JP2021041439A - Molten metal feed device and molten metal feed method for casting - Google Patents

Abstract

To provide a molten metal feed device and a molten metal feed method for casting capable of securely reducing the cycle time of casting.SOLUTION: A molten metal feed device 1 for casting of feeding a molten to a feed destination 5 comprises: a ladle 4 for pumping up a molten metal 2 from a furnace 3 and pouring the same to the feed destination 5; a driving part 10 capable of carrying the ladle 4 to a molten metal pouring position 53 in the feed destination 5 and capable of tilting the ladle 4 with a prescribed rotary axis A3 as the center; an optical sensor 6 as a molten metal face position detection part composed so as to detect a position of a molten metal face 2B of the molten metal 2 pumped up from the furnace 3 and stored in the ladle 4; and a control apparatus 20, upon the tilt of the ladle 4 prior to the arrival of the ladle 4 to the molten metal pouring position 53 by calculation based on the dimensional shape of the ladle 4 using the position of the molten metal face 2B detected by the optical sensor 6 per cycle of casting, calculating a pre-inclination angle θ3 as an angle of the upper limit in which the molten metal 2 does not overflow from the ladle 4.SELECTED DRAWING: Figure 4

Description

The present invention relates to a hot water supply device and a hot water supply method for casting in which molten metal is supplied by a ladle.

In order to supply the molten metal used for casting to, for example, an injection sleeve provided in a die casting machine, a hot water supply device is used in which the molten metal is pumped out from a furnace by a radle and transported to a supply destination.
The ruddle is conveyed from the furnace to the supply destination by a drive mechanism including a motor, an arm, and the like, and is tilted about a rotation axis. When pumping out the molten metal or supplying it to the supply destination, the ruddle is tilted at a predetermined angle by the drive mechanism.
The basic operation of the ladle is to let the ladle enter the molten metal in the furnace and then raise the ladle with respect to the surface of the molten metal to pump out the amount of molten metal corresponding to the product to be cast. The molten metal is injected from the ladle into the pouring port of the injection sleeve by tilting the ladle at the pouring position at the pouring position while keeping the ruddle in a neutral position and transporting it toward the feeding destination. In order to position the ladle at the pouring position, the ruddle is typically decelerated from just before the pouring position.

According to the hot water supply method described in Patent Document 1, in order to shorten the cycle time while decelerating the ladle in the middle of the section for transporting the ladle from the furnace to the pouring position, the ruddle is started to tilt prior to the pouring. ing. The operation of the limit switch provided on the rotating shaft of the ruddle causes the ruddle to tilt to a predetermined angle.

Japanese Unexamined Patent Publication No. 6-114526

The amount of molten metal corresponding to the set value is weighed into the ladle by appropriately determining the approach angle and the approach depth of the ladle at the time of weighing based on the set value of the molten metal weight according to the product to be cast. However, the amount of molten metal measured in the ladle varies from casting cycle to casting cycle due to changes in the ambient temperature and the state of the molten metal, and the position of the molten metal in the ladle also varies. The position of the molten metal surface in the ladle also varies depending on the tolerance of the dimensions and shape of the ladle.

Even if the hot water surface position is the highest within the range of variation in the hot water surface position, it is necessary to prevent the molten metal from overflowing from the ladle when the ladle is tilted prior to pouring. Therefore, the angle at which the ladle is tilted prior to pouring is set to a value that allows a margin for the upper limit angle, which is less than the upper limit angle at which the molten metal does not actually overflow from the ladle. Then, the cycle time cannot always be shortened sufficiently.

An object of the present invention is to provide a hot water supply device and a hot water supply method for casting that can surely shorten the cycle time of casting.

The present invention is a hot water supply device for casting that supplies molten metal to a supply destination, and is capable of transporting a ladle for pumping molten metal from a furnace and pouring the molten metal into the supply destination and a ruddle to a pouring position at the supply destination. There is a drive unit that can tilt the ladle around a predetermined rotation axis, and the position of the molten metal pumped from the furnace and stored in the ladle can be detected. Using the detection unit and the position of the molten metal detected by the molten metal position detection unit for each casting cycle, the ladle is tilted prior to reaching the pouring position by calculation based on the dimensions and shape of the ladle. It is characterized by including a control unit that calculates a pre-tilt angle, which is an upper limit angle at which the molten metal does not overflow from the ladle.

In the hot water supply device for casting of the present invention, it is preferable that the hot water surface position detecting unit includes an optical sensor (laser sensor) that uses laser light.

In the hot water supply device for casting of the present invention, it is preferable that the control unit uses the position of the hot water surface detected by the hot water surface position detecting unit and the type of ladle related to the volume or shape of the ladle to calculate the pre-tilt angle.

Further, the present invention is a hot water supply method for casting in which molten metal is supplied to a supply destination, that is, a weighing step of measuring the molten metal from a furnace to a ladle, a transfer step of transporting the ladle from the furnace to the supply destination, and a transfer step from the furnace. In parallel with the ladle hot water level detection step that detects the position of the hot water surface of the molten metal that has been pumped out and stored in the ladle, and the transport step, the ladle is specified prior to the arrival of the ladle at the pouring position at the supply destination. The pre-tilt step includes a pre-tilt step of tilting around the rotation axis of the above and a pouring step of tilting the ladle at the pouring position and injecting molten metal from the ladle into the supply destination. It is characterized by tilting the ladle to the pre-tilt angle, which is the upper limit angle at which the molten metal does not overflow from the ladle, calculated by calculation based on the dimensions and shape of the ladle, using the position of the molten metal detected by the detection step. And.

In the hot water supply method for casting of the present invention, in the ladle hot water level detection step, it is preferable to detect the position of the hot water surface by using a laser beam emitted from the hot water surface of the molten metal stored in the ladle.

In the hot water supply method for casting of the present invention, it is preferable to start the pre-tilt step after reducing the transport speed of the ruddle in the middle of the transport step.

According to the present invention, the position of the molten metal in the ladle varies. The actual position of the molten metal in the ladle is calculated based on the dimensions and shape of the ruddle to be used, using the actually measured position of the molten metal in the ladle for each casting cycle. The tilt of the ladle in the pouring direction can be advanced prior to the arrival of the ladle at the pouring position up to the upper limit pre-tilt angle at which the molten metal does not overflow. In other words, in each cycle, the ruddle being transported can be tilted up to the upper limit angle where there is virtually no margin, so that the pre-tilt angle common to each cycle is uniformly determined. Therefore, the casting cycle time can be surely shortened.

It is a figure which shows the schematic structure of the hot water supply apparatus for casting which concerns on embodiment of this invention. (A) and (b) are diagrams showing a part of the hot water supply device shown in FIG. (B) is a figure which shows a part of a water heater from the direction of the IIb arrow of (a). It is a figure which shows the internal structure of the control device provided in the hot water supply device shown in FIG. It is a figure which shows typically the change of the attitude of the ruddle at the time of entering the molten metal of a furnace, at the time of transporting, and at the time of pre-tilt. It is a figure which shows the example which the amount of molten metal in a ladle is different from FIG. It is a timing chart of this embodiment which shows the operation of carrying and tilting a ruddle. It is a timing chart of a comparative example. It is a timing chart which concerns on the modification of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
In the hot water supply device 1 for casting shown in FIG. 1, the molten metal 2 is pumped out from the furnace 3 storing the molten metal 2 by the radle 4, the radle 4 is conveyed to the supply destination 5 using the molten metal 2, and the ladle 4 is transferred to the supply destination 5. The molten metal 2 is supplied. The supply destination 5 corresponds to, for example, an injection sleeve 51 provided in an injection device of a die casting machine. The inside of the injection sleeve 51 communicates with a cavity of a mold (not shown). The molten metal 2 supplied to the inside of the injection sleeve 51 from the pouring port 51A provided in the injection sleeve 51 is injected into the cavity and filled by the tip 52 of the plunger advancing toward the cavity side of the mold. ..
Casting performed using the hot water supply device 1 and a die casting machine (not shown) is performed by, for example, a casting cycle consisting of mold closing, injection / filling, pressure holding / pressure increasing, mold opening, and product removal.

As shown in FIGS. 1, 2 (a) and 2 (b), the hot water supply device 1 includes a radle 4 for pumping the molten metal 2 from the furnace 3 and pouring hot water into the supply destination, a drive unit 10 for driving the radle 4, and the like. An optical sensor 6 (FIGS. 2 (a) and 2 (b)) as a molten metal position detection unit configured to be able to detect the molten metal surface 2B of the molten metal 2 pumped and stored in the radle 4, and a driving unit. It is provided with a control device 20 as a control unit for controlling 10. The control device 20 includes a computer device, a arithmetic processing unit 21 (FIG. 3) such as a microprocessor including a CPU (Central Processing Unit) and a memory, and a storage unit 22 (FIG. 3) that stores various set values, program data, and the like. 3) and is provided. The control device 20 may be a part of a control device of a die casting machine (not shown).

The drive unit 10 transports the ruddle 4 between the furnace 3 and the supply destination 5, and tilts the ruddle 4 to a predetermined posture at the time of weighing, transporting, and pouring hot water.
The ruddle 4 is tilted with respect to the neutral posture (neutral position) shown in FIG. 2A by being rotated around a predetermined rotation axis A3 by the drive unit 10. The rotation of the ruddle 4 around the rotation axis A3 is referred to as "tilt".

FIG. 1 briefly shows an example of the configuration of the drive unit 10. As shown in FIG. 1, the drive unit 10 is rotatably connected to the first arm 11 and the first arm 11 rotatably supported by the pedestal 13 about the rotation shaft A1. The second arm 12 and the radle rotation mechanism 14 that rotatably connects the radle 4 to the second arm 12 are provided.

The ruddle rotation mechanism 14 rotates the ruddle 4 with respect to the second arm 12 about the rotation axis A3 coupled to the radle 4 and the second arm 12. The rotation axis A3 is arranged in the vicinity of the spout 4A of the radle 4 along a direction orthogonal to the direction in which the molten metal 2 is poured. The rotating shaft A3 is provided with mounting members 7 (FIGS. 2A and 2B) that support the optical sensor 6.
The ruddle rotation mechanism 14 includes a motor 141 (FIGS. 2 (b) and 3) that outputs torque to the rotation shaft A3, and an encoder (rotary) provided on the rotation shaft A3 that can detect the position of the rotation shaft A3 in the rotation direction. Encoder) 142 (FIG. 2 (b) and FIG. 3) is included.

Although not shown, the drive unit 10 is a motor that swings the first arm 11 with respect to the pedestal 13 by outputting torque to the rotation shaft A1, in addition to the above-mentioned components, in the rotation direction of the rotation shaft A1. A rotary encoder that detects the position, a motor that swings the second arm 12 with respect to the first arm 11 by outputting torque to the rotating shaft A2, a rotary encoder that detects the position of the rotating shaft A2 in the rotational direction, and a speed reducer. , And a chain, etc.

The motor and speed reducer of the drive unit 10 that swings the first arm 11 and the second arm 12 are controlled by the control device 20, so that the radle 4 follows the locus 100 shown in FIG. 1 from the furnace 3 to the supply destination 5, for example. It is drawn and transported at a predetermined speed.
Further, by controlling the motor 141 of the radle rotation mechanism 14 that tilts the radle 4 by the control device 20, the ruddle 4 is tilted to a predetermined posture B1 at the time of weighing and a predetermined posture B4 at the time of pouring. To.

The control device 20 detects the rotation position of each rotation axis A1 to A3 by the rotary encoder, and performs feedback control of at least the position of the position and speed of the motor corresponding to each rotation axis A1 to A3, thereby causing the ruddle. 4 is conveyed according to the locus 100, and is tilted to a predetermined posture in a timely manner.

Taking control of the rotation position of the rotation axis A3 related to the tilt of the ruddle 4 as an example, FIG. 3 shows an example of a feedback loop.
The feedback loop shown in FIG. 3 includes a control signal source 211, a comparator 212, a motor driver 23, an amplifier 24, a motor 141, and an encoder counter 25.
Based on the comparison result (deviation) by the comparator 212 between the control signal C1 emitted from the control signal source 211 of the arithmetic processing unit 21 and the signal C2 output from the encoder counter 25 that counts the pulse signal output from the encoder 142. Then, the control amount is input to the motor driver 23. Then, the motor 141 is driven to rotate the rotating shaft A3, and the radle 4 follows the rotation of the rotating shaft A3 and tilts to a predetermined angle corresponding to the target position of the rotating shaft A3.

The radle 4 (FIGS. 2A and 2B) temporarily stores the molten metal 2 pumped from the furnace 3 and injects the molten metal 2 from the spout 4A into the pouring port 51A of the supply destination 5. The radle 4 is formed by casting or the like from a material such as a metal, a metal oxide, or a ceramic having the required heat resistance.
The radle 4 has a capacity for storing the required amount of molten metal 2 used for casting the product, and the molten metal 2 can be smoothly pumped out from the furnace 3 so that the entire amount of the molten metal 2 can be smoothly discharged. Given a given shape.
Typically, various products are cast while using a plurality of types of radles having different volumes and shapes depending on the product to be cast.

The amount of the molten metal 2 used for casting can be set in the control device 20 as the molten metal weight parameter Ps indicating the set value of the molten metal weight according to the product to be cast.
Further, the type of the radle 4 used for casting can also be set in the control device 20 as the ladle type parameter Pt according to the product to be cast.
These parameters Ps and Pt are stored in the storage unit 22 as needed, and are used for controlling to drive the arms 11 and 12 and the radle 4 when the molten metal 2 is weighed.

When the rotation shaft A3 is rotated by the motor 141 in the direction in which the spout 4A of the radle 4 is lowered (counterclockwise direction R1 in FIG. 2A), the rotation shaft A3 is tilted following the rotation of the rotation shaft A3. The molten metal 2 flows down from the spout 4A.

The basic operation shown in FIG. 1 of the radle 4 is to allow the ladle 4 to enter the molten metal 2 in the furnace 3 and raise the ladle 4 with respect to the molten metal surface 2A in the furnace 3, depending on the product to be cast. Pump out a large amount of molten metal 2 with a radle. At this time, under the control of the control device 20, the ruddle rotation mechanism 14 reverses the direction of tilting the ruddle 4 when pouring the pouring water above the furnace 3 (clockwise direction R2 in FIG. 2A). In addition, it is tilted until it reaches the predetermined approach posture B1, and the position of the molten metal surface 2A in the furnace 3 is detected by, for example, a known molten metal surface detection sensor 8 provided with detection rods 81 and 82 of metal or the like. The operation of the first arm 11 and the second arm 12 causes the radle 4 to enter the molten metal 2 in the furnace 3 from the molten metal surface 2A to a predetermined depth.

The detection rods 81 and 82 are both conductors, and a voltage is applied to the detection rods 81 and 82. The detection rods 81 and 82 are supported by the second arm 12 in parallel with the second arm 12. The lower end 81A of the detection rod 81 and the lower end 82A of the detection rod 82 are located, for example, in the vicinity of the rotation axis A3. The positions of the lower end 81A and the lower end 82A can be adjusted by adjusting the mounting positions of the detection rods 81 and 82 on the second arm 12.
When the second arm 12 descends toward the molten metal 2 in the furnace 3 and both the lower end 81A of the detection rod 81 and the lower end 82A of the detection rod 82 come into contact with the molten metal 2, the detection rods 81 and 82 and the molten metal 2 are included. The position of the molten metal surface 2A can be detected by the current flowing through the formed closed circuit. The approach depth of the radle 4 can be determined by the operation of the first arm 11 and the second arm 12 with respect to the position of the molten metal surface 2A.

After that, the radle 4 immersed in the molten metal 2 is tilted counterclockwise R1 toward the neutral position, and further, the operation of the first arm 11 and the second arm 12 causes the molten metal surface 2A in the furnace 3 to be tilted. When the radle 4 is pulled up, a predetermined amount of molten metal 2 is weighed in the radle 4. After pulling the radle 4 from the molten metal surface 2A, the ladle 4 is tilted as necessary to discharge a part of the molten metal 2 pumped out to the radle 4 into the furnace 3, thereby providing a predetermined amount. The molten metal 2 may be left in the radle 4.

After weighing, the radle 4 is conveyed toward the supply destination 5 by the first arm 11 and the second arm 12, and the radle 4 is poured into a predetermined pouring position at the pouring position 53 (above the vicinity of the pouring port 51A) at the supply destination 5. By tilting until the posture is B4, the molten metal 2 is supplied from the radle 4 to the inside of the injection sleeve 51 through the pouring port 51A.
In the process of transporting the ruddle 4 from the furnace 3 to the supply destination 5, the molten metal 2 is transferred from the ladle 4 by adjusting the angle of the ruddle 4 with respect to the second arm 12 by the rudder rotation mechanism 14 under the control of the control device 20. It is preferable to keep the radle 4 in a neutral position so that it does not overflow.
The transport speed of the radle 4 may be constant throughout the process of transporting the radle 4 from the furnace 3 to the supply destination 5, but the casting cycle time is shortened and the radle 4 is reliably stopped at the pouring position 53. Therefore, it is preferable to variably control the transport speed of the radle 4 as described later.

In addition to the operation of the ladle 4 described above, in the present embodiment, as shown in D3 of FIG. 4, the molten metal 2 does not overflow from the ladle 4 prior to the arrival of the ladle 4 at the pouring position 53. At an angle θ3, which is the upper limit angle, the radle 4 is tilted in the same direction as the pouring posture B4 (FIG. 1). Then, typically, the operation of tilting the radle 4 toward the pouring posture B4 is started while the ruddle 4 conveyed to the pouring position 53 is stopped at the pouring position 53. , The operation of tilting the radle 4 for pouring is started during the transportation of the ruddle 4 prior to the arrival of the ruddle 4 at the pouring position 53. It is possible to shorten the casting cycle time by the amount that is started early.

FIG. 4 shows the angles θ1 and θ3 of the axis L of the ruddle 4 with respect to the vertical straight line (indicated by the alternate long and short dash line) drawn in the vertical direction as the rotation angle of the ladle 4. The approach angle θ1 shown in D1 of FIG. 4 corresponds to the angle at which the radle 4 is made to enter the molten metal surface 2A of the furnace 3. As shown in D2 of FIG. 4, when the ruddle 4 is in the neutral position, the angle of the ruddle 4 with respect to the vertical line is 0 °.
The angle θ3 shown in D3 of FIG. 4 corresponds to an angle at which the radle 4 is tilted in advance prior to the arrival of the radle 4 at the pouring position 53. Prior to reaching the pouring position 53, the ruddle 4 is tilted in advance in the tilting direction at the time of pouring, which is called "pre-tilt", and the angle at which the ruddle 4 is tilted in advance is pre-tilted. It shall be referred to as an angle θ3.

The angle θ1 that allows the radle 4 to enter the molten metal 2 during weighing, the depth of entry of the radle 4 with respect to the molten metal surface 2A, and the like are based on the set value of the molten metal weight indicated by the above-mentioned molten metal weight parameter Ps and the type of the ladle 4 to be used. A predetermined amount of molten metal 2 corresponding to a set value of the molten metal weight can be weighed on the radle 4.
Of the above-mentioned angles θ1 and θ3 and the angle θ4 of the radle 4 in the pouring posture B4 (FIG. 1), at least the approach angle θ1 and the pre-tilt angle θ3 are different if the set value of the molten metal weight or the type of the radle 4 is changed. Change.
For example, in the example shown in FIG. 5, the set value of the molten metal weight used in the product is different from the example shown in FIG. The volume and shape of the radle 4 shown in FIG. 5 are the same as the volume and shape of the radle 4 shown in FIG. The approach angle θ1-5 shown in FIG. 5 is different from the approach angle θ1 shown in FIG. Similarly, the pre-tilt angle θ3-5 shown in FIG. 5 is different from the pre-tilt angle θ3 shown in FIG.

The pre-tilt angles θ3 and θ3-5, which are the upper limit rotation angles of the ruddle 4 at the time of pre-tilt, are geometrically uniquely determined by design from the set value of the molten metal weight and the type of the ruddle 4 to be used.
However, the amount (weight or volume) of the molten metal 2 pumped out from the furnace 3 and stored in the radle 4 is cast due to the ambient temperature, the rippling of the molten metal surface, the change in the solidification state of the molten metal, or the like. It varies from cycle to cycle, and the position of the hot water surface 2B in the radle 4 also varies. Even if an amount of molten metal 2 equal to the set value is weighed on the radle 4, the position of the molten metal surface 2B in the radle 4 varies due to the tolerance of the dimensions and shape of the radle 4. Then, the pre-tilt angles θ3 and θ3-5 also vary.

For example, it is assumed that the pre-tilt angle θ3 shown in FIG. 4 is a value uniquely derived from the position of the molten metal surface in the radle 4 based on the design dimensional shape of the radle 4 to be used and the design value of the molten metal weight. .. In this case, the pre-tilt angle θ3 shown in FIG. 4 corresponds to an upper limit angle in which there is substantially no margin for preventing the molten metal 2 from overflowing from the radle 4 in design. However, in reality, the position of the molten metal surface 2B in the ladder 4 varies depending on the ambient temperature, the condition of the molten metal surface 2A, and the tolerance of the dimensions and shape of the ladder 4, so that the molten metal 2 does not overflow from the ladder 4 and is pre-tilted at the upper limit. The angle θ3 also varies.

Therefore, in the present embodiment, the position of the molten metal 2B measured on the radle 4 is detected by the optical sensor 6 for each casting cycle, the measured value of the position of the molten metal 2B, and the type of radle to be used. The upper limit at which the molten metal 2 can be tilted without overflowing from the molten metal 2 by the geometric calculation performed by the pre-tilt angle calculation unit 213 of the arithmetic processing unit 21 based on the design dimensions and shape of 4. The pre-tilt angle θ3 is calculated.

The pre-tilt angle calculation unit 213 is a module of a program executed by the arithmetic processing unit 21. The pre-tilt angle calculation unit 213 has known data preset in the control device 20 for the type of radle 4 to be used, for example, data showing the relationship between the position of the molten metal in the radle 4 and the amount of molten metal, or optical. The pre-tilt angle θ3 is calculated from the detection signal output from the optical sensor 6 by using a mathematical formula or the like in which the detection signal by the formula sensor 6 is used as a variable. By giving a control amount to the motor driver 23 based on the target position of the rotation axis A3 corresponding to the pre-tilt angle θ3, the ruddle 4 is tilted to the pre-tilt angle θ3 prior to pouring.

The optical sensor 6 (FIGS. 2A and 2B) can detect the position of the molten metal surface 2B in the radle 4 in a non-contact manner by using a laser beam. The optical sensor 6 includes a laser light source, a lens, and a light receiving element such as a CMOS (Complementary Metal Oxide Semiconductor) or a CCD (Charged-Coupled Devices). The optical sensor 6 is based on the phase between the light emitted from the laser light source toward the molten metal surface 2B of the molten metal 2 stored in the radle 4 and the light reflected from the molten metal surface 2B and incident on the light receiving element. Therefore, the position of the molten metal surface 2B with respect to the reference position can be accurately detected.
By providing an appropriate distance between the optical sensor 6 and the molten metal surface 2B in the radle 4, the effect of the heat of the molten metal 2 on the optical sensor 6 is avoided, and the optical sensor 6 is used. The reliability of detection can be ensured.

Using the hot water supply device 1 described above, the flow of the hot water supply process performed under the control of the control device 20 will be described with reference to the control example shown in FIG.
FIG. 6 shows the operations of the arms 11 and 12 related to the transfer of the ruddle 4 in one cycle Ts of the hot water supply process including weighing and pouring (upper part of FIG. The lower part of FIG. 6) is shown on the same time axis.
In this example, between the detection of the molten metal surface 2A in the furnace 3 (S01) performed after the radle 4 is made to enter the molten metal 2 in the furnace 3 and the detection of the molten metal surface 2A in the next cycle (S01). It is shown as 1 cycle Ts.
A predetermined amount of molten metal 2 is weighed into the radle 4 from the furnace 3, and the molten metal 2 is kept in the ladle 4 so that the weighed molten metal 2 does not overflow from the radle 4, and the molten metal 2 is quickly supplied before it cools. By pouring the molten metal 2 into 5, we want to shorten the casting cycle time including the hot water supply process.

In the upper part of FIG. 6, the transport speed of the ruddle 4 is positive (+) when the ruddle 4 moves forward from the furnace 3 toward the supply destination 5 or the ladle 4 rises with respect to the molten metal surface 2A due to the operation of the arms 11 and 12. ), And conversely, the transport speed of the radle 4 when the radle 4 retreats from the supply destination 5 toward the furnace 3 or the radle 4 descends with respect to the molten metal surface 2A after the pouring is completed is negative (). It is indicated by the sign of-).
Further, in the lower part of FIG. 6, the rotation speed at which the ruddle 4 is tilted counterclockwise R1 in FIG. 2A by the ladle rotation mechanism 14 is indicated by a positive (+) sign, and conversely, the ruddle 4 is shown. 2 (a) indicates the rotation speed when tilted clockwise R2 with a negative (-) sign.

In one cycle Ts, a weighing step S1 for pumping a predetermined amount of molten metal 2 into the radle 4 through a process of tilting the radle 4 in the + direction and further pulling the radle 4 with respect to the molten metal surface 2A, and a weighing step S1 in the radle 4 Laddle for measuring the position of the molten metal surface 2B Step S2 for measuring the position of the molten metal, forward step S3 for transporting the radle 4 from the furnace 3 to the supply destination 5 in the + direction, and a pre-tilt angle θ3 in the + direction while transporting the radle 4. In the pre-tilt step S4 that tilts to, and at the pouring position 53 (here, the forward limit of the ladle 4 by the arms 11 and 12), the radle 4 is further tilted in the + direction to melt the molten metal 2 into the pouring port 51A of the supply destination 5. Injecting hot water step S5, retreating step S6 that tilts the radle 4 in the-direction and returns it to the neutral position while transporting it in the-direction toward the furnace 3, and a weighing command is issued at the retreat limit of the radle 4. It includes a cycle adjustment step S7 waiting to be emitted, and a furnace entry step S8 in which the radle 4 is lowered while tilting in the − direction to allow the radle 4 to enter the molten metal 2 in the furnace 3.

The weighing step S1 includes a first weighing step S11 in which the radle 4 immersed in the molten metal 2 is tilted in the + direction to a measuring angle θ2, an ascending step S12 in which the radle 4 is pulled up with respect to the molten metal surface 2A, and a molten metal in the ladle 4. A first measurement step S13 for measuring the amount using, for example, a load cell (not shown), a second measurement step S14 for tilting the radle 4 further in the + direction to return it to the neutral position, and for example, a load cell or the like are used. This includes a second measurement step S15 for measuring the amount of molten metal in the radle 4.

In the weighing step S1, in order to improve the accuracy of the weighing, prior to the weighing step S1 (furnace entry step S8), the radle 4 which has been entered into the molten metal 2 in a state of being tilted in the minus direction to the approach angle θ1 is +. It is preferable to weigh a predetermined amount of the molten metal 2 into the radle 4 through the first weighing step S11 in which the molten metal 2 is tilted in the direction to the weighing angle θ2.

Here, due to the backlash existing in the gear structure of the ruddle rotation mechanism 14 and the buoyancy caused by the molten metal 2, the ruddle 4 can be displaced in the + direction or the − direction when entering the molten metal 2. Therefore, the approach angle θ1 is set to be larger than the angle derived by calculation based on the set value of the molten metal weight, the shape of the radle 4, etc., and the angle displaced by the backlash and buoyancy in the − direction.
Therefore, even if the ruddle 4 is displaced in an indefinite direction due to backlash and buoyancy when entering the molten metal 2, the ruddle 4 is then tilted in the + direction, that is, in a certain direction, so that the ruddle 4 is set to the weighing angle θ2. It can be matched accurately. Then, the amount of the molten metal 2 corresponding to the weighing angle θ2 is stably pumped out to the radle 4, so that the weighing accuracy is improved.

In the second weighing step S14, by controlling the speed at which the radle 4 is tilted based on the measurement result in the first measuring step S13, a part of the molten metal 2 in the radle 4 is moved to the outside of the radle 4 as needed. By discharging the molten metal 2, the amount of the molten metal 2 corresponding to the set value of the weight of the molten metal is weighed in the radle 4. In the second measurement step S15, it is confirmed that the molten metal 2 is stored in the radle 4 in an amount corresponding to the set value of the molten metal weight.

Subsequently, in step S2 for measuring the position of the molten metal surface of the radle, the position of the molten metal surface 2B in the radle 4 is actually measured by the optical sensor 6. The pre-tilt angle θ3 is calculated by the pre-tilt angle calculation unit 213 (FIG. 3) from the actually measured position of the molten metal surface 2B and the type of the radle 4 indicated by the radle type parameter Pt. It is preferable that the step S2 for measuring the position of the radle molten metal is performed in a state where the operation of the radle 4 is stopped.
By calculating the pre-tilt angle θ3 for each cycle Ts using the measured value obtained in the ruddle molten metal surface position measurement step S2, the pre-tilt angle θ3 is corrected from the design reference value.

It should be noted that the detection result of the molten metal surface 2B position by the plurality of optical sensors 6 can be used, or the detection result of the molten metal surface 2B position by the optical sensor 6 and the weight detection result by the load cell, for example, can be used together. The accuracy of correction of the inclination angle θ3 can be improved.

The forward step S3 includes a first forward step S31 and a second forward step S32, and the speed is switched in two steps to transport the radle 4 to the pouring position 53. Specifically, the radle 4 is advanced at a relatively fast first transfer speed V1 until the middle of the section extending from the position of the furnace 3 to the advance limit. After that, in order to stop the radle 4 at the pouring position 53, the radle 4 is advanced at a relatively slow second transport speed V2.
The magnitudes of the first transport speed V1 and the second transport speed V2, and the timing at which the transport speeds V1 and V2 are switched are appropriately determined so that the molten metal 2 does not overflow from the radle 4 due to the inertial force.

The pre-tilt step S4 tilts the ruddle 4 to the pre-tilt angle θ3 while the ruddle 4 is being conveyed by the forward step S3. For example, as opposed to the comparative example shown in FIG. 7 in which the pre-tilt is not performed by starting the tilt of the radle 4 in the + direction from the neutral position prior to the arrival of the radle 4 at the pouring position 53, for example, the rudle 4 The time required for the cycle Ts (cycle time) can be shortened by the amount of time t1 in which the tilting in the + direction is performed in parallel with the transportation of the radle 4.

As shown by circles (○) in the upper row (raddle transport) and the lower row (laddle tilt) in FIG. 7, when the radle 4 stops at the forward limit, the radle 4 is tilted in the + direction from the neutral position. The rolling operation has not started. Unlike the comparative example of FIG. 7, in the present embodiment, the ruddle 4 is tilted in the + direction from the neutral position while the ruddle 4 is being conveyed to the forward limit. From the viewpoint of preventing the molten metal 2 from overflowing from the radle 4, it is preferable to avoid tilting the radle 4 when the molten metal surface 2B is rippling due to the inertial force accompanying the change in the transport speed of the radle 4. Therefore, as in the present embodiment shown in FIG. 6, it is preferable to start the pre-tilt of the radle 4 after the switching from the first transport speed V1 to the second transport speed V2 is completed.
Then, it is preferable to finish tilting the radle 4 to the pre-tilt angle θ3 by the end of the forward step S3.

In the example shown in FIG. 6, the motor 141 is operated from tx when the transport speed of the radle 4 is switched from the first transport speed V1 to the second transport speed V2, and the radle 4 stops at the pouring position 53 and at the same time the radle 4 Pre-tilt ends.
This is an example, and the cycle time can be shortened by performing at least a part of the pre-tilt step S4 in parallel with the forward step S3.

The speed at which the radle 4 is tilted in the + direction in the pre-tilt step S4 can be appropriately determined as long as the molten metal 2 does not overflow from the radle 4. If the entire pre-tilt step S4 is performed in parallel with the forward step S3, the ruddle 4 is pre-tilted while preventing the molten metal 2 from overflowing as compared with the case where a part of the pre-tilt step S4 is performed in parallel. It can be reliably tilted up to the angle θ3.
The tilting speed v1 of the pre-tilt in the example shown in FIG. 6 is equivalent to the tilting speed v1 of the radle 4 in the subsequent first pouring step S51.

In the pre-tilt step S4, the ladle 4 is tilted to the maximum in the + direction within the range where the molten metal 2 does not overflow from the ruddle 4, so that the pouring step S5 is compared with the comparative example (FIG. 7) in which the pre-tilt is not performed. At the start of, the remaining angle with respect to the pouring angle θ4 (FIG. 1) is small. That is, the radle 4 can be tilted to the pouring angle θ4 in a shorter time from the time when the ladle 4 reaches the pouring position 53 and starts pouring.
If the tilting speed of the ladle 4 at the time of pouring is too high, the molten metal 2 may overflow from the ladle 4, so that the tilting speed at the time of pouring is limited.

The pouring step S5 performed following the pre-tilting step S4 includes a first pouring step S51 and a second pouring step S52, and the tilting speed of the radle 4 is switched in two steps to pour the radle 4 into the pouring angle θ4. Tilt up to. Specifically, from the pre-tilt angle θ3 to the first pouring angle, the ruddle 4 is tilted at a relatively fast first tilting speed v1, and then the ruddle is tilted at a relatively slow second tilting speed v2. 4 is tilted and stopped at the second pouring angle (same as the pouring angle θ4 and the pouring limit). At the end of the second pouring step S52, the entire amount of the molten metal 2 is discharged from the ladle 4 while the radle 4 is stopped at the advancing limit and the pouring limit.

When the pouring is completed as described above, for the next cycle Ts, the radle 4 is tilted in the-direction and returned to the neutral position, and the radle 4 is started to retreat in the-direction, and the radle 4 is moved. It is retracted to the position of the furnace 3 (retraction step S6).
At this time, similarly to the forward step S3, the radle 4 is retracted at the first transfer speed V1 until the middle of the section from the advance limit to the position of the furnace 3, and subsequently, the second is slower than the first transfer speed V1. The radle 4 can be retracted and stopped at the position of the furnace 3 at the transfer speed V2, but this is not the case.

If a weighing command is issued while the radle 4 is waiting above the furnace 3 (cycle adjustment step S7), the ruddle 4 is tilted in the minus direction, and the radle 4 is retracted and lowered accordingly. The radle 4 tilted to the approach angle θ1 is made to enter the molten metal surface 2A through the opening of the furnace 3 (furnace entry step S8). At this time, the radle 4 enters the hot water surface 2A to a predetermined depth until the hot water surface 2A is detected by the hot water level detection sensor 8 (in-furnace hot water level detection step S01).
In the example shown in FIG. 6, the height of the radle 4 at the start of the descent of the radle 4 (at the start of step S8) is different from the height of the radle 4 at the end of the ascending step S12.
The cycle time is preferably adjusted while the molten metal 2 is not stored in the radle 4, as in step S7. While the molten metal 2 is stored in the ladle 4, for example, it is permissible to stop the ladle 4 at the forward limit and wait for a pouring command, but in order to suppress the temperature drop of the molten metal 2 in the ladle 4. It is preferable to eliminate such waiting time as much as possible.
As described above, the cycle Ts of the hot water supply process is completed, and the next cycle Ts is started from the hot water level detection step S01 in the furnace.

As described above, the position of the molten metal surface 2B in the radle 4 varies. Actually calculated from the position of the molten metal surface 2B in the radle 4 and the dimensional shape of the radle 4 to be used measured for each casting cycle. Prior to the arrival of the ladle 4 at the pouring position 53, the ladle 4 should be tilted in the pouring direction (+ direction) up to the upper limit pre-tilt angle θ3 from which the molten metal 2 does not overflow. Can be done.
According to this embodiment, it is not necessary for the operator to set the pre-tilt angle θ3 in the control device 20, and the pre-tilt angle θ3 can be automatically calculated for each casting cycle by the pre-tilt angle calculation unit 213. When the pre-tilt angle θ3 common to each cycle is uniformly determined, the casting cycle time can be surely shortened.

In the control example shown in FIG. 6, immediately after the radle 4 stops at the pre-tilt angle θ3 by the pre-tilt step S4, the pouring step S5 is started based on the pouring command. On the other hand, in the other control example shown in FIG. 8, since the preparation of the die casting machine was completed while the ruddle 4 was tilted in the pre-tilt step S4, the ruddle 4 to the pre-tilt angle θ3 was completed based on the pouring command. Following the arrival of, the tilting operation (pouring step S5) toward the pouring angle θ4 is performed.
Also in this case, the time required for the cycle Ts (cycle time) can be shortened by, for example, the time t1 shown in FIG. 8 as compared with the comparative example shown in FIG. 7 in which the pre-tilt is not performed.

In addition to the above, the configurations listed in the above embodiments can be selected or appropriately changed to other configurations as long as the gist of the present invention is not deviated.
In addition to the above-mentioned optical sensor 6, for example, a level meter that detects the liquid level of the molten metal 2 is a molten metal position detecting unit configured to be able to detect the position of the molten metal 2B stored in the ladle. , Or a range finder or the like that measures the distance to the hot water surface 2B can be used. Alternatively, the position of the molten metal surface 2B may be acquired by image processing of the image data of the molten metal surface 2B captured by the camera.

It is preferable that the molten metal position detection unit is not directly installed on the radle 4, but is installed on the rotation shaft A3 which is the rotation center of the radle 4, as in the optical sensor 6 in the above embodiment. Then, the same hot water surface position detecting unit can be used for detecting the hot water surface position in the ladle, which is common to a plurality of radle 4 according to the product. When the hot water surface position detecting unit is installed on the radle 4, it is necessary to install the hot water surface position detecting unit on each of the plurality of radle 4.
However, the target for installing the molten metal position detection unit is not limited to the rotating shaft A3. For example, the optical sensor 6 can be installed on a support member existing at a predetermined location outside the hot water supply device 1.

In the above embodiment, the pre-tilt angle θ3 is calculated for each casting cycle on the premise of detecting the position of the hot water surface in the ladle, but the dimensions of the radle 4 to be used are not premised on the detection of the hot water surface position in the ladle. It is also possible to automatically calculate the pre-tilt angle θ3 from the set values of the shape and the molten metal weight by software calculation processing, and use the pre-tilt angle θ3 to control the hot water supply process.

1 Water heater 2 Molten metal 2A, 2B Hot water level 3 Furnace 4 Ladle 4A Spout 5 Supply destination 6 Optical sensor (hot water level detection unit)
7 Mounting member 8 Hot water level detection sensor 10 Drive unit 11 1st arm 12 2nd arm 13 Pedestal 14 Raddle rotation mechanism 20 Control device (control unit)
21 Arithmetic processing unit 22 Storage unit 23 Motor driver 24 Amplifier 25 Encoder counter 51 Injection sleeve 51A Pouring port 52 Chip 53 Pouring position 81, 82 Detection rod 81A, 82A Lower end 100 Trajectory 141 Motor 142 Encoder 211 Control signal source 212 Comparer 213 Pre-tilt angle calculation unit A1 Rotation axis A1, A2, A3 Rotation axis B1 Approaching posture B4 Pouring posture L Axis line R1 Clockwise (+ direction)
R2 counterclockwise (-direction)
S01 In-core hot water level detection step S1 Weighing step S11 First measuring step S12 Ascending step S13 First measuring step S14 Second measuring step S15 Second measuring step S2 Raddle hot water level measurement step S3 Forward step S31 First forward step S32 Second Forward step S4 Pre-tilt step S5 Pouring step S51 1st pouring step S52 2nd pouring step S6 Retreating step S7 Cycle adjustment step S8 Reactor approach step t1 hour Ts cycle v1 1st tilting speed V1 1st transport speed v2 2 Tilt speed V2 Second transport speed θ1, θ1-5 Approach angle θ2 Weighing angle θ3, θ3-5 Pre-tilt angle θ4 Pouring angle

Claims (6)

A hot water supply device for casting that supplies molten metal to a supply destination.
A ladle for pumping the molten metal from the furnace and pouring it into the supply destination,
A drive unit capable of transporting the ruddle to a pouring position at the supply destination and tilting the ruddle around a predetermined rotation axis.
A molten metal level detection unit configured to be able to detect the position of the molten metal surface pumped from the furnace and stored in the radle, and
Every casting cycle,
Using the position of the hot water surface detected by the hot water surface position detecting unit, the ruddle is tilted prior to reaching the hot water pouring position by calculation based on the size and shape of the ladle. A control unit for calculating a pre-tilt angle, which is an upper limit angle at which the molten metal does not overflow, is provided.
A hot water supply device for casting that is characterized by this. The molten metal position detection unit includes an optical sensor that uses laser light.
The hot water supply device for casting according to claim 1. The control unit
The position of the hot water surface detected by the hot water surface position detecting unit and the type of ladle related to the volume or shape of the ladle are used for calculating the pre-tilt angle.
The hot water supply device for casting according to claim 1 or 2. It is a hot water supply method for casting that supplies molten metal to the supply destination.
A weighing step of weighing the molten metal from the furnace to the ladle,
A transport step for transporting the ladle from the furnace to the supply destination,
A ladle hot water level detection step for detecting the position of the hot water surface of the molten metal pumped from the furnace and stored in the ladle, and
In parallel with the transfer step, a pre-tilt step of tilting the ruddle around a predetermined rotation axis prior to reaching the pouring position at the supply destination, and a pre-tilt step.
Including a pouring step of tilting the ladle at the pouring position and injecting the molten metal from the ladle into the supply destination.
In the pre-tilt step,
Pre-tilt angle, which is the upper limit angle at which the molten metal does not overflow from the ladle, calculated by calculation based on the dimensional shape of the ladle using the position of the molten metal detected by the ladle molten metal position detection step. Tilt the radle up to
A hot water supply method for casting, which is characterized by this. In the ladle hot water surface position detection step,
The position of the molten metal is detected by using a laser beam emitted from the molten metal stored in the ladder with respect to the surface of the molten metal.
The hot water supply method for casting according to claim 4. After reducing the transport speed of the ruddle in the middle of the transport step,
Initiating the pre-tilt step,
The hot water supply method for casting according to claim 4 or 5.

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