Industrial robot suitable for tundish spraying

Abstract

The utility model provides an industrial robot suitable for tundish spraying. The industrial robot comprises an industrial robot body and a robot frame. The robot guide rail is arranged on the robot frame, the industrial robot is arranged in the robot guide rail, the industrial robot slides along the robot guide rail to spray a tundish, a lifting lug is arranged on the robot frame, and a positioning mounting hole is formed in the bottom of the robot frame. And the positioning mounting holes are fixedly connected with a fixed base arranged on a spraying site. By the adoption of the frame type robot structure, the robot can be rapidly switched between tundishes of different specifications and different positions, the tundishes do not need to be hoisted to specific stations, and spraying efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, and in particular to an industrial robot suitable for tundish spraying. Background Art

[0002] The tundish is a refractory container used in steelmaking. It first receives the molten steel poured from the ladle, and then distributes it to each crystallizer through the tundish water outlet. The tundish is the middle link in the steelmaking production process, and it is the connection point from intermittent operation to continuous operation. As a metallurgical reactor, the tundish is an important part of improving steel production and quality. Whether it is for the smooth progress of continuous casting operations or for ensuring that the quality of molten steel meets the requirements, the role of the tundish cannot be ignored. Usually, the tundish has the functions of diversion, continuous casting, pressure reduction, protection, and impurity removal.

[0003] At present, steel mills usually lift the coating of super-large tundishes to a specific location and then spray the tundishes manually, which is inefficient and time-consuming and labor-intensive. Utility Model Content

[0004] In view of the defects in the prior art, the purpose of the utility model is to provide an industrial robot suitable for tundish spraying.

[0005] According to the utility model, an industrial robot suitable for tundish spraying is provided, comprising: an industrial robot and a robot frame; the robot frame is provided with the robot guide rail, the industrial robot is arranged in the robot guide rail, the industrial robot slides along the robot guide rail to spray the tundish, the robot frame is provided with a lifting lug, the bottom of the robot frame is provided with a positioning mounting hole, and the positioning mounting hole is fixedly connected to a fixed base arranged in the spraying site.

[0006] Preferably, a laser scanning sensor is also provided on the robot guide rail.

[0007] Preferably, it also includes a robot control cabinet, which is electrically connected to the industrial robot and the laser scanning sensor, and the robot control cabinet is fixedly installed on one side of the robot frame.

[0008] Preferably, a paint spraying agitator is further included, and the discharge port of the paint spraying agitator is connected to the feed port of the industrial robot through an agitator pipe.

[0009] Preferably, the industrial robot comprises a multi-degree-of-freedom robotic arm, at the end of which a nozzle is provided, on which a paint tube and a compressed air tube are provided, the paint tube is connected to the agitator tube, and the compressed air tube is connected to an external air source.

[0010] Preferably, the industrial robot is detachably connected to an external gas source and an external power source via a quick-connect plug.

[0011] Preferably, a detection sensor is provided at the initial position of the laser scanning sensor to determine whether the laser scanning sensor is at the initial position.

[0012] Preferably, a plurality of positioning pins are provided on the fixed base, the positioning pins match the positions of the positioning mounting holes, and the robot frame is fixed by the positioning pins.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. The utility model adopts a frame-type robot structure, so that the robot can quickly switch between tundishes of different specifications and positions, without the need to lift the tundish to a specific workstation, thereby improving the spraying efficiency.

[0015] 2. The utility model adopts the structural design of the frame-type robot, and the working area is in a closed state during the spraying operation to ensure the safety of personnel.

[0016] 3. The utility model uses industrial robots and laser scanning sensors to achieve automatic spraying of the intermediate package without manual work.

[0017] 4. The nozzle of the utility model is connected with a paint pipe and a compressed air pipe at the same time, which can increase the spraying speed of the paint, thereby improving the spraying effect of the paint.

[0018] 5. The industrial robot in the utility model adopts a quick-connect plug, which can improve the connection speed when switching the intermediate package spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0020] Figure 1 This is a schematic diagram of the overall structure of an industrial robot including a robot frame disclosed in the utility model;

[0021] Figure 2 The industrial robot disclosed in the utility model has a structural schematic diagram;

[0022] Figure 3 This is a schematic diagram of the working state of the industrial robot disclosed in the utility model;

[0023] Figure 4 It is a partial schematic diagram of the industrial robot disclosed in the utility model;

[0024] Figure 5 This is a schematic diagram of the spraying operation area disclosed in the utility model;

[0025] Figure 6 It is a side view of the robot frame disclosed in the utility model.

[0026] Description of reference numerals:

[0027] Fixed base 1 Paint delivery pipe 9

[0028] Tundish 2 Positioning pin 10

[0029] Industrial robot 3 nozzle 11

[0030] Robot rail 4 screws 12

[0031] Robot Framework 5 Paint Tube 13

[0032] Laser scanning sensor 6 Compressed air pipe 14

[0033] Robot control cabinet 7 Lifting eye 15

[0034] Spray paint agitator8 DETAILED DESCRIPTION

[0035] The utility model is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the utility model, but do not limit the utility model in any form. It should be pointed out that for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the utility model. These all belong to the protection scope of the utility model.

[0036] The utility model discloses an industrial robot suitable for tundish spraying, comprising: an industrial robot 3 and a robot frame 5.

[0037] The robot frame 5 is provided with the robot rail 4, the industrial robot 3 is arranged in the robot rail 4, the industrial robot 3 slides along the robot rail 4 to spray the tundish 2, and the robot frame 5 is provided with a lifting lug 15, so as to facilitate the crane lifting. A positioning mounting hole is provided at the bottom of the robot frame 5, and the positioning mounting hole is fixedly connected to a fixed base arranged at the spraying site. A laser scanning sensor 6 is also provided on the robot rail 4, and the laser scanning sensor 6 can be moved from one end of the rail to the other end, and the scanning area covers the entire area of ​​the tundish 2 that needs to be sprayed. A detection sensor is provided at the initial position of the laser scanning sensor 6 to determine whether the laser scanning sensor 6 is in the initial position.

[0038] It also includes a robot control cabinet 7 , which is electrically connected to the industrial robot 3 and the laser scanning sensor 6 , and is fixedly mounted on one side of the robot frame 5 .

[0039] It also includes a paint spraying agitator 8 , the discharge port of the paint spraying agitator 8 is connected to the feed port of the industrial robot 3 through a agitator pipe 9 .

[0040] The industrial robot 3 includes a multi-degree-of-freedom mechanical arm, at the end of which is a nozzle 11, on which is a paint pipe 13 and a compressed air pipe 14, the paint pipe 13 is connected to the agitator pipe 9, and the compressed air pipe 14 is connected to an external air source. The industrial robot 3 is detachably connected to an external air source and an external power source via a quick-connect plug.

[0041] A plurality of positioning pins 10 are arranged on the fixed base, and the positions of the positioning pins 10 match the positions of the positioning and mounting holes, and the robot frame 5 is fixed by the positioning pins 10 .

[0042] The spraying process of the above-mentioned industrial robot suitable for tundish spraying is as follows:

[0043] Step 1: First, fix the tundish 2 of the spraying station in place, and clean the tundish 2 until the spraying requirements are met.

[0044] Step 2: Use a crane to lift the entire robot frame to the top of the tundish 2 and slowly lower it. The robot frame 5 and the fixed base 1 are positioned by the positioning pins 10 on the fixed base 1 and then fastened by bolts.

[0045] Step 3: Connect the external power cord and compressed air to the robot control cabinet 7 through the quick-plug connector, and power on the equipment; then connect the agitator tube 9 to the robot spray pipeline interface.

[0046] Step 4: Set the relevant initial parameters on the operation panel on the robot control cabinet 7, such as confirming that the pipeline is connected, the industrial robot 3 and the laser scanning sensor 6 are back to the initial position, confirming the spraying speed, etc., and all the preconditions are met, and then start the industrial robot system.

[0047] Among them, the initial position can be set in the program. The industrial robot 3 is driven by a servo motor to walk. The servo motor has a position feedback function, and the system can read the position of the robot. The laser scanning sensor is provided with a detection sensor at the initial position. After the system is powered on, the sensor detects a signal, and it can be determined that the laser scanning sensor is at the initial position.

[0048] Step 5: After the system is started, the laser scanning sensor 6 first moves from one end of the intermediate package 2 to the other end and then returns to the initial position. During the movement, the laser scanning sensor 6 scans the entire area of ​​the intermediate package 2. The laser scanning system establishes a model of the intermediate package 2 based on the scanned data, and automatically generates a spraying path, and sends the path to the industrial robot 3.

[0049] The laser scanning sensor transmits the scanned information to the image processing software of the industrial computer. The image processing software uses point cloud technology to generate the model of the intermediate package 2, and generates the running path of the robot nozzle head according to the set spraying starting point, spraying thickness, one-time spraying width and other information. During the spraying process, the robot's working status is monitored at any time through video monitoring, and a spraying report (intermediate package 2 number, spraying time, spraying weight, spraying material and other information) is automatically generated.

[0050] Step 6. After the industrial robot 3 receives the spraying path, the industrial robot 3 moves to the starting spraying position, the nozzle 11 points to the spraying starting point, the industrial robot 3 is interlocked with the spray material agitator 8, and the agitator is automatically started to stir and feed the material. The spray material is sent to the nozzle 11 of the spraying industrial robot 3 through the paint delivery pipe 9 and the paint pipe 13, and the compressed air in the compressed air pipe 14 sprays the spray material onto the inner wall of the tundish 2.

[0051] Step 7: The industrial robot 3 carries the spray head 11 and sprays according to the planned path until the entire tundish 2 is sprayed.

[0052] Step 8: After spraying is completed, the industrial robot 3 returns to the initial position. Clean the spraying pipeline 9 manually. Disconnect all external pipelines manually. Lift the spraying frame 5 to the next spraying station by the crane. Repeat steps 1-7.

[0053] The industrial robot 3, the robot guide rail 4, the robot control cabinet 6 and the spray paint agitator 7 are combined together through the robot frame 5, and are hoisted to the top of the tundish 2 by the crane, and are positioned by the positioning pins on the base 1. The robot control cabinet 6 controls the movement of the industrial robot 3, and the spray paint agitator 7 provides spray paint. The industrial robot 3 carries a laser scanner, and uses laser ranging technology and automatic path planning technology to realize the function of the robot automatically spraying the tundish 2.

[0054] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0055] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other at will.

Claims

1. An industrial robot suitable for tundish spraying, characterized in that: include: Industrial robots (3) and robot frames (5); The robot frame (5) is provided with a robot guide rail (4), the industrial robot (3) is arranged in the robot guide rail (4), the industrial robot (3) slides along the robot guide rail (4) to spray the intermediate package (2), the robot frame (5) is provided with a lifting lug (15), and the bottom of the robot frame (5) is provided with a positioning installation hole, and the positioning installation hole is fixedly connected to a fixed base arranged in a spraying site.

2. The industrial robot suitable for tundish spraying according to claim 1, characterized in that: A laser scanning sensor (6) is also provided on the robot guide rail (4).

3. The industrial robot suitable for tundish spraying according to claim 2, characterized in that: It also includes a robot control cabinet (7), the robot control cabinet (7) is electrically connected to the industrial robot (3) and the laser scanning sensor (6), and the robot control cabinet (7) is fixedly installed on one side of the robot frame (5).

4. The industrial robot suitable for tundish spraying according to claim 1, characterized in that: It also comprises a spray paint agitator (8), the discharge port of the spray paint agitator (8) being connected to the feed port of the industrial robot (3) via a agitator pipe (9).

5. The industrial robot suitable for tundish spraying according to claim 4, characterized in that: The industrial robot (3) comprises a multi-degree-of-freedom mechanical arm, at the end of which is a nozzle (11), on which a paint pipe (13) and a compressed air pipe (14) are arranged, the paint pipe (13) being connected to the agitator pipe (9), and the compressed air pipe (14) being connected to an external air source.

6. The industrial robot suitable for tundish spraying according to claim 1, characterized in that: The industrial robot (3) is detachably connected to an external gas source and an external power source via a quick-connect plug.

7. The industrial robot suitable for tundish spraying according to claim 2, characterized in that: A detection sensor is arranged at the initial position of the laser scanning sensor (6) to determine whether the laser scanning sensor (6) is at the initial position.

8. The industrial robot suitable for tundish spraying according to claim 1, characterized in that: A plurality of positioning pins (10) are arranged on the fixed base, the positioning pins (10) match the positions of the positioning installation holes, and the robot frame (5) is fixed by the positioning pins (10).

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