Automatic disassembling and assembling system for continuous casting sliding gate oil cylinder

Abstract

An automatic disassembling and assembling system for a continuous casting sliding nozzle oil cylinder comprises a robot system, the sliding nozzle oil cylinder, a PID hydraulic adjusting system, a robot clamp assembly, a machine vision system and a control system. The robot is installed on a continuous casting steel receiving platform, when a steel ladle from a converter or a refined steel ladle filled with molten steel is hoisted to a ladle arm of a large ladle rotary table, the robot clamps a sliding nozzle oil cylinder to be installed at the position of an oil cylinder installation base and is connected with a sliding mechanism pull rod, and control over continuous casting steel flow is achieved; and the robot disassembles the sliding gate nozzle oil cylinder and the empty steel ladle rotary furnace area. According to the utility model, the slide gate nozzle oil cylinder is effectively mounted and dismounted by simulating manual work through the robot, the change amount of the slide gate nozzle oil cylinder and the steel ladle sliding mechanism is small, and the practicability and the economical efficiency are high.

Description

Technical Field

[0001] The utility model belongs to the technical field of intelligent continuous casting production, and relates to an automatic disassembly and assembly system for a continuous casting sliding gate cylinder based on machine vision and the detection and adjustment of the position of the cylinder piston rod. Background Art

[0002] A ladle filled with molten steel from refining or a converter is hoisted onto the large ladle arm of the continuous casting ladle turntable. It is necessary to install the sliding gate cylinder on the cylinder mounting seat and complete the connection between the cylinder and the pull rod to achieve the control of the molten steel flow during casting. The installation of the cylinder was originally mainly completed manually. With the progress of economic technology, enterprises now need to upgrade and use robots to replace manual installation and disassembly of the cylinder to achieve the intelligentization, less manned operation and even unmanned operation of continuous casting steel pouring.

[0003] The prior art requires the transformation of all ladle sliding gate cylinder mounting seats, sliding gate cylinders and slide plate pull rods, as well as the addition of a connecting device between the pull rod communication and the cylinder piston (a mechanism similar to a claw head and claw clip). The amount of project transformation is large, and there are many additional supporting equipment components, resulting in problems such as large project investment, increased potential system failures and unsatisfactory use effects. Summary of the Utility Model

[0004] In order to solve the above deficiencies of the prior art, the utility model aims to provide an automatic disassembly and assembly system for a continuous casting sliding gate cylinder based on machine vision and the detection and adjustment of the position of the cylinder piston rod, which can ensure the reliable connection between the convex head of the piston rod and the groove of the pull rod while the robot automatically installs the cylinder without making major changes to the existing system equipment.

[0005] To achieve the above purpose, the technical solution adopted by the utility model is:

[0006] Continuous casting sliding gate cylinder automatic disassembly and assembly system, including a robot, a sliding gate cylinder, a PID hydraulic regulation system, a robot fixture assembly, a machine vision system and a control system. The robot is installed on the continuous casting steel connection platform as an actuator, and the robot includes a robotic arm and a control host; the sliding gate cylinder is connected to a suspension device by a lifting chain, and a position detection sensor is installed at the tail of the sliding gate cylinder for real-time detection of the sliding gate cylinder and feedback of the position of the piston rod, and the hydraulic PID regulation is used to make the extension length of the piston rod match the machine vision ranging value; the PID hydraulic regulation system includes a high-pressure oil source, a supply and return oil pipeline, a proportional valve, etc., and is used to adjust the movement of its piston rod to the target position and lock it according to the position data detected in real time by the position detection sensor built in the sliding gate cylinder before installing the sliding gate cylinder; the robot fixture assembly includes a coupling, an intermediate connecting plate, a floating centering device, a positioning pin and an electromagnetic fixture. The flange at the end of the robot is bolted to the coupling, and a floating centering device is installed at the other end of the coupling, and the floating centering device 10 is fixedly connected to the electromagnetic fixture and the positioning pin through the intermediate connecting plate. The robot fixture assembly is used to clamp the sliding gate cylinder to complete the disassembly or installation process; the machine vision system includes a 3D camera, a camera bracket, a PC hardware and input and output devices, and the 3D camera and the floating centering unit are installed on the coupling. The machine vision system is used for positioning and ranging during installation and disassembly.

[0007] The control system includes a CPU, a memory, an input unit, a communication interface, an output unit and a power supply, and is mainly used for installation and disassembly process control and signal detection. Description of the Drawings

[0008] Figure 1 It is a partial front view three-dimensional drawing of the installation or disassembly of the sliding gate cylinder in the embodiment of the present invention.

[0009] Figure 2 It is a partial left view three-dimensional drawing of the installation or disassembly of the sliding gate cylinder in the embodiment of the present invention.

[0010] Figure 3 It is a partial three-dimensional drawing of the storage or grasping of the sliding gate cylinder at the storage position in the embodiment of the present invention.

[0011] Figure 4 It is a three-dimensional drawing of the mounting seat of the sliding gate cylinder in the embodiment of the present invention.

[0012] Figure 5 It is a partial three-dimensional drawing of the integral assembly of the ladle, the sliding mechanism, the cylinder mounting seat and the slide plate pull rod in the embodiment of the present invention.

[0013] Figure 6 It is a three-dimensional drawing of the sliding gate cylinder with a position detection sensor in the embodiment of the present invention.

[0014] Figure 7 This is the schematic diagram of the hydraulic regulation system for the movement of the piston rod of the sliding nozzle cylinder in the embodiment of the present utility model.

[0015] In the figure: 1 - ladle; 2 - sliding mechanism; 3 - robot; 4 - cylinder mounting seat; 5 - tie rod; 6 - sliding nozzle cylinder; 7 - 3D camera; 8 - coupling; 9 - intermediate connecting plate; 10 - floating centering device; 11 - positioning pin; 12 - electromagnetic fixture; 13 - camera support; 14 - suspension device; 15 - large ladle arm; 16 - cylinder storage rack. Specific implementation manners

[0016] Next, the embodiments in conjunction with the drawings will be used to further describe the present utility model.

[0017] The continuous casting sliding nozzle cylinder automatic disassembly and assembly system includes a robot 3, a sliding nozzle cylinder 6, a PID hydraulic regulation system, a robot fixture assembly, a machine vision system, etc. The robot 3 is installed as an actuator on the continuous casting steel connection platform. The robot 3 includes a robotic arm and a control host. The sliding nozzle cylinder 6 is connected to the suspension device 14 by a lifting chain. A position detection sensor 601 is installed at the tail of the sliding nozzle cylinder 6 to detect and feedback the position of the piston rod 603 of the sliding nozzle cylinder 6 in real time, and in combination with the PID hydraulic regulation system, the extension length of the piston rod 603 is made to match the machine vision ranging value (i.e., the distance between the mounting seat 402 and the tie rod groove 501). The PID hydraulic regulation system includes a high-pressure oil source, a supply and return oil pipeline, a proportional valve, etc., and is used to adjust the movement of its piston rod 603 to the target position and lock it according to the position data detected in real time by the position detection sensor 601 built in the sliding nozzle cylinder 6 before installing the sliding nozzle cylinder 6.

[0018] Such as Figure 1 、 Figure 3 , the robot fixture assembly includes a coupling 8, an intermediate connecting plate 9, a floating centering device 10, a positioning pin 11, and an electromagnetic fixture 12. The end flange of the robot 3 is bolted to the coupling 8. The other end of the coupling is installed with a floating centering device 10, and the floating centering device 10, the electromagnetic fixture 12, and the positioning pin 11 are fixedly connected together through the intermediate connecting plate 9; the robot fixture assembly is used to clamp the sliding nozzle cylinder to complete the disassembly or installation process. The machine vision system includes a 3D camera 7, a camera support 14, PC hardware, and input and output devices. The machine vision system is used for positioning and ranging during installation and disassembly. The 3D camera 7 and the floating centering unit 10 are installed on the coupling 8; the floating centering device 10, the electromagnetic fixture 12, and the positioning pin 11 are fixedly connected together through the intermediate connecting plate 9, and the cylinder to be installed is stored at the position of the cylinder storage rack 16.

[0019] Such as Figure 1, in this embodiment, the sliding mechanism 2 is installed on the ladle 1, the oil cylinder mounting seat 4 is installed on the sliding mechanism 2, the tie rod 5 is connected to the slide plate of the slide plate mechanism 2, and the molten steel flow is controlled by the driving of the oil cylinder 6.

[0020] Design principle of the present utility model:

[0021] As Figures 1 to 7 , when installing the sliding nozzle oil cylinder 6, the ladle 1, the sliding mechanism 2, the oil cylinder mounting support 4 and the mechanism tie rod 5 are assembled and hoisted together to the large ladle arm 15 at the steel receiving position and lifted to a high position. The "eye-in-hand" 3D camera 7 of the robot 3 moves to the vicinity of the sliding nozzle oil cylinder installation position and the vicinity of the oil cylinder storage position successively, and performs positioning photography and distance measurement (the distance between the mounting support 402 and the tie rod groove 501). According to the distance value measured by machine vision, the PID hydraulic adjustment function is started (for the adjustment system principle, see Figure 7 ), the extension length of the piston rod 603 of the sliding nozzle oil cylinder 6 is adjusted to match it, and then the extension length is locked. When the robot 3 and the fixture assembly move to the position of the sliding nozzle oil cylinder storage, the positioning pin 11 cooperates with the positioning hole 606 of the clamping plate 605 of the sliding nozzle oil cylinder 6 to prevent positioning deviation. The head of the positioning pin 11 is designed as a cone. When the positioning pin 11 enters the positioning hole 606 about 5 mm, the floating centering device 10 unlocks and releases. After the electromagnetic fixture 12 is completely attached to 605, the floating centering device 10 locks. At the same time, the electromagnetic fixture 12 is powered on, and the robot 3 clamps the sliding nozzle oil cylinder 6 and leaves the oil cylinder storage rack 16. According to the previous machine vision positioning result, the robot 3 clamps the sliding nozzle oil cylinder and moves to the oil cylinder installation position to prevent positioning deviation. The oil cylinder support installation groove 502 is designed as a guiding conical surface 501. When the mating depth between the installation flange 602 of the sliding nozzle oil cylinder 6 and the installation groove 502 reaches 5 mm, the floating centering device 10 unlocks and releases. After the sliding nozzle oil cylinder 6 is completely installed in place, the electromagnetic fixture 12 is powered off, and the robot 3 returns to its original position with the fixture assembly. During the process, the floating centering device 10 locks again.

[0022] As Figures 1 to 7 , when disassembling the sliding nozzle oil cylinder 6, the robot 3 moves to the storage position of the sliding nozzle oil cylinder 6 and the removal position of the sliding nozzle oil cylinder 6 successively. The 3D camera 7 takes pictures for positioning. According to the positioning result, the robot 3 moves to the position of the sliding nozzle oil cylinder to be disassembled with the fixture assembly. The positioning pin 11 cooperates with 606, the positioning clamping plate 605 fits with the electromagnetic fixture 12, and the electromagnetic fixture is powered on. Under the action of the electromagnetic force, the robot 3 clamps the oil cylinder 6 and places it in the storage position, and the robot 3 returns to its original position.

[0023] As Figure 7 , the system is specially designed to add a PID hydraulic adjustment system for the telescopic movement position of the piston rod 603 of the sliding nozzle oil cylinder 6 (the schematic diagram is as Figure 7)(and the position detection sensor 601 built into the oil cylinder 6), completely imitating the process of manually installing and disassembling the oil cylinder 6. Compared with similar projects in the prior art, it reduces the transformation of the oil cylinder mounting seat 4 for the implementation of the entire project, eliminates the need to specially design and manufacture a large number of transition connection devices (claws and matching connection protrusions) for the protrusion 604 of the piston rod of the tundish nozzle oil cylinder and the groove of the pull rod 5, reduces the system failure rate, improves the system feasibility and reliability, and is easy to operate.

[0024] Working process:

[0025] 1) When the ladle 1 filled with molten steel is hoisted to the ladle arm 15 at the steel receiving position and the ladle arm 15 is raised to the high position, the robot 3 identifies the installation position of the tundish nozzle oil cylinder 6 and the distance between the oil cylinder mounting support 4 and the tundish nozzle pull rod 5.

[0026] 2) The PID hydraulic regulation system of the tundish nozzle oil cylinder quickly adjusts the movement of the piston rod 603 of the tundish nozzle oil cylinder 6 to be installed to the target position and locks it according to the distance between the oil cylinder mounting support 4 and the tundish nozzle pull rod 5 feedback by machine vision.

[0027] 3) The robot 3 moves to near the oil cylinder storage rack 16, the machine vision identifies the storage position of the tundish nozzle oil cylinder 6, and the robot 3 grabs the tundish nozzle oil cylinder 6 and installs it to the working position of the tundish nozzle oil cylinder 6.

[0028] 4) After the ladle 1 is cast, the ladle turntable transports the empty ladle 1 from the casting position to the steel receiving position. When the tundish nozzle oil cylinder 6 needs to be disassembled, the robot 3 moves to the storage position of the tundish nozzle oil cylinder 6 and near the tundish nozzle oil cylinder 6 to be disassembled respectively. The "eye-in-hand" 3D camera takes pictures to identify the position of the tundish nozzle oil cylinder 6 to be disassembled and its upcoming storage position in sequence. Then the robot 3 clamps the tundish nozzle oil cylinder 6 and moves from the disassembly position to the oil cylinder storage rack 16 and stores the tundish nozzle oil cylinder 6.

Claims

1. Continuous casting sliding nozzle oil cylinder automatic disassembly and assembly system, characterized in that: It includes a robot, a sliding gate cylinder, a PID hydraulic regulation system, a robot fixture assembly, a machine vision system and a control system; the robot is installed on the continuous casting steel connection platform as an actuator, and the robot includes a robotic arm and a control host; the sliding gate cylinder is connected to the suspension device by a lifting chain, and a position detection sensor is installed at the tail of the sliding gate cylinder to detect and feedback the position of the piston rod in real time, and the extension length of the piston rod is matched with the machine vision ranging value through hydraulic PID regulation; the PID hydraulic regulation system includes a high-pressure oil source, a supply and return oil pipeline, a proportional valve, etc., which is used to adjust the movement of its piston rod to the target position and lock it according to the position data detected in real time by the built-in position detection sensor of the sliding gate cylinder before installing the sliding gate cylinder; the robot fixture assembly includes a coupling, an intermediate connecting plate, a floating centering device, a positioning pin and an electromagnetic fixture. The flange at the end of the robot is bolted to the coupling, and the other end of the coupling is installed with a floating centering device, and the floating centering device (10) is fixedly connected to the electromagnetic fixture and the positioning pin through the intermediate connecting plate. The robot fixture assembly is used to clamp the sliding gate cylinder to complete the disassembly or installation process; the machine vision system includes a 3D camera, a camera bracket, PC hardware and input and output devices, and the 3D camera and the floating centering unit are installed on the coupling (8).

2. The continuous casting sliding nozzle oil cylinder automatic disassembly and assembly system according to claim 1, characterized in that: The control system includes a CPU, a memory, an input unit, a communication interface, an output unit and a power supply, which is mainly used for installation and disassembly process control and signal detection.

Images