CPC B22D 11/10 (2013.01) [B22D 41/34 (2013.01); B25J 13/08 (2013.01)] | 6 Claims |
1. An opening-closing apparatus for selectively opening and closing an openable-closable component of a sliding nozzle device, the opening-closing apparatus comprising:
a positional sensor for determining determined three-dimensional positional coordinates of the openable-closable component of the sliding nozzle device;
a distal module configured to be engaged with the openable-closable component of the sliding nozzle device based on the determined three-dimensional positional coordinates of the openable-closable component;
a force sensor configured to detect a force received by the distal module; and
a robot arm to which the distal module and the force sensor are coupled,
wherein the distal module includes an engagement portion configured to be engaged with the openable-closable component of the sliding nozzle device, in a state in which the engagement portion of the distal module is freely fitted around a portion of the openable-closable component with a gap therebetween in a horizontal direction, and
wherein the gap is sized to provide for engagement of the engagement portion with the openable-closable component of the sliding nozzle device even when there is an error in the determined three-dimensional positional coordinates of the openable-closable component.
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