EP1750872A1 - Continuous casting plant comprising at least one robot, and method for the operation of a continuous casting plant by incorporating at least one robot - Google Patents

Continuous casting plant comprising at least one robot, and method for the operation of a continuous casting plant by incorporating at least one robot

Info

Publication number
EP1750872A1
EP1750872A1 EP05739979A EP05739979A EP1750872A1 EP 1750872 A1 EP1750872 A1 EP 1750872A1 EP 05739979 A EP05739979 A EP 05739979A EP 05739979 A EP05739979 A EP 05739979A EP 1750872 A1 EP1750872 A1 EP 1750872A1
Authority
EP
European Patent Office
Prior art keywords
robot
continuous casting
assigned
continuous
roadway
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
EP05739979A
Other languages
German (de)
French (fr)
Other versions
EP1750872B1 (en
Inventor
Andreas Andretsch
Josef Kieweg
Hermann Lempradl
Karl Mörwald
Johann PÖPPL
Helmut Resch
Heinrich THÖNE
Franz Wimmer
Josef LANSCHÜTZER
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.)
Primetals Technologies Austria GmbH
Original Assignee
Voest Alpine Industrienlagenbau GmbH
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=35149149&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1750872(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Voest Alpine Industrienlagenbau GmbH filed Critical Voest Alpine Industrienlagenbau GmbH
Publication of EP1750872A1 publication Critical patent/EP1750872A1/en
Application granted granted Critical
Publication of EP1750872B1 publication Critical patent/EP1750872B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • 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
    • B22D11/14—Plants for continuous casting

Definitions

  • the invention relates to a continuous caster with at least one robot for carrying out process-controlled or automated interventions in a continuous caster and access to associated auxiliary devices.
  • the invention further relates to a method for operating a continuous casting installation with the involvement of a robot.
  • the present invention extends to all types of continuous casting plants in which molten metal is passed from a melt container, such as a ladle, via a distributor vessel into a cooled mold, where it is formed with intensive cooling to form an at least partially solidified strand of any cross section and from the continuous casting plant is continuously promoted.
  • the casting systems can be equipped with oscillating tube and plate molds, caterpillar molds, rotating casting rollers with side plates (two-roller casting systems) or molds with rotating belts.
  • the strands can have slab, thin slab, strip, billet or billet cross-sections or any other pre-profile cross-sections of any dimensions.
  • Robots are used on a continuous caster to carry out recurring work and to eliminate malfunctions in hazardous areas where the operating personnel are exposed to excessive heat from the molten metal and the cast metal strand, or slag and metal splashes.
  • Robots are already used on the open continuous casting mold for observing the melt pool surface, for removing caking on the inside of the mold walls, for pouring powder, for temperature measurement and sampling and the like.
  • robots are used to change the shade tube, change the pouring tube and to change the closing plates of the slide valve and to blow out the outlet opening on distribution vessels and ladles.
  • the use of a multi-function robot on a continuous casting mold is already known from EP-B 371 482, the robot receiving data from the measuring process on the mold on the one hand and measurement data on the mold itself, for example, being recorded by an optical detection system, for example, and a deployment plan based on this information created and processed with priority assignment.
  • This is a stationary robot, the location of which has been specially selected for use on the mold and which is therefore not suitable for carrying out any activities that occur in areas of the continuous casting plant adjacent to the continuous casting mold.
  • Robots which are also assigned to a singular working area on a continuous caster, are known from US-A 5,067,553, JP-A 5-169206, JP-A 9-109100, JP-A 7-60434 and JP-A 5 -293615 known.
  • JP-A 3-71959 discloses the use of two robots on the casting platform of a multi-strand continuous casting installation, with each robot being assigned a roadway and the robot being able to assume an operating position on this in order to replace casting pipes on a large trough distributor and at the outlet openings to carry out cleaning work on the distribution vessel and the pouring pipes.
  • a defined work area is assigned to each robot, whereby it is not possible for a robot to work in the work area of the other robot, so that if one robot fails, the other robot cannot take over this work and the operator must intervene in the continuous caster.
  • the majority of robots increase investment and operating costs without at the same time achieving better availability of the individual robot.
  • the object of the present invention is therefore to avoid these disadvantages and difficulties of the known prior art and to provide a continuous casting installation with at least one robot of the type described at the outset and a method for operating a To propose a continuous caster with the involvement of a robot, with which different interventions on a continuous caster can be carried out at different working positions that are beyond the reach of a single application position of a robot.
  • Another object of the invention is to increase the degree of utilization and the availability of the robot or robots used.
  • the continuous casting system is assigned a carriageway, that the robot is assigned a carriage and the carriage is guided displaceably on the carriageway, that at least one parking position and at least two application positions for the robot and each application position are defined on the carriageway Only accessible working areas on the continuous caster are assigned from this application position, that the distance between each application position of the robot and the assigned work area or supply area is defined within the minimum and maximum range of the robot arm and that the robot is equipped with a data transmission and data receiving device and this is connected to a central control device or a process computer of the continuous casting installation.
  • Use positions for the robot define locations of the robot along the road, from which one or more work areas on the continuous caster are within the reach of the robot gripper.
  • the use positions of the robot on the roadway are determined solely by the position of the chassis.
  • the pivoting angle of the boom of the swivel mechanism is also decisive for determining the position of the robot in addition to the position of the chassis.
  • Working areas of the robot are spatial areas or individual locations on the continuous caster, where the robot intervenes, starting from a predetermined position of use.
  • supply areas include storage bins with auxiliary devices, such as tool magazines, resource magazines and similar devices, which have defined positions for receiving and storing tools, spare parts and resources by the robot.
  • tools for the robot are stored in the auxiliary devices, such as e.g. Pliers, measuring probes, grinding heads, secondly spare parts for the continuous casting system, such as pouring pipes or slide plates, and thirdly, equipment for the ongoing operation of the continuous casting system, such as e.g. Casting powder.
  • the tool magazines and equipment magazines provided in the respective supply areas can be formed by stationary or mobile auxiliary devices, the mobile auxiliary devices, for example an equipment trolley, possibly only being brought into the supply area of a specific application position when necessary and being stored away from its supply position.
  • the parking position is defined as the position of the robot on the lane where it is when it is not performing any interventions and is waiting for a new application signal from the central control device or the process computer. If several robots are assigned to one lane, several parking positions are defined accordingly. In the case of two robots, the two parking positions are preferably arranged at opposite ends of the road.
  • the execution of process-controlled or automated interventions by the robot also includes the alternative possibility of manual intervention by the operating personnel.
  • These manual remote-controlled interventions can take place from the control room or via other portable control units.
  • the carriageway for the robot is preferably formed by a track system or by at least one track in the manner of a monorail or crane track. Appropriate control devices (position sensors, tracking systems) are used to move to predetermined positions.
  • the carriageway has branches with the integration of conventional rail switches. This means that operational positions away from a main carriageway can be defined and taken and multiple robots can be used without mutual hindrance.
  • individual sections of the carriageway are height-adjustable by means of lifting mechanisms or pivotable by pivoting mechanisms in order to change the position of the robot on the carriageway in such a way that the best possible access to the assigned work area is achieved.
  • Each robot is assigned a chassis on which it is supported or hangs, depending on the design of the road.
  • a robot swivel mechanism can be assigned to the undercarriage to enlarge its area of application, as a result of which the swivel position of the robot swivel mechanism determines at least two use positions for the robot.
  • the swivel mechanism preferably comprises a cantilever arm, on the cantilever end of which the robot is arranged.
  • the boom can be adapted to the needs of the application environment, and thus can also be designed to be height-adjustable, for example.
  • the robot is preferably fixed in its respective use positions with a locking device in order to avoid changes in position due to reaction forces from the interventions.
  • the carriageway can extend along the entire continuous caster and to different height levels and, preferably if the carriageway is designed as a track of a monorail, can also include inclines and descents.
  • the roadway is preferably limited to the casting platform and / or to the outlet area of the continuous casting installation.
  • the lanes are preferably arranged in a horizontal plane.
  • two robots are arranged on a carriageway, one robot as the primary robot intervening on the continuous casting installation and the second robot being used as the auxiliary robot in the event of priority collisions of the work to be carried out and in the event of faults in the primary robot.
  • Another division of the work to be carried out between the robots e.g. by assigning priorities to individual robots to specific positions of use or by manual remote control is quite possible, and is within the scope of the invention.
  • the invention further comprises a method for operating a continuous casting installation with the inclusion of at least one robot that can be displaced on a roadway between a parking position and at least two use positions and is characterized in that control signals are sent to the robot by a process computer or a central control device and in accordance with these control signals a selected application position is approached and automated interventions on the continuous casting system are carried out by the robot, the process signals or a central control device giving the control signals for the interventions to be carried out on the continuous casting system to the robot in the sequence of the priority of the interventions to be carried out.
  • the use of the robot is determined and managed by the process computer of the continuous caster or a central control device, the activities to be carried out being determined with regard to the quality of the product to be produced.
  • the basis for the priority assignment is an ongoing diagnosis of the casting process, thus the continuously collected measurement data and model calculations compared to the default data.
  • the robot itself also conducts state observations on the ongoing casting process at the continuous casting plant and collects measurement data. These measurement data are transmitted to the process computer or a central control device, processed by the process computer or the control device and the results of this data evaluation are converted into control signals for the robot or the continuous casting system.
  • a first robot that can be moved on the roadway receives all control signals as the primary robot (master robot) and carries out interventions on the continuous caster and another robot that can be moved on the roadway is an auxiliary robot (slave robot) preferably assigned to a parking position.
  • the primary robot and the auxiliary robot are activated and both robots are guided to the respective application positions, with the exception of mutual disability.
  • FIG. 1 shows a schematic representation of the possible uses of one or two robots on the casting platform of a continuous caster
  • FIG. 2 shows a robot swivel with two positions of the robot in an elevation
  • FIG. 3 shows the robot swivel according to FIG. 2 with two positions on the casting in a plan view
  • FIG. 4 a robot track with a vertically liftable and lowerable track section
  • FIG. 5 a robot track with a track section pivotable in a horizontal plane.
  • a pouring ladle 2 with a ladle spout 3 (shadow pipe) and a distributor vessel 4 positioned below it with an immersion pouring tube 5, which protrudes into a continuous casting mold 6, are shown with outlines.
  • a further distribution vessel 4 ′ is indicated by dash-dotted lines in a preparation position on the casting platform 1.
  • a carriageway 7 is laid on the casting platform 1 in such a way that a plurality of work areas A ⁇ A 2 , A 3 , A 4 can be operated by a single robot 8 starting from a plurality of use positions E ⁇ E 2 , E 3 along the carriageway.
  • the robot 8 is in a waiting position in the parking position P ⁇ at one end of the lane 7.
  • a further parking position P 2 which can also be used, is located at the opposite end of the lane 7.
  • the robot 8 can carry out interventions in the work areas A ⁇ (ladle) and A 4 (distributor), which relate to the ladle spout 3 and the shadow pipe, as well as the pouring area of the distributor vessel 4.
  • the activities to be carried out at intervals in these work areas include, for example, changing the shade tube, burning the pan spout, or pouring the powder into the distribution vessel.
  • the robot takes the spare parts and resources necessary for these interventions, such as a replacement shadow tube, the necessary specific casting powder in the predetermined quality and quantity, or a burner, from the assigned supply area V 1 f, where these resources are readily available at predetermined magazine locations of the auxiliary device H 1 .
  • the robot 8 can carry out interventions in the working areas A 2 (mold) and A 4 (distributor), which relate to the pouring area of the distributor vessel 4, the immersion pouring tube 5 and the opening of the continuous casting mold 6 on the inlet side.
  • the activities in these work areas include, for example, a pouring powder application in the distributor vessel, a change of the immersion pouring tube, burning the distributor outlet opening, a pouring powder application into the mold, observing the level of the bath in the mold, sampling from the mold, etc.
  • These interventions necessary equipment and spare parts, such as one to be cast on the
  • the robot takes steel quality and current casting conditions of coordinated casting powder, immersion pipes, measuring lances, etc. from the auxiliary device H 2 in the supply area V 2 .
  • the robot 8 can carry out interventions on a further distributor vessel 4 ′ in the work area A 3 (distributor change stand), whereby it draws the necessary operating resources from the auxiliary device H 3 in the supply area V 3 .
  • the parking position P 2 is available to the robot as a second parking position if only one robot is provided on the casting platform.
  • FIGS. 2 and 3 show a robot 8 in two operating positions E ⁇ and E 2 on the continuous caster.
  • the continuous caster is indicated by dashed lines through the outer contours of the ladle 2, the distributor vessel 4 and the continuous casting mold 6.
  • the path 7 of the robot is formed by two rails 9, 9 ', which are guided in a straight line at a distance above the casting platform 1 past the distributor vessel 4 and the continuous casting mold 6.
  • a robot swivel mechanism 11 is fastened to the chassis 10 with a boom 12, which can assume two positions pivoted by 90 ° relative to one another, which include the use positions E ⁇ and E 2 .
  • the robot is arranged in a hanging manner and can assume the two use positions Ei and E 2 .
  • the boom 12 In the use position E the boom 12 is shown with dash-dotted lines and in the use position E 2 with solid lines.
  • the working areas A 1 and A 2 of the robot arm 15 are illustrated by the kidney-shaped range lines 13, 14 in FIG. 2 and the circular range lines 13 ', 14' in FIG.
  • the working area Ai which is assigned to the use position Ei, all essential areas from the ladle 2 to the mold 6 can be reached by the robot 8.
  • interventions in the transition area from the distributor vessel 4 to the continuous casting mold 6 and on this itself can preferably be carried out in the working area A 2 .
  • the robot is in an edge area of the casting platform assigned a parking position Pj.
  • a supply position Vi is also provided in the immediate vicinity of this parking position, from which the robot can remove all the aids for its use. Regardless of the ongoing casting operation, manual preparation work for robot use can be carried out safely and safely in this parking position.
  • the control station 18 is located on the casting platform 1, from which the continuous casting installation is monitored and operated largely automatically by a process computer or a central control device.
  • the process computer 19 or the central control device as well as the individual robot or several robots are assigned data transmission and data reception devices 20, 21, via which all information necessary for performing the interventions, preferably on a radio link, is transmitted.
  • FIG. 4 shows a roadway section 22 of the roadway 7 that can be raised and lowered, with which the robot 8, of which only the lower base part is shown, is lifted into an engagement position E that is raised relative to the roadway plane.
  • the roadway section 22 is supported on lifting cylinders 23 and is positioned accordingly by these.
  • the position of the robot 8 in its engagement position E which in turn is determined by a robot axis of rotation in the base region, is clearly fixed in its position by a locking device 24 on the roadway section 22, and thus a fixed point essential for robot control is established.
  • FIG. 5 shows a roadway section 27 which can be pivoted about a vertical pivot axis 26 into a predetermined angular position in its starting position aligned with the roadway 7 and in a pivoted-out position which defines the engagement position E for the robot.
  • the carriageway section 27 can be moved in a horizontal plane on rails 29 designed in the form of a circular arc.
  • branches can also be used on the carriageway using conventional switches known from the railway industry.
  • the invention is not limited to the use of special types of robots. Articulated arm robots or gantry robots are particularly suitable for use on the casting platform of a continuous caster, as they are offered universally and with special adaptations by many manufacturers for a wide range of applications.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Continuous Casting (AREA)

Abstract

Disclosed is a continuous casting plant comprising at least one robot for carrying out process-controlled or automated interventions on said continuous casting plant and the associated auxiliary devices. In order to ensure optimal use of the robot, - a track (7) is assigned to the continuous casting plant, - a running gear (10) that is movably guided on the track is allocated to the robot, - at least one parked position (P1, P2) and at least two operating positions (E, E1, E2, E3) are defined for the robot on the track while working zones (A1, A2, A3, A4) which can be reached only from one operating position are assigned to each operating position on the continuous casting plant, - the distance between each operating position of the robot and the assigned working zone or supply zone (V1, V2, V3) is defined within the minimum and maximum range of the robot arm (15), and - the robot is equipped with a data transceiver device (20, 21) which is connected in a signaling manner to a central guiding apparatus or a process computer (19) of the continuous casting plant. The invention further relates to a method for operating a continuous casting plant by incorporating at least one robot which can be displaced on a track between a parked position and at least two operating positions.

Description

Stranqqießanlaαe mit mindestens einem Roboter und Verfahren zum Betrieb einer Stranqqießanlaαe unter Einbindung von mindestens einem Roboter:Stranqqießanlaαe with at least one robot and method for operating a Stranqqießanlaαe including at least one robot:
Die Erfindung betrifft eine Stranggießanlage mit mindestens einem Roboter zur Durchführung von prozessgesteuerten oder automatisierten Eingriffen an einer Stranggießanlage und Zugriffen auf zugeordnete Hilfseinrichtungen. Weiters betrifft die Erfindung ein Verfahren zum Betrieb einer Stranggießanlage unter Einbindung eines Roboters.The invention relates to a continuous caster with at least one robot for carrying out process-controlled or automated interventions in a continuous caster and access to associated auxiliary devices. The invention further relates to a method for operating a continuous casting installation with the involvement of a robot.
Die vorliegende Erfindung erstreckt sich auf alle Arten von Stranggießanlagen, bei denen Metallschmelze aus einem Schmelzenbehälter, wie beispielsweise einer Gießpfanne, über ein Verteilergefäß in eine gekühlte Kokille geleitet wird, dort unter intensiver Kühlung zu einem zumindest teilweise erstarrten Strang beliebigen Querschnittes geformt und aus der Stranggießanlage kontinuierlich ausgefördert wird. Nach der Charakteristik der eingesetzten Kokillen können die Gießanlagen mit oszillierenden Rohr- und Plattenkokillen, Raupenkokillen, rotierenden Gießwalzen mit Seitenplatten (Zweiwalzengießanlagen) oder Kokillen mit umlaufenden Bändern ausgestattet sein. Die Stränge können Brammen-, Dünnbrammen-, Band-, Vorblock- oder Knüppelquerschnitte oder andere beliebige Vorprofilquerschnitte beliebiger Abmessungen aufweisen.The present invention extends to all types of continuous casting plants in which molten metal is passed from a melt container, such as a ladle, via a distributor vessel into a cooled mold, where it is formed with intensive cooling to form an at least partially solidified strand of any cross section and from the continuous casting plant is continuously promoted. According to the characteristics of the molds used, the casting systems can be equipped with oscillating tube and plate molds, caterpillar molds, rotating casting rollers with side plates (two-roller casting systems) or molds with rotating belts. The strands can have slab, thin slab, strip, billet or billet cross-sections or any other pre-profile cross-sections of any dimensions.
Roboter werden an einer Stranggießanlage zur Durchführung von laufend wiederkehrenden Arbeiten und bei der Beseitigung von Betriebsstörungen in gefährdenden Bereichen eingesetzt, bei denen das Bedienpersonal großer Hitzeeinwirkung, ausgehend vom flüssigen Metall und dem gegossenen Metallstrang, oder Schlacken- und Metallspritzern ausgesetzt ist. Roboter werden bereits an der offenen Stranggießkokille zur Beobachtung der Schmelzenbadoberfläche, zur Beseitigung von Anbackungen an den Innenseiten der Kokillenwände, zur Gießpulveraufgabe, zur Temperaturmessung und Probenahme und ähnlichem eingesetzt. Weiters werden Roboter zum Schattenrohrwechsel, Gießrohrwechsel und zum Wechsel von Verschlussplatten des Schieberverschlusses und zum Freiblasen der Ausflussöffnung an Verteilergefäßen und Gießpfannen eingesetzt. Weiters ist es bekannt, Roboter für die Inspektion der gegossenen Stränge bzw. der abgetrennten Brammen, Vorblöcke und Knüppel und für die Fehlerbeseitigung, durch beispielsweise Flammen, im Auslaufbereich einer Stranggießanlage einzusetzen.Robots are used on a continuous caster to carry out recurring work and to eliminate malfunctions in hazardous areas where the operating personnel are exposed to excessive heat from the molten metal and the cast metal strand, or slag and metal splashes. Robots are already used on the open continuous casting mold for observing the melt pool surface, for removing caking on the inside of the mold walls, for pouring powder, for temperature measurement and sampling and the like. Furthermore, robots are used to change the shade tube, change the pouring tube and to change the closing plates of the slide valve and to blow out the outlet opening on distribution vessels and ladles. Furthermore, it is known to use robots for inspecting the cast strands or the separated slabs, To use blooms and billets and for troubleshooting, for example by flames, in the outlet area of a continuous caster.
Beispielsweise ist der Einsatz eines Mehrfunktionsroboters an einer Stranggießkokille aus der EP-B 371 482 bereits bekannt, wobei der Roboter einerseits gießprozessbedingte Daten von Messeinrichtungen an der Kokille erhält und andererseits Messdaten durch ein beispielsweise optisches Erkennungssystem selbst an der Kokille erfasst und anhand dieser Informationen einen Einsatzplan mit Prioritätszuordnung erstellt und abarbeitet. Es handelt sich hierbei um einen stationären Roboter, dessen Standort speziell für den Einsatz an der Kokille gewählt ist und der demzufolge nicht geeignet ist, in zur Stranggießkokille benachbarten Bereichen der Stranggießanlage ebenfalls anfallende Tätigkeiten auszuführen.For example, the use of a multi-function robot on a continuous casting mold is already known from EP-B 371 482, the robot receiving data from the measuring process on the mold on the one hand and measurement data on the mold itself, for example, being recorded by an optical detection system, for example, and a deployment plan based on this information created and processed with priority assignment. This is a stationary robot, the location of which has been specially selected for use on the mold and which is therefore not suitable for carrying out any activities that occur in areas of the continuous casting plant adjacent to the continuous casting mold.
Roboter, die ebenfalls einem singulären Arbeitsbereich an einer Stranggießanlage zugeordnet sind, sind aus der US-A 5,067,553, der JP-A 5-169206, der JP-A 9-109100, der JP-A 7-60434 und der JP-A 5-293615 bekannt.Robots, which are also assigned to a singular working area on a continuous caster, are known from US-A 5,067,553, JP-A 5-169206, JP-A 9-109100, JP-A 7-60434 and JP-A 5 -293615 known.
Ein umfassenderer Einsatz der Robotertechnologie auf der Gießbühne einer Stranggießanlage führte bisher zu einer Anhäufung derartiger Roboter und zu unübersichtlichen Abläufen bei beengten Platzverhältnissen. Aus der JP-A 3-71959 ist der Einsatz von zwei Robotern auf der Gießbühne einer mehrsträngigen Stranggießanlage bekannt, wobei jedem Roboter eine Fahrbahn zugeordnet ist und der Roboter auf dieser eine Einsatzposition einnehmen kann, um an einem großen Trogverteiler Gießrohre auszuwechseln und an den Auslassöffnungen des Verteilergefäßes und den Gießrohren Reinigungsarbeiten durchzuführen. Jedem Roboter ist ein abgegrenzter Arbeitsbereich zugeordnet, wobei ein Arbeiten eines Roboters im Arbeitsbereich des weiteren Roboters nicht möglich ist, sodass bei Ausfall eines Roboters der weitere Roboter diese Arbeiten nicht übernehmen kann und Eingriffe an der Stranggießanlage durch das Bedienpersonal notwendig sind. Insgesamt werden durch die Mehrzahl an Robotern die Investitions- und Betriebskosten erhöht, ohne gleichzeitig eine bessere Verfügbarkeit des einzelnen Roboters zu erreichen.A more extensive use of robot technology on the casting platform of a continuous caster has so far led to an accumulation of such robots and to confusing processes in confined spaces. JP-A 3-71959 discloses the use of two robots on the casting platform of a multi-strand continuous casting installation, with each robot being assigned a roadway and the robot being able to assume an operating position on this in order to replace casting pipes on a large trough distributor and at the outlet openings to carry out cleaning work on the distribution vessel and the pouring pipes. A defined work area is assigned to each robot, whereby it is not possible for a robot to work in the work area of the other robot, so that if one robot fails, the other robot cannot take over this work and the operator must intervene in the continuous caster. Overall, the majority of robots increase investment and operating costs without at the same time achieving better availability of the individual robot.
Aufgabe der vorliegenden Erfindung ist es daher, diese Nachteile und Schwierigkeiten des bekannten Standes der Technik zu vermeiden und eine Stranggießanlage mit mindestens einem Roboter der eingangs beschriebenen Art und ein Verfahren zum Betrieb einer Stranggießanlage unter Einbindung eines Roboters vorzuschlagen, mit dem unterschiedliche Eingriffe an einer Stranggießanlage an verschiedenen Arbeitspositionen durchgeführt werden können, die außerhalb der Reichweite einer einzigen Einsatzposition eines Roboters liegen.The object of the present invention is therefore to avoid these disadvantages and difficulties of the known prior art and to provide a continuous casting installation with at least one robot of the type described at the outset and a method for operating a To propose a continuous caster with the involvement of a robot, with which different interventions on a continuous caster can be carried out at different working positions that are beyond the reach of a single application position of a robot.
Ein weiteres Ziel der Erfindung liegt darin, den Auslastungsgrad und die Verfügbarkeit des oder der eingesetzten Roboter zu erhöhen.Another object of the invention is to increase the degree of utilization and the availability of the robot or robots used.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass der Stranggießanlage eine Fahrbahn zugeordnet ist, dass dem Roboter ein Fahrwerk zugeordnet und das Fahrwerk an der Fahrbahn verlagerbar geführt ist, dass an der Fahrbahn mindestens eine Parkposition und mindestens zwei Einsatzpositionen für den Roboter festgelegt sind und jeder Einsatzposition nur von dieser Einsatzposition aus erreichbare Arbeitsbereiche an der Stranggießanlage zugeordnet sind, dass der Abstand zwischen jeder Einsatzposition des Roboters und dem zugeordneten Arbeitsbereich oder Versorgungsbereich innerhalb der minimalen und maximalen Reichweite des Roboterarmes festgelegt ist und dass der Roboter mit einer Datenübertragungs- und Datenempfangseinrichtung ausgestattet und diese mit einer zentralen Leiteinrichtung oder einem Prozessrechner der Stranggießanlage signaltechnisch verbunden ist.This object is achieved according to the invention in that the continuous casting system is assigned a carriageway, that the robot is assigned a carriage and the carriage is guided displaceably on the carriageway, that at least one parking position and at least two application positions for the robot and each application position are defined on the carriageway Only accessible working areas on the continuous caster are assigned from this application position, that the distance between each application position of the robot and the assigned work area or supply area is defined within the minimum and maximum range of the robot arm and that the robot is equipped with a data transmission and data receiving device and this is connected to a central control device or a process computer of the continuous casting installation.
Durch die Festlegung einer Fahrbahn an der Stranggießanlage oder in Teilbereichen einer Stranggießanlage, die an einer Mehrzahl von potentiellen Arbeitsbereichen so vorbeigeführt wird, dass diese Arbeitsbereiche in der Reichweite von yorbestimmten Einsatzpositionen eines auf der Fahrbahn verfahrbaren Roboters liegen, wird die beschränkte, nur singuläre Einsatzmöglichkeit eines Roboters aufgelöst und eine wesentlich wirtschaftlichere Einsatzmöglichkeit geschaffen. Bedarfabhängig kann der Roboter von einer zentralen Leiteinrichtung oder dem Prozessrechner der Stranggießanlage an jede beliebige Einsatzposition geführt werden und die dort notwendigen Eingriffe durchführen.By defining a roadway on the continuous caster or in parts of a continuous caster, which is guided past a plurality of potential work areas so that these work areas are within the range of the predetermined use positions of a robot that can be moved on the road, the limited, only singular use of one becomes Robot resolved and created a much more economical application. Depending on requirements, the robot can be guided from a central control device or the process computer of the continuous casting machine to any position and carry out the necessary interventions there.
Einsatzpositionen für den Roboter definieren Standorte des Roboters entlang der Fahrbahn, von denen aus ein oder mehrere Arbeitsbereiche an der Stranggießanlage innerhalb der Reichweite des Robotergreifers liegen. Bei Ausführungsformen des Roboters, bei denen der Roboterständer fest oder um eine vertikale Achse drehbar auf dem Fahrwerk festliegt, sind die Einsatzpositionen des Roboters an der Fahrbahn durch die Position des Fahrwerkes allein festgelegt. Bei Ausführungsformen des Roboters, bei denen auf dem Fahrwerk ein Schwenkwerk mit einem Ausleger angeordnet ist und der eigentliche Roboter erst auf dem auskragenden Ende des Auslegers befestigt ist, ist zur Festlegung der Einsatzposition des Roboters zusätzlich zur Position des Fahrwerkes noch der Schwenkwinkel des Auslegers des Schwenkwerkes maßgebend.Use positions for the robot define locations of the robot along the road, from which one or more work areas on the continuous caster are within the reach of the robot gripper. In embodiments of the robot in which the robot stand is fixed on the chassis or rotatable about a vertical axis, the use positions of the robot on the roadway are determined solely by the position of the chassis. In embodiments of the robot, in which on the A swivel mechanism with a boom is arranged and the actual robot is only attached to the projecting end of the boom, the pivoting angle of the boom of the swivel mechanism is also decisive for determining the position of the robot in addition to the position of the chassis.
Arbeitsbereiche des Roboters sind räumliche Bereiche oder einzelne Orte an der Stranggießanlage, wo Eingriffe durch den Roboter vorgenommen werden, ausgehend von einer vorbestimmten Einsatzposition.Working areas of the robot are spatial areas or individual locations on the continuous caster, where the robot intervenes, starting from a predetermined position of use.
Versorgungsbereiche umfassen räumlich gesehen Lagerplätze mit Hilfseinrichtungen, wie Werkzeugmagazine, Betriebsmittelmagazine und ähnliche Einrichtungen, die festgelegte Positionen zur Aufnahme und Ablage von Werkzeugen, Ersatzteilen und Betriebsmitteln durch den Roboter aufweisen. In den Hilfseinrichtungen lagern erstens Werkzeuge für den Roboter, die für die Durchführung der Eingriffe benötigt werden, wie z.B. Zangen, Messsonden, Schleifköpfe, zweitens Ersatzteile für die Stranggießanlage, wie Gießrohre oder Schieberplatten, und drittens Betriebsmittel für den laufenden Betrieb der Stranggießanlage, wie z.B. Gießpulver. Die in den jeweiligen Versorgungsbereichen vorgesehenen Werkzeugmagazine und Betriebsmittelmagazine können von stationären oder fahrbaren Hilfseinrichtungen gebildet sein, wobei die fahrbaren Hilfseinrichtungen, beispielsweise ein Betriebsmittelwagen, gegebenenfalls erst im Bedarfsfall in den Versorgungsbereich einer bestimmten Einsatzposition herangebracht wird und abseits seiner Versorgungsposition aufmagaziniert wird.From a spatial point of view, supply areas include storage bins with auxiliary devices, such as tool magazines, resource magazines and similar devices, which have defined positions for receiving and storing tools, spare parts and resources by the robot. Firstly, tools for the robot are stored in the auxiliary devices, such as e.g. Pliers, measuring probes, grinding heads, secondly spare parts for the continuous casting system, such as pouring pipes or slide plates, and thirdly, equipment for the ongoing operation of the continuous casting system, such as e.g. Casting powder. The tool magazines and equipment magazines provided in the respective supply areas can be formed by stationary or mobile auxiliary devices, the mobile auxiliary devices, for example an equipment trolley, possibly only being brought into the supply area of a specific application position when necessary and being stored away from its supply position.
Als Parkposition ist die Position des Roboters an der Fahrbahn festgelegt, an der er sich aufhält, wenn er keine Eingriffe durchführt und auf ein neues Einsatzsignal der zentralen Leiteinrichtung oder des Prozessrechners wartet. Bei Zuordnung mehrerer Roboter zu einer Fahrbahn sind dementsprechend mehrere Parkpositionen festgelegt. Bei zwei Robotern sind die beiden Parkpositionen vorzugsweise an gegenüber liegenden Enden der Fahrbahn angeordnet.The parking position is defined as the position of the robot on the lane where it is when it is not performing any interventions and is waiting for a new application signal from the central control device or the process computer. If several robots are assigned to one lane, several parking positions are defined accordingly. In the case of two robots, the two parking positions are preferably arranged at opposite ends of the road.
Die Durchführung von prozeßgesteuerten oder automatisierten Eingriffen durch den Roboter umfasst auch die hilfsweise Möglichkeit eines von Hand ferngesteuerten Eingriffes durch das Bedienpersonal. Diese handferngesteuerten Eingriffe können von der Steuerwarte oder über sonstige tragbare Steuergeräte erfolgen. Die Fahrbahn für den Roboter ist vorzugsweise von einer Gleisanlage oder von mindestens einer Fahrschiene nach Art einer Schienenhängebahn oder Kranbahn gebildet. Das Anfahren vorbestimmter Einsatzpositionen wird durch entsprechende steuerungstechnische Einrichtungen (Positionsgeber, Wegverfolgungssysteme) erreicht.The execution of process-controlled or automated interventions by the robot also includes the alternative possibility of manual intervention by the operating personnel. These manual remote-controlled interventions can take place from the control room or via other portable control units. The carriageway for the robot is preferably formed by a track system or by at least one track in the manner of a monorail or crane track. Appropriate control devices (position sensors, tracking systems) are used to move to predetermined positions.
Um eine Vielzahl von Arbeitsbereichen an der Stranggießanlage bedienen zu können, ist es zweckmäßig, wenn die Fahrbahn Verzweigungen unter Einbindung üblicher Schienenweichen aufweist. Somit können Einsatzpositionen abseits einer Hauptfahrbahn festgelegt und eingenommen werden und der Einsatz mehrerer Roboter erfolgt ohne gegenseitige Behinderung.In order to be able to serve a large number of work areas on the continuous caster, it is expedient if the carriageway has branches with the integration of conventional rail switches. This means that operational positions away from a main carriageway can be defined and taken and multiple robots can be used without mutual hindrance.
Alternativ sind einzelne Abschnitte der Fahrbahn durch Hubwerke höhenverstellbar oder durch Schwenkwerke schwenkbar ausgebildet, um die Einsatzposition des Roboters an der Fahrbahn so zu verändern, dass ein bestmöglicher Zugriff auf den zugeordneten Arbeitsbereich erreicht wird.Alternatively, individual sections of the carriageway are height-adjustable by means of lifting mechanisms or pivotable by pivoting mechanisms in order to change the position of the robot on the carriageway in such a way that the best possible access to the assigned work area is achieved.
Jedem Roboter ist ein Fahrwerk zugeordnet, an dem er je nach Ausbildung der Fahrbahn abstützt ist oder hängt. Zur Vergrößerung seines Einsatzbereiches kann dem Fahrwerk ein Roboterschwenkwerk zugeordnet sein, wodurch mit der Schwenkposition des Roboterschwenkwerkes mindestens zwei Einsatzpositionen für den Roboter festgelegt werden. Das Schwenkwerk umfasst vorzugsweise einen auskragenden Ausleger, an dessen auskragendem Ende der Roboter angeordnet ist. Der Ausleger kann an Bedürfnisse der Einsatzumgebung angepasst, somit beispielsweise auch höhenverstellbar ausgeführt sein.Each robot is assigned a chassis on which it is supported or hangs, depending on the design of the road. A robot swivel mechanism can be assigned to the undercarriage to enlarge its area of application, as a result of which the swivel position of the robot swivel mechanism determines at least two use positions for the robot. The swivel mechanism preferably comprises a cantilever arm, on the cantilever end of which the robot is arranged. The boom can be adapted to the needs of the application environment, and thus can also be designed to be height-adjustable, for example.
Vorzugsweise ist der Roboter in seinen jeweiligen Einsatzpositionen mit einer Arretiervorrichtung fixiert, um Positionsänderungen durch Reaktionskräfte aus den Eingriffen zu vermeiden.The robot is preferably fixed in its respective use positions with a locking device in order to avoid changes in position due to reaction forces from the interventions.
Um Eingriffe an der Stranggießanlage möglichst schnell und effizient durchführen zu können, ist es zweckmäßig, wenn jeder Einsatzposition des Roboters an der Fahrbahn mindestens ein Arbeitsbereich an der Stranggießanlage und ein Versorgungsbereich an einer Hilfseinrichtung, wie z.B. ein Werkzeugmagazin oder ein Betriebsmittelmagazin, zugeordnet ist. Damit stehen für den Roboter in Reichweite seines Roboterarmes alle für die Durchführung eines Eingriffes notwendigen Hilfsmittel zur Verfügung, ohne zusätzliche Manipulationsfahrten für den Werkzeugwechsel oder den Ersatzteiltransport vornehmen zu müssen.In order to be able to carry out interventions on the continuous caster as quickly and efficiently as possible, it is expedient if at least one working area on the continuous caster and one supply area on an auxiliary device, such as a tool magazine or a resource magazine, is assigned to each application position of the robot on the road. This means that all the aids necessary for performing an intervention are available to the robot within the reach of its robot arm, without additional ones Manipulation trips for changing tools or transporting spare parts.
Die Fahrbahn kann sich entlang der ganzen Stranggießanlage und auf unterschiedliche Höhenniveaus erstrecken und, vorzugsweise bei Ausbildung der Fahrbahn als Fahrschiene einer Hängebahn, auch Steigungen und Gefälle umfassen. Bevorzugt ist die Fahrbahn auf die Gießbühne und/oder auf den Auslaufbereich der Stranggießanlage beschränkt. Hier sind die Fahrbahnen vorzugsweise in einer Horizontalebene angeordnet.The carriageway can extend along the entire continuous caster and to different height levels and, preferably if the carriageway is designed as a track of a monorail, can also include inclines and descents. The roadway is preferably limited to the casting platform and / or to the outlet area of the continuous casting installation. Here the lanes are preferably arranged in a horizontal plane.
Nach einer bevorzugten Ausgestaltung sind zwei Roboter auf einer Fahrbahn angeordnet, wobei vorzugsweise ein Roboter als Primärroboter die Eingriffe an der Stranggießanlage vornimmt und der zweite Roboter als Hilfsroboter bei Prioritätskollisionen der durchzuführenden Arbeiten und bei Störungen des Primärroboters zum Einsatz kommt. Auch eine andere Aufteilung der durchzuführenden Arbeiten zwischen den Robotern, z.B. durch Prioritätszuordnung einzelner Roboter zu bestimmten Einsatzpositionen oder eine Zuordnung durch Handfernsteuerung ist durchaus möglich, und liegt im Schutzumfang der Erfindung.According to a preferred embodiment, two robots are arranged on a carriageway, one robot as the primary robot intervening on the continuous casting installation and the second robot being used as the auxiliary robot in the event of priority collisions of the work to be carried out and in the event of faults in the primary robot. Another division of the work to be carried out between the robots, e.g. by assigning priorities to individual robots to specific positions of use or by manual remote control is quite possible, and is within the scope of the invention.
Die Erfindung umfasst weiters ein Verfahren zum Betrieb einer Stranggießanlage unter Einbindung von mindestens einem auf einer Fahrbahn zwischen einer Parkposition und mindestens zwei Einsatzpositionen verlagerbaren Roboter und ist dadurch gekennzeichnet, dass von einem Prozessrechner oder einer zentralen Leiteinrichtung Steuersignale an den Roboter gegeben werden und entsprechend diesen Steuersignalen eine ausgewählte Einsatzposition angefahren wird und durch den Roboter automatisierte Eingriffe an der Stranggießanlage vorgenommen werden, wobei von dem Prozessrechner oder einer zentralen Leiteinrichtung die Steuersignale für die durchzuführenden Eingriffe an der Stranggießanlage an den Roboter in der Abfolge der Priorität der durchzuführenden Eingriffe gegeben werden.The invention further comprises a method for operating a continuous casting installation with the inclusion of at least one robot that can be displaced on a roadway between a parking position and at least two use positions and is characterized in that control signals are sent to the robot by a process computer or a central control device and in accordance with these control signals a selected application position is approached and automated interventions on the continuous casting system are carried out by the robot, the process signals or a central control device giving the control signals for the interventions to be carried out on the continuous casting system to the robot in the sequence of the priority of the interventions to be carried out.
Vom Prozessrechner der Stranggießanlage oder einer zentralen Leiteinrichtung wird der Einsatz des Roboters festgelegt und geleitet, wobei die durchzuführenden Tätigkeiten in Hinblick auf die Qualität des zu erzeugenden Produktes bestimmt wird. Die Grundlage für die Prioritätszuerkennung bildet eine laufende Diagnose des Gießprozesses, somit die laufend erhobenen Messdaten und Modellrechnungen in Vergleich zu Vorgabedaten. Auch vom Roboter selbst werden an der Stranggießanlage Zustandsbeobachtungen am laufenden Gießprozess durchgeführt und Messdaten erhoben. Diese Messdaten werden an den Prozessrechner oder eine zentrale Leiteinrichtung übermittelt, vom Prozessrechner oder der Leiteinrichtung verarbeitet und Ergebnisse dieser Datenauswertung in Steuersignale für den Roboter oder die Stranggießanlage umgesetzt.The use of the robot is determined and managed by the process computer of the continuous caster or a central control device, the activities to be carried out being determined with regard to the quality of the product to be produced. The basis for the priority assignment is an ongoing diagnosis of the casting process, thus the continuously collected measurement data and model calculations compared to the default data. The robot itself also conducts state observations on the ongoing casting process at the continuous casting plant and collects measurement data. These measurement data are transmitted to the process computer or a central control device, processed by the process computer or the control device and the results of this data evaluation are converted into control signals for the robot or the continuous casting system.
Beim Einsatz von mindestens zwei auf einer Fahrbahn verfahrbaren Robotern empfängt ein erster auf der Fahrbahn verfahrbarer Roboter als Primärroboter (master-roboter) alle Steuersignale und führt Eingriffe an der Stranggießanlage durch und ein weiterer auf der Fahrbahn verfahrbarer Roboter ist als Hilfsroboter (slave-roboter) vorzugsweise einer Parkposition zugeordnet.When using at least two robots that can be moved on a roadway, a first robot that can be moved on the roadway receives all control signals as the primary robot (master robot) and carries out interventions on the continuous caster and another robot that can be moved on the roadway is an auxiliary robot (slave robot) preferably assigned to a parking position.
Bei einer Prioritätskollision von Steuersignalen werden der Primärroboter und der Hilfsroboter aktiviert und beide Roboter unter Ausschließung wechselseitiger Behinderung zu den jeweiligen Einsatzpositionen geleitet.In the event of a priority collision of control signals, the primary robot and the auxiliary robot are activated and both robots are guided to the respective application positions, with the exception of mutual disability.
Weitere Vorteile und Merkmale der vorliegenden Erfindung ergeben sich aus der nachfolgenden Beschreibung nicht einschränkender Ausführungsbeispiele, wobei auf die beiliegenden Figuren Bezug genommen wird die folgendes zeigen:Further advantages and features of the present invention result from the following description of non-limiting exemplary embodiments, reference being made to the attached figures, which show the following:
Fig. 1 eine schematische Darstellung der Einsatzmöglichkeiten von einem oder von zwei Robotern auf der Gießbühne einer Stranggießanlage, Fig. 2 ein Roboterschwenkwerk mit zwei Einsatzpositionen des Roboters in einem Aufriss, Fig. 3 das Roboterschwenkwerk gemäß Fig. 2 mit zwei Einsatzpositionen auf der Gießbühne in einer Draufsicht, Fig. 4 eine Roboterfahrbahn mit einem vertikal heb- und senkbaren Fahrbahnabschnitt, Fig. 5 eine Roboterfahrbahn mit einem in einer Horizontalebene schwenkbaren Fahrbahnabschnitt.1 shows a schematic representation of the possible uses of one or two robots on the casting platform of a continuous caster, FIG. 2 shows a robot swivel with two positions of the robot in an elevation, FIG. 3 shows the robot swivel according to FIG. 2 with two positions on the casting in a plan view, FIG. 4 a robot track with a vertically liftable and lowerable track section, FIG. 5 a robot track with a track section pivotable in a horizontal plane.
Auf der Gießbühne 1 einer Stranggießanlage, deren Layout in keiner Weise beschränkt ist, sind mit Umrisslinien eine Gießpfanne 2 mit einem Pfannenausguss 3 (Schattenrohr) und ein darunter positioniertes Verteilergefäß 4 mit einem Tauchgießrohr 5, welches in eine Stranggießkokille 6 ragt, dargestellt. Mit strichpunktierten Linien ist ein weiteres Verteilergefäß 4' in einer Bereitstellungsposition auf der Gießbühne 1 angedeutet. Auf dieser Gießbühne ergeben sich vielfältige Möglichkeiten, prozessgesteuerte und automatisierte Eingriffe an der Stranggießanlage durch einen Roboter durchführen zu lassen, für die entweder der Einsatz mehrerer stationär positionierter Roboter oder zumindest ein mobiler Roboter notwendig sind. Eine Fahrbahn 7 ist auf der Gießbühne 1 so verlegt, dass eine Vielzahl von Arbeitsbereichen A^ A2, A3, A4 ausgehend von mehreren Einsatzpositionen E^ E2, E3 entlang der Fahrbahn von einem einzelnen Roboter 8 bedient werden können. Der Roboter 8 befindet sich in einer Wartestellung in der Parkposition P^ an einem Ende der Fahrbahn 7. Eine weitere Parkposition P2 , die ebenfalls genützt werden kann, befindet sich am gegenüberliegenden Ende der Fahrbahn 7. Versorgungsbereiche i, V2, V3 sind bei Hilfseinrichtungen H1 ? H2, H3 auf der Gießbühne vorbereitet, die den Einsatzpositionen Ei, E2 und E3 zugeordnet und in Reichweite des Roboterarmes 15 angelegt sind. Wenn es die Platzverhältnisse auf der Gießbühne nicht zulassen, können einzelne Versorgungsbereiche auch außerhalb der Reichweite von Einsatzpositionen des Roboters angelegt werden. Die Einsatzzeit des Roboters für die Abwicklung eines Eingriffes verlängert sich dann allerdings um die Zeitspanne notwendiger Versorgungsfahrten.On the casting platform 1 of a continuous caster, the layout of which is in no way restricted, a pouring ladle 2 with a ladle spout 3 (shadow pipe) and a distributor vessel 4 positioned below it with an immersion pouring tube 5, which protrudes into a continuous casting mold 6, are shown with outlines. A further distribution vessel 4 ′ is indicated by dash-dotted lines in a preparation position on the casting platform 1. On this casting platform, there are various possibilities for a robot to carry out process-controlled and automated interventions on the continuous caster, for which either the use of several stationary robots or at least one mobile robot is necessary. A carriageway 7 is laid on the casting platform 1 in such a way that a plurality of work areas A ^ A 2 , A 3 , A 4 can be operated by a single robot 8 starting from a plurality of use positions E ^ E 2 , E 3 along the carriageway. The robot 8 is in a waiting position in the parking position P ^ at one end of the lane 7. A further parking position P 2 , which can also be used, is located at the opposite end of the lane 7. Supply areas i, V 2 , V 3 for auxiliary facilities H 1? H 2 , H 3 prepared on the casting platform, which are assigned to the use positions Ei, E 2 and E 3 and are placed within the reach of the robot arm 15. If there is not enough space on the casting platform, individual supply areas can also be created outside the reach of the robot's operating positions. The operating time of the robot for the handling of an intervention is then extended by the time required for supply trips.
Von der Einsatzposition Ei aus kann der Roboter 8 Eingriffe in den Arbeitsbereichen A^ (Gießpfanne) und A4 (Verteiler) durchführen, die den Pfannenausguss 3 und das Schattenrohr, sowie den Eingießbereich des Verteilergefäßes 4 betreffen. Unter die in Zeitabständen durchzuführenden Tätigkeiten in diesen Arbeitsbereichen fallen beispielsweise ein Schattenrohrwechsel, ein Freibrennen des Pfannenausgusses oder die Gießpulveraufgabe in das Verteilergefäß. Die für diese Eingriffe notwendigen Ersatzteile und Betriebsmittel, wie beispielsweise ein Ersatzschattenrohr, das notwendige spezifische Gießpulver in der vorbestimmten Qualität und Menge oder einen Brenner entnimmt der Roboter dem zugeordneten Versorgungsbereich V1 f wo an vorbestimmten Magazinplätzen der Hilfseinrichtung H1 diese Betriebsmittel zugriffsbereit vorrätig sind.From the use position Ei, the robot 8 can carry out interventions in the work areas A ^ (ladle) and A 4 (distributor), which relate to the ladle spout 3 and the shadow pipe, as well as the pouring area of the distributor vessel 4. The activities to be carried out at intervals in these work areas include, for example, changing the shade tube, burning the pan spout, or pouring the powder into the distribution vessel. The robot takes the spare parts and resources necessary for these interventions, such as a replacement shadow tube, the necessary specific casting powder in the predetermined quality and quantity, or a burner, from the assigned supply area V 1 f, where these resources are readily available at predetermined magazine locations of the auxiliary device H 1 .
Ausgehend von der Einsatzposition E2 kann der Roboter 8 Eingriffe in die Arbeitsbereiche A2 (Kokille) und A4 (Verteiler) durchführen, die den Ausgießbereich des Verteilergefäßes 4, das Tauchgießrohr 5 und die eingangsseitige Öffnung der Stranggießkokille 6 betreffen. Unter die Tätigkeiten in diesen Arbeitsbereichen fallen beispielsweise eine Gießpulveraufgabe im Verteilergefäß, ein Wechsel des Tauchgießrohres, das Freibrennen der Verteileraustrittsöffnung, eine Gießpulveraufgabe in die Kokille, die Beobachtung des Badspiegels in der Kokille, eine Probenahme aus der Kokille, etc.. Die für diese Eingriffe notwendigen Betriebsmittel und Ersatzteile, wie beispielsweise ein auf die zu vergießende Stahlqualität und momentane Gießbedingungen abgestimmtes Gießpulver, Tauchgießrohre, Messlanzen, etc., entnimmt der Roboter der Hilfseinrichtung H2 im Versorgungsbereich V2.Starting from the use position E 2 , the robot 8 can carry out interventions in the working areas A 2 (mold) and A 4 (distributor), which relate to the pouring area of the distributor vessel 4, the immersion pouring tube 5 and the opening of the continuous casting mold 6 on the inlet side. The activities in these work areas include, for example, a pouring powder application in the distributor vessel, a change of the immersion pouring tube, burning the distributor outlet opening, a pouring powder application into the mold, observing the level of the bath in the mold, sampling from the mold, etc.These interventions necessary equipment and spare parts, such as one to be cast on the The robot takes steel quality and current casting conditions of coordinated casting powder, immersion pipes, measuring lances, etc. from the auxiliary device H 2 in the supply area V 2 .
Ausgehend von der Einsatzposition E3 kann der Roboter 8 Eingriffe an einem weiteren Verteilergefäß 4' im Arbeitsbereich A3 (Verteilerwechselstand) vornehmen, wobei er benötigten Betriebsmittel der Hilfseinrichtung H3 im Versorgungsbereich V3 entnimmt.Starting from the application position E 3 , the robot 8 can carry out interventions on a further distributor vessel 4 ′ in the work area A 3 (distributor change stand), whereby it draws the necessary operating resources from the auxiliary device H 3 in the supply area V 3 .
Die Parkposition P2 steht dem Roboter als zweite Parkposition zur Verfügung, wenn nur ein Roboter auf der Gießbühne vorgesehen ist. Alternativ kann auf der Parkposition P2 auch ein weiterer Roboter 8' auf Arbeitseinsätze warten, wodurch sich ein wesentlich effizienterer Einsatzplan verwirklichen lässt. Sind beispielsweise sowohl im Arbeitsbereich A^ als auch im Arbeitsbereich A2 Eingriffe mit gleich hoher Priorität durchzuführen, die beide keinen Aufschub zulassen, so wird das Leitsystem oder der Prozessrechner den Roboter 8 von seiner Parkposition P auf die Einsatzposition E^ und den Roboter 8' von seiner Parkposition P2 auf die ihm zugeordnete Einsatzposition E2 leiten.The parking position P 2 is available to the robot as a second parking position if only one robot is provided on the casting platform. Alternatively, a further robot 8 'can also wait for work assignments in the parking position P 2, as a result of which a considerably more efficient deployment plan can be implemented. If, for example, interventions with the same high priority are to be carried out both in the work area A ^ and in the work area A 2 , both of which do not allow a delay, the control system or the process computer will move the robot 8 from its parking position P to the use position E ^ and the robot 8 ' from its parking position P 2 to the assigned operating position E 2 .
Die Fig. 2 und 3 zeigen einen Roboter 8 in zwei Einsatzposition E^ und E2 an der Stranggießanlage. Die Stranggießanlage ist mit strichlierten Linien durch die Außenkonturen der Gießpfanne 2, des Verteilergefäßes 4 und der Stranggießkokille 6 angedeutet. Die Fahrbahn 7 des Roboters wird von zwei Fahrschienen 9, 9' gebildet, die im Abstand oberhalb der Gießbühne 1 am Verteilergefäß 4 und der Stranggießkokille 6 geradlinig vorbeigeführt sind. Am Fahrwerk 10 ist ein Roboterschwenkwerk 11 mit einem Ausleger 12 befestigt, der zwei zueinander um 90° verschwenkte Positionen, die die Einsatzpositionen E^ und E2 umfassen, einnehmen kann. Am auskragenden Ende des Auslegers 12 ist der Roboter hängend angeordnet und kann die beiden Einsatzpositionen Ei und E2 einnehmen. In der Einsatzposition E ist der Ausleger 12 mit strichpunktierten Linien und in der Einsatzposition E2 mit durchgehenden Linien dargestellt. Durch die nierenförmigen Reichweitelinien 13, 14 in Fig. 2 und die kreisförmigen Reichweitelinien 13', 14' in Fig. 3 werden die Arbeitsbereiche A^ und A2 des Roboterarms 15 veranschaulicht. Innerhalb des Arbeitsbereiches Ai, der der Einsatzposition Ei zugeordnet ist, können alle wesentlichen Bereiche von der Gießpfanne 2 bis zur Kokille 6 durch den Roboter 8 erreicht werden. Von der zweiten Einsatzposition E2 können im Arbeitsbereich A2 bevorzugt Eingriffe im Übergangsbereich vom Verteilergefäß 4 bis zur Stranggießkokille 6 und an dieser selbst vorgenommen werden. Dem Roboter ist in einem Randbereich der Gießbühne eine Parkposition Pj zugeordnet. Im unmittelbaren Nahbereich dieser Parkposition ist auch eine Versorgungsposition Vi vorgesehen, aus der der Roboter alle Hilfsmittel für seinen Einsatz entnehmen kann. Unabhängig vom laufenden Gießbetrieb können in dieser Parkposition manuelle Vorbereitungsarbeiten für den Robotereinsatz ungestört und sicher vorgenommen werden.2 and 3 show a robot 8 in two operating positions E ^ and E 2 on the continuous caster. The continuous caster is indicated by dashed lines through the outer contours of the ladle 2, the distributor vessel 4 and the continuous casting mold 6. The path 7 of the robot is formed by two rails 9, 9 ', which are guided in a straight line at a distance above the casting platform 1 past the distributor vessel 4 and the continuous casting mold 6. A robot swivel mechanism 11 is fastened to the chassis 10 with a boom 12, which can assume two positions pivoted by 90 ° relative to one another, which include the use positions E ^ and E 2 . At the cantilevered end of the boom 12, the robot is arranged in a hanging manner and can assume the two use positions Ei and E 2 . In the use position E the boom 12 is shown with dash-dotted lines and in the use position E 2 with solid lines. The working areas A 1 and A 2 of the robot arm 15 are illustrated by the kidney-shaped range lines 13, 14 in FIG. 2 and the circular range lines 13 ', 14' in FIG. Within the working area Ai, which is assigned to the use position Ei, all essential areas from the ladle 2 to the mold 6 can be reached by the robot 8. From the second use position E 2 , interventions in the transition area from the distributor vessel 4 to the continuous casting mold 6 and on this itself can preferably be carried out in the working area A 2 . The robot is in an edge area of the casting platform assigned a parking position Pj. A supply position Vi is also provided in the immediate vicinity of this parking position, from which the robot can remove all the aids for its use. Regardless of the ongoing casting operation, manual preparation work for robot use can be carried out safely and safely in this parking position.
Auf der Gießbühne 1 befindet sich der Steuerstand 18, von dem aus die Stranggießanlage überwacht und von einem Prozessrechner oder einer zentralen Leiteinrichtung weitgehend automatisiert betrieben wird. Dem Prozessrechner 19 bzw. der zentralen Leiteinrichtung sowie dem einzelnen Roboter oder mehreren Robotern sind Datenübertragungs- und Datenempfangseinrichtungen 20, 21 zugeordnet, über die alle für die Durchführung der Eingriffe notwendigen Informationen, vorzugsweise auf einer Funkstrecke, übertragen werden.The control station 18 is located on the casting platform 1, from which the continuous casting installation is monitored and operated largely automatically by a process computer or a central control device. The process computer 19 or the central control device as well as the individual robot or several robots are assigned data transmission and data reception devices 20, 21, via which all information necessary for performing the interventions, preferably on a radio link, is transmitted.
Um den Roboter in günstige Einsatzpositionen zu bringen, sind verschiedene spezielle Ausbildungen der Fahrbahn möglich. Fig. 4 zeigt einen heb- und senkbaren Fahrbahnabschnitt 22 der Fahrbahn 7, mit dem der Roboter 8, von dem nur der untere Sockelteil dargestellt ist, in eine gegenüber der Fahrbahnebene angehobene Eingriffsposition E gehoben wird. Der Fahrbahnabschnitt 22 ist auf Hubzylindern 23 abgestützt, und wird durch diese entsprechend positioniert. Der Roboter 8 ist in seiner Eingriffsposition E, die ihrerseits durch eine Roboterdrehachse im Sockelbereich bestimmt ist, durch eine Arretiervorrichtung 24 auf dem Fahrbahnabschnitt 22 in seiner Lage eindeutig fixiert und damit ein für die Robotersteuerung wesentlicher Festpunkt festgelegt.Various special designs of the roadway are possible to bring the robot into favorable operating positions. 4 shows a roadway section 22 of the roadway 7 that can be raised and lowered, with which the robot 8, of which only the lower base part is shown, is lifted into an engagement position E that is raised relative to the roadway plane. The roadway section 22 is supported on lifting cylinders 23 and is positioned accordingly by these. The position of the robot 8 in its engagement position E, which in turn is determined by a robot axis of rotation in the base region, is clearly fixed in its position by a locking device 24 on the roadway section 22, and thus a fixed point essential for robot control is established.
Fig. 5 zeigt einen um eine vertikale Schwenkachse 26 in eine vorbestimmte Winkellage verschwenkbaren Fahrbahnabschnitt 27 in seiner mit der Fahrbahn 7 fluchtenden Ausgangsposition und in einer ausgeschwenkten Position, die für den Roboter die Eingriffsposition E festlegt. Der Fahrbahnabschnitt 27 ist auf kreisbogenförmig angelegten Schienen 29 in einer Horizontalebene verfahrbar.5 shows a roadway section 27 which can be pivoted about a vertical pivot axis 26 into a predetermined angular position in its starting position aligned with the roadway 7 and in a pivoted-out position which defines the engagement position E for the robot. The carriageway section 27 can be moved in a horizontal plane on rails 29 designed in the form of a circular arc.
Zusätzlich können auch Abzweigungen an der Fahrbahn unter Verwendung von üblichen, aus dem Eisenbahnwesen bekannten Weichen eingesetzt werden. Es können Steigstrecken und Gefälleabschnitte an der Fahrbahn vorgesehen sein, wobei zur Überwindung von Steigungen und Gefällen beispielsweise Zahnstangengetriebe verwendet werden. Die Erfindung ist nicht auf den Einsatz besonderer Robotertypen beschränkt. Für den Einsatz auf der Gießbühne einer Stranggießanlage sind Knickarmroboter oder Portalroboter besonders geeignet, wie sie von vielen Herstellern für verschiedensten Einsatzmöglichkeiten universell und mit besonderen Adaptionen angeboten werden. In addition, branches can also be used on the carriageway using conventional switches known from the railway industry. There may be ascending and descending sections on the carriageway, rack and pinion gears being used, for example, to overcome inclines and descents. The invention is not limited to the use of special types of robots. Articulated arm robots or gantry robots are particularly suitable for use on the casting platform of a continuous caster, as they are offered universally and with special adaptations by many manufacturers for a wide range of applications.

Claims

Patentansprüche: claims:
1. Stranggießanlage mit mindestens einem Roboter (8) zur Durchführung von prozessgesteuerten oder automatisierten Eingriffen an der Stranggießanlage und Zugriffen auf zugeordnete Hilfseinrichtungen, dadurch gekennzeichnet, dass - der Stranggießanlage eine Fahrbahn (7) zugeordnet ist, - dem Roboter ein Fahrwerk (10) zugeordnet ist und das Fahrwerk an der Fahrbahn verlagerbar geführt ist, - an der Fahrbahn mindestens eine Parkposition (P1 t P2) und mindestens zwei Einsatzpositionen (E, E1 ( E , E3) für den Roboter festgelegt sind und jeder Einsatzposition nur von dieser Einsatzposition aus erreichbare Arbeitsbereiche (Ai, A2, A3, A4) an der Stranggießanlage zugeordnet sind, - der Abstand zwischen jeder Einsatzposition des Roboters und dem zugeordneten Arbeitsbereich oder Versorgungsbereich (V1 t V2, V3) innerhalb der minimalen und maximalen Reichweite des Roboterarmes (15) festgelegt ist und - der Roboter mit einer Datenübertragungs- und Datenempfangseinrichtung (20, 21 ) ausgestattet und diese mit einer zentralen Leiteinrichtung oder einem Prozessrechner (19) der Stranggießanlage signaltechnisch verbunden ist.1. Continuous casting installation with at least one robot (8) for carrying out process-controlled or automated interventions on the continuous casting installation and accessing associated auxiliary devices, characterized in that - the continuous casting installation is assigned a roadway (7), - the robot is assigned a running gear (10) and the running gear on the road is displaceable, - at least one parking position (P 1 t P 2 ) and at least two operating positions (E, E 1 ( E, E 3 )) are defined for the robot on the road and each operating position only from this working position from accessible working areas (Ai, A 2 , A 3 , A 4 ) are assigned to the continuous casting machine, - the distance between each operating position of the robot and the assigned working area or supply area (V 1 t V 2 , V 3 ) within the minimum and maximum range of the robot arm (15) is fixed and - the robot with a data transmission and data receiving device (20, 21) and this is signal-connected to a central control device or a process computer (19) of the continuous caster.
2. Stranggießanlage nach Anspruch 1 , dadurch gekennzeichnet, dass die Fahrbahn (7) von einer Gleisanlage gebildet ist.2. Continuous caster according to claim 1, characterized in that the carriageway (7) is formed by a track system.
3. Stranggießanlage nach Anspruch 1 , dadurch gekennzeichnet, dass die Fahrbahn von mindestens einer Fahrschiene (9, 9') einer Schienenhängebahn gebildet ist.3. Continuous caster according to claim 1, characterized in that the carriageway is formed by at least one rail (9, 9 ') of a monorail.
4. Stranggießanlage nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Fahrbahn Abzweigungen (Weichen) aufweist.4. Continuous caster according to one of the preceding claims, characterized in that the carriageway has branches (switches).
5. Stranggießanlage nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass ein Fahrbahnabschnitt (22, 27) höhenverstellbar oder schwenkbar ausgebildet ist. 5. Continuous caster according to one of the preceding claims, characterized in that a roadway section (22, 27) is height-adjustable or pivotable.
6. Stranggießanlage nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass dem Fahrwerk (10) ein Roboterschwenkwerk (11 ) zugeordnet ist und mit der Schwenkposition des Roboterschwenkwerkes mindestens zwei Einsatzpositionen (E^ E2l) für den Roboter festlegbar sind, wobei das Schwenkwerk vorzugsweise einen Ausleger (12) umfasst, an dessen auskragendem Ende der Roboter (8) angeordnet ist.6. Continuous casting plant according to one of the preceding claims, characterized in that the chassis (10) is assigned a robot swivel mechanism (11) and with the swivel position of the robot swivel mechanism, at least two use positions (E ^ E 2l ) can be determined for the robot, the swivel mechanism preferably comprises a boom (12), at the projecting end of which the robot (8) is arranged.
7. Stranggießanlage nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass der Roboter mit einer Arretiervorrichtung (24) in seiner Einsatzposition (E) fixiert ist.7. Continuous casting installation according to one of the preceding claims, characterized in that the robot is fixed in its use position (E) with a locking device (24).
8. Stranggießanlage nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass jeder Einsatzposition (E, E^ E2, E3) des Roboters an der Fahrbahn mindestens ein Arbeitsbereich (A^ A2, A3, A4) an der Stranggießanlage und ein Versorgungsbereich (V^ V2, V3) an einer Hilfseinrichtung (H^ H2, H3) (Werkzeugmagazin, Betriebsmittelmagazin) zugeordnet sind.8. Continuous casting installation according to one of the preceding claims, characterized in that each use position (E, E ^ E 2 , E 3 ) of the robot on the roadway has at least one working area (A ^ A 2 , A 3 , A 4 ) on the continuous casting installation and a supply area (V ^ V 2 , V 3 ) on an auxiliary device (H ^ H 2 , H 3 ) (tool magazine, resource magazine) are assigned.
9. Stranggießanlage nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Fahrbahn (7) auf der Gießbühne (1 ), vorzugsweise in einer Horizontalebene, angeordnet ist.9. Continuous caster according to one of the preceding claims, characterized in that the carriageway (7) on the casting platform (1), preferably in a horizontal plane, is arranged.
10. Stranggießanlage nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass mehrere Roboter, vorzugsweise zwei Roboter (8, 8'), einer einzelnen Fahrbahn (7) zugeordnet sind.10. Continuous caster according to one of the preceding claims, characterized in that several robots, preferably two robots (8, 8 '), are assigned to a single carriageway (7).
11. Verfahren zum Betrieb einer Stranggießanlage unter Einbindung von mindestens einem auf einer Fahrbahn zwischen einer Parkposition (PL P2) und mindestens zwei Einsatzpositionen (E, E^ E2, E3) verlagerbaren Roboter, dadurch gekennzeichnet, dass von einem Prozessrechner (19) oder einer zentralen Leiteinrichtung Steuersignale an den Roboter gegeben werden und entsprechend diesen Steuersignalen eine ausgewählte Einsatzposition angefahren wird und durch den Roboter automatisierte Eingriffe an der Stranggießanlage vorgenommen werden, wobei von dem Prozessrechner oder einer zentralen Leiteinrichtung die Steuersignale für die durchzuführenden Eingriffe an der Stranggießanlage an den Roboter in der Abfolge der Priorität der durchzuführenden Eingriffe gegeben werden.11. Method for operating a continuous caster with the inclusion of at least one robot that can be moved on a roadway between a parking position (P L P 2 ) and at least two operating positions (E, E ^ E 2 , E 3 ), characterized in that a process computer ( 19) or a central control device are given control signals to the robot and a selected application position is approached according to these control signals and automated interventions on the continuous casting system are carried out by the robot, the control signals for the interventions to be carried out on the continuous casting system being carried out by the process computer or a central control system to the Robots are given in the order of priority of the operations to be performed.
12. Verfahren nach Anspruch 11 , dadurch gekennzeichnet, dass vom Roboter an der Stranggießanlage Messdaten erhoben werden, diese Messdaten an den Prozessrechner oder eine zentrale Leiteinrichtung übermittelt werden, vom Prozessrechner oder der Leiteinrichtung verarbeitet werden und Ergebnisse dieser Datenverwertung in Steuersignale für den Roboter oder die Stranggießanlage umgesetzt werden.12. The method according to claim 11, characterized in that measurement data is collected from the robot on the continuous casting installation, this measurement data is transmitted to the process computer or a central control device, processed by the process computer or the control device and results of this data utilization in control signals for the robot or Continuous caster are implemented.
13. Verfahren nach Anspruch 11 oder 12, dadurch gekennzeichnet, dass von mindestens zwei auf einer Fahrbahn verfahrbaren Robotern ein erster auf der Fahrbahn verfahrbaren Roboter als Primärroboter (master) alle Steuersignale empfängt und Eingriffe an der Stranggießanlage durchführt und ein weiterer auf der Fahrbahn verfahrbarer Roboter als Hilfsroboter (slave) vorzugsweise einer Parkposition zugeordnet ist.13. The method according to claim 11 or 12, characterized in that of at least two robots that can be moved on a roadway, a first robot that can be moved on the roadway as the primary robot (master) receives all control signals and carries out interventions on the continuous casting installation and another robot that can be moved on the roadway is preferably assigned to a parking position as an auxiliary robot (slave).
14. Verfahren nach Anspruch 13, dadurch gekennzeichnet, dass bei einer Prioritätskollision von Steuersignalen der Primärroboter und der Hilfsroboter aktiviert werden und beide Roboter unter Ausschließung wechselseitiger Behinderung zu den jeweiligen Einsatzpositionen geleitet werden. 14. The method according to claim 13, characterized in that, in the event of a priority collision of control signals, the primary robot and the auxiliary robot are activated and both robots are guided to the respective application positions with the exclusion of mutual disability.
EP05739979A 2004-05-26 2005-04-28 Continuous casting plant comprising at least one robot, and method for the operation of a continuous casting plant by incorporating at least one robot Active EP1750872B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0091104A AT413950B (en) 2004-05-26 2004-05-26 CONTINUOUS CASTING SYSTEM WITH AT LEAST ONE ROBOT AND METHOD FOR OPERATING A CONTINUOUS CASTING SYSTEM WITH AT LEAST ONE ROBOT
PCT/EP2005/004569 WO2005118182A1 (en) 2004-05-26 2005-04-28 Continuous casting plant comprising at least one robot, and method for the operation of a continuous casting plant by incorporating at least one robot

Publications (2)

Publication Number Publication Date
EP1750872A1 true EP1750872A1 (en) 2007-02-14
EP1750872B1 EP1750872B1 (en) 2009-12-16

Family

ID=35149149

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05739979A Active EP1750872B1 (en) 2004-05-26 2005-04-28 Continuous casting plant comprising at least one robot, and method for the operation of a continuous casting plant by incorporating at least one robot

Country Status (10)

Country Link
US (1) US20080058981A1 (en)
EP (1) EP1750872B1 (en)
JP (1) JP2008500176A (en)
CN (1) CN1960824B (en)
AT (2) AT413950B (en)
BR (1) BRPI0511579A (en)
DE (1) DE502005008710D1 (en)
RU (1) RU2363561C2 (en)
TW (1) TWI394618B (en)
WO (1) WO2005118182A1 (en)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT502058B1 (en) 2005-06-20 2007-11-15 Voest Alpine Ind Anlagen CONTINUITY CASTING SYSTEM WITH AT LEAST ONE MULTIFUNCTION ROBOT
WO2008124840A1 (en) * 2007-04-10 2008-10-16 Inductotherm Corp. Integrated process control system for electric induction metal melting furnaces
DE102009051145A1 (en) 2008-10-29 2010-05-06 Sms Siemag Aktiengesellschaft Robotized metallurgical plant
RU2479414C2 (en) 2008-10-29 2013-04-20 Смс Зимаг Аг Robot interaction system
WO2010089114A1 (en) 2009-02-04 2010-08-12 Sms Siemag Ag Device for expanding working space
DE102009051149A1 (en) 2009-02-04 2010-08-19 Sms Siemag Aktiengesellschaft Metallurgical plant with industrial robot
DE102009020857A1 (en) * 2009-05-12 2010-11-25 Sms Siemag Ag Continuous casting plant with at least one robot
DE102009050216A1 (en) * 2009-05-28 2010-12-02 Sms Siemag Ag Robot-supported tapping slide change on steel ladles
JP5158292B2 (en) * 2011-02-14 2013-03-06 新日鐵住金株式会社 Slab surface temperature measuring device for continuous casting machine
EP3159075B1 (en) 2015-10-06 2020-09-23 SMS group GmbH Continuous casting plant for producing a metallic strand or a slab and method for operating such a continuous casting plant
DE102015219744A1 (en) 2015-10-06 2017-04-06 Sms Group Gmbh Continuous casting plant for the production of a metallic strand or a slab and method for operating such a continuous casting plant
JP6660157B2 (en) * 2015-11-16 2020-03-11 川崎重工業株式会社 Robot and work method by robot
CN107017830A (en) * 2017-05-17 2017-08-04 天津温纳科技有限公司 A kind of height adjustment photovoltaic panel clean robot
CN107127734B (en) * 2017-07-19 2023-03-03 安徽理工大学 Suspension track type multi-arm casting robot
CN109304993B (en) * 2018-11-21 2024-05-10 中国汽车工程研究院股份有限公司 Detection device for automobile tire pressure monitoring system, working method of detection device and new energy automobile
EP3760340A1 (en) * 2019-07-03 2021-01-06 Refractory Intellectual Property GmbH & Co. KG Device for manipulating preferably one spout at an exchange device at the outlet of a metallurgical container
CN110614348A (en) * 2019-10-11 2019-12-27 宝钢工程技术集团有限公司 Automatic steel pouring device with track and use method thereof
CN113828744A (en) * 2021-09-08 2021-12-24 湖州金钛导体技术有限公司 Intelligent continuous casting system and continuous casting method

Family Cites Families (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US403774A (en) * 1889-05-21 pearson
GB257690A (en) * 1925-06-15 1926-09-09 Albert Bernard Francis Huyghe Improved machinery for manufacturing articles and casting materials by the centrifugal process
DK121846B (en) * 1968-11-05 1971-12-06 Schmidt T Installations for mixing and distributing concrete.
US3665148A (en) * 1971-04-07 1972-05-23 Gen Motors Corp Six-axis manipulator
JPS4949284B1 (en) * 1971-05-26 1974-12-26
US3760956A (en) * 1971-08-23 1973-09-25 Burch Controls Inc Industrial robot
DE3017548A1 (en) * 1980-05-08 1981-11-12 Sack GmbH, 4000 Düsseldorf TRANSPORTATION DEVICE FOR FULLY CONTINUOUS SUPPLY OF A CONTINUOUS CASTING MILL WITH METAL MELT
US4470446A (en) * 1980-07-09 1984-09-11 Kabushiki Kaisha Kobe Seiko Sho Method and apparatus for detecting molten metal surface level in a mold
US4460826A (en) * 1980-10-24 1984-07-17 Diffracto Ltd. Fiber optic based robot controls
US4571149A (en) * 1983-04-14 1986-02-18 Westinghouse Electric Corp. General purpose orthogonal axes manipulator system
FR2562448B1 (en) * 1984-04-04 1986-07-04 Fives Cail Babcock DEVICE FOR HANDLING A TUBE FOR PROTECTING A CASTING JET
DE3562995D1 (en) * 1985-02-27 1988-07-07 Kawasaki Heavy Ind Ltd Apparatus for a continuous casting facility
JPS63288681A (en) * 1987-05-19 1988-11-25 横河電機株式会社 Coordination controller for robot
JPH02104455A (en) * 1988-04-27 1990-04-17 Rainaa Kakoki Kk Device for supplying powdery material in continuous casting
JPH02262977A (en) * 1989-04-03 1990-10-25 Mitsubishi Electric Corp Industrial robot device
JPH0371959A (en) * 1989-08-10 1991-03-27 Hitachi Zosen Corp Equipment for pouring molten metal in ladle in continuous casting equipment
ATE153573T1 (en) * 1990-04-04 1997-06-15 Ishikawajima Harima Heavy Ind METHOD AND DEVICE FOR CONTINUOUS STRIP CASTING
EP0501500B1 (en) * 1991-03-01 1997-11-26 Kiwa Giken Kabushiki Kaisha Numerically controlled machine tool and machining method thereof
JP2641635B2 (en) * 1991-04-24 1997-08-20 日新製鋼株式会社 Nozzle cleaning method in continuous casting equipment
JPH05169206A (en) * 1991-12-19 1993-07-09 Nippon Steel Corp Method for preparing continuous casting and robot for preparation
JP2936038B2 (en) * 1992-12-04 1999-08-23 住友重機械工業株式会社 Branch junction device in monorail transport equipment
JP3179251B2 (en) * 1993-07-02 2001-06-25 品川白煉瓦株式会社 Immersion nozzle automatic changer
US5468099A (en) * 1993-08-11 1995-11-21 Vought Aircraft Company Seam tracking drilling machine
AT403774B (en) * 1994-08-05 1998-05-25 Voest Alpine Ind Anlagen Arrangement for clearing the tapping opening of a metallurgical vessel - comprising lance supplying fuel and/or oxygen mounted on boom of immersion tube manipulator
JPH08104404A (en) * 1994-10-06 1996-04-23 Murata Mach Ltd Transfer device and stacker crane using this transfer device
DE19511310C1 (en) * 1995-03-28 1996-05-15 Siemens Ag Inner pipe manipulator
JP3181233B2 (en) * 1997-01-17 2001-07-03 住友金属工業株式会社 Method and apparatus for introducing and immersing immersion nozzle into immersion nozzle replacement device
JP3147335B2 (en) * 1997-03-25 2001-03-19 東芝セラミックス株式会社 Refractory changer for molten metal storage pan
JP3761286B2 (en) * 1997-06-02 2006-03-29 富士通株式会社 Robot control method, control device, storage medium, and robot
DE19728264C2 (en) * 1997-06-26 2001-11-29 Feintool Internat Holding Lyss Assembly or production machine with work stations
FR2783730B1 (en) * 1998-09-28 2002-08-16 Mueller Weingarten Maschf DEVICE FOR TRANSPORTING PARTS
TW446858B (en) * 1999-04-21 2001-07-21 Asm Lithography Bv Lithographic projection apparatus, method of manufacturing a device using such a lithographic projection apparatus, and device made by such a method of manufacturing
US6336980B1 (en) * 1999-05-21 2002-01-08 Danieli Technology, Inc. Method for in-line heat treatment of hot rolled stock
ATE290446T1 (en) * 1999-07-06 2005-03-15 Sms Demag Ag METHOD FOR MELTING IN A CONTINUOUS CASTING MACHINE
JP3648526B2 (en) * 2000-01-18 2005-05-18 株式会社テムザック Robot remote control device and robot device
ES2250264T3 (en) * 2001-06-18 2006-04-16 Kwc Ag COLADA INSTALLATION IN LOW PRESSURE COQUILLA AND COQUILLA FOR THE SAME.
JP2003013700A (en) * 2001-06-29 2003-01-15 Hitachi Ltd Travel type work inspection system
US20040240981A1 (en) * 2003-05-29 2004-12-02 I-Scan Robotics Robot stacking system for flat glass
US7191819B2 (en) * 2004-12-07 2007-03-20 Nucor Corporation Continuously casting steel strip

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2005118182A1 *

Also Published As

Publication number Publication date
TWI394618B (en) 2013-05-01
AT413950B (en) 2006-07-15
JP2008500176A (en) 2008-01-10
CN1960824B (en) 2015-06-17
US20080058981A1 (en) 2008-03-06
EP1750872B1 (en) 2009-12-16
ATA9112004A (en) 2005-11-15
CN1960824A (en) 2007-05-09
WO2005118182A1 (en) 2005-12-15
DE502005008710D1 (en) 2010-01-28
RU2006146047A (en) 2008-07-10
RU2363561C2 (en) 2009-08-10
ATE451987T1 (en) 2010-01-15
BRPI0511579A (en) 2008-01-02
TW200538216A (en) 2005-12-01

Similar Documents

Publication Publication Date Title
EP1750872B1 (en) Continuous casting plant comprising at least one robot, and method for the operation of a continuous casting plant by incorporating at least one robot
EP1893368B1 (en) Continuous casting plant having at least two multifunction robots
DE1963147C3 (en) Storage of distribution channels on a carousel device for casting ladles in continuous casting plants
EP1218129B2 (en) Strip-casting machine for producing a metal strip and a method for controlling same
EP2281166A1 (en) Furnace system
EP0313959B1 (en) Steel-making plant, especially mini-plant
DE4205772C2 (en) Continuous caster for the horizontal continuous casting of metals
WO2010089114A1 (en) Device for expanding working space
DE1508298A1 (en) Steel mill
EP3993923B1 (en) Device for manipulating a spout at an exchange device at the outlet of a metallurgical container
EP0009259B1 (en) Means for transporting casting ladles to a continuous casting plant
EP0456641B1 (en) Process for preventing the formation of flue gases in metallurgical processes and during the transport of molten metal from a metallurgical vessel to casting vessels and device for transporting molten metals from a metallurgical furnace to a casting vessel
DE3046194C2 (en) Method for replacing slide locks on rail-mounted torpedo pans
DE2652871A1 (en) CONTINUOUS CASTING PLANT
EP0025028B1 (en) Ladle position for performing metallurgical treatments of steel melts
EP0589366B1 (en) Steelplant lay-out
EP0039820A1 (en) Molten metal transporting device in a continuous casting apparatus
DE3212551C2 (en) Electric steelworks building with an electric melting furnace and a device for changing or nipple electrodes
DE102009020857A1 (en) Continuous casting plant with at least one robot
EP2393618B1 (en) Device for enhancing work area
DE3524554A1 (en) Method and apparatus for manipulating exchangeable strand guiding segments in curved-path continuous casting installations for metal, in particular steel
EP1468763A1 (en) Apparatus for transporting or movement of metallurgical vessels in a steel plant
DE2024107B (en) Support device for troughs in continuous metal casting plants
DE2636358A1 (en) CONTINUOUS CASTING EQUIPMENT
DE4121012A1 (en) CAST TUB EXCHANGE DEVICE FOR A CONTINUOUS CASTING SYSTEM

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20061124

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR

DAX Request for extension of the european patent (deleted)
17Q First examination report despatched

Effective date: 20080418

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: SIEMENS VAI METALS TECHNOLOGIES GMBH & CO

GRAC Information related to communication of intention to grant a patent modified

Free format text: ORIGINAL CODE: EPIDOSCIGR1

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU MC NL PL PT RO SE SI SK TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REF Corresponds to:

Ref document number: 502005008710

Country of ref document: DE

Date of ref document: 20100128

Kind code of ref document: P

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: SIEMENS SCHWEIZ AG

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20091216

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

LTIE Lt: invalidation of european patent or patent extension

Effective date: 20091216

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100327

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100416

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100316

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100416

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

PLAX Notice of opposition and request to file observation + time limit sent

Free format text: ORIGINAL CODE: EPIDOSNOBS2

26 Opposition filed

Opponent name: SMS SIEMAG AG

Effective date: 20100916

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100317

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100430

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

PLBB Reply of patent proprietor to notice(s) of opposition received

Free format text: ORIGINAL CODE: EPIDOSNOBS3

PLAF Information modified related to communication of a notice of opposition and request to file observations + time limit

Free format text: ORIGINAL CODE: EPIDOSCOBS2

PLAS Information related to reply of patent proprietor to notice(s) of opposition deleted

Free format text: ORIGINAL CODE: EPIDOSDOBS3

PLBB Reply of patent proprietor to notice(s) of opposition received

Free format text: ORIGINAL CODE: EPIDOSNOBS3

RAP2 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: SIEMENS VAI METALS TECHNOLOGIES GMBH

REG Reference to a national code

Ref country code: CH

Ref legal event code: PFA

Owner name: SIEMENS VAI METALS TECHNOLOGIES GMBH

Free format text: SIEMENS VAI METALS TECHNOLOGIES GMBH & CO#TURMSTRASSE 44#4031 LINZ (AT) -TRANSFER TO- SIEMENS VAI METALS TECHNOLOGIES GMBH#TURMSTRASSE 44#4031 LINZ (AT)

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100428

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: CH

Payment date: 20110711

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100428

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20100617

TPAC Observations filed by third parties

Free format text: ORIGINAL CODE: EPIDOSNTIPA

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20091216

RDAF Communication despatched that patent is revoked

Free format text: ORIGINAL CODE: EPIDOSNREV1

APBM Appeal reference recorded

Free format text: ORIGINAL CODE: EPIDOSNREFNO

APBP Date of receipt of notice of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA2O

APAH Appeal reference modified

Free format text: ORIGINAL CODE: EPIDOSCREFNO

APBQ Date of receipt of statement of grounds of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA3O

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20130411

Year of fee payment: 9

Ref country code: GB

Payment date: 20130415

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FI

Payment date: 20130411

Year of fee payment: 9

Ref country code: FR

Payment date: 20130430

Year of fee payment: 9

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130430

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20130430

REG Reference to a national code

Ref country code: SE

Ref legal event code: EUG

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20140428

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20141231

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140428

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140428

Ref country code: SE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140429

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140430

RAP2 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: PRIMETALS TECHNOLOGIES AUSTRIA GMBH

PLAB Opposition data, opponent's data or that of the opponent's representative modified

Free format text: ORIGINAL CODE: 0009299OPPO

APBU Appeal procedure closed

Free format text: ORIGINAL CODE: EPIDOSNNOA9O

R26 Opposition filed (corrected)

Opponent name: SMS GROUP GMBH

Effective date: 20100916

REG Reference to a national code

Ref country code: DE

Ref legal event code: R100

Ref document number: 502005008710

Country of ref document: DE

PLCK Communication despatched that opposition was rejected

Free format text: ORIGINAL CODE: EPIDOSNREJ1

PLBN Opposition rejected

Free format text: ORIGINAL CODE: 0009273

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: OPPOSITION REJECTED

27O Opposition rejected

Effective date: 20160123

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502005008710

Country of ref document: DE

Representative=s name: KINNSTAETTER, KLAUS, DIPL.-PHYS.UNIV., DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502005008710

Country of ref document: DE

Representative=s name: KINNSTAETTER, KLAUS, DIPL.-PHYS.UNIV., DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 502005008710

Country of ref document: DE

Owner name: PRIMETALS TECHNOLOGIES AUSTRIA GMBH, AT

Free format text: FORMER OWNER: SIEMENS VAI METALS TECHNOLOGIES GMBH & CO. KG, LINZ, AT

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20190630

Year of fee payment: 12

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 502005008710

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201103

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20230426

Year of fee payment: 19

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: BE

Payment date: 20230419

Year of fee payment: 19