Automatic casting powder feeding device and method of articulated robot

Abstract

The invention provides an automatic casting powder feeding device and method of an articulated robot. The device comprises casting powder pots used for storing casting powder, an articulated robot which mainly comprises an articulated robot arm and a control system for controlling the articulated robot arm, and a casting powder feeding scoop mounted at the end of the articulated robot arm. The method comprises the following steps: the casting powder feeding scoop is driven by the articulated robot to scoop the casting powder, move according to a set path, pour the casting powder out of the casting powder feeding scoop into crystallizers, and re-scoop the casting powder, and the operation is repeated in this way. The automatic casting powder feeding device disclosed by the invention has the beneficial effects of being small in size, low in price, smooth and uniform in feeding of the casting powder, capable of maintaining the original form of the casting powder, environmental-friendly and the like, and solves the problems of a conventional automatic casting powder feeding device being large in size, high in price, subjected to clogging of the casting powder, nonuniform in feeding of the casting powder, subjected to crushing of the casting powder, liable to generate dust pollution and the like.

Description

technical field [0001] The invention relates to the field of steelmaking and continuous casting, in particular to an automatic slag adding device and method 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 the manual adding method. Compared with the traditional manual manual adding method, the automatic slag addition to the mold has the advantages of uniform slag addition, saving mold slag, and reducing labor intensity of workers. 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 th...

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, there have been robot-based automatic slag adding devices in recent years. 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 include: In addition to crushing the mold slag, the screw slag adding pipe is too heavy, which leads to the large size and high price of the robot used.

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