EP1750872B1 - Stranggiessanlage mit mindestens einem roboter und verfahren zum betrieb einer stranggiessanlage unter einbindung von mindestens einem roboter - Google Patents

Stranggiessanlage mit mindestens einem roboter und verfahren zum betrieb einer stranggiessanlage unter einbindung von mindestens einem roboter Download PDF

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Publication number
EP1750872B1
EP1750872B1 EP05739979A EP05739979A EP1750872B1 EP 1750872 B1 EP1750872 B1 EP 1750872B1 EP 05739979 A EP05739979 A EP 05739979A EP 05739979 A EP05739979 A EP 05739979A EP 1750872 B1 EP1750872 B1 EP 1750872B1
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EP
European Patent Office
Prior art keywords
robot
continuous casting
casting installation
runway
assigned
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.)
Active
Application number
EP05739979A
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German (de)
English (en)
French (fr)
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EP1750872A1 (de
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
Siemens VAI Metals Technologies GmbH and Co
Siemens VAI Metals Technologies GmbH Austria
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Application filed by Siemens VAI Metals Technologies GmbH and Co, Siemens VAI Metals Technologies GmbH Austria filed Critical Siemens VAI Metals Technologies GmbH and Co
Publication of EP1750872A1 publication Critical patent/EP1750872A1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • 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 casting plant with at least one robot for carrying out process-controlled or automated interventions on a continuous casting plant and accesses to associated auxiliary facilities. Furthermore, the invention relates to a method for operating a continuous casting plant with the involvement of a robot.
  • the present invention extends to all types of continuous casting in which molten metal from a melt container, such as a ladle, is passed through a distribution vessel in a cooled mold, where formed with intensive cooling to an at least partially solidified strand arbitrary cross-section and from the continuous casting is continuously discharged.
  • the casting machines can be equipped with oscillating tube and plate molds, caterpillar molds, rotating casting rolls with side plates (two-roll casters) or molds with circulating belts.
  • the strands may 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 perform on-going work and to eliminate malfunctions in hazardous areas where operators are exposed to high levels of heat from the liquid metal and cast metal strand, or slag and metal splashes.
  • Robots are already being used on the open casting mold to observe the Schmelzenbadober Design, to eliminate caking on the inner sides of the mold walls, the G confusepulveraufgabe, for temperature measurement and sampling and the like.
  • robots are used for changing the shade tube, changing the pouring tube and for changing the closure plates of the slide valve closure and for blowing out the outflow opening on the distribution vessels and pouring ladles.
  • a multi-function robot on a continuous casting mold from the EP-B 371 482 already known wherein the robot on the one hand receives casting process-related data from measuring devices on the mold and on the other hand acquires measured data by an example optical recognition system itself to the mold and using this information creates and executes a deployment plan with priority assignment.
  • This is a stationary robot whose location is selected especially for use on the mold and therefore is not suitable to carry out in adjacent to the continuous casting mold areas of the continuous casting also incurred activities.
  • Robots which are also assigned to a singular work area at a continuous casting plant, are from the US-A 5,067,553 , of the JP-A 5-169206 , of the JP-A 9-109100 , of the JP-A 7-60434 and the JP-A 5-293615 known.
  • Object of the present invention is therefore to avoid these disadvantages and difficulties of the prior art and a continuous casting with at least one robot of the type described above and a method for operating a To propose a continuous caster with the involvement of a robot, with the various interventions can be performed on a continuous caster at different working positions, which are out of the reach of a single operating position of a robot.
  • Another object of the invention is to increase the utilization rate and the availability of the robot (s) used.
  • the continuous casting is assigned to a roadway, that the robot assigned a chassis and the chassis is displaced on the road, that at least one parking position and at least two insertion positions are set for the robot on the road and each use position work areas are only accessible from this deployment position assigned to the continuous casting, that the distance between each position of the robot and the assigned work area or supply area is set within the minimum and maximum range of the robot arm and that the robot equipped with a data transmission and data receiving device and this is signal technically connected to a central control device or a process computer of the continuous casting.
  • Robotic deployment locations define locations of the robot along the roadway from which one or more work areas on the continuous casting plant are within the reach of the robotic gripper.
  • the deployment positions of the robot on the roadway are determined by the position of the chassis alone.
  • the swing angle of the boom of the swing mechanism is decisive for determining the operational position of the robot in addition to the position of the chassis.
  • Work areas of the robot are spatial areas or individual locations on the continuous caster, where interventions are made by the robot, starting from a predetermined deployment position.
  • Supply areas include spatially storage bins with auxiliary equipment, such as tool magazines, resource magazines, and similar devices having predetermined positions for the robot to receive and deposit tools, spares, and resources.
  • auxiliary tools are stored in the auxiliaries for the robot, which are required for carrying out the interventions, such as, for example, Pliers, measuring probes, grinding heads, secondly spare parts for the continuous casting plant, such as pouring pipes or slide plates, and thirdly equipment for the continuous operation of the continuous casting plant, such as, for example, Casting powder.
  • the tool magazines and equipment magazines provided in the respective service areas can be formed by stationary or mobile auxiliary equipment, wherein the movable auxiliary equipment, for example an equipment cart, is brought into the supply area of a certain application position, if necessary, and stored away from its supply position.
  • the parking position defines the position of the robot on the roadway, where it stops, if it does not intervene and waits for a new mission signal from the central control device or the process computer.
  • the parking position defines the position of the robot on the roadway, where it stops, if it does not intervene and waits for a new mission signal from the central control device or the process computer.
  • several parking positions are determined accordingly. In two robots, the two parking positions are preferably located at opposite ends of the roadway.
  • Performing process-controlled or automated interventions by the robot also includes the alternative possibility of hand-held intervention by the operator. These remote interventions can be done by the control room or other portable controllers.
  • the roadway for the robot is preferably formed by a track system or by at least one rail in the manner of a railway overhead conveyor or crane runway.
  • the approach of predetermined deployment positions is achieved by appropriate control equipment (position sensor, tracking systems).
  • individual sections of the roadway are vertically adjustable by means of hoists or can be pivoted by swiveling mechanisms in order to change the position of use of the robot on the roadway in such a way that the best possible access to the assigned working area is achieved.
  • Each robot is assigned a chassis on which it is supported or hangs depending on the design of the roadway.
  • the chassis can be associated with a robot slewing gear, whereby at least two deployment positions for the robot are defined with the pivoting position of the robot pivoting mechanism.
  • the slewing mechanism preferably comprises a cantilever, at the projecting end of which the robot is arranged.
  • the boom can be adapted to the needs of the environment of use, thus, for example, be made adjustable in height.
  • the robot is fixed in its respective use positions with a locking device to avoid position changes by reaction forces from the interventions.
  • each deployment position of the robot on the roadway is assigned at least one working area on the continuous casting plant and one supply area on an auxiliary facility, such as a tool magazine or a resource magazine.
  • an auxiliary facility such as a tool magazine or a resource magazine.
  • the roadway may extend along the entire continuous casting plant and to different height levels and, preferably in the formation of the roadway as a running rail of a monorail, also include inclines and gradients.
  • the roadway is preferably restricted to the casting platform and / or to the outlet region of the continuous casting plant.
  • the roadways are preferably arranged in a horizontal plane.
  • two robots are arranged on a roadway, preferably a robot as the primary robot performs the interventions on the continuous casting and the second robot is used as an auxiliary robot in priority collisions of the work to be performed and in case of disturbances of the primary robot.
  • another division of the work to be performed between the robots e.g. By priority assignment of individual robots to certain positions or assignment by remote control is quite possible, and is within the scope of the invention.
  • the invention further comprises a method for operating a continuous casting plant with the involvement of at least one robot displaceable on a roadway between a parked position and at least two deployment positions and is characterized in that control signals are given to the robot by a process computer or a central control device and corresponding to these control signals a selected application position is approached and automated intervention is made on the continuous casting by the robot, wherein the control signals for the operations to be performed on the continuous casting to the robot in the sequence of priority of the interventions to be performed are given by the process computer or a central guide.
  • the activities to be performed is determined in terms of the quality of the product to be produced.
  • the basis for the priority recognition is an ongoing diagnosis of the casting process, thus the continuously collected measurement data and model calculations in comparison to specification data.
  • the robot itself also performs state observations on the continuous 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 guide device, and the results of this data evaluation are converted into control signals for the robot or the continuous casting installation.
  • a first robot that can travel on the roadway receives all the control signals as primary robot (master robot) and performs interventions on the continuous casting machine and another robot that can be moved on the roadway is used as auxiliary robot (slave robot) preferably associated with a parking position.
  • the primary robot and the auxiliary robot are activated and both robots are guided to the respective deployment positions, with the exception of mutual disability.
  • a ladle 2 with a ladle nozzle 3 (shadow tube) and a distributor vessel 4 positioned below with an immersion pouring tube 5, which projects into a continuous casting mold 6, are shown with outlines. With dash-dotted lines another distribution vessel 4 'is indicated in a supply position on the casting platform 1.
  • a roadway 7 is laid on the casting platform 1 in such a way that a plurality of work areas A 1 , A 2 , A 3 , A 4 can be operated by a single robot 8, starting from a plurality of deployment positions E 1 , E 2 , E 3 along the roadway , The robot 8 is in a waiting position in the parking position P 1 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 V 1 , V 2 , V 3 are prepared at auxiliary facilities H 1 , H 2 , H 3 on the casting platform, which are assigned to the use of positions E 1 , E 2 and E 3 and created within reach of the robot arm 15. If the space conditions on the casting platform do not allow it, individual service areas can also be created outside the reach of robot deployment positions. The operating time of the robot for the execution of an intervention is then extended by the period of necessary supply trips.
  • From the use position E 1 of the robot 8 can perform interventions in the working areas A 1 (ladle) and A 4 (distributor), which relate to the ladle nozzle 3 and the shadow tube, and the pouring of the distribution vessel 4.
  • the tasks to be carried out at intervals in these work areas include, for example, a change of shadow tubes, a burning out of the ladle nozzle or the casting powder feed into the distributor vessel.
  • the necessary for these interventions spare parts and equipment, such as a replacement shade, the necessary specific casting powder in the predetermined quality and quantity or a burner removes the robot from the associated supply area V 1 , where at predetermined magazine locations of the auxiliary device H 1 these resources are ready to access in stock.
  • the robot 8 can perform interventions in the work areas A 2 (mold) and A 4 (distributor), which relate to the pouring region of the distributor vessel 4, the immersion casting tube 5 and the inlet-side opening of the continuous casting mold 6.
  • activities in these areas of activity are, for example, a G stealpulveraufgabe in the distribution vessel, a change of Tauchg cashrohres, the burning of the distributor outlet opening, a G stealpulveraufgabe in the mold, the observation of the bath level in the mold, a sampling of the mold, etc ..
  • the for these interventions necessary equipment and spare parts, such as one to be spilled Steel quality and current casting conditions matched casting powder, Tauchg bankrohre, measuring lances, etc., takes the robot of the auxiliary device H 2 in the supply area V 2 .
  • the robot 8 can make interventions on a further distribution vessel 4 'in the working area A 3 (distribution changeover station), wherein it takes the required resources of 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.
  • the Fig. 2 and 3 show a robot 8 in two use position E 1 and E 2 at the continuous casting.
  • the continuous casting plant is indicated by dashed lines through the outer contours of the ladle 2, the distribution vessel 4 and the continuous casting mold 6.
  • the roadway 7 of the robot is formed by two rails 9, 9 ', which are guided past in a straight line at a distance above the casting platform 1 on the distributor vessel 4 and the continuous casting mold 6.
  • a robot pivot 11 is mounted with a boom 12, the two mutually pivoted by 90 ° positions, which include the use of positions E 1 and E 2 can take.
  • the robot is arranged hanging and can occupy the two insertion positions E 1 and E 2 .
  • the boom 12 In the use position E 1 , the boom 12 is shown with dash-dotted lines and in the use position E 2 with solid lines.
  • the kidney-shaped reach lines 13, 14 in Fig. 2 and the circular reach lines 13 ', 14' in FIG Fig. 3 the working areas A 1 and A 2 of the robot arm 15 are illustrated.
  • the working area A 1 which is assigned to the insertion position E 1 , all the essential areas from the ladle 2 to the mold 6 can be achieved by the robot 8.
  • interventions in the transition region from the distribution vessel 4 to the continuous casting mold 6 and at the same can be carried out in the working area A 2 .
  • the robot is in an edge area of the casting platform assigned a parking position P 1 .
  • a supply position V 1 is provided, from which the robot can remove all aids for its use. Regardless of the current casting operation, manual preparatory work for the use of robots can be carried out undisturbed and safely in this parking position.
  • the control station 18 On the casting platform 1 is the control station 18, monitored from which the continuous casting and is operated largely automated by a process computer or a central control device.
  • Data transfer and data reception devices 20, 21 are assigned to the process computer 19 or the central guidance device and the individual robot or multiple robots, via which all information necessary for carrying out the interventions, preferably on a radio link, is transmitted.
  • FIG. 4 shows a liftable and lowerable roadway section 22 of the lane 7, with which the robot 8, of which only the lower base part is shown, is lifted into a relation to the road plane raised engagement position E.
  • the roadway section 22 is supported on lifting cylinders 23, and is positioned by them accordingly.
  • the robot 8 is in its engaged position E, which in turn is determined by a robot axis of rotation in the base area, clearly fixed by a locking device 24 on the roadway section 22 in position and thus set a key for the robot control fixed point.
  • Fig. 5 shows a pivotable about a vertical pivot axis 26 in a predetermined angular position roadway section 27 in its aligned with the lane 7 starting position and in a swung-out position, which determines the engagement position E for the robot.
  • the carriageway section 27 is movable on circular-arc-shaped rails 29 in a horizontal plane.
  • lanes can also be used on the roadway using conventional, known from the railroad switches. It can be provided on the road, climbing sections and downhill sections, for example, rack gears are used to overcome inclines and gradients.
  • the invention is not limited to the use of special types of robots.
  • articulated robots or gantry robots are particularly suitable, as they are offered by many manufacturers for a variety of applications universal and with special adaptations.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Continuous Casting (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
EP05739979A 2004-05-26 2005-04-28 Stranggiessanlage mit mindestens einem roboter und verfahren zum betrieb einer stranggiessanlage unter einbindung von mindestens einem roboter Active EP1750872B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0091104A AT413950B (de) 2004-05-26 2004-05-26 Stranggiessanlage mit mindestens einem roboter und verfahren zum betrieb einer stranggiessanlage unter einbindung von mindestens einem roboter
PCT/EP2005/004569 WO2005118182A1 (de) 2004-05-26 2005-04-28 Stranggiessanlage mit mindestens einem roboter und verfahren zum betrieb einer stranggiessanlage unter einbindung von mindestens einem roboter

Publications (2)

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

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ID=35149149

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Application Number Title Priority Date Filing Date
EP05739979A Active EP1750872B1 (de) 2004-05-26 2005-04-28 Stranggiessanlage mit mindestens einem roboter und verfahren zum betrieb einer stranggiessanlage unter einbindung von mindestens einem roboter

Country Status (10)

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

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DE102015219744A1 (de) 2015-10-06 2017-04-06 Sms Group Gmbh Stranggießanlage zur Herstellung eines metallischen Strangs oder einer Bramme und Verfahren zum Betreiben einer solchen Stranggießanlage
EP3159075A1 (de) 2015-10-06 2017-04-26 SMS group GmbH Stranggiessanlage zur herstellung eines metallischen strangs oder einer bramme und verfahren zum betreiben einer solchen stranggiessanlage

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CN107127734B (zh) * 2017-07-19 2023-03-03 安徽理工大学 悬挂轨道式多臂铸造机器人
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015219744A1 (de) 2015-10-06 2017-04-06 Sms Group Gmbh Stranggießanlage zur Herstellung eines metallischen Strangs oder einer Bramme und Verfahren zum Betreiben einer solchen Stranggießanlage
EP3159075A1 (de) 2015-10-06 2017-04-26 SMS group GmbH Stranggiessanlage zur herstellung eines metallischen strangs oder einer bramme und verfahren zum betreiben einer solchen stranggiessanlage

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RU2363561C2 (ru) 2009-08-10
DE502005008710D1 (de) 2010-01-28
ATE451987T1 (de) 2010-01-15
ATA9112004A (de) 2005-11-15
BRPI0511579A (pt) 2008-01-02
RU2006146047A (ru) 2008-07-10
WO2005118182A1 (de) 2005-12-15
JP2008500176A (ja) 2008-01-10
TWI394618B (zh) 2013-05-01
TW200538216A (en) 2005-12-01
CN1960824B (zh) 2015-06-17
EP1750872A1 (de) 2007-02-14
CN1960824A (zh) 2007-05-09
AT413950B (de) 2006-07-15
US20080058981A1 (en) 2008-03-06

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