JP3162535B2 - Immersion nozzle changing equipment in continuous casting equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for replacing a submerged nozzle at the bottom of a tundish of a continuous casting facility.

[0002]

2. Description of the Related Art A tundish in a continuous casting facility is configured such that a refractory lining is applied to an inner surface of a steel shell to receive molten steel, and a horizontal surface is provided on a lower surface of a spout for discharging molten steel provided at a bottom portion thereof. The opening is opened and closed by the movement, and a sliding nozzle for mounting a dip nozzle for supplying molten steel to the mold is provided.

The above immersion nozzle attached to the sliding nozzle is for preventing the molten steel stream from being exposed and oxidized during casting. When the molten steel is injected into the mold, the lower end portion is inserted into the molten steel in the mold. Used by dipping. As described above, the immersion nozzle causes molten steel to flow in the body, and its lower end is damaged or blocked from being used by being immersed in the molten steel in the mold, and thus requires frequent replacement.

[0004] Therefore, as an apparatus for automatically replacing a damaged or closed old immersion nozzle with a new immersion nozzle,
For example, there is a proposal in Japanese Patent Publication No. 1-15344. As shown in FIG. 5, a hand member 27 is provided on the traveling carriage 22 so as to be movable up and down, left and right, the upper part of the immersion nozzle IN is engaged with the hand member 27, and the engaged immersion nozzle IN is moved vertically. Rotating mechanism 31 that rotates
The nozzle hanger 30 having the following is provided. Further, the measured object 41 provided at the end of the sliding nozzle SN on the lower surface of the tundish TD is provided, and non-contact first and second positions for detecting the measured object 41 are provided. The detectors 39 and 40 are provided on the upper surface of the hand member 27.

After the head of the immersion nozzle IN is hung on the nozzle hanger 30 of the hand member 27, the rotation mechanism 31 is rotated to bring the immersion nozzle IN into a horizontal posture (that is, the immersion nozzle IN). With the bottom facing forward), the traveling carriage 22 is moved forward toward the tundish TD. While the traveling carriage 22 continues to move forward, based on a detection signal of the measured object 41 from the first position detector 39,
The center position of the immersion nozzle IN with respect to the sliding nozzle SN is adjusted by moving the hand member 27 vertically and horizontally.

Further, the traveling vehicle 22 is moved forward, and the object to be measured 41 detects the second position detector 40. Based on this detection signal, the rotation mechanism 31 is driven to rotate the nozzle hanger 30 so that the tips of the immersion nozzles IN in the horizontal posture are sequentially directed downward. I do. After the second position detector 40 detects the measured object 41 as described above, the traveling carriage 22 travels a predetermined distance and stops, thereby engaging the head of the immersion nozzle IN with the nozzle mounting mechanism 15. Next, by raising the nozzle mounting mechanism 15, the immersion nozzle IN is disengaged from the nozzle hanger 30, and is fitted to the sliding nozzle SN. Thereafter, the traveling carriage 22 is moved backward to the standby position.

[0007]

As described above, in the apparatus proposed in Japanese Patent Publication No. 1-15344, after removing the old immersion nozzle from the nozzle mounting mechanism 15, the new immersion nozzle IN is connected to the nozzle mounting mechanism. Since it takes a long time to replace it, molten steel cannot be supplied into the mold during that time, and the casting speed for pulling the slab out of the mold is reduced to prevent interruption of casting. It had to be done.

[0008] Further, the measured object 41 installed at the end of the sliding nozzle SN is detected by first and second non-contact type position detectors 39 and 40 provided on the upper surface of the hand member 27. Based on the signal, the nozzle mounting mechanism 15
The mounting position of the immersion nozzle IN with respect to is adjusted. However, the installation position of the measured object 41 and the nozzle mounting mechanism 15 are deformed by exposure to high temperature, and the nozzle mounting mechanism 15 and the measured objects 39 and 40 are separately supported. As a result of the occurrence of a positional shift between the positions of the bodies 39 and 40 and the nozzle mounting mechanism 15, there has been a problem that the old immersion nozzle cannot be removed from the nozzle mounting mechanism 15 and a new immersion nozzle IN cannot be mounted. . SUMMARY OF THE INVENTION It is an object of the present invention to quickly and reliably replace an immersion nozzle without having the above problems.

[0009]

Means for Solving the Problems The present invention has been made to solve the above-mentioned problems, and there is provided an apparatus for replacing a submerged nozzle provided at the bottom of a tundish of a continuous casting facility. A column is rotatably driven on a traveling carriage arranged so as to be able to be driven forward and backward, and an arm is provided on the supported column so as to be able to move up and down and back and forth. The hand supporting portion is suspended so as to be capable of rotating in the left-right direction, and a hand portion having a gripping mechanism for gripping the immersion nozzle is provided on the hand supporting portion so as to be rotatable, and the contact pressure of the gripping mechanism is detected. A container is provided in the hand unit.

[0010]

The operation of the present invention will be described with reference to FIGS. The inventor of the present invention has conducted various experiments and studies to quickly replace the immersion nozzle.
Nozzle moving passages 20a and 20b extending across the molten steel pouring port (not shown) of the sliding nozzle SN are provided in the holding metal frame 20 provided at the bottom of the N, and new immersion is performed between the nozzle moving passages 20a and 20b. fitted a fitting portion SN _T of the head of nozzle iN, set in until just below the spout position of the sliding nozzle SN moves this fitted a new immersion nozzle iN in the direction of arrow E.

[0011] Then, the new damage by a set of submerged nozzle IN, holding device structures to reach obstructed the old immersion nozzle IN ₀ is pushed the nozzle moving passage 20a at a predetermined position by moving in the direction of the arrow E (U.S. Patent 4,669,
528) was found to be most effective.

The present invention has been made based on this finding, and a fitting portion SN _{T of} a new immersion nozzle IN from one end of the nozzle moving passage 20 a in the holding device 20.
And fitting the, after I pushed to a predetermined position (engaging the spout of the sliding nozzle SN position), thereby to remove the old immersion nozzle IN ₀ are moved to the other end of the nozzle moving passage 20a An immersion nozzle replacement device is provided.

The arm 7 having a lighter weight (smaller inertia) than the traveling vehicle 1 can be moved back and forth toward the immersion nozzle IN or IN ₀ , in addition to the traveling vehicle 1. it is possible to adjust to the target position in the longitudinal direction of accurately immersion nozzle iN or iN ₀ the hand portion 10.

Further, by providing a hand portion 10 at the tip of an arm 7 provided on a rotatably provided column 6, only the hand portion 10 can be turned even if the arm 7 turns in an arbitrary direction. By doing so, it is possible to always maintain the gripped immersion nozzle at a predetermined angle.

Further, by providing the hand portion 10 rotatably in addition to the running and turning functions, the supporting metal frame 20 is provided.
Even if is tilted in the width direction, the fitting part of the immersion nozzle IN can be securely fitted to the supporting metal frame 20 by rotating the hand part 10 according to the tilt.

[0016]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described in detail with reference to FIGS. In FIGS. 1 and 2, reference numeral 1 denotes a self-propelled traveling carriage that travels along a magnetic tape 3 attached to a work floor 2, which is provided with wheels 1 a driven by a motor M and driven wheels 1 b. I have.

4 is provided on the lower surface of the traveling vehicle 1 and
Is a tape detector for detecting the magnetic tape 3 attached to the tape. Reference numeral 5 denotes a swivel fixed on the traveling vehicle 1 and has a rotation drive unit 5a therein. Reference numeral 6 denotes a column which stands on the revolving base 5 so as to be rotated by driving the rotation driving unit 5a, and has a screw shaft (not shown) therein.
And a screw shaft driving section 6a for rotating the screw shaft at the upper end.

Reference numeral 7 denotes an arm provided on the column 6 so as to move up and down by rotating the screw shaft.
Further, a ball screw (not shown) is provided in the arm 7 and a driving section 7b is provided at the rear end.
, The ball screw is rotated to move the arm 7 in the directions of arrows A and B. As described above, not only the traveling vehicle 1 but also the arm 7 having a lighter weight (smaller inertia) than the traveling vehicle 1 is immersed in the immersion nozzle IN or IN.
By being configured to be able to move forward and backward (directions of arrows A and B) toward ₀ , the hand unit 10 can be adjusted to the target position with high accuracy.

Reference numeral 8 denotes a hand supporting portion rotatably supported at the tip of the arm 7 so that the upper portion thereof is rotatably supported. A hand portion 10 is provided at the tip of the hand supporting portion 8, and an intermediate portion of the hand supporting portion 8 and the hand A drive motor 7a provided at the tip of the arm 7 is connected by a belt 8a. Thus, only the relatively light hand unit 10 can be rotated in the left-right direction, and the accuracy of reaching the target position can be improved.

Reference numeral 10a denotes a gripping mechanism for gripping the immersion nozzle IN provided at the front end of the rotatable hand unit 10, whereby the holding metal frame 20 is thermally deformed and the nozzle moving passage 2 is moved.
Even if 0a is inclined in the width direction, the fitting portion SN _T of the immersion nozzle IN gripped by the gripping mechanism 10a at the same time.
Can be inclined, and the nozzle moving passage 20a can be tilted.
New submerged nozzle IN and the fitting of the fitting portion SN _T of the old submerged nozzle IN ₀ to, removal accurate, can be quickly.

Reference numerals 10b and 10c denote contacts provided at the tip of the gripping mechanism 10a, and reference numeral 11 denotes a wrist sensor as a detector provided between the hand unit 10 and the hand unit rotation drive unit 9 (X, Y based on distortion values). , A cross-shaped beam connecting the sensor outer frame and the load-side lulange for detecting the force and moment in the Z direction, and eight sets of strain gauges attached to the beam.)

In FIG. 3, reference numeral 12 denotes a position detecting plate provided on the side surface of the supporting metal frame 20 of the sliding nozzle SN at the bottom of the tundish TD.
Along the side of 0 (perpendicular to the direction of travel of traveling vehicle 1)
It comprises a position detecting plate 12a provided and a position detecting plate 12b provided at right angles to the position detecting plate 12a.

Next, the operation of replacing the immersion nozzle IN provided on the sliding nozzle SN at the bottom of the tundish TD will be described. (1) First, the traveling vehicle 1 at the retreat position is moved forward to the replacement position of the immersion nozzle IN. That is, when the replacement start signal of the immersion nozzle IN is input, the control device S drives the motor M on the traveling vehicle 1 to cause the traveling vehicle 1 to travel forward. While detecting the magnetic tape 3 with the tape detector 4, the traveling vehicle 1 travels forward along the magnetic tape 3 and, when reaching the leading end of the magnetic tape 3, the control device S stops the motor M and stops the traveling vehicle 1 To stop.

(2) When the traveling vehicle 1 stops traveling, the sliding nozzle S at the bottom of the tundish TD
The set position of the immersion nozzle IN at N is estimated by the control device S. This is because the control device S controls the rotation drive unit 5a, the screw shaft drive unit 6a, the drive motor 7a, the drive unit 7b, and the hand unit so that the hand unit 10 reaches a preset position (position near the position detection plate). Each of the rotation driving units 9 is driven to rotate the column 6 and move the arm 7 downward (in the direction of arrow C) and forward (in the direction of arrow A).
The rotation of the hand support 8 and the rotation of the hand 10 are performed.

When the hand unit 10 in the state shown in FIG. 1 reaches the predetermined position, the drive motor 7a and the drive unit 7b are further driven to move the contact 10b provided at the tip of the gripping mechanism 10a of the hand unit 10 with an arrow. Position detection plate 12 from D direction
After contacting the vicinity of the point (a) in FIG.
It is brought into contact with the vicinity of the point (b) of the position detection plate 12a from the direction.

Further, after the contact 10c is brought into contact with the position detecting plate 12b near point (c) in the direction of arrow G, the contact 1
0c is brought into contact with the position detection plate 12a near the point (d) from the direction of arrow H. Each contact state is detected by the wrist sensor 11, and the detection information is output to the control device S.

In the control device S, when the four pieces of detection information from the wrist sensor 11 are input, the rotation of the drive motor 7a, the drive unit 7b, and the hand unit rotation drive unit 9 is performed by the contact 10b. , 10c calculate the position coordinates when they come into contact with the position detection plates 12a, 12b (a) to (d). In other words, the contact 10b is
2a, position coordinates (Xa, Ya) when touching point (a),
Position coordinates (Xb, Yb) when the contact 10b contacts the point (b) of the position detection plate 12a, position coordinates (Yc) when the contact 10c contacts the point (c) of the position detection plate 12b, The position coordinates (Zd) when the contact 10c contacts the point (d) on the position detection plate 12a are calculated.

Then, the relative positional deviations Δx, Δy, Δz between the center position a of the supporting metal frame 20 of the sliding nozzle SN and the rotation axis b of the column 6 are calculated from the respective position coordinates. Thereby, the immersion nozzle IN set position, that is,
The position of the nozzle movement passage 20a is estimated, and the control unit S stores the estimated position.

(3) Next, the new immersion nozzle IN placed at the predetermined position N on the traveling carriage 1 is gripped by the hand unit 10 and transported to the set position of the immersion nozzle IN. When the control device S completes the estimation of the set position of the immersion nozzle IN, the drive unit 5a, 6a, 7a, 7b, 9 is driven by the drive instruction from the control device S, and the support column 6, arm 7. The hand supporting unit 8 and the hand unit 10 are moved, and the hand unit 10 grips the new immersion nozzle IN placed at the predetermined position N.

The control device S moves the screw shaft driving unit 6a, the driving unit 7b, the rotation driving unit 5a, and the hand rotation driving unit 9 to move the immersion nozzle IN gripped by the hand unit 10 to the estimated and stored set position. When driven, the support 6, the arm 7, and the hand support 8 are operated to move the hand 10 to a predetermined position.

Further, during this movement, the hand rotation drive unit 9 is further driven to rotate the hand unit 10 so that the immersion nozzle IN is turned sideways (parallel to the work floor 2 and in the traveling direction of the traveling vehicle 1). And at right angles to the direction (state (I) in FIG. 4).

In this state, the immersion nozzle IN is
D, when approaching to the vicinity of the immersion nozzle set estimation position after passing above, the hand unit rotation drive unit 9 is driven to rotate the hand unit 10 by 90 °, and the gripped immersion nozzle IN is sequentially rotated to be vertical. Stand up (states (II) and (III) in FIG. 4).

(4) The immersion nozzle IN is set at a predetermined position of the sliding nozzle SN. As described in (3) to above, the hand holding unit 8 and the hand unit 10 are operated toward the immersion nozzle set estimation position while the immersion nozzle IN is being gripped, and the holding metal frame 2 is held.
0 to nozzle moving passage 20a provided, 20b to fit the fitting portion SN _T of the immersion nozzle head (dotted line position), is moved until said estimated immersion nozzle set completion position (solid line position) (in FIG. 4 (IV ) State).

[0034] When fitting the fitting portion SN _T of the immersion nozzle IN the holding metal frame 20, that is, the control device S between the hand unit 10 from the immersion nozzle sets the estimated position to the immersion nozzle set completion position list The contact force information detected by the sensor 11 is input, and the driving motor 7
a, by issuing a position correction command to the drive unit 7b and the hand unit rotation drive unit 9 and operating the hand unit 10 so as to minimize the contact force, the fitting unit S of the immersion nozzle IN
_NT is normally fitted into the nozzle moving passages 20a and 20b of the holding metal frame 20 (compliance function).

(5) When the setting of the new immersion nozzle IN on the holding metal frame 20 is completed, the old immersion nozzle IN ₀ used so far is removed from the holding metal frame 20. This is because the new immersion nozzle IN reaches the setting completion position (solid line position) as described above (state (V) in FIG. 4).
The replacement target, that is, the old immersion nozzle IN ₀ that has been used up to now is pushed from the set position along the nozzle moving passages 20 a and 20 b of the holding metal frame 20 to the predetermined position indicated by the one-dot chain line in FIG. (State (VI) in FIG. 4).

For this reason, the control device S opens the gripping mechanism 10a of the hand unit 10 and operates the driving unit 7b to
The hand unit 10 is moved backward. Thereby, the gripping mechanism 10a
Comes off from the immersion nozzle IN. Next, move the rotary drive unit 5a, the handle portion 10 by driving the drive unit 7b to the grip position of the old submerged nozzle IN _0. Thus, after the old immersion nozzle IN ₀ suspended from the holding metal frame 20 is gripped by the gripping mechanism 10 a of the hand unit 10,
Move the hand portion 10 in the direction of arrow E, withdrawn該旧immersion nozzle IN ₀ from the holding metal frame 20 (the state in FIG. 4 (VII)).

(6) The old immersion nozzle IN ₀ removed from the holding frame is placed at a predetermined position on the traveling vehicle 1 and the traveling vehicle 1 is moved backward. This is because, if the retaining metal frame 20 fitting portion SN _T of the old submerged nozzle IN ₀ is out, the control device S by driving the drive unit 7b, to start the retraction of the arm 7 in the arrow B direction (FIG. 4
Medium (VIII).

A position retracted by a predetermined distance (mold MD
The control device S drives the hand unit rotation drive unit 9 to rotate the hand unit 10 by 90 °, so that the old immersion nozzle IN ₀ gripped vertically is turned sideways (horizontally with respect to the work floor 2, At the same time, the direction is set to a direction perpendicular to the traveling direction of the traveling vehicle 1 (state (IX) in FIG. 4), and the vehicle is further moved backward.

When the arm 7 retreats to a predetermined position, the control device S controls the rotation driving unit 5a, the screw shaft driving unit 6a,
The drive motor 7a, the drive unit 7b, and the hand rotation drive unit 9 are driven, and the motor M is driven. Thus the column 6, the arm 7, swing mechanism 8 operates the hand portion 10, with placing the old immersion nozzle IN ₀ gripped by the gripping mechanism 10a of the hand portion 10 in position N of the traveling vehicle 1 The carriage 1 is moved backward to the standby position.

[0040]

According to the present invention, since the old immersion nozzle is removed after the new immersion nozzle is installed, the replacement time can be shortened. Even if the supporting metal frame for mounting the immersion nozzle is deformed (thermal strain), it is possible to accurately estimate the mounting position of the immersion nozzle, and the immersion nozzle can be securely mounted, and the effect in this field is as follows. large.

[Brief description of the drawings]

FIG. 1 is a simplified side view of an immersion nozzle replacement device according to an embodiment of the present invention.

FIG. 2 is a plan view of FIG. 1;

FIG. 3 is a perspective view of an immersion nozzle mounting support metal frame.

FIG. 4 is a diagram showing a detached state of an immersion nozzle.

FIG. 5 is a simplified side view of a conventional immersion nozzle replacement device.

────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tatsuya Mikajiri 1 Nishinosu, Oita, Oita City, Oita Prefecture Nippon Steel Corporation Oita Steel Works Oita Equipment Design Co., Ltd. (56) References JP-A-4-322287 ( JP, A) JP-A-61-172660 (JP, A) JP-A-4-28475 (JP, A) JP-A-1-143747 (JP, A) JP-A-6-226433 (JP, A) JP-A-60-68144 (JP, A) JP-A-59-209463 (JP, A) JP-A-53-67634 (JP, A) JP-A-63-106557 (JP, U) US Patent 4,695,528 (US, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B22D 11/10 330 B22D 41/56

Claims (1)

(57) [Claims] An apparatus for replacing a submerged nozzle provided at the bottom of a tundish of a continuous casting facility, wherein a column is rotatably driven upright on a traveling carriage disposed so as to be able to move forward and backward toward the submerged nozzle. An arm is provided on the upright supporting column so as to be able to drive up and down and back and forth, and further, a hand support is suspended at the tip of the arm so as to be able to rotate in the left and right direction, and the immersion nozzle is provided on the hand support. A hand unit having a gripping mechanism for gripping the rotatable member is rotatably driven, and a detector for detecting a contact pressure of the gripping mechanism is provided on the hand unit.