Sliding Nozzle Opening-Closing Apparatus with Force Sensor
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Solution Overview
Problem
The existing position measurement techniques for sliding nozzle devices in high-temperature environments suffer from poor accuracy in the front-rear direction due to thermal expansion and surface irregularities, leading to errors in opening and closing operations, which can result in failed plate removal or improper surface pressure application.
Innovation Solution
An opening-closing apparatus comprising a hand tip part with a ring and retainer rod, a plate holding device with a force sensor, and a robot arm, which uses a three-dimensional sensor and image processing to correct positional coordinates and detect forces for precise engagement and movement control, ensuring reliable opening and closing of the sliding nozzle device components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If image processing is used to measure position during robot arm operation, then measurement can be performed in real-time, but measurement accuracy in the front-rear direction becomes poor due to thermal expansion and surface irregularities
Solution Approach 1:
The patent applies feedback by continuously monitoring the actual position of the sliding nozzle device during robot arm operation and comparing it with the target position. The system automatically adjusts the robot arm's movement based on detected position deviations, creating a closed-loop control system that compensates for measurement errors and maintains operational reliability despite thermal expansion and surface irregularities.
Solution Approach 2:
The patent replaces traditional mechanical position measurement methods with optical image processing and computer vision techniques. By using cameras and image analysis algorithms to detect marker positions and calculate spatial coordinates, the system achieves non-contact measurement that can operate in high-temperature environments without being affected by thermal expansion of mechanical components.
2Manufacturing precision
If the slide metal frame is not completely closed due to position measurement error, then the opening-closing operation cannot be properly performed, but increasing measurement precision is difficult under high temperature conditions
Solution Approach 1:
The patent changes the measurement parameters by using temperature-compensated reference markers and adjusting image processing algorithms to account for thermal effects. The system dynamically adjusts measurement parameters based on detected temperature variations, allowing accurate position determination even when the sliding nozzle device expands or contracts due to high temperature conditions.
3Ease of operation
If manual manipulation of crane is used to lay down molten steel pot, then operation is simple, but laid-down position varies by several centimeters each time
Solution Approach 1:
The patent applies self-service by equipping the crane with automated position control capabilities. The system uses sensors and feedback mechanisms to automatically adjust the crane's positioning, eliminating the need for manual manipulation while achieving consistent, precise placement of the molten steel pot. The crane autonomously compensates for position variations and maintains accurate positioning throughout the operation.
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
The apparatus enables reliable and precise selective opening and closing of the sliding nozzle device components, reducing the risk of damage and improving operational accuracy by using a force sensor to detect engagement forces and prevent overextension or failure to engage, thus ensuring accurate plate handling and surface pressure application.
Implementation Method 1
a technique of acquiring an image of the object by a camera, and subjecting the acquired image to image processing, thereby correcting positional coordinates of the object
Implementation Method 2
a force sensor 10 disposed on the side opposite to the hand tip part 2 with respect to the plate holding device 101
Implementation Method 3
mounting an assembly of these components to a robot arm 15... under position control of the robot arm
Data Source
Figure 1
Figure 2~3
Figure 4
AI summary
Provided is an opening-closing apparatus capable of, when using a robot arm to selectively open and close an openable-closable component of a sliding nozzle device, reliably opening and closing the openable-closable component to respective given positions. The opening-closing apparatus comprises: a hand-like distal module 2 configured to be engaged with an openable-closable component of a sliding nozzle device 14; a force sensor 10 configured to detect a force received by the hand-like distal module 2; and a robot arm 15 to which the hand-like distal module 2 and the force sensor 10 are mounted. The robot arm 15 is controllably operated so as to: move the hand-like distal module 2 toward the openable-closable component of the sliding nozzle device and engage the hand-like distal module 2 with the openable-closable component of the sliding nozzle device; then move the hand-like distal module 2 to move the openable-closable component, if the absolute value of the force detected by the force sensor 10 is equal to or less than a given threshold; and stop the movement of the hand-like distal module 2, when the absolute value of the force detected by the force sensor 10 reaches the given threshold.