Patent ID: 11938534
Assignee: KROSAKIHARIMA CORPORATION
Field: Materials, metallurgy (Chemistry)
Classification: CPC B | IPC B

Claim 0:
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.