US20080058981A1 - Continuous Casting Installation with at Least One Robot and Method for Operating a Continuous Casting Installation Including at Least One Robot - Google Patents

Continuous Casting Installation with at Least One Robot and Method for Operating a Continuous Casting Installation Including at Least One Robot Download PDF

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Publication number
US20080058981A1
US20080058981A1 US11/569,666 US56966605A US2008058981A1 US 20080058981 A1 US20080058981 A1 US 20080058981A1 US 56966605 A US56966605 A US 56966605A US 2008058981 A1 US2008058981 A1 US 2008058981A1
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US
United States
Prior art keywords
robot
continuous casting
casting installation
runway
operating
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.)
Abandoned
Application number
US11/569,666
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English (en)
Inventor
Andreas Andretsch
Josef Kieweg
Hermann Lempradl
Karl Morwald
Johann Poppl
Helmut Resch
Heinrich Thone
Franz Wimmer
Josef Lanschutzer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SIEMENS VAI METALS TECHNOLOGIES GmbH
Primetals Technologies Austria GmbH
Original Assignee
Voest Alpine Industrienlagenbau GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by Voest Alpine Industrienlagenbau GmbH filed Critical Voest Alpine Industrienlagenbau GmbH
Assigned to VOEST-ALPINE INDUSTRIEANLAGENBAU GMBH & CO. reassignment VOEST-ALPINE INDUSTRIEANLAGENBAU GMBH & CO. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: ANDRETSCH, ANDREAS, KIEWEG, JOSEF, LANSCHUTZER, JOSEF, LEMPRADL, HERMANN, RESCH, HELMUT, THONE, HEINRICH, WIMMER, FRANZ, POPPL, JOHANN, MORWALD, KARL
Publication of US20080058981A1 publication Critical patent/US20080058981A1/en
Assigned to SIEMENS VAI METALS TECHNOLOGIES GMBH & CO reassignment SIEMENS VAI METALS TECHNOLOGIES GMBH & CO CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: VOEST-ALPINE INDUSTRIEANLAGENBAU GMBH & CO
Assigned to SIEMENS VAI METALS TECHNOLOGIES GMBH reassignment SIEMENS VAI METALS TECHNOLOGIES GMBH MERGER (SEE DOCUMENT FOR DETAILS). Assignors: SIEMENS VAI METALS TECHNOLOGIES GMBH & CO
Abandoned legal-status Critical Current

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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
    • B22D11/16—Controlling or regulating processes or operations
    • 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

Definitions

  • the invention relates to a continuous casting installation with at least one robot for carrying out process-controlled or automated interventions on the continuous casting installation and accessing assigned auxiliary devices. Furthermore, the invention relates to a method for operating a continuous casting installation including a robot.
  • the present invention extends to all types of continuous casting installations in which molten metal from a molten metal container, such as for example a casting ladle, is directed via a tundish into a chilled mould, shaped there under intensive cooling to form an at least partly solidified strand of any desired cross section and continuously conveyed out of the continuous casting installation.
  • the casting installations may be equipped with oscillating tubular and plate moulds, track moulds, rotating casting rolls with side plates (two-roll casting installations) or moulds with circulating belts.
  • the strands may have cross sections of slabs, thin slabs, strips, blooms or billets and any other desired preliminary shaping cross sections of any desired dimensions.
  • Robots are used on a continuous casting installation for carrying out recurrent work and to eliminate operating problems in hazardous areas in which the operating personnel are subjected to great heat exposure, emanating from the liquid metal and the cast metal strand, or spattered slag and metal.
  • Robots are already used at the open continuous casting mould to observe the surface of the molten bath, to eliminate deposits baked on the inner sides of the mould walls, to feed in casting powder, to measure temperatures and take samples and the like.
  • robots are used for changing the shroud, changing the casting tube and for changing closure plates of the side gate nozzle and for blowing open the outflow opening at tundishes and casting ladles.
  • a multifunctional robot on a continuous casting mould is already known from EP-B 371 482, the robot on the one hand receiving data relating to the casting process from measuring devices on the mould and on the other hand acquiring measuring data itself on the mould by a detection system, for example an optical detection system, and using this information to prepare and implement a plan of action with priority assignment.
  • a detection system for example an optical detection system
  • a stationary robot is concerned here, the location of which is chosen specifically for use on the mould and is accordingly not suitable for performing activities likewise occurring in areas of the continuous casting installation neighbouring the continuous casting mould.
  • Robots which are likewise assigned to a single working area at a continuous casting installation are known from U.S. Pat. No. 5,067,553, JP-A 5-169206, JP-A 9-109100, JP-A 7-60434 and JP-A-293615.
  • JP-A 3-71959 discloses the use of two robots on a casting platform of a multistrand continuous casting installation, each robot being assigned a runway and the robot being able to assume an operating position on this runway to exchange casting tubes on a large tundish and carry out cleaning work at the outlet openings of the tundish and the casting tubes.
  • Each robot is assigned a demarcated working area, it not being possible for one robot to work in the working area of another robot, so that if one robot fails the other robot cannot take over this work and interventions on the continuous casting installation by the operating personnel are necessary.
  • the object of the present invention is therefore to avoid these disadvantages and difficulties of the known prior art and to propose a continuous casting installation with at least one robot of the type described at the beginning and a method for operating a continuous casting installation including a robot, with which different interventions on a continuous casting installation can be carried out at various working positions which lie outside the range of a single operating position of a robot.
  • a further aim of the invention is to increase the degree of utilization and the availability of the robot or robots used.
  • the continuous casting installation being assigned a runway
  • the robot being assigned a travelling mechanism and the travelling mechanism being displaceably guided on the runway
  • at least one parking position and at least two operating positions being defined for the robot on the runway and each operating position being assigned working areas on the continuous casting installation that can only be reached from this operating position
  • the distance between each operating position of the robot and the assigned operating area or supply area being fixed within the minimum and maximum range of the robot arm
  • the robot being equipped with a data transmitting and receiving device and the latter being connected by signalling technology to a central control device or a process computer of the continuous casting installation.
  • the fixing of a runway on the continuous casting installation, or in zones of a continuous casting installation, which is taken past a number of potential working areas in such a way that these working areas lie within the range of predetermined operating positions of a robot which can be made to move on the runway has the effect of overcoming the restricted, only single operating capability of the robot and creating a much more efficient operating capability.
  • the robot can be guided by a central control device or the process computer of the continuous casting installation to each desired operating position and carry out the interventions necessary there.
  • Operating positions for the robot define locations of the robot along the runway from which one or more working areas on the continuous casting installation lie within the range of the robot gripper.
  • the operating positions of the robot on the runway are defined by the position of the travelling mechanism alone.
  • the swiveling angle of the jib of the swiveling mechanism is also decisive in addition to the position of the travelling mechanism for defining the operating position of the robot.
  • Working areas of the robot are special areas or individual locations on the continuous casting installation where interventions are performed by the robot, starting from a predetermined operating position.
  • Supply areas comprise, in spatial terms, storage places with auxiliary devices, such as tool stores, utility stores and similar devices, which have fixed positions for tools, spare parts and utilities to be received and deposited by the robot.
  • auxiliary devices Stored in the auxiliary devices are firstly tools for the robot that are required for carrying out the interventions, such as for example tongs, measuring probes, grinding heads, secondly spare parts for the continuous casting installation, such as casting tubes or slide valve plates, and thirdly utilities for the continuous operation of the continuous casting installation, such as for example casting powder.
  • the tool stores and utility stores provided in the respective supply areas may be formed by stationary or mobile auxiliary devices, the mobile auxiliary devices, for example a utilities carriage, possibly only being brought into the supply area of a specific operating position when required, and stocked up away from its supplying position.
  • the parking position is defined as the position of the robot on the runway at which it stops when it is carrying out interventions and waits for a new operating signal from the central control device or the process computer.
  • a number of robots are assigned to one runway, a number of parking positions are accordingly defined.
  • the two parking positions are preferably arranged at opposite ends of the runway.
  • the carrying out of process-controlled or automated interventions by the robot also comprises the alternative possibility of an intervention that is manually remote-controlled by the operating personnel.
  • These manually remote-controlled interventions can take place from the control room or by means of other portable control units.
  • the runway for the robot is preferably formed by a track system or by at least one running rail in the manner of an overhead monorail conveyor or craneway. Moving to predetermined operating positions is achieved by corresponding control devices (position transmitters, displacement monitoring systems).
  • the runway has branches with the inclusion of customary points. This allows operating positions away from a main runway to be defined and assumed and a number of robots can be used without them hindering one another.
  • individual sections of the runway are formed in such a way that they can be adjusted in height by means of lifting mechanisms or can be swiveled by swiveling mechanisms, in order to change the operating position of the robot on the runway in such a way that best-possible access to the assigned operating area is achieved.
  • Each robot is assigned a travelling mechanism, on which it is supported or suspended, depending on the design of the runway.
  • the travelling mechanism may be assigned a robot swiveling mechanism, whereby at least two operating positions are defined for the robot with the swiveling position of the robot swiveling mechanism.
  • the swiveling mechanism preferably comprises an extending jib, on the extending end of which the robot is arranged.
  • the jib may be adapted to requirements of the operating environment, possibly for example also made adjustable in height.
  • the robot is preferably fixed in its respective operating position by an arresting device, to avoid positional changes caused by reaction forces from the interventions.
  • each operating position of the robot on the runway is assigned at least one operating area at the continuous casting installation and a supply area at an auxiliary device, such as for example a tool store or a utilities store.
  • the runway may extend along the entire continuous casting installation and at different heights and may also comprise upward and downward slopes, preferably when the runway is formed as a running rail of an overhead conveyor.
  • the runway is preferably restricted to the casting platform and/or to the delivery area of the continuous casting installation.
  • the runways are preferably arranged in a horizontal plane.
  • two robots are arranged on one runway, one robot preferably performing the interventions on the continuous casting installation as the primary robot and the second robot being used as an auxiliary robot when there are conflicts of priority for the work to be carried out and when there are problems with the primary robot.
  • a different distribution between the robots of the work to be carried out, for example by priority assignment of individual robots to specific operating positions or assignment by manual remote control is quite possible, and is within the scope of the invention.
  • the invention also comprises a method for operating a continuous casting installation including at least one robot which can be displaced on a runway between a parking position and at least two operating positions and is characterized in that control signals are issued from a process computer or a central control device to the robot and, on the basis of these control signals, a selected operating position is moved to and automated interventions on the continuous casting installation are performed by the robot, the control signals for the interventions to be carried out on the continuous casting installation being issued by the process computer or a central control device to the robot in the sequence of the priority of the interventions to be carried out.
  • the operation of the robot is defined and controlled by the process computer of the continuous casting installation or a central control device, the activities to be carried out being determined with regard to the quality of the products to be produced.
  • the basis for the priority assignment is formed by a continuous diagnosis of the casting process, consequently the continuously gathered measurement data and model calculations in comparison with default data.
  • the robot itself also carries out on the continues casting installation observations of the state of the casting process as it proceeds and gathers measurement data. These measurement data are transmitted to the process computer or a central control device, are processed by the process computer or the control device and results of this data evaluation are converted into control signals for the robot or the continuous casting installation.
  • a first robot which can be made to move on the runway as the primary robot (master robot), receives all the control signals and carries out interventions on the continuous casting installation and a further robot which can be made to move on the runway, as the auxiliary robot (slave robot), is preferably assigned to a parking position.
  • the primary robot and the auxiliary robot are activated and both robots are directed to the respective operating positions while excluding the possibility of them hindering one another.
  • FIG. 1 shows a schematic representation of the operating capabilities of one or two robots on the casting platform of a continuous casting installation
  • FIG. 2 shows a robot swiveling mechanism with two operating positions of the robot in an elevation
  • FIG. 3 shows the robot swiveling mechanism according to FIG. 2 with two operating positions on the casting platform in a plan view
  • FIG. 4 shows a robot runway with a runway section which can be vertically raised and lowered
  • FIG. 5 shows a robot runway with a runway section which can be swiveled in a horizontal plane.
  • a casting ladle 2 On the casting platform 1 of a continuous casting installation, the layout of which is in no way restricted, the outlines are shown of a casting ladle 2 with a ladle nozzle 3 (shroud) and a tundish 4 positioned under it, with a submerged casting tube 5 , which protrudes into a continuous casting mould 6 .
  • a further tundish 4 ′ is indicated by dashed-dotted lines in a standby position on the casting platform 1 .
  • a runway 7 is laid over the casting platform 1 in such a way that a multiplicity of working areas A 1 , A 2 , A 3 , A 4 can be served by a single robot 8 , starting from a number of operating positions E 1 , E 2 , E 3 along the runway.
  • the robot 8 is located in a waiting position in the parking position P 1 at one end of the runway 7 .
  • a further parking position P 2 which can likewise be used, is located at the opposite end of the runway 7 .
  • Supply areas V 1 , V 2 , V 3 are provided at auxiliary devices H 1 , H 2 , H 3 on the casting platform and these are assigned to operating positions E 1 , E 2 , E 3 and are set up within the range of the robot arm 15 . If the space conditions on the casting platform do not allow this, individual supply areas may also be set up outside the range of operating positions of the robot. The operating time of the robot for the completion of an intervention is then extended however by the period of time taken for necessary supplying movements.
  • the robot 8 can carry out interventions in the working areas A 1 (casting ladle) and A 4 (tundish) which relate to the ladle nozzle 3 and the shroud, and also the pouring-in area of the tundish 4 .
  • activities to be carried out at time intervals in these working areas are, for example, changing of the shroud, burning clear the ladle nozzle or feeding the casting powder into the tundish.
  • the spare parts and utilities necessary for these interventions are taken by the robot from the assigned supply area V 1 , where these utilities are kept readily available in stock at predetermined places of the store of the auxiliary device H 1 .
  • the robot 8 can carry out interventions in the operating areas A 2 (mould) and A 4 (tundish) which relate to the pouring-out area of the tundish 4 , the submerged casting tube 5 and the opening on the inlet side of the continuous casting mould 6 .
  • the activities in these working areas are for example feeding casting powder into the tundish, changing of the submerged casting tube, burning clear the tundish outlet opening, feeding casting powder into the mould, observing the level of the bath in the mould, taking samples from the mould, etc.
  • the utilities and spare parts necessary for these interventions are taken by the robot from the auxiliary device H 2 in the supply area V 2 .
  • the robot 8 can perform interventions on a further tundish 4 ′ in the working area A 3 (tundish changing stand), taking the required utilities from the auxiliary device H 3 in the supply area V 3 .
  • the parking position P 2 is available to the robot as a second parking position if only one robot is provided on the casting platform.
  • a further robot 8 ′ may wait at the parking position P 2 to perform operations, whereby a much more efficient plan of action can be realized. If, for example, interventions of equal priority, neither of which can be delayed, must be carried out both in the working area A 1 and in the working area A 2 , the control system or the process computer will direct the robot 8 from its parking position P 1 to the operating position E 1 and the robot 8 ′ from its parking position P 2 to the operating position E 2 assigned to it.
  • FIGS. 2 and 3 show a robot 8 in two operating positions E 1 and E 2 on the continuous casting installation.
  • the continuous casting installation is indicated with dashed lines by the outer contours of the casting ladle 2 , the tundish 4 and the continuous casting mould 6 .
  • the runway 7 of the robot is formed by two running rails 9 , 9 ′, which are taken in a straight line past the tundish 4 and the continuous casting mould 6 at a distance above the casting platform 1 .
  • Fastened to the travelling mechanism 10 is a robot swiveling mechanism 11 with a jib 12 , which can assume two positions that are swiveled by 90° in relation to each other and cover the operating positions E 1 and E 2 .
  • the robot is arranged in a suspended manner on the extending end of the jib 12 and can assume the two operating positions E 1 and E 2 .
  • the jib 12 is represented in the operating position E 1 by dashed-dotted lines and in the operating position E 2 by solid lines.
  • the kidney-shaped range lines 13 , 14 in FIG. 2 and the circular range lines 13 ′, 14 ′ in FIG. 3 illustrate the working areas A 1 and A 2 of the robot arm 15 .
  • the working area A 1 which is assigned to the operating position E 1 , all the main areas of the casting ladle 2 up to the mould 6 can be reached by the robot 8 .
  • interventions can be performed in the working area A 2 , preferably in the transitional area from the tundish 4 to the continuous casting mould 6 and on the latter itself.
  • the robot is assigned a parking position P 1 .
  • a supplying position V 1 is also provided in the direct vicinity of this parking position, from which the robot can take all the auxiliary items required for its operation. Independently of the casting operation that is in progress, manual preparation work for the operation of the robot can be performed undisturbed and in safety in this parking position.
  • control stand 18 On the casting platform 1 there is the control stand 18 , from which the continuous casting installation is monitored and operated in a largely automated manner by a process computer or a central control device.
  • the process computer 19 or the central control device and also the individual robot or number of robots are assigned data transmitting and data receiving devices 20 , 21 , via which all the information necessary for carrying out the interventions are transmitted, preferably on a radio link.
  • FIG. 4 shows a raisable and lowerable runway section 22 of the runway 7 , with which the robot 8 , of which only the lower base part is represented, is lifted into a raised intervention position E with respect to the plane of the runway.
  • the runway section 22 is supported on lifting cylinders 23 , and is appropriately positioned by these.
  • the robot 8 In its intervention position E, which for its part is determined by a robot rotating axis in the base region, the robot 8 is definitively fixed in its position on the runway section 22 by an arresting device 24 , and consequently a fixed point that is important for the robot control is defined.
  • FIG. 5 shows a runway section 27 , which can be swiveled about a vertical swivel axis 26 into a predetermined angular position, in its starting position in line with the runway 7 and in a swiveled-out position, which defines the intervention position E for the robot.
  • the runway section 27 can be made to move in a horizontal plane on rails 29 set up in the form of an arc of a circle.
  • branches can be used on the runway, using conventional points known from the railways.
  • Upward sloping sections and downward sloping sections may be provided on the runway, it being possible for example to use cogwheel mechanisms to overcome upward and downward slopes.
  • the invention is not restricted to the use of particular types of robot. Particularly suitable for use on the casting platform of a continuous casting installation are buckling-arm robots or portable robots, as are universally offered by many manufacturers for the widest variety of operating possibilities and with special adaptations.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Continuous Casting (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
US11/569,666 2004-05-26 2005-04-28 Continuous Casting Installation with at Least One Robot and Method for Operating a Continuous Casting Installation Including at Least One Robot Abandoned US20080058981A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ATA911/2004 2004-05-26
AT0091104A AT413950B (de) 2004-05-26 2004-05-26 Stranggiessanlage mit mindestens einem roboter und verfahren zum betrieb einer stranggiessanlage unter einbindung von mindestens einem roboter
PCT/EP2005/004569 WO2005118182A1 (de) 2004-05-26 2005-04-28 Stranggiessanlage mit mindestens einem roboter und verfahren zum betrieb einer stranggiessanlage unter einbindung von mindestens einem roboter

Publications (1)

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US20080058981A1 true US20080058981A1 (en) 2008-03-06

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US11/569,666 Abandoned US20080058981A1 (en) 2004-05-26 2005-04-28 Continuous Casting Installation with at Least One Robot and Method for Operating a Continuous Casting Installation Including at Least One Robot

Country Status (10)

Country Link
US (1) US20080058981A1 (ja)
EP (1) EP1750872B1 (ja)
JP (1) JP2008500176A (ja)
CN (1) CN1960824B (ja)
AT (2) AT413950B (ja)
BR (1) BRPI0511579A (ja)
DE (1) DE502005008710D1 (ja)
RU (1) RU2363561C2 (ja)
TW (1) TWI394618B (ja)
WO (1) WO2005118182A1 (ja)

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US20080251233A1 (en) * 2007-04-10 2008-10-16 Mortimer John H Integrated process control system for electric induction metal melting furnaces
US20080314938A1 (en) * 2005-06-20 2008-12-25 Helmut Ebner Continuous Casting Plant Having at Least one Multifunction Robot
CN102421550A (zh) * 2009-05-12 2012-04-18 Sms西马格股份公司 带有至少一个机械手的连铸设备
US20130315279A1 (en) * 2011-02-14 2013-11-28 Kazunori Ueda Cast slab surface temperature measuring device used in continuous casting machine
CN107127734A (zh) * 2017-07-19 2017-09-05 安徽理工大学 悬挂轨道式多臂铸造机器人

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WO2010049162A1 (de) 2008-10-29 2010-05-06 Sms Siemag Ag Automatisierungskonzept für ein hütten- oder walzwerk
TW201026456A (en) 2008-10-29 2010-07-16 Sms Siemag Ag Robot interaction system
WO2010089114A1 (de) 2009-02-04 2010-08-12 Sms Siemag Ag Vorrichtung zur arbeitsraumerweiterung
DE102009051149A1 (de) 2009-02-04 2010-08-19 Sms Siemag Aktiengesellschaft Hüttenmännische Anlage mit Industrieroboter
DE102009050216A1 (de) * 2009-05-28 2010-12-02 Sms Siemag Ag Robotergestützter Abstichschieberwechsel an Stahlgießpfannen
EP3159075B1 (de) 2015-10-06 2020-09-23 SMS group GmbH Stranggiessanlage zur herstellung eines metallischen strangs oder einer bramme und verfahren zum betreiben einer solchen stranggiessanlage
DE102015219744A1 (de) 2015-10-06 2017-04-06 Sms Group Gmbh Stranggießanlage zur Herstellung eines metallischen Strangs oder einer Bramme und Verfahren zum Betreiben einer solchen Stranggießanlage
JP6660157B2 (ja) * 2015-11-16 2020-03-11 川崎重工業株式会社 ロボット及びロボットによる作業方法
CN107017830A (zh) * 2017-05-17 2017-08-04 天津温纳科技有限公司 一种高度调整光伏板清洁机器人
CN109304993B (zh) * 2018-11-21 2024-05-10 中国汽车工程研究院股份有限公司 用于汽车胎压监测系统的检测装置及其工作方法以及一种新能源汽车
EP3760340A1 (de) * 2019-07-03 2021-01-06 Refractory Intellectual Property GmbH & Co. KG Einrichtung zum manipulieren vorzugsweise eines giessrohrs bei einer wechselvorrichtung am ausguss eines metallurgischen behälters
CN110614348A (zh) * 2019-10-11 2019-12-27 宝钢工程技术集团有限公司 带有轨道的自动化浇钢装置及其使用方法
CN113828744A (zh) * 2021-09-08 2021-12-24 湖州金钛导体技术有限公司 一种智能连续铸造系统及连铸方法

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WO2005118182A1 (de) 2005-12-15
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TWI394618B (zh) 2013-05-01
TW200538216A (en) 2005-12-01
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CN1960824A (zh) 2007-05-09
AT413950B (de) 2006-07-15

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