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김무림(Maolin Jin),유기성(Ki-sung You),유황열(Hwang-ryol Ryu),최진태(Chintae Choi) 제어로봇시스템학회 2010 제어로봇시스템학회 각 지부별 자료집 Vol.2010 No.12
This paper presents development of oxygen cleaning lance and robot system for oxygen opening of ladle top nozzle. The oxygen cleaning lance has truss type structure to prevent oxygen pipe from deflecting, and has co-axial double-tube structure; inner tube is for transport of oxygen, and outer tube is for air cooling. An robot system for oxygen opening of ladle top nozzle is developed using proposed oxygen cleaning lance and a Kawasaki industrial robot. Simulation results show accurate position tracking performance of the proposed system, thereby demonstrating its effectiveness for the oxygen opening of Ladle top nozzle.