EP1633511B1 - Casting robot comprising a weighing cell - Google Patents

Casting robot comprising a weighing cell Download PDF

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Publication number
EP1633511B1
EP1633511B1 EP04736493A EP04736493A EP1633511B1 EP 1633511 B1 EP1633511 B1 EP 1633511B1 EP 04736493 A EP04736493 A EP 04736493A EP 04736493 A EP04736493 A EP 04736493A EP 1633511 B1 EP1633511 B1 EP 1633511B1
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EP
European Patent Office
Prior art keywords
casting
ladle
robot according
angle
weighing
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.)
Revoked
Application number
EP04736493A
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German (de)
French (fr)
Other versions
EP1633511A1 (en
Inventor
Fritz Lauper
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.)
Kuenkel Wagner SLS Swisspour AG
Original Assignee
Kuenkel Wagner SLS Swisspour AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
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Application filed by Kuenkel Wagner SLS Swisspour AG filed Critical Kuenkel Wagner SLS Swisspour AG
Priority to PL04736493T priority Critical patent/PL1633511T3/en
Publication of EP1633511A1 publication Critical patent/EP1633511A1/en
Application granted granted Critical
Publication of EP1633511B1 publication Critical patent/EP1633511B1/en
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D39/00—Equipment for supplying molten metal in rations
    • B22D39/04—Equipment for supplying molten metal in rations having means for controlling the amount of molten metal by weight

Definitions

  • the invention relates to a casting robot according to the preamble of patent claim 1.
  • Object of the present invention is to provide a Giessroboters with a weight measuring device, with the continuously flowing liquid melt that flows to the mold, can be measured exactly.
  • the inventive arrangement of the at least one load cell and at least one motion sensor connected to the load cell it is possible to measure the liquid melt supplied to the mold in close tolerances and thus supply the casting mold substantially exactly the required amount of melt.
  • FIG. 1 shows a casting machine, in short casting robot 1 called, partially hidden by a suspended ladle 3, shown.
  • the casting robot 1 is movable on first rails 5 in the Y direction, ie along a series of casting molds 7. He is further on second rails 9 in the X direction, ie in the direction of the molds 7 back and away from them.
  • the casting ladle 3 can be moved vertically on a tower 11 on the casting robot 1, ie in the Z direction, and can also be pivoted on a definable path lying in the YZ plane.
  • the pivoting movement of the ladle 3 can for example be carried out according to the features of WO 99/00205.
  • the ladle 3 is laterally releasably connected by means of locking means 17 with a receiving plate 19 with the tower 11. Between the receiving plate 19 and a holding plate 21 on the tower 11, which may be shaped similar to the receiving plate 19, at least one load cell 23 of known type is used.
  • a measuring cell 23 with a string clamped between load 23 'and clamping side 23 "(string not visible) is shown schematically in Figures 4 and 5.
  • the measuring cell 23 is provided with suitable fastening means, for example screws, on the load side with the receiving plate 19 and on the clamping side
  • suitable fastening means for example screws
  • the angle of inclination between the axes A and V is x °, eg 18 °
  • the load axis A of the measuring cell 23 lies at an angle y ° of approximately 35 ° to the vertical V
  • a further increase in the measurement accuracy can be achieved if, for example, three measuring cells, as shown in FIGS. 3, 6 and 7, are arranged around a fictitious or real pivot point between the receiving plate 19 and the holding plate 21.
  • Automatic casting machines with casting robots 1 obtain only a high efficiency when the individual movements, such as the pivoting of the ladle or the method of casting robot 1 from casting ladle 7 to casting ladle 7 or from inlet funnel 15 to inlet funnel 15 as quickly as possible. This leads to additional forces (mass forces), which act on the measuring cells 23 and can affect the measurement result. According to the invention, these additional forces acting on the measuring cells 23 are detected by suitable sensors and taken into account in the measurement result.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
  • Preparation Of Compounds By Using Micro-Organisms (AREA)
  • Micro-Organisms Or Cultivation Processes Thereof (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Measurement Of Force In General (AREA)
  • Golf Clubs (AREA)
  • Manipulator (AREA)

Abstract

A casting robot ( 1 ) which includes a pivoting device for a foundry ladle ( 3 ) that is suspended by the casting robot is provided. At least one weighing cell ( 23 ) is located in the area connecting the foundry ladle ( 3 ) to the casting robot ( 1 ). The cell is used to dynamically measure an instantaneous amount of molten material present in the foundry ladle ( 3 ) or the amount of molten material poured into a casting mold ( 7 ).

Description

Gegenstand der Erfindung ist ein Giessroboter gemäss Oberbegriff des Patentanspruchs 1.The invention relates to a casting robot according to the preamble of patent claim 1.

Das Giessen von Werkstücken aus Guss erfolgt, wenn grosse Stückzahlen hergestellt werden müssen, heute meist mit teilweise automatisierten oder voll automatisierten Giessrobotern. Um eine möglichst genau bestimmte Menge an flüssiger Schmelze in die Giessform einfliessen lassen zu können, sind bereits verschiedene Wägevorrichtungen bekannt, mit denen während des Giessens die ausgegossene Menge über die Gewichtsdifferenz der Giesspfanne vor und nach dem Giessen bestimmt wird. Je nach Art der Aufhängung der schwenkbaren Giesspfanne werden Messzellen zu Ermittlung des gegenwärtigen Gewichts unterhalb der Giessmaschine angeordnet und messen damit nicht nur das Gewicht der Schmelze und der Giesspfanne, sondern auch der übrigen Elemente des Giessroboters. Solche Vorrichtungen haben den Nachteil, dass das Gewicht der zu messenden Menge an Schmelze, die in eine Giessform einfliesst, im Verhältnis zum Gewicht der gesamten Maschine sehr klein ist und daher entsprechend grosse Messfehler entstehen können.The casting of workpieces made of cast iron takes place when large quantities have to be produced, today mostly with partially automated or fully automated casting robots. In order to be able to incorporate as accurately as possible an amount of liquid melt into the casting mold, various weighing devices are already known with which the poured quantity over the weight difference of the casting ladle before and after casting is determined during the casting. Depending on the type of suspension of the pivotable ladle measuring cells are arranged to determine the current weight below the casting machine and measure not only the weight of the melt and the ladle, but also the remaining elements of the casting robot. Such devices have the disadvantage that the weight of the measured amount of melt flowing into a mold, in relation to the weight of the entire machine is very small and therefore correspondingly large measurement errors can occur.

In der DE 4028918 A1 wird eine Wägezelle vorgeschlagen, die zwischen der Giesspfanne und der Schwenkvorrichtung am Schwenkroboter eingesetzt ist. Diese Wiegevorrichtung dient dazu, eine Gewichtsdifferenzmessung zwischen der leeren und der mit Schmelze gefüllten Giesspfanne vorzunehmen, um mit diesem Parameter den Giessprozess festzulegen. Eine Angabe über die technische Ausführung der Messvorrichtung - mit Ausnahme des Messortes - ist in diesem Stand der Technik nicht offenbart.In DE 4028918 A1 a load cell is proposed, which is inserted between the ladle and the pivoting device on the swivel robot. This weighing device serves to carry out a weight difference measurement between the empty ladle and the ladle filled with melt in order to determine the casting process with this parameter. An indication of the technical design of the measuring device - with the exception of the measuring location - is not disclosed in this prior art.

Aufgabe der vorliegenden Erfindung ist die Schaffung eines Giessroboters mit einer Gewichtsmessvorrichtung, mit der kontinuierlich die ausgegebene flüssige Schmelze, die zur Giessform fliesst, exakt gemessen werden kann.Object of the present invention is to provide a Giessroboters with a weight measuring device, with the continuously flowing liquid melt that flows to the mold, can be measured exactly.

Gelöst wird diese Aufgabe durch einen Giessroboter mit den Merkmalen des Patentanspruchs 1. Weitere vorteilhafte Ausgestaltungen der Erfindung sind in den abhängigen Ansprüchen definiert.This object is achieved by a casting robot with the features of claim 1. Further advantageous embodiments of the invention are defined in the dependent claims.

Durch die erfindungsgemässe Anordnung der mindestens einen Wägezelle und mindestens einem mit der Wägezelle verbundenen Bewegungssensor gelingt es, die der Giessform zugeführte flüssige Schmelze in engen Toleranzen zu messen und damit der Giessform im wesentlichen exakt die benötigte Menge Schmelze zuzuführen.The inventive arrangement of the at least one load cell and at least one motion sensor connected to the load cell, it is possible to measure the liquid melt supplied to the mold in close tolerances and thus supply the casting mold substantially exactly the required amount of melt.

Anhand illustrierter Ausführungsbeispiele wird die Erfindung näher erläutert. Es zeigen

Figur 1
eine Seitenansicht eines Giessroboters mit horizontal liegender, d.h. in Ausgangsstellung befindlicher Giesspfanne,
Figur 2
eine Aufsicht auf den Giessroboter,
Figur 3
eine perspektivische Aufsicht auf die Tragplatte aus Richtung Pfeil S (Giesspfanne nicht angehängt),
Figur 4
eine mögliche Ausführungsform einer Wägezelle von vorne,
Figur 5
eine Ansicht der Wägezelle in Fig. 4 aus Richtung P,
Figur 6
eine vergrösserte Darstellung der Tragplatte (Ansicht von oben) und
Figur 7
eine vergrösserte Darstellung der Tragplatte (Ansicht von der Seite).
Based on illustrated embodiments, the invention will be explained in more detail. Show it
FIG. 1
a side view of a casting robot with horizontally lying, ie located in the starting position Giesspfanne,
FIG. 2
a view of the casting robot,
FIG. 3
a perspective view of the support plate from the direction of arrow S (Giesspfanne not attached),
FIG. 4
a possible embodiment of a load cell from the front,
FIG. 5
a view of the load cell in Fig. 4 from direction P,
FIG. 6
an enlarged view of the support plate (view from above) and
FIG. 7
an enlarged view of the support plate (view from the side).

In Figur 1 ist eine Giessmaschine, kurz Giessroboter 1 genannt, teilweise durch eine aufgehängte Giesspfanne 3 verdeckt, dargestellt. Der Giessroboter 1 ist auf ersten Schienen 5 in Y-Richtung, d.h. entlang einer Reihe von Giessformen 7 verfahrbar. Er ist weiter auf zweiten Schienen 9 in X-Richtung, d.h. in Richtung auf die Giessformen 7 hin und von diesen weg verfahrbar. Die Giesspfanne 3 ist an einem Turm 11 am Giessroboter 1 vertikal, d.h. in Z-Richtung verfahrbar und zudem auf einer in der Y-Z Ebene liegenden definierbaren Bahn schwenkbar. Die Schwenkbewegung der Giesspfanne 3 kann beispielsweise gemäss den Merkmalen der WO 99/00205 erfolgen. Dabei wird die Schnauze 13 der Giesspfanne 3 derart über die Einlauftrichter 15 an der Giessform 7 geführt, dass die flüssige Metallschmelze, die aus der Giesspfanne 3 austritt, im wesentlichen stets koaxial in die Eingussöffnung einfliessen kann. Das Verfahren zum Schwenken der Giesspfanne 5 ist nicht Teil dieser Erfindung; es stellt nur einen möglichen vorteilhaften Weg zum optimalen Giessen von Gussstücken dar. Die Giesspfanne 3 ist seitlich mittels Rastmitteln 17 mit einer Aufnahmeplatte 19 mit dem Turm 11 lösbar verbunden. Zwischen der Aufnahmeplatte 19 und einer Halteplatte 21 am Turm 11, die ähnlich geformt sein kann wie die Aufnahmeplatte 19, ist mindestens eine Wägezelle 23 bekannter Bauart eingesetzt. Die Messung des Gewichts der Giesspfanne 3 und der Schmelze kann beispielsweise mit einer Tauchspule oder an einer zwischen der Last- 23' und der Einspannseite 23" der Messzelle 23 eingespannten Saite, deren Schwingungszahl in Abhängigkeit der Last veränderbar ist, erfolgen. Solche Messzellen 23 werden auch in Waagen eingesetzt und sind aus dem Stand der Technik bekannt. Selbstverständlich sind auch andere Messmittel wie Messdosen einsetzbar, sofern diese eine genügende Auflösung aufweisen.FIG. 1 shows a casting machine, in short casting robot 1 called, partially hidden by a suspended ladle 3, shown. The casting robot 1 is movable on first rails 5 in the Y direction, ie along a series of casting molds 7. He is further on second rails 9 in the X direction, ie in the direction of the molds 7 back and away from them. The casting ladle 3 can be moved vertically on a tower 11 on the casting robot 1, ie in the Z direction, and can also be pivoted on a definable path lying in the YZ plane. The pivoting movement of the ladle 3 can for example be carried out according to the features of WO 99/00205. In this case, the muzzle 13 of the ladle 3 is guided over the inlet funnel 15 to the mold 7, that the liquid molten metal, which emerges from the ladle 3, can always coaxially flow into the pouring opening substantially. The method for pivoting the ladle 5 is not part of this invention; it is only one possible advantageous way for optimal casting of castings. The ladle 3 is laterally releasably connected by means of locking means 17 with a receiving plate 19 with the tower 11. Between the receiving plate 19 and a holding plate 21 on the tower 11, which may be shaped similar to the receiving plate 19, at least one load cell 23 of known type is used. The measurement of the weight of Giesspfanne 3 and the melt, for example, with a plunger coil or at one between the load 23 'and Such measuring cells 23 are also used in balances and are known from the prior art.Of course, other measuring means such as measuring sockets can be used, provided that they have a have sufficient resolution.

Eine Messzelle 23 mit einer zwischen Last- 23' und Einspannseite 23" eingespannter Saite (Saite nicht sichtbar) ist schematisch in den Figuren 4 und 5 dargestellt. Die Messzelle 23 ist mit geeigneten Befestigungsmitteln, beispielsweise Schrauben, lastseitig mit der Aufnahmeplatte 19 und einspannseitig mit der Halteplatte 21 verbunden. In der Grundstellung, d.h. bei horizontal liegender oberer Fläche der Giesspfanne 3 ist die Lastachse A, d.h. die Achse, in der eine Last optimal auf das Messelement (Saite) eingeleitet wird, geneigt zur Vertikalen V angeordnet (Figur 1). Der Neigungswinkel zwischen den Achsen A und V beträgt x°, z.B. 18°. Bei voller Ausschwenkung der Giesspfanne 3 kurz vor der vollständigen Entleerung der Schmelze liegt die Lastachse A der Messzelle 23 in einem Winkel y° von ca. 35° zur Vertikalen V. Diese Anordnung der Messzelle 23 erlaubt es, eine optimale Messgenauigkeit zu erlangen, unabhängig davon ob die Last optimal in der Lastachse A verläuft oder ob die Last in einem spitzen Winkel dazu verläuft und das Ergebnis entsprechend kompensiert werden muss.A measuring cell 23 with a string clamped between load 23 'and clamping side 23 "(string not visible) is shown schematically in Figures 4 and 5. The measuring cell 23 is provided with suitable fastening means, for example screws, on the load side with the receiving plate 19 and on the clamping side In the basic position, that is to say with a horizontal upper surface of the ladle 3, the load axis A, ie the axis in which a load is optimally introduced onto the measuring element (string), is arranged inclined to the vertical V (FIG. The angle of inclination between the axes A and V is x °, eg 18 ° When the casting ladle 3 is fully swung short before the complete emptying of the melt, the load axis A of the measuring cell 23 lies at an angle y ° of approximately 35 ° to the vertical V This arrangement of the measuring cell 23 makes it possible to obtain an optimal measuring accuracy, regardless of whether the load runs optimally in the load axis A or whether the load at an acute angle to it and that Result must be compensated accordingly.

Eine weitere Erhöhung der Messgenauigkeit kann erreicht werden, wenn beispielsweise drei Messzellen, wie in den Figuren 3, 6 und 7 dargestellt, um einen fiktiven oder reellen Drehpunkt zwischen der Aufnahmeplatte 19 und der Halteplatte 21 angeordnet sind.A further increase in the measurement accuracy can be achieved if, for example, three measuring cells, as shown in FIGS. 3, 6 and 7, are arranged around a fictitious or real pivot point between the receiving plate 19 and the holding plate 21.

Automatische Giessanlagen mit Giessrobotern 1 erlangen nur eine hohe Effizienz, wenn die einzelnen Bewegungsabläufe, wie das Schwenken der Giesspfanne oder das Verfahren des Giessroboters 1 von Giesspfanne 7 zu Giesspfanne 7 bzw. von Einlauftrichter 15 zu Einlaüftrichter 15 möglichst rasch erfolgen. Dies führt zu zusätzlichen Kräften (Massekräfte), welche auf die Messzellen 23 wirken und das Messergebnis beeinträchtigen können. Erfindungsgemäss werden durch geeignete Sensoren diese zusätzlichen, auf die Messzellen 23 einwirkenden Kräfte erfasst und im Messergebnis berücksichtigt.Automatic casting machines with casting robots 1 obtain only a high efficiency when the individual movements, such as the pivoting of the ladle or the method of casting robot 1 from casting ladle 7 to casting ladle 7 or from inlet funnel 15 to inlet funnel 15 as quickly as possible. This leads to additional forces (mass forces), which act on the measuring cells 23 and can affect the measurement result. According to the invention, these additional forces acting on the measuring cells 23 are detected by suitable sensors and taken into account in the measurement result.

Claims (8)

  1. Casting robot (1), having a casting ladle (3) which is suspended on a pivoting apparatus, and having a weighing cell (23) between the pivoting apparatus and the casting ladle (3) for weighing the molten metal contained in the casting ladle (3), characterised in that the at least one weighing cell (23) is disposed on the one hand on a receiving plate (19), on which the casting ladle (3) is suspended, and on the other hand on a retaining plate (21), which is secured on the pivoting apparatus.
  2. Casting robot according to claim 1, characterised in that the load axis (A) of the at least one weighing cell (23) lies in the initial position with a horizontal casting ladle (3) about an angle (X°) inclined relative to the vertical (V), and in the case of the maximum deviation of the casting ladle (3), the axis (A) lies, after passing through the vertical (V), about an angle (Y°) inclined relative to the other side.
  3. Casting robot according to claim 2, characterised in that the initial angle (X°) is smaller than the final angle (Y°).
  4. Casting robot according to claim 3, characterised in that the initial angle (X°) is approximately 18°, and the angle (Y°) prior to complete emptying is approximately 35°.
  5. Casting robot according to one of claims 1 to 4, characterised in that three weighing cells (23) are disposed about a real or imaginary pivot axis (B), distributed between the receiving plate (19) and the retaining plate (21).
  6. Casting robot according to claim 5, characterised in that the axes (A) of all of the weighing cells (23) lie parallel to one another.
  7. Casting robot according to claim 5, characterised in that the axes (A) of the weighing cells (23) lie inclined relative to each other in each rotational position of the casting ladle (3).
  8. Casting robot according to one of claims 1 to 7, characterised in that, to calculate the casting weight, sensors are disposed for detecting speed changes of the casting ladle (3).
EP04736493A 2003-06-13 2004-06-10 Casting robot comprising a weighing cell Revoked EP1633511B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL04736493T PL1633511T3 (en) 2003-06-13 2004-06-10 Casting robot comprising a weighing cell

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH10402003 2003-06-13
PCT/CH2004/000351 WO2004110683A1 (en) 2003-06-13 2004-06-10 Casting robot comprising a weighing cell

Publications (2)

Publication Number Publication Date
EP1633511A1 EP1633511A1 (en) 2006-03-15
EP1633511B1 true EP1633511B1 (en) 2006-08-23

Family

ID=33546152

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04736493A Revoked EP1633511B1 (en) 2003-06-13 2004-06-10 Casting robot comprising a weighing cell

Country Status (7)

Country Link
US (1) US20070023160A1 (en)
EP (1) EP1633511B1 (en)
AT (1) ATE337121T1 (en)
DE (1) DE502004001290D1 (en)
ES (1) ES2271895T3 (en)
PL (1) PL1633511T3 (en)
WO (1) WO2004110683A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019102507A1 (en) * 2019-01-31 2020-08-06 Kuka Industries Gmbh & Co. Kg Casting device and method

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI466740B (en) * 2007-02-15 2015-01-01 Sintokogio Ltd Automatic pouring method and device
JP5116722B2 (en) * 2009-04-28 2013-01-09 新東工業株式会社 Ladle tilting automatic pouring method, ladle tilt control system, and storage medium storing ladle tilt control program
EP3222625B1 (en) * 2014-09-17 2019-10-23 Sumitomo Chemical Company, Limited Metal complex and light-emitting element using same

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3091303A (en) * 1958-11-17 1963-05-28 United States Pipe Foundry Weighing systems of load-cell electronic type with vibration dampening means
US4112998A (en) * 1975-10-22 1978-09-12 Fujiwa Kika Kabushiki Kaisha Pouring method and apparatus therefor
DE2706558A1 (en) * 1976-03-15 1977-09-22 Erwin Buehrer METHOD AND EQUIPMENT FOR PASTING A MOLD WITH A SELECTABLE QUANTITY OF LIQUID METAL
DE4028918A1 (en) * 1990-09-12 1992-03-19 Mueller Weingarten Maschf Pressure diecasting machine feed
JP3324928B2 (en) * 1996-04-16 2002-09-17 コムターズ株式会社 Molten casting truck
KR100369645B1 (en) * 1997-06-27 2003-01-30 후보 엔지니어링 게엠베하 A method and casting machine for controlling the motion of a casting ladle.
DE10312423A1 (en) * 2002-03-28 2003-10-30 Eugen Michalak Process for casting metal melts comprises measuring the total weight at a bearing point of a casting ladle, and moving the ladle and the measuring site at the same angle speed

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019102507A1 (en) * 2019-01-31 2020-08-06 Kuka Industries Gmbh & Co. Kg Casting device and method

Also Published As

Publication number Publication date
EP1633511A1 (en) 2006-03-15
PL1633511T3 (en) 2007-01-31
ES2271895T3 (en) 2007-04-16
ATE337121T1 (en) 2006-09-15
DE502004001290D1 (en) 2006-10-05
WO2004110683A1 (en) 2004-12-23
US20070023160A1 (en) 2007-02-01

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