JPH0310425B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a submerged nozzle changing device connected to a sliding nozzle device attached to the bottom opening of a tundish in a continuous casting facility.

(Prior art) A sliding nozzle is attached to the lower surface of the bottom opening of a tundish of a continuous casting equipment, and below the sliding nozzle is an immersion nozzle that guides the molten steel flowing out from the nozzle into the mold while blocking it from the atmosphere. is attached. The immersion nozzle is easily damaged because it comes into contact with high-temperature molten steel, and therefore requires frequent replacement.

Conventionally, such nozzle replacement has been performed by a worker remotely using a manipulator in view of the work environment and work safety under the above-mentioned high temperatures.

However, since the replacement work using the manipulator is a special work in which no mistakes are allowed, a skilled person with many years of experience is required to operate the manipulator.

In order to solve the above problems, a telescoping arm 2' is attached to a U-shaped planar base A' as shown in Fig. 11 so as to be rotatable and movable up and down. Equipped with a motor means 14'' for attaching and detaching the immersion nozzle 6 at the tip and a delivery hanger 3h',
A guide pin 1 that fits into a positioning guide fixed to the tundish B side of the delivery hanger 3h'
An invention (Japanese Patent Application No. 175909/1982) has been made in which the immersion nozzle 6'' can be automatically replaced by providing a nozzle 8'.

(Problem to be Solved by the Invention) However, in the above nozzle exchange device, the base is formed in a U-shape in plan, and the arm is configured to be extendable and rotatable in the U-shaped space of the base. Furthermore, since the arm base is configured to be movable in the axial direction with respect to one frame, the planar projected area of the entire device including the base becomes large, and as a result, the work space during casting work is reduced. This caused problems in terms of work safety and work efficiency. In addition, the nozzle exchange device requires multiple actuators because the arm movable structure consists of axial movement of the base frame and extension/contraction movement of the arm itself, and as a result, the manufacturing cost of the device is high. At the same time, it has disadvantages such as an increased probability of failure due to the large number of parts and an increased number of maintenance parts.

The present invention has been made in view of the above-mentioned current situation, and an object of the present invention is to provide an inexpensive nozzle exchange device that reduces the planar projected area of the entire device and reduces the number of actuators required to operate the arm.

(Means for Solving the Problem) In the nozzle changing device according to the present invention, an arm attached to a base provided at a predetermined position moves its tip end to a predetermined position near the sliding nozzle by the operation of an actuator. In the nozzle changing device, a guide rail is formed on the base, a carriage is mounted so as to be movable along the guide rail, and an arm having a hand portion movable vertically and horizontally at the tip thereof is attached to the carriage. At the same time, a lever having a guided member such as a roller at the tip is provided at a portion of the arm closer to the base, and a lever having a guided member such as a roller is provided at a portion of the arm rotation area on the base side. A guiding means of a guide groove is formed to guide the guide member in a direction perpendicular to the traveling direction of the carriage as the carriage advances, and when the carriage moves a predetermined distance along the guide rail, the guided member The member is guided by the guide means, the arm turns to a predetermined position and stops, and the hand portion at the tip of the arm approaches the tundish.

(Function) Therefore, in the nozzle changing device having the above configuration, when the carriage moves along the guide rail of the base to the arm rotation region by the operation of the actuator, the rollers etc. provided on the lever of the arm are As a result of the guide means being guided in a direction perpendicular to the traveling direction of the carriage by the guide means such as a guide groove on the base side, the arm turns to a predetermined position and stops, and the hand portion at the tip of the arm is rotated. Can be placed close to Tendishu. During the above operation, the movable part is attached to one side of the base and the arm rotates (swivels) on that side, so a larger work space can be secured compared to a flat U-shaped base. As a result, casting work can be performed safely and efficiently. Furthermore, since it is possible to move and rotate the arm with one actuator, the structure becomes simple and it becomes possible to provide an inexpensive device.

(Example) Hereinafter, the present invention will be described in more detail based on an example with reference to the drawings.

Fig. 1 is a perspective view showing the overall configuration of the nozzle exchange device according to the present embodiment, Fig. 2 is a plan view showing the basic mechanism of the arm turning mechanism shown in Fig. 1, and Fig. 3 is a band at the tip of the arm. Figure 1 XX showing the structure of the section
FIG. 4 is a side view with a partial cross section taken in the direction of arrows, and FIG. 4 is a plan view with a partial cross section taken in the YY direction of FIG. 3 showing the configuration of the hand section.

In the figure, A is the base, 1 is the carriage, 2 is the arm, 3 is the hand part, 4 is the hydraulic cylinder which is the actuator, 5 is the sliding nozzle, 6
indicates a submerged nozzle.

In this embodiment shown in FIG. 1, a base A having a planar linear shape (in this specification, refers to a straight shape when viewed from above) has one longitudinal side connected to the tundish car, and the base It is constructed so that it is guided by a tundish car by wheels 7 provided at the lower part of the casting bed and runs on rails 8 of the casting bed. The carriage 1 is mounted on the base A so as to be movable on the guide rails 9 of the base A, and the movement is performed by the telescoping movement of the hydraulic cylinder 4 attached to the carriage 1 and the base A. And Figure 1,
As shown in FIG. 2, an arm 2 is rotatably supported on the carriage 1 together with a support shaft 10 on which a hand portion 3 is mounted at the tip. Further, in order to restrict the movement of the arm, a lever 2c is integrally formed on the support shaft 10 at a portion of the arm 2 that is closer to the base A, and a guide roller 12 is attached to the upper tip of the formed lever 2c. It is rotatably attached, while the base A
A guide 13 having a guide groove for guiding the guide roller 12 is disposed in the arm rotation region (the region in which the arm 2 is rotated). As shown in FIGS. 1 and 2, the groove of the guide 13 is L-shaped in plan (forms an "L" shape in the traveling direction of the carriage 1 and in the direction perpendicular thereto), When the arm 2) moves along the guide rail 9 of the base, the arm 2 moves and rotates approximately 90 degrees as the arm 2 moves along the guide rail 9 of the base. The groove of the guide 13 may be replaced with another shape.

As shown in FIG. 3, a horizontal rail 2a having a rectangular cross section is formed on the upper surface of the arm 2, and a guide groove 2b having an inverted concave cross section is formed on the lower surface. on the other hand,
In the hand section 3, as shown in FIG.
A slider portion 3b that engages with the arm 2 is pin-jointed, and a roller 3 that is slidably inserted into a guide 2b arranged on the lower surface of the arm 2 is attached to the lower part of the main frame 3a.
A bracket 31 that rotatably supports the arm 2 is fastened to the arm 2 so that its position can be adjusted in a direction perpendicular to the longitudinal direction. The hand section 3 is mounted on a horizontal rail 2a formed on the upper surface of the arm 2, and a roller 3c on the side of the hand section 3 is slidably inserted into a guide 2b formed on the lower surface of the arm 2. It is configured to be movable in the direction. Further, the lower part of the main frame 3a of the hand section 3 and the bracket 31 are connected by bolts.
It is screwed on with a nut 11 (only the center line is shown in the figure), and has a structure that can be finely adjusted in the lateral direction around the pin in FIG. That is, even if the hanger part 3h is inclined with respect to the arm due to its own weight,
The structure is such that it can be easily adjusted to the normal state by loosening the bolt/nut 11, tilting it to the normal state, and setting it again.

As shown in FIGS. 3 and 4, vertical rails 3b are formed at both ends of the left side of the main frame 3a of the hand section, and a slider 3f is slidably engaged with the vertical rails 3d. A slider 3g having a horizontal guide groove is fixed to one side of the slider 3f via a plate 3p, and the horizontal guide groove of the slider 3g slides on a horizontal rail 3k formed on the vertical surface of the hanger part 3h. They are movably engaged. That is, the hanger portion 3h is relative to the main frame 3a,
It is configured to have degrees of freedom in the vertical and axial directions of the arm.

As shown in FIG. 3, a diagonal guide 3i (see FIG. 6) is attached to the lower surface of the upper plate 3m of the hanger portion 3h, and the guide 3i is a guide roller provided at the upper center of the main frame 3a. The structure is such that it can be seated on the hanger portion 3e and self-aligned by the weight of the hanger portion 3h. As shown in FIGS. 1 and 4, a support fitting 3n is formed on the side surface of the mounting plate 3j on which the nozzles 6, 6' of the hanger portion 3h are mounted, and the support fitting 3n has a tip end. A rotation shaft 15 equipped with a nozzle attachment/detachment motor 14 is rotatably supported. As shown in FIG. 5, the rotating shaft 15 is configured to be rotated by a hydraulic cylinder 17 via a link mechanism 16 on the arm side of the vertical plate of the hanger portion 3h.

As shown in FIG.
An engagement propeller 14b is attached via the shaft 4c, and the propeller 14b has a structure capable of reciprocating in a direction perpendicular to the rotating shaft 14a. Therefore, there is a large positional error (7th
Even if the engagement claw is in the state indicated by the broken line in the figure, it is possible to automatically and properly engage the engagement claw.

As shown in FIGS. 1 and 3, on the upper surface of the upper plate 3m of the hanger portion 3h, there is a positioning guide (not shown) formed on the bottom iron skin of the tundish.
A guide pin 18 that fits into the guide pin 18 is attached.

Thus, the present nozzle exchange device having the above structure operates as follows when exchanging the nozzle.

That is, the arm 2, which is initially held substantially parallel to the base A, moves along the guide rail 9 of the base as the hydraulic cylinder 4 expands together with the carriage 1.
As the arm 2 moves toward the tundish (toward the sliding nozzle 5) along the direction of the tundish, the arm 2 gradually begins to turn toward the tundish from near the side of the base. This pivoting movement of the arm is achieved by the guide roller 12 of the arm being restrained by the groove of the guide 13 of the base. Then, when the arm 2 turns approximately 90 degrees with respect to the base A, the arm 2 approaches the vicinity of the sliding nozzle 5 of the tundish while maintaining this state.
And the hand part 3 equipped at the tip of the arm
The hand section 3 moves on the arm so that the nozzle mounting space 3o is located in front of the old submerged nozzle 6 supported at the bottom of the sliding nozzle 5. In this state, the carriage 1 further moves toward the tundish side, and the guide pin 18 of the hand section 3
is fitted into a positioning guide (not shown) at the bottom of the tundish, so that the old immersion nozzle 6 is accurately positioned in the hanger mounting space 3o. At this time, the hanger portion 3h is attached to the diagonal guide 3i.
From the state where it is self-aligningly supported on the main frame 3a side by the roller 3e, upward and in the arm axis direction,
It can be moved as the guide pin 18 and the positioning guide at the bottom of the tundish are fitted together.

Then, due to the contraction of the hydraulic cylinder 17, the rotating shaft 15 to which the detaching motor 14 is attached rotates, and the propeller 14b of the detaching mower engages with the engaging pawl 5a of the sliding nozzle portion. During such engagement, even if there is a slight positional shift, the propeller 14b is reciprocably attached to the rotating shaft 14a of the detachable motor 14 via the slider 14c as described above, so that the engagement will not occur. The mating pawl 5a and the propeller 14b are engaged in an appropriate state.

Next, the attachment/detachment motor 14 engages with the engagement pawl 5a and rotates, so that the sliding nozzle 5
The engagement of the old immersion nozzle 6 is released, and the old immersion nozzle 6 is mounted on the mounting plate 3j. Then, the rotation shaft 15 rotates, and the engagement claw 5a and the propeller 14
b is disengaged, and as the carriage 1 retreats, the arm 2 and hand portion 3 retreat from below the sliding nozzle 5. At this time, the guide pin 18 fitted to the positioning guide is disengaged, and the hanger portion 3h returns to the predetermined position due to the action of the diagonal guide 3i. Next, the hand section 3 moves the arm 2 and moves the carriage 1 so that the new immersion nozzle 6' (referring to the new immersion nozzle to be replaced) is located below the sliding nozzle 5.
As the nozzle moves forward, it advances toward the sliding nozzle 5 side. As it moves forward, the positioning guide on the tundish side and the guide pin 18 of the hand section 3
are fitted, and the lower surface of the sliding nozzle 5 and the new immersion nozzle 6' are positioned. In this state, the hydraulic cylinder 17 is extended, the rotation shaft 15 is rotated, and the propeller 14b of the attachment/detachment motor 14 is engaged with the engaging pawl 5a on the sliding nozzle side.
Then, the attachment/detachment motor 14 rotates and the engagement between the sliding nozzle 5 and the new immersion nozzle 6' is completed.
Thereafter, the hand part 3 retreats in the same manner as when removing and retreating the old immersion nozzle 6 from the sliding nozzle described above, the hydraulic cylinder 4 continuously contracts, and the arm 2 returns to the original standby position ( (See the two-dot chain line in Figure 2).

Note that instead of extending the lever 2c integrally with the arm 2 and installing a guide roller directly at the tip of the lever as shown in FIGS. As shown in the figure, a regulating means may be provided in which a four-bar link 19 is configured to transmit the restraining action of the grooves of the guide roller 12 and the guide 13 to the arm 2.

Similarly, the mechanism that allows the hanger section to have degrees of freedom in the vertical and axial directions of the arm with respect to the main frame, as shown in FIG. 3, provides two degrees of freedom for each connecting section, as shown in FIG. Spherical bushier 2 with
A parallel link mechanism 21 using 0 may also be used.
Furthermore, instead of the above-mentioned automatic alignment mechanism using a diagonal guide as shown in FIG. 6, the slide rod 22 is aligned in the longitudinal direction by a bracket provided on the main frame 3a as shown in FIG. A spring 25 is installed between the end of the guide rod 22 and the bracket, and the slide rod 22 is slidably inserted into the engagement rod 24 of the hanger portion 3h formed in a T-shape. An automatic centering mechanism may also be used. Further, in this case, rollers may be installed in the sliding portion to reduce friction. Further, in the above embodiment, a hydraulic cylinder is used as the drive source, but the drive source is not limited to a hydraulic type, and it is naturally possible to replace it with another fluid type or electric type.

(Effects of the Invention) As described above, the nozzle exchange device according to the present invention is configured such that the arm is rotatable with respect to a linear base, and the arm is normally held on the side of the base, and is used only when replacing the nozzle. Since the nozzle exchange device is rotated to be in a state substantially perpendicular to the base, the planar projected area is extremely small when the nozzle exchange device is in the standby state, and does not interfere with the casting operation. Further, since the nozzle exchange device has an extremely simple configuration and is configured to operate with a small number of actuators, it can be supplied at low cost, easy to maintain, and has fewer failures.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing the overall configuration of the nozzle exchange device according to the present embodiment, Fig. 2 is a plan view showing the basic mechanism of the arm rotation mechanism shown in Fig. 1, and Fig. 3 is a hand at the tip of the arm. Figure 1 XX showing the structure of the section
FIG. 4 is a side view with a partial cross section taken in the direction of arrows; FIG. Figure 3 Z showing the link mechanism that rotates the rotation shaft
-Z arrow view, Figure 6 is a side view taken from the Q-Q arrow view in Figure 3, which shows the main parts of the self-aligning mechanism, and Figure 7 is a side view in the Q-Q arrow direction, which shows the attachment structure of the rotating shaft of the detachable motor and the propeller. Figure 3R
8 is a plan view showing another embodiment of the guide means for regulating the movement of the arm, and FIG. 9 is another embodiment of the attachment mechanism between the hanger part and the main frame. FIG. 10 is a side sectional view showing another embodiment of the self-aligning mechanism of the hanger section.
FIG. 1 is a plan view showing the configuration of a conventional nozzle exchange device. A... Base, 1... Carriage, 2... Arm, 3... Hand section, 4... Hydraulic cylinder (actuator), 5... Sliding nozzle, 6
...Old immersion nozzle, 6'...New immersion nozzle, 9...
...Guide rail, 12...Guide roller, 13...
...Guide, 18,18'...Gand pin.

Claims (1)

[Scope of Claims] 1. In a nozzle changing device in which an arm attached to a base provided at a predetermined position moves its tip end to a predetermined position near a sliding nozzle by the operation of an actuator, the arm is attached to the base. A guide rail is formed, a carriage is mounted so as to be movable along the guide rail, and an arm having a hand portion movable vertically and horizontally at the tip thereof is rotatably attached to the carriage, A lever having a guided member such as a roller at the tip of the arm is provided at a portion of the arm that is closer to the base, and the guided member is placed in the rotation area of the arm on the base side as the carriage advances. A guide means such as a guide groove is formed for guiding in a direction perpendicular to the direction of movement, and when the carriage moves a predetermined distance along the guide rail, the guided member is guided by the guide means as the carriage moves a predetermined distance along the guide rail. . A nozzle changing device, characterized in that the arm is configured to rotate to a predetermined position and stop, and a hand portion at the tip of the arm approaches a tundish. 2. The nozzle changing device according to claim 1, wherein the lever provided on the arm side is directly provided integrally with the arm. 3. The lever provided on the arm side is rotatably supported by the carriage, and is connected via a link to another lever integrally formed with the arm. A nozzle changing device according to claim 1.