EP0453732A1 - Manipulator for introducing a casting pipe underneath a vessel containing a liquid metal - Google Patents

Manipulator for introducing a casting pipe underneath a vessel containing a liquid metal Download PDF

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Publication number
EP0453732A1
EP0453732A1 EP91102871A EP91102871A EP0453732A1 EP 0453732 A1 EP0453732 A1 EP 0453732A1 EP 91102871 A EP91102871 A EP 91102871A EP 91102871 A EP91102871 A EP 91102871A EP 0453732 A1 EP0453732 A1 EP 0453732A1
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EP
European Patent Office
Prior art keywords
pouring tube
connecting element
manipulator according
manipulator
support frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP91102871A
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German (de)
French (fr)
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EP0453732B1 (en
Inventor
Anton Pfyl
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Stopinc AG
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Stopinc AG
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Filing date
Publication date
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Publication of EP0453732A1 publication Critical patent/EP0453732A1/en
Application granted granted Critical
Publication of EP0453732B1 publication Critical patent/EP0453732B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/50—Pouring-nozzles
    • B22D41/56—Means for supporting, manipulating or changing a pouring-nozzle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/10—Supplying or treating molten metal

Definitions

  • the invention relates to a manipulator for guiding a pouring tube under a metal-containing container, having a support frame which is preferably displaceable on rails and at least one connecting element which runs in the latter in one or more guideways and holds the pouring tube and by means of which the pouring tube is web-shaped from an approximately horizontal to an vertical position is movable under the container.
  • the present invention relates in particular to a requirement that occurs more and more frequently in steelworks, in which a pouring tube change must take place without interruption during continuous casting and the small distance between the container known as a distributor and the continuous casting mold requires an exact introduction of the pouring tube into the mold.
  • guides are provided on both sides for pouring out the container, in which guide pins of a pouring tube holder slide.
  • the guideways are designed in such a way that the pouring tube is guided in the above-mentioned manner from a horizontal position into a vertical position immersed in the mold melt and under the spout.
  • a disadvantage of this device is the manual introduction of the pouring tube. On the one hand, the space is usually very narrow and, on the other hand, there is also a certain danger for the man to be operated the pouring tube due to the heat load and possible unexpected melt discharge.
  • the present invention is therefore based on the object of providing a manipulator for guiding a pouring tube, with which a user-friendly and simple construction for the accurate guiding of the pouring tube is achieved in accordance with the rough steelworks conditions.
  • the object is achieved in that at least one connecting element can be moved along at least one guideway by a displacement element provided in the support frame and the pouring tube is detachably held on the connecting element.
  • This manipulator with a support frame, which is preferably adjustable on rails, enables the pouring tube to be inserted very easily and thus adapted to the operating conditions.
  • the said displacement member is designed in particular as a chain drive and is arranged in the support frame in such a way that the connecting element fastened to it and thus the pouring pipe perform the web-shaped movement.
  • a robust and steelwork-compliant displacement member of the manipulator according to the invention is thus created.
  • a piston / cylinder unit can also be provided as a displacement element for a prebinding element instead of a chain drive.
  • the connecting element can have an auxiliary steering lever, one end of which is rotatably mounted on the connecting element and holds the pouring tube, while the other end is guided in an additional guideway.
  • the latter is constantly diverging from the guide track described by the connecting element at an angle of up to 30 °, so that this auxiliary steering lever additionally turns off the pouring tube.
  • the manipulator is preferably positioned on its side facing the container on a support arm of a device for connecting the pouring tube to the spout of the container.
  • the manipulator guides the pouring tube into the vertical position and hangs it in the fork-shaped support arm by disengaging the connection between the support ring of the pouring tube and the connecting element.
  • This manipulator can of course also be used to remove a pouring tube from the support ring.
  • FIG. 1 shows a container 10 with a pouring opening 11, which is indicated as a hint of molten metal.
  • a slide closure or the like arranged on the container 10 can be arranged below the opening, or a fire-resistant pouring tube 12 can also be connected directly.
  • the pouring tube 12 protrudes into the molten metal located in a continuous casting mold 13 and it is pressed onto the spout of the container in a conventional manner by a support arm 16 of a device 15.
  • the support arm 16 is, for example, vertically displaceable in the direction of the pouring tube axis by a piston / cylinder unit 17 and, moreover, is arranged to be pivotable or longitudinally displaceable in the horizontal direction by a device (not shown).
  • the support arm 16 has a fork-shaped design at both ends, in each of which a pouring tube 12 or. 14 can be attached. This basically creates the prerequisite that this device 15 can also be used to change the pouring tube.
  • a manipulator 20 enables the pouring tube 14 to be mechanically brought into and suspended in the support arm 16.
  • the pouring tube 14 is accordingly replaced by a approximately horizontal position P1 pivoted into the molten metal of the mold and then brought into the vertical end position P3.
  • the manipulator 20 has a support frame 22, which has a rail 23 at the bottom in the direction of the advancement of the pouring tube with tracks 23 ′ provided on both sides, in each of which two rollers 25 of a slide 24 run.
  • the carriage 24, for its part, has four further rollers 26 at the bottom, which run in a rail 28 which is arranged transversely to said rail 23 and is fastened on the mold 13, again two tracks 29 guiding the rollers 26 being incorporated in the rail 28.
  • the manipulator can be loaded with the pouring tube 14 from an easily accessible location, then automatically brought into the vicinity of the vessel spout by means of the former rail 28, or even better by a drive, not shown, and with the other rail 23 struck on the support arm 16 of the device 15 and positioned exactly opposite it.
  • the manipulator 20 could also be arranged on a trolley and positioned on the support arm 16 by means of this.
  • the manipulator 20 has a connecting element 30 on both sides in its supporting frame 22 and a displacement element carrying this, which in the present exemplary embodiment is designed as a chain drive 40.
  • the chain drive 40 consists of an endless chain 41, two sprockets 43, 44 which guide these, each with an axle 45, 46 mounted in the support frame 22 and a drive pinion 47 which is rotatably connected to the axle 46 and is driven by a drive (not shown).
  • a similar chain drive 40 is provided for each connecting element 30.
  • the connecting element 30 is fastened to a chain link of the chain 41 and has a polygonal bolt 31 which is displaceably mounted transversely to the chain, by moving it into a corresponding polygonal hole 18 of a bearing pin 19 arranged on a support ring 14 'of the pouring tube 14, the pouring tube 14 is held in the manipulator becomes.
  • the displacement of the bolt 31 takes place by means of a switching mechanism 50, in which, starting from a rotatable switch 51, a rod 53 rotatably mounted in the support frame 22 with grippers 54, 55 is rotated via an articulated connection 52, and thus in an annular groove 31 ′ of the bolt 31 guided gripper 54, 55 cause the displacement of the bolt. It is advantageous here that the pouring tube 14 can be connected or detached from the connecting elements 30 in the stationary state.
  • the sprockets 43, 44 are each mounted on one end of a side wall of the support frame 22, the sprocket 44 being arranged somewhat higher than the wheel 43 and thus the chain executes an approximately fifteen-degree inclination with respect to the horizontal in the longitudinal movement.
  • the sprocket 43 facing the container is moreover arranged in such a way that the chain 41 running on its periphery, after the straight, inclined guideway 40 'formed, causes the bearing journals 19 of the support ring 14' to open exactly into a groove-shaped groove 16 'of the support arm 16. This is preferably done by rotating the wheel 43 and thus the connecting element 30 after its rectilinear movement by an angle of approximately 60 to 90 °.
  • the respective journal 19 has a centering tip 19 ′ which is formed at the bottom and corresponds to the groove 16 'mentioned; Any deviations between the position of the groove 16 'and that of the bearing pin 19 can be easily compensated for.
  • the bearing pins also have transverse end faces 19 ′′, which center the casting tube in the support arm 16 transversely to the longitudinal axis of the pouring tube with almost no play.
  • the respective connecting element 30 also has an auxiliary steering lever 32, one end of which has a bushing 33 rotatably mounted in the connecting element 30 and holding the bolt 31, while the other end has a sliding roller 35 which is guided in an additional guideway, this guideway 34 to the path formed by the chain 40 'seen in the direction of moving the pouring tube 14 continuously apart at an angle of approximately 20 °.
  • the auxiliary steering lever 32 is arranged approximately coaxially with the pouring tube axis.
  • the guide track 34 is bent in the same direction at the end facing the container 10 in accordance with the rounding formed by the chain 41. This results in a uniform feeding and turning of the pouring tube from the approximately horizontal to the vertical position, with which the pouring tube can be inserted easily and very precisely in very tight spaces.
  • This auxiliary steering lever can be dispensed with, in particular for smaller pouring tubes or if space permits, and the pouring tube is then to be fastened to the connecting elements 30 in its longitudinal axis parallel to the straight chain path in position P1.
  • the support frame 22 consists essentially of two side walls carrying the displacement members and a cross bar connecting these two.
  • the axes 45 of the front sprockets 43 are extended towards the inside of the support frame 22 and each form a centering pin, which can each be snapped into a corresponding recess 16 ′′ of the fork-shaped support arm 16 and center the manipulator 20 to the container 10.
  • the connecting elements 30 When handling the manipulator 20, the connecting elements 30 are initially moved into the upper end position P1. By means of the switching mechanism 50, the bolts 31 are pushed back by actuating the rotary switch 51. Then the pouring tube is inserted into the support frame 22 in accordance with the position P1 and the bolts 31 are inserted into the polygonal holes 18 of the support ring 14 ', whereby the pouring tube is held in the manipulator. Now the support frame 22 can be moved into position by means of the rails 23, 28 and the slide 24 running therein, the centering bolts of the axes 45 into the recesses 16 '' of the support ring 16 and thus the pouring tube can be brought in manually or by a drive by moving the chain 41 in the direction of the container 10.
  • the pouring tube is brought into the vertical position P3 via the position P2.
  • the support ring and thus the pouring tube are now in the support arm of the pouring tube changing device 15, the bolts 31 can in turn be moved back via the switching mechanism 50 and the pouring tube can thus be released by the manipulator.
  • the manipulator 20 is then moved away from the support arm 16 and the new pouring tube 14 can be used instead of the pouring tube 12 located under the spout, which has been used up after a certain time.
  • the pouring tube 12 can then be moved out of the mold on the opposite side by the manipulator 20.
  • FIG. 3 and 4 show another embodiment of a manipulator 65, in which instead of a chain drive there is provided a guide track 56 corresponding to the latter and a connecting element 60 guided therein, which is moved back and forth by a piston / cylinder unit 63 as a displacement member is moved.
  • the connecting element 60 in turn has an auxiliary steering lever 60 ', which is guided with its sliding element 62 at one end in a second guideway 64 and its longitudinal axis is arranged approximately parallel to the pouring tube axis.
  • the guideways 56 and 64 are also formed in a support frame 59, which consists of one or two side walls and a crossbar.
  • this manipulator 65 is similar in principle to that according to FIGS. 1 and 2 and therefore not all the details are shown and described.
  • a connecting element 70 is provided, which is also attached to the chain 41. It has a sheet-metal fork 70 ', which is arranged between the chain 41 and the pouring tube 14 attached to it.
  • the pouring tube 14 is held in a metal support ring 49, which has a square support pin 49 'on each side, which can be inserted into a recess of the fork 70' with almost no play.
  • the recess is arranged with respect to the support frame 22 in such a way that it is opened approximately vertically upward in the position P1.
  • the fork 70 ' is also rotatably mounted in the connecting element 70 and is additionally rotated by its rotary connection with the auxiliary steering lever 32 when the pouring tube 14 is brought closer, as a result of which the pouring tube can be introduced in an optimal movement path.
  • bearing journals 49 ′′ arranged on both sides of the support ring 49 also enable transfer of the pouring tube, for example to a pouring tube changer 15, as already described above.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Filling Of Jars Or Cans And Processes For Cleaning And Sealing Jars (AREA)
  • Continuous Casting (AREA)
  • Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
  • Feeding, Discharge, Calcimining, Fusing, And Gas-Generation Devices (AREA)

Abstract

A manipulator (20) for introducing a casting pipe (14) underneath a vessel (10) containing a liquid metal has a supporting frame (22), preferably displaceable on rails (23,28), and at least one connecting element (30,32), which runs in guide tracks (40',34) in the said frame, firmly holds the casting pipe (14) and by means of which the casting pipe can be moved as by a guide track from an approximately horizontal position into a vertical position underneath the vessel (10). The connecting element (30,32) can here be moved along the guide track (40') by a displacement element (40) provided in the supporting frame (22) and the casting pipe (14) is secured releaseably to it. Despite the limited space available, this manipulator (20) makes possible very accurate and simple introduction of a casting pipe into a mould (13) of a continuous casting plant. <IMAGE>

Description

Die Erfindung betrifft einen Manipulator zum Heranführen eines Giessrohres unter einen Metallschmelze enthaltenden Behälter, mit einem vorzugsweise auf Schienen verschiebbaren Traggestell und mindestens einem in letzterem in einer oder mehreren Führungsbahnen verlaufenden, das Giessrohr festhaltenden Verbindungselement, mittels dem das Giessrohr bahnförmig von einer annähernd horizontalen in eine vertikale Position unter den Behälter bewegbar ist.The invention relates to a manipulator for guiding a pouring tube under a metal-containing container, having a support frame which is preferably displaceable on rails and at least one connecting element which runs in the latter in one or more guideways and holds the pouring tube and by means of which the pouring tube is web-shaped from an approximately horizontal to an vertical position is movable under the container.

Die vorliegende Erfindung bezieht sich insbesondere auf eine immer häufiger in Stahlwerken auftretende Anforderung, bei der ein Giessrohrwechsel während des Stranggiessens ohne Unterbruch erfolgen muss und dabei die geringe Distanz zwischen dem als Verteiler bekannten Behälter und der Strangiesskokille eine genaue Einführung des Giessrohres in die Kokille erfordert. So sind bei einer bekannten Einrichtung zum Auswechseln von Giessrohren nach der DE-AS 27 09 727 beidseitig zum Ausguss des Behälters Führungen vorgesehen, in denen Führungszapfen eines Giessrohrhalters gleiten. Die Führungsbahnen sind dabei so ausgelegt, dass das Giessrohr in besagter Weise von einer horizontalen in eine in die Kokillenschmelze eintauchende vertikale Position und unter den Ausguss geführt wird. Nachteilig bei dieser Einrichtung ist mitunter die von Hand vorzunehmende Einführung des Giessrohres. Zum einen sind die Platzverhältnisse normalerweise sehr eng und zum anderen besteht auch eine gewisse Gefahr für den das Giessrohr zu betätigenden Mann wegen der Hitzebelastung und wegen möglichem unvorhergesehenem Schmelzenausfluss.The present invention relates in particular to a requirement that occurs more and more frequently in steelworks, in which a pouring tube change must take place without interruption during continuous casting and the small distance between the container known as a distributor and the continuous casting mold requires an exact introduction of the pouring tube into the mold. In a known device for replacing pouring tubes according to DE-AS 27 09 727, guides are provided on both sides for pouring out the container, in which guide pins of a pouring tube holder slide. The guideways are designed in such a way that the pouring tube is guided in the above-mentioned manner from a horizontal position into a vertical position immersed in the mold melt and under the spout. A disadvantage of this device is the manual introduction of the pouring tube. On the one hand, the space is usually very narrow and, on the other hand, there is also a certain danger for the man to be operated the pouring tube due to the heat load and possible unexpected melt discharge.

Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, einen Manipulator zum Heranführen eines Giessrohres zu schaffen, mit dem eine den rauhen Stahlwerksbedingungen entsprechend bedienerfreundliche und einfache Konstruktion zum genauen Heranführen des Giessrohres erreicht wird.The present invention is therefore based on the object of providing a manipulator for guiding a pouring tube, with which a user-friendly and simple construction for the accurate guiding of the pouring tube is achieved in accordance with the rough steelworks conditions.

Erfindungsgemäss ist die Aufgabe dadurch gelöst, dass mindestens ein Verbindungselement von einem im Traggestell vorgesehenen Verschiebeorgan entlang mindestens einer Führungsbahn bewegbar ist und das Giessrohr dabei an dem Verbindungselement lösbar gehalten ist.According to the invention, the object is achieved in that at least one connecting element can be moved along at least one guideway by a displacement element provided in the support frame and the pouring tube is detachably held on the connecting element.

Dieser Manipulator mit einem vorzugsweise auf Schienen verstellbaren Traggestell ermöglicht ein sehr einfaches und damit den Betriebsbedingungen angepasstes Einführen des Giessrohres.This manipulator with a support frame, which is preferably adjustable on rails, enables the pouring tube to be inserted very easily and thus adapted to the operating conditions.

Das genannte Verschiebeorgan ist insbesondere als Kettentrieb ausgebildet und derart im Traggestell angeordnet, dass das an ihm befestigte Verbindungselement und damit das Giessrohr die bahnförmige Bewegung ausführt. Somit ist ein robustes und stahlwerkkonformes Verschiebeorgan des erfindungsgemässen Manipulators geschaffen.The said displacement member is designed in particular as a chain drive and is arranged in the support frame in such a way that the connecting element fastened to it and thus the pouring pipe perform the web-shaped movement. A robust and steelwork-compliant displacement member of the manipulator according to the invention is thus created.

Als Verschiebeorgan für ein Vorbindungselement kann auch anstelle eines Kettentriebes eine Kolben/Zylinder-Einheit vorgesehen sein.A piston / cylinder unit can also be provided as a displacement element for a prebinding element instead of a chain drive.

Zur Erzielung eines gleichmässigen Bewegungsverlaufes des Giessrohres von der horizontalen in die vertikale Position kann das Verbindungselement einen Hilfslenkhebel aufweisen, dessen eines Ende am Verbindungselement drehbar gelagert ist und das Giessrohr hält, während dessen anderes Ende in einer zusätzlichen Führungsbahn geführt ist. Letztere geht zu der vom Verbindungselement beschriebenen Führungsbahn stetig in einem Winkel bis zu 30° auseinander, womit dieser Hilfslenkhebel das Giessrohr zusätzlich abdreht.To achieve a uniform movement of the pouring tube from the horizontal to the vertical position, the connecting element can have an auxiliary steering lever, one end of which is rotatably mounted on the connecting element and holds the pouring tube, while the other end is guided in an additional guideway. The latter is constantly diverging from the guide track described by the connecting element at an angle of up to 30 °, so that this auxiliary steering lever additionally turns off the pouring tube.

Der Manipulator ist vorzugsweise auf seiner dem Behälter zugekehrten Seite an einem Tragarm einer Vorrichtung zum Anschliessen des Giessrohres an den Ausguss des Behälters positioniert. Der Manipulator führt das Giessrohr in die vertikale Position und hängt es in den gabelförmigen Tragarm durch Ausrasten der Verbindung zwischen dem Tragring des Giessrohres und dem Verbindungslement.The manipulator is preferably positioned on its side facing the container on a support arm of a device for connecting the pouring tube to the spout of the container. The manipulator guides the pouring tube into the vertical position and hangs it in the fork-shaped support arm by disengaging the connection between the support ring of the pouring tube and the connecting element.

Mit diesem Manipulator kann selbstverständlich auch das Herausnehmen eines Giessrohres aus dem Tragring bewerkstelligt werden.This manipulator can of course also be used to remove a pouring tube from the support ring.

Weitere Vorteile der Erfindung sowie Ausführungsbeispiele sind anhand der Zeichnungen näher erläutert. Es zeigt:

Fig.1
einen Längsschnitt durch einen erfindungsgemässen Manipulator,
Fig.2
einen Schnitt entlang den Linien II-II nach Fig.1,
Fig.3
eine Teilansicht eines weiteren Ausführungsbeispieles eines Manipulators,
Fig.4
einen Querschnitt des Manipulators nach Fig.3 entlang den Linien IV-IV nach Fig.3 und
Fig.5
einen teilweisen Längsschnitt durch den Manipulator mit einer Ansicht einer Ausführungsvariante eines Verbindungselementes.
Further advantages of the invention and exemplary embodiments are explained in more detail with reference to the drawings. It shows:
Fig. 1
2 shows a longitudinal section through a manipulator according to the invention,
Fig. 2
2 shows a section along lines II-II according to FIG. 1,
Fig. 3
2 shows a partial view of a further embodiment of a manipulator,
Fig. 4
a cross section of the manipulator of Figure 3 along lines IV-IV of Figure 3 and
Fig. 5
a partial longitudinal section through the manipulator with a view of an embodiment of a connecting element.

Fig.1 zeigt einen andeutungsweise dargestellten Metallschmelze enthaltenden Behälter 10 mit einer Ausgussöffnung 11. Unterhalb der Oeffnung kann ein am Behälter 10 angeordneter Schiebeverschluss oder dergleichen angeordnet sein, oder es kann auch direkt ein feuerfestes Giessrohr 12 angeschlossen sein. Beim Giessen ragt das Giessrohr 12 in die in einer Stranggiesskokille 13 befindliche Metallschmelze und es ist dabei von einem Tragarm 16 einer Vorrichtung 15 auf herkömmliche Weise an den Ausguss des Behälters angedrückt. Der Tragarm 16 ist beispielsweise von einer Kolben/Zylinder-Einheit 17 in Richtung der Giessrohrachse höhenverschiebbar und überdies in horizontaler Richtung von einer nicht dargestellten Einrichtung verschwenkbar oder längsverschiebbar angeordnet. In vorliegendem Ausführungsbeispiel hat der Tragarm 16 an beiden Enden je eine gabelförmige Ausbildung, in denen jeweils ein Giessrohr 12 resp. 14 einhängbar ist. Damit ist grundsätzlich die Voraussetzung geschaffen, dass mit dieser Vorrichtung 15 auch ein Giessrohrwechsel vorgenommen werden kann.1 shows a container 10 with a pouring opening 11, which is indicated as a hint of molten metal. A slide closure or the like arranged on the container 10 can be arranged below the opening, or a fire-resistant pouring tube 12 can also be connected directly. During casting, the pouring tube 12 protrudes into the molten metal located in a continuous casting mold 13 and it is pressed onto the spout of the container in a conventional manner by a support arm 16 of a device 15. The support arm 16 is, for example, vertically displaceable in the direction of the pouring tube axis by a piston / cylinder unit 17 and, moreover, is arranged to be pivotable or longitudinally displaceable in the horizontal direction by a device (not shown). In the present embodiment, the support arm 16 has a fork-shaped design at both ends, in each of which a pouring tube 12 or. 14 can be attached. This basically creates the prerequisite that this device 15 can also be used to change the pouring tube.

Ein erfindungsgemässer Manipulator 20 ermöglicht ein maschinelles Heranführen und Einhängen des Giessrohres 14 in den Tragarm 16. Das Giessrohr 14 wird dementsprechend von einer annähernd horizontalen Stellung P1 aus in die Metallschmelze der Kokille eingeschwenkt und dann in die vertikale Endposition P3 gebracht. Der Manipulator 20 hat ein Traggestell 22, das unten eine in Richtung des Heranführens des Giessrohres gerichtete Schiene 23 mit beidseitig vorgesehenen Bahnen 23' aufweist, in denen je zwei Rollen 25 eines Schlittens 24 laufen. Der Schlitten 24 seinerseits hat unten vier weitere Rollen 26, die in einer zu besagter Schiene 23 quer angeordneten, auf der Kokille 13 befestigten Schiene 28 laufen, wobei wiederum zwei die Rollen 26 führende Bahnen 29 in der Schiene 28 eingearbeitet sind. Mit dieser Schlittenführung kann der Manipulator von einer leicht zugänglichen Stelle aus mit dem Giessrohr 14 beladen werden, dann entweder von Hand oder noch besser von einem nicht gezeigten Antrieb automatisch mittels der ersteren Schiene 28 in die Nähe des Gefässausgusses gebracht werden und mit der anderen Schiene 23 an den Tragarm 16 der Vorrichtung 15 angeschlagen und gegenüber diesem genau positioniert werden. Im Prinzip könnte der Manipulator 20 auch auf einem Wagen angeordnet sein und mittels diesem am Tragarm 16 positioniert werden.A manipulator 20 according to the invention enables the pouring tube 14 to be mechanically brought into and suspended in the support arm 16. The pouring tube 14 is accordingly replaced by a approximately horizontal position P1 pivoted into the molten metal of the mold and then brought into the vertical end position P3. The manipulator 20 has a support frame 22, which has a rail 23 at the bottom in the direction of the advancement of the pouring tube with tracks 23 ′ provided on both sides, in each of which two rollers 25 of a slide 24 run. The carriage 24, for its part, has four further rollers 26 at the bottom, which run in a rail 28 which is arranged transversely to said rail 23 and is fastened on the mold 13, again two tracks 29 guiding the rollers 26 being incorporated in the rail 28. With this slide guide, the manipulator can be loaded with the pouring tube 14 from an easily accessible location, then automatically brought into the vicinity of the vessel spout by means of the former rail 28, or even better by a drive, not shown, and with the other rail 23 struck on the support arm 16 of the device 15 and positioned exactly opposite it. In principle, the manipulator 20 could also be arranged on a trolley and positioned on the support arm 16 by means of this.

Erfindungsgemäss hat der Manipulator 20, wie auch in Fig.2 ersichtlich ist, beidseitig in dessen Traggestell 22 je ein Verbindungselement 30 und je ein dieses tragendes Verschiebeorgan, das im vorliegenden Ausführungsbeispiel als Kettentrieb 40 ausgebildet ist. Der Kettentrieb 40 besteht dabei aus einer endlosen Kette 41, zwei diese führende Kettenräder 43, 44 mit je einer im Traggestell 22 gelagerten Achse 45, 46 und einem mit der Achse 46 drehverbundenem Antriebsritzel 47, das von einem nichtgezeigten Antrieb angesteuert wird. Für jedes Verbindungselement 30 ist dabei ein gleichartiger Kettentrieb 40 vorgesehen. Das Verbindungselement 30 ist jeweils an einem Kettenglied der Kette 41 befestigt und hat einen quer zur Kette verschiebbar gelagerten mehrkantigen Bolzen 31, durch dessen Verschiebung in ein entsprechendes Mehrkantloch 18 eines an einem Tragring 14' des Giessrohres 14 angeordneten Lagerzapfens 19 das Giessrohr 14 im Manipulator festgehalten wird.According to the invention, the manipulator 20, as can also be seen in FIG. 2, has a connecting element 30 on both sides in its supporting frame 22 and a displacement element carrying this, which in the present exemplary embodiment is designed as a chain drive 40. The chain drive 40 consists of an endless chain 41, two sprockets 43, 44 which guide these, each with an axle 45, 46 mounted in the support frame 22 and a drive pinion 47 which is rotatably connected to the axle 46 and is driven by a drive (not shown). A similar chain drive 40 is provided for each connecting element 30. The connecting element 30 is fastened to a chain link of the chain 41 and has a polygonal bolt 31 which is displaceably mounted transversely to the chain, by moving it into a corresponding polygonal hole 18 of a bearing pin 19 arranged on a support ring 14 'of the pouring tube 14, the pouring tube 14 is held in the manipulator becomes.

Die Verschiebung des Bolzens 31 erfolgt dabei mittels eines Schaltmechanismus 50, bei dem ausgehend von einem verdrehbaren Schalter 51 über eine Gelenkverbindung 52 eine im Traggestell 22 drehbar gelagerte Stange 53 mit Greifern 54, 55 verdreht wird und damit die in einer Ringnut 31' des Bolzens 31 geführten Greifer 54, 55 die Verschiebung des Bolzens bewirken. Vorteilhaft dabei ist, dass das Giessrohr 14 in stationärem Zustand von den Verbindungselementen 30 verbindbar oder lösbar ist.The displacement of the bolt 31 takes place by means of a switching mechanism 50, in which, starting from a rotatable switch 51, a rod 53 rotatably mounted in the support frame 22 with grippers 54, 55 is rotated via an articulated connection 52, and thus in an annular groove 31 ′ of the bolt 31 guided gripper 54, 55 cause the displacement of the bolt. It is advantageous here that the pouring tube 14 can be connected or detached from the connecting elements 30 in the stationary state.

Die Kettenräder 43, 44 sind jeweils an einem Ende einer Seitenwand des Traggestelles 22 gelagert, wobei das Kettenrad 44 etwas höher als das Rad 43 angeordnet ist und damit die Kette in der Längsbewegung eine ca. fünfzehn-grädige Neigung gegenüber der Horizontalen ausführt. Das dem Behälter zugewandte Kettenrad 43 ist überdies so angeordnet, dass die an ihrem Umfang laufende Kette 41 nach der gebildeten geradlinigen schrägen Führungsbahn 40' ein genaues Einmünden der Lagerzapfen 19 des Tragringes 14' in eine rinnenförmige Nut 16' des Tragarmes 16 bewirkt. Dies geschieht vorzugsweise durch das Drehen des Rades 43 und damit des Verbindungslementes 30 nach dessen geradliniger Bewegung um einen Winkel von annähernd 60 bis 90°. Der jeweilige Lagerzapfen 19 weist eine nach unten hin ausgebildete Zentrierspitze 19' auf, die der genannten Nut 16' entspricht; allfällige Abweichungen zwischen der Position der Nut 16' und der des Lagerzapfens 19 können dadurch leicht ausgeglichen werden. Die Lagerzapfen haben überdies dazu quere Stirnflächen 19'', welche das Giessrohr im Tragarm 16 quer zur Giessrohr-Längsachse annähernd spielfrei zentrieren.The sprockets 43, 44 are each mounted on one end of a side wall of the support frame 22, the sprocket 44 being arranged somewhat higher than the wheel 43 and thus the chain executes an approximately fifteen-degree inclination with respect to the horizontal in the longitudinal movement. The sprocket 43 facing the container is moreover arranged in such a way that the chain 41 running on its periphery, after the straight, inclined guideway 40 'formed, causes the bearing journals 19 of the support ring 14' to open exactly into a groove-shaped groove 16 'of the support arm 16. This is preferably done by rotating the wheel 43 and thus the connecting element 30 after its rectilinear movement by an angle of approximately 60 to 90 °. The respective journal 19 has a centering tip 19 ′ which is formed at the bottom and corresponds to the groove 16 'mentioned; Any deviations between the position of the groove 16 'and that of the bearing pin 19 can be easily compensated for. The bearing pins also have transverse end faces 19 ″, which center the casting tube in the support arm 16 transversely to the longitudinal axis of the pouring tube with almost no play.

Das jeweilige Verbindungselement 30 weist überdies noch einen Hilfslenkhebel 32 auf, dessen eines Ende eine im Verbindungselement 30 drehbar gelagerte und den Bolzen 31 haltende Buchse 33, während dessen anderes Ende eine Gleitrolle 35 hat, die in einer zusätzlichen Führungsbahn geführt ist, wobei diese Führungsbahn 34 zu der von der Kette gebildeten Bahn 40' in Richtung des Heranführens des Giessrohres 14 gesehen stetig in einem Winkel von ca. 20° auseinandergeht. Der Hilfslenkhebel 32 ist dabei annähernd gleichachsig zur Giessrohrachse angeordnet. Die Führungsbahn 34 ist an dem dem Behälter 10 zugekehrten Ende entsprechend der durch die Kette 41 gebildeten Abrundung in dieselbe Richtung abgebogen. Damit ergibt sich ein gleichmässiges Heranführen und Abdrehen des Giessrohres von der annähernd horizontalen in die vertikale Stellung, womit das Giessrohr bei sehr engen Platzverhältnissen problemlos und sehr genau eingeführt werden kann.The respective connecting element 30 also has an auxiliary steering lever 32, one end of which has a bushing 33 rotatably mounted in the connecting element 30 and holding the bolt 31, while the other end has a sliding roller 35 which is guided in an additional guideway, this guideway 34 to the path formed by the chain 40 'seen in the direction of moving the pouring tube 14 continuously apart at an angle of approximately 20 °. The auxiliary steering lever 32 is arranged approximately coaxially with the pouring tube axis. The guide track 34 is bent in the same direction at the end facing the container 10 in accordance with the rounding formed by the chain 41. This results in a uniform feeding and turning of the pouring tube from the approximately horizontal to the vertical position, with which the pouring tube can be inserted easily and very precisely in very tight spaces.

Insbesondere für kleinere Giessrohre oder wenn es die Platzverhältnisse zulassen, kann von diesem Hilfslenkhebel abgesehen werden und das Giessrohr ist dann in seiner Längsachse parallel zum geradlinigen Kettenverlauf in der Position P1 an den Verbindungselementen 30 zu befestigen.This auxiliary steering lever can be dispensed with, in particular for smaller pouring tubes or if space permits, and the pouring tube is then to be fastened to the connecting elements 30 in its longitudinal axis parallel to the straight chain path in position P1.

Das Traggestell 22 besteht im wesentlichen aus zwei die Verschiebeorgane tragenden Seitenwänden sowie einem diese beiden verbindenden Querbalken. Die Achsen 45 der vorderen Kettenräder 43 sind gegen innen des Traggestelles 22 hin verlängert und bilden jeweils einen Zentrierbolzen, die je in eine entsprechende Ausnehmung 16'' des gabelförmigen Tragarmes 16 einrastbar sind und die Zentrierung des Manipulators 20 zum Behälter 10 bewirken.The support frame 22 consists essentially of two side walls carrying the displacement members and a cross bar connecting these two. The axes 45 of the front sprockets 43 are extended towards the inside of the support frame 22 and each form a centering pin, which can each be snapped into a corresponding recess 16 ″ of the fork-shaped support arm 16 and center the manipulator 20 to the container 10.

Bei der Handhabung des Manipulators 20 werden vorerst die Verbindungselemente 30 in die obere Endposition P1 bewegt. Mittels des Schaltmechanismus 50 werden durch Betätigung des Drehschalters 51 die Bolzen 31 zurückverschoben. Dann wird das Giessrohr in das Traggestell 22 entsprechend der Position P1 eingelegt und die Bolzen 31 in die Mehrkantlöcher 18 des Tragringes 14' eingeschoben, womit das Giessrohr im Manipulator gehalten ist. Nun kann das Traggestell 22 mittels der Schiene 23, 28 und des darin laufenden Schlittens 24 in Position gefahren, die Zentrierbolzen der Achsen 45 in die Ausnehmungen 16'' des Tragringes 16 eingerastet und somit das Giessrohr durch Bewegen der Kette 41 in Richtung des Behälters 10 manuell oder aber von einem Antrieb gesteuert herangeführt werden. Durch die entsprechende Ausbildung der Bahnen 40' resp. 34 wird das Giessrohr über die Position P2 in die vertikale Stellung P3 gebracht. Der Tragring und somit das Giessrohr liegen nun im Tragarm der Giessrohrwechselvorrichtung 15 auf, die Bolzen 31 können wiederum über den Schaltmechanismus 50 zurückverschoben und damit kann das Giessrohr vom Manipulator freigegeben werden. Der Manipulator 20 wird dann vom Tragarm 16 weggefahren und das neue Giessrohr 14 kann anstelle des unter dem Ausguss befindlichen Giessrohres 12, das nach einer bestimmten Zeit verbraucht ist, eingesetzt werden. Das Giessrohr 12 kann dann auf der gegenüberliegenden Seite wiederum vom Manipulator 20 entsprechend aus der Kokille ausgefahren werden.When handling the manipulator 20, the connecting elements 30 are initially moved into the upper end position P1. By means of the switching mechanism 50, the bolts 31 are pushed back by actuating the rotary switch 51. Then the pouring tube is inserted into the support frame 22 in accordance with the position P1 and the bolts 31 are inserted into the polygonal holes 18 of the support ring 14 ', whereby the pouring tube is held in the manipulator. Now the support frame 22 can be moved into position by means of the rails 23, 28 and the slide 24 running therein, the centering bolts of the axes 45 into the recesses 16 '' of the support ring 16 and thus the pouring tube can be brought in manually or by a drive by moving the chain 41 in the direction of the container 10. By appropriate training of the webs 40 'and. 34, the pouring tube is brought into the vertical position P3 via the position P2. The support ring and thus the pouring tube are now in the support arm of the pouring tube changing device 15, the bolts 31 can in turn be moved back via the switching mechanism 50 and the pouring tube can thus be released by the manipulator. The manipulator 20 is then moved away from the support arm 16 and the new pouring tube 14 can be used instead of the pouring tube 12 located under the spout, which has been used up after a certain time. The pouring tube 12 can then be moved out of the mold on the opposite side by the manipulator 20.

In Fig.3 und Fig.4 ist ein anderes Ausführungsbeispiel eines Manipulators 65 gezeigt, bei dem anstelle eines Kettentriebes eine diesem entsprechende Führungsbahn 56 und ein darin geführtes Verbindungselement 60 vorgesehen ist, das von einer Kolben/Zylinder-Einheit 63 als Verschiebeorgan hin- und herbewegt wird. Das Verbindungselement 60 weist wiederum einen Hilfslenkhebel 60' auf, der mit seinem Gleitelement 62 an seinem einen Ende in einer zweiten Führungsbahn 64 geführt und dabei seine Längsachse annähernd parallel zu der Giessrohrachse angeordnet ist. Die Führungsbahnen 56 und 64 sind dabei auch in einem Traggestell 59 ausgebildet, welches aus einer oder zwei seitlichen Wänden und einem Querbalken besteht. Gleichachsig zu dem in der Führungsbahn 56 vorgesehenen nutensteinförmigen Gleitelement 61 des Verbindungselementes 60 ist ein das Giessrohr 14 haltender und von diesem ein- oder ausrastbarer Bolzen 66 angeordnet.
Ansonsten ist dieser Manipulator 65 vom Prinzip her ähnlich dem nach den Figuren 1 und 2 und es sind daher nicht alle Details gezeigt und beschrieben.3 and 4 show another embodiment of a manipulator 65, in which instead of a chain drive there is provided a guide track 56 corresponding to the latter and a connecting element 60 guided therein, which is moved back and forth by a piston / cylinder unit 63 as a displacement member is moved. The connecting element 60 in turn has an auxiliary steering lever 60 ', which is guided with its sliding element 62 at one end in a second guideway 64 and its longitudinal axis is arranged approximately parallel to the pouring tube axis. The guideways 56 and 64 are also formed in a support frame 59, which consists of one or two side walls and a crossbar. Coaxial with the sliding block 61 of the connecting element 60 provided in the guide track 56 is a bolt 66 which holds the pouring tube 14 and can be locked or disengaged therefrom.
Otherwise, this manipulator 65 is similar in principle to that according to FIGS. 1 and 2 and therefore not all the details are shown and described.

Es kann insbesondere bei Verwendung von kleinen Giessrohren ausreichend sein, wenn nur ein Verbindungselement im Manipulator vorgesehen ist. Hingegen bei sehr schweren Giessrohren, bspw. fürs Stranggiessen von Brammen, ist es zweckmässig, das Giessrohr beidseitig von je einem Verbindungselement zu halten.In particular when using small pouring tubes, it may be sufficient if only one connecting element is provided in the manipulator. In contrast, in the case of very heavy pouring tubes, for example for the continuous casting of slabs, it is expedient to hold the pouring tube on either side of a connecting element.

Bei dem in Fig.5 teilweise gezeigten Manipulator 20 ist anstelle des Verbindungselementes 30 sowie dem dazugehörigen Schaltmechanismus 50 ein Verbindungselement 70 vorgesehen, das auch an der Kette 41 befestigt ist. Es weist dabei eine blechförmige Gabel 70' auf, die zwischen der Kette 41 und dem an ihm eingehängten Giessrohr 14 angeordnet ist. Das Giessrohr 14 ist in einem metallenen Tragring 49 gehalten, der beidseitig je einen viereckigen Tragbolzen 49' hat, der jeweils annähernd spielfrei in eine Ausnehmung der Gabel 70' eingeführt werden kann. Die Ausnehmung ist dabei in bezug auf das Traggestell 22 derart angeordnet, dass sie in der Position P1 annähernd senkrecht nach oben geöffnet ist. Die Gabel 70' ist überdies drehbar im Verbindungselement 70 gelagert und wird durch ihre Drehverbindung mit dem Hilfslenkhebel 32 beim Heranführen des Giessrohres 14 zusätzlich gedreht, wodurch das Giessrohr in einer optimalen Bewegungsbahn eingeführt werden kann. Sobald das Giessrohr in die Kokille eingetaucht ist und seine senkrechte Position P3 erreicht hat, ermöglichen ebenfalls beidseitig am Tragring 49 angeordnete Lagerzapfen 49'', wie bereits vorgängig beschrieben, eine Uebergabe des Giessrohres bspw. an einen Giessrohrwechsler 15.In the manipulator 20 partially shown in FIG. 5, instead of the connecting element 30 and the associated switching mechanism 50, a connecting element 70 is provided, which is also attached to the chain 41. It has a sheet-metal fork 70 ', which is arranged between the chain 41 and the pouring tube 14 attached to it. The pouring tube 14 is held in a metal support ring 49, which has a square support pin 49 'on each side, which can be inserted into a recess of the fork 70' with almost no play. The recess is arranged with respect to the support frame 22 in such a way that it is opened approximately vertically upward in the position P1. The fork 70 'is also rotatably mounted in the connecting element 70 and is additionally rotated by its rotary connection with the auxiliary steering lever 32 when the pouring tube 14 is brought closer, as a result of which the pouring tube can be introduced in an optimal movement path. As soon as the pouring tube is immersed in the mold and has reached its vertical position P3, bearing journals 49 ″ arranged on both sides of the support ring 49 also enable transfer of the pouring tube, for example to a pouring tube changer 15, as already described above.

Claims (13)

Manipulator zum Heranführen eines Giessrohres unter einen Metallschmelze enthaltenden Behälter, mit einem vorzugsweise auf Schienen verschiebbaren Traggestell und mindestens einem in letzterem in einer oder mehreren Führungsbahnen verlaufenden, das Giessrohr festhaltenden Verbindungselement, mittels dem das Giessrohr bahnförmig von einer annähernd horizontalen in eine vertikale Position unter den Behälter bewegbar ist, dadurch gekennzeichnet, dass mindestens ein Verbindungselement [30,60) von einem im Traggestell (22,55) vorgesehenen Verschiebeorgan (40,63) entlang mindestens einer Führungsbahn (40',56) bewegbar ist und das Giessrohr (14) dabei an dem Verbindungselement (30,60) lösbar gehalten ist.Manipulator for guiding a pouring tube under a container containing molten metal, with a support frame which can preferably be displaced on rails and at least one connecting element which runs in the latter in one or more guideways and holds the pouring tube, by means of which the pouring tube is web-shaped from an approximately horizontal to a vertical position under the Container is movable, characterized in that at least one connecting element [30, 60) can be moved along at least one guide track (40 ', 56) by a displacement member (40, 63) provided in the support frame (22, 55) and the pouring tube (14) is releasably held on the connecting element (30, 60). Manipulator nach Anspruch 1, dadurch gekennzeichnet, dass das Verbindungselement (30) an einem als Kettentrieb (40) ausgebildeten Verschiebeorgan befestigt ist, welcher derart im Traggestell (22) angeordnet ist, dass er die oder die eine Führungsbahn (40') für das Verbindungselement (30) bildet.Manipulator according to claim 1, characterized in that the connecting element (30) is fastened to a sliding element which is designed as a chain drive (40) and which is arranged in the supporting frame (22) such that it has the one or more guide tracks (40 ') for the connecting element (30) forms. Manipulator nach Anspruch 2, dadurch gekennzeichnet, dass der Kettentrieb (40) zwei, eine endlose Kette (41) tragende Kettenräder (43,44) aufweist, welche je an einem Ende des Traggestelles (22) gelagert sind und davon zumindest eines von einem steuerbaren Antrieb verdrehbar ist.Manipulator according to claim 2, characterized in that the chain drive (40) has two chain wheels (43, 44) carrying an endless chain (41), each of which is mounted on one end of the support frame (22) and at least one of which is controllable Drive is rotatable. Manipulator nach Anspruch 1, dadurch gekennzeichnet, dass das Verbindungselement (60) und damit das Giessrohr (14) von einem als Kolben/Zylinder-Einheit (63) ausgebildeten Verschiebeorgan bewegbar ist.Manipulator according to claim 1, characterized in that the connecting element (60) and thus the pouring tube (14) can be moved by a displacement member designed as a piston / cylinder unit (63). Manipulator nach nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass das Verbindungselement (30,60) einen Hilfslenkhebel (32,60') aufweist, dessen eines Ende im Verbindungselement (30,60) drehbar gelagert oder mit ihm fest verbunden ist und das Giessrohr (14) hält, dessen anderes Ende in einer zusätzlichen Führungsbahn (34,64) geführt ist, wobei diese Führungsbahn (34,64) zur Bahn (40',56) des Verbindungselementes (30,60) in Richtung des Heranführens des Giessrohres (14) stetig in einem Winkel zwischen 5° und 30° auseinandergeht.Manipulator according to one of the preceding claims, characterized in that the connecting element (30, 60) has an auxiliary steering lever (32, 60 '), one end of which is rotatably mounted in the connecting element (30, 60) or is fixedly connected to it and the pouring tube (14) holds, the other end of which is guided in an additional guideway (34, 64), this guideway (34, 64) to the path (40 ', 56) of the connecting element (30, 60) in the direction of moving the pouring tube ( 14) diverge continuously at an angle between 5 ° and 30 °. Manipulator nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass das Giessrohr (14) derart am Verbindungselement (30,60) lösbar gehalten ist, dass es in stationärem Zustand (P1,P3) mit dem Verbindungselement (30,60) verbunden oder aber von diesem gelöst werden kann.Manipulator according to one of the preceding claims, characterized in that the pouring tube (14) is detachably held on the connecting element (30, 60) in such a way that it is connected to the connecting element (30, 60) in the stationary state (P1, P3) or else from this can be solved. Manipulator nach Anspruch 6, dadurch gekennzeichnet, dass ein das Giessrohr (14) haltender Tragring (14') mindestens einseitig einen Lagerzapfen (19) mit einem Mehrkantloch (18) aufweist, in letzteres ein im Verbindungselement (30) vorgesehener und entsprechend dem Loch (18) ausgebildeter mehrkantiger Bolzen (31) einrastbar ist.Manipulator according to claim 6, characterized in that a support ring (14 ') holding the pouring tube (14) has at least on one side a journal (19) with a polygonal hole (18), in the latter one provided in the connecting element (30) and corresponding to the hole ( 18) trained polygonal bolt (31) can be snapped into place. Manipulator nach Anspruch 7, dadurch gekennzeichnet, dass ein im Traggestell (22) angeordneter Schaltmechanismus (50) zum Ein- oder Ausrasten des Bolzens (31) vorgesehen ist.Manipulator according to claim 7, characterized in that a switching mechanism (50) arranged in the support frame (22) is provided for engaging or disengaging the bolt (31). Manipulator nach Anspruch 8, dadurch gekennzeichnet, dass der Schaltmechanismus (50) bestehend ist aus einer im Traggestell (22) drehbar gelagerten Stange (53), an deren Enden je ein Greifer (54,55) zum Querverschieben des Bolzens (31) vorgesehen ist, aus einer von dieser Stange (53) ausgehende Gelenkverbindung (52) und aus einem sie über diese Gelenkverbindung (52) verdrehbaren Schalter (51).Manipulator according to claim 8, characterized in that the switching mechanism (50) consists of a rod (53) rotatably mounted in the support frame (22), at the ends of which a gripper (54, 55) is provided for transversely displacing the bolt (31) , from an articulated connection (52) extending from this rod (53) and from a switch (51) which can be rotated via this articulated connection (52). Manipulator nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass das Traggestell (22) auf seiner dem Behälter (10) zugekehrten Seite an einem Tragarm (16) einer zum Anschliessen des Giessrohres an den Ausguss des Behälters (10) vorgesehenen Vorrichtung (15) positioniert ist.Manipulator according to one of the preceding claims, characterized in that the support frame (22) positions on its side facing the container (10) on a support arm (16) of a device (15) provided for connecting the pouring tube to the spout of the container (10) is. Manipulator nach Anspruch 10, dadurch gekennzeichnet, dass der Tragring (14') des Giessrohres (14) beidseitig je von einem Verbindungselement (30,60) gehalten ist und je einen hervorstehenden Lagerzapfen (19) hat, die in der vertikalen Endposition (P3) des Giessrohres (14) im gabelförmigen Tragarm (16) aufliegen.Manipulator according to claim 10, characterized in that the support ring (14 ') of the pouring tube (14) is held on both sides by a connecting element (30, 60) and each has a protruding bearing journal (19) which is in the vertical end position (P3) of the pouring tube (14) lie in the fork-shaped support arm (16). Manipulator nach Anspruch 11, dadurch gekennzeichnet, dass die Lagerzapfen (19) nach unten hin mit jeweils einer in eine entsprechende rinnenförmige Nut (16') des Tragarmes (16) eingreifenden Zentrierspitze (19') ausgebildet sind und zudem je eine dazu quere Stirnfläche (19'') aufweisen, letztere das Giessrohr (14) im Tragarm (16) quer zu seiner Längsachse annähernd spielfrei zentrieren.Manipulator according to claim 11, characterized in that the bearing journals (19) are each formed with a centering tip (19 ') which engages in a corresponding groove-shaped groove (16') of the support arm (16), and in addition each has a transverse end face ( 19 ''), the latter center the pouring tube (14) in the support arm (16) transversely to its longitudinal axis with almost no play. Manipulator nach einem der Ansprüche 1, 2, 3 oder 5, dadurch gekennzeichnet, dass ein an der Kette (41) befestigtes Verbindungselement (70) mit einer Gabel (70') vorgesehen ist, an letztere das Giessrohr (14) einhängbar ist.Manipulator according to one of claims 1, 2, 3 or 5, characterized in that a connecting element (70) attached to the chain (41) is provided with a fork (70 '), to which the pouring tube (14) can be suspended.
EP91102871A 1990-04-27 1991-02-27 Manipulator for introducing a casting pipe underneath a vessel containing a liquid metal Expired - Lifetime EP0453732B1 (en)

Applications Claiming Priority (2)

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CH1442/90 1990-04-27
CH1442/90A CH682642A5 (en) 1990-04-27 1990-04-27 Manipulator for bringing a shroud under a molten metal container containing.

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EP0453732A1 true EP0453732A1 (en) 1991-10-30
EP0453732B1 EP0453732B1 (en) 1995-04-19

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JP (1) JPH04228258A (en)
KR (1) KR910018104A (en)
AT (1) ATE121329T1 (en)
CH (1) CH682642A5 (en)
DE (1) DE59105220D1 (en)

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ATE121329T1 (en) 1995-05-15
EP0453732B1 (en) 1995-04-19
JPH04228258A (en) 1992-08-18
KR910018104A (en) 1991-11-30
CH682642A5 (en) 1993-10-29
DE59105220D1 (en) 1995-05-24

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