Slab continuous casting robot with multifunctional clamp

Abstract

The utility model discloses a slab continuous casting robot with a multifunctional clamp, which comprises a slab continuous casting robot and a pneumatic clamp integral device, and the pneumatic clamp integral device comprises a clamp antiskid device, a connecting rod, a clamp fixed plate and a clamp movable plate. The clamp fixed plate is connected with the clamp movable plate, and the clamp antiskid device is connected with the clamp movable plate; one end of the clamp movable plate is connected with a connecting rod; the connecting rod is connected with an air cylinder; the pneumatic clamp overall device is connected with the robot cantilever device; the clamp fixed plate is similar to an arc, and one end of the arc is connected with the clamp movable plate. Under the condition that whole equipment of the robot is not added, the robot can achieve operation and use of multiple functions, and the labor intensity of workers is relieved.

Description

Technical Field

[0001] The utility model relates to the field of clamps and is mainly used for automatic slag adding of continuous casting robots and automatic replacement of immersed nozzles. Background Art

[0002] Modern manufacturing has gradually completed the operation mode of machines replacing manual labor, but the metallurgical industry has been subject to certain constraints on the development and application of robots due to the limitations of its workplace and the variability of the operation process. For example, the automatic slag adding robot that is now widely promoted only completes the slag adding operation, and the entire slag adding robot is a single robot from the protective slag into the slag adding silo and then from the conveying pipeline to the slag discharge system, and cannot perform other operations. Another example is CN202122048541, a device for automatically changing the submerged water nozzle for continuous casting of slabs. Although it can realize the clamping and replacement operations of the submerged water nozzle, the function of the machine is single, and manual centering and confirmation work is required. Utility Model Content

[0003] Therefore, the technical problem to be solved by the utility model is to provide a slab continuous casting robot with a multifunctional clamp, so that the robot can realize multiple functional operations without increasing the overall equipment of the robot, so as to reduce the labor intensity of the workers.

[0004] The technical solution of the utility model is a slab continuous casting robot with a multifunctional clamp, comprising a slab continuous casting robot and a pneumatic clamp overall device, wherein the pneumatic clamp overall device comprises a clamp anti-slip device B, a connecting rod H, a clamp fixed plate E, and a clamp movable plate F;

[0005] The clamp fixing plate E is connected to the clamp movable plate F for controlling the clamp fixing plate E to clamp and release, and the clamp anti-slip device B is connected to the clamp movable plate F; one end of the clamp movable plate F is connected to a connecting rod H, and the connecting rod H is further connected to the cylinder G; the pneumatic clamp overall device is connected to the robot cantilever device D;

[0006] The clamp fixing plate E is in an arc shape, and one end of the arc is connected to the clamp movable plate F. The clamp fixing plate E is stationary, and the fixed clamping is achieved by the action of the movable plate F to achieve clamping and loosening.

[0007] According to the slab continuous casting robot with a multifunctional clamp of the utility model, preferably, the robot cantilever device D is connected to the robot drive controller K.

[0008] According to the slab continuous casting robot with a multifunctional clamp of the utility model, preferably, a protrusion is provided on the clamp fixing plate E, and a protrusion is provided on the clamp movable plate F.

[0009] According to the slab continuous casting robot with a multifunctional clamp of the utility model, preferably, the slab continuous casting robot is also provided with a slag adding rod A.

[0010] Furthermore, the slab continuous casting robot is also provided with a slag adding rod storage rack C for storing the slag adding rod A. The slag adding rod storage rack C is a fixed bracket for storing the slag adding rod.

[0011] According to the slab continuous casting robot with a multifunctional clamp of the utility model, preferably, the slag adding rod A is provided with a first pit B1 and a second pit B2.

[0012] Furthermore, the first concave pit B1 and the second concave pit B2 are adapted to the size of the protrusion of the clamp fixed plate E and the protrusion of the clamp movable plate F. The two concave pits correspond to the size of a protrusion on the movable plate and the fixed plate respectively to prevent slipping.

[0013] Beneficial effects:

[0014] The utility model of the slab continuous casting robot with multifunctional clamps can not only perform slag adding operation but also immersion nozzle quick change without adding the overall equipment of the robot, so that the robot can realize the operation and use of multiple functions. According to the requirements of different working conditions, the mechanical clamps of the slab continuous casting robot are improved, which can not only control the investment of fixed costs but also realize the multifunctional development and application of the robot, providing a basic guarantee for reducing the labor intensity of operators and reducing the operation risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is the overall installation diagram of the multifunctional clamp.

[0016] Figure 2 It is the robot assembly diagram.

[0017] Figure 3 Schematic diagram of the slag adding rod.

[0018] Figure 4 This is a schematic diagram of the submerged water inlet quick change.

[0019] In the figure, there are slag adding rod A, clamp anti-slip device B, connecting rod H, clamp fixing plate E, clamp movable plate F, cylinder G, slag adding rod storage rack C, robot positioning plate J, robot cantilever device D, robot drive controller K, first pit B1, and second pit B2. DETAILED DESCRIPTION

[0020] The present invention will be described more clearly and completely below by way of embodiments in conjunction with the accompanying drawings.

[0021] like Figure 1As shown, a slab continuous casting robot with a multifunctional clamp, a pneumatic clamp overall device, the pneumatic clamp overall device includes a clamp anti-slip device B, a connecting rod H, a clamp fixing plate E, and a clamp movable plate F;

[0022] The clamp fixing plate E is connected to the clamp movable plate F, and the clamp anti-slip device B is connected to the clamp movable plate F; one end of the clamp movable plate F is connected to a connecting rod H, and the connecting rod H is connected to the cylinder G; the pneumatic clamp overall device is connected to the robot cantilever device D.

[0023] 1) Working principle and process of adding slag:

[0024] When slag adding operation is required, the operator moves the robot cantilever device D to the slag adding rod storage rack C through the robot drive controller K, and the clamp fixing plate E on the pneumatic clamp overall device supports the slag adding rod A and keeps it still. At this time, the connecting rod H on the pneumatic clamp overall device closes the clamp movable plate F through the action of the cylinder G to clamp the slag adding rod A, and the clamp anti-slip device B installed on the clamp fixing plate E and the movable plate F fits the first and second pits of the concave position on the slag adding rod, which not only plays an anti-slip role, but also has a positioning role to prevent the slag adding rod A from being offset during the slag adding process and affecting the slag adding operation. After the pneumatic clamp clamps the slag adding rod A, the robot cantilever device D continues to send the slag adding rod A to the crystallizer position for slag adding operation according to the logical trajectory design. When the slag adding operation is completed, the operator only needs to return the robot to the standby position through the robot drive controller K and place the slag adding rod A on the slag adding rod storage rack C.

[0025] 2) Working principle and process of immersion nozzle quick change:

[0026] When the submerged nozzle quick change operation is required, the operator moves the robot cantilever device D to the submerged nozzle baking rack through the robot drive controller K, and the clamp fixing plate E on the pneumatic clamp device supports the neck of the submerged nozzle. At this time, the connecting rod H on the pneumatic clamp device closes the clamp movable plate F through the action of the cylinder G to clamp the submerged nozzle. Then, the robot cantilever device D is moved to the crystallizer position through the robot drive controller K, and the positioning is adjusted through the positioning plate J installed on the sliding mechanism at the bottom of the tundish. The new submerged nozzle is placed in the chute and the pneumatic clamp is released for quick change. After the quick change is completed, the pneumatic clamp device takes out the replaced submerged nozzle and returns to the standby position to complete the quick change operation.

[0027] 1) During normal pouring, a continuous casting machine of Baosteel Co., Ltd. needs to use a robot to add slag. The operator directly operates the robot driver to move the robot cantilever device to the slag rod storage rack. The slag rod is clamped by a pneumatic clamp, and the operator uses the robot driver to send the slag rod to the crystallizer position for slag addition.

[0028] 2) If quick change operation is required, first put the slag adding rod back to the storage rack through the robot driver.

[0029] 3) The operator operates the robot driver again to move the robot cantilever device to the immersion nozzle baking position. The pneumatic clamp device clamps the immersion nozzle that needs to be quickly replaced and sends it to the crystallizer, and then takes out the replaced immersion nozzle and returns it to the standby position.

Claims

1. A slab continuous casting robot with a multifunctional clamp, comprising a slab continuous casting robot, characterized in that: It also includes a pneumatic clamp overall device, which includes a clamp anti-slip device (B), a connecting rod (H), a clamp fixing plate (E), and a clamp movable plate (F); The clamp fixing plate (E) is connected to a clamp movable plate (F) for controlling the clamp fixing plate (E) to clamp and release, and the clamp anti-slip device (B) is connected to the clamp movable plate (F); the clamp movable plate (F) is connected to a connecting rod (H), and the connecting rod (H) is further connected to the cylinder (G); the pneumatic clamp overall device is connected to the robot cantilever device (D); The clamp fixing plate (E) is in an arc shape, and one end of the arc is connected to the clamp movable plate (F).

2. A slab continuous casting robot with a multifunctional clamp according to claim 1, characterized in that: The robot cantilever device (D) is connected to the robot drive controller (K).

3. The slab continuous casting robot with a multifunctional clamp according to claim 1, characterized in that: The clamp fixing plate (E) is provided with a protrusion, and the clamp movable plate (F) is provided with a protrusion.

4. The slab continuous casting robot with a multifunctional clamp according to claim 1, characterized in that: The slab continuous casting robot is also provided with a slag adding rod (A).

5. The slab continuous casting robot with a multifunctional clamp according to claim 4, characterized in that: The slab continuous casting robot is also provided with a slag adding rod storage rack (C) for storing the slag adding rod (A).

6. The slab continuous casting robot with a multifunctional clamp according to claim 4, characterized in that: The slag adding rod (A) is provided with a first pit (B1) and a second pit (B2).

7. A slab continuous casting robot with a multifunctional clamp according to claim 6, characterized in that: The first recess (B1) and the second recess (B2) are adapted in size to the protrusion of the clamp fixed plate (E) and the protrusion of the clamp movable plate (F).

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