​TECHNICAL FIELD
[0001]
​The present invention relates to a plate holding device for holding a plate for a sliding nozzle device, a plate mounting device including the plate holding device, a plate mounting device, and a plate attaching/detaching device.
​BACKGROUND ART
[0002]
​In a sliding nozzle device used in continuous casting of molten steel, two or three refractory plates are used, and each plate is attached to a respective plate housing metal frame. When the plate is worn and has a life, the sliding nozzle device must be opened to remove the old plate from the respective plate-containing metal frame and replace the old plate with the new plate. This replacement work must be carried out at high temperatures, and the weight of the plate will be close to 30 kg and thus the burden on the operator is large
[0003]
​Therefore, the present inventors have disclosed a plate holding device capable of holding a plate by being attached to a balancer or a robot arm, and a plate mounting method using the plate holding device.
[0004]
​Specifically, as shown in FIG. 17, the plate holding device 1 has a parallel hand 3 as an expansion/contraction means, a pair of holding parts 4 attached to the parallel claws 31 of the parallel hand 3, and a pressing part 5 provided at the front part of the parallel hand. The tip portions on both sides of the holding portion 4 have engaging grooves 41, respectively
[0005]
​As shown in FIGS. 18 and 19, the plate 2 held by the plate holding device has a metal back plate 203 on the back surface, and the side surface is covered with a metal band 205, and a plate-like fixing part 209 is provided extending in the longitudinal direction from the back plate 203. A plate-like engaging projection 210 extending from the back plate 203 of the plate is provided on one side, and four pieces of the plate-like engaging projections 210 are formed on one side of the plate to be held
[0006]
​The pair of holding portions 4 are adjacent and separated in the longitudinal direction (sliding direction) of the plate 2 by the operation of the parallel hand 3, but when the plate 2 is held, as shown in FIGS. 19 and 20, a gap is secured between the engaging projection 210 and the abutting portion which is the inner wall surface of the engaging groove 41.​Specifically, an engagement groove is provided (41), a gap (a gap in the width direction of the plate) between the abutting portion (43) in the width direction of the engaging groove (41) and the engaging protrusion (210), and a gap (a gap in the thickness direction of the plate) between the abutting portion (44, 45) in the thickness direction of the engaging groove (41) and the engaging protrusion (210) are provided, and a gap between the one side (5 mm) is set.. By providing such a gap, the plate 2 can be moved in any direction (the longitudinal direction, width direction and thickness direction of the plate) within the range of the gap
[0007]
​The plate 2 is attached to the plate housing metal frame 6 of the sliding nozzle device in a state as shown in FIG. 21. When removing the plate using the plate holding device, the holding part 4 of the plate holding device is inserted into the gap between the plate 2 and the plate housing metal frame 6
[0008]
​On the other hand, since the sliding nozzle device is attached to the bottom of the molten steel pan in the iron-making station, the plate attached to the sliding nozzle device must be removed from the bottom side of the molten steel pan in a state where the molten steel pan is fallen sideways when the plate after use is removed.. At this time, although the molten steel pan is tilted laterally by the operation of the crane, the crane is operated by a person, so that the position of the molten steel ladle is changed every time
[0009]
​Therefore, the position of the sliding nozzle device must be accurately measured every time in order to remove the plate by controlling the position of the robot arm. In recent years, the position measurement of an object when a robot arm is used is generally a method of correcting position coordinates by photographing and image-processing an object by a camera. However, with respect to the landing nozzle device, it has been found that the measurement accuracy in the vertical and horizontal directions is a practical level, but the measurement accuracy of the longitudinal direction (distance) is poor.
[0010]
​This is because, in order to photograph while the temperature of the sliding nozzle device immediately after being used at a high temperature is lowered, since the size of the photographing reference part of the sliding nozzle device changes every photographing by thermal expansion, an error is likely to occur in the position coordinates of the longitudinal direction (distance).. Further, during use, irregularities, scratches, or adhesion of foreign matters are generated in the photographing reference part, which causes an error due to image processing.
[0011]
​When a measurement error occurs at a distance between the sliding nozzle device and the robot arm, the plate holding device attached to the robot arm is moved to a position obtained by image processing, and when the plate is to be held by the plate holding device, the position of the engagement groove 41 of the holding part and the engagement projection 210 of the plate cannot be shifted.
[0012]
​As described above, since the landing nozzle device receives radiant heat of the molten steel of 1500°C or higher, holds the plate through which the high-temperature molten steel passes, and is used under a very severe condition that the molten steel is exposed to splash or dust, it has been found that the measurement accuracy of the distance is deteriorated in the conventional position measuring method.
[0013]
​On the other hand, as shown in FIG. 21, the plate housing metal frame 6 disclosed in Patent Document 1 has two guide projections 61 for guiding the two fixing portions 209 of the plate. The guide projection 61 of the plate housing metal frame 6 has a cylindrical base end side and a truncated conical tip side
[0014]
​When the plate 2 is attached to the plate housing metal frame 6, the opening 209a of each fixing part 209 provided at both ends of the plate 2 is inserted into the plate storage metal frame 6 along the respective guide projections 61 of the plate storage metal frame 6, so that the front and rear left and right positions of the plate 2 are guided to an accurate position with respect to the plate storage metal frame 6.. The plate 2 attached to the plate housing metal frame 6 is held so as not to fall from the plate storage metal frame 6 by the lock mechanism 7
[0015]
​However, the present inventors have found that, when a plate holding device 1 of Patent Document 1 is attached to a multi-joint robot arm and a plate is attached to a plate storage metal frame of a sliding nozzle device used in an iron mill, a gap is formed between the plate and the bottom surface of the plate storage metal frame, and the holding of the plate by the lock mechanism is insufficient.​Such a gap is not a problem unless the plate storage metal frame is closed and a surface pressure is applied between the plates. However, depending on the degree of the gap, there is a problem that the plate is not firmly fixed to the plate storage metal frame or the plate is shifted during use, or the joint thickness of the joint surface with the upper nozzle becomes large in the case of the upper plate.. If the plate is displaced during use or the joint thickness increases, there is a risk of leakage steel during use
[0016]
​The method of holding the plate in the plate storage metal frame is generally a method of fastening and fixing the plate by a bolt as in Patent Document 1. However, even in the case of such a fixing method, the plate can be held and removed by holding the plate by the plate holding device of Patent Document 1.
[0017]
​In the construction of the above-mentioned patent document 1 and patent document 2, it is sometimes difficult to remove the plate due to the dust generated during use, the distortion of the metal frame due to the high temperature, the influence of the solidified molten steel, etc. in the actual use site.. In such a case, even if the plate is taken out by the plate holding device, the rotary metal frame moves following the taking-out direction of the plate and the plate is not removed.
[0018]
​Further, in the plate replacement operation described above, when a new plate is mounted on the plate storage metal frame, the plate is pressed against the storage part of the plate storage metal frame by the robot arm to mount the plate, but the plate is not contained in the storage part, and there is a case in which a failure occurs in mounting the plate.
​PRIOR ART DOCUMENT
​Patent Literature
[0019]
​Patent Document 1: International Publication 2018／ 074424
​Patent Document 2: JP-A 2011-104606
​SUMMARY OF THE INVENTION
​SUMMARY OF THE INVENTION
[0020]
​A problem to be solved by the present invention is to provide a plate holding device, a plate removal device, a plate attachment device, and a plate attachment/detachment device with which it is possible to reliably attach and detach a plate to/from a plate storage metal frame.
​MEANS FOR SOLVING THE PROBLEM
[0021]
​The present inventors have found that a pressing part for pressing a center part of a plate and/or a force sensor for detecting a force received by the holding part when the plate is held by the holding part of the plate holding device is provided, and when the force detected by the force sensor reaches a predetermined threshold, the holding part of the plate holding device is operated (expanded/contracted) so that the plate can be reliably attached to and detached from the plate storage metal frame.
[0022]
​In addition, the inventors of the present invention, In order to solve the above problem, it has been found that the pressing operation of the plate held by the plate holding device in the plate storage metal frame direction is carried out while the plate is held by the plate holding part, and the second stage is pressed without being held by the plate holding part. Thus, it is found that the plate can be securely attached to a predetermined position of the plate storage metal frame.
[0023]
​In other words, according to one aspect of the present invention, there is provided a plate holding device, a plate removal device, a plate attachment device, and a plate attachment/detachment device of the following items (1-17).
１．
​The plate holding apparatus includes: a plurality of holding parts for holding a plate for a sliding nozzle device; an expansion/contraction means for expanding and contracting an interval between the plurality of holding parts; a pressing part for pressing the center part of the plate when the plate is held by the plurality of holding parts; and a force sensor for detecting the force received by the holding part and/or the pressing part from the plate.
２．
​The plate holding device according to (1) is attached to the tip of the robot arm, and the plate is removed from the plate housing metal frame of the sliding nozzle device,
​PLATE HOLDING DEVICE AND CONTROL UNIT FOR CONTROLLING OPERATION OF ROBOT ARM
​The control unit is also provided with a control unit for controlling the control unit so that the control unit, movement of the plate holding device is stopped when the force detected by the force sensor reaches a predetermined threshold value, the plate is held by reducing the interval between the plurality of holding parts by the operation control of the expansion/contraction means, and the held plate is removed from the plate storage metal frame by operation control of the robot arm.
３．
​In the plate mounting apparatus, the plate holding device described in (1) is attached to the tip of the robot arm, and the plate is attached to the plate housing metal frame of the sliding nozzle device,
​PLATE HOLDING DEVICE AND CONTROL UNIT FOR CONTROLLING OPERATION OF ROBOT ARM
​The control unit moves the plate held by the plate holding device toward the plate storage metal frame by operation control of the robot arm, stops the movement of the plate holding device when the force detected by the force sensor reaches a predetermined threshold value, opens the plate by enlarging the interval between the plurality of holding parts by the operation control of the expansion/contraction means, and attaches the plate to the plate storage metal frame.
４．
​In the plate mounting apparatus, the plate holding device described in (1) is attached to the tip of the robot arm, and the plate is attached to the plate housing metal frame of the sliding nozzle device,
​PLATE HOLDING DEVICE AND CONTROL UNIT FOR CONTROLLING OPERATION OF ROBOT ARM
​The control unit is also provided with a control unit for controlling the control unit so that the control unit, operation control of the robot arm, the plate held by the plate-holding device is moved toward the plate-containing metal frame, and stops the movement of the plate holding device when the force detected by the force sensor reaches a predetermined threshold value, the plate holding device is further moved toward the plate storage metal frame by the operation control of the robot arm while the plate is kept open, and when the force detected by the force sensor reaches a predetermined threshold value, the movement of the plate holding device is stopped.​PLATE MOUNTING APPARATUS FOR ATTACHING PLATE TO PLATE HOUSING METAL FRAME BY SEPARATING PLATE HOLDING DEVICE FROM PLATE HOUSING METAL FRAME BY OPERATION CONTROL OF ROBOT ARM
５．
​The plate holding device according to claim 1, further comprising a pressing mechanism for suppressing the rotation of the sliding nozzle device in the closing direction of the rotating metal frame which is openable and closable with respect to the fixed mold.
６．
​The tip of the holding portion is disposed so as to protrude from the contact portion of the pressing mechanism,
​In a state in which the holding part is inserted into the rotary metal frame, the plate holding device described in (5), having a gap between the contact part of the pressing mechanism and the rotary metal frame, has a gap.
７．
​The pressing mechanism can be advanced or retracted toward the rotary metal frame, and the plate holding device described in (5) or (6) is also provided.
８．
​The pressing mechanism can press the rotating metal frame in the opening direction.
９．
​The plate holding apparatus according to claim 5, wherein the pressing mechanism presses the rotating metal frame when the holding portion holds the plate stored in the rotating metal frame, and separates at least a portion of the plate from the rotating metal frame.
１０．
​The plate holding device according to (5), wherein the abutting portion of the pressing mechanism continues to abut on the rotating metal frame until at least the holding portion moves from a state in which the holding portion holds the plate to a state in which the engagement between the plate and the rotating metal frame is released.
１１．
​The plate attaching/detaching device is constituted by attaching the plate holding device described in any one of the above (5) to (10) to the tip of the robot arm.
１２．
​The plate holding device according to (1), wherein the plate is provided with a vibration part for applying vibration to the plate.
１３．
​The sliding nozzle device has a pressing part capable of pressing the plate toward a plate housing metal frame of the sliding nozzle device,
​The plate holding device according to claim 12, wherein the vibration part abuts on the pressing part and gives vibration to the plate via the pressing part.
１４．
​The plate holding device according to (13), wherein the vibration part vibrates when the pressing part presses the plate.
１５．
​When the holding portion holds the plate, the pressing portion is disposed between the plate and the vibrating portion.
１６．
​In the case where the plate is mounted on the plate housing metal frame, the pressing part starts pressing of the plate after the holding part releases the holding of the plate, and the vibration part starts the vibration when the pressing part starts pressing the plate.
１７．
​A plate attaching/detaching device for attaching the plate holding device according to any one of the items (12) to (16) to the robot arm.
[0024]
​According to another aspect of the present invention, a next plate holding device is provided
​A plate holding device for attaching and detaching a plate from a plate storage metal frame provided with a fixed metal frame of a sliding nozzle device and a rotary metal frame attached to the tip of the robot arm and capable of being opened and closed with respect to the fixed metal frame,
​HOLDING PORTION FOR HOLDING SAID PLATE
​PLATE HOLDING DEVICE HAVING PRESSING MECHANISM FOR SUPPRESSING ROTATION OF ROTATING METAL FRAME IN CLOSING DIRECTION
[0025]
​According to yet another aspect of the present invention, a next plate retainer is provided
​A plate holding device attached to a tip of a robot arm for attaching and detaching a plate to/from a plate storage metal frame of a sliding nozzle device,
​HOLDING PORTION FOR HOLDING SAID PLATE
​PLATE HOLDING DEVICE HAVING VIBRATION PART FOR APPLYING VIBRATION TO PLATE
​EFFECT OF INVENTION
[0026]
​According to the present invention, the plate can be reliably attached to and detached from the plate housing metal frame.
​BRIEF DESCRIPTION OF THE DRAWINGS
[0027]
​FIG. 1 is a side view of a plate holding device according to a first embodiment of the present invention (cross-sectional view of only a holding portion) in a state where the plate is held.
​FIG. 2 is an explanatory view showing the use state of the plate-removing apparatus of the present invention, which includes the plate-holding device of FIG. 1;
​FIG. 3 is a side view of a plate holding device according to a second embodiment of the present invention (cross-sectional view of only a holding portion) in a state where the plate is held.
​FIG. 4 is an explanatory view showing a use state of a plate mounting apparatus according to a third embodiment of the present invention;
​FIG. 5 is a side view of a plate holding device used in the plate mounting apparatus of FIG. 4;
​FIG. 6 is a perspective view of a plate (top plate) used in a third embodiment of the present invention.
​FIG. 7A is an explanatory view showing the positional relationship between a plate (upper plate), a plate holding device, and a fixed mold (plate housing metal frame) according to a third embodiment of the present invention;
​FIG. 7B is a cross-sectional view of FIG. 7B;
​FIG. 7C is a cross-sectional view of FIG. 7C;
​FIG. 7D is a partial enlarged view of FIG. 7A.
​FIG. 8 is an explanatory view showing a use state of a plate attachment/detachment device according to a fourth embodiment of the present invention;
​FIG. 9 is a perspective view of a plate holding apparatus according to a fourth embodiment of the present invention.
​FIG. 10 is a perspective view of a sliding nozzle device in a state in which a rotary metal frame is opened.
​FIG. 11 is a perspective view of a sliding nozzle device in a state in which a rotary metal frame is closed;
​FIG. 12 is an explanatory view showing a state in which a plate holding device according to a fourth embodiment of the present invention holds a plate in a rotary mold.
​FIG. 13A is an explanatory diagram showing a state in which a plate holding device according to a fourth embodiment of the present invention is pressed by a pressing mechanism;
​FIG. 13B is an explanatory diagram showing a state in which a plate holding device according to a fourth embodiment of the present invention is pressed by a pressing mechanism;
​FIG. 14 is a side view of a plate holding apparatus according to a fourth embodiment of the present invention.
​FIG. 15 is an explanatory view showing a state in which a plate holding device according to a fourth embodiment of the present invention is brought close to a fixed mold.
​FIG. 16 is an explanatory view showing a state in which a plate holding device according to a fourth embodiment of the present invention has completed plate mounting to a fixed mold.
​FIG. 17 is a perspective view of a plate holding device disclosed in Patent Document 1.
​FIG. 18 is a perspective view of the plate holding device of FIG. 17 in a state where the plate is held;
​FIG. 19 is an explanatory view of a gap between a holding portion of the plate holding apparatus of FIG. 17 and a portion to be held of the plate;
​FIG. 20 is a partial enlarged sectional view of the holding portion of the plate holding apparatus of FIG. 17;
​FIG. 21 is a perspective view of the plate in a state in which the plate is attached to the plate housing metal frame.
​FORM FOR CARRYING OUT THE INVENTION
[0028]
​(First Embodiment)
​FIG. 1 shows a plate holding apparatus 101 according to a first embodiment of the present invention. FIG. 1 is a side view (only a portion of the holding portion 4) in a state where the plate holding device 101 holds the plate 2.
[0029]
​As shown in FIG. 17 and FIG. 18, in the plate holding device 1 of the patent document 1 shown in FIGS. 17 and 18, the pressing portion 5 is formed as a pressing portion 9 without a coil spring, and a force sensor 10 is provided on the opposite side of the pressing portion 9 of the parallel hand 3 as an expansion/contraction means
[0030]
​As shown in FIG. 1, the pressing portion 9 includes a holding plate 91, and the holding plate 91 is attached to the body portion 32 of the parallel hand 3 by a bolt 93. A pressing plate 92 is fixed to the holding plate 91, and the holding plate 91 and the pressing plate 92 are integrated. When the pressing plate 92 presses the central part of the plate 2, the position of the pressing plate 92 is set at a position where the engagement groove 41 of the pair of holding parts 4 attached to the parallel claw 31 of the parallel hand 3 and the engagement projection 210 of the plate 2 can be engaged.​That is, the pressing portion 9 (pressing plate 92) is provided at a position where the center portion of the plate 2 is pressed when the plate 2 is held by the pair of holding portions 4.. In other words, the plate 2 can be held by reducing the interval between the pair of holding portions 4 at a position where the plate 2 abuts on the pressing portion 9 (pressing plate 92)
[0031]
​The expansion/contraction means is not limited to the parallel hand 3, for example, a parallel chuck can be used, and a hydraulic cylinder, an air cylinder or the like can also be manufactured.. In addition, the expansion/contraction means is not necessarily limited to a configuration in which the pair of holding sections 4 are expanded and contracted in parallel, and the spacing between the tips of the pair of holding sections can be expanded and contracted by the turning operation around the base end section (intersection) of the pair of holding sections.
[0032]
​The force sensor 10 is attached to the flange portion 102 on the side opposite to the pressing portion 9 of the body portion 32 of the parallel hand 3 by a bolt. That is, the force sensor 10 is a force sensor for detecting the force received by the holding part 4 and/or the pressing part 9 from the plate 2. The force sensor for detecting the force is also referred to as a force sensor, and can be used generally for a robot arm or the like.. In this embodiment, a six-axis force sensor is used as the force sensor 10
[0033]
​FIG. 2 shows a plate-taking out device provided with a plate holding device 101
​In FIG. 2, the ladle 11 immediately after casting is laid down laterally on the ladle receiving portion 13 installed on the floor 12. A sliding nozzle device 14 is attached to the bottom 111 of the ladle. On the other hand, the base end of the robot arm 15 is fixed to a frame (not shown) for a robot arm installed on the floor 12, and a flange of the force sensor 10 of the plate holding device 101 is attached to the tip of the robot arm 15 by a bolt. At this time, the force sensor 10 and the tip of the robot arm 15 are arranged in series so that the central axes thereof coincide with each other​The robot arm 15 is a six-axis vertical articulated robot arm, and the posture and position of the plate holding device 101 attached to the tip can be freely moved.
[0034]
​A three-dimensional sensor 16 having a camera 16a and a laser irradiator 16b is attached to the tip portion of the robot arm 15. The image photographed by the camera 16a is input to the image processing apparatus, and the three-dimensional position coordinates are corrected by the image processing method. By inputting the coordinate information to the control unit 17, the robot arm 15 can move to a position where the plate 2 can be held by the plate holding device 101.. On the other hand, the information of the force sensor 10 is always input to the control unit 17. The control unit 17 controls the operation of the plate holding device 101 on the basis of the information or the like of the force sensor 10.
[0035]
​Next, a method of taking out the plate from the plate housing metal frame will be described
​First, the sliding nozzle device 14 is opened to irradiate a photographing reference part (marker) provided at two places of the upper end part and the lower end part of the plate storage metal frame 6 with a laser from the laser irradiation machine 16b to perform image processing by the camera 16a, and the deviation between the plate storage metal frame 6 and the reference position is calculated to correct the three-dimensional position coordinates of the plate storage metal frame 6.. By inputting the correction position of the plate storage metal frame 6 to the control unit 17, the robot arm 15 is operated to move the plate holding device 101 attached to the robot arm 15 to the correction position.​At this time, the holding part 4 of the plate holding device is separated so as not to come into contact with the plate 2 and the plate housing metal frame 6. In the present embodiment, the above-mentioned correction position is set at a position of, for example, about 1 cm from a position for holding the plate 2 in the plate storage metal frame 6 by the holding part 4 of the plate holding device.
[0036]
​In this embodiment, the control unit 17 moves the plate holding device 101 to the above-mentioned correction position by the operation control of the robot arm 15, temporarily stops the plate holding device 101 at the correction position, and moves the plate holding device 101 toward the plate 2 attached to the plate storage metal frame 6.. During this movement, the pressing portion 9 of the plate holding device comes into contact with the plate 2. If so, the holding portion 4 and/or the pressing portion 9 are subjected to a force as a reaction force from the plate 2, and the force is detected by the force sensor 10.​When the force detected by the force sensor 10 reaches a predetermined threshold (for example, 300N), the control unit 17 stops the movement of the plate holding device 101 by the operation control of the robot arm 15, and reduces the interval between the pair of holding units 4 by the operation control of the parallel hand 3 to hold the plate 2.. After holding the plate 2, the plate holding device 101 is retracted by the operation control of the robot arm 15, so that the plate 2 can be removed from the plate storage metal frame 6.​In this embodiment, the plate holding device 101 is once stopped at the above-mentioned correction position, but it may not be temporarily stopped at the above-mentioned correction position.
[0037]
​Thus, in the present embodiment, when the force detected by the force sensor 10 reaches a predetermined threshold value, the movement of the plate holding device 101 is stopped, and the plate is held by reducing the interval between the pair of holding parts 4 at the stop position. Thus, the plate 2 housed in the plate storage metal frame 6 can be reliably held and removed.. That is, in this embodiment, when the force detected by the force sensor 10 reaches a predetermined threshold, the holding portion 4 is aligned with the held portion (engaging projection 210) of the plate
[0038]
​The plate mounting apparatus of the present embodiment can also be used as a plate mounting apparatus.. When used as a plate mounting device, a control unit (17) moves the plate (2) held by the plate holding device (101) toward the plate storage metal frame (6) by the operation control of the robot arm (15), stops the movement of the plate holding device (101) when the force detected by the force sensor (10) reaches a predetermined threshold value (for example, 500 N), opens the plate (2) by expanding the interval between the pair of holding parts (4) by the operation control of the parallel hand (3), and attaches the plate (2) to the plate storage metal frame (6).
[0039]
​(SECOND EMBODIMENT)
​FIG. 3 shows a plate holding device 101 according to a second embodiment of the present invention. FIG. 3 is a side view (only a portion of the holding portion 4) in a state where the plate holding device 101 holds the plate 2.
[0040]
​The plate holding apparatus 101 shown in FIG. 3 has a pressing portion 9 of the plate holding apparatus 101, which is the first embodiment shown in FIG. 1, as a pressing portion 9 using a coil spring in the same manner as in Patent Document 1.. In the Patent Document 1, four coil springs are used, but seven coil springs 94 are used in the pressing portion 9 of the present embodiment
​That is, as shown in FIG. 3, seven bolts 93 penetrate the seven through-holes of the holding plate 91 and the seven coil springs 94, respectively, and are fixed to the substrate 95. The substrate 95 is attached to the body 32 of the parallel hand 3. A gap is provided in the holding plate 91 to fix the pressing plate 92, and the holding plate 91 and the pressing plate 92 are integrated. The pressing plate 92 can be moved to the substrate 95 side to deflect the coil spring 94. At this time, by providing a gap between the through-hole of the holding plate 91 and the bolt 93, the pressing plate 92 can be moved even in an inclined state​The position of the pressing plate 92 is set at a position where the coil spring 94 is bent when the plate 2 is held by the holding portion 4 (engaging groove 41), and the plate is pressed against the inner wall surface of the plate housing metal frame side of the engaging groove 41.
[0041]
​As described above, the plate holding device 101 having the pressing part 9 using the coil spring is also provided with the force sensor 10 in the same manner as the above-mentioned plate holding device 101, so that the same working effect can be obtained.. Further, the plate holding device 101 can be attached to the tip of the robot arm 15 as shown in FIG. 2, so that the plate holding device 101 can be a plate removal device or a plate attachment device.
[0042]
​(THIRD EMBODIMENT)
​FIG. 4 shows a use state of a plate mounting apparatus according to a third embodiment of the present invention. FIG. 5 also shows a plate holding apparatus used in the plate mounting apparatus of FIG. 4
[0043]
​Referring first to FIG. 5, a plate holding apparatus 101 used in this embodiment will be described
​In the plate holding device 1 of the patent document 1 shown in FIG. 17, the pressing part 5 is used as a pressing part 9, and a force sensor 10 is provided on the opposite side of the pressing part 9 of the parallel hand 3 as the expansion/contraction means
​That is, the plate holding device 101 has a parallel hand 3 as an expansion/contraction means, a pair of holding parts 4 provided on the parallel claws 31 of the parallel hand 3, a pressing part 9 provided in the front part of the body part 32 of the parallel hand 3, and a force sensor 10 provided on the side opposite to the pressing part 9 of the parallel hand 3. Further, two engaging grooves 41 are provided at the tip parts on both sides of the holding part 4. When the plate is held by the plate holding device 101, a gap of 5 mm is secured between the engaging projection 210 of the plate to be described later and the inner wall surface of the engaging groove 41.​By providing such a gap, the plate can be moved in any direction (the longitudinal direction, width direction, and thickness direction) of the plate within the range of the gap
[0044]
​The expansion/contraction means is not limited to the parallel hand 3, for example, a parallel chuck can be used, and a hydraulic cylinder, an air cylinder or the like can also be manufactured.. In addition, the expansion/contraction means is not necessarily limited to a configuration in which the pair of holding sections 4 are expanded and contracted in parallel, and the spacing between the tips of the pair of holding sections can be expanded and contracted by the turning operation around the base end section (intersection) of the pair of holding sections.
[0045]
​The pressing portion 9 has a structure similar to that of the pressing portion 5 of the plate holding apparatus 1 of the patent document 1 shown in FIG. 17. However, while four coil springs are used in Patent Document 1, seven coil springs are used in the pressing portion 9 of the present embodiment
​That is, as shown in FIG. 5, seven bolts 93 penetrate the seven through-holes of the holding plate 91 and the seven coil springs 94, respectively, and are fixed to the substrate 95. The substrate 95 is attached to the body 32 of the parallel hand 3. A gap is provided in the holding plate 91 to fix the pressing plate 92, and the holding plate 91 and the pressing plate 92 are integrated. The pressing plate 92 can be moved to the substrate 95 side to deflect the coil spring 94. At this time, by providing a gap between the through-hole of the holding plate 91 and the bolt 93, the pressing plate 92 can be moved even in an inclined state​The position of the pressing plate 92 is set at a position where the coil spring 94 bends when the plate is held by the holding portion 4 (engaging groove 41), and the result plate is pressed against the inner wall surface of the plate housing metal frame side of the engaging groove 41.
[0046]
​The force sensor 10 is attached to the flange portion 102 on the side opposite to the pressing portion 9 of the body portion 32 of the parallel hand by a bolt. That is, the force sensor 10 is a force sensor for detecting the force received by the holding part 4 and/or the pressing part 9 from the plate 2. The force sensor for detecting the force is also referred to as a force sensor, and can be used generally for a robot arm or the like.. In this embodiment, a six-axis force sensor is used as the force sensor 10
[0047]
​In this embodiment, the plate 2 has the same shape as that of Patent Document 1.. That is, as shown in FIG. 6, the plate 2 has a metal back plate 203 on the back surface, the side surface is covered with a metal band 205, and a plate-like fixing part 209 is provided extending in the longitudinal direction from the back plate 203. Two and four engaging projections 210 are provided at both end portions on the longitudinal side of the back plate 203. The fitting recess 212 is fitted to a fitting protrusion (not shown) provided in the plate housing metal frame so that the plate does not shift even when the force in the sliding direction is received.
[0048]
​Referring now to FIG. 4, the use state and the overall configuration of the plate mounting apparatus of the present embodiment will be described
​In FIG. 4, the ladle 11 immediately after casting is laid down laterally on the ladle receiving portion 13 installed on the floor 12. A sliding nozzle device 14 is attached to the bottom 111 of the ladle, and the sliding direction is substantially vertical in the state of FIG. 4. The sliding nozzle device 14 is in a state where the upper plate and the lower plate are removed by opening the sliding metal frame 142, which is the plate housing metal frame for the lower plate, with respect to the fixed mold 141, which is the plate housing metal frame for the upper plate.
[0049]
​On the other hand, the base end of the robot arm 15 is fixed to a frame (not shown) for a robot arm installed on the floor 12, and a flange of the force sensor 10 of the plate holding device 101 is attached to the tip of the robot arm 15 by a bolt. At this time, the force sensor 10 and the tip of the robot arm 15 are arranged in series so that the central axes thereof coincide with each other
​The robot arm 15 is a six-axis vertical articulated robot arm, and the posture and position of the plate holding device 101 attached to the tip can be freely moved.
[0050]
​A three-dimensional sensor 16 having a camera 16a and a laser irradiator 16b is attached to the tip portion of the robot arm 15. The image photographed by the camera 16a is input to the image processing apparatus, and the three-dimensional position coordinates are corrected by the image processing method. By inputting the coordinate information to the control unit 17, the robot arm 15 can move the plate holding device 101 to the mounting position of the plate. On the other hand, the information of the force sensor 10 is always input to the control unit 17. The control unit 17 controls the operation of the plate holding device 101 on the basis of the information or the like of the force sensor 10.
[0051]
​Next, a method of attaching the plate 2 to the fixed mold 141 of the sliding nozzle device 14 attached to the bottom 111 of the ladle 11 will be described with reference to FIGS. 4 and 7A -7 D. In FIGS. 7A -7 D, there is shown an example in which the plate 2 held by the plate holding device 101 approaches the bottom surface 143 of the fixed mold 141 in an inclined state rather than in a vertical state.​According to the plate mounting apparatus 101 of the present embodiment, the plate can be attached to the plate housing metal frame of both the fixed metal frame 141 which is the plate housing metal frame for the upper plate and the sliding metal frame 142 which is the plate storage metal frame for the lower plate, but the mounting method of the upper plate to the fixed metal frame 141 will be described below.. The upper plate and the lower plate have the same shape, and in the following description, the upper plate is simply referred to as a plate.
[0052]
​First, in FIG. 4, the fixed metal frame 141 of the sliding nozzle device 14 from which the plate after use is removed is irradiated with a laser from the laser irradiation machine 16b and is photographed by the camera 16a to perform image processing to correct the three-dimensional position coordinates of the fixed mold 141.. By inputting the correction position of the fixed mold 141 to the control unit 17, the robot arm 15 is operated to move the plate holding device 101 attached to the robot arm 15 to the correction position (the state of FIG. 7A)​In this embodiment, the above-mentioned correction position is set at a position of, for example, about 1 cm from a predetermined position of the fixed mold 141 to which the plate is to be housed.
[0053]
​In FIGS. 7A -7 D, the fixed metal frame 141 has a locking mechanism 7 for holding the fixing portions 209 at both upper and lower ends of the plate 2, and a guide protrusion 61 for positioning the plate 2 by being fitted to the opening portion 209 (see FIG. 6) of the fixing portion 209 at both ends of the plate. The structure of the guide projection 61 is the same as that disclosed in Patent Document 1, and the lock mechanism 7 is different from the position provided on the bottom 143 of the fixed mold 141, but the structure is the same
[0054]
​As shown in FIG. 7D, the lock mechanism 7 is provided so that the holding block 71 can move in parallel with the sliding direction of the plate via a spring (not shown). When the fixing part 209 of the plate abuts on the inclined surface 72 and moves in the direction of the bottom surface 143 of the fixed mold 141, the holding block 71 moves to the opposite side to the plate, and when the fixing part 209 of the plate comes into contact with the inclined surface 73, the holding block 71 moves slightly to the plate side and the fixing part 209 of the plate is locked
[0055]
​A recess 62 for entering the holding portion 4 of the plate holding device 101 is provided at a position corresponding to each holding portion 4 on the bottom 143 of the fixed mold 141. The recess 62 has a size capable of expanding and contracting the interval of the holding portion 4 of the plate holding device 101 while the back plate 203 of the plate is brought into contact with the bottom surface 143 of the fixed mold 141
[0056]
​Mortar is used as the joint material between the upper plate and the upper nozzle, and the upper plate is held by the plate holding device with mortar applied thereto. Specifically, in FIG. 6, a protrusion 207 in the opening 204 and a mortar are applied to the periphery thereof
[0057]
​In FIG. 7A, the plate holding device 101 moves in the direction of the fixed mold 141, and the opening of the fixing portion 209 of the plate starts to engage with the guide projection 61 of the fixed mold 141. From this state, the plate 2 moves to the bottom surface 143 side of the fixed mold 141 while the position is adjusted between the engagement groove 41 of the holding part 4 of the plate holding device 101 and the guide projection 61.
[0058]
​When the back plate 203 of the plate 2 abuts on the bottom surface 143 of the fixed mold 141 as shown in FIG. 7B, the force as the reaction force detected by the force sensor 10 increases. When the force reaches a predetermined threshold A, the movement of the plate holding device 101 is temporarily stopped to maximize the spacing between the holding portions 4
[0059]
​In FIG. 7B, the engaging projection 210 on the upper side of the plate comes into contact with the base end side inner wall surface of the engaging groove 41 of the holding part 4 of the plate holding device 101, and the back plate 203 at the upper part of the plate is in contact with the bottom surface 143 of the fixed mold 141. On the other hand, the fixing portion 209 is not yet completely locked by the locking mechanism 7. Although not shown, mortar between the plate 2 and the upper nozzle still does not have a predetermined joint thickness. In this state, the upper holding portion 4 cannot move in the direction of the bottom surface 143 of the fixed mold 141, resulting in a large force, and as a result, the force detected by the force sensor 10 becomes a predetermined threshold A.
[0060]
​When the force detected by the force sensor 10 becomes a predetermined threshold A, the movement of the plate holding device 101 is temporarily stopped, and the interval between the holding parts 4 of the plate holding device 101 is enlarged as shown in FIG. 7C to open the plate 2. If so, the force is reduced because the plate engagement projection 210 and the retainer 4 do not come into contact with each other. Thereafter, when the plate holding device 101 is further moved toward the fixed mold 141, the plate can be pressed to the bottom surface 143 of the fixed mold 141 only by the pressing part 9.​At this time, since the pressing portion 9 can be inclined in an arbitrary direction by the coil spring 94, the back plate 203 is in a posture parallel to the bottom surface 143 of the fixed mold 141, and the fixing portion 209 is fixed by the locking mechanism 7.. Although not shown, the fitting recess of the plate is also fitted to the fitting protrusion provided in the storage metal frame.
​After the plate 2 is opened in this way, the plate holding device 101 is further moved toward the fixed mold 141, and when the plate is pressed to the bottom surface 143 of the fixed mold 141 only by the pressing part 9, the force detected by the force sensor 10 increases. When the force reaches a predetermined threshold B, the movement of the plate holding device is stopped. Thereafter, the plate holding device is moved in a direction opposite to the fixed mold 141 and separated from the fixed mold 141. Thus, the plate 2 is attached to the fixed mold 141
[0061]
​Here, as shown in FIG. 7C, it is preferable that the size of the interval between the holding parts 4 to be enlarged when the plate is opened is in a state where the engaging projection 210 of the plate 2 is completely discharged from the engaging groove 41 of the holding part 4 of the plate holding device 101.. Specifically, the distance between the inner surfaces 42 of the holding portions in the expansion direction shown in FIG. 5 can be greater than or equal to the distance between the outer surfaces 210a of the engaging protrusions in the sliding direction of the plate shown in FIG. 6
​However, since the gap is provided between the engaging groove 41 of the holding portion 4 and the engaging projection 210 of the plate 2, the distance between the inner side face 42 of the holding portion 4 in the expanding/contracting direction can be equal to or more than the distance between the outer surface 210a of the engaging projection in the sliding direction of the plate and the distance between the outer surfaces 210a of the engaging protrusions in the sliding direction of the plate.
​For example, in the present embodiment, the gap between the holding portion 4 and the engaging projection 210 of the plate 2 is provided with a gap of 5 mm in the engaging groove 41 of the holding portion 4 in the first setting. Therefore, the distance between the inner surface 42 of the holding portion 4 in the expansion/contraction direction of the plate holding device can be 310 mm or more by adding a gap 10 mm on both sides to a distance 300 mm between the outer surface 210a of the engaging projection in the sliding direction of the plate, and in this embodiment, is 350 mm.
​On the other hand, the interval between the holding parts 4 which expand when the plate is opened is too large, and the holding part 4 May come into contact with the fixed metal frame 141, so that the plate holding device cannot be smoothly moved when the plate is brought into contact with the fixing metal frame 141, so that the plate holding device may be sized to be not in contact with each other.
[0062]
​The value of the threshold A of the above-mentioned force depends on the size of the plate, the presence or absence of the use of the mortar, or the hardness of the mortar when the mortar is used, so that it is appropriately determined according to the conditions of use.. If the threshold A is too small, the plate may fall when the plate is opened by expanding the spacing between the retaining portions. There is no particular problem even if the threshold value A is too large, but it is necessary to increase the strength of the plate and the plate holding device, resulting in a wasteful cost.​For example, when the force of the threshold A is measured, the entire back plate 203 of the plate is brought into contact with the entire bottom surface 143 of the fixed mold 141. Therefore, it is preferable to move the plate to the bottom surface side of the fixed metal frame 141 to such a degree that the plate is applied to the guide projection 61 or the lock mechanism 7 to some extent, and to prevent the plate from falling.. From the above, the threshold A should be from 50 N to 3000 N.
[0063]
​For the value of the threshold value B of the force described above, it is possible to set the threshold value A to be a state where the plate is locked to such a degree that the plate does not fall by the lock mechanism.. Although the upper limit of the threshold value B is too large as in the case of the threshold A, it is necessary to increase the strength of the plate and the plate holding device, and a wasteful cost is generated.
[0064]
​(FOURTH EMBODIMENT)
​FIG. 8 is an explanatory diagram showing a use state of a plate attachment/detachment device according to a fourth embodiment of the present invention. As shown in FIG. 1, the plate attaching/detaching device 1A is formed by attaching the plate holding device 101A to the robot arm 15. The plate attaching/detaching device 1A attaches/detaches the plate 2 to the plate housing metal frame 6A of the sliding nozzle device 14A provided at the bottom 111 of the ladle 11, for example
[0065]
​FIG. 9 is a perspective view of a plate holding apparatus 101a according to a fourth embodiment of the present invention. As shown in the figure, a pressing mechanism 18 and a vibrating mechanism 19 are attached to the plate holding device 101a of the present embodiment. The structure of portions other than the pressing mechanism 18 and the vibration mechanism 19 of the plate holding apparatus 101a of the present embodiment is similar to that of the plate holding apparatus 101 of the third embodiment described above, and thus the explanation thereof is omitted.
[0066]
​FIGS. 10 and 11 are perspective views of the sliding nozzle device 14A
​The sliding nozzle device 14a includes a plate housing metal frame 6a and a spring box 145. The plate housing metal frame 6a is provided with a fixed metal frame 141a and a rotary metal frame 142a, and a plate (not shown) is housed in each of them. The rotary metal frame 142a is provided so as to be opened and closed by rotating the rotary shaft 144 around the rotary shaft 144 with respect to the fixed mold 141a. The rotary metal frame 142a of the present embodiment is provided slidably with respect to the fixed mold 141a.. That is, the rotary metal frame 142a of the present embodiment may be a sliding metal frame (sliding metal frame 142 in the third embodiment)
[0067]
​The plate is replaced in a state in which the rotary metal frame 142a is opened with respect to the fixed mold 141a. In this case, the rotary metal frame 142a may be rotated in the closing direction, or a mechanism for fixing the rotary metal frame 142a so as not to move in the closing direction may be used separately.
[0068]
​The spring box 145 of the sliding nozzle device 14a is used to load a surface pressure on the plate storage metal frame 6a during use of the sliding nozzle device 14a and to hold the plate storage metal frame 6a in a closed state
[0069]
​The fixed metal frame 141A and the rotary metal frame 142A have housing parts 1411 and 1421 in which the plates are housed, and outer surfaces 1412 and 1422 forming the outer shape of the metal frame. Further, a fitting protrusion 146 into which the fitting recess 212 (see FIG. 18) of the plate 2 is fitted is provided in the housing portions 1411 and 1421
[0070]
​The other structure of the fixed mold 141A and the rotary metal frame 142A is similar to that of the fixed metal frame 141 and the sliding metal frame 142 in the third embodiment described above, and the description thereof is omitted.
[0071]
​Next, a pressing mechanism 18 provided in the plate holding device 101a will be described
[0072]
​As shown in FIG. 9, the pressing mechanism 18 comprises a pressing mechanism body 18a, an operation part 18b connected to the pressing mechanism body 18a, and a spherical contact part 18c provided at the tip of the operation part 18b
[0073]
​The pressing mechanism 18 is provided on a mounting plate 33 extending downward from the main body 32 of the plate holding device 101a. Two pressing mechanisms 18 are disposed below the holding portion 4. The operating portion 18b is provided in an extendable (retractable) manner from an end portion of the pressing mechanism body 18a. The operating portion 18b extends forward from the end portion of the pressing mechanism body 18a (in a direction from the end of the pressing mechanism body 18a to the rotating metal frame)
[0074]
​The contact portion 18c is disposed closer to the body portion 32 than the tip of the holding portion 4 when the operating portion 18b is contracted. In this arrangement, when the holding portion 4 is inserted into the rotating metal frame 142a, the abutting portion 18c does not come into contact with the rotating metal frame 142a before the holding portion 4 reaches the portion where the plate is stored.. That is, when the holding portion 4 is inserted into the rotating metal frame 142a, there is a gap between the rotating metal frame 142a and the abutting portion 18c, and the abutting portion 18c is disposed at a position that does not interfere with the insertion operation of the holding portion 4.
​The contact portion 18c may be protruded from the tip of the holding portion 4 by the extension of the operating portion 18b.. In the present embodiment, the two pressing mechanisms 18 are provided at positions symmetrical with respect to the center axis in the vertical direction of the plate holding device 101a
[0075]
​Although not shown, the pressing mechanism 18 includes a drive mechanism such as an electromagnetic air valve or an electric motor inside the pressing mechanism body 18a. The expansion and contraction of the operating portion 18b can be operated by the electrical control of the driving mechanism.. Further, by the electric control of the drive mechanism, the plate holding operation of the holding part 4 of the plate holding device 101A and the movement of the robot arm 15 and the expansion/contraction operation of the operation part 18B are interlocked.
[0076]
​The plate attaching/detaching device 1A provided with the plate holding device 101A having the pressing mechanism 18 operates as follows
[0077]
​First, the holding part 4 of the plate holding device 101a is inserted into the plate housing part 1421 of the rotary metal frame 142a by the robot arm 15. Next, as shown in FIG. 12, the holding portion 4 of the plate holding device 101a holds the plate 2. Next, in the first embodiment, the operating portion 18b extends in a state that the holding portion 4 holds the plate 2 as shown in FIG. 13A. The abutting portion 18c presses the lower end portion of the outer surface 1422 of the rotating metal frame 142a. At this time, the robot arm 15 moves in a direction away from the rotating metal frame 142a at the same time as the operation of the operating portion 18b​At this time, since the rotation of the rotary metal frame 142a in the closing direction is suppressed by the extended contact part 18c, the holding part 4 can be pulled out from the storage part 1421 of the rotary metal frame 142a
​Until the engagement between the fixing portion 209 of the plate 2 and the rotating metal frame 142a is completely released, the operating portion 18b continues to extend, and the abutting portion 18c is kept in contact with the outer surface 1422 of the rotating metal frame 142a. In this way, the holding part 4 of the plate holding device 101a is moved to the outside of the housing part 1421 of the rotary metal frame 142a by the robot arm 15, and the plate 2 is removed
[0078]
​Thus, FIG. 2 is a diagram showing the structure of the present invention (13a) The first form shown in FIG. 1 is a rotary mold (142a), the lower end of the outer surface (1422) of the rotating metal frame (142a) is pressed by the pressing mechanism (18) to tilt the rotating metal frame (142a), so that the lower locking mechanism (7) of the rotating metal frame (142a) can be released to remove the lower fixing portion (209) of the plate (2) from the rotating metal frame (142a).
​That is, in the second form, the operating portion 18b extends while the holding portion 4 holds the plate 2 as shown in FIG. 13B. The abutting portion 18c presses the lower end portion of the outer surface 1422 of the rotating metal frame 142a, and releases the engagement between the fixed portion 209 on the lower side of the plate 2 and the rotating metal frame 142a. At the same time as the operation of the operation part 18b, the robot arm 15 moves in a direction away from the rotary metal frame 142a, and the holding part 4 is pulled out from the storage part 1421 of the rotary metal frame 142a​Until the engagement between the fixed portion 209 on the upper side of the plate 2 and the rotating metal frame 142a is completely released, the operating portion 18b continues to extend, and the abutting portion 18c is kept in contact with the outer surface 1422 of the rotating metal frame 142a. In this way, the holding part 4 of the plate holding device 101a is moved to the outside of the housing part 1421 of the rotary metal frame 142a by the robot arm 15, and the plate 2 is removed
[0079]
​In this second form, the pressing mechanism 18 presses the lower end of the outer surface 1422 of the rotating mold 142a. At this time, since the lower portion of the pressed rotary metal frame 142a moves to the rear side, it is tilted forward with respect to the holding portion 4 of the plate holding device 101a. At this time, the fixing portion 209 on the lower side of the plate 2 on the inclined surface 73 side of the holding block 71 moves over the inclined surface 73 to move to the side of the inclined surface 72. Therefore, the engagement between the fixed part 209 on the lower side of the plate 2 and the rotary metal frame 142a is released.​At the same time as the pressing mechanism 18 presses the rotating metal frame 142a, the robot arm 15 moves away from the housing portion 1421 of the rotating metal frame 142a. In this way, the plate 2 can be removed from the rotating mold 142a
[0080]
​In any of these first and second forms, the rotation of the rotary metal frame 142A in the closing direction is suppressed by the abutting part 18C, and the rotation of the rotary metal frame 142A in the closing direction is suppressed by the extended contact part 18C, so that the plate 2 can be surely removed from the rotary metal frame 142A by the robot arm 15.
[0081]
​In the present embodiment, the plate 2 can be removed from the rotary metal frame 142a by moving the robot arm 15 in a direction away from the rotary metal frame 142a, and the holding part 4 of the plate holding device 101a can be moved forward and backward with respect to the rotary metal frame 142a, so that the plate 2 May be removed from the rotary metal frame 142a by moving the holding part 4 in a direction away from the storage part 1421 of the rotary metal frame 142a.
[0082]
​In this embodiment, the extension of the operation part 18b and the movement of the robot arm 15 in the direction of separating from the rotary metal frame 142a are simultaneously performed, but only the operation part 18b is extended forward, and after the contact part 18c abuts on the rotary metal frame 142a, the robot arm 15 May move in a direction away from the rotary metal frame 142a.
[0083]
​In the pressing mechanism 18 of the present embodiment, the pressing mechanism 18 May perform control to press the rotary metal frame 142a so as to open to a predetermined position.. When the rotary metal frame 142a is opened, when the rotary metal frame 142a is not in a predetermined position, the rotary metal frame 142a can be pressed and rotated by the pressing mechanism 18 and moved to a predetermined position.
[0084]
​Although the pressing mechanism 18 of the present embodiment is provided below the holding portion 4 in the plate holding apparatus 101a, the pressing mechanism 18 May be provided on the upper side of the holding portion 4, for example, and may be provided on the right and left sides of the holding portion 4.. The pressing mechanism 18 of the present embodiment may be provided on only the lower side of the holding portion 4, but may be provided, for example, on the upper side and the lower side of the holding portion 4, or may be provided on the lower side, the left and right sides, the right and left sides, or the upper and lower sides.​The pressing mechanism 18 preferably presses one of the end portions corresponding to the locking mechanism 7 of the rotating metal frame 142a with the abutting portion 18c.. Since the locking mechanism 7 of the plate 2 is provided at the upper end of the upper end of the rotating metal frame 142a, the pressing mechanism 18 preferably presses only one of the upper end portion or the lower end portion of the rotating metal frame 142a in order to release the engagement of the plate 2 and the rotating metal frame 142a.. Further, the pressing mechanism 18 is preferably provided at a position symmetrical with respect to the holding portion 4​Although two pressing mechanisms 18 are preferably provided as in the present embodiment, three or more of the pressing mechanisms 18 May be provided.
​On the other hand, the contact portion 18c is preferably spherical in order to correspond to the unevenness of the rotating metal frame 142a, but various shapes such as, for example, a plate shape, a cube, and a rectangle can be taken
[0085]
​In this embodiment, the operating portion 18b is provided so as to be capable of expanding and contracting, but may be, for example, a structure for biasing the operating portion 18b in a direction in which the operating portion 18b is extended by using a spring or the like. In this case, by projecting the abutting part 18c from the tip of the holding part 4, the abutting part 18c abutting on the rotary metal frame 142a can be energized in the direction of opening the rotary metal frame 142a.. Also, when the holding part 4 is inserted into the rotary metal frame 142a, the spring is contracted, so that the pressing mechanism 18 does not interfere with the insertion of the holding part 4.
[0086]
​The rotary metal frame 142a of the present embodiment is rotatably provided on the fixed mold 141a, and the plate 2 is fixed by a lock mechanism 7 of the rotary metal frame 142a. The lock mechanism 7 of the rotary metal frame 142a of the present embodiment is composed of a holding block 71 capable of advancing and retreating to the storage part 1421 of the rotary metal frame 142a and a spring (not shown) for energizing the holding block 71 to the inner peripheral side of the rotary metal frame 142a​When the plate 2 stored in the storage section 1421 of the rotary metal frame 142a is held by the holding section 4 of the plate holding apparatus 101a, and the robot arm 15 is moved in a direction away from the rotary metal frame 142a in that state, the fixing section 209 of the plate 2 cannot get over the inclined surface 72 side from the inclined surface 73 side of the holding block because of the strong energization of the spring.. In this case, since the lock mechanism 7 of the plate 2 is not released, the rotary metal frame 142a may rotate following the movement direction of the robot arm 15.​Therefore, in this embodiment, when the plate 2 is removed, the pressing mechanism 18 is brought into contact with the outer surface 1422 of the rotating metal frame 142a. With this structure, the rotary metal frame 142a is pressed so as not to be moved by the pressing mechanism 18 to prevent the rotary metal frame 142a from following the movement of the robot arm 15.
[0087]
​In the second embodiment of the present embodiment, the lower end of the outer surface 1422 of the rotary metal frame 142A is pressed by the pressing mechanism 18 to incline the rotary metal frame 142A, whereby the lower locking mechanism 7 of the rotary metal frame 142A is released to remove the lower fixing portion 209 of the plate 2 from the rotating metal frame 142A.. In this way, by releasing a part of the lock mechanism 7 by the pressing mechanism 18, the plate 2 can be more easily removed by the robot arm 15.​Thus, by tilting the rotary metal frame 142a, the plate 2 is pulled down and the holding block 71 is pressed by the fixing part 209 to obtain the same effect as the pulling-out operation of the plate 2 (fixing part 209 is moved from the inclined surface 73 side to the inclined surface 72 side).. In addition, the present invention is also directed to a
​It is to be noted that the plate 2 can be removed from the rotating metal frame 142a without any problem even in the form (a first form) in which the rotating metal frame 142a is not inclined.
[0088]
​In the present embodiment, the plate housing metal frame in which two plates are stored is described, however, three plates are contained in the plate housing metal frame. In this case, the pressing mechanism 18 of the present embodiment can be used when removing the plate from the rotating metal frame.
[0089]
​In addition, in this embodiment, the plate holding device 101a holds a plate 2 having a metal back plate 203 on the back surface, and is attached to and detached from the rotary metal frame. However, it is also possible to hold a general plate having no back plate as disclosed in Patent Document 2, and to attach and detach the plate to/from the rotary metal frame.
[0090]
​Next, a vibration mechanism 19 (vibration part) provided in the plate holding device 101a will be described
[0091]
​As shown in FIG. 14, the excitation mechanism 19 is composed of a vibration mechanism body 19a provided on the side surface of the main body part 32 of the plate holding device 101a and a vibration part 19b provided at the tip of the excitation mechanism body 19a. Two exciting mechanisms 19 are provided on the right and left of the holding portion 4 of the plate holding device 101a. A vibration device (not shown) such as a vibration motor is provided inside the excitation mechanism body 19a. The vibrating device can electrically control the start and stop of the vibration. The vibration device is vibrated to vibrate the excitation mechanism body 19a​The vibration of the excitation mechanism body 19a propagates to the excitation unit 19b. The vibration part 19b is in contact with the back surface of the pressing part 9a, and can transmit vibration to the pressing part 9a. Although the vibration direction of the excitation mechanism body 19a may vibrate in a horizontal direction to the pressing section 9a, the vibration section 19b may be displaced in the vibration direction to change the position where the vibration is transmitted to the pressing section 9a.. Therefore, the vibration direction is more preferably perpendicular to the pressing portion 9a.
[0092]
​The vibration mechanism body 19a vibrates when the pressing part 9a of the plate holding device 101a presses the plate 2. This vibration propagates from the vibrating portion 19b to the plate 2 via the pressing portion 9a. In other words, the plate 2 can be vibrated by vibrating the excitation mechanism body 19a
[0093]
​The plate attaching/detaching device 1A provided with a plate holding device 101A having a vibrating mechanism 19 operates as follows
​First, the plate 2 is held by the holding portion 4 of the plate holding device 101a. Next, the holding portion 4 holding the plate 2 by the robot arm 15 is inserted into the housing portion 1411 of the fixed mold 141a as shown in FIG. 15. When the plate 2 comes into contact with the holding block 71 of the fixed mold 141a and the force detected by the force sensor 10 becomes a predetermined threshold A, the insertion operation of the holding portion 4 by the robot arm 15 is stopped. Next, the interval between the holding portions 4 is enlarged to open the plate 2​Next, the robot arm 15 moves in a direction approaching the fixed mold 141a to press the plate 2 against the fixed mold 141a by the pressing part 9a, and the vibration part body 19a vibrates. Next, as shown in FIG. 16, when the fixing portion 209 of the plate 2 is locked by the locking mechanism 7 of the fixed mold 141a and the force detected by the force sensor 10 becomes a predetermined threshold B, the vibration portion body 19a stops the vibration
[0094]
​On the other hand, when the force detected by the force sensor 10 reaches a predetermined threshold B, the fixing portion 209 of the plate 2 May not be locked by the locking mechanism 7 of the fixed mold 141a. Therefore, when the force detected by the force sensor 10 reaches a predetermined threshold B, the vibration portion body 19a may continue to vibrate for several seconds. In this way, the fixing portion 209 of the plate 2 can be more reliably locked by the locking mechanism 7.
[0095]
​In addition, in the present embodiment, the plate (2) is fixed to the fixed mold (141a) holding block (71) in contact with the force sensor (10) is a predetermined threshold A, the robot arm (15) is stopped, for example, a position where the fixed mold (141a) and the holding part (4) are brought close to each other is set in advance, and when the holding part (4) reaches the set position, the holding part (4) is expanded to open the plate (2), and the pressing of the plate (2) by the robot arm (15) and the vibration of the vibration part body (19a) may be started.
[0096]
​Although the attachment of the plate 2 to the fixed metal frame 141a is described in this embodiment, the plate 2 can be attached to the rotary metal frame 142a in the same manner.
[0097]
​In this embodiment, no vibration is applied to the holding portion 4 (not actively vibrating). This is because when the holding section (4) is vibrated during the holding or insertion of the plate (2), the position of the plate (2) with respect to the storage section (1411) is shifted and the plate (2) cannot be successfully inserted.
​Therefore, in the present embodiment, the excitation mechanism 19 (vibration unit) is provided separately from the holding unit 4. Thus, even if the excitation mechanism 19 vibrates, the holding portion 4 does not vibrate
[0098]
​The vibration mechanism 19 of this embodiment is provided on the right and left side surfaces of the main body 32 of the plate holding device 101a, but may be provided on the upper and lower surfaces. Further, if vibration is uniformly transmitted to the plate 2, only one excitation mechanism 19 May be provided or three or more of the excitation mechanisms 19 May be provided.. Further, a vibrating device may be provided in the vibrating portion 19b to vibrate the vibrating portion 19b.
[0099]
​In this embodiment, the vibration mechanism 19 is vibrated when the plate 2 is mounted, but the vibration mechanism 19 May be used when the plate 2 is removed.. In the removal of the plate 2, deposits such as iron, slag, mortar, etc. adhering to the plate 2 are lump, and the plate 2 is hard to come off. In such a case, when the plate 2 stored in the storage part 1411 is held by the holding part 4, the pressing part 9a is brought into contact with the plate 2, vibration is applied to the plate 2 by the vibration mechanism 19, and the deposit is dropped to facilitate removal of the plate 2.
[0100]
​A locking mechanism (7) for locking the plate (2) is provided in the fixed mold (141a) of the present embodiment. The lock mechanism 7 is composed of a holding block 71 capable of advancing and retreating into the fixed mold 141 and a spring (not shown) for energizing the holding block 71 to the inner peripheral side of the fixed mold 141a. Further, inclined surfaces 72, 73 are provided in the holding block 71
​When the plate (2) is mounted on the fixed metal frame (141a), the robot arm (15) must move in the direction of pressing the plate (2) against the holding block (71) while the fixing section (209) of the plate (2) is brought into contact with the inclined surface (72) of the holding block (71). By performing this operation, the fixing portion 209 of the plate 2 can be guided to the inclined surface 73 side while releasing the lock mechanism 7 of the fixed mold 141a.. However, it is difficult to perform fine control such that only the robot arm 15 applies the plate 2 to the inclined surface 72
​The fixed metal frame 141a has a fitting protrusion 146 corresponding to the fitting recess 212 of the plate 2. However, since the mounting error of several mm occurs in the mounting of the plate 2 on the robot arm 15, the fitting recess 212 of the plate 2 May not be fitted to the fitting projection 146 of the fixed mold 141a
​In addition, the thickness of the mortar applied around the nozzle hole 202 of the plate 2 is thick or mortar is hardened, and there is a failure in inserting the plate 2 into the fixed mold 141a as a factor such as the adhesion of dust to the plate 2.
​In this embodiment, the above problem was solved by vibrating the plate (2) using a vibration mechanism (19) and moving the plate (2) in the fixed mold (141). More specifically, by vibrating the plate 2 when the plate 2 is inserted into the fixed mold 141a, the plate 2 can be moved very finely so that the plate 2 can be easily brought into contact with the inclined surface 72 of the holding block 71, and the plate 2 can be easily fitted to the inclined surface 73 side.​Also, by vibrating the plate 2 when the plate 2 abuts on the fixed mold 141a, the plate 2 moves very finely, and the fitting recess 212 is easily fitted into the fitting projection 146 of the fixed mold 141a.. Further, the mortar is fluidized by vibrating the plate 2 so as not to interfere with the insertion of the plate 2 into the fixed mold 141a.. Further, the dust adhered to the plate 2 can be dropped by vibration before the plate 2 is inserted into the fixed mold 141a.
​Although the above problem has been described with reference to the fixed metal frame 141a, the rotary metal frame 142a has the same problem.
[0101]
​Although the attachment and detachment of the plate 2 of the sliding nozzle device 14A attached to the ladle 11 by the plate attachment/detachment device 1A is described in the description of the present embodiment, the plate attachment/detachment device 1A of the present embodiment can also be used for attachment and detachment of a plate of a sliding nozzle device provided in a container for receiving molten steel such as a tundish
[0102]
​Although the present embodiment has been described with reference to a plate storage metal frame capable of storing two plates, the excitation mechanism 19 can also be used when a plate is inserted into a plate storage frame in which three plates can be stored
​DESCRIPTION OF CODE
[0103]
​ONE-A-PLATE ATTACHING/DETACHING DEVICE
​1, 101, 101 A PLATE HOLDING DEVICE
​102 FLANGE PORTION
​TWO-PLATE
​201 REFRACTORY PLATE
​202 NOZZLE HOLE
​BACK PLATE OF 203
​204 OPENINGS
​205 metal strip
​207 PROTRUDING PART
​209 FIXING PART
​S209 OPENING
​210 ENGAGEMENT PROJECTION
​OUTER SURFACE OF 210 A ENGAGING PROJECTION
​211 CORNER
​212 MATING RECESS
​3 PARALLEL HAND (EXPANSION MEANS)
​31 PARALLEL CLAW
​32 MAIN BODY
​33-MOUNTING PLATE
​4-HOLDING PART
​41 ENGAGING GROOVE
​INNER SURFACE OF 42-HOLDING SECTION
​5 PRESSING PART
​6, 6A PLATE HOUSING METAL FRAME
​61 GUIDE PROJECTION
​62 RECESSED PORTION
​7-LOCK MECHANISM
​71 HOLDING BLOCK
​72, 73 INCLINED SURFACE
​9, 9A PRESSING UNIT
​91-HOLDING PLATE
​92 PRESSING PLATE
​93 VOLTS
​94 COIL SPRING
​95 SUBSTRATE
​10-FORCE SENSOR
​LADLE
​BOTTOM OF 111 LADLE
​12 BED
​13 LADLE RECEIVING PART
​14, 14A SLIDING NOZZLE DEVICE
​141, 141A FIXED METAL FRAME
​142, 142A SLIDING METAL FRAME (ROTATING METAL FRAME)
​1411, 1421 HOUSING
​1412, 1422 OUTER SURFACE
​BOTTOM SURFACE OF 143
​144 ROTATING SHAFT
​145 SPRING BOX
​146 FITTING PROTRUSION
​15-ROBOT ARM
​16-DIMENSIONAL SENSOR
​16A CAMERA
​16B LASER IRRADIATION MACHINE
​17 CONTROL UNIT
​18 PRESSING MECHANISM
​18A PRESSING MECHANISM BODY
​18B OPERATING UNIT
​C18 C ABUTMENT
​19 EXCITATION MECHANISM (VIBRATION UNIT)
​19A EXCITATION MECHANISM BODY
​19B EXCITATION UNIT
​SCOPE OF THE CLAIMS
​DESCRIPTION OF THE PREFERRED EMBODIMENTS
​The plate holding apparatus includes: a plurality of holding parts for holding a plate for a sliding nozzle device; an expansion/contraction means for expanding and contracting an interval between the plurality of holding parts; a pressing part for pressing the center part of the plate when the plate is held by the plurality of holding parts; and a force sensor for detecting the force received by the holding part and/or the pressing part from the plate.
​DESCRIPTION OF THE PREFERRED EMBODIMENTS
​Preferably, the plate holding device is attached to the tip of the robot arm, and the plate is removed from the plate housing metal frame of the sliding nozzle device,
​PLATE HOLDING DEVICE AND CONTROL UNIT FOR CONTROLLING OPERATION OF ROBOT ARM
​The control unit is also provided with a control unit for controlling the control unit so that the control unit, movement of the plate holding device is stopped when the force detected by the force sensor reaches a predetermined threshold value, the plate is held by reducing the interval between the plurality of holding parts by the operation control of the expansion/contraction means, and the held plate is removed from the plate storage metal frame by operation control of the robot arm.
​(Claim 3)
​The plate mounting device for attaching the plate to the plate housing metal frame of the sliding nozzle device comprises a plate holding device attached to the tip of the robot arm,
​PLATE HOLDING DEVICE AND CONTROL UNIT FOR CONTROLLING OPERATION OF ROBOT ARM
​The control unit moves the plate held by the plate holding device toward the plate storage metal frame by operation control of the robot arm, stops the movement of the plate holding device when the force detected by the force sensor reaches a predetermined threshold value, opens the plate by enlarging the interval between the plurality of holding parts by the operation control of the expansion/contraction means, and attaches the plate to the plate storage metal frame.
​(Claim 4)
​The plate mounting device for attaching the plate to the plate housing metal frame of the sliding nozzle device comprises a plate holding device attached to the tip of the robot arm,
​PLATE HOLDING DEVICE AND CONTROL UNIT FOR CONTROLLING OPERATION OF ROBOT ARM
​The control unit is also provided with a control unit for controlling the control unit so that the control unit, operation control of the robot arm, the plate held by the plate-holding device is moved toward the plate-containing metal frame, and stops the movement of the plate holding device when the force detected by the force sensor reaches a predetermined threshold value, the plate holding device is further moved toward the plate storage metal frame by the operation control of the robot arm while the plate is kept open, and when the force detected by the force sensor reaches a predetermined threshold value, the movement of the plate holding device is stopped.​PLATE MOUNTING APPARATUS FOR ATTACHING PLATE TO PLATE HOUSING METAL FRAME BY SEPARATING PLATE HOLDING DEVICE FROM PLATE HOUSING METAL FRAME BY OPERATION CONTROL OF ROBOT ARM
​DESCRIPTION OF THE PREFERRED EMBODIMENTS
​The plate holding device according to claim 1, further comprising a pressing mechanism for suppressing the rotation of the sliding nozzle device in the closing direction of the rotating metal frame which is openable and closable with respect to the fixed mold.
​(Claim 6)
​The tip of the holding portion is disposed so as to protrude from the contact portion of the pressing mechanism,
​The plate holding apparatus according to claim 5, wherein in a state in which the holding portion is inserted into the rotating metal frame, a gap is formed between the abutting portion of the pressing mechanism and the rotating metal frame.
​DESCRIPTION OF THE DRAWINGS
​The plate holding device according to claim 5, wherein the pressing mechanism is capable of advancing or retracting toward the rotating metal frame.
​DESCRIPTION OF THE PREFERRED EMBODIMENTS
​The plate holding device according to claim 5, wherein the pressing mechanism is capable of pressing the rotating metal frame in the opening direction.
​DESCRIPTION OF THE PREFERRED EMBODIMENTS
​The plate holding apparatus according to claim 5, wherein the pressing mechanism presses the rotating metal frame when the holding portion holds the plate stored in the rotating metal frame, and separates at least a portion of the plate from the rotating metal frame.
​DESCRIPTION OF THE PREFERRED EMBODIMENTS
​The plate holding device according to claim 5, wherein the abutting portion of the pressing mechanism continues to abut on the rotating metal frame until at least the holding portion moves from a state in which the holding portion holds the plate to a state in which the engagement between the plate and the rotating metal frame is released.
​DESCRIPTION OF THE PREFERRED EMBODIMENTS
​The plate attaching/detaching device is constituted by attaching the plate holding device according to any one of claims 5 to 10 to the tip of the robot arm.
​(Claim 12)
​The plate holding apparatus according to claim 1, further comprising a vibration portion for applying vibration to the plate.
​DESCRIPTION OF THE PREFERRED EMBODIMENTS
​The sliding nozzle device has a pressing part capable of pressing the plate toward a plate housing metal frame of the sliding nozzle device,
​The plate holding apparatus according to claim 12, wherein the vibrating portion abuts against the pressing portion and applies vibration to the plate via the pressing portion.
​(Claim 14)
​The plate holding apparatus according to claim 13, wherein the vibrating portion vibrates when the pressing portion presses the plate.
​[Claim 15]
​The plate holding apparatus according to claim 13, wherein when the holding portion holds the plate, the pressing portion is disposed between the plate and the vibrating portion.
​DESCRIPTION OF THE PREFERRED EMBODIMENTS
​The plate holding apparatus according to claim 13, wherein when the plate is mounted on the plate housing metal frame, the pressing portion starts pressing of the plate after the holding portion releases the holding of the plate, and the vibration portion starts vibration when the pressing portion starts pressing the plate.
​[Claim 17]
​A plate attaching/detaching device for attaching the plate holding device according to any one of claims 12 to 16 to the robot arm.