EP1464421A1 - Manipulator für einen Giessspiegel-sensor einer Kokille einer Stranggiessanlage - Google Patents
Manipulator für einen Giessspiegel-sensor einer Kokille einer Stranggiessanlage Download PDFInfo
- Publication number
- EP1464421A1 EP1464421A1 EP04003453A EP04003453A EP1464421A1 EP 1464421 A1 EP1464421 A1 EP 1464421A1 EP 04003453 A EP04003453 A EP 04003453A EP 04003453 A EP04003453 A EP 04003453A EP 1464421 A1 EP1464421 A1 EP 1464421A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- manipulator
- mold
- sensor
- movements
- lever arm
- 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
Links
- 239000002184 metal Substances 0.000 title claims description 13
- 238000009749 continuous casting Methods 0.000 title description 4
- 238000000034 method Methods 0.000 claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 6
- 238000005266 casting Methods 0.000 claims description 13
- 230000007935 neutral effect Effects 0.000 claims description 7
- 229910001338 liquidmetal Inorganic materials 0.000 claims description 5
- 238000004904 shortening Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 238000005259 measurement Methods 0.000 description 5
- 239000000155 melt Substances 0.000 description 4
- 239000000843 powder Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Images
Classifications
-
- 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
- B22D11/16—Controlling or regulating processes or operations
- B22D11/18—Controlling or regulating processes or operations for pouring
- B22D11/181—Controlling or regulating processes or operations for pouring responsive to molten metal level or slag level
-
- 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
- B22D11/16—Controlling or regulating processes or operations
- B22D11/20—Controlling or regulating processes or operations for removing cast stock
- B22D11/201—Controlling or regulating processes or operations for removing cast stock responsive to molten metal level or slag level
Definitions
- the invention relates to a manipulator for guiding a sensor for detection the level of liquid metal in the mold of a continuous caster.
- the invention also relates to a method for operating the manipulator.
- the level control of in particular thin slab continuous casting molds can be checked by means of a sensor that projects into the mold opening from above become. After completing the necessary preparation of the mold for the casting process, the sensor is manually or automatically inserted into the Interior of the mold swung in. In the event of accidents that damage it could lead, he is swung out of the danger area immediately.
- document US 4,186,792 discloses a control apparatus for the Continuous casting using eddy current measuring devices for the determination the distance of the melt from a reference point of the mold, the one Signal generated by means of non-contact measurement, the measuring apparatus being tight is firmly mounted above the metal mirror.
- the measuring device for eddy current measurement vertically adjustable just above arranged the surface of the liquid metal, being subject to changes of the metal mirror the measuring device always at the same distance is held by this.
- a potentiometer arranged on it generates a Distinctive signal and transmits it to a recorder or used it for setting the feed or delivery quantity of melt by means of a monitoring and control device to keep the metal level constant hold.
- Document EP 0 067 668 B1 describes a device for measuring a Change in a predetermined direction of a surface position of a metal mass.
- the device comprises a magnetic-based metal sensor, a drive device for the sensor, a follower that causes the sensor follows the change in the position of the metal mass, and devices to generate a position signal for a current position of the sensor on a movement path, furthermore a storage device for an interference signal for Measurement of an interference component in the sensor output due to other influencing factors than the change in the surface position of the metal mass, and a Correction device that the difference signal around in the storage device stored interference component corrected to the drive device with this to activate the corrected signal.
- Document WO 00138858 relates to a method and a device for detection and regulating the level of a molten metal in a mold.
- the melt from one a closable bottom opening supply vessel via a dip tube the mold can be fed with a measuring element which can be moved vertically in the free space of the mold can be introduced.
- the level measuring element connected via a first signal line to a computer which is connected via a first Control line is connected to a first actuator, on which a Boom is attached, at the head end of the level measuring element attached is.
- a position sensor is provided on the boom second signal line is connected to the computer via a second control line communicates with a second actuator which is connected to a shut-off device is linked to close the bottom opening of the feed vessel.
- the document JP 08 168 860 A describes a method for measuring the current Surface levels of liquid steel in a mold of a continuous casting plant.
- the change distance is measured with a height indicator.
- laser sensors are arranged to the position when observing heights or Level the depth mark of the measuring rod.
- Casting powder with an unmelted and a molten layer cover the molten steel.
- the output signal of the height measuring device is input into an amplifier.
- a drive for an indicator bar is activated and this with appropriate Immersed deep in the molten steel.
- a difference in diameter of the rod between the areas immersed in the mold powder and the area immersed in the molten steel is recorded.
- the bar is pulled out after a predetermined time.
- the diameter of the material adhering to the rod is determined by means of laser beams detected.
- the document US 4,647,854 relates to a device for measuring the level of the molten metal in an oscillating mold of a continuous caster during operation with an eddy current measuring device.
- the oscillation of the mold is extracted from the output signal of the distance measurement and the measuring sensitivity of the distance measuring device is compensated and controlled in order to keep the magnitude of the amplitude of the oscillation signal component constant, the surface level of the melt being linearized.
- the object of the invention based on a manipulator for guiding a sensor for detecting the Level of the molten metal in a mold of a continuous caster and to specify a method for its operation that is as accurate and free of play as possible Guidance of the sensor follows the movements of the mold and in the case of one Fault reacted almost without delay.
- the manipulator with a sensor for detecting the level is of the liquid metal in the mold of the continuous caster using a detachable connection, in particular by means of clamping on or on the mold or attached to their water tanks in such a way that it is attached to the movements the mold is coupled so that signals are not influenced becomes.
- the manipulator is further developed in that it has a swivel drive for has a lever arm pivotable about the axis x-x, on the free End of the sensor is attached by means of a bracket.
- the manipulator alternatively has pneumatic or hydraulic swivel drives, For example, rotary lobes or electromechanical or magnetic rotary actuators for its at least rotary drive.
- pneumatic or hydraulic swivel drives For example, rotary lobes or electromechanical or magnetic rotary actuators for its at least rotary drive.
- the releasable clamping device for fastening the manipulator can at least a broadside or narrow side wall of the mold or its water boxes or be provided on the peripheral frame.
- the senor is removed from the manipulator before the casting operation begins by pivoting its lever arm around the axis of the Part-turn actuator from a neutral position above the mold casting room in the active measurement position swiveled into the mold.
- the method according to the invention further provides that the manipulator Sensor in predeterminable movements to record the level and position of the metal mirror in the mold by swiveling movements around the axis of the Lever arms and if necessary by means of linear extension or shortening movement and / or possibly by rotation about the vertical axis of the swivel drive according to control signals from a programmable signal generator leads.
- the method according to the invention provides that the manipulator upon receipt of a fault signal by swiveling the lever arm out Unscrewed sensor from the mold casting room into a neutral position.
- the operating method for the manipulator of the aforementioned type is according to the invention that its movements are carried out manually or automatically.
- the manipulator shown in FIGS. 1 and 2 has the task of a sensor 1 for detecting the level of liquid metal in a mold 2 one Continuous caster.
- the sensor is used to control the mold level.
- the manipulator is with the help of a releasable clamp on the mold 2 or its water boxes 12 attached, so that the sensor 1 to the movements of the mold 2 is coupled.
- the clamping consists in the embodiment shown arranged on guide rails 14 mounting plate 3 with a tilt and screwable clamping device 13.
- the manipulator comprises a swivel drive 4, which can be connected to the fastening plate 3, with a lever arm 5 arranged thereon and rotatable about the longitudinal axis xx, on the free end 7 of which the sensor 1 can be fastened by means of a preferably rectangular holding rod 8.
- a swivel drive 4 which can be connected to the fastening plate 3, with a lever arm 5 arranged thereon and rotatable about the longitudinal axis xx, on the free end 7 of which the sensor 1 can be fastened by means of a preferably rectangular holding rod 8.
- the manipulator with pneumatic or hydraulic swivel arrangement 6 is formed as a rotary piston 9 or with electromechanical or magnetic Part-turn actuators equipped.
- the manipulator may be z-z about its vertical axis rotatable, for which purpose in the swivel drive 4 an additional horizontally lying rotary piston 9 'can be arranged, as shown in Figure 2.
- the manipulator or its movements can be operated manually or be carried out automatically.
- the sensor is in the predetermined position of the manipulator according to FIG. 1 1 shortly before the start of casting by swiveling the swivel drive 4 by means of the lever arm 5 about the axis x-x from a neutral position above the Chill mold 2 in a measuring position just above the bath level 10 accordingly the fill level of the melt in the mold.
- a particular advantage of the operating method is that the manipulator upon receipt of a fault signal by swinging out the lever arm 5 unscrews the sensor 1 from the mold 2 into a neutral position by one Prevent danger to the sensor for detecting the fill level.
- the manipulator can additionally be designed such that the one in the holder 8 attached sensor 1 in the direction of the x-x axis of the lever arm 5 by means of linear Extension or shortening movements, see arrow 11, movable or is adjustable. It is also possible to design the manipulator in such a way that that the swivel drive 4 by rotating about its vertical axis in an upper neutral position unscrewed sensor 1 from the area of the mold casting room out leads. For this purpose, as shown in Figure 2, the horizontal horizontal rotary pistons 9 'are acted upon by hydraulic media.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Continuous Casting (AREA)
- Measuring Or Testing Involving Enzymes Or Micro-Organisms (AREA)
Abstract
Description
Die Oszillation der Kokille wird aus dem Ausgangssignal der Abstandsmessung extrahiert und dabei die Messempfindlichkeit der Distanzmessungs-Vorrichtung kompensiert und kontrolliert, um den Betrag der Amplitude der Oszillationssignal-Komponente konstant zu halten, wobei der Oberflächenpegel der Schmelze linearisiert wird.
In Unteransprüchen werden Vorrichtung und Verfahren weiter ausgestaltet.
- Fig. 1
- in perspektivischer Ansicht einen Manipulator nach der Erfindung mit einem in den Gießraum einer Kokille einschwenkbaren Sensor;
- Fig.2
- den Manipulator mit angeordnetem Sensor in perspektivischer Schnittdarstellung.
Hierdurch wird eine kompakte Bauweise erzielt, weil der Sensor 1 unmittelbar mit der Kokille 2 gekoppelt ist, wodurch eine Beeinflussung von Signalen vermieden wird.
- 1.
- Sensor
- 2.
- Kokille / Kokillengießraum
- 3.
- Befestigungsplatte
- 4.
- Schwenkantrieb
- 5.
- Hebelarm
- 6.
- Schwenkanordnung
- 7.
- freies Ende
- 8.
- Halterung
- 9.
- Drehkolben
- 10.
- Schwimmschicht Schlacke
- 11.
- Pfeil
- 12.
- Wasserkasten
- 13.
- Klemmvorrichtung
- 14.
- Führungsschienen
Claims (8)
- Manipulator zum Führen eines Sensors (1) zum Erfassen der Füllstandshöhe von flüssigem Metall in der Kokille (2) einer Stranggießanlage,
dadurch gekennzeichnet, dass er mit einem an ihm angeordneten Sensor (1) unter Verwendung einer lösbaren Verbindung, insbesondere mittels Klemmung auf oder an der Kokille (2) bzw. an deren Wasserkästen (12) befestigt ist und der Sensor (1) somit an die Bewegungen der Kokille (2) gekoppelt ist. - Manipulator nach Anspruch 1,
gekennzeichnet durch
einen Schwenkantrieb (4) für einen um die Achse (x-x) schwenkbaren Hebelarm (5), an dessen freiem Ende (7) der Sensor (1) mittels einer Halterung (8) befestigt ist. - Manipulator nach Anspruch 1 oder 2,
gekennzeichnet durch
pneumatische oder hydraulische Schwenkantriebe (4) bspw. Drehkolben (9) bzw. elektromechanische oder magnetische Schwenkantriebe zu dessen zumindest rotativem Antrieb. - Manipulator nach Anspruch 1, 2 oder 3
gekennzeichnet durch
eine lösbare Klemmvorrichtung (13) für dessen Befestigung an zumindest einer der Breitseiten- oder Schmalseitenwände der Kokille (2) bzw. an deren Wasserkästen oder Umfangsrahmen. - Verfahren zum Betrieb des Manipulators einer Bauart gemäß den Ansprüchen 1 bis 4,
dadurch gekennzeichnet, dass der Manipulator den Sensor (1) vor Gießbeginn durch eine Schwenkbewegung des Hebelarmes (5) um die Achse (x-x) des Schwenkantriebs (4) aus einer neutralen Lage oberhalb des Kokillengießraumes in die aktive Messlage innerhalb der Kokille einschwenkt. - Verfahren nach Anspruch 5
dadurch gekennzeichnet, dass der Manipulator den Sensor (1) in vorgebbare Bewegungen zum Erfassen der Füllstandshöhe und der Lage des Metallspiegels in der Kokille (2) mittels Schwenkbewegungen um die Achse (x-x) des Hebelarms (5) sowie erforderlichenfalls mittels linearer Verlängerungs- oder Verkürzungsbewegungen (Pfeil 11) und/oder ggf. durch Drehung um die Hochachse (z-z) des Schwenkantriebs (4) nach Maßgabe von Steuerungssignalen eines programmierbaren Signalgebers führt. - Verfahren nach einem oder mehreren der Ansprüche 5 oder 6,
dadurch gekennzeichnet, dass der Manipulator bei Eingang eines Störungssignals durch Ausschwenken des Hebelarmes (5) den Sensor (1) aus dem Kokillengießraum (2) in eine neutrale Lage herausdreht. - Verfahren nach einem oder mehreren der Ansprüche 5 bis 7,
dadurch gekennzeichnet, dass dessen Bewegungen manuell oder automatisch ausgeführt werden.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10312080 | 2003-03-19 | ||
DE10312080A DE10312080A1 (de) | 2003-03-19 | 2003-03-19 | Manipulator für einen Gießspiegel-Sensor einer Kokille einer Stranggießanlage |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1464421A1 true EP1464421A1 (de) | 2004-10-06 |
EP1464421B1 EP1464421B1 (de) | 2006-04-26 |
Family
ID=32842155
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP04003453A Expired - Lifetime EP1464421B1 (de) | 2003-03-19 | 2004-02-17 | Giessspiegelsensor einer Kokille einer Stranggiessanlage und Verfahren zu seinem Betrieb |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1464421B1 (de) |
AT (1) | ATE324208T1 (de) |
DE (2) | DE10312080A1 (de) |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4186792A (en) * | 1976-12-21 | 1980-02-05 | Nippon Kokan Kabushiki Kaisha | Apparatus for monitoring and controlling the level of the molten metal in the mold of a continuous casting machine |
US4647854A (en) * | 1983-09-09 | 1987-03-03 | Nippon Kokan Kabushiki Kaisha | Apparatus for measuring the level of the molten metal in the mold of a continuous casting machine |
DE19918835A1 (de) * | 1998-12-23 | 2000-07-06 | Sms Demag Ag | Verfahren zum Erfassen und Regeln der Füllstandshöhe des flüssigen Metalls in einer Kokille |
-
2003
- 2003-03-19 DE DE10312080A patent/DE10312080A1/de not_active Withdrawn
-
2004
- 2004-02-17 EP EP04003453A patent/EP1464421B1/de not_active Expired - Lifetime
- 2004-02-17 AT AT04003453T patent/ATE324208T1/de active
- 2004-02-17 DE DE502004000455T patent/DE502004000455D1/de not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4186792A (en) * | 1976-12-21 | 1980-02-05 | Nippon Kokan Kabushiki Kaisha | Apparatus for monitoring and controlling the level of the molten metal in the mold of a continuous casting machine |
US4647854A (en) * | 1983-09-09 | 1987-03-03 | Nippon Kokan Kabushiki Kaisha | Apparatus for measuring the level of the molten metal in the mold of a continuous casting machine |
DE19918835A1 (de) * | 1998-12-23 | 2000-07-06 | Sms Demag Ag | Verfahren zum Erfassen und Regeln der Füllstandshöhe des flüssigen Metalls in einer Kokille |
Non-Patent Citations (1)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 0181, no. 90 (M - 1586) 31 March 1994 (1994-03-31) * |
Also Published As
Publication number | Publication date |
---|---|
ATE324208T1 (de) | 2006-05-15 |
DE10312080A1 (de) | 2004-09-30 |
DE502004000455D1 (de) | 2006-06-01 |
EP1464421B1 (de) | 2006-04-26 |
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