[go: up one dir, main page]

EP2435201B1 - Robot supported changeover of a tap hole slide gate in a steel casting ladle - Google Patents

Robot supported changeover of a tap hole slide gate in a steel casting ladle Download PDF

Info

Publication number
EP2435201B1
EP2435201B1 EP10721338.1A EP10721338A EP2435201B1 EP 2435201 B1 EP2435201 B1 EP 2435201B1 EP 10721338 A EP10721338 A EP 10721338A EP 2435201 B1 EP2435201 B1 EP 2435201B1
Authority
EP
European Patent Office
Prior art keywords
ladle
industrial robot
stand
pan
robot
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.)
Active
Application number
EP10721338.1A
Other languages
German (de)
French (fr)
Other versions
EP2435201A1 (en
Inventor
Hans-Wilhelm Schöck
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.)
SMS Siemag AG
Original Assignee
SMS Siemag AG
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
Publication date
Application filed by SMS Siemag AG filed Critical SMS Siemag AG
Publication of EP2435201A1 publication Critical patent/EP2435201A1/en
Application granted granted Critical
Publication of EP2435201B1 publication Critical patent/EP2435201B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • B22D41/14—Closures
    • B22D41/22—Closures sliding-gate type, i.e. having a fixed plate and a movable plate in sliding contact with each other for selective registry of their openings
    • 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
    • B22D41/14—Closures
    • B22D41/22—Closures sliding-gate type, i.e. having a fixed plate and a movable plate in sliding contact with each other for selective registry of their openings
    • B22D41/28—Plates therefor
    • B22D41/34—Supporting, fixing or centering means therefor

Definitions

  • the invention is directed to a system for the maintenance of a sliding closure arranged on the spout of a molten metal container, in particular a steel ladle, which has a pan stand with at least one ladle tilting chair and at least one industrial robot assigned thereto and arranged in the heat range, wherein the industrial robot is arranged and constructed in such a way that the sliding closure can be reached by this, removed from the molten metal container and can be deposited in the region of the ladle level.
  • the invention has for its object to provide a solution that makes it possible to move the inspection activity for reviewing the sliding closure of the hot area of the pan stand out.
  • this object is achieved in that a workshop area is located on the cup level outside the heat range of the pan stand and assigned in the pan and the work area of the robot associated with a conveyor track is arranged with the heat range of the pan state and the workshop area is in functional operative connection and leads to the workshop area, wherein the sliding closure of the industrial robot on the conveyor track can be stored.
  • the pan level associated workshop area Due to the inventive design of the pan level associated workshop area, but is located outside the heat range of the pan level and with this on a conveyor track, in particular a roller conveyor, in functional (active) connection, it is possible all in connection with the change of the sliding closure , ie the change of a tapping slide of a steel ladle, standing, manually performed maintenance and / or inspection activities from the To move the hot area of the ladle level into the valve workshop.
  • the slide closure or sealing slide or slide valve can first cool there before it then approaches operating or maintenance personnel for maintenance or inspection purposes and work.
  • the operating or maintenance personnel can carry out the necessary activities on the cooled sliding closure in the workshop area equipped with conventional lifting devices and other equipment.
  • Working in the heat or under direct heat is no longer necessary. This also significantly reduces the accident severity of manual activities.
  • an industrial robot in the immediate hot area and let perform activities there.
  • the industrial robot can remove the sliding closure from the bottom of the molten metal container, in particular the steel ladle, without having to provide manual operation or manual assistance by operating personnel.
  • the industrial robot can also carry out all other activities to be performed on the bottom of the pan, such as burn-out of the pouring channel, or removal of the pouring sleeve or the like.
  • the invention provides that the conveyor track is arranged centrally between eleven Pfannenklppstühlen the pan stand.
  • the invention provides in an embodiment of the system further, that the industrial robot arranged movably on the pan stand is. Finally, the invention is also distinguished by the fact that the industrial robot can be moved on a linear unit along the socket position into various work stations.
  • the plant generally designated 1, comprises a ladle stand 2 with two ladle tilting chairs 3, into which steel ladles 4 are inserted and then pivoted or tilted into the horizontal position shown in the figures.
  • An industrial robot 6 equipped with a special tool 5 removes the slide closure 7 attached to the respective pan base 4a, a so-called pan slide in the steel ladle, from the respective steel ladle 4 and carries or conveys it to a work area of the industrial robot 6 and thus the pan stand 2 Conveyor track 8, which is formed in the embodiment as a roller table.
  • the conveyor track 8 leads to a workshop area 9 assigned to the socket stand 2 and / or arranged thereon, a so-called slider workshop.
  • the sliding closure 7 can cool down before it is then handled and / or processed by the operating or maintenance personnel in the workshop area 9 with the aid of workshop customary tools and / or lifting devices 10.
  • the sliding shutter 7 is opened by the staff and inspected and checked the state of the closure plates 11 or the slide gate plates, as well as the sliding closure 7 and this in application and actuation case moving sliding unit or the sliding device to be maintained.
  • the pan stand 2 is arranged between supporting rows of a steel structure 12 arranged on both sides and comprises two pan tilting chairs 3.
  • the industrial robot 6 is arranged on a linear axis or linear unit 13 along which it can be moved in different working positions 14a, 14b, 14c, wherein it preferably automatically carries out and / or execute work tasks assigned to it at each of the working positions.
  • the mounted on the bottom of the pan sliding closure 7 is securely fixed there, for example by means of a type of a bayonet closure such that the complete pan slide assembly is securely held.
  • the slide assembly can be released from the sliding closure 7 and inserted into it. This activity can be performed by the industrial robot 6. But it is also possible to set the slide closure 7 or the slide valve for attachment to one or more centering pins and to fix there.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Casting Support Devices, Ladles, And Melt Control Thereby (AREA)

Description

Die Erfindung richtet sich auf eine Anlage zur Wartung eines am Ausguss eines Metallschmelzebehälters, insbesondere einer Stahlgießpfanne, angeordneten Schiebeverschlusses, die einen Pfannenstand mit mindestens einem Pfannenkippstuhl und mindestens einen diesem zugeordneten und im Hitzebereich angeordneten Industrieroboter aufweist, wobei der Industrieroboter derart angeordnet und ausgebildet ist, dass der Schiebeverschluss von diesem erreichbar, vom Metallschmelzebehälter entfernbar und im Bereich des Pfannenstandes ablegbar ist.The invention is directed to a system for the maintenance of a sliding closure arranged on the spout of a molten metal container, in particular a steel ladle, which has a pan stand with at least one ladle tilting chair and at least one industrial robot assigned thereto and arranged in the heat range, wherein the industrial robot is arranged and constructed in such a way that the sliding closure can be reached by this, removed from the molten metal container and can be deposited in the region of the ladle level.

Abstichschieber von Stahlgießpfannen, welche einen Metallschmelzebehälter darstellen, unterliegen während des Betriebes einem kontinuierlichen und permanenten Verschleiß. Im Rahmen der Pfannenumlaufzyklen eines Stahlwerkes werden diese als Schiebeverschluss ausgebildeten Abstichschieber in regelmäßigen Abständen überprüft und gegebenenfalls erneuert. Im Bereich von Stahlwerken werden diese Arbeiten nach heutiger Praxis an einem dafür eingerichteten Pfannenstand ausgeführt. In diesem Pfannenstand werden die Stahlgießpfannen in einen Pfannenkippstuhl eingesetzt und in eine horizontale Lage verschwenkt. Die am Pfannenboden befestigten Pfannenschieber können in dieser Lage inspiziert, gewartet und bei vorliegendem Verschleiß ausgewechselt werden. Durch die von der Pfannenausmauerung ausgehende Strahlungshitze ist das in diesem Bereich arbeitende Wartungspersonal einer enormen Hitzebelastung ausgesetzt. Darüber hinaus liegen die in diesem Bereich dann zu handhabenden Lasten, insbesondere bei einem Wechsel des Schiebeverschlusses, im Bereich von 25 kg. Aus ergonomischer Sicht ist es daher erstrebenswert, die Arbeitsbedingungen in diesem Bereich zu verbessern.Taps of steel ladles, which constitute a molten metal container, undergo continuous and permanent wear during operation. As part of the Pfannenumlaufzyklen a steelworks designed as a sliding shutter tapping slide are checked at regular intervals and renewed if necessary. In the field of steelworks, these works are carried out according to current practice at a specially designed pan stand. In this pan stand, the ladles are inserted into a ladle tilting chair and pivoted into a horizontal position. The pan slides attached to the bottom of the ladle can be inspected, maintained and replaced in the event of wear in this position. Due to the radiant heat emanating from the ladle lining, the maintenance personnel working in this area are exposed to an enormous heat load. In addition, the loads to be handled in this area, in particular when changing the sliding closure, are in the range of 25 kg. From an ergonomic point of view, it is therefore desirable to improve working conditions in this area.

Aus der WO 2008/025562 A1 ist bereits eine gattungsgemäße Anlage bekannt. Hierbei sind die Arbeiten durch Verwendung eines oder mehrerer Industrieroboter automatisiert. So beschreibt die WO 2008/025562 A1 einen Pfannenstand, in welchem in einem umzäunten, abgetrennten Arbeitsbereich ein Industrieroboter im Bereich eines Pfannenkippstuhls angeordnet ist. Dieser öffnet und entfernt selbsttätig Schiebeverschlüsse vom Boden einer im Bereich seines Arbeitsraumes angeordneten Stahlgießpfanne. Aber auch hier ist weiterhin vorgesehen, dass zur Kontrolle des Schiebeverschlusses, insbesondere der darin befindlichen Schieberplatte, des Gießkanals im Boden der Stahlgießpfanne und der darin ebenfalls angeordneten Ausgießhülle, Bedienungs- oder Wartungspersonal den umgrenzten Arbeitsraum des Roboters betritt und diese Prüfung durchführt. Auch in diesem Falle betritt Wartungs- und Bedienungspersonal den durch Strahlungshitze beaufschlagten Arbeitsraum.From the WO 2008/025562 A1 already a generic system is known. Here, the work is automated by using one or more industrial robots. That's how it describes WO 2008/025562 A1 a pan stand, in which an industrial robot is arranged in the area of a pan-tilting chair in a fenced, separate working area. This opens and removes automatically sliding closures from the bottom of a arranged in the region of his working space Stahlgießpfanne. But here is further provided that for controlling the sliding closure, in particular the slide plate therein, the Gießkanals in the bottom of the steel ladle and the pouring sleeve also arranged therein, operating or maintenance personnel enters the bounded working space of the robot and performs this test. Also in this case maintenance and service personnel enters the acted upon by radiation heat workspace.

Der Erfindung liegt die Aufgabe zugrunde, eine Lösung zu schaffen, die es ermöglicht, die Inspektionstätigkeit zur Begutachtung des Schiebeverschlusses aus dem Heißbereich des Pfannenstandes heraus zu verlegen.The invention has for its object to provide a solution that makes it possible to move the inspection activity for reviewing the sliding closure of the hot area of the pan stand out.

Bei einer Anlage der eingangs näher bezeichneten Art wird diese Aufgabe erfindungsgemäß dadurch gelöst, dass an dem Pfannenstand außerhalb des Hitzebereiches des Pfannenstandes ein Werkstattbereich angeordnet ist und im Bereich des Pfannenstandes und dem Arbeitsbereich des Roboters zugeordnet eine Förderbahn angeordnet ist, die mit dem Hitzebereich des Pfannenstandes und dem Werkstattbereich in funktionaler Wirkverbindung steht und zu dem Werkstattbereich führt, wobei der Schiebeverschluss von dem Industrieroboter auf der Förderbahn ablegbar ist.In a plant of the type described in more detail, this object is achieved in that a workshop area is located on the cup level outside the heat range of the pan stand and assigned in the pan and the work area of the robot associated with a conveyor track is arranged with the heat range of the pan state and the workshop area is in functional operative connection and leads to the workshop area, wherein the sliding closure of the industrial robot on the conveyor track can be stored.

Durch die erfindungsgemäße Ausbildung eines dem Pfannenstand zugeordneten Werkstattbereiches, der aber außerhalb des Hitzebereiches des Pfannenstandes angeordnet ist und mit diesem über eine Förderbahn, insbesondere einen Rollengang, in funktionaler (Wirk)verbindung steht, ist es möglich, alle im Zusammenhang mit dem Wechsel des Schiebeverschlusses, d. h. dem Wechsel eines Abstichschiebers einer Stahlgießpfanne, stehenden, manuell durchzuführenden Wartungs- und/oder Inspektionstätigkeiten aus dem Heißbereich des Pfannenstandes in die Schieberwerkstatt zu verlegen. Nach einem Transport über den Verschlussschieber mittels des Rollenganges oder der Förderbahn in den Werkstattbereich der Schieberwerkstatt kann dort der Schiebeverschluss oder Abdichtschieber oder Pfannenschieber zunächst erkalten, bevor er sich dann Bedien- oder Wartungspersonal zu Wartungs- oder Inspektionszwecken und -arbeiten nähert. Anschließend kann das Bedien- oder Wartungspersonal an dem erkalteten Schiebeverschluss in der mit üblichen Lasthebemitteln und sonstigem Arbeitsgerät werkstattgerecht ausgerüsteten Werkstattbereich die notwendigen Tätigkeiten durchführen. Arbeiten im Hitzebereich oder unter einer unmittelbaren Hitzeeinwirkung sind nicht mehr notwendig. Hierdurch wird zudem die Unfallträchtigkeit der manuellen Tätigkeiten deutlich reduziert. Andererseits ist es weiterhin möglich, einen Industrieroboter im unmittelbaren Heißbereich anzuordnen und dort Tätigkeiten durchführen zu lassen. Der Industrieroboter kann den Schiebeverschluss vom Boden des Metallschmelzebehälters, insbesondere der Stahlgießpfanne, entfernen, ohne dass manuelle Tätigkeit oder manuelle Unterstützung durch Bedienpersonal bereitgestellt werden muss. Im Übrigen kann der Industrieroboter auch sämtliche sonst am Pfannenboden vorzunehmenden Tätigkeiten wie Freibrennen des Gießkanals, oder Entfernen der Ausgießhülse oder Ähnliches durchführen.Due to the inventive design of the pan level associated workshop area, but is located outside the heat range of the pan level and with this on a conveyor track, in particular a roller conveyor, in functional (active) connection, it is possible all in connection with the change of the sliding closure , ie the change of a tapping slide of a steel ladle, standing, manually performed maintenance and / or inspection activities from the To move the hot area of the ladle level into the valve workshop. After being transported via the shutter slide by means of the roller conveyor or the conveyor track into the workshop area of the slide workshop, the slide closure or sealing slide or slide valve can first cool there before it then approaches operating or maintenance personnel for maintenance or inspection purposes and work. Subsequently, the operating or maintenance personnel can carry out the necessary activities on the cooled sliding closure in the workshop area equipped with conventional lifting devices and other equipment. Working in the heat or under direct heat is no longer necessary. This also significantly reduces the accident severity of manual activities. On the other hand, it is still possible to arrange an industrial robot in the immediate hot area and let perform activities there. The industrial robot can remove the sliding closure from the bottom of the molten metal container, in particular the steel ladle, without having to provide manual operation or manual assistance by operating personnel. Incidentally, the industrial robot can also carry out all other activities to be performed on the bottom of the pan, such as burn-out of the pouring channel, or removal of the pouring sleeve or the like.

Um das Bedienpersonal von jeglicher Hitzebeaufschlagung weg und frei zuhalten, ist zweckmäßig, dass der Schiebeverschluss (erst) nach seinem Abkühlen im Werkstattbereich durch Bedienpersonal gehandhabt und/oder bearbeitet wird.To keep the operator away from any heat and free, it is expedient that the sliding closure (only) after its cooling in the workshop area handled by operators and / or edited.

In Ausgestaltung sieht die Erfindung vor, dass die Förderbahn mittig zwischen zwel Pfannenklppstühlen des Pfannenstandes angeordnet Ist.In an embodiment, the invention provides that the conveyor track is arranged centrally between eleven Pfannenklppstühlen the pan stand.

Um die Kombination von automatisierter Robotertätigkeit und manuell durchzuführender Arbeit des Bedienpersonals zum einen gut aufeinander abstimmen zu können, auf der anderen Seite aber auch unabhängig voneinander durchführen zu können, sieht die Erfindung in Ausgestaltung der Anlage ferner vor, dass der Industrieroboter auf dem Pfannenstand verfahrbar angeordnet ist. Schließlich zeichnet sich die Erfindung auch dadurch aus, dass der Industrieroboter auf einer Lineareinheit längs des Pfannenstandes in verschiedene Arbeitstationen verfahrbar angeordnet ist.In order to be able to coordinate the combination of automated robot activity and manually performed work of the operator on the one hand well on the other hand, but also independent of each other, the invention provides in an embodiment of the system further, that the industrial robot arranged movably on the pan stand is. Finally, the invention is also distinguished by the fact that the industrial robot can be moved on a linear unit along the socket position into various work stations.

Die Erfindung ist nachstehend anhand der Zeichnung beispielhaft näher erläutert. Diese zeigt in

Figur 1
in schematischer Seitenansicht eine erfindungsgemäße Anlage und in
Figur 2
eine schematische Draufsicht auf die Anlage gemäß Fig. 1.
The invention is explained in more detail below by way of example with reference to the drawing. This shows in
FIG. 1
in a schematic side view of a plant according to the invention and in
FIG. 2
a schematic plan view of the system according to Fig. 1 ,

Die insgesamt mit 1 bezeichnet Anlage umfasst einen Pfannenstand 2 mit zwei Pfannenkippstühlen 3, in die Stahlgießpfannen 4 eingesetzt und dann in die in den Figuren dargestellte horizontale Lage verschwenkt oder gekippt werden. Ein mit einem Spezialwerkzeug 5 ausgestatteter Industrieroboter 6 nimmt den am jeweiligen Pfannenboden 4a angebrachten Schiebeverschluss 7, bei der Stahlgießpfanne ein so genannter Pfannenschieber, von der jeweiligen Stahlgießpfanne 4 ab und trägt oder befördert diesen zu einer dem Arbeitsbereich des Industrieroboters 6 und damit dem Pfannenstand 2 zugeordneten Förderbahn 8, die im Ausführungsbeispiel als Rollgang ausgebildet ist. Die Förderbahn 8 führt zu einem dem Pfannenstand 2 zugeordneten und/oder an diesem angeordneten Werkstattbereich 9, einer so genannten Schieberwerkstatt. Hier kann der Schiebeverschluss 7 abkühlen, bevor er dann vom Bedienungs- oder Wartungspersonal im Werkstattbereich 9 unter Zuhilfenahme von werkstattüblichen Werkzeugen und/oder Lasthebemitteln 10 gehandhabt und/oder bearbeitet wird. Hier wird der Schiebeverschluss 7 vom Personal geöffnet und der Zustand der Verschlussplatten 11 oder der Pfannenschieberplatten inspiziert und überprüft, sowie werden der Schiebeverschluss 7 und das diesen im Anwendungs- und Betätigungsfall bewegende Schiebeaggregat oder die Schiebevorrichtung gewartet.The plant, generally designated 1, comprises a ladle stand 2 with two ladle tilting chairs 3, into which steel ladles 4 are inserted and then pivoted or tilted into the horizontal position shown in the figures. An industrial robot 6 equipped with a special tool 5 removes the slide closure 7 attached to the respective pan base 4a, a so-called pan slide in the steel ladle, from the respective steel ladle 4 and carries or conveys it to a work area of the industrial robot 6 and thus the pan stand 2 Conveyor track 8, which is formed in the embodiment as a roller table. The conveyor track 8 leads to a workshop area 9 assigned to the socket stand 2 and / or arranged thereon, a so-called slider workshop. Here, the sliding closure 7 can cool down before it is then handled and / or processed by the operating or maintenance personnel in the workshop area 9 with the aid of workshop customary tools and / or lifting devices 10. Here, the sliding shutter 7 is opened by the staff and inspected and checked the state of the closure plates 11 or the slide gate plates, as well as the sliding closure 7 and this in application and actuation case moving sliding unit or the sliding device to be maintained.

Der Pfannenstand 2 ist zwischen beidseits angeordneten Stützreihen einer Stahlkonstruktion 12 angeordnet und umfasst zwei Pfannenkippstühle 3.The pan stand 2 is arranged between supporting rows of a steel structure 12 arranged on both sides and comprises two pan tilting chairs 3.

Der Industrieroboter 6 ist auf einer Linearachse oder Lineareinheit 13 angeordnet längs welcher er in verschiedenen Arbeitspositionen 14a, 14b, 14c verfahrbar ist, wobei er an jeder der Arbeitspositionen ihm zugeordnete Arbeittätigkeiten vorzugsweise automatisiert ausführt und/oder ausführen kann.The industrial robot 6 is arranged on a linear axis or linear unit 13 along which it can be moved in different working positions 14a, 14b, 14c, wherein it preferably automatically carries out and / or execute work tasks assigned to it at each of the working positions.

Die als Rollgang ausgebildete und in den Werkstattbereich 9 führende Förderbahn 8, mittels welcher der Schiebverschluss 7 in den Werkstattbereich 9 gefördert oder befördert oder transportiert wird, ist mittig zwischen den beiden Pfannenkippstühlen 3 angeordnet.Trained as a roller table and leading into the workshop area 9 conveyor track 8, by means of which the slide fastener 7 is conveyed or transported or transported in the workshop area 9, is arranged centrally between the two pan tipping chairs 3.

Der am Pfannenboden angebrachte Schiebverschluss 7 ist dort beispielsweise mittels eines nach Art eines Bajonettverschlusses ausgebildeten Verschlusses dergestalt sicher fixiert, dass das komplette Pfannenschieberaggregat sicher gehalten ist. Durch eine 90° - Drehung lässt sich das Schieberaggregat aus dem Schiebeverschluss 7 herauslösen und in diesen einsetzen. Diese Tätigkeit kann von dem Industrieroboter 6 ausgeführt werden.
Es ist aber auch möglich, den Schiebeverschluss 7 oder den Pfannenschieber zur Befestigung auf einen oder mehrere Zentrierbolzen aufzusetzen und dort zu fixieren.The mounted on the bottom of the pan sliding closure 7 is securely fixed there, for example by means of a type of a bayonet closure such that the complete pan slide assembly is securely held. By a 90 ° turn, the slide assembly can be released from the sliding closure 7 and inserted into it. This activity can be performed by the industrial robot 6.
But it is also possible to set the slide closure 7 or the slide valve for attachment to one or more centering pins and to fix there.

Claims (4)

  1. Plant for maintenance of a slide closure (7), which is arranged at the nozzle of a metal melt vessel and which comprises a ladle stand (2) with at least one ladle tilting cradle (3) and at least one industrial robot (6) associated therewith and arranged in the heating region, wherein the industrial robot (6) is so constructed and arranged that that the slide closure (7) can be reached by this, removed from the metal melt vessel and deposited in the region of the ladle stand (2), characterised in that a shop area (9) is arranged outside the heating region of the ladle stand (2) and a conveyor path (8) is arranged in the region of the ladle stand (2) in association with the working range of the robot (6), which conveyor path is disposed in functional connection with the heating region of the ladle stand (2) and the shop area (9) and leads to the shop area (9), wherein the slide closure (7) can be deposited on the conveyor path (8) by the industrial robot (6).
  2. Plant according to claim 1, characterised in that the conveyor path (8) is arranged centrally between two ladle tilting cradles (3) of the ladle stand (2).
  3. Plant according to claim 1 or 2, characterised in that the industrial robot (6) is arranged on the ladle stand (2) to be movable.
  4. Plant according to claim 3, characterised in that the industrial robot (6) is arranged on a linear unit (13) to be movable along the ladle stand (2) into different work stations (14a, 14b, 14c).
EP10721338.1A 2009-05-28 2010-05-21 Robot supported changeover of a tap hole slide gate in a steel casting ladle Active EP2435201B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102009022976 2009-05-28
DE102009050216A DE102009050216A1 (en) 2009-05-28 2009-10-22 Robot-supported tapping slide change on steel ladles
PCT/EP2010/003130 WO2010136159A1 (en) 2009-05-28 2010-05-21 Robot supported changeover of a tap hole slide gate in a steel casting ladle

Publications (2)

Publication Number Publication Date
EP2435201A1 EP2435201A1 (en) 2012-04-04
EP2435201B1 true EP2435201B1 (en) 2014-03-26

Family

ID=43028665

Family Applications (1)

Application Number Title Priority Date Filing Date
EP10721338.1A Active EP2435201B1 (en) 2009-05-28 2010-05-21 Robot supported changeover of a tap hole slide gate in a steel casting ladle

Country Status (3)

Country Link
EP (1) EP2435201B1 (en)
DE (1) DE102009050216A1 (en)
WO (1) WO2010136159A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10376954B2 (en) 2013-07-11 2019-08-13 Refractory Intellectual Property Gmbh & Co. Kg Method and device for automatic replacement of a discharge shell on a sliding closure of a metallurgical vessel
KR20210102905A (en) * 2018-12-18 2021-08-20 베수비우스 그룹, 에스. 에이. Robotized system for changing sliding gate valve plates

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011088619A1 (en) 2011-12-14 2013-06-20 Sms Siemag Ag Method for maintenance and / or repair of the spout area of a metallurgical vessel
CH710773B1 (en) * 2015-02-20 2019-04-30 Refractory Intellectual Property Gmbh & Co Kg Method and device for repairing a refractory sleeve of a metallurgical vessel.
KR102769506B1 (en) * 2018-12-18 2025-02-17 베수비우스 그룹, 에스. 에이. Metallurgical casting equipment

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH603285A5 (en) * 1974-05-27 1978-08-15 Metacon Ag
AT413950B (en) * 2004-05-26 2006-07-15 Voest Alpine Ind Anlagen CONTINUOUS CASTING SYSTEM WITH AT LEAST ONE ROBOT AND METHOD FOR OPERATING A CONTINUOUS CASTING SYSTEM WITH AT LEAST ONE ROBOT
EP1894649A1 (en) 2006-09-01 2008-03-05 Stopinc Aktiengesellschaft Device for maintenance of a sliding gate mounted at the outlet of a metallutgical vessel

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10376954B2 (en) 2013-07-11 2019-08-13 Refractory Intellectual Property Gmbh & Co. Kg Method and device for automatic replacement of a discharge shell on a sliding closure of a metallurgical vessel
KR20210102905A (en) * 2018-12-18 2021-08-20 베수비우스 그룹, 에스. 에이. Robotized system for changing sliding gate valve plates
KR102799106B1 (en) 2018-12-18 2025-04-21 베수비우스 그룹, 에스. 에이. Robotic system for replacing sliding gate valve plates

Also Published As

Publication number Publication date
WO2010136159A1 (en) 2010-12-02
DE102009050216A1 (en) 2010-12-02
EP2435201A1 (en) 2012-04-04

Similar Documents

Publication Publication Date Title
EP2435201B1 (en) Robot supported changeover of a tap hole slide gate in a steel casting ladle
EP2056983B1 (en) Method for the maintenance of a sliding closure mounted on the spout of a container for molten metal
DE102009051146B4 (en) Automation concept for a metallurgical plant or rolling mill
DE69712975T2 (en) clamping device
DE102014007832B4 (en) Machine frame for a hanging robot system
EP2870083B1 (en) Feed apparatus and method
EP3019293B1 (en) Method and device for automatic replacement of a discharge sleeve on a sliding closure of a metallurgical vessel
EP2281166B1 (en) Furnace system
CH657630A5 (en) DEVICE FOR CLEANING REMAINING ANODES.
WO2009071073A1 (en) Protective device for a station for processes, method for automatically loading and/or unloading a station for processes
WO2013071325A1 (en) Machine tool having a multiplicity of stationary tool spindles
DE2502392C3 (en) Plant for the surface treatment of heavy metal slabs
AT506190B1 (en) DEVICE FOR INTERCHANGEABLE CONNECTION OF A PIPING TUBE TO AN OUTLET OF A MELT CONTAINER
WO2010088934A1 (en) Robot having a variable safety region
EP1897646B1 (en) Device for removing oxygen cutting burrs
EP1375088B1 (en) Robot installation with a robot with a protection device
DE3532903A1 (en) Portal grinding machine with grinding wheel changing device
DE102014014404B4 (en) Open die forging plant and open die forging process
DE202013103865U1 (en) Removal device for slag
DE4323517A1 (en) Manual welding station with at least one spot-welding gun
EP4092367B1 (en) Loading gate system and steelworks plant with loading gate system
WO2021001279A1 (en) Device for manipulating preferably a casting tube in a changing device at the spout of a metallurgical vessel
EP1628794A1 (en) Method and device for tilting metallurgical vessels
DE202007007300U1 (en) Tubular closing machine for warm deformation of e.g. bottle base, has support frame with side wall construction, where machine is provided above spindle with slide, which carries swiveling support with drive and plate for roll support
EP1430967A1 (en) Device for handling two-part tools

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20111026

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20131023

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 658681

Country of ref document: AT

Kind code of ref document: T

Effective date: 20140415

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502010006481

Country of ref document: DE

Effective date: 20140508

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140626

REG Reference to a national code

Ref country code: NL

Ref legal event code: VDEP

Effective date: 20140326

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140726

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140626

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140521

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140728

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502010006481

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140531

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140531

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20140626

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20150130

26N No opposition filed

Effective date: 20150106

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502010006481

Country of ref document: DE

Effective date: 20150106

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140521

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140626

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140602

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502010006481

Country of ref document: DE

Representative=s name: HEMMERICH & KOLLEGEN, DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 502010006481

Country of ref document: DE

Owner name: SMS GROUP GMBH, DE

Free format text: FORMER OWNER: SMS SIEMAG AG, 40237 DUESSELDORF, DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140627

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20100521

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

Ref country code: BE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140531

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20140326

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230707

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20250521

Year of fee payment: 16

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20250527

Year of fee payment: 16

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20250522

Year of fee payment: 16