Automatic casting powder adding device for articulated robot

Abstract

The invention provides an automatic casting powder adding device for an articulated robot. The device comprises a casting powder basin for storing the casting powder, the articulated robot composed of an articulated robot hand and a control system for controlling the articulated robot hand, and a casting powder adding ladle arranged at the end of the articulated robot hand. A method comprises the steps that the casting powder adding ladle is arranged at the end of the articulated robot hand, firstly, the articulated robot drives the casting powder adding ladle to scoop casting powder, the articulated robot moves according to a set path, then, the casting powder in the casting powder adding ladle is poured into a crystallizer, finally, the articulated robot returns to the initial position for casting powder addition to contain casting powder again, and the steps are repeatedly conducted. The automatic casting powder adding device for the articulated robot has the beneficial effects that the size is small, the price is low, casting powder adding is smooth and uniform, the original form of the casting powder is protected, and environment friendliness is achieved; and the problems that according to existing automatic casting powder adding, the size is large, the price is high, casting powder blockage occurs, casting powder adding is not uniform, casting powder is stirred and smashed, and dust is raised easily are solved.

Description

technical field [0001] The invention relates to the field of steelmaking and continuous casting, in particular to an automatic slag adding device for a joint robot. Background technique [0002] The mold slag on the surface of the molten steel in the mold of the continuous casting machine can absorb the inclusions in the molten steel, prevent the molten steel from being oxidized in contact with air, and act as a lubricant, which is very important for improving the quality of the billet. The traditional method of adding mold slag (referred to as slag addition) to the crystallizer is manual addition. Compared with the traditional manual manual addition, the mold automatic slag addition device has the advantages of evenly adding slag, saving mold slag, and reducing labor intensity. The existing automatic slag adding device mainly has the following three conveying principles: one is to transport the mold slag from the high slag hopper to the low mold through the weight of the mo...

AI Technical Summary

Problems solved by technology

The existing automatic slag adding device mainly has the following three conveying principles: one is to transport the mold slag from the high slag hopper to the low mold through the weight of the mold slag itself. The disadvantage is that it is only suitable for small cross-section The crystallizer is often prone to clogging and uneven slag addition; the second is to transport the mold slag from the slag hopper to the crystallizer through the spiral slag feeding pipe, and the disadvantage is that the mold slag is easily stirred by the screw rod in the spiral slag feeding pipe The third is to transport the mold slag from the slag hopper to the crystallizer through the pneumatic conveying device. The disadvantage is that the compressed air flow in the pneumatic conveying device will easily cause dust, which will cause dust pollution and waste.

With the development of the application of intelligent robots, in recent years, there has also been an automatic slag adding device based on robots. It is installed on the robot arm through a spiral slag adding pipe with a servo motor and a screw to realize automatic slag adding. Its disadvantages are The helical slag feeding pipe is too heavy, which leads to the large size and high price of the robot used

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