EP1893368A1 - Installation de coulee continue comprenant au moins un robot multifonctionnel - Google Patents

Installation de coulee continue comprenant au moins un robot multifonctionnel

Info

Publication number
EP1893368A1
EP1893368A1 EP06840913A EP06840913A EP1893368A1 EP 1893368 A1 EP1893368 A1 EP 1893368A1 EP 06840913 A EP06840913 A EP 06840913A EP 06840913 A EP06840913 A EP 06840913A EP 1893368 A1 EP1893368 A1 EP 1893368A1
Authority
EP
European Patent Office
Prior art keywords
continuous casting
robot
casting plant
rotary column
pivot arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP06840913A
Other languages
German (de)
English (en)
Other versions
EP1893368B1 (fr
Inventor
Helmut Ebner
Johann PÖPPL
Armin Schertler
Susanne Tanzer
Heinrich THÖNE
Franz Wimmer
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
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=36838705&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1893368(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
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 EP1893368A1 publication Critical patent/EP1893368A1/fr
Application granted granted Critical
Publication of EP1893368B1 publication Critical patent/EP1893368B1/fr
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
    • B22D11/10—Supplying or treating molten metal
    • B22D11/11—Treating the molten metal
    • B22D11/111—Treating the molten metal by using protecting powders
    • 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
    • B22D11/12—Accessories for subsequent treating or working cast stock in situ
    • B22D11/126—Accessories for subsequent treating or working cast stock in situ for cutting
    • 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
    • B22D11/12—Accessories for subsequent treating or working cast stock in situ
    • B22D11/126—Accessories for subsequent treating or working cast stock in situ for cutting
    • B22D11/1265—Accessories for subsequent treating or working cast stock in situ for cutting having auxiliary devices for deburring
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/12—Travelling ladles or similar containers; Cars for ladles
    • B22D41/13—Ladle turrets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/50—Pouring-nozzles
    • B22D41/52—Manufacturing or repairing thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/50—Pouring-nozzles
    • B22D41/56—Means for supporting, manipulating or changing a pouring-nozzle

Definitions

  • 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.
  • 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.
  • 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.
  • this chassis is additionally associated with a swing mechanism with a boom, on the projecting end portion of a multi-function robot is positioned.
  • 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.
  • 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.
  • this robot is for Casting powder task, for Inertgaseindüsung, for Schlackenbartelfernung and for the determination of BadLiteabnormalticianen 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.
  • 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.
  • JP-A 3-071959 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.
  • 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.
  • 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.
  • a working position here are one or more basic positions to understand that occupies the multifunction robot relative to the casting plant.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Such work areas can be separated for each strand or defined together for several strands.
  • 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.
  • 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.
  • FIG. 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
  • FIG. 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
  • FIG. 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
  • 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.
  • a ladle turret 2 On the casting platform 1 of the continuous casting plant, a ladle turret 2 is rotatably supported about a vertical axis 3.
  • 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.
  • 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.
  • the multi-function robot 20 in its retracted position and in Rg.
  • 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.
  • 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.
  • 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.
  • 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 Tauchg bankrohren 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.
  • the 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.
  • a pivot arm 21 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 BayonettverBankes 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.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)

Abstract

Dans une installation de coulée continue comprenant au moins un robot multifonctionnel pour la mise en œuvre de plusieurs opérations différentes à commande de processus ou automatisée au niveau de l'installation de coulée continue, on définit au moins une zone de travail sur l'installation de coulée continue et on associe à chaque zone de travail au moins un robot multifonctionnel afin d'effectuer une pluralité d'activités récurrentes sur l'installation de coulée continue de manière précise et automatisée sans gêner l'accès de l'installation de coulée par le personnel et sans que les robots multifonctionnels ne constituent un risque d'accident supplémentaire. Le robot multifonctionnel est disposé sur un bras pivotant d'une colonne rotative fixée sur la plate-forme de coulée de l'installation de coulée continue et peut pivoter avec le bras pivotant entre une position de retrait et une position de travail.
EP06840913A 2005-06-20 2006-06-08 Installation de coulee continue comprenant au moins deux robots multifonctionnel Active EP1893368B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0103505A AT502058B1 (de) 2005-06-20 2005-06-20 Stranggiessanlage mit mindestens einem multifunktions-roboter
PCT/EP2006/005464 WO2007057061A1 (fr) 2005-06-20 2006-06-08 Installation de coulee continue comprenant au moins un robot multifonctionnel

Publications (2)

Publication Number Publication Date
EP1893368A1 true EP1893368A1 (fr) 2008-03-05
EP1893368B1 EP1893368B1 (fr) 2011-12-21

Family

ID=36838705

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06840913A Active EP1893368B1 (fr) 2005-06-20 2006-06-08 Installation de coulee continue comprenant au moins deux robots multifonctionnel

Country Status (10)

Country Link
US (1) US8215375B2 (fr)
EP (1) EP1893368B1 (fr)
JP (1) JP2008543574A (fr)
KR (1) KR101293194B1 (fr)
CN (1) CN101203341B (fr)
AT (2) AT502058B1 (fr)
BR (1) BRPI0611877B1 (fr)
RU (1) RU2401717C2 (fr)
UA (1) UA94047C2 (fr)
WO (1) WO2007057061A1 (fr)

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CN110614348A (zh) * 2019-10-11 2019-12-27 宝钢工程技术集团有限公司 带有轨道的自动化浇钢装置及其使用方法
CN110976839B (zh) * 2019-12-24 2021-06-11 中冶南方工程技术有限公司 连铸机上部结构及长水口自动装卸方法
CN216502333U (zh) 2020-02-18 2022-05-13 维苏威集团有限公司 金属浇铸设备
CN111318681B (zh) * 2020-03-29 2024-04-05 无锡巨力重工股份有限公司 带位置检测的承载罐座
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RU2008102129A (ru) 2009-07-27
EP1893368B1 (fr) 2011-12-21
CN101203341A (zh) 2008-06-18
KR101293194B1 (ko) 2013-08-05
BRPI0611877A2 (pt) 2010-10-05
US20080314938A1 (en) 2008-12-25
AT502058B1 (de) 2007-11-15
WO2007057061A1 (fr) 2007-05-24
UA94047C2 (ru) 2011-04-11
AT502058A1 (de) 2007-01-15
KR20080016699A (ko) 2008-02-21
RU2401717C2 (ru) 2010-10-20
ATE537922T1 (de) 2012-01-15
BRPI0611877B1 (pt) 2017-03-28
US8215375B2 (en) 2012-07-10
JP2008543574A (ja) 2008-12-04
CN101203341B (zh) 2013-03-06

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