresponding parts.

[0021] The beneficial effects of this invention are: 1. This invention, by setting stepped shafts with multiple levels of different outer diameters in the positioning unit, and axially engaging the inner holes of sprue nozzles with different inner diameter specifications with the corresponding steps, transforms the previously difficult-to-distinguish differences in the inner diameter of sprue nozzles into differences in axial position and top end face height after the nozzles are installed. Therefore, without relying on labels, visual textures, or manual identification, mechanical coding of sprue nozzle specifications can be completed using physical dimensions. This is particularly suitable for multiple models of sprue nozzles that are basically the same in shape and installation interface but differ only in inner hole size.

[0022] 2. This invention utilizes the same detection component to complete the confirmation of the sprue's press-fitting position and specification inspection. When the detection plate presses down on the sprue, it pushes the positioning sliding sleeve to move, and through the clamping cone, mating cone, roller frame, sliding sleeve inclined surface, centering roller, and centering inclined surface, a continuous force is transmitted, causing multiple clamping blocks to move synchronously towards the outer wall of the sprue, achieving radial centering and clamping of the sprue; at the same time, the press-fitting position is determined by the electric cylinder drive power and / or the linear potentiometer displacement signal, avoiding the sprue from entering subsequent inspections before it is fully positioned.

[0023] 3. After press-fitting, this invention returns the detection component to a unified standard detection position, and then probes it a second time under the same detection conditions. The axial displacement of the electric cylinder shaft to the contact trigger position is used to obtain the detection spacing, which is then compared with pre-calibrated data of different specifications to identify the sprue type. The axial dimensions of each step can actively widen the detection difference between adjacent specifications, increasing the discrimination margin and allowable error, reducing the requirements for position control and sensor detection accuracy, and improving the identification reliability in harsh continuous casting environments such as dust and vibration.

[0024] 4. The clamping force of this invention is jointly limited by the defined inclined force transmission structure, elastic element, and predetermined position of the positioning sleeve, exhibiting good repeatability and calibrability. This ensures that the clamping state can resist loosening caused by the return spring and operational vibrations, while also being overcome by the preset axial pull-out force of the replacement device, achieving a balance between stable positioning and standardized removal. Combined with the supply-side and recycling-side rotating platforms and the replacement device, a correspondence between the sprue type and the positioning position can be established, completing the error-proof selection of the target sprue, the recycling of the old sprue, the removal and installation of the correct sprue type, and the automatic reset of the positioning unit, forming a continuous and repeatable automatic replacement closed loop. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a partial structural diagram of the present invention. Figure 1 ; Figure 3 This is a partial structural diagram of the present invention. Figure 2 ; Figure 4 This is a partial structural diagram of the present invention. Figure 3 ; Figure 5 This is a structural diagram of the detection component. Figure 1 ; Figure 6 This is a structural diagram of the detection component. Figure 2 ; Figure 7 This is a schematic diagram of the structure after the positioning unit 500 and the sprue 900 are assembled; Figure 8 yes Figure 7 A cross-sectional view of the sprue located at the center plane of the 90° axis. Figure 9 yes Figure 8 Enlarged view at F1; Figure 10 yes Figure 8 Sectional view of AA; Figure 11 yes Figure 8BB section view; Figure 12 yes Figure 10 CC section view; Figure 13 This is a partial structural diagram of the positioning unit 500. Figure 1 ; Figure 14 This is a partial structural diagram of the positioning unit 500. Figure 2 ; Figure 15 This is a partial structural diagram of the positioning unit 500. Figure 3 ; Figure 16 This is a partial structural diagram of the positioning unit 500. Figure 4 ; Figure 17 This is a partial structural diagram of the positioning unit 500. Figure 5 . Detailed Implementation

[0026] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0027] See Figures 1-6 The positioning unit, continuous casting nozzle replacement device and method of this embodiment include a rotating platform 100 and a replacement device 340. The rotating platform 100 has two parts, one for supplying nozzles 900 to be replaced and the other for placing disassembled and recycled nozzles 900. The replacement device 340 is used to disassemble nozzles 900 from the continuous casting equipment and place them on the rotating platform 100 for storing disassembled and recycled nozzles. Then, it grabs the corresponding nozzle 900 from the rotating platform 100 for supplying nozzles to be replaced and puts it back into the continuous casting equipment.

[0028] In this embodiment, the replacement device 340 uses a robotic arm with grippers 341 mounted on it. The grippers 341 are used to grip and release the water inlet 900. The robotic arm and grippers can be existing products such as a six-axis robotic arm and an electric gripper.

[0029] The rotating platform 100 includes a rotating table 110, a support table 120, and a frame 130. The rotating table 110 and the support table 120 are assembled through a slewing bearing 210, thereby enabling the rotating table 110 and the support table 120 to be assembled in a relatively circumferential rotation.

[0030] The support platform 120 is mounted on the frame 130. The rotary table 110 is assembled with one end of the rotary table shaft 430. The other end of the rotary table shaft 430 passes through the slewing bearing 210 and the support platform 120 and is rotatably assembled with the frame 130. A rotary table worm gear 222 is mounted on the rotary table shaft 430. The rotary table worm gear 222 meshes with the rotary table worm 221 for transmission. The rotary table worm 221 is mounted on the rotary table motor shaft 321. One end of the rotary table motor shaft 321 is inserted into the rotary table motor 320. The rotary table motor 320 is mounted on the frame 130.

[0031] During use, the turntable motor 320 starts, driving the turntable motor shaft 321 to rotate, thereby driving the turntable shaft 430 to synchronously rotate the turntable 110. In this embodiment, the turntable worm gear 222, turntable worm 221, and turntable motor 320 can be replaced with an indexing mechanism or the turntable worm gear 222 and turntable worm 221 can be replaced with a divider. This allows the turntable 110 to rotate at equal angles and intermittently, thus adapting to subsequent feeding and recycling. Of course, this is an existing mature product, and this embodiment can directly replace it with an existing product.

[0032] A recycling seat 180 is installed on the rotary table 110 of the rotary platform 100 used to store disassembled and recycled water inlets. The recycling seat 180 is provided with a recycling seat hole 181, and the disassembled water inlet 900 is inserted into the recycling seat hole 181 for storage. The recycling seats 180 are evenly arrayed in the circumferential direction of the rotary table 110.

[0033] Multiple positioning units 500 are installed on the rotary table 110 of the rotary platform 100 for supplying water inlets to be replaced. The multiple positioning units 500 are evenly arrayed along the circumference of the rotary table 110.

[0034] The rotary table 110 has loading and unloading stations for the recycling seat 180 and the positioning unit 500. As the rotary table 110 rotates, the recycling seat 180 and the positioning unit 500 can be cyclically fed into the loading and unloading stations for easy use. For example, the loading station of the recycling seat 180 is used to load the disassembled water inlet 900 into the recycling seat 180, and then the rotary table 110 is rotated so that the recycling seat 180 finally enters the unloading station for removal and reuse.

[0035] The rotating platform 100 supplying the water inlet to be replaced also includes a detection assembly, which includes a detection frame 160. The detection frame 160 is installed on one end of the detection shaft 410 that extends out of the corresponding rotating table shaft 430. The detection shaft 410 and the rotating table shaft 430 are circumferentially rotatable and axially slidable. The other end of the detection shaft 410 is inserted into the frame 130 and is circumferentially rotatable but not axially slidable with the lifting plate 150. The lifting plate 150 is engaged and slidably mounted with the lifting guide rail 140, which is installed on the frame 130.

[0036] The lifting plate 150 is assembled with one end of the electric cylinder shaft 311, and the other end of the electric cylinder shaft 311 is installed in the electric cylinder 310, which is mounted on the frame 130. After the electric cylinder 310 is started, it drives the electric cylinder shaft 311 to move axially, thereby driving the detection shaft 410 to move synchronously, which in turn drives the detection component to rise and fall synchronously.

[0037] A bushing 420 is axially slidable but not circumferentially rotatable around the detection shaft 410. The bushing 420 is rotatably mounted on the frame 130 but not axially movable. A detection worm gear 232 is mounted on the bushing 420, and the detection worm gear 232 meshes with a detection worm 231 for transmission. The detection worm 231 is mounted on a detection motor shaft 331, one end of which is inserted into a detection motor 330, which is mounted on the frame 130. When the detection motor 330 starts, it drives the detection motor shaft 331 to rotate, thereby causing the bushing 420, detection shaft 410, and detection assembly to rotate synchronously. The detection worm gear 232, detection worm 231, and detection motor 330 can also be replaced by an indexing mechanism or by a divider to achieve intermittent rotation of the detection shaft 410 at equal angles.

[0038] Of course, in this embodiment, the transmission ratio between the turntable worm gear 222 and the turntable worm 221, and between the detection worm gear 232 and the detection worm 231, is stable and can achieve self-locking when the self-locking condition is met. Therefore, it is beneficial for the turntable 110 and the detection component to remain stable after rotating to the predetermined position. The detection motor 330 and the turntable motor 320 can be servo motors, which can control the rotation angle of the detection component and the turntable 110 respectively, thereby improving their rotation positioning accuracy. The electric cylinder 310 can be a servo electric cylinder with position feedback function to control the axial extension and retraction position of the electric cylinder shaft 311 and obtain the axial displacement of the electric cylinder shaft 311, thereby meeting the needs of the lifting and positioning of the detection component and the detection of the top end face of the sprue 900. In use, the electric cylinder can drive the detection component to move axially on the detection shaft 410, while the detection motor 330 can drive the detection component to rotate relative to the turntable 110 to cooperate with and detect the sprue 900 in different positioning units 500.

[0039] To further improve the stability and repeatability of rotary positioning, the rotary transmission mechanism consisting of the turntable worm wheel 222 and the turntable worm 221, and the rotary transmission mechanism consisting of the probe worm wheel 232 and the probe worm 231, can be replaced by Geneva mechanisms, cam dividers, or other indexing mechanisms that can achieve intermittent rotation at equal angles, respectively. All of the above indexing mechanisms can be existing mature products.

[0040] See Figures 5-6The detector frame 160 is equipped with a partition 161, and a linear potentiometer 350 is mounted on the partition 161. The telescopic shaft 351 of the linear potentiometer 350 is assembled with the detector plate 170. The detector plate 170 is assembled with one end of the sliding shaft 172 and the detector guide rail 171. The other end of the sliding shaft 172 is fitted with a sliding shaft spring 173, which passes through the partition 161 and is axially slidably assembled with it. The detector guide rail 171 passes through the partition 161 and is engaged with it and is slidably assembled. A collar 174 is installed on the end of the sliding shaft 172 away from the partition 161. The collar 174 cannot pass through the partition 161 to limit the maximum distance between the detector plate 170 and the partition 161. The two ends of the sliding shaft spring 173 are respectively pressed against the detector plate 170 and the partition 161 so that the detector plate 170 is at the end furthest from the partition 161 in the initial state.

[0041] In use, the sprue 900 is first inserted into the positioning unit 500. Then, the position of the detection component is adjusted so that the detection plate 170 is directly above the corresponding sprue 900, that is, the detection plate 170 and the sprue 900 correspond axially. The electric cylinder 310 drives the detection component to move downward, so that the detection plate 170 contacts the top end face of the sprue 900 and continues to press the sprue 900 downward, thereby pushing the sprue 900 and the positioning sleeve 550 to move downward synchronously. During the downward movement of the positioning sleeve 550, the centering and clamping mechanism is triggered, so that each clamping block 710 gradually moves towards the outer wall of the sprue 900, and centers and clamps the sprue 900.

[0042] As the sprue 900 and positioning sleeve 550 continue to move downwards, the detection plate 170 moves downwards almost synchronously with the detection assembly, and the axial displacement of the detection plate 170 relative to the partition 161 is small. When the positioning sleeve 550 reaches the predetermined downward position and each clamping block 710 completes the centering and clamping of the sprue 900, the sprue 900 and positioning sleeve 550 can no longer move downwards significantly. At this time, the electric cylinder 310 continues to generate a downward driving trend, causing the detection plate 170 to move axially relative to the partition 161 and compress the sliding shaft spring 173. At the same time, it drives the telescopic shaft 351 of the linear potentiometer 350 to produce a corresponding displacement, causing the output signal of the linear potentiometer 350 to change.

[0043] When the driving power of the electric cylinder 310 reaches a preset power threshold, and / or the change in the output signal of the linear potentiometer 350 relative to its initial value reaches a preset displacement signal threshold, it is determined that the sprue 900 has been installed in place, and the electric cylinder 310 is controlled to stop moving downwards. At this time, each clamping block 710 clamps onto the outer wall of the sprue 900, thereby centering and clamping the sprue 900. The preset power threshold and the preset displacement signal threshold can be obtained during the equipment debugging phase by performing a limited number of tests using the installed sprue 900.

[0044] After verifying the installation of the sprue 900, the electric cylinder 310 drives the detection assembly to move upward to a preset standard detection position. At this standard detection position, the detection plate 170, under the action of the sliding shaft spring 173, is at its furthest point from the partition plate 161, and a preset fixed vertical distance is maintained between the detection plate 170 and the rotating table 110. This fixed vertical distance is greater than the maximum vertical distance between the top end face of each sprue 900 after installation and the rotating table 110, ensuring that when the detection assembly is in the standard detection position, the detection plate 170 remains separated from the top end face of each sprue 900.

[0045] Subsequently, the electric cylinder 310 drives the detection assembly to move downwards from the standard detection position toward the current sprue 900. Before the detection plate 170 contacts the sprue 900, the detection plate 170 maintains its initial position relative to the partition 161 under the action of the sliding shaft spring 173, and the output signal of the linear potentiometer 350 remains essentially in its initial state. When the detection plate 170 contacts the top end face of the sprue 900, as the detection assembly continues to move downwards, the detection plate 170 is blocked by the top end face of the sprue 900 and moves axially relative to the partition 161, compressing the sliding shaft spring 173 and simultaneously causing the telescopic shaft 351 of the linear potentiometer 350 to displace accordingly. When the change in the output signal of the linear potentiometer 350 relative to the initial value reaches the preset contact judgment condition, the current position is determined as the contact trigger position, and the axial displacement of the electric cylinder shaft 311 from the standard detection position to the contact trigger position is recorded. Since each test starts from the same standard testing position, the smaller the downward movement of the electric cylinder shaft 311, the farther the top end face of the current sprue 900 is from the rotary table 110; the larger the downward movement of the electric cylinder shaft 311, the closer the top end face of the current sprue 900 is to the rotary table 110. Therefore, the corresponding testing distance of the top end face of the current sprue 900 relative to the rotary table 110 can be calculated based on the axial displacement of the electric cylinder shaft 311 from the standard testing position to the contact trigger position.

[0046] During equipment calibration, standard nozzles 900 with known inner diameters are tested using the same testing process described above to obtain the standard axial displacement or corresponding testing interval for each nozzle 900 specification. A correlation is then established between the inner diameter specification of the nozzle inner hole 901, the nozzle model, and the standard axial displacement or corresponding testing interval. Therefore, after assembling nozzles 900 with different inner diameters and positioning unit 500, the resulting assembly has different overall lengths along the axial direction of the nozzle inner hole 901. Specifically, the top end face of the nozzle 900 forms different axial positions relative to the positioning unit 500.

[0047] During actual testing, the axial displacement or corresponding detection interval obtained from the current nozzle 900 is compared with the pre-calibrated data corresponding to each specification. When the current test result falls within the allowable error range corresponding to a certain specification, it is determined that the nozzle inner hole 901 of the current nozzle 900 has the inner diameter corresponding to that specification, thereby identifying the model of the current nozzle 900.

[0048] Since the sprue nozzles 900 of different specifications have the same or basically the same external structural dimensions and axial length, the positioning unit 500 has the same structural dimensions, and the predetermined downward position of the positioning sleeve 550 after the sprue nozzles 900 are installed is fixed, the difference in axial position after the sprue nozzles 900 of different specifications are installed is mainly formed by the different step mating positions of the sprue nozzle inner hole 901 and the stepped shaft 531. The outer diameter of each step of the stepped shaft 531 is set according to the inner diameter of the inner hole 901 of the sprue nozzles of different specifications, and the axial length of each step of the stepped shaft 531 determines the difference in axial position after the sprue nozzles 900 of different specifications are installed and the height difference between the corresponding top end faces. Therefore, by reasonably setting the axial length of each step of the stepped shaft 531, a sufficient interval can be formed between the detection results of adjacent sprue nozzles 900, thereby increasing the specification discrimination margin and the allowable measurement error, reducing the requirements for the position control accuracy of the electric cylinder 310 and the detection accuracy of the linear potentiometer 350, and improving the reliability of the device for sprue nozzle specification identification in harsh working environments.

[0049] See Figures 1-17 The positioning unit 500 includes a positioning outer shell 510, an outer shell end 520, an outer shell shaft 530, a positioning inner sleeve 540, a positioning sliding sleeve 550, and a clamping slip ring 560. The outer shell end 520 is mounted on one end of the positioning outer shell 510. The positioning inner sleeve 540 is installed inside the positioning outer shell 510 and the outer shell end 520. The positioning inner sleeve 540 is fixed inside the positioning outer shell 510, and its end engages with the outer shell end 520. The interior of the positioning inner sleeve 540 is a hollow positioning inner sleeve cavity 541. The positioning sliding sleeve 550 is engaged and axially slidably mounted in the positioning inner sleeve cavity 541. The positioning sliding sleeve 550 is fixed to one end of the positioning sleeve 552. The positioning sleeve 552 is axially slidably fitted onto the outer shell shaft 530. The end of the positioning sleeve 552 away from the positioning slide sleeve 550 is fitted with a slide spring 620, which passes through the limiting ring 542 and is then assembled with the clamping slide sleeve 553. The clamping slide sleeve 553 is provided with a clamping cone surface 5531. The limiting ring 542 is installed in the positioning inner cavity 541. The two ends of the slide spring 620 are respectively pressed against the limiting ring 542 and the end of the positioning slide sleeve 550, thereby applying a spring force to the positioning slide sleeve 550 to prevent it from sliding toward the limiting ring 542, so that in the initial state, the end of the clamping slide sleeve 553 is close to the limiting ring 542, at which time the positioning slide sleeve 550 is in the position furthest away from the limiting ring 542.

[0050] The positioning sleeve 550 has a sleeve hole 551 inside. The outer housing shaft 530 is provided with a stepped shaft 531. A lubricating ring 532 is fitted on the outer side of the stepped shaft 531. The lubricating ring 532 is made of a self-lubricating material, such as polytetrafluoroethylene. The stepped shaft 531 has multiple steps with different outer diameters. The outer diameter of each step increases sequentially from the end away from the outer housing shaft 530 to the end connected to the outer housing shaft 530, and the stepped shaft 531 is located inside the sleeve hole 551.

[0051] The sprue 900 is inserted into the sliding sleeve hole 551, and the inner hole 901 of the sprue 900 is fitted onto the stepped shaft 531 with a step matching its inner diameter. The lubricating ring 532 fitted onto the stepped shaft 531 is used to reduce friction with the inner wall of the inner hole 901 of the sprue, avoiding damage to the coating of the inner hole 901 of the sprue. This design is intended to achieve the centered positioning of the sprue 900. On the other hand, the outer diameter of each step of the stepped shaft 531 (including the lubricating ring 532) is designed according to the corresponding model of the inner hole 901 of the sprue. Therefore, the inner holes 901 of different inner diameters can be fitted onto the lubricating ring 532 of the corresponding outer diameter with their end faces close to the end face of the next step (or close to the end face of the outer casing shaft 530). The sliding displacement of the positioning sliding sleeve 550 is fixed. Therefore, after different inner holes 901 of the sprue and the stepped shaft 531 are fitted together, the distance between the end face of the sprue 900 away from the stepped shaft 531 and the end face of the outer casing shaft 530 is different. exist Figure 8 The height of the top end face of the sprue 900 (the end face furthest from the stepped shaft 531) is the key indicator. Therefore, detecting the height of the top end face of the sprue 900 from the rotary table 110, or the change in height compared to the standard height, is sufficient. If the sprue's inner hole 901 can fit onto the thickest part of the stepped shaft 531, the end face of this sprue 900 will be in contact with the end face of the outer shell shaft 530. In this case, the height of the top end face of the sprue 900 (standard sprue) from the rotary table 110 is the standard height. If the inner diameter of the sprue's inner hole 901 is smaller than that of the standard sprue, its end face will not be in contact with the end face of the outer shell shaft 530. Furthermore, the smaller the inner diameter of the sprue, the greater the distance between the sprue end face and the end face of the outer shell shaft 530, and thus the greater the height of the top end face of the sprue 900 from the rotary table 110. By obtaining this height change, different types of sprues (with different inner hole diameters) can be identified.

[0052] Preferably, in order to ensure that the sprue 900 remains centered during use and is fixed relative to the end through hole 521 of the outer casing end 520 without relative movement, thereby improving the subsequent gripping accuracy, it can also improve the installation positioning accuracy after gripping and further prevent misinstallation. This embodiment also adds a centering pressure block 720, and at least two centering grooves 522 (three in this embodiment) and a pressure block groove 523 are provided in the circumferential diameter direction of the outer shell end 520. The two ends of the centering groove 522 are respectively connected to the end through hole 521 and the pressure block groove 523. The centering groove 522 engages with and slides with the centering slider 721. The centering slider 721 is set on the centering pressure block 720, and the centering pressure block 720 is engaged with and slides in the pressure block groove 523. A clamping block 710 is installed on the end of the centering slider 721 away from the centering pressure block 720. The clamping block 710 is used to fit tightly against the outer wall of the sprue 900. This design can achieve further centering of the sprue 900 on the one hand, and clamp the sprue 900 on the other hand, so that the sprue 900 is relatively fixed with the entire positioning unit 500, so as to facilitate subsequent clamping, installation and positioning. The clamping block 710 is made of wear-resistant and elastic material, such as rubber or silicone. It is used to increase the friction with the sprue 900 to clamp and fix the sprue 900. However, the sprue 900 can be pulled out of the end through hole 521 under the action of external force.

[0053] The centering pressure block 720 is provided with a centering side block 730, and the centering side block 730 is provided with a centering inclined surface 731. The centering inclined surface 731 is in close contact with the centering roller 563. The centering roller 563 is rotatably mounted on the centering rod 561 through the centering roller shaft 562. One end of the centering rod 561 passes through the rod hole 524 provided on the end of the outer casing 520 and is assembled with the clamping slip ring 560. The centering rod 561 is engaged with and slidably assembled with the rod hole 524. The centering pressure block 720 and the pressure block groove 523 are respectively equipped with spring rods 701. The two spring rods 701 are respectively assembled with the two ends of the centering spring 630. The centering spring 630 is used to apply a spring force away from the end through hole 521 to the centering pressure block 720 so that the clamping block 710 does not enter the end through hole 521 in the initial state, thereby avoiding interference with the insertion of the sprue 900. The clamping block 710 is detachable and replaceable, making it convenient for subsequent replacement; it is a consumable part.

[0054] The clamping slip ring 560 is axially slidably fitted onto the positioning inner sleeve 540, and a clamping spring 610 is fitted onto the portion of the positioning inner sleeve 540 located between the clamping slip ring 560 and the outer shell end 520. The two ends of the clamping spring 610 are respectively pressed against the clamping slip ring 560 and the outer shell end 520, so that in the initial state, the clamping slip ring 560 is in the position furthest from the outer shell end 520, at which time the centering roller 563 is in position... Figure 8The position closest to the housing shaft 530 (vertical spacing in the axial direction).

[0055] The clamping slip ring 560 is provided with a sliding sleeve block 570, and the sliding sleeve block 570 is provided with a sliding sleeve inclined surface 571. The sliding sleeve inclined surface 571 is in close contact with the sliding sleeve roller 820. The sliding sleeve roller 820 is rotatably mounted on the roller frame 810 through the sliding sleeve roller shaft 821. One end of the roller frame 810 passes through the sliding sleeve groove 543 and enters the positioning inner sleeve cavity 541. The roller frame 810 and the sliding sleeve groove 543 are engaged and slidably assembled. The sliding sleeve groove 543 is provided on the positioning inner sleeve 540.

[0056] The roller frame 810 is fitted with a mating cone surface 811 at one end of the sliding sleeve groove 543. In the initial state, the mating cone surface 811 can fit against the clamping cone surface 5531 of the clamping sliding sleeve 553. Figure 9 (501 indicates the position). A base 580 is also installed between the positioning inner sleeve 540 and the positioning outer sleeve 510. A spring plate 581 is provided on the base 580. The spring plate 581 passes through the roller frame 810. A roller spring 640 is installed between the roller frame 810 and the spring plate 581. The two ends of the roller spring 640 are respectively pressed against the spring plate 581 and the roller frame 810, thereby applying a spring force to the roller frame 810 to push it away from the sliding block 570, so that in the initial state, the roller frame 810 enters the positioning inner sleeve cavity 541 and the clamping cone surface 5531 is in close contact with the mating cone surface 811. Figure 9 (501 status) Figure 9 The arrows in the text indicate the direction of movement.

[0057] When the clamping sleeve 553 moves downward, the clamping cone 5531 presses against the mating cone 811, pushing the roller frame 810 away from the axis of the positioning inner sleeve 540, thereby driving the sleeve roller 820 to move synchronously. The sleeve roller 820 and the sleeve inclined surface 571 press against and push the clamping slip ring 560 to move axially toward the end of the outer shell 520, which in turn drives the centering roller 563 to move synchronously, thereby cooperating with the centering inclined surface 731 to push the clamping block 710 to move toward the sprue 900, ultimately achieving the centering and clamping of the sprue 900.

[0058] In this embodiment, the clamping force applied by the clamping block 710 to the sprue 900 is mainly determined by the downward position of the positioning sleeve 550 and the cooperation relationship of the force transmission structures such as the clamping cone surface 5531, the mating cone surface 811, the sleeve inclined surface 571, and the centering inclined surface 731. It is also affected by factors such as the clamping spring 610, the roller spring 640, the centering spring 630, and the elasticity of the clamping block 710 itself. Therefore, after determining the dimensions of each structure, the inclined surface angle, the spring parameters, and the predetermined downward position of the positioning sleeve 550, the clamping force formed by the clamping block 710 on the sprue 900 has good repeatability and can be calibrated through a limited number of tests during the equipment design or commissioning phase.

[0059] In actual implementation, by setting the parameters of the aforementioned force transmission structure and elastic elements (each spring and clamping block 710), after the positioning sleeve 550 moves down to the predetermined position, each clamping block 710 can form a clamping force on the sprue 900 sufficient to maintain its centering and fixed state. This clamping state can resist the reset action generated by the sleeve spring 620 and disturbances such as vibration during equipment operation, preventing the sprue 900 from loosening on its own or pushing the positioning sleeve 550 to reset significantly after positioning. At the same time, the clamping force of the clamping block 710 on the sprue 900 is less than the axial pull-out force that the replacement device 340 can apply when normally removing the sprue 900, so that the replacement device 340 can stably pull the sprue 900 out of the positioning unit 500 according to the preset removal action.

[0060] Therefore, with the structural parameters of the positioning unit 500 determined, each positioning unit 500 can form a basically consistent and pre-calibrated sprue clamping state. On the one hand, this ensures that the sprue 900 maintains a stable positioning position during specification testing and waiting to be removed. On the other hand, it enables the replacement device 340 to use basically consistent clamping and pulling parameters to remove the sprue 900 from different positioning units 500, thereby facilitating the standardized control of the sprue replacement process.

[0061] The operation process of this embodiment is roughly as follows: S100, sprue loading, press-fitting and centering clamping S110, Initial installation of the water inlet into the positioning unit. First, the sprues 900 to be used are installed into the positioning units 500 on the rotating platform 100 that supplies sprues to be replaced. The sprue 900 is inserted into the sliding sleeve hole 551 of the positioning sleeve 550 through the end through hole 521 of the end of the outer shell 520, so that the inner hole 901 of the sprue is fitted onto the outside of the stepped shaft 531, and the inner hole 901 of the sprue is fitted with the step on the stepped shaft 531 with the corresponding outer diameter.

[0062] S120, the detection components are aligned with the current water inlet axis. After the sprue 900 is initially installed into the positioning unit 500, the detection motor 330 drives the detection shaft 410 and the detection assembly to rotate relative to the rotary table 110, so that the detection plate 170 moves to directly above the current sprue 900 and aligns the detection plate 170 with the sprue 900 in the axial direction.

[0063] S130, The probe plate is pressed down and the centering clamping mechanism is triggered. The electric cylinder 310 drives the detection assembly to move downward along the axis, so that the detection plate 170 contacts the top end face of the sprue 900, and continues to apply axial pressure to the sprue 900, thereby pushing the sprue 900 and the positioning sleeve 550 to move downward synchronously.

[0064] When the positioning sleeve 550 moves down, the positioning sleeve 552 drives the clamping sleeve 553 to move down synchronously. The clamping cone surface 5531 on the clamping sleeve 553 presses against the mating cone surface 811 on the roller frame 810, pushing the roller frame 810 to move away from the axis of the positioning inner sleeve 540, and driving the sleeve roller 820 to move synchronously. The sleeve roller 820 cooperates with the sleeve inclined surface 571, pushing the clamping slip ring 560 to move axially towards the end of the outer shell 520.

[0065] When the clamping slip ring 560 moves, it drives each centering rod 561 and centering roller 563 to move synchronously. The centering roller 563 rolls along the corresponding centering inclined surface 731 and pushes the centering pressure block 720 to move towards the end through hole 521, so that each clamping block 710 gradually approaches and adheres to the outer wall of the sprue 900 from different positions in the circumferential direction of the sprue 900, thereby radially centering and clamping the sprue 900.

[0066] S140, Check that the sprue is properly pressurized. As the positioning sleeve 550 gradually reaches the predetermined downward position, each clamping block 710 completes the centering and clamping of the sprue 900, and the sprue 900 and the positioning sleeve 550 can no longer move significantly downward.

[0067] At this time, the electric cylinder 310 continues to drive downward, causing the probe plate 170 to be blocked by the top end face of the water inlet 900 and move axially relative to the partition plate 161, compressing the sliding shaft spring, and at the same time driving the telescopic shaft 351 of the linear potentiometer 350 to produce a corresponding displacement.

[0068] When the driving power of the electric cylinder 310 reaches a preset power threshold, and / or the change in the output signal of the linear potentiometer 350 relative to its initial value reaches a preset displacement signal threshold, it is determined that the sprue 900 has been installed in place, and the electric cylinder 310 is controlled to stop moving downward. At this time, the sprue 900 forms a corresponding axial fit with the stepped shaft 531 through the sprue inner hole 901, and at the same time, multiple clamping blocks 710 achieve radial alignment and clamping fixation, thereby keeping the sprue 900 in a stable installation state relative to the positioning unit 500.

[0069] The parameters of the force transmission structure of the positioning unit 500, each elastic element and the clamping block 710 are preset so that the clamping force formed by the clamping block 710 is sufficient to resist the reset action generated by the sliding sleeve spring 620 and the disturbances such as vibration during equipment operation, while being less than the axial pull-out force that the replacement device 340 can apply when normally removing the water outlet 900, thus taking into account both stable clamping and subsequent removal.

[0070] S150, sequentially complete the pressing and positioning of each water inlet to be used. After the current water inlet 900 is pressed and clamped, the electric cylinder 310 drives the detection component to move upward, and the detection motor 330 then drives the detection component to rotate to the next positioning unit 500. S120-S140 are repeated until all water inlets 900 on the rotating platform 100 supplying water inlets to be replaced have been pressed, aligned and clamped.

[0071] S200, water inlet specification testing, model identification and target water inlet determination S210, The detection components enter the unified standard detection position. After the sprue 900 is pressed into place, the specifications of the sprue 900 in each positioning unit 500 are checked. When checking the current sprue 900, the electric cylinder 310 first drives the detection component to move upward to the preset standard detection position. At this standard detection position, the detection plate 170 is at the position furthest from the partition plate 161 under the action of the sliding shaft spring, and a preset fixed vertical distance is maintained between the detection plate 170 and the rotary table 110.

[0072] The fixed vertical spacing is greater than the maximum vertical spacing between the top end face of each sprue 900 to be identified and the rotating stage 110 after they are installed in place, so as to ensure that when the detection component is in the standard detection position, the detection plate 170 remains separated from the top end face of the current sprue 900.

[0073] S220, Second downward probe to determine the contact trigger position The electric cylinder 310 drives the detection component to move downward from the standard detection position toward the current sprue 900.

[0074] Before the probe plate 170 comes into contact with the nozzle 900, the probe plate 170 maintains its initial position relative to the partition plate 161 under the action of the sliding shaft spring, and the output signal of the linear potentiometer 350 basically remains in its initial state.

[0075] After the detection plate 170 contacts the top end face of the nozzle 900, the detection assembly continues to move downwards. The detection plate 170, blocked by the top end face of the nozzle 900, moves axially relative to the partition plate 161, simultaneously compressing the sliding spring and displacing the telescopic shaft 351 of the linear potentiometer 350. When the change in the output signal of the linear potentiometer 350 relative to its initial value reaches the preset contact determination condition, the current detection position is determined as the contact trigger position.

[0076] S230, Obtain the current sprue specification test data. Record the axial displacement of the electric cylinder shaft 311 from the standard detection position to the contact trigger position.

[0077] Since each test starts from the same standard testing position, this axial displacement can characterize the position of the top end face of the current sprue 900 relative to the rotary table 110. A smaller downward displacement of the electric cylinder shaft 311 indicates that the top end face of the current sprue 900 is farther from the rotary table 110; a larger downward displacement of the electric cylinder shaft 311 indicates that the top end face of the current sprue 900 is closer to the rotary table 110. Therefore, the testing interval corresponding to the current sprue 900 can be obtained based on the axial displacement of the electric cylinder shaft 311.

[0078] S240, Identify the water inlet model based on pre-calibration data. Before the device is put into use, standard nozzles 900 of known specifications are used to calibrate them according to the same process as the actual test. The inner diameter of the inner hole 901 of different nozzles and the standard axial displacement or standard test spacing corresponding to the corresponding nozzle model are obtained, and the correlation between the inner diameter specification of the nozzle inner hole 901, the nozzle model and the test data are established.

[0079] During actual testing, the axial displacement or detection interval obtained from the current nozzle 900 is compared with the pre-calibrated data corresponding to each specification. When the current test result falls within the allowable error range corresponding to a certain specification, it is determined that the nozzle inner hole 901 of the current nozzle 900 has the inner diameter corresponding to that specification, thereby determining the model of the current nozzle 900.

[0080] Each sprue 900 of the specified specifications to be identified has the same or basically the same external structural dimensions and axial length. Each positioning unit 500 has the same structural dimensions, and the predetermined downward position of the positioning sleeve 550 after the sprue 900 is installed is fixed. Therefore, the difference in the position of the top end face of the sprue 900 after different specifications are installed is mainly formed by the matching position between the inner hole 901 of the sprue and the different steps of the stepped shaft 531.

[0081] The outer diameters of each step of the stepped shaft 531 correspond to the inner diameters of the inner holes 901 of different specifications of sprues. The axial dimensions of each step cause the different specifications of sprues 900 to have corresponding axial position differences and top end face height differences. Therefore, by reasonably setting the interval between the detection results corresponding to different specifications, the discrimination margin and allowable measurement error between adjacent specifications can be increased, thereby reducing the requirements for the position control accuracy of the electric cylinder 310 and the detection accuracy of the linear potentiometer 350.

[0082] S250, sequentially inspect each water inlet and establish the correspondence between model and location. After completing the specification inspection of the current sprue 900, the electric cylinder 310 drives the detection component to move up and exit the current sprue 900, and the detection motor 330 drives the detection component to rotate to the next positioning unit 500, and then repeats S210-S240.

[0083] After completing the specification inspection of the water inlet 900 in each positioning unit 500 in sequence, the actual model of each water inlet 900 on the rotating platform 100 supplying the water inlet to be replaced and its position in the positioning unit 500 are obtained, and the correspondence between the water inlet model and the position of the positioning unit 500 is established.

[0084] S260, Determine the target waterway. When the continuous casting equipment needs to replace the nozzle, the nozzle 900 with the matching model and its positioning unit 500 are determined from the nozzles 900 whose specifications have been identified, according to the target nozzle model required by the current continuous casting process. This nozzle 900 is then used as the target nozzle to be removed later, thereby achieving error-proof selection between nozzles 900 of different specifications.

[0085] S300, old water inlet dismantling and recycling, target water inlet installation and positioning unit resetting S310, Send the target nozzle to the extraction station. After the target nozzle 900 is determined, the rotating platform 100 supplying the nozzle to be replaced is controlled to rotate, so that the positioning unit 500 containing the target nozzle 900 enters the removal station.

[0086] S320, Dismantle and recycle the raw water inlet. The replacement device 340 first controls the robotic arm to move the gripper 341 to the nozzle 900 to be replaced on the continuous casting equipment, and then uses the gripper 341 to hold the nozzle 900 to be replaced and remove it from the continuous casting equipment.

[0087] Subsequently, the robotic arm moves the disassembled sprue 900 to another rotating platform 100 for storing the disassembled and recycled sprue, and inserts the disassembled sprue 900 into the recycling seat hole 181 of the recycling seat 180 at the loading station.

[0088] After the old sprue 900 is loaded into the recycling station 180, the corresponding rotary table 110 rotates, causing the recycling station 180, which has been loaded with the old sprue 900, to move away from the current loading position, and allowing the next recycling station 180 to enter the corresponding position, so that it can continue to receive the subsequently disassembled sprue 900.

[0089] S330, Remove the identified target water inlet. After the old sprue 900 is dismantled and recycled, the replacement device 340 moves to the extraction station of the rotating platform 100 that supplies the sprue to be replaced.

[0090] The gripper 341 clamps the target sprue 900 identified in S260 and applies a pull-out force outward along the axial direction of the sprue 900. This pull-out force overcomes the clamping effect between the clamping block 710 and the outer wall of the sprue 900, thereby stably pulling the target sprue 900 out of the end through hole 521 of the positioning unit 500.

[0091] Since the clamping state of each positioning unit 500 can be calibrated during the equipment design or debugging stage, the replacement device 340 can use basically consistent clamping and pulling parameters to remove the target nozzle 900.

[0092] S340, The positioning unit automatically resets after the target nozzle is pulled out. As the target nozzle 900 exits the positioning unit 500, the axial force of the nozzle 900 on the positioning sleeve 550 is released. The positioning sleeve 550 returns to its initial position under the action of the sleeve spring 620, and drives the clamping sleeve 553 to return to its initial position synchronously through the positioning sleeve 552.

[0093] After the clamping sleeve 553 is reset, its effect on the roller frame 810 is released, and the roller frame 810 is reset under the action of the roller spring 640. As the roller frame 810 and the sleeve roller 820 are reset, the effect of the sleeve roller 820 on the sleeve inclined surface 571 is reduced, and the clamping slip ring 560 is reset under the action of the clamping spring 610.

[0094] When the clamping slip ring 560 resets, it drives each centering rod 561 and centering roller 563 to reset synchronously. The pushing action of the centering roller 563 on the centering inclined surface 731 is released. Under the action of the centering spring 630, each centering pressure block 720 moves away from the end through hole 521 and drives each clamping block 710 to exit the end through hole 521, thereby restoring the positioning unit 500 to its initial state where it can be reinstalled into the next water inlet 900.

[0095] S350, install the target inlet and proceed to the next cycle. The replacement device 340 moves the removed target nozzle 900 to the corresponding installation position on the continuous casting equipment, and completes the installation of the target nozzle 900 through the robotic arm and gripper 341.

[0096] After installation, the supply-side rotary platform 100, the recovery-side rotary platform 100, and the replacement device 340 continue to operate in a cycle according to the above steps, thereby realizing the continuous loading, centering and clamping, specification identification, error prevention selection, replacement, and recovery of water nozzles 900 with different inner diameter specifications.

[0097] It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application pertains.

[0098] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0099] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly defined.

[0100] In this application, a circumferentially rotatable assembly is a connection assembly that can rotate relative to each other, such as an assembly using bearings; a circumferentially rotatable but axially movable assembly is one that can rotate relative to each other but cannot move axially, such as by installing shaft clips on both sides of the shaft and the mounting device to prevent the shaft from moving axially; a circumferentially rotatable and axially movable assembly is a movable assembly, such as an assembly where the shaft passes through a shaft hole; an assembly that cannot rotate circumferentially but can move axially can be an assembly using spline grooves or spline mating.

[0101] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0102] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0103] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A positioning unit for positioning water nozzles with different inner diameters, wherein the interior of the water nozzle is a hollow inner hole, and the inner diameter of the inner hole varies for different types of water nozzles; characterized in that, It includes a positioning housing, a housing shaft, and a positioning sliding sleeve. The housing shaft and the positioning sliding sleeve are installed inside the positioning housing. The interior of the positioning sliding sleeve is a sliding sleeve hole. The housing shaft is provided with a stepped shaft. The stepped shaft is composed of at least two steps with different outer diameters, and the outer diameter of the steps gradually increases from the end away from the housing shaft to the end connected to the housing shaft. After the sprue is inserted into the sliding sleeve hole, the inner hole of the sprue is fitted onto the outside of the step that matches its inner diameter, so that after the sprues of different inner diameter specifications are installed, their top end faces form different axial distances relative to the axial reference position of the positioning unit.

2. The positioning unit according to claim 1, characterized in that, It also includes an outer shell end and a positioning inner sleeve. The outer shell end is installed on one end of the positioning outer shell. The positioning inner sleeve is installed inside the positioning outer shell and the outer shell end. The positioning inner sleeve is fixed inside the positioning outer shell, and the end of the positioning inner sleeve is engaged with the outer shell end. The interior of the positioning inner sleeve is a hollow positioning inner sleeve cavity. The positioning sliding sleeve is slidably installed in the positioning inner sleeve cavity. The positioning sliding sleeve is fixed on one end of the positioning sleeve. The positioning sleeve is slidably fitted on the outer shell shaft. The end of the positioning sleeve away from the positioning sliding sleeve is fitted with a sliding sleeve spring, which passes through a limiting ring and is slidably assembled with the limiting ring. The limiting ring is installed in the positioning inner sleeve cavity. The two ends of the sliding sleeve spring are respectively pressed against the limiting ring and the end of the positioning sliding sleeve.

3. The positioning unit according to claim 2, characterized in that, It also includes a clamping slide sleeve, wherein a slide sleeve spring is fitted onto the end of the positioning sleeve away from the positioning slide sleeve, passes through the limiting ring, and mates with the clamping slide sleeve, and the clamping slide sleeve is provided with a clamping cone surface; It also includes at least two centering pressure blocks. The end of the outer shell is provided with a centering slide groove and a pressure block slide groove corresponding to each centering pressure block. The two ends of the centering slide groove are respectively connected to the end through hole and the pressure block slide groove at the end of the outer shell. The centering slide groove engages with and slides with the centering slider. The centering slider is disposed on the centering pressure block. The centering pressure block engages with and slides in the pressure block slide groove. A clamping block is installed on the end of the centering slider away from the centering pressure block. The clamping block is used to fit tightly against the outer wall of the water inlet. The centering pressure block is provided with a centering side block, and the centering side block is provided with a centering inclined surface. The centering inclined surface is directly or indirectly attached to the centering rod. One end of the centering rod passes through the rod hole provided on the end of the outer shell and is assembled with the clamping slip ring. The centering rod is engaged with the rod hole and slidably assembled. The clamping slip ring is slidably fitted outside the positioning inner sleeve. The clamping slip ring is provided with a sliding sleeve block. The sliding sleeve block is provided with a sliding sleeve inclined surface. The sliding sleeve inclined surface is directly or indirectly attached to the roller frame. One end of the roller frame passes through the sliding sleeve groove and enters the positioning inner sleeve cavity. The roller frame and the sliding sleeve groove are engaged and slidably assembled. The sliding sleeve groove is provided on the positioning inner sleeve. The roller frame is provided with a mating conical surface at one end of the sliding sleeve groove. In the initial state, the mating conical surface enters the positioning inner sleeve cavity and fits against the clamping conical surface.

4. The positioning unit according to claim 3, characterized in that, The centering block and the block groove are directly or indirectly assembled with the two ends of the centering spring. The centering spring applies a spring force to the centering block away from the end through hole so that the clamping block does not enter the end through hole in the initial state.

5. The positioning unit according to claim 3, characterized in that, A clamping spring is fitted on the portion of the positioning inner sleeve located between the clamping slip ring and the end of the outer shell. The two ends of the clamping spring are respectively pressed against the clamping slip ring and the end of the outer shell, so that the clamping slip ring is in the position furthest from the end of the outer shell in the initial state.

6. The positioning unit according to any one of claims 3-5, characterized in that, The centering inclined surface is in close contact with the centering roller, and the centering roller is mounted on the centering rod via the centering roller shaft; the sliding sleeve inclined surface is in close contact with the sliding sleeve roller, and the sliding sleeve roller is mounted on the roller frame via the sliding sleeve roller shaft.

7. A continuous casting nozzle replacement device, characterized in that, It includes the positioning unit as described in any one of claims 1-6.

8. The continuous casting nozzle replacement device according to claim 7, characterized in that, It also includes a rotating stage and a detection assembly, with multiple positioning units mounted on the rotating stage; The detection assembly includes a detection frame and a detection plate. The detection assembly can rotate relative to the rotary table so that the detection plate sequentially corresponds to the water inlets in different positioning units along the axial direction of the water inlet's inner hole. The detection assembly can also move along the axial direction of the water inlet's inner hole so that the detection plate moves towards or away from the top end face of the water inlet. The detection component is used to apply axial pressure to the top end face of the sprue after the positioning unit is installed, so that the sprue and the positioning unit are positioned. It is also used to detect the position of the top end face of the sprue after the sprue is positioned, so as to identify the sprue model according to the different axial lengths formed after the sprue with different inner diameters and the positioning unit are assembled.

9. The continuous casting nozzle replacement device according to claim 8, characterized in that, A partition is installed inside the detection frame, and a linear potentiometer is installed on the partition. The telescopic shaft of the linear potentiometer is assembled with the detection plate. The detection plate is assembled with one end of the sliding shaft and the detection guide rail. The sliding shaft and the detection guide rail are slidably assembled with the partition. A sliding shaft spring is fitted on the outside of the sliding shaft. The two ends of the sliding shaft spring are pressed against the detection plate and the partition, respectively, so that the detection plate is in the position furthest from the partition in the initial state. The detection component is connected to the electric cylinder, and the electric cylinder drives the detection component to move axially along the inner hole of the water inlet; After the sprue is installed into the positioning unit, the electric cylinder drives the detection component to move towards the sprue, so that the detection plate contacts the top end face of the sprue and continues to squeeze the sprue, thereby pushing the sprue and the positioning sleeve to move. When the driving power of the electric cylinder reaches the preset power threshold, and / or the change in the output signal of the linear potentiometer relative to the initial value reaches the preset displacement signal threshold, it is determined that the sprue is installed in place. After the sprue is installed in place, the electric cylinder drives the detection assembly to move to the standard detection position. At the standard detection position, the detection plate maintains a fixed vertical distance from the rotary table and is separated from the top end face of the sprue. Subsequently, the electric cylinder drives the detection assembly to move from the standard detection position toward the sprue. When the detection plate contacts the top end face of the sprue and the change in the output signal of the linear potentiometer relative to the initial value reaches the preset contact judgment condition, the contact trigger position is determined, and the axial displacement of the electric cylinder shaft from the standard detection position to the contact trigger position is obtained. The sprue model is then identified based on the axial displacement or the corresponding detection distance.

10. A method for replacing a continuous casting nozzle, implemented based on the positioning unit according to any one of claims 1-6 and the continuous casting nozzle replacement device according to any one of claims 7-9, characterized in that, Includes the following steps: S100, Sprue Loading and Positioning: The sprues to be used with different inner diameters are respectively installed into the positioning unit on the rotating table, so that the inner diameter of the sprue matches the step on the step shaft; drive the detection component to rotate, so that the detection plate corresponds to the sprue in the corresponding positioning unit in the axial direction of the inner diameter of the sprue; drive the detection component to move towards the sprue, so that the detection plate contacts the top end face of the sprue and continues to squeeze the sprue, so that the sprue and the positioning unit are positioned. S200, sprue specification testing: After the sprue is positioned, the drive detection component is moved to the standard detection position, so that the detection plate maintains a fixed vertical distance from the rotary table and is separated from the top end face of the current sprue. Subsequently, the drive detection component moves from the standard detection position to the current sprue. When the detection plate contacts the top end face of the sprue and the change of the output signal of the linear potentiometer relative to the initial value reaches the preset contact judgment condition, the contact trigger position is determined, and the axial displacement of the electric cylinder shaft from the standard detection position to the contact trigger position is obtained. The axial displacement or the detection interval obtained based on the axial displacement is compared with the corresponding data obtained in advance using different known types of water inlets to determine the type of the current water inlet; S300, Target Inlet Determination and Feeding: After completing the specification test of the current sprue, drive the detection component to exit the current sprue and rotate to the next positioning unit. Repeat S200 to complete the specification test of the sprues in each positioning unit on the rotary table in sequence, and obtain the model of each sprue and the position of its positioning unit. According to the target nozzle model required by the continuous casting process, the target nozzle model and its positioning unit that match the target nozzle model are determined from the nozzles that have completed specification testing. The rotary table is driven to rotate, so that the positioning unit containing the target nozzle is moved to the removal station, and the target nozzle is removed from the positioning unit for nozzle replacement in the continuous casting equipment.

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