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公开(公告)号：US11958106B2
公开(公告)日：2024-04-16
申请号：US17432193
申请日：2020-03-03
摘要： Provided are a plate holding device, a plate detaching apparatus, a plate attaching apparatus and a plate attaching-detaching apparatus which are capable of reliably attaching and/or detaching a plate with respect to a plate-receiving metal frame. The plate holding device comprises: a plurality of holding members for holding a plate for a sliding nozzle device; widening and narrowing mechanisms to selectively widen and narrow a distance between the holding members; a pressing unit for pressing a central region of the plate when the plate is held by the holding members; and a force sensor for detecting a force received by the holding members and/or the pressing unit from the held plate. The plate holding device is configured to be mounted to a distal end of a robot arm.
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公开(公告)号：US11938534B2
公开(公告)日：2024-03-26
申请号：US17295190
申请日：2020-03-19
摘要： An opening-closing apparatus capable of, when using a robot arm to selectively open and close a component of a sliding nozzle device, reliably opening and closing the component to respective given positions. The apparatus comprises: a hand-like distal module engageable with an openable-closable component of a sliding nozzle device; a force sensor to detect a force received by the module; and a robot arm to which the module and the sensor are mounted. The robot arm is controllably operated to: move the module toward the component of the sliding nozzle device and engage the module with the component of the sliding nozzle device; then move the module to move the component, if the absolute value of the force detected by the sensor is equal to or less than a given threshold; and stop the movement of the module, when the absolute value of the force detected by the sensor reaches the threshold.
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