EP1893368B1 - Installation de coulee continue comprenant au moins deux robots multifonctionnel - Google Patents

Installation de coulee continue comprenant au moins deux robots multifonctionnel Download PDF

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Publication number
EP1893368B1
EP1893368B1 EP06840913A EP06840913A EP1893368B1 EP 1893368 B1 EP1893368 B1 EP 1893368B1 EP 06840913 A EP06840913 A EP 06840913A EP 06840913 A EP06840913 A EP 06840913A EP 1893368 B1 EP1893368 B1 EP 1893368B1
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EP
European Patent Office
Prior art keywords
continuous casting
casting plant
rotary column
robot
multifunction
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
EP06840913A
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German (de)
English (en)
Other versions
EP1893368A1 (fr
Inventor
Helmut Ebner
Johann PÖPPL
Armin Schertler
Susanne Tanzer
Heinrich THÖNE
Franz Wimmer
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Primetals Technologies Austria GmbH
Original Assignee
Siemens VAI Metals Technologies GmbH Austria
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Publication date
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • 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 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 from the WO 2005/118182 A1 1 already known.
  • 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 fixedly anchored there 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.
  • each of these robots on a rail vehicle on the casting platform between an insertion position and a waiting position is movable.
  • the JP-A 07-01639 also shows a multi-function robot, which is mounted on the travel frame of a rail vehicle and is used especially for the change of pouring tubes. Furthermore, it is from the JP-A 3-071959 known to arrange two robots on two separate rail tracks movable independently perform activities on the ladle and the distribution vessel.
  • Such a device is for example from the US-A 5,067,553 known, comprising a casting powder feeding 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.
  • a specialized device is always assigned only to a very specific work area and not suitable for the operation of several different work areas.
  • 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 robots a variety of continuously recurring activities on a continuous casting precise and automated 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.
  • an expedient embodiment is that at least one multifunction robot is arranged on a pivoting arm of a rotary column at an altitude that deviates from the altitude of a multifunction robot on a further pivoting arm of a rotary 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.
  • 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 the 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 are 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.
  • FIGS. 1 a 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 a 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. 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 process 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 through the immersion casting tube 10, which is associated with a slide closure 11, in the continuous casting mold 7. From the continuous casting mold 7 enters an at least partially solidified steel strand, which is indicated by the curved center line 12, and passes in a known manner, the strand management 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.
  • Fig. 1a is the multifunction robot 20 in its retreat position and in Fig.
  • the rotary column 22 is on the casting platform. 1 preferably secured by a detachable screw, so that the rotary column including multi-function 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. 2a and 2 B is a schematic diagram of a possible arrangement of four multi-function robots on the casting floor of a continuous casting, which could be here on the one hand to a continuous casting for the production of very wide slabs or a continuous casting plant for casting two or more steel strands.
  • the reference numerals for components in both the illustrations after Fig. 1a . 1b shows as well as in the representations Fig. 2a . 2 B occurrences are the same.
  • a rotatable about a vertical axis 3 pan turret 2 is 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 is the range of the multifunction robot in its retracted position and outlined 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 nozzle 10 or performing a sampling in the continuous casting mold 7.
  • Fig. 2b It can be seen that the work areas, which are derived from the working position of the two robots 50, 60 side by side and accordingly the work area on a very long distribution vessel 6 with, for example, two in the image plane of FIG. 2a successively arranged Tauchg bankrohren 10 or the working areas of two in the image plane of FIG. 2a cover continuous casting molds 7 arranged one behind the other.
  • a multi-function robot 20 is shown in a working position (left half) and in a retreat position (right half) on the swing arm 21 of a pivot 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 Drehahse 24 and connected to a drive device 57, in this case especially with a drive motor (electric drive motor), via a not-shown gear.
  • 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 with dashed lines is that the rotary column 22 stands upright from the base plate 54, 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 mounted 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 bayonet lock 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.
  • FIG. 4 shows a further 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 multi-function robot 20, 30 and the drive devices 57 of the rotary columns 21, 31 in the process and plant control 71 of the continuous casting.
  • 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.

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  • 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.

Claims (11)

  1. Installation de coulée continue comportant au moins deux robots multifonctionnels pour l'exécution de plusieurs interventions différentes, commandées par le processus ou automatisées, dans l'installation de coulée continue, dans laquelle au moins une zone de travail (25, 27, 35) est fixée sur l'installation de coulée continue et au moins un robot multifonctionnel (20, 30, 40, 50, 60) est associé à chaque zone de travail, caractérisée en ce que chaque robot multifonctionnel (20, 30, 40, 50, 60) est disposé sur un bras pivotant (21, 31, 41, 51, 61) d'une colonne tournante (22, 32, 42, 52, 62) fixée sur la plate-forme de coulée (1) de l'installation de coulée continue, en ce que chaque colonne tournante (22, 32, 42, 52, 62) est disposée à l'extérieur de la zone de travail (25, 27, 35), de telle manière que chaque robot multifonctionnel (20, 30, 40, 50, 60) puisse pivoter avec le bras pivotant (21, 31, 41, 51, 61) entre une position de travail dépendant de la zone de travail (25, 27, 35) et une position de retrait, et en ce qu'au moins un robot multifonctionnel (20, 30, 40, 50, 60) est disposé sur un bras pivotant (21, 31, 41, 51, 61) d'une colonne tournante (22, 32, 42, 52, 62) à une position en hauteur (28) qui est différente de la position en hauteur d'un robot multifonctionnel sur un autre bras pivotant d'une colonne tournante.
  2. Installation de coulée continue selon la revendication précédente, caractérisée en ce que le bras pivotant (21, 31, 41, 51, 61) est assemblé rigidement à la colonne tournante rotative (22, 32, 42, 52, 62) et un dispositif d'entraînement (57) est associé à la colonne tournante.
  3. Installation de coulée continue selon l'une quelconque des revendications 1 à 2, caractérisée en ce que le bras pivotant (21, 31, 41, 51, 61) est supporté de façon rotative sur la colonne tournante (22, 32, 42, 52, 62) et un dispositif d'entraînement (57') est associé au bras pivotant.
  4. Installation de coulée continue selon l'une quelconque des revendications précédentes, caractérisée en ce que le bras pivotant (21, 31, 41, 51, 61) est formé par un système de bielles parallèles (64, 65, 66) et un dispositif d'entraînement (57) est associé au système de bielles parallèles.
  5. Installation de coulée continue selon l'une quelconque des revendications précédentes, caractérisée en ce que la colonne tournante (22, 32, 42, 52, 62) se présente sous la forme d'un élément de levage.
  6. Installation de coulée continue selon l'une quelconque des revendications précédentes, caractérisée en ce qu'une zone d'alimentation (26, 26a) est associée à chaque robot multifonctionnel (20, 30, 40, 50, 60) pour la réception et le dépôt d'outils, de moyens de travail et analogues.
  7. Installation de coulée continue selon la revendication 6, caractérisée en ce que la zone d'alimentation (26, 26a) est disposée sur le bras pivotant (21, 31, 41, 51, 61) d'une colonne tournante (22, 32, 42, 52, 62) et cette zone d'alimentation peut pivoter entre une position d'utilisation à portée du robot multifonctionnel (20, 30, 40, 50, 60) et une position d'équipement.
  8. Installation de coulée continue selon l'une quelconque des revendications précédentes, caractérisée en ce que les zones de travail fixées (25, 27, 35) comprennent au moins deux des zones de travail possibles:
    - environnement du carrousel à poches,
    - environnement des poches de coulée, en particulier région du tube de protection,
    - environnement du panier répartiteur,
    - environnement de la lingotière,
    - machine d'oxycoupage,
    - environnement d'ébarbage et de marquage,
    - contrôle de qualité.
  9. Installation de coulée continue selon l'une quelconque des revendications précédentes, caractérisée en ce que le robot multifonctionnel (20, 30, 40, 50, 60) et la colonne tournante (22, 32, 42, 52, 62) avec le bras pivotant (21, 31, 41, 51, 61) forment des modules remplaçables, auxquels sont associés des mécanismes de démontage rapide (58).
  10. Installation de coulée continue selon l'une quelconque des revendications précédentes, caractérisée en ce que ledit au moins un robot multifonctionnel (20, 30, 40, 50, 60) est équipé d'un dispositif de transmission et de réception de données et celui-ci est relié à un dispositif de commande central ou à un ordinateur de processus (CPU) de l'installation de coulée continue.
  11. Installation de coulée continue selon l'une quelconque des revendications précédentes, caractérisée en ce que ledit au moins un robot multifonctionnel (20, 30, 40, 50, 60) se présente sous la forme d'un robot à 6 axes.
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 EP1893368A1 (fr) 2008-03-05
EP1893368B1 true EP1893368B1 (fr) 2011-12-21

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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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AT502058B1 (de) 2007-11-15
UA94047C2 (ru) 2011-04-11
ATE537922T1 (de) 2012-01-15
BRPI0611877B1 (pt) 2017-03-28
BRPI0611877A2 (pt) 2010-10-05
EP1893368A1 (fr) 2008-03-05
AT502058A1 (de) 2007-01-15
CN101203341B (zh) 2013-03-06
KR101293194B1 (ko) 2013-08-05
KR20080016699A (ko) 2008-02-21
US20080314938A1 (en) 2008-12-25
WO2007057061A1 (fr) 2007-05-24
RU2401717C2 (ru) 2010-10-20
US8215375B2 (en) 2012-07-10
CN101203341A (zh) 2008-06-18
JP2008543574A (ja) 2008-12-04
RU2008102129A (ru) 2009-07-27

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