JPH0446665A - Automatic molten metal pouring machine - Google Patents

Abstract

PURPOSE:To enable pouring of molten metal corresponding to the necessary pouring velocity at mold side by detecting the total wt. of ladle part containing the molten metal, calculating the pouring velocity from this and controlling tilting angle of the ladle in order to make the pouring velocity the preset prescribed value. CONSTITUTION:By tilting the ladle 1, the molten metal in the inner part thereof is poured into the mold side from a pouring hole 1a and control of pouring condition is executed with control of the tilting angle of ladle 1. Then, the ladle 1 is tilted with driving means of driving gear 7, servo motor 8, etc. The total wt. of ladle part containing the ladle 1 and the molten metal in the inner part thereof, is detected with a load cell 4 in wt. detecting means. Based on output from the wt. detecting means 4, the pouring velocity is calculated and in order to make the pouring velocity the preset prescribed value, by using the driving means 7, 8, the tilting angle of ladle 1 is controlled with control means. By this method, the pouring work can be surely executed.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to an automatic pouring machine for supplying molten metal to a mold.

(Prior Art) An example of an automatic pouring machine that automatically pours a predetermined amount of molten metal into a mold at a predetermined speed by tilting a ladle is the one disclosed in Japanese Patent Publication No. 56-12223. However, in this type of conventional automatic pouring machine, the shape of the ladle is set so that there is a linear relationship between its tilting angle and the amount of hot water dispensed, and the ladle's tilting angle is The molten metal pouring speed and the molten metal pouring amount are controlled by the control.

(Problem to be solved by the invention) However, in the conventional automatic pouring machine with such a configuration, it is assumed that there is a linear relationship between the tilting angle of the ladle and the amount of hot water dispensed. If an unrelated, conventional, irregularly shaped ladle is used, accurate pouring speed and pouring amount control cannot be performed, and therefore the device itself becomes relatively expensive, and existing manual pouring equipment cannot be used as is. It was also difficult to convert it into an automatic pouring machine.

Therefore, the present invention aims to provide an automatic pouring machine that can perform automatic pouring control even when using an irregularly shaped ladle in which the tilt angle and the amount of hot water dispensed do not have a linear relationship. It has been done.

(Means for Solving the Problems) In each of the inventions of the present application, as specific means for solving the problems, (I) In the invention set forth in claim 1, the ladle supported in a tiltable manner is appropriately tilted. In an automatic pouring machine, the molten metal stored inside the machine is poured from the pouring port into the mold side, and the pouring state is controlled by controlling the tilting angle of the ladle, in which the ladle is tilted. a driving means, a weight detecting means for detecting the total weight of the ladle and the ladle portion including the molten metal therein, and calculating a pouring speed based on the output from the weight detecting means and preliminarily determining the pouring speed. and a control means for controlling the tilting angle of the ladle by using the drive means so as to set the ladle to a predetermined value. The molten metal stored in the ladle is poured into the mold from the pouring port by appropriately tilting the ladle, and the pouring condition is controlled by controlling the tilting angle of the ladle. In the machine, a driving means for tilting the ladle, a weight detecting means for detecting the total weight of the ladle and the ladle portion including the molten metal therein, and starting pouring based on the output from the weight detecting means. control means for calculating the amount of molten metal poured from a point in time and controlling the tilting angle of the ladle by the driving means to stop pouring when the amount of molten metal poured reaches a predetermined value set in advance; (I[l) In the invention according to claim 3, the molten metal stored in the ladle is poured into the mold from the pouring port by appropriately tilting the ladle supported so as to be tiltable. In addition, in an automatic pouring machine, the pouring state is controlled by controlling the tilting angle of the ladle, the ladle includes a driving means for tilting the ladle, and a ladle section containing the ladle and the molten metal therein. A weight detection means for detecting the total weight, and a pouring speed and a pouring amount from the start of pouring are calculated based on the output from the weight detecting means, and a predetermined pouring speed and pouring amount are set in advance. The invention is characterized in that it includes a control means for controlling the tilting angle of the ladle by using the drive means to adjust the tilting angle of the ladle.

(Function) With such a configuration, the following effects can be obtained in each invention of the present application.

(1) In the automatic pouring machine according to claim 1, the weight change rate per hour, that is, the pouring speed is calculated from the change in the total weight of the ladle, and this pouring speed is preliminarily set in the mold. The tilting angle of the ladle is controlled to a predetermined value set for each mold side condition such as the shape of the metal (i.e., for each type of product, etc.), and the balance between the pouring speed and the casting speed is maintained. Become.

(II) In the automatic pouring machine according to claim 2, the total pouring amount from the start of pouring is calculated sequentially from the change in the total weight of the ladle, and this total pouring amount is calculated in advance. The tilting angle of the ladle is controlled to match the predetermined value set for each cavity capacity of the mold, and when the amount of poured molten metal reaches the predetermined value, pouring is stopped, which enables automatic cutting of the molten metal. Be trained.

(iii) In the automatic pouring machine according to claim 3, the weight change per hour, that is, the pouring speed is calculated from the change in the total weight of the ladle portion, and the ladle is tilted in response to this weight change. By controlling the angle, the pouring speed is automatically set to a predetermined value set in advance for each mold-side condition such as the shape of the mold, and the balance between the pouring speed and the casting speed on the mold side is maintained. At the same time, the pouring is automatically stopped when the total amount of molten metal poured from the start of pouring reaches a predetermined value set in advance for each mold cavity capacity, which allows the molten metal to be poured at an appropriate speed. This means that a predetermined amount of molten metal is cut out reliably and automatically.

(Effects of the Invention) Therefore, according to the automatic pouring machine of each invention of the present application, the following effects can be obtained.

- In the automatic pouring machine according to the invention as claimed in claim 1, the tilting angle of the ladle is controlled based on the change in the total weight including the ladle and the molten metal inside the ladle, thereby controlling the pouring speed of the molten metal to a predetermined value. Therefore, it is possible to pour metal according to the required pouring speed of the mold without using any special ladle, and the reliability of the pouring work is ensured.

■ In the automatic pouring machine according to the invention described in claim 2, the pouring fhI from the start of pouring is calculated based on the change in the total weight including the ladle and the molten metal inside, and the pouring amount is set in advance. Since the pouring is stopped when the predetermined value is reached, the predetermined amount of the poured metal is automatically and precisely cut out without using any special ladle, and there is no need to worry about excessive or insufficient amount of poured metal. This has the effect of realizing proper pouring work without any problems.

■ In the automatic pouring machine according to the invention described in claim 3, the tilting angle of the ladle is controlled based on the change in the total weight including the ladle and the molten metal inside the ladle, so that the molten metal is poured during the pouring operation. In addition to maintaining the hot water speed at a predetermined value, pouring is automatically stopped when the pouring amount reaches a preset value. Even if you use a device that does not have a linear relationship, the pouring speed can be maintained properly and the molten metal can be cut out at a constant rate reliably and automatically.For example, unlike conventional automatic pouring machines, only a special ladle is used. Compared to configurations that cannot
The effect of reducing the cost of the device itself or making effective use of existing equipment can be achieved.

(Embodiments) Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

Structure FIG. 1 shows an automatic pouring machine Z according to an embodiment of the invention according to claims 1 to 3 of the present application. This automatic pouring machine Z
As will be described later, the molten metal pouring speed and the molten metal pouring amount are controlled by fuzzy control based on changes in the tare weight containing molten metal, and the base 10 placed on the floor and the base 10
A hanging frame 11 is suspended and supported by a plurality of loads provided on the base 10 side at an upper position, and a hanging frame 11 is suspended and supported by a plurality of loads provided on the base 10 side (corresponding to the weight detection means in each claim), and A ladle l having a pouring spout 1a on one side thereof, an arcuate portion 22 having a predetermined radius of curvature, and a fulcrum portion 21a extending from one end side of the arcuate portion 22 toward the inside of the curvature. and a ladle support frame 2 having a ladle support frame 2.

The ladle 1 and the ladle support frame 2 are integrally connected with the pouring port 1a of the ladle 1 and the arm end 21a of the ladle support frame 2 overlapping each other. At the same time, by connecting the overlapping portion to a bearing member 13 provided on the hanging frame 11 side via the rotation support shaft 3, it is possible to rotate in the vertical direction (direction of arrow Lt-D).

Furthermore, a rack gear extending in the arcuate direction is formed on the outer peripheral portion 22a of the arcuate portion 22 of the ladle support frame 2. The rack gear portion 22 of this arcuate portion 22
A drive gear 7 driven by a servo motor 8 disposed on the suspension frame 11 is meshed with a. Therefore, the ladle l and the ladle support frame 2 can be moved up and down integrally around the rotation support shaft 3 by rotating the drive gear 7 by the servo motor 8 (which corresponds to the drive means in each claim). It is forced to tilt in the direction. And this take #! The tilt angle 1 is controlled by the rotation of the servo motor 8 to the initial position shown by the solid line in FIG.
It is possible to arbitrarily adjust the ladle 1 to the pouring position where the ladle 1 is tilted upward significantly and pouring from the pouring spout 1a is possible, as shown by the chain line in the figure. Furthermore, this ladle l
The tilt angle is detected by a potentiometer 6 attached to the ladle support frame 2 side.

In addition, the total weight of the ladle l and the ladle support frame 2 or the hanging frame Il side including the molten metal etc. introduced into the ladle l (hereinafter referred to as tare weight) is the load cell 4, 4. It is constantly detected by... and,
Depending on the state of change in the tare weight, the servo motor 8 is used to adjust the tilting angle of the ladle 1 as described later, thereby controlling the pouring speed and amount.

On the other hand, a phototube 5 is arranged in front of the pouring spout 1a of the ladle 1. This phototube 5 is arranged facing the flow of molten metal from the pouring port 1a of the ladle l (hereinafter referred to as the molten metal bundle 40), and detects the presence or absence of the molten metal bundle 40, that is, the presence or absence of pouring. It is supposed to be done.

Operation Control Next, the actual pouring operation using the automatic pouring machine Z configured as described above and the control of the pouring state will be explained.

As described above, this automatic pouring machine Z adjusts the tilting angle of the ladle 1 by controlling the servo motor 8 based on the signal from the load cell 4, so that the shape of the ladle 1 is adjusted to the tilting angle. Even if there is no linear relationship between the molten metal and the melt output amount, it is possible to reliably control the pouring speed and the pouring amount, and the control is based on fuzzy control. The control circuit configuration for this purpose is shown in FIG.

That is, this control circuit includes two differentiators 51 and 52 that calculate the pouring speed and the change in the pouring speed, respectively, and a fuzzy controller that performs Fanoy control of the ladle tilting angle based on each input signal described later. 53, a servo motor controller 54 that controls the operation of the servo motor 8 based on the output signal from the fuzzy controller 53, and a main controller 55 that processes each input signal. The input signals include the tare weight signal W output from the load cell 4, the tilt angle signal θ output from the potentiometer 6, the pouring signal PHS output from the phototube 5, and the product model to be cast. Model signal S for each
1 and the start signal S2 of the automatic pouring machine Z are respectively adopted.

The specific control is as follows.

That is, first, the tare weight W from the product dosel 4 is determined by the differentiator 5.
1 and output as the pouring speed (dv/dt), as well as the initial weight value (vf) before the start of pouring.
The weight values are also output as momentary current weight values (WA).

Furthermore, the above-mentioned pouring rate (dw/dt) is further differentiated in a differentiator 52, and the change in pouring rate, that is,
This value is input to the fuzzy controller 53 as an increase/decrease trend value (d'w/dt') of the pouring rate. Specifically, when this increase/decrease tendency value (d'w/dt') is positive, it is determined that the pouring rate is increasing, and when it is negative, it is determined that the pouring rate is decreasing.

On the other hand, when the automatic pouring machine Z is started, the main controller 55 receives the start signal s2 and first reads the model signal S1 of the product to be cast this time, and sets it in advance for each model. The current pouring S amount (pouring weight) and pouring speed are read from the table and output as the required pouring amount (ΔL) and required pouring speed (w,'), respectively. Then, this required pouring speed (W,') is subtracted to the current pouring speed deviation (EV4a'-1(
dw/dt) l) as fuzzy controller 5
3 is input.

Further, the tilting angle signal θ of the ladle l is input from the potentiometer 6 to the main controller 55 as a tilting angle control signal, and further to the fuzzy controller 53 as a ladle forced operation signal as described later. . The main controller 55 receives the above signal and outputs it to the servo motor controller 54 as a momentary ladle tilting angle Δθ'.

Further, the pouring signal PHS from the phototube 5 is input as a pouring start signal to the main controller 55, and the main controller 55 receives this signal and outputs an initial weight value (wf). And this initial weight value (vf)
and the above required pouring amount (△1°) are the above current weight value (wa
) along with subtraction and addition processing to obtain the pouring amount deviation (EW=
It is input to the fuzzy controller 53 as ΔWo (wf-wa)).

The fuzzy controller 53 performs fuzzy control of the servo motor 8 based on these input signals. That is, after the automatic pouring machine Z is started and control is started, the constant control is controlled via the servo motor controller 54 until the phototube 5 catches the molten metal (that is, until the pouring signal PH3 is output). A control signal △θ is output, and the ladle l
is tilted at a constant speed by a servo motor 8.

Ladle pouring spout due to the progress of tilting of ladle l! When it is confirmed that hot water is being discharged from a, the fuzzy controller 53 controls the servo motor 8 to maintain the pouring speed at the required pouring speed (L') set for each model. Specifically, the pouring speed deviation (EV) is controlled to be 0, but in this case,
Consider the change in pouring speed (d"w/dt'). That is, even if the current pouring speed is lower than the set value and therefore the ladle l is tilted further to increase the pouring speed. However, when the amount of change (d!w/dt') is a positive value (that is, when the pouring speed is increasing), the operation amount is set relatively small; (d'w/dt'
) is a negative value (that is, when the pouring speed tends to decrease), the amount of operation in the tilting direction of the ladle is set to be relatively large. By doing this, the same pouring work as the worker pouring while visually checking the condition of the molten metal bundle can be performed.
This can be done automatically and reliably. Therefore, during the pouring operation, the pouring speed is always maintained at the required pouring speed on the mold side, so that spills due to excessive pouring or the formation of cavities due to insufficient pouring are prevented, and the product is finished. This can contribute to improving quality.

On the other hand, the fuzzy controller 53 also controls the pouring amount at the same time as controlling the pouring speed. That is, the fuzzy controller 53 continues pouring until the pouring amount deviation (EV) becomes 0, and the pouring amount deviation (IJ) becomes 0.
The servo motor 8 is activated to reverse the ladle l when the
control and stop pouring. This makes it possible to automatically cut out a certain amount of molten metal.

In addition, the fuzzy controller 53 unconditionally moves the ladle l to the initial position (
θ=0), and the above-mentioned pouring amount deviation (E
If the pouring signal PH8 does not turn OFF even after a certain period of time has passed since l) becomes 0, control is performed to forcibly invert the ladle l to its initial position to protect the equipment. It is now also possible to do this.

By controlling the constant amount of molten metal and maintaining the pouring speed in conjunction with each other, the ladle l
For example, its tilt angle and appearance! Even if the metal has an irregular shape that does not have a linear relationship with Ii, it is possible to reliably pour the required amount into the mold at the required pouring speed. Compared to a case where a dedicated ladle is required to be used, such as in a pouring machine, the cost of equipment can be reduced or the effective use of existing equipment can be promoted.

[Brief explanation of the drawing]

FIG. 1 is a side view of an automatic pouring machine according to an embodiment of the present invention;
FIG. 2 is a control circuit diagram thereof. 1... Ladle la... Pouring port 2... Ladle support frame 3... Rotation support shaft 4... Load cell 5... Phototube 6... Potentiometer 7... Drive gear 8... Servo motor lO... Base II... Hanging frame 13... Bearing member 21... Arm part 21a... Fulcrum part 22... Arc-shaped part 22a... Rack gear part 40... Molten metal bundle

Claims (1)

[Scope of Claims] 1. By appropriately tilting a tiltably supported ladle, the molten metal stored inside the ladle is poured from the pouring spout into the mold side, and the pouring state is adjusted to the ladle. An automatic pouring machine that performs pouring by controlling the tilting angle of the
A driving means for tilting the ladle, a weight detecting means for detecting the total weight of the ladle and the ladle portion including the molten metal therein, and a pouring speed is calculated based on the output from the weight detecting means. An automatic pouring machine comprising control means for controlling the tilting angle of the ladle by controlling the driving means so as to set the pouring speed to a predetermined value. 2. Pouring the molten metal stored inside the ladle from the spout into the mold by appropriately tilting the ladle supported so that it can tilt, and controlling the pouring state by controlling the tilting angle of the ladle. An automatic pouring machine designed to perform
a driving means for tilting the ladle; a weight detecting means for detecting the total weight of the ladle and the ladle portion including the molten metal therein; It is characterized by comprising a control means for calculating the amount of hot water and controlling the tilting angle of the ladle to stop pouring when the amount of poured hot water reaches a predetermined value set in advance. automatic pouring machine. 3. By appropriately tilting the ladle supported so that it can be tilted, the molten metal stored inside the ladle is poured into the mold side from the pouring port, and the pouring state is controlled by controlling the tilting angle of the ladle. An automatic pouring machine designed to perform
a driving means for tilting the ladle; a weight detecting means for detecting the total weight of the ladle and the ladle portion including the molten metal therein; and a pouring speed and a pouring means based on the output from the weight detecting means. and control means for controlling the tilting angle of the ladle by controlling the drive means to calculate the amount of molten metal poured from the starting point and to set the molten metal pouring speed and the amount of molten metal to predetermined values. An automatic pouring machine featuring: