Long nozzle automatic mounting system and mounting device thereof

Abstract

The utility model discloses a long nozzle automatic mounting system and a mounting device thereof, and relates to the technical field of long nozzle mounting. For the mounting device, the transverse moving module is mounted on the bottom bearing mechanism, the long nozzle mechanism is mounted on the transverse moving module, the long nozzle mechanism is provided with a long nozzle storage position for storing a long nozzle, a positioning structure is arranged at the long nozzle storage position of the long nozzle mechanism, and the positioning structure is in contact with the periphery of the long nozzle to support and position the long nozzle; the transverse moving module drives the long nozzle mechanism to move in the transverse direction, the moving path of the long nozzle mechanism is provided with a feeding position and a receiving position, the long nozzle is placed into the long nozzle mechanism at the feeding position, and the long nozzle is taken out of the long nozzle mechanism by the long nozzle automatic replacement robot at the receiving position. The mounting device of the long nozzle automatic mounting system is used for replacing manual work to mount the long nozzle on the long nozzle automatic replacement robot, the production efficiency and safety of long nozzle mounting are improved, and the risk that workers are injured is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of shroud installation, and in particular to an automatic shroud installation system and an installation device thereof. Background Art

[0002] Continuous casting steel production is a production process that converts high-temperature molten steel from liquid to qualified ingots. With the unmanned development and automation improvement of continuous casting steel production, automatic shroud replacement robots can now be used to replace the shrouds of large shrouds.

[0003] Compared with the traditional manual installation of the shroud, the shroud automatic replacement robot can align the ladle outlet by swinging the mechanical arm to install the shroud. The inventor found that the existing technical solution has the following defects: although the shroud automatic replacement robot can automatically install the shroud, it is necessary to first install the shroud on the robot's operating arm. Due to the limited range of motion of the operating arm, the current installation method is manual handling and installation of the shroud. Because the operating arm is located at the continuous casting steel production site, there is a risk of molten steel splashing and steel slag falling, which may cause workers to be scalded and injured. Utility Model Content

[0004] The purpose of the present application is to provide an installation device for an automatic shroud installation system, which is used to replace manual installation of the shroud on an automatic shroud replacement robot, thereby improving the production efficiency and safety of the shroud installation and reducing the risk of worker injury. Another purpose of the present application is to provide an automatic shroud installation system including the installation device.

[0005] To achieve the above-mentioned purpose, the present application provides an installation device for an automatic installation system of a long shroud, comprising:

[0006] A bottom bearing mechanism, wherein a lateral movement module is installed on the upper side of the bottom bearing mechanism;

[0007] The transverse moving module, the fixed part of the transverse moving module is fixed relative to the bottom bearing mechanism, and the moving part of the transverse moving module is equipped with a long nozzle mechanism;

[0008] The shroud mechanism has a shroud storage position for storing the shroud, and the shroud mechanism is provided with a positioning structure at the shroud storage position, and the positioning structure is used to contact the periphery of the shroud to support and position the shroud;

[0009] Among them, the transverse movement module is used to drive the long shroud mechanism to move horizontally, and the moving path of the long shroud mechanism has a loading position and a receiving position. The loading position is used to put the long shroud into the long shroud mechanism, and the receiving position is used to enable the long shroud automatic replacement robot to take the long shroud out of the long shroud mechanism.

[0010] In some embodiments, the installation device further comprises an identification mechanism, wherein the identification mechanism is installed on the shroud mechanism, and the identification mechanism is used to enable the shroud automatic replacement robot to detect the movement position of the shroud mechanism.

[0011] In some embodiments, the bottom supporting mechanism is a steel structure.

[0012] In some embodiments, the steel structure is divided into multiple sections and is arranged at intervals along the lateral direction at the bottom of the traverse module.

[0013] In some embodiments, the number of the long shroud storage positions is at least two.

[0014] In some embodiments, the positioning structure includes:

[0015] A bottom support seat, the bottom support seat is tilted, the bottom support seat is provided with a mounting hole, the mounting hole is used for the end of the long shroud to be placed, and the inner side of the mounting hole is provided with a protective piece for contacting the periphery of the long shroud;

[0016] A side support frame, wherein an installation cavity is formed inside the side support frame, and an opening leading to the installation cavity is formed on one side of the side support frame. The side support frame is used for allowing the long water outlet to be placed into the installation cavity through the opening on one side of the side support frame and lean against the other side of the side support frame in an inclined state under the support of the bottom support seat, and a protective member for contacting the periphery of the long water outlet is provided on the inner side of the side support frame.

[0017] In some embodiments, the angle between the bottom support seat and the horizontal plane is 10°-12°, and the inclination angle on which the long water outlet relies is 10°-12°.

[0018] In some embodiments, a module protection structure is provided on the long shroud mechanism, and the module protection structure is arranged on both sides of the long shroud mechanism, and the module protection structure is located above the transverse module.

[0019] In some embodiments, the transverse movement module includes a servo motor, a lead screw and a nut seat, the servo motor is connected to the lead screw, the servo motor is used to drive the lead screw to rotate, the lead screw is threaded with the nut seat, the lead screw is used to drive the nut seat to move laterally, the nut seat is connected to the long water outlet mechanism, and the nut seat is used to drive the long water outlet mechanism to move laterally.

[0020] The present application also provides a long shroud automatic installation system, including a long shroud automatic replacement robot and the above-mentioned installation device, wherein the long shroud automatic replacement robot is used to automatically move to the material receiving position and remove the long shroud from the long shroud mechanism of the installation device.

[0021] Compared with the above-mentioned background technology, the installation device of the long water spout automatic installation system provided in the present application mainly includes a bottom supporting mechanism, a transverse movement module and a long water spout mechanism, and the transverse movement module is installed on the upper side of the bottom supporting mechanism; the fixed part of the transverse movement module is fixed relative to the bottom supporting mechanism, and the moving part of the transverse movement module is installed with the long water spout mechanism; the long water spout mechanism has a long water spout storage position for storing the long water spout, and the long water spout mechanism is provided with a positioning structure at the long water spout storage position, and the positioning structure is used to contact with the periphery of the long water spout to support and position the long water spout; wherein, the transverse movement module is used to drive the long water spout mechanism to move horizontally, and the moving path of the long water spout mechanism has a loading position and a receiving position, the loading position is used to realize the placement of the long water spout into the long water spout mechanism, and the receiving position is used to realize the long water spout automatic replacement robot to take the long water spout out of the long water spout mechanism.

[0022] During the use of the installation device, the installation device can be used in combination with the long nozzle automatic replacement robot of the long nozzle automatic installation system. Specifically, the bearing function is provided by the bottom bearing mechanism, and on the bottom bearing mechanism, the long nozzle mechanism is driven to move laterally by the transverse movement module. When the long nozzle mechanism moves to the loading position, because the loading position is located away from the area where molten steel splashes and slag falls, when the long nozzle is manually placed into the long nozzle storage position of the long nozzle mechanism, it avoids the situation where workers are scalded or hit; when the long nozzle is stored in the long nozzle mechanism and moved to the material receiving position, because the material receiving position is located within the movement range of the long nozzle automatic replacement robot, the long nozzle automatic replacement robot can take the long nozzle out of the long nozzle mechanism and perform subsequent long nozzle automatic installation operations.

[0023] In combination with the above structure and process description, it can be seen that the installation device of the long water spout automatic installation system has at least the following beneficial effects: the installation device can replace manual installation of the long water spout on the long water spout automatic replacement robot, thereby improving the production efficiency and safety of the long water spout installation and reducing the risk of worker injury. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0025] Figure 1 A schematic diagram of the structure of an installation device for an automatic shroud installation system provided in an embodiment of the present application;

[0026] Figure 2 A schematic diagram of the structure of the automatic installation system for the long shroud provided in an embodiment of the present application;

[0027] Figure 3 A schematic structural diagram of the long shroud mechanism provided in an embodiment of the present application.

[0028] in:

[0029] Long water outlet 01,

[0030] Installation device 100,

[0031] Bottom bearing mechanism 1.

[0032] Horizontal movement module 2,

[0033] Long shroud mechanism 3, long shroud storage position 301, positioning structure 31, loading position 302, receiving position 303, bottom support seat 311, side support frame 312, module protection structure 32, identification mechanism 4,

[0034] Automatic shroud changing robot 200. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] In order to enable those skilled in the art to better understand the present application, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0037] At present, the installation of the shroud of the continuous casting platform of the steel plant is carried out by workers to the intelligent operating arm (same meaning as the shroud automatic replacement robot 200), and the intelligent operating arm then installs the shroud to the downspout. The shroud is generally 50 kg, and two people are required to help move it to the support ring weldment of the intelligent operating arm. The on-site working environment is very harsh. Workers need to be directly below the 1500℃ molten steel tank. Two people move the shroud to the intelligent operating arm by hand, and then judge whether the downspout is installed in place based on personal experience. Molten steel splashes out of the molten steel tank from time to time, and steel slag stuck to the molten steel tank falls, and the workers themselves are at risk of being scalded and smashed. Based on the above needs, equipment for automatically installing shrouds instead of manual labor has been developed.

[0038] Please refer to Figures 1 to 3 ,in, Figure 1 A schematic diagram of the structure of the installation device of the long shroud automatic installation system provided in the embodiment of the present application, Figure 2 This is a schematic diagram of the structure of the automatic installation system for the long shroud provided in the embodiment of the present application. Figure 3 A schematic structural diagram of the long shroud mechanism provided in an embodiment of the present application.

[0039] In a specific implementation, the installation device 100 of the long shroud automatic installation system provided in the embodiment of the present application mainly includes a bottom supporting mechanism 1, a transverse module 2 and a long shroud mechanism 3.

[0040] like Figure 1 As shown, a transverse module 2 is installed on the upper side of the bottom supporting mechanism 1; the fixed part of the transverse module 2 is fixed relative to the bottom supporting mechanism 1, and the moving part of the transverse module 2 is installed with a long water spout mechanism 3; the long water spout mechanism 3 has a long water spout storage position 301 for storing the long water spout 01, and the long water spout mechanism 3 is provided with a positioning structure 31 at the long water spout storage position 301, and the positioning structure 31 is used to contact with the periphery of the long water spout 01 to support and position the long water spout 01.

[0041] In this embodiment, the transverse movement module 2 is used to drive the long water spout mechanism 3 to move horizontally. The moving path of the long water spout mechanism 3 has a loading position 302 and a receiving position 303. The loading position 302 is used to place the long water spout 01 into the long water spout mechanism 3, and the receiving position 303 is used to enable the long water spout automatic replacement robot 200 to take the long water spout 01 out of the long water spout mechanism 3.

[0042] During the use of the installation device 100, the installation device 100 can be used in combination with the long water spout automatic replacement robot 200 of the long water spout automatic installation system. Specifically, the bottom supporting mechanism 1 provides the bearing function, and on the bottom supporting mechanism 1, the long water spout mechanism 3 is driven to move laterally through the transverse module 2. When the long water spout mechanism 3 moves to the loading position 302, because the loading position 302 is located away from the area where molten steel splashes and slag falls, when the long water spout 01 is manually placed into the long water spout storage position 301 of the long water spout mechanism 3, it avoids the situation where the workers are scalded or hit; when the long water spout 01 is stored in the long water spout mechanism 3 and moves to the material receiving position 303, because the material receiving position 303 is located within the movement range of the long water spout automatic replacement robot 200, the long water spout automatic replacement robot 200 can take the long water spout 01 out of the long water spout mechanism 3 and perform subsequent automatic installation operations of the long water spout 01.

[0043] Combined with the above structure and process description, it can be seen that the installation device 100 of the long water spout automatic installation system has at least the following beneficial effects: the installation device 100 can replace manual installation of the long water spout 01 on the long water spout automatic replacement robot 200, thereby improving the production efficiency and safety of the installation of the long water spout 01 and reducing the risk of worker injury.

[0044] In some embodiments, the installation device 100 further includes an identification mechanism 4 , which is installed on the shroud mechanism 3 , and is used to enable the shroud automatic replacement robot 200 to detect the moving position of the shroud mechanism 3 .

[0045] In this embodiment, when the installation device 100 is used in combination with the shroud automatic replacement robot 200 of the shroud automatic installation system, the installation device 100 cooperates with the shroud automatic replacement robot 200, and the shroud automatic replacement robot 200 can automatically identify the position of the installation device 100, and then identify the position of the shroud 01, and automatically install the shroud 01 on the automatic replacement robot 200. Among them, the recognition mechanism 4 includes a calibration installation block, a calibration plate and a black background plate, and its purpose is to realize the position detection of the installation device 100 by the shroud automatic replacement robot 200.

[0046] In some embodiments, the bottom supporting mechanism 1 is a steel structure.

[0047] In this embodiment, a steel structure is used as the bottom bearing mechanism 1 to provide bearing for the transverse module 2 and the long shroud mechanism 3. The steel structure has the characteristics of light weight, high strength, good durability and good seismic resistance.

[0048] Furthermore, the steel structure is divided into multiple sections and is arranged at intervals in the lateral direction at the bottom of the transverse moving module 2. Preferably, the multiple sections of the steel structure are evenly arranged in the lateral direction, and each section of the steel structure is extended in the longitudinal direction.

[0049] In some embodiments, the number of the shroud storage positions 301 is at least two.

[0050] Please continue to refer to Figures 1 to 3 There are two long shroud storage positions 301 in the installation device 100, which is equivalent to the installation device 100 having two positions for storing the long shroud 01, and the long shroud 01 can be installed twice before adding material to the lower shroud.

[0051] In this embodiment, when one long water outlet 01 is installed and one long water outlet 01 remains, the vacant position can be filled manually at this time, which will not affect the time of the entire sewer disassembly and assembly process; compared with the previous method in which each long water outlet needs to be installed manually, this method saves more time for disassembly and assembly of the long water outlet, and the installation device 100 is in a relatively safe position, which better increases the safety of on-site personnel.

[0052] In some embodiments, the positioning structure 31 includes a bottom support seat 311 and a side support frame 312 , and the bottom support seat 311 and the side support frame 312 provide positioning for the long shroud 01 at different positions of the long shroud 01 , thereby achieving storage of the long shroud 01 .

[0053] In this embodiment, the bottom support seat 311 is tilted, and the bottom support seat 311 is provided with a mounting hole, the mounting hole is used for the end of the long shroud 01 to be placed, and the inner side of the mounting hole is provided with a protective member for contacting the periphery of the long shroud 01. The inside of the side support frame 312 forms a mounting cavity, and one side of the side support frame 312 forms an opening leading to the mounting cavity. The side support frame 312 is used for the long shroud 01 to be placed into the mounting cavity through the opening on one side of the side support frame 312 and lean against the other side of the side support frame 312 in an inclined state under the support of the bottom support seat 311, and the inner side of the side support frame 312 is provided with a protective member for contacting the periphery of the long shroud 01.

[0054] The positioning structure 31 can be used to realize leaning storage of the long nozzle 01. On the one hand, such storage method can improve the storage stability of the long nozzle 01. On the other hand, the inclination angle of the long nozzle 01 can also make it better installed on the long nozzle automatic replacement robot 200.

[0055] Preferably, the included angle between the bottom support seat 311 and the horizontal plane is 10°-12°, and the inclination angle on which the long water outlet 01 leans is 10°-12°.

[0056] It is found through experiments that when the shroud 01 is tilted at 12°, this angle enables the shroud 01 to be smoothly installed on the shroud automatic changing robot 200 .

[0057] As an option, the protective part adopts a V-pad made of rubber material. By utilizing the elastic characteristics of the V-pad, the storage of the long water outlet 01 can be made more stable, while protecting the outer surface of the long water outlet 01 from damage.

[0058] On this basis, the installation device 100 is further provided with a photoelectric switch, which is located at the long water nozzle storage position 301, and the photoelectric switch is used to detect whether the long water nozzle 01 is stored in place.

[0059] In some embodiments, a module protection structure 32 is provided on the long shroud mechanism 3 , and the module protection structure 32 is arranged on both sides of the long shroud mechanism 3 . The module protection structure 32 is located above the transverse module 2 .

[0060] Optionally, the module protection structure 32 adopts a sheet metal square protection cover made of steel, and the protection cover is directly fixed on both sides of the base of the long nozzle mechanism 3 to play a role in protecting the transverse module.

[0061] In some embodiments, the transverse movement module 2 includes a servo motor, a lead screw and a nut seat. The servo motor is connected to the lead screw, and the servo motor is used to drive the lead screw to rotate. The lead screw is threaded with a nut seat, and the lead screw is used to drive the nut seat to move laterally. The nut seat is connected to the long water outlet mechanism 3, and the nut seat is used to drive the long water outlet mechanism 3 to move laterally.

[0062] In this embodiment, precise driving is achieved through a servo motor to drive the long water nozzle mechanism 3 to move laterally, so that the long water nozzle 01 moves laterally. When the long water nozzle 01 moves to the material receiving position, the long water nozzle automatic replacement robot 200 identifies the installation device 100, and the long water nozzle automatic replacement robot 200 takes the long water nozzle 01 out of the installation device 100 and automatically installs it on the support ring weldment.

[0063] Furthermore, a drag chain component is provided on one side of the transverse moving module 2. The drag chain component can move along the transverse moving module 2 together with the long water outlet mechanism 3. It is a component used to restrain pipelines such as cables or wires or air pressure pipes or oil pressure pipes to facilitate their movement.

[0064] The present application also provides a long shroud automatic installation system, including a long shroud automatic replacement robot 200 and the above-mentioned installation device 100, the long shroud automatic replacement robot 200 is used to automatically move to the material receiving position 303 and remove the long shroud 01 from the long shroud mechanism 3 of the installation device 100.

[0065] In this embodiment, the unmanned continuous casting platform is equipped with an automatic shroud installation system, and the automatic shroud replacement robot 200 cooperates with the installation device 100. The automatic shroud replacement robot 200 can automatically identify the position of the installation device 100 and automatically install the shroud 01 onto the automatic shroud replacement robot 200, i.e., the intelligent operating arm.

[0066] The automatic installation system for the long water outlet includes the above-mentioned installation device 100, and should have all the beneficial effects of the above-mentioned installation device 100, including: reducing the time for manual installation of each long water outlet 01 to the intelligent operating arm, and when one of the two long water outlets 01 stored on the installation device 100 is installed and there is one long water outlet 01 left, the vacant position can be filled manually at this time, which will not affect the time of the entire sewer disassembly and assembly process; compared with the previous method in which each long water outlet needs to be installed manually, this method saves more time for disassembly and assembly of the long water outlet, and the installation device 100 is in a relatively safe position, which better increases the safety of on-site personnel.

[0067] In some cases, the installation process of the shroud is as follows:

[0068] 1. Manually break the bag of the long shroud 01 and place it in the installation device 100;

[0069] 2. The installation device 100 transports the long shroud 01 to the material receiving position, and the intelligent operating arm of the long shroud automatic changing robot 200 automatically moves to the material receiving position;

[0070] 3. The shroud automatic replacement robot 200 identifies the position of the installation device 100;

[0071] 4. The shroud automatic replacement robot 200 installs the shroud 01 onto the intelligent operating arm;

[0072] 5. The intelligent operating arm completes the subsequent installation actions of the long shroud 01.

[0073] It should be noted that many of the components mentioned in this application are universal standard parts or components known to those skilled in the art, and their structures and principles can be learned by those skilled in the art through technical manuals or through conventional experimental methods.

[0074] It should be noted that, in this specification, relational terms such as first and second are merely used to distinguish one entity from other entities, but do not necessarily require or imply any actual relationship or order between these entities.

[0075] The above is a detailed introduction to the long shroud automatic installation system and its installation device provided by the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and its core idea of ​​the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. An installation device for an automatic shroud installation system, characterized in that: include: A bottom bearing mechanism, wherein a lateral movement module is installed on the upper side of the bottom bearing mechanism; The transverse moving module, the fixed part of the transverse moving module is fixed relative to the bottom bearing mechanism, and the moving part of the transverse moving module is equipped with a long nozzle mechanism; The shroud mechanism has a shroud storage position for storing the shroud, and the shroud mechanism is provided with a positioning structure at the shroud storage position, and the positioning structure is used to contact the periphery of the shroud to support and position the shroud; Among them, the transverse movement module is used to drive the long shroud mechanism to move horizontally, and the moving path of the long shroud mechanism has a loading position and a receiving position. The loading position is used to put the long shroud into the long shroud mechanism, and the receiving position is used to enable the long shroud automatic replacement robot to take the long shroud out of the long shroud mechanism.

2. The mounting device according to claim 1, characterized in that: The installation device also includes an identification mechanism, which is installed on the shroud mechanism and is used to enable the shroud automatic replacement robot to detect the movement position of the shroud mechanism.

3. The mounting device according to claim 1, characterized in that: The bottom bearing mechanism adopts a steel structure.

4. The mounting device according to claim 3, characterized in that: The steel structure is divided into multiple sections and is arranged at intervals along the lateral direction at the bottom of the transverse shifting module.

5. The mounting device according to claim 1, characterized in that: The number of the long shroud storage positions is at least two.

6. The mounting device according to claim 1, characterized in that: The positioning structure comprises: A bottom support seat, the bottom support seat is tilted, the bottom support seat is provided with a mounting hole, the mounting hole is used for the end of the long shroud to be placed, and the inner side of the mounting hole is provided with a protective piece for contacting the periphery of the long shroud; A side support frame, wherein an installation cavity is formed inside the side support frame, and an opening leading to the installation cavity is formed on one side of the side support frame. The side support frame is used for allowing the long water outlet to be placed into the installation cavity through the opening on one side of the side support frame and lean against the other side of the side support frame in an inclined state under the support of the bottom support seat, and a protective member for contacting the periphery of the long water outlet is provided on the inner side of the side support frame.

7. The mounting device according to claim 6, characterized in that: The angle between the bottom support seat and the horizontal plane is 10°-12°, and the inclination angle on which the long water outlet leans is 10°-12°.

8. The mounting device according to any one of claims 1 to 7, characterized in that: The long shroud mechanism is provided with a module protection structure, the module protection structure is arranged on both sides of the long shroud mechanism, and the module protection structure is located above the transverse module.

9. The mounting device according to any one of claims 1 to 7, characterized in that: The transverse movement module includes a servo motor, a lead screw and a nut seat. The servo motor is connected to the lead screw, and the servo motor is used to drive the lead screw to rotate. The lead screw is threaded with the nut seat, and the lead screw is used to drive the nut seat to move laterally. The nut seat is connected to the long water outlet mechanism, and the nut seat is used to drive the long water outlet mechanism to move laterally.

10. An automatic shroud installation system, characterized in that: It comprises a long shroud automatic replacement robot and the installation device as described in any one of claims 1 to 9, wherein the long shroud automatic replacement robot is used to automatically move to the material receiving position and remove the long shroud from the long shroud mechanism of the installation device.

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