Plate holding device, plate detaching apparatus, plate attaching apparatus, and plate attaching-detaching apparatus

A plate attaching-detaching apparatus comprising a robot arm, and a plate holding device, and a control unit for controlling operations of the robot arm and plate holding device, wherein the plate holding device is mounted to a distal end of the robot arm;

• and
• wherein the plate holding device comprises:
• a plurality of holding members for holding a plate for a sliding nozzle device;
• widening and narrowing means 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;
• a force sensor for detecting a force received by the holding members and/or the pressing unit from the held plate;
• and
• a pressing mechanism for inhibiting a swingable metal frame openable and closable with respect to a fixed metal frame of the sliding nozzle device from being swung in a closing direction,
• wherein during a plate detaching operation, the control unit is configured to:
• controllably operate the robot arm so as to move the plate holding device toward a plate attached to the plate-receiving metal frame;
• then when the force detected by the force sensor reaches a given threshold, controllably operate the robot arm so as to stop the movement of the plate holding device, and controllably operate the widening and narrowing means so as to narrow the distance between the holding members to hold the plate;
• and then controllably operate the robot arm so as to detach the held plate from the plate-receiving metal frame;
• and
• wherein during a plate attaching operation, the control unit is configured to:
• controllably operate the robot arm so as to move a plate held by the plate holding device toward the plate-receiving metal frame;
• and, then when the force detected by the force sensor reaches a given threshold, controllably operate the robot arm so as to stop the movement of the plate holding device, and controllably operate the widening and narrowing means so as to widen the distance between the holding members to release the plate, thereby attaching the plate to the plate-receiving metal frame.