Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B22—CASTING; POWDER METALLURGY
  • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
  • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
  • B22D41/50—Pouring-nozzles
  • B22D41/56—Means for supporting, manipulating or changing a pouring-nozzle
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B22—CASTING; POWDER METALLURGY
  • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
  • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
  • B22D41/50—Pouring-nozzles
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J15/00—Gripping heads and other end effectors
  • B25J15/08—Gripping heads and other end effectors having finger members
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/16—Programme controls
  • B25J9/1612—Programme controls characterised by the hand, wrist, grip control
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
  • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
  • B25H1/0007—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby for engines, motor-vehicles or bicycles
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
  • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
  • B66F7/22—Lifting frames, e.g. for lifting vehicles; Platform lifts with tiltable platforms

Definitions

• Support head for handling a pocket tube for handling a pocket tube.
• the present invention relates to a casting installation, including a device for introducing a pocket tube in such an installation
• a pocket tube is a tube comprising a channel extending along an axis, vertical when the tube is in the position of use, the channel allowing the passage of a liquid metal from a metallurgical vessel, such as A pocket, up to a distributor
• the tube When in its position of use, the tube comprises an upper end in contact with an upstream element of the installation, integral with the pocket, and a lower end immersed in a distributor
• a handling device of a pocket tube comprising a manipulator arm manually moved by an operator, the arm comprising at one end a clamp adapted to be placed around the tube and to grip the latter, the gripper coming to grip the tube to move it and introduce it into the casting installation
• the tube is grasped by the manipulator arm, so that it is placed with an orientation totally random angle relative to this arm unless the operator presents the tube to the manipulator arm in a particular orientation
• the invention relates to a support head adapted to support a liquid metal casting pocket tube comprising a channel for the passage of the metal extending substantially along an axis, the support head being provided for a device for handling the tube and comprising means for controlling the angular orientation of the tube relative to the head, along an axis corresponding to the axis of the channel [0006]
• the orientation of the tube vis-à-vis a
• the device since the device performs a similar movement at each step of introducing the tube into the casting installation, it is also possible to determine the orientation in which the handling device comprising the support head can be easily determined.
• the tube is introduced relative to the casting installation, in particular relative to the upstream element of the installation With such a support head, it is therefore possible to orient the tube as desired with respect to the installation This is particularly advantageous because it allows to provide the tube gills or outlet ducts which will have a specific orientation and will guide the flow and increase the efficiency of the casting
• the tube in the case where the tube can be gripped in several directions by the handling device comprising the support head, the latter allows to introduce the same tube in several directions in the casting installation This also allows to distribute the wear of the inner wall of the tube, since the flow flowing from the pocket is generally slightly oriented and some portions of walls wear out faster than the rest of the it.
• the tube when the tube is introduced by sliding in the casting installation, this makes it possible to standardize the wear of the sliding contact surface against an upstream element of the installation, certain zones having a predetermined position relative to the upstream element of the plant wear out faster than the rest of the surface The life of the tube is extended and can be used the same tube a greater number of times without risking premature failure of the pocket tube.
• the invention also includes one or more of the features of the following list:
• the head comprises two arms on which the control means are arranged
• the head is shaped so that the two arms confer on it a single configuration or that the arms thereof form the articulated arms of a clamp and are capable of conferring on the head a plurality of configurations .
• the arms give the head a single configuration, they are not movable relative to each other.
• the handling device is simple since the head is in one piece and that the means for moving it are less complex, since providing a closing movement of the arms is not necessary.
• the arms form a clamp, they are able to grip the tube, which avoids the play between the control means of the head and the tube during the displacement of the tube and thus ensure a further movement and introduction reliable tube in the installation;
• the control means also form retaining means of the tube on the head.
• the tube can therefore be retained on the head without using a clamp which, because of the tightening of the tube is likely to damage the tube.
• This embodiment reduces the risk of damage to the tube during its movement and its introduction into the installation;
• the control means comprise at least one notch shaped to extend along the axis of the tube when it is attached to the head, the notch being adapted to cooperate with a relief of the tube and having, in the corresponding direction to the axis of the tube, a flared entrance end.
• the cooperation between the head and the tube is a form cooperation.
• the flared entry of the notch which allows the guidance of the tube into the slot, it is easier to adjust the position on the head of the relief of the tube. This is all the more advantageous when the support head is brought to the tube by an automated device performing predetermined movements,
• the support head comprises an abutment surface of complementary shape to a return surface of the tube, arranged to abut against this return surface.
• this surface is a combination with notches
• these notches of the head block the degrees of freedom of the tube in rotation and in translation along all the axes except in vertical translation.
• the surface of the head in particular constituted by the upper surface, in abutment with the return surface of the tube, blocks the vertical translation of the tube towards the bottom, the gravity preventing vertical translation of the tube upwards. The tube is thus entirely retained by means of controlling the angular orientation and the upper surface of the support head.
• the invention also relates to a device for handling a pocket tube for casting liquid metal, the device comprising a support head according to the invention and means for moving the head, as well as means driving means of the displacement means and, preferably, means for controlling the driving means.
• the introduction of the tube into the casting installation can be performed automatically, which avoids the difficulties of handling the arm by the operator and accidents due to human error.
• the insertion time of the pocket tube in the installation can be decreased.
• the invention also relates to a pocket tube for liquid metal casting comprising a channel for the passage of the metal extending essentially along an axis, characterized in that it comprises means for controlling the orientation. angular of the tube relative to a support head according to the invention, along an axis corresponding to the axis of the channel, these means being adapted to cooperate with the complementary means of the head.
• the tube means may also comprise a relief extending substantially along the axis of the channel and having an invariant cross section relative to this direction, this relief being adapted to cooperate with a notch of the head as defined before.
• the tube may also comprise a return surface, preferably facing a lower end of the tube when the latter is in a position of use, in which the axis of the channel is vertical, this surface being able to enter in abutment with a surface of complementary shape of the support head according to one embodiment of the invention.
• the control means of the tube may comprise at least three control elements. This can in particular make it possible to orient the tube in several orientations relative to the support head. The wear of the inner wall and an upper surface thereof in contact with an upstream element of the installation can therefore be better distributed, as explained above.
• the invention also relates to an assembly of a handling device according to the invention and a pocket tube according to the invention.
• the invention also relates to a method of gripping a pocket tube according to the invention comprising the following steps:
• a support head according to the invention is approached from a portion of the tube situated below the level of the tube control means when the latter is in the position of use, so that the tube is introduced into space defined between the arms of the head,
• the invention also relates to a method of placing a pocket tube according to the invention in a casting installation using a handling device according to the invention, comprising the following steps
• the support head is moved to introduce the tube into the casting installation
• FIG. 1 is a schematic side view of a set of FIGS. a handling device according to an embodiment of the invention and a tube according to an embodiment, stored in its position of use,
• FIG. 2 is a perspective view of a support head of the handling device of FIG. 1;
• FIG. 3 is a perspective view of the tube of FIG. 1, in particular of an upper end thereof. when in his position of use,
• FIG. 4 represents a perspective view of the tube storage device comprising tubes according to FIG. 3 and the support head of FIG. 2,
• FIG. 5 is a sectional view along a vertical plane of a tube and a support head according to FIG. 1, when the tube and the support head cooperate.
• FIG. 1 An assembly of a handling device 10 and a pocket tube for liquid metal casting 12
• the tube 12 comprises a channel for the passage of the metal, extending essentially according to a axis, vertical when the tube 12 is in the position of use, such a position being shown in Figure 1
• the tube is waiting in a storage device 56
• the handling device comprises a base 14, a first displacement arm 16 and a second displacement arm 18 disposed at the end of the first arm 16
• a support head 20 is placed on the device 10 to the end of the second movement arm 18.
• the handling device 10 comprises connecting means 22, 24, 26 respectively for connecting the base 14 to the first movement arm 16, the first movement arm 16 to the second arm displacement means 18, and the second movement arm 18 to the support head 20
• the connecting means 22, 24, 26 are constituted by ball joints which allow each movable element (respectively the first arm 16, the second arm 18 and the support head 20) to rotate in any axis relative to the reference element (respectively the base 14, the first arm 16 and the second arm 18)
• the two arms 16 and 18 and the connecting means 22, 24, 26 form means for moving the support head 20.
• the device also comprises means for driving the displacement means (not shown in the figure), constituted by example by a motor, and means for controlling the displacement means allowing an operator to control the movements of the arm 16 relative to the base, the arm 18 relative to the arm 16 and the support head 20 relative to the arm 18.
• the arms 16, 18 and the support head 20 are controlled so that the support head always remains substantially horizontal.
• the support head is fork-shaped and includes two essentially parallel side arms 28a, 28b.
• the two arms 28a, 28b are not movable relative to each other and are therefore able to give the head a single orientation. Between these two arms 28a, 28b is defined a space 29, sized to accommodate a pocket tube, such as the tube 12.
• Each arm 28a, 28b has a substantially parallelepipedal section and comprises in particular a horizontal upper surface 30, and outer 32 and inner 34 vertical surfaces.
• the support head 20 comprises two notches 36a, 36b, each notch being formed on the inner surface 34 of a separate arm 28a, 28b.
• the notches extend essentially in a direction perpendicular to the axis along which the arms extend, in particular a vertical direction when the support head 20 is in the position of use.
• the direction in which the notches 36a, 36b extend coincides with that of the channel axis when the tube is in the position of use.
• the notches 36a, 36b extend from the upper surface 30 to the lower surface of the support head 20.
• Each notch 36a, 36b has, in the vertical direction when the support head is in the position of Use, a flared entry end 38.
• This flared end 38 is formed in particular by two chamfers, formed at the upper end in the vertical direction of portions of the inner surface 32 defining the notches 36a, 36b.
• the notches 36a, 36b form means for controlling the angular orientation of the tube 12 along an axis thereof corresponding to the axis of the channel when the head and the tube are in the position of use, these notches being able to cooperate with the tube in a manner to be described below.
• FIG. 3 shows in particular an upper end of the tube when it is in its position of use.
• the tube 12 comprises a tube body 42 made of a refractory material, and at its upper end, a head 14 of square cross section.
• the section of the head is of a shape distinct from a cross section of the tube body 42 which has a circular section.
• the square section of the head 44 is larger than the circular cross-section of the tube body 42 and, therefore, between the head 44 and the tube body 42, the tube pocket 12 comprises a return surface 46 substantially horizontal and facing the lower end of the tube when the tube is in its position of use.
• the tube comprises a casing 48 made in one piece and arranged around an end portion of the tube body.
• This envelope 48 is made of a metallic material and in particular steel and covers the entire head 44 and an upper portion of the tubular portion of the tube.
• the portion of the metal casing covering the tubular portion of the tube comprises four reliefs or fins 52. Each fin extends substantially along the axis of the channel, that is to say the vertical axis when the tube is in the position of use, and has an invariant cross section, in particular of triangular shape.
• the fins are identical, evenly distributed over a circumference of the tube and are spaced 90 ° apart.
• Two opposite fins 52 of the tube 12 are adapted to cooperate with the notches 36a, 36b of the support head 20 and are of complementary shape of these notches. These fins thus form means for controlling the orientation of the tube relative to the support head 20, the orientation being measured relative to the axis of the channel 40 of the tube 12.
• the tube comprises four fins 52 distributed uniformly, it can be placed in the support head 20 in several orientations. Indeed, the fins being identical, each fin 52 can cooperate indifferently with one or other of the notches 36a, 36b. This makes it possible to introduce the tube into the installation according to different orientations.
• the casing is also shaped to include an annular portion forming a belt 50 of greater thickness than the rest of the casing.
• the belt 50 of the metal casing is formed in the portion in which this envelope covers the head 44.
• the thickness of the belt is greater than 10 millimeters, preferably 14 millimeters, while the rest of the envelope is thickness between 2 and 7 millimeters, preferably between 4 and 6 millimeters.
• the tube also comprises notches 54 shaped in the belt 50 of the envelope, in particular in the lower part thereof.
• the notches 54 are each formed on one side of the head 44, in the middle of each side thereof. They are in particular disposed above each fin 52.
• the notches 54 allow in particular to maintain the head 44 of the tube in a storage device 56 which will be briefly described below. As these notches are four in number and evenly distributed on the tube, the tube can also be placed in different orientations in the storage device.
• the tube 12 and the handling device 10 are not limited to what has been described above.
• the support head 20 may consist not of a fork but a clamp comprising two movable arms relative to each other, adapted to confer on the support head 20 a plurality of configurations.
• a clamp makes it possible in particular to minimize the clearance between the tube 12 and the support head 20, in particular between the fins 52 and the notches 36a, 36b, once the tube 12 has been put in place in the support head 20.
• the upper surface of the head 20 does not cooperate with the return surface of the tube.
• the notch 36a, 36b could for example comprise a bottom, at its end (in the vertical direction when the head is in the use position) opposite the inlet end.
• the shape of the means for controlling the orientation of the tube and / or the support head may be different from what has been described, as long as these means cooperate.
• the moving means of the handling device are also not limited to those described above. They may comprise additional links or fewer links, additional movement arms or a single arm.
• the various links are not necessarily ball joints, in particular the links 24 and 26 may be pivotal links. One could also consider that the arms 16 and 18 are replaced by cylinders that allow to extend the length thereof.
• the tube may be devoid of the notches 54.
• the retention on the storage device may be performed in another way than described and the tube may for example simply be placed on a bottom of such a device .
• the tube could also comprise a cross-section head different from that described and / or not include a return surface, in the case where the section of the tube is constant over its entire dimension along the axis of the channel.
• the element gripped by the support head may also be a casting element comprising a tube and a frame.
• the tube could be devoid of control means, these means being provided on the frame.
• the tube before the tube is grasped by the support head 20, it is disposed in the storage device 56 in which it is suspended with cooperating pins 58 with at least two opposite notches 54 of the tube.
• the tube is thus suspended in the storage device 56 by an inlet end thereof and is stored in its position of use.
• the method comprises a first step in which the support head 20 is approached by a portion of the tube located below the level of the tube control means for introducing the tube into the tube. space 29 defined between the arms 28a, 28b of the head 20.
• the storage device comprises an open side 60 which provides access to a lateral face of the tube 12 when the latter it is in its position of use.
• the position of the handling device after this step is shown in dotted lines in FIG. 1.
• the portion of the tube situated below the level of the tube control means is of lesser thickness than the portion of the tube provided with the tube. envelope comprising these means of control, because of the thickness of the envelope, the space between the arms 28a, 28b is sized to accommodate this portion of the tube.
• the support head 20 when the support head 20 is placed in the position shown in dashed lines in Figure 1, it moves it upwards so that the tube control means cooperate with the means of the head, here that the fins 52, in particular the two fins located under the notches 54 through which the tube is suspended, cooperate with the notches 36a, 36b of the tube.
• the fins 52 first cooperate with the flared inlet 38 of the support head, as seen in FIG. 5. Because of its conformation, this inlet 38 guides the fin 52 to the corresponding notch, respectively 36a, 36b.
• the fins 52 are housed in the notches 36a, 36b.
• the support head is further moved upward until the upper surface thereof co-operates with the return surface 46 of the tube.
• the support head is then placed on the tube as shown in FIG. 4.
• the tube 12 is then completely retained in the support head 20.
• the notches 36a, 36b prevent any rotation of the tube and any translation of this one in the horizontal plane.
• the cooperation of the return surface 46 with the upper surface 30 of the support head 20 prevents the tube 12 from translating vertically downwards.
• the only movement that the tube could make is a vertical upward translation, which is blocked by the earth's gravity when the tube is in its position of use.
• the means for controlling the angular orientation of the tube also form retaining means thereof on the support head.
• the tube 12 is further moved upwards, so as to separate the notches 54 from the pins 58.
• the notches 54 are not shaped to block the movement towards the the top of the tube and it can be detached from the storage device 56.
• the tube being free relative to the storage device 56, we can move it with the arms 16 and 18 to bring it into the casting installation. This relatively simple method allows to control the orientation in which the tube is brought into the casting installation and can also be completely automated.
• the method is not limited to what has been described above.
• the method comprises an additional step of closing the clamp once the notches of the support head and the fins of the tube are in place relative to each other and that the return surface of the tube and the upper surface of the head abut. This step is performed before the tube is detached from the storage device.

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• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Robotics (AREA)
• Health & Medical Sciences (AREA)
• General Health & Medical Sciences (AREA)
• Orthopedic Medicine & Surgery (AREA)
• Manipulator (AREA)
• Casting Support Devices, Ladles, And Melt Control Thereby (AREA)
• Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
• Sliding-Contact Bearings (AREA)
• Continuous Casting (AREA)
• Load-Engaging Elements For Cranes (AREA)
• Coating Apparatus (AREA)
• Furnace Housings, Linings, Walls, And Ceilings (AREA)

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Citations (6)

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• 2009
  • 2009-11-19 EP EP09763843A patent/EP2367649B1/de active Active
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  • 2009-11-19 RU RU2011124591/02A patent/RU2524035C2/ru active
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  • 2009-11-19 CN CN200980155158.3A patent/CN102281968B/zh active Active
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• 2011
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