CN1960824A - Continuous casting machine with at least one robot and method for operating a continuous casting machine comprising at least one robot - Google Patents

Abstract

A continuous casting machine equipped with at least one robot for performing process-controlled or automated interventions on the continuous casting machine and accessing assigned auxiliary equipment. To ensure optimal use of the robot: the continuous casting machines are assigned to runways (7); the robot is assigned to a moving mechanism (10) and the moving mechanism is movably guided on a runway; at least one stop position (P) is defined for the robot on the track₁、P₂) And at least two operating positions (E, E)₁、E₂、E₃) And each operating position is assigned to a work area (A) on the continuous casting machine₁、A₂、A₃、A₄)，The working area is only accessible from this operating position; at each operating position of the robot and assigned operating or supply zone (V)₁、V₂、V₃) The distance between the two is fixed within the minimum and maximum range of the robot arm (15); the robot is equipped with data transmission and reception devices (20, 21) and the latter are connected to a central control device of the continuous casting machine or to a process computer (19) by means of signal transmission technology. In addition, the invention comprises a method for operating a continuous casting machine comprising at least one robot movable on a runway between a stop position and at least two operating positions.

Description

Continuous casting machine with at least one robot and method for operating a continuous casting machine comprising at least one robot

technical field

The invention relates to a continuous casting machine with at least one robot for carrying out process control or automatic intervention in the continuous casting machine and for accessing given auxiliary devices. Furthermore the invention provides for operating a continuous casting machine comprising a robot.

The invention extends to various types of continuous casting machines in which molten metal from a molten metal vessel, such as a ladle, is introduced through a hopper into a metal mold where it is intensively cooled to form an at least partially solidified Strands of any cross-section are continuously output from the continuous casting machine. Depending on the characteristics of the molds used, the casting machine can be equipped with oscillating tubular and disk molds, raceway casting molds, casting rolls with side plates (two-roll casting machines) or casting molds with endless belts. The continuous casting strand can have a cross section of a slab, a thin slab, a strip, a bloom or a thin slab and other desired primary forming cross sections of any desired dimensions.

Background technique

Robots used on continuous casting machines are used to perform cyclical work and eliminate operating problems in hazardous areas where operators are exposed to extreme hazards emitted by continuous casting streams of fluid metal and cast metal or by splashing slag and metal Great heat radiation. Robots have been used at open continuous casting molds to observe the surface of the molten bath, to remove deposits baked on the inside of the mold walls, to supply casting powder and to measure the temperature for sampling, etc. Furthermore, robots are used for changing the covering, changing the casing sidewall pipe and for changing the closure plates of the side gate nozzles and for blowing open the outflow openings in the funnels and ladles. It is also known to use robots for inspecting strands or severed slabs, blooms and billets and for eliminating defects in the exit region of continuous casting machines, for example caused by fire.

For example, from EP-B 371 482 the use of a multifunctional robot on a continuous casting mold is known, the robot on the one hand receives casting process-related data from measuring devices on the mold and The detection system obtains its own measurement data and uses this information to prepare or execute a plan of action with priority tasks. This concerns a stationary robot whose position is specifically chosen for use on the mold and is therefore not suitable for the same preforming activities that take place in the area of the continuous casting machine next to the continuous casting mold.

Robots known from US-A 5,067,553, JP-A 5-169206, JP-A 9-109100, JP-A 7-60434 and JP-A-293615 are likewise assigned to a single work area in a continuous casting machine .

The previous widespread use of robotics on casting platforms of continuous casting machines has resulted in dense and chaotic operations of such robots in confined spaces. JP-A3-71959 discloses the use of two robots on the casting platform of a multi-strand continuous casting machine, each robot is assigned to a runway and the robot can occupy an operating position on the runway to exchange the cased well on the large funnel The wall pipe and the cleaning work is performed at the exit of the funnel and the cased well wall pipe. Each robot is assigned to a calibrated work area, one robot cannot work in another robot's work area, so if one robot fails, the other robot cannot take over the work and operator intervention in the continuous casting machine is mandatory of. All in all, the improved availability of industrial robots cannot be obtained at the same time due to the increased investment and operating costs due to multiple robots.

Contents of the invention

It is therefore the object of the present invention to avoid the disadvantages and difficulties of the known prior art and to provide a continuous casting machine with at least one robot of the type mentioned at the outset and a method for operating a continuous casting machine comprising a robot, thus at Different interventions on the continuous casting machine can be carried out at different working positions outside the range of a single operating position of the robot.

Another object of the invention is to increase the utilization and utility of the robots used.

According to the invention this object is achieved in the following manner: the continuous casting machine is assigned a runway; the robot and the moving mechanism that can be guided movable on the runway are assigned to the continuous casting machine; at least one stop position and at least two stop positions are defined for the robot on the runway operating positions and each operating position is assigned to a working area on the continuous casting machine, which 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 is fixed at The minimum and maximum range of the robot arm; and the robot is equipped with a data transmission and reception device and the latter is connected by signal transmission technology to the central control device or process computer of the continuous casting machine.

The runway is fixed on the continuous casting machine or in the area of the continuous casting machine passing through a plurality of potential work areas in such a way that these work areas are located within the range of predetermined operating positions of the robot movable on the runway, so that there is an overcoming The robot's limited only single manipulation capability and provides more efficient manipulation capability. Depending on the instructions, the robot can be guided by the central control unit or the process computer of the continuous casting machine to each required operating position and carry out the necessary interventions there.

The operating positions for the robot define the stop positions of the robot along the runway from which one or more work areas on the continuous casting machine lie within the range of the grippers of the robot. In embodiments of the robot in which the robot chassis is fixed to a mobile mechanism that is stationary or rotates about a vertical axis, the operating position of the robot on the runway is defined only by the position of the mobile mechanism. In an embodiment of the robot in which the rotating mechanism with the boom is arranged on the moving mechanism and the actual robot is first fixed on the protruding end of the boom, in order to determine the operating position of the robot, in addition to the position of the moving mechanism, The swivel angle of the boom of the swivel mechanism is also decisive.

The working area of the robot is a dedicated area or individual position on the continuous casting machine where interventions can be carried out by the robot starting from a predetermined operating position.

The supply area spatially includes storage locations with auxiliary equipment, such as tool warehouses, means of production and the like, which have fixed locations for tools, spare parts and means of production to be received and placed by the robot. Stored in auxiliary equipment are firstly tools for the robot required to perform the intervention, such as pliers, measuring probes, grinding heads, and secondly spare parts for continuous casting machines, such as casing casing pipes or sliding valve plates ; and the third category is production materials for continuous operation of continuous casting machines, such as casting powder. The tool warehouses and means of production warehouses located in the various supply areas can be formed by fixed or movable auxiliary equipment, such as means of production racks, which may only be brought into the supply areas of special operating locations when required, and kept away from the Its supply location is stored.

A stop position is defined as the position on the runway where the robot stops when it is not performing an intervention and waiting for a new operating signal from a central control device or a process computer. When multiple robots are assigned to a runway, multiple stopping positions are therefore determined. In the case of two robots, the two stop positions are preferably arranged at opposite ends of the runway.

Process control or automated intervention by robots also includes the optional possibility of intervention, ie manual remote control by an operator. These manual remote control interventions can be made from control rooms or other portable control units.

The runway for the robot is preferably formed by at least one running track or hoisting track formed from a rail system or by a suspended monorail conveyor. Move to the predetermined operating position through the corresponding control equipment (position transmitter, displacement monitoring system).

In order to be able to serve several work zones on a continuous casting machine, it is advantageous for the runway to have branches including the usual switches. This allows operating locations to be defined and used away from the main runway and multiple robots can be used without them interfering with each other.

Optionally, the individual sections of the runway are formed in such a way that they can be adjusted in height by a lifting mechanism or turned by a turning mechanism in order to change the operating position of the robot on the runway in such a way as to obtain the most possible access allocation operating area.

Each robot is assigned to a mobile mechanism on which the robot is supported or suspended depending on the design of the runway. In order to increase the size of its operating area, the displacement mechanism can be assigned to the robot rotary mechanism, so that at least two operating positions are defined for the robot by the rotary position of the robot rotary mechanism. The turning mechanism preferably comprises a cantilever (12) at the extended end of which the robot (8) is arranged. The boom can be adapted to the requirements of the operating environment, for example also adjustable in height.

The robot is preferably fixed in its respective operating position by stop means in order to avoid position changes caused by reaction forces from interventions.

In order to be able to carry out interventions on the continuous casting machine as quickly and efficiently as possible, it is advantageous if each operating position of the robot on the runway is assigned at least one working area on the continuous casting machine and a supply area on auxiliary equipment, e.g. Tool warehouse, means of production warehouse. Thus, all the means of production necessary to carry out the intervention are available to the robot within the reach of the robot arm, without having to make further handling movements to change tools or to transport redundant parts.

The runway can extend along the entire continuous casting machine and at different heights and can also include inclines and declines, preferably when the runway is formed as a running track for a suspended conveyor. The runway is preferably limited to the casting platform and/or the delivery area of the continuous casting machine. Here, the runway is preferably arranged in a horizontal plane.

According to a preferred design, two robots are arranged on one runway, one robot preferably performing the intervention on the continuous casting machine as the main robot and used when there is a difference in the priority of the work to be performed and when there is a problem with the main robot A second robot that acts as an auxiliary robot. Another distribution of the work to be performed between the robots, for example by prioritization of the individual robots to define the operating positions or by manual remote control, is also possible and lies within the scope of the invention.

The invention also includes a method for operating a continuous casting machine comprising at least one robot movable on a runway between a rest position and at least two operating positions, characterized in that from a process computer or The control signals of the central control device are supplied to the robots, and based on these control signals they are moved to selected operating positions and automatic interventions on the continuous casting machine are carried out by the robots, wherein the process computer or the central control device is configured in the order of the interventions to be carried out. The sequence of priorities provides control signals to the robots for the interventions to be performed on the continuous casting machine.

The operation of the robots is defined and controlled by the process computer or central control device of the continuous casting machine, determining the activities to be performed with regard to the quality of the product to be produced. The basis for the assignment of priorities is formed by the continuous diagnosis of the casting process, whereby measurement data are collected continuously and simulation calculations are compared with default data.

The robot itself also observes the state of the running casting process on the continuous casting machine and collects measurement data. These measurement data are transmitted to a process computer or a central control unit, are processed by the process computer or control unit and the results of the data calculations are converted into control signals for the robot or the continuous casting machine.

When using at least two robots capable of moving on the runway, the first robot capable of moving on the runway acts as the main robot (master robot), receives all control signals and performs interventions on the continuous casting machine, and the other The robot moving up acts as an auxiliary robot (sub-robot) and is preferably assigned to a stop position.

If there is a conflict in the priority of the control signals, both the main robot and the auxiliary robot are activated and both robots are guided to the corresponding operating positions, except in the event that they interfere with each other.

Description of drawings

Further advantageous advantages and characteristics of the invention are known from the following description of a non-limiting exemplary embodiment with reference to the accompanying drawings, in which:

Figure 1 shows a schematic view of the operational capabilities of one or two robots on a casting platform of a continuous casting machine;

Fig. 2 shows the robot rotation mechanism with two operating positions of the robot;

FIG. 3 shows the robot rotation mechanism according to FIG. 2 with two operating positions on the casting platform;

Figure 4 shows a robot runway with runway segments that can be raised and lowered vertically;

FIG. 5 shows a robot runway with runway sections that can rotate in the horizontal plane.

Detailed ways

On the casting platform 1 of the continuous casting machine, the layout of which is by no means restricted, the positioning of the casting ladle 2 with the ladle nozzle (cover) 3 and the casing wall pipe 5 with sinking is shown in outline. The funnel 4 under the ladle nozzle, wherein the casing wall pipe protrudes into the continuous casting mold 6. A further funnel 4' is indicated by a dotted line in a spare position of the casting platform 1 .

On this foundry platform there are many possibilities in that one robot performs the process control and automatic intervention on the casting machine, for which the operation of several stationary robots or at least one mobile robot is necessary. The runway 7 is overlaid on the casting platform 1 in such a way that a plurality of work areas _A1 , _A2 , _A3 , _A4 can be serviced by a single robot 8, from a plurality of operating positions _E1 , _E2 along the runway. , E ₃ starts.

The robot 8 is in a waiting position at the stop position P ₁ at one end of the runway 7 . Another stop position P ₂ that can also be used is at the opposite end of the runway 7 . The supply areas V ₁ , V ₂ , V ₃ are arranged at the auxiliary equipment H ₁ , H ₂ , H ₃ on the casting platform and these supply areas are assigned to the operating positions E ₁ , E ₂ , E ₃ and are set up at the end of the robot arm 15 . within range. If the spatial conditions on the casting platform do not allow this, individual supply areas can also be set up outside the range of the operating position of the robot. However, the operating time of the robot in order to complete the intervention then extends the time taken for the necessary supply movement.

From the operating position E ₁ , the robot 8 is able to carry out interventions in the working areas A ₁ (casting ladle) and A ₄ (the hopper), which concern the ladle nozzle 3 and the cover and the injection zone of the hopper 4 . For example changing the covering, burning out the funnel outlet or supplying casting powder into the funnel all fall within the activities to be performed in these workspaces in time intervals. The redundant parts and means of production necessary for these interventions, such as replacement coverings, the necessary predetermined quality and quantity of special casting powder or burners, are taken by robots from the assigned supply area _V1 , where these means of production are in A predetermined place in the warehouse of auxiliary equipment V ₁ remains readily available.

From the operating position E ₂ , the robot 8 is able to perform interventions in the working areas A ₂ (mould) and A ₄ (the funnel), which relate to the outflow zone of the funnel 4 , the sunken casing wall pipe 5 and in the continuous casting mold 6 The opening on the entry side. Activities such as supplying casting powder to the funnel, changing the sinking casing, burning out the funnel outlet, supplying casting powder to the funnel, observing the water level in the mold bath, taking samples from the mold, etc. all fall within these workspaces . The production materials and spare parts necessary for these interventions, such as suitable casting powders to cast high-quality steel and casting conditions at a given time, sinking casing pipes, sub-guns, etc., are transferred from auxiliary equipment H by robots. ₁ gets supply area V ₂ .

From operating position E ₃ , the robot 8 is able to perform an intervention on the other hopper 4 ′ in the work area A ₃ (hopper changing continuous casting stream), taking the required production materials from the auxiliary plant H ₃ to the supply area V ₃ .

If only one robot is provided on the casting platform, the stop position P ₂ can be used as a second stop position for the robot. Or another robot 8' can wait in stop position _P2 to perform an operation, enabling a more efficient planning of actions. If, for example, an intervention of equal priority, which cannot be delayed, must be performed in the work area A ₁ and in the work area A ₂ , the control system or processing computer will guide the robot 8 from its rest position P ₁ to the operating position E ₁ and guide the robot 8' from its rest position _P2 to its assigned operating position _E2 .

Figures 2 and 3 show the robot 8 in two operating positions _E1 and _E2 on the continuous casting machine. The continuous casting machine is shown in dashed lines through the casting ladle 2 , the hopper 4 and the continuous casting mold 6 . The runway 7 of the robot is formed by two running rails 9 , 9 ′ which pass the funnel 4 and the continuous casting mold 6 in a straight line at a certain distance above the casting platform 1 . Fixed to the movement mechanism 10 is a robot swing mechanism 11 with a cantilever, which can assume two positions rotated by 90° relative to each other and covers the operating positions E ₁ and E ₂ . The robot is arranged in a suspended manner on the extended end of the boom 12 and can occupy two operating positions E ₁ and E ₂ . The boom 12 is indicated by the dotted line in the operating position E ₁ and by realization in the operating position E ₂ . The kidney-shaped area lines in FIG. 2 and the circular area lines 13 ′, 14 ′ in FIG. 3 show the working areas A ₁ and A ₂ of the robot arm 15 . In the working area A ₁ assigned to the operating position E ₁ , the robot 8 can reach all main areas of the ladle 2 up to the mold 6 . From the second operating position E ₁ , it is possible to perform interventions in the working area A ₂ , preferably in the transition zone from the funnel 4 to the continuous casting mold 6 and on the latter itself. In the area at the edge of the casting platform, the robot is assigned to a stop position P ₁ . In the immediate vicinity of this stop position there is also a supply position Vx from which the robot can pick up all auxiliary devices required for its operation. Independently of the ongoing casting operation, manual preparations for robot operation can be carried out undisturbed and safely in this stop position.

On the casting platform 1 there is a control point 18 from which the continuous casting machine is monitored and operated in a largely automatic manner by means of a process computer or a central control unit. The process computer 19 or the central control unit as well as the individual robot or robots are assigned data transmission or data reception devices 20 , 21 via which all information necessary for carrying out the intervention is transmitted, preferably over a wireless link.

In order to bring the robot to a favorable operating position, there are various special designs of the runways. FIG. 4 shows a raiseable and lowerable runway section 22 of the runway 7 , through which the robot 8 , shown only as the lower bottom, is raised to a raised intervention position E relative to the runway plane. The raceway section 22 is supported on lift cylinders 23 and is adapted to be positioned by these cylinders. In its intervention position E, which itself is determined by the axis of rotation of the robot in the area of the floor, the robot 8 is firmly fixed in position on the runway section 22 by means of the locking device 24 and is therefore relevant for the robot control. The fixed point is determined.

5 shows a runway section 27 which can be rotated by a predetermined angular position around a vertical axis of rotation 26 in its starting position in line with the runway 7 and in a swiveled-out position, wherein the swiveled-out angular position is determined for The intervention position E of the robot. The runway section 27 is movable on a track 29 established in the horizontal plane in the form of a circular arc.

Alternatively, spurs can be used on runways, using conventional points known from the track. Upward and downward sloped segments may be provided on the runway, eg cogs may be used to overcome the upward and downward slopes.

The invention is not limited to the use of a particular type of robot. Bending-arm robots or pocket robots are particularly suitable for use on casting platforms of continuous casting machines, and are generally offered by several manufacturers for a wide range of operating possibilities and with special adaptations.

Claims (14)

1. that continuous casting machine with at least one robot (8), described robot are used to carry out process control on continuous casting machine or intervene automatically and auxiliary equipment that visit distributes, it is characterized in that,

Continuous casting machine is assigned to runway (7),

Robot is assigned to travel mechanism (10) and this travel mechanism is guided on the runway movably,

For robot defines at least one stop position (P on runway ₁, P ₂) and at least two operating positions (E, E ₁, E ₂, E ₃) and each operating position be dispensed on workspace (A on the continuous casting machine ₁, A ₂, A ₃, A ₄), described workspace only can arrive from this operating position,

At each operating position of robot and the operating space or the supply area (V of distribution ₁, V ₂, V ₃) between fixed distance in robots arm's (15) minimum and maximum scope,

Robot is equipped with transfer of data and receiving equipment (20,21) and the latter to be connected in the central control equipment or the process computer (19) of continuous casting machine by signal transmission technology.

2. continuous casting machine as claimed in claim 1 is characterized in that, runway (7) is made of rail system.

3. continuous casting machine as claimed in claim 1 is characterized in that, runway is formed by at least one Crane Rail (9,9 ') of the single track conveyer that hangs.

4. each described continuous casting machine in the claim as described above is characterized in that runway has branch line (track switch).

5. each described continuous casting machine in the claim as described above is characterized in that runway section (22,27) forms by this way, makes it in height to be conditioned or can be rotated.

6. each described continuous casting machine in the claim as described above is characterized in that travel mechanism (10) is assigned to robot rotating mechanism (11) and is used at least two operating position (E of robot by the turned position of robot rotating mechanism ₁, E ₂) be determined, rotating mechanism preferably includes cantilever (12), is provided with robot (8) at the elongated end of this cantilever.

7. each described continuous casting machine in the claim as described above is characterized in that robot is fixed in its operating position (E) by stop device (24).

8. each described continuous casting machine in the claim as described above is characterized in that each operating position (E, the E of robot on runway ₁, E ₂, E ₃) be dispensed at least one the workspace (A on the continuous casting machine ₁, A ₂, A ₃, A ₄) and at auxiliary equipment (H ₁, H ₂, H ₃) supply area (V on (tool crib, means of production warehouse) ₁, V ₂, V ₃).

9. each described continuous casting machine in the claim as described above is characterized in that runway (7) is arranged on the casting platform (1), preferably is arranged on the horizontal plane.

10. each described continuous casting machine in the claim as described above is characterized in that preferred two robots of a plurality of robots (8,8 ') distribute to single runway (7).

11. a method that is used to operate continuous casting machine, described casting machine comprise that at least one can be at stop position (P ₁, P ₂) and at least two operating positions (E, E ₁, E ₂, E ₃) between runway on the robot that moves, it is characterized in that, the control signal that comes from process computer (19) or central control equipment is provided for robot, and move to selected operating position and carry out automatic intervention on continuous casting machine by robot based on these control signals, wherein the control signal of the intervention that will will carry out on continuous casting machine with the order of the preference of the intervention that will be performed of process computer or central control equipment offers robot.

12. as method as described in the claim 11, it is characterized in that, measurement data is by the robot collection on continuous casting machine, these measurement data are sent to process computer or central control equipment, handled by these process computers or central control equipment, and the result of this data computation is converted into the control signal that is used for robot or continuous casting machine.

13. as claim 11 or 12 described methods, it is characterized in that, in the robot that at least two can be moved on runway, first robot that can move on runway is as main robot (main frame), receive all control signals and the intervention of execution on continuous casting machine, another robot that can move on runway preferably distributes to stop position as auxiliary robot (secondary machine).

14. method as claimed in claim 13, it is characterized in that, if there is the conflict of the priority of control signal, so main robot and auxiliary robot all are activated under situation about hindering mutually at them and two robots all are directed into corresponding operating position.

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