Lower Nozzle Robot Handling With Force Feedback Control
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Solution Overview
Problem
Conventional methods for attaching and detaching lower nozzles in continuous casting of molten steel fail to reliably account for shape changes and deformation due to wear and thermal expansion, leading to inconsistent frictional resistance.
Innovation Solution
A lower nozzle attaching-detaching apparatus that uses a robot arm with a force sensor to monitor and control movement based on reaction forces and movement amounts in the front/rear and rotational directions, ensuring precise attachment and detachment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional torque and rotational angle control is used for attaching and detaching lower nozzles, then the control mechanism is simple, but the attaching and detaching cannot be reliably performed due to shape changes and deformation from wear and thermal expansion causing variable frictional resistance
Solution Approach 1:
The patent applies feedback control by using a force sensor to detect reaction forces during the attaching and detaching operations. The control unit receives this feedback information and adjusts the robot arm's movements in real-time to compensate for variable frictional resistance caused by wear and thermal expansion, thereby achieving reliable operation without overly complicating the system
Solution Approach 2:
The patent replaces conventional mechanical torque and rotational angle control with a robot arm system that uses force sensor feedback. This substitution allows for more precise and adaptive control of the attaching and detaching process, compensating for shape changes and deformation that occur during use
2Ease of operation
If torque and rotational angle are controlled to attach and detach lower nozzles, then the control parameters are limited and easy to manage, but the varying frictional resistance due to wear and thermal expansion makes reliable attachment and detachment impossible
Solution Approach 1:
The force sensor provides real-time feedback on reaction forces during operation, allowing the control unit to automatically adjust for variable frictional resistance. This maintains ease of operation while significantly improving reliability, as the system self-adjusts without requiring complex manual intervention
3Reliability
If a robot arm with force sensor and control unit is used to monitor reaction forces and movement amounts, then reliable attaching and detaching can be achieved, but the device complexity increases
Solution Approach 1:
The force sensor and control unit create a feedback loop that automatically compensates for wear and thermal expansion effects. While this adds components, the automation reduces the need for complex manual procedures, and the system adapts to varying conditions without requiring multiple specialized mechanisms
Solution Approach 2:
The system performs self-adjustment through force sensor feedback, automatically compensating for frictional resistance variations. This self-service capability improves reliability without requiring additional external intervention or complex manual control procedures
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables reliable and consistent attachment and detachment of lower nozzles by monitoring reaction forces and movement amounts, preventing damage to the apparatus.
Implementation Method 1
a force sensor to detect a reaction force in a front/rear direction and a reaction force in a rotational direction, the two reaction forces being received by the holder from the holding metal frame along with a movement of the robot arm
Data Source
Figure 1
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AI summary
Provided is a lower nozzle attaching-detaching apparatus capable of reliably performing attaching and detaching of a lower nozzle. The lower nozzle attaching-detaching apparatus A is designed to attach and detach a lower nozzle 72 made of a refractory material with respect to a lower plate made of a refractory material and installed in a sliding nozzle device 7, wherein it comprises: a holder 1 capable of being attached and detached with respect to a holding metal frame that holds the lower nozzle 72; a robot arm 2 having the holder 1 at a tip thereof; a force sensor 3 to detect a reaction force in a front/rear direction and a reaction force in a rotational direction, the two reaction forces being received by the holder 1 from the holding metal frame along with the movement of the robot arm 2; and a control unit 21 to monitor and control the movement of the robot arm 2. The control unit 21 operates to perform the attaching and detaching of the lower nozzle 72 by controlling the movement of the robot arm 2 while monitoring the two reaction forces detected by the force sensor 3, and two movement amounts in the front/rear direction and in the rotational direction of the robot arm 2.