EP1893368A1

EP1893368A1 - Continuous casting plant having at least one multifunction robot

Info

Publication number: EP1893368A1
Application number: EP06840913A
Authority: EP
Inventors: Helmut Ebner; Johann PÖPPL; Armin Schertler; Susanne Tanzer; Heinrich THÖNE; Franz Wimmer
Original assignee: Siemens VAI Metals Technologies GmbH and Co; Siemens VAI Metals Technologies GmbH Austria
Current assignee: Primetals Technologies Austria GmbH
Priority date: 2005-06-20
Filing date: 2006-06-08
Publication date: 2008-03-05
Anticipated expiration: 2026-06-08
Also published as: BRPI0611877B1; JP2008543574A; RU2008102129A; BRPI0611877A2; ATE537922T1; UA94047C2; WO2007057061A1; KR101293194B1; CN101203341B; RU2401717C2; EP1893368B1; KR20080016699A; US20080314938A1; AT502058B1; CN101203341A; AT502058A1; US8215375B2

Abstract

In order to be able to carry out a multiplicity of continously recurring activities at a continuous casting plant in a precise and automated manner in a continuous casting plant having at least one multifunction robot for implementing a plurality of different process-controlled or automated interventions at the continuous casting plant without the accessibility of the casting plant for the operating personnel being impaired or without an additional risk of accident being produced due to the multifunction robot, at least one working region is established at the continuous casting plant and at least one multifunction robot is assigned to each working region. The multifunction robot is arranged on a swivel arm of a rotary column fastened to the pouring platform of the continuous casting plant and can be swivelled with the swivel arm between a retraction position and a working position.

Description

Stranqqießanlaqe with at least one multifunction robot:

The invention relates to a continuous casting plant with at least one multifunction robot, preferably with at least two multifunction robots, for carrying out a plurality of different process-controlled or automated interventions on the continuous casting plant. At least one work area is defined at the continuous casting plant and at least one multifunction robot is assigned to each work area. The multifunction robot is arranged on a pivoting arm of a pivoting device.

Multifunction robots are used on continuous casters to provide the operator with the ability to perform difficult and highly dangerous activities in the vicinity of molten metal and under the influence of heat and dust with great precision. Such multi-function robots are adjusted according to the current needs in the operating situation, for carrying out a number of different activities in their sphere of influence. Preferably, the multi-function robot is designed as a 6-axis robot.

The field of application includes all types of continuous casting plants for the production of metal strands of any cross-section of liquid metal, in particular of liquid steel. Preferably, these are single or multi-strand casting plants for the production of metal strands with slab, billet and billet sections and metal strands with any profile cross-sections.

A multifunction robot of the generic type is already known from WO 2005/118182 A1. This robot has its own chassis and a lane assigned to take different deployment positions. According to a particular embodiment, this chassis is additionally associated with a swing mechanism with a boom, on the projecting end portion of a multi-function robot is positioned. With this arrangement, the multi-function robot can not only be brought to an operating position determined by the chassis, but can be pivoted by means of the pivot arm between two or more work areas.

From US Pat. No. 5,360,051 or EP 0 371 482 B1, a robot is known on the casting platform of a continuous casting plant, which is anchored there fixedly and equipped with an image acquisition and evaluation device for detecting its working environment in the region of a continuous casting mold. In particular, this robot is for Casting powder task, for Inertgaseindüsung, for Schlackenbartelfernung and for the determination of Badspiegelabnormalitäten furnished. A major disadvantage of this system is the stationary positioning in the vicinity of the mold and the resulting obstruction of the operator in case of sudden disturbances in the casting operation, which require a fast and problem-concentrated use.

From JP-A 5-169206 and JP-A 3-353900 multi-function robot for sealing a starter strand in the mold of a continuous casting before casting start are known, each of these robots on a rail vehicle on the casting platform between a use position and a waiting position is movable. JP-A 07-01639 also shows a multi-function robot which is mounted on the running frame of a rail vehicle and is used especially for the change of pouring tubes. Furthermore, it is known from JP-A 3-071959 to arrange two robots movably on two separate rail tracks, which independently perform activities on the ladle and the distribution vessel. Although robots placed on a rail vehicle allow the robots to be moved to a retreat area on the casting floor, which improves access for the operating personnel, the rails remain, which continue to pose a risk of tripping and an accident for the operating personnel. Due to the ground binding, such rail-bound systems are very susceptible to disruption due to escaping liquid steel.

It is also known to arrange automated equipment at the casting plant, which by design only fulfill a single activity. Such a device is known for example from US-A 5,067,553, which comprises a Gießpulver- task device on the boom of a turret. After the hot bath mirror surface has been detected, the casting powder is guided by means of a movable gripping arm from a casting powder container through a flexible conduit onto the surface of the bath mirror.

The present invention is therefore based on the object to avoid the disadvantages of the prior art and to propose a continuous casting with at least one multi-function robot, with the use of less multi-function robot precise and automated a variety of continuously recurring activities on a continuous casting can be performed without accessibility to the caster is hindered for the operator or by the Multifunction robot creates an additional risk of accidents. Furthermore, the multifunction robots should be positioned in such a way that they are subject to the least possible risk of damage even in the event of malfunctions, such as leaking liquid metal.

This object is achieved on the basis of a device of the type described above in that the or each multi-function robot is mounted on a pivot arm mounted on the casting platform of the continuous casting column and pivotable with the pivot arm between a retracted position and a working position.

When defining several work areas on the continuous casting plant, it is essential to define the spatial separation of these work areas from each other and to determine the working position of the multifunction robot in each work area. As a working position here are one or more basic positions to understand that occupies the multifunction robot relative to the casting plant. In this case, it is located on the pivot arm of a rotary column, wherein in a first embodiment of the pivot arm, the first axis of rotation of the multi-function robot is parallel to the axis of rotation of the pivot arm of the rotary column and at a distance therefrom. In a second embodiment of the swivel arm this is formed by a parallel link system and the first axis of rotation of the multifunction robot is normal to the pivot axes of the parallel links. A combination of both embodiments is conceivable. By appropriate choice of Schwenkarmlänge the rotary column is anchored outside the immediate vicinity of the work area of the respective multi-function robot and allows after swinging the multi-function robot in its retreat position the disability-free access to this work area for the operators of the casting. If several working positions are assigned to a multifunction robot, these are located on the swivel circle of the swivel arm, which is determined by the position of the multifunction robot.

Several basic forms of the formation of a rotary column with swivel arm are in this case expedient: The swivel arm can be rigidly connected to the rotatable rotary column, wherein the rotary column is supported on a rotary bearing and the rotary column, a rotary drive, a motor and a transmission is assigned. Furthermore, the pivot arm can be rotatably mounted on the rotary column and the pivot arm is associated with a rotary drive. Third, there is a possibility that the swivel arm of a parallel link system is formed, wherein the parallel link system is associated with a pivot drive.

It can also be assigned to a multifunction robot two or more work areas. This makes it possible, on the one hand, for a multifunction robot to take over the function of another multifunction robot, for example in the event of its failure, and, on the other hand, if the range of adjacent multifunction robots correspondingly overlapping, depending on the workload, a regrouping of the activities of individual robots can be performed.

In order to be able to position a plurality of multifunction robots in optimum working positions, one expedient embodiment is that at least one multifunction robot is arranged on a pivoting arm of a rotating column at an altitude which deviates from the altitude of a multi-function robot on a further pivoting arm of a rotating column.

The altitude of a multi-function robot can also be made variable, if the rotary column is designed as a lifting element. This can be done for example by arranging lifting cylinders or by a telescopic structure of the lifting column.

Each multifunction robot is assigned a supply area for receiving and storing tools, operating equipment and the like. This supply area includes, for example, magazines in which tools, feedstocks and equipment in one of the gripping tools and the sensors of the multi-function robot are clearly tangible and recognizable and where appropriate, where they can be stored again. These coverage areas are located in the extended range of the multifunction robot through the pivot column.

According to an expedient embodiment, the supply area may also be arranged on the pivot arm of a rotary column and this supply area is preferably pivotable between an insertion position within reach of the multi-function robot and a loading position. Here, the supply area may be arranged on a second pivot arm of a rotary column, which already has a pivot arm with a robot, wherein the two pivot arms are preferably independently pivotable. The supply area can also be arranged on the pivot arm of a separate rotary column, wherein the Operating position of this supply area is within reach of one or more multi-function robot.

The selection of the work areas at the continuous casting plant takes place on the one hand according to spatial aspects and on the other hand according to the applicable operating time of the multi-function robot in the respective work area. It is further, especially in the retrofitting of existing continuous casting, significantly influenced by the existing structural conditions.

By way of example, workspaces for essential core components and fields of activity can be proposed:

• ladle turret environment,

• ladle environment, in particular the area of the shadow tube and the pan slide, etc.,

Distribution vessel environment, in particular the area of the immersion pouring tube and of the ladle slide or of the distribution stopper, etc.,

Mold environment, in particular bath mirror observation, casting powder application, temperature measurement, etc.,

• flame cutting machine, especially burner guidance, local cooling, surface inspection, etc.,

Deburring and marking environment, especially burr removal, marking,

• Quality control in the outlet area of the continuous casting plants, in particular optical inspection, flames, sampling, etc.,

In multi-strand continuous casters such work areas can be separated for each strand or defined together for several strands.

Within the work areas, a multitude of activities arise for the assigned multifunction robot. By way of example, the following possible activities result for the work areas "ladle environment", "distribution vessel environment" and "mold environment":

Activities in the ladle environment: • Detecting the ladle position, • activating the pan slider closure,

• attaching and removing the shadow tube,

• Coupling and decoupling of media lines and couplings.

Activities in the distribution vessel environment:

• determining the ladle position,

• attaching and removing the shadow tube,

Opening the pan with an oxygen lance,

• cleaning the shadow tube,

• changing the shade tube,

Temperature measurement in the distribution vessel,

• sampling in the distribution vessel,

• application of casting powder in the distribution vessel,

• Bath level measurement in the distribution vessel.

Activities in the mold environment:

• determining the distribution vessel position,

• sampling in the mold,

Casting powder in the mold,

• pouring tube preheating,

• pouring tube change,

Slag removal from the mold,

Inserting separator plates during sequence casting,

Cooling of the strand end or mold cleaning at the end of the casting,

• setting and removing splash guards,

• Perform temperature measurements.

The partial overlapping of activities in the assignment to the workspaces enables the merging of workspaces, or their processing by multifunction robots, which are assigned to adjacent workspaces.

The multi-function robots and the rotary columns and pivot arms supporting them are preferably of modular construction. They form assemblies that are arbitrarily interchangeable with each other, whereby a quick change and maintenance of the units is made possible during the ongoing casting operation. Suitably, the multi-function robot is equipped with a data transmission and data receiving device and this is connected to a central guide or a process computer of the continuous casting.

Further advantages and features of the present invention will become apparent from the following description of non-limiting embodiments, reference being made to the attached figures, which show:

Fig. Load liquid phase region of a continuous casting plant with the inventive arrangement of three multi-function robots in elevation in a schematic representation,

1 b shows the liquid phase region of a continuous casting plant with the arrangement according to the invention of three multifunctional robots according to FIG. 1 a in plan view in a schematic representation,

2a shows the liquid phase region of a continuous casting plant with the inventive arrangement of four multifunction robots in elevation in a schematic representation,

2b shows the liquid phase region of a continuous casting plant with the arrangement according to the invention of four multi-function robots according to FIG. 2a in plan view in a schematic representation,

3, the rotary column with swivel arm in a possible basic form of the embodiment,

4 the rotary column with swivel arm in a further basic form of the embodiment,

Fig. 5 circuit diagram for integration of the multi-function robot in the process control level of the system control.

Figures 1a and 1b illustrate in schematic representations the situation on the casting platform of a continuous casting plant, as used for example in the production of a steel strand with slab cross-section. On the casting platform 1 of the continuous casting plant, a ladle turret 2 is rotatably supported about a vertical axis 3. In fork arms 2a, 2b directed away from one another, ladles 4, 5 are hung with molten steel for supplying the casting installation. The ladle 5 is located in the casting position above a distribution vessel 6 and this in turn is in a casting position above the continuous casting mold 7. Steel melt flows during the casting from the ladle 5 through a shadow tube 8, which is associated with a slide closure 9, in the distribution vessel. 6 and from there which a sliding gate valve 11 has been assigned by the immersing nozzle 10 _1, 7 in the casting mold from the casting mold 7 occurs at least partially solidified steel strand, which is indicated by the curved center line 12, and passes through in a known manner, the strand guide of the continuous casting.

The continuous caster are assigned to the casting platform 1 three multi-function robots 20, 30, 40 designed as 6-axis robots, each of which is fastened separately on the associated pivoting arm 21, 31, 41 of a rotary column 22, 32, 42. The multifunction robot 20 is associated with a first axis of rotation 23 which is fixed at a distance A from the vertical axis of rotation 24 of the rotary column 22 and determines the position of the multi-function robot with respect to axis of rotation 24. In Fig. 1a, the multi-function robot 20 in its retracted position and in Rg. 1 b it is shown in its working position and can perform in this working position manipulations in the working area 25 (ladle environment) of the ladle 4, such as the determination of the ladle position or Position of the slide valve 9 and the attachment of the shadow tube 8. The rotary column 22 is preferably mounted on the casting platform 1 by a detachable screw, so that the rotary column including multifunction robot can be easily removed if necessary. Immediately on the rotary column 22 magazines for receiving tools and equipment of the supply area 26 are arranged. The basic structural design of the rotary column with swivel arm and multifunction robot is identical for robots 20, 30 and 40.

The multifunction robot 30 is associated with the work area 27 (distribution vessel environment) and can perform activities in this area, such as the change of a shadow tube 8 at the bottom of the ladle 5 or a sampling in the distribution vessel 6. According to his work area 27 at the continuous casting plant the multi-function robot 30 is arranged on a relative to the multi-function robot 20 elevated altitude 28. It would be quite possible that the rotary column 32 is not fixed as shown on a support frame 29, but that the rotary column 32 extends to the casting platform 1 and is fixed there.

The multi-function robot 40 is assigned to the working area 35 (mold environment) and can carry out activities in this area, such as changing the immersion pouring tube 10 or performing a sampling in the continuous casting mold 7. Magazines of the supply area 26, 26a can both directly on the Rotary column 42 may be applied as well as on the casting platform 1, wherein the supply area 26 a can be reached both for the multi-function robot 30 and for the multi-function robot 40.

FIGS. 2 a and 2 b schematically illustrate a possible arrangement of four multi-function robots on the casting platform of a continuous casting plant, on the one hand being a continuous casting plant for the production of very wide slabs or also one continuous casting plant for casting two or more steel strands could. The reference numerals for components that occur both in the representations of Fig. 1a, Fig.1 b and in the representations of Fig. 2a, 2b are the same.

In Figures 2a and 2b, in turn, a rotatable about a vertical axis 1 pan turret 2 of the ladles 4, 5 carries. The ladle 4 is associated with a multi-function robot 20 on the support arm 21 of a rotary column 22, with the activities in the work area 25 (ladle environment) of the ladle 4 can be performed, such as the determination of the ladle position or the position of the pan slide 9. With circles 44th , 45 outlines the range of the multifunction robot in its retracted position and in its working position.

The robot 30 is supported on the pivot arm 31 of the rotary column 32 and assigned to the work area "distribution vessel environment" and can perform activities in this area, such as the change of a shadow tube 8 at the bottom of the ladle 5 or a sampling in the distribution vessel. 6

The multi-function robot 50 is supported on a pivot arm 51 of the rotary column 52 and the multi-function robot 60 on a pivot arm 61 of the rotary column 62. Both multifunction robots 50, 60 are assigned to the working area "mold environment" and can perform activities in this area, such as the Changing the immersion casting tube 10 or performing a sampling in the continuous casting mold 7. From Fig. 2b it can be seen that the working areas derived from the working position of the two robots 50, 60 are adjacent to each other and accordingly the work area on a very long distribution vessel 6 with For example, two in the image plane of Figure 2a successively arranged Tauchgießrohren 10 or the work areas of two in the image plane of Figure 2a successively arranged continuous casting molds 7 cover.

FIG. 3 shows a multifunction robot 20 in a working position (left half of the figure) and in a retracted position (right half of the figure) on the pivot arm 21 of a rotary column 22. With a base plate 54, the rotary column 22 with a plurality of clamping means 55 on the casting platform 1 is releasably attached. The rotary column 22 is rotatably supported on the base plate 54 via pivot bearings 56 and about the vertical axis 24 and connected to a drive device 57, in this case especially with a drive motor (electric drive motor), via a gear not shown in detail. On the rotary column, a pivot arm 21 is fixed, which carries the multi-function robot 20, whose first axis of rotation 23 is aligned parallel to the axis of rotation 24. A variant of the rotary column construction shown by dashed lines is that the rotary column 22 stands upright from the base plate 24, and a pivot bearing 56 'just below the pivot arm 21 and between the rotary column and the pivot arm is arranged so that only the pivot arm 21 of the likewise drawn dashed drive device 57 'is moved.

Both the multi-function robot 20 and the rotary column 22 with swivel arm 21 are designed as quick-change modules. The multi-function robot is placed with a quick release mechanism 58 in the manner of a bayonet lock on the projecting end of the swing arm 21 and can be lifted after releasing the Bayonettverschlusses with the lifting device 59 from the hall crane and sold to a service point or another pivot arm. The pivot arm 21 is also equipped with a lifting device 59a, which allows the manipulation of the rotary column and the pivot arm after opening the clamping means 55.

Figure 4 shows another variant of a rotary column 22 with pivot arm 21 for receiving a multi-function robot 20. The rotary column 22 is fixed and the pivot arm 21 is formed by two parallel core 64, 65 on the one hand on the rotary column 22 to horizontal axes 64a, 65a and on the other hand on a support base 66 about horizontal axes 64b, 65b are pivotally supported. The drive device 57 is formed by a pressure medium cylinder and engages on one of the parallel links 65 and in turn is supported on a bracket 67 of the rotary column 22. On the support base 66 of the multi-function robot 20 is mounted and fastened with a quick release mechanism 58.

FIG. 5 shows the integration of the multifunction robots 20, 30 and the drive devices 57 of the rotary columns 21, 31 into the process and system control 71 of the continuous casting plant. Of not shown, but in multi-function robots usual measuring and control devices 72, such as image recording devices, image evaluation, encoders and drive units for the individual axes of rotation of the robot include, as well as the drive devices 57 measuring signals to a process computer of the system controller 71 transmitted processed there and sent to the process control of the continuous casting control signals to the multi-function robot 20, 30 and the drive devices 57 sent.

Claims

claims:

Continuous casting plant with at least one multifunction robot, preferably with at least two multi-function robots, for performing a plurality of different process-controlled or automated interventions on the continuous casting, that at least one work area (25, 27, 35) is set to the continuous casting and at least one work area Multi-function robot is assigned and the multi-function robot is arranged on a pivot arm of a pivoting device, characterized in that - the / the multi-function robot (20, 30, 40, 50, 60) on a pivot arm (21, 31, 41, 51, 61) of a rotary column (22, 32, 42, 52, 62) fixed on the casting platform of the continuous casting installation and can be pivoted with the pivoting arm between a retraction position and a working position.

2. Continuous casting plant according to claim 1, characterized in that two or more work areas are assigned to a multi-function robot.

3. Continuous casting plant according to one of the preceding claims, characterized in that at least one multi-function robot is arranged on a pivot arm of a rotary column in an altitude, which differs from the altitude of a multi-function robot on another pivot arm of a rotary column.

4. Continuous casting plant according to one of the preceding claims, characterized in that the pivot arm is rigidly connected to the rotatable rotary column and the rotary column is associated with a drive device (57).

5. Continuous casting plant according to one of claims 1 to 3, characterized in that the pivot arm is rotatably supported on the rotary column and the pivot arm is associated with a drive device (57).

6. Continuous casting plant according to one of the preceding claims, characterized in that the swivel arm is formed by a parallel link system (64, 65, 66) and the parallel link system is associated with a drive device (57).

7. Continuous casting plant according to one of the preceding claims, characterized in that the rotary column is designed as a lifting element.

8. Continuous casting plant according to one of the preceding claims, characterized in that each multifunction robot is associated with a supply area (26, 26 a) for receiving and storing tools, equipment and the like.

9. continuous casting plant according to claim 8, characterized in that the

Supply area is arranged on the pivot arm of a rotary column and this supply area is preferably pivotable between an operating position within reach of the multi-function robot and a loading position.

10. Continuous casting plant according to one of the preceding claims, characterized in that the specified work areas at least one, preferably at least two, of the possible work areas

- ladle turret environment,

- ladle environment, in particular area of the shadow tube,

- distribution vessel environment,

- mold environment,

- flame cutting machine,

- Deburring and marking environment, - Includes quality control.

1 1. Continuous casting plant according to one of the preceding claims, characterized in that the multifunction robot and the rotary column with the pivot arm form exchangeable modules, which Schnelllösemechanismen (58) are assigned.

12. Continuous casting plant according to one of the preceding claims, characterized in that the at least one multi-function robot is equipped with a data transmission and data receiving device and this is connected to a central guide or a process computer of the continuous casting.