Metal casting equipment

Abstract

The present invention relates to a metal casting apparatus, comprising: a loading platform (20), an intermediate ladle (1), a first ladle (11) and a second ladle (12), and a first manipulator and a second manipulator (35). The ladle comprises: a base plate, a ladle long nozzle (13a-13c), and a ladle sliding nozzle mechanism (15). The ladle sliding nozzle mechanism is connected to a drive device (17) for actuating the ladle sliding nozzle mechanism between a sealing position and a casting position. The manipulator is used to hold the connected ladle long nozzle on the ladle's outlet (14). The metal casting apparatus also includes a robot (21) for: handing a new ladle long nozzle to the manipulator of the ladle located at the loading station, and preferably connecting the drive device to the ladle sliding nozzle mechanism. Each manipulator is fixed relative to the corresponding first or second ladle so as to move together with the corresponding first or second ladle between the loading station and the casting station.

Description

Technical Field

[0001] This invention relates to a robotic loading station for preparing fresh ladles loaded on a rotating turntable before bringing them to the casting station above the tundish. Specifically, the invention relates to a robotic device for loading long nozzles from ladles into a sliding gate mechanism connected to the ladle's outlet, and for connecting a drive unit to both the ladle and the sliding gate mechanism to actuate the sliding gate mechanism. The robotic loading station is also configured to disconnect the drive unit and unload used long nozzles from empty ladles that have recently been removed from the casting station above the tundish. Robotics of these operations frees operators from heavy lifting and improves operational repeatability. Specific robotic arms embedded in the respective ladle and sliding gate mechanisms allow for rapid unblocking of the outlet in case of blockage. Background Technology

[0002] In a continuous metal forming process, molten metal 2 is transferred from one metallurgical vessel to another, to a mold or crystallizer. For example, as shown in Figure 1, ladles 11 and 12 are filled with molten metal from a furnace (not shown) and transferred above tundish 1 to discharge the molten metal from the ladle into the tundish through long ladle nozzles 13a-13c. The molten metal can then be poured from the tundish into the mold or crystallizer through a gating nozzle 3 to continuously form slabs, billets, beams, thin slabs, etc. Under gravity, the molten metal flows from the ladle into the tundish and then from the tundish into the mold or crystallizer. The flow rate can be controlled by a sliding gate mechanism that is in fluid communication with the ladle outlet and the tundish. The ladle sliding gate mechanism 15 can be used to control the flow rate leaving the ladle and even interrupt the flow in a sealed position. Similarly, the tundish sliding gate mechanism 5 can be used to control the flow rate leaving the tundish and interrupt the flow in a sealed position.

[0003] Because the casting of metal into the mold or crystallizer is a continuous process, the tundish acts as a buffer, and the level of molten metal in the tundish must be kept substantially constant throughout the casting operation. Maintaining a substantially constant level of molten metal in the tundish requires rapidly exchanging a new ladle filled with molten metal with the old ladle after it has been emptied. This ensures a quasi-continuous feed of molten metal into the tundish, allowing the metal to be poured into the tundish at a rate substantially the same as the rate at which it flows out of the mold or crystallizer. This operation is further complicated by the following constraints.

[0004] First, for safety reasons and to avoid any collisions, ladles 11 and 12 cannot be transported from the furnace to the corresponding tundish above the workshop. The long nozzles 13a-13c of the ladle are connected to the bottom plate of the ladle and extend 1m or more below the bottom plate. The long nozzles of the ladle must be connected to the bottom plate of the ladle at the loading station near the tundish.

[0005] Secondly, to prevent the metal contained in the second ladle 12 from freezing upon contact with the "cold" moving parts of the ladle sliding gate mechanism 15, which is held in a sealed position, thus avoiding clamping and preventing the ladle sliding gate mechanism from opening, the inner orifice of the inner gate is generally filled with a blocking material 19. This blocking material is typically sand or other granular material to prevent any molten metal from reaching the gate mechanism, thereby preventing metal freezing and blockage of the inner gate and gate mechanism system. When the ladle is in the casting position, after the ladle sliding gate mechanism is opened to the casting position, the sand flows out, and then the molten metal can flow into the tundish through the ladle long gate. However, sometimes the blocking material can partially combine with frozen metal, forming a solid plug, thus preventing the blocking material from flowing out. Therefore, the inner gate is blocked, and even though the ladle sliding gate mechanism is in the casting position, metal cannot flow from the ladle into the tundish. This problem can be easily solved by inserting a cleaning tool 19r into the hole of the inner gate or near the hole of the inner gate. The unblocking tool 19r can be a pressurized gas spray gun or a long rod, as shown in Figure 2(c). Now, due to the long ladle nozzles 13a-13c connected to the ladle sliding nozzle mechanism, this seemingly simple operation is actually quite complex.

[0006] For these reasons, in most equipment, the ladle nozzle is not autonomously connected to the sliding nozzle mechanism at the loading station. Instead, the ladle nozzle is inserted into the drain and held in place by a robot located at the casting station. This allows the robot to remove the ladle nozzle from the drain in case of a blockage, making it easier to access the ladle outlet from the bottom with a clearing tool 19r. Once the blockage is cleared, the ladle sliding nozzle mechanism can move to the sealing position, while the robot reintroduces the ladle nozzle into the drain. At this point, the ladle sliding nozzle mechanism moves back to the casting position to begin pouring molten metal into the tundish. However, robots are not always available, or even impossible to place on the casting platform at the casting station, which may be small and cramped. Under such conditions, this solution for holding the ladle nozzle during the casting process becomes problematic.

[0007] The recently filled ladle is transported from the furnace to the casting equipment, where the ladle's sliding gate mechanism is fixed to the bottom plate of the ladle, but there is no driving device to actuate the relative movement of the plates forming the ladle's sliding gate mechanism. For this purpose, many metallurgical equipment uses a rotary table 30, which includes a first holding device for holding a first ladle 11 above a tundish 1 at a casting station, and a second holding device for holding a second ladle 12 filled with molten metal at a loading station. Once the first ladle is emptied, the second ladle can be prepared for the same operation as the molten metal contained therein is discharged into the tundish. Specifically, a driving device, such as a hydraulic piston, can be coupled to the bottom plate of the ladle and the ladle's sliding gate mechanism to allow for their actuation.

[0008] US 2006 / 0118268 describes a ladle sliding nozzle mechanism configured to autonomously hold a ladle long nozzle and a drain nozzle arranged side-by-side. One or more drive devices (e.g., hydraulic pistons) can be used to actuate the ladle sliding nozzle mechanism by moving its plate between a sealed position where the opening is sealed, a casting position where the opening is in fluid communication with the ladle long nozzle, and a clearing position where the opening is in fluid communication with the drain nozzle. Thus, in the event of an internal blockage, the ladle sliding nozzle mechanism moves to the clearing position, allowing a clearing tool 19r to be easily introduced through the short drain nozzle orifice to break up the blockage material containing solidified metal. Once the blockage material can flow again, the ladle sliding nozzle mechanism moves the drain nozzle to align with the ladle outlet and brings the ladle long nozzle into the casting position so that molten metal flows through the ladle long nozzle into the tundish. The handling of the clearing tool 19r can advantageously be performed by a robot located near the casting station. Compared to the aforementioned method of holding the ladle nozzle by a robot, a significant advantage is that this ladle sliding nozzle mechanism eliminates the need for a robot to hold the nozzle, and instead allows the robot to be used to operate the unclogging tool 19r. Otherwise, this operation would have to be performed manually by a human operator, or a second robot would have to be installed near the casting station to unclog the inner bore. Manual handling is generally more laborious and time-consuming than using a robot. This is disadvantageous because the longer the ladle does not supply fresh molten metal to the tundish, the lower the molten metal level in the tundish, and / or the longer the casting operation must be carried out at a lower flow rate, which compromises the quality of the resulting billets.

[0009] US 2008 / 0314938 describes a continuous casting plant with at least one multi-functional robot for implementing various process control or automation interventions within the continuous casting plant. The multi-functional robot, mounted on a pivotable arm positioned at a rotating column secured to the casting platform of the continuous casting plant, can pivot between a retracted position and a working position via the pivot arm. The robot can also move relative to its arm.

[0010] The rapid exchange of an emptied first ladle with a filled second ladle at the casting station remains a delicate operation. This operation becomes even more critical in the event of duct blockage, which can increase the time the tundish is not replenished with fresh molten metal. In the metal casting industry, repeatable and faster ladle exchange operations are required. This invention proposes a metal casting apparatus with a fully automated ladle changing operation, including repeatable and faster exchange operations in all cases, even when the ladle outlet is blocked by frozen blockage material 19. These and other advantages of the invention will be described in more detail in the following sections. Summary of the Invention

[0011] The objective of this invention has been achieved through a metal casting apparatus, which includes:

[0012] (a) Loading platform,

[0013] (b) Intermediate package,

[0014] (c) a first ladle and a second ladle, each of the first ladle and the second ladle comprising:

[0015] The base plate has an opening.

[0016] Long nozzle of steel ladle

[0017] A ladle sliding nozzle mechanism includes a lower nozzle configured to reversibly receive and support a long ladle nozzle. The mechanism is further configured to connect to a drive unit for actuating the mechanism between a sealed position and a casting position, wherein the opening is sealed in the sealed position and in fluid communication with the long ladle nozzle in the casting position.

[0018] (d) A first ladle long nozzle manipulator and a second ladle long nozzle manipulator, which are respectively used to fix the connected ladle long nozzles to the drain outlets of the first and second ladles.

[0019] (e) A transport device comprising a turntable or ladle car, the transport device including at least a first holding device and a second holding device for holding a first ladle and a second ladle, wherein the transport device is configured to move and hold the first ladle and the second ladle in place between a loading station adjacent to a loading platform and a casting station above the tundish.

[0020] in,

[0021] Metal casting equipment includes a robot configured to perform the following operations on a first or second ladle held in a loading station:

[0022] A robotic arm that moves the long nozzle of the new ladle to the ladle located at the loading station, and

[0023] Connect the drive unit to the ladle sliding gate mechanism.

[0024] Each robotic arm is fixed relative to a corresponding first or second ladle so that it can move between the loading station and the casting station together with the corresponding first or second ladle.

[0025] The loading platform may include a tool storage rack containing one or more spare ladle nozzles within reach of the robot, and the tool storage rack preferably includes one or more drive units and / or spare parts such as spare drain nozzles, as well as tools. The robot can be movably mounted on the loading platform such that it can translate parallel to a first axis (X) and / or a second axis (Y) perpendicular to the first axis (X), or a combination thereof, and / or rotate about a vertical axis (Z) perpendicular to the first and second axes (X, Y). Preferably, the robot can thus reach and retrieve any tools or parts from the storage rack, and can reach the ladle sliding nozzle mechanism of the first or second ladle held at the loading station to perform the aforementioned operations.

[0026] Preferably, the robot is configured to:

[0027] The long nozzle of the ladle is collected by a robotic arm from the first or second ladle, which has been emptied and held at the loading station after being moved from the casting station.

[0028] Remove the drive unit.

[0029] The ladle sliding gate mechanism may include:

[0030] (a) Upper board, which includes:

[0031] A fixed surface and a bottom sliding surface, the fixed surface and the bottom sliding surface being spaced apart from each other by the thickness of the upper plate;

[0032] An upper hole extends from the fixed surface to the bottom sliding surface, and wherein...

[0033] The fixing surface of the upper plate is rigidly fixed to the lower part of the corresponding first or second steel ladle, wherein the upper hole is in fluid communication with the opening.

[0034] (b) A lower plate, comprising:

[0035] The sprue surface and the top sliding surface are spaced apart from each other by the thickness of the lower plate;

[0036] The lower orifice extends from the top sliding surface to the nozzle surface, wherein...

[0037] The lower plate is slidably mounted such that the top sliding surface can slide translationally along the bottom sliding surface to allow the lower orifice to be in fluid communication with and out of fluid communication with the upper orifice, and wherein...

[0038] (c) The drain outlet includes a drain outlet hole and is fixed to the drain outlet surface of the lower plate, wherein the drain outlet hole is in fluid communication with the lower hole.

[0039] (d) The drive unit is connected to the lower plate and includes a cylinder and a piston, the cylinder being rigidly and reversibly connected to the bottom portion of the corresponding first or second ladle, the piston being rigidly and reversibly fixed to the lower plate, and the drive unit being configured to move the lower plate to align or misalign the lower hole with the upper hole.

[0040] In the first embodiment, the lower plate includes a single lower hole, wherein a single drain outlet is fixed to the drain outlet surface of the lower plate.

[0041] In the second embodiment,

[0042] The lower plate includes a second lower hole, which is separate from the lower hole and extends from the top sliding surface to the sprue surface.

[0043] The second drain outlet, including the second drain hole, is fixed to the drain outlet surface of the lower plate, wherein the second drain outlet is in fluid communication with the second drain hole.

[0044] Each of the first and second robotic arms can

[0045] Fixed to the corresponding first and second holding devices, or

[0046] The ladle sliding gate mechanism is fixed to the corresponding first and second ladles so that it can move together with the lower plate, or

[0047] Secure it to the corresponding first and second steel ladles.

[0048] Preferably, each of the first robotic arm and the second robotic arm

[0049] It can translate along the first direction parallel to the upper hole.

[0050] Able to rotate around the first direction,

[0051] It includes one or more arm segments extending substantially perpendicular to a column parallel to a first direction, the arm segments being coupled to the column and connected to each other via rotary joints configured for rotation about the first direction.

[0052] Includes a clamping device located at the free end of the arm section furthest from the column, for securely and reversibly holding the ladle nozzle.

[0053] The drive unit can be actuated hydraulically, pneumatically, or electrically. Preferably, each of the first and second holding devices of the transport device is provided with:

[0054] A pressurized fluid source or an electrical source for actuating the drive device via a hose, and

[0055] A preferred storage station is used to store the drive unit that is ready to be connected to the ladle sliding gate mechanism.

[0056] The metal casting equipment may include a preheating oven for bringing the new ladle long nozzle loaded on the ladle sliding nozzle mechanism of the first or second ladle at the loading station to and maintaining it at a preheating temperature.

[0057] In a preferred embodiment, the robot can also be configured to:

[0058] After the used ladle long nozzle is removed from the emptied ladle, check its condition.

[0059] Assess whether used ladle nozzles can be reused after cleaning or must be discarded.

[0060] Use an oxygen blower to clean the used ladle nozzle to remove any residue adhering to the wall of the used ladle nozzle.

[0061] The present invention also relates to a method for casting molten metal, the method comprising the following steps:

[0062] (a) Provide metal casting equipment as described above, wherein,

[0063] The first ladle is filled with molten metal and is located at the casting station, and

[0064] The second ladle is filled with molten metal and is located at the loading station.

[0065] The ladle sliding gate mechanism of the first ladle is in the sealed position, connected to one or more drive devices, and is equipped with a long ladle gate, which is held on the drain outlet by a corresponding robotic arm.

[0066] The ladle sliding gate mechanism of the second ladle is in the sealed position and includes a drain outlet fixed to the lower plate, but does not include the ladle long outlet and the operable drive device.

[0067] (b) Position the ladle sliding gate mechanism of the first ladle into the casting position so that molten metal can be poured from the first ladle through the ladle long gate into the tundish.

[0068] (c) During the previous step

[0069] The robot is used to move the long nozzle of the new ladle to the second robotic arm of the second ladle.

[0070] The new long sprue nozzle is connected to the second robotic arm, and the second robotic arm is used to hold the new long sprue nozzle in place on the drain outlet.

[0071] The robot connects the drive unit to the sliding gate mechanism of the second ladle.

[0072] (d) When the first ladle is substantially empty, the ladle sliding gate mechanism of the first ladle is moved into the sealing position, and then...

[0073] (e) The positions of the first ladle and the second ladle are exchanged by moving the first ladle from the casting station to the loading station and simultaneously moving the second ladle from the loading station to the casting station.

[0074] (f) The ladle sliding gate mechanism of the second ladle is brought into the casting position, and molten metal is poured from the second ladle through the ladle long gate into the tundish.

[0075] During step (f), the method preferably includes the following steps:

[0076] (g) The first robotic arm 35 removes the used ladle nozzle from the drain outlet.

[0077] (h) The robot collects the used ladle nozzle from the first manipulator and stores the used ladle nozzle for hot repair or as waste.

[0078] (i) Using the robot, disconnect and remove the one or more drive units 17 from the sliding gate mechanism of the first ladle, and store the one or more drive units for further use.

[0079] (j) Remove the first emptied ladle, and

[0080] (k) At the loading station, a new ladle filled with molten metal is loaded onto the first holding device of the transport device, wherein, like the second ladle in step (a), the new ladle includes a ladle sliding nozzle mechanism with a drain outlet in a sealed position but does not include a ladle long nozzle.

[0081] If the opening of the first ladle is filled with blocking material, and if no molten metal flows out of the opening when the ladle sliding gate mechanism of the first ladle is brought into the casting station in step (b), the unblocking of the opening can be performed in different ways.

[0082] In the first method, the following steps can be performed:

[0083] The first robotic arm was used to remove the long nozzle of the ladle from the drain outlet to expose the drain outlet.

[0084] Use appropriate drain cleaning tools to clear the blockage material through the exposed drain opening to unclog the opening of the first steel ladle.

[0085] When the clogging material begins to flow from the drain, the ladle nozzle is connected to the first robotic arm, which holds the ladle nozzle in place on the drain, thus allowing molten metal to be poured from the first ladle through this unclogging opening and through the ladle nozzle into the tundish.

[0086] In the second method, where the lower plate includes a first lower hole and a second lower hole as described above with respect to the second embodiment, as well as a first drain outlet and a second drain outlet, the following steps can be performed:

[0087] Use the drive device to move the lower plate to the unblocking position where the second lower hole aligns with the upper hole.

[0088] Use appropriate drain cleaning tools to clear the blockage material through the exposed second drain outlet to unclog the opening of the first steel ladle.

[0089] When the blockage material begins to flow out of the drain, the drive unit moves the lower plate back to the casting position where the first lower hole and the upper hole are aligned, thus allowing molten metal to be poured from the first ladle through this unblocking opening and through the ladle's long nozzle into the tundish.

[0090] The transport device may be a turntable. The step (e) of exchanging the positions of the first and second ladles may therefore include the following steps:

[0091] Raise the first and second ladles until the long nozzles of both ladles are detached from the tundish and are higher than the tundish in the vertical direction (Z).

[0092] The rotary table is rotated 180° around the vertical axis (Z) so that the first ladle is above the loading station, and the second ladle is above the casting station and above the tundish.

[0093] The first and second ladles are lowered to their respective loading and casting positions, and the long nozzle of the second ladle is inserted into the tundish.

[0094] During all the preceding steps, the first and second robotic arms 35 move together with the corresponding first and second ladles, while simultaneously holding the corresponding ladle's long water inlet to the corresponding drain outlet.

[0095] In a further embodiment, the robot also:

[0096] After the used ladle long nozzle is removed from the emptied ladle, check its condition.

[0097] Assess whether used ladle nozzles can be reused after cleaning or must be discarded.

[0098] Use an oxygen blower to clean the used ladle nozzle to remove any residue adhering to the wall of the used ladle nozzle. Attached Figure Description

[0099] In these attached figures,

[0100] Figures 1(a)-(f) depict the steps of removing the first empty ladle from the casting station and replacing the first ladle with the second full ladle after it is ready at the loading station.

[0101] Figures 2(a)-(d) illustrate the various steps for clearing a blocked ladle outlet using a ladle sliding nozzle mechanism according to a first embodiment of the present invention.

[0102] Figures 3(a)-(d) illustrate the steps for clearing a blocked ladle outlet using a ladle sliding nozzle mechanism according to a second embodiment of the present invention.

[0103] Figures 4(a)-(c) illustrate various alternative steps for clearing a blocked ladle outlet using a ladle sliding nozzle mechanism according to a first embodiment of the invention.

[0104] Figures 5(a)-(c) illustrate the steps of using a robotic arm to load a new ladle nozzle onto the drain outlet according to an embodiment of the present invention.

[0105] Figure 6The illustration shows a loading station including a robot, and a full ladle supported by a transport device equipped with a robotic arm, according to an embodiment of the present invention. Detailed Implementation

[0106] As shown in Figure 1, the metal casting apparatus according to the present invention includes a first ladle 11 and a second ladle 12. The first ladle is held at a casting station above an intermediate ladle 1, which is used to transfer the molten metal 2 contained in the first ladle 11 into the intermediate ladle 1. The intermediate ladle conveys the molten metal to a crystallizer or mold. Through this system, the intermediate ladle contains a certain volume of molten metal, which remains substantially constant throughout the transfer of the molten metal from the first ladle 11 to the intermediate ladle 1. When the first ladle has been emptied of its contents, it must be replaced as quickly as possible with a second ladle 12 filled with molten metal and fully prepared to continue transferring the molten metal 2 into the intermediate ladle 1, thereby maintaining a substantially constant level of molten metal in the intermediate ladle and a substantially constant flow rate of molten metal from the intermediate ladle to the crystallizer or mold.

[0107] Ladles 11 and 12 include a base plate with openings 11o and 12o. An inner nozzle 18 with an inner bore allows fluid communication between the internal volume of the tundish and the openings 11o and 12o. Ladles 11 and 12 also include a ladle sliding nozzle mechanism 15, configured to reversibly receive and support a drain nozzle aligned with the lower bore, and for connection to a drive unit 17 for actuating the ladle sliding nozzle mechanism between a sealed position and a casting position. In the sealed position, the opening is sealed away from the drain nozzle; in the casting position, the opening is in fluid communication with the drain nozzle and the ladle long nozzles 13a-13c. The ladle long nozzles are connected to the drain nozzle by a manipulator 35 and thus held in place.

[0108] To expedite the exchange between the emptied first ladle 11 and the filled second ladle 12, the first and second ladles are supported by corresponding first and second holding devices of a transport device. The transport device can be a ladle car, but is preferably a rotating turntable 30 (see Figure 1(a)). The first and second holding devices are fork arms that hold the first and second ladles 11 and 12 at an "arm length" from the central axis of rotation (Z). Rotation of the turntable about the central axis of rotation (Z) allows the first and second ladles to move between the following positions:

[0109] The casting station, in which one of the first or second ladles 11 or 12 is fixed above the tundish, and the long nozzles 13a-13c of the ladle are partially inserted into the tundish, and

[0110] A loading station, where one of the first or second ladles is prepared to transfer molten metal to the tundish when it is moved to the casting station.

[0111] Since the long nozzles 13a-13c of the ladle are partially inserted into the tundish 1, the rotary table 30 must first lift the first ladle and the second ladle to drive the long nozzles 13a of the first ladle 11 away from the tundish 1 and above the tundish 1 before rotating around the central rotation axis (Z), thereby avoiding collision between the long nozzles of the first ladle and the second ladle and the tundish.

[0112] The loading station is equipped with a loading platform 20, which includes tools and spare parts, such as new ladle long nozzles 13b and 13c, a new drain nozzle 14, or a spare drive unit 17. As explained above, the ladle cannot be transported across the workshop between the furnace and the casting equipment because the long ladle nozzles 13a-13c protrude from the bottom plate of the ladle. Therefore, fresh ladles filled with molten metal arrive at the casting station without ladle nozzles 13a-13c. Fresh ladles 11 and 12 filled with molten metal 2 arrive at the rotary table 30, where the ladle sliding nozzle mechanism 15 is fixed to the bottom plate of the ladle, but there is no operable drive unit 17, and the drain nozzle 14 is connected to the ladle sliding nozzle mechanism. The drain nozzle is very short and can be attached to the ladle to allow it to travel across the workshop without any risk of collision. Therefore, when the fresh ladle 12 is docked on the rotary table 30 at the loading station, the long nozzles 13a-13c of the new ladle can be connected to the fresh ladle above the drain 14 and held in place. Simultaneously, the drive unit 17 must be connected to the ladles 11, 12 and the ladle sliding nozzle mechanism 15, and the drive unit 17 must be activated by connecting it to a pressurized fluid source of a hydraulic or pneumatic drive unit 17 or a power source of an electric drive unit 17.

[0113] The present invention proposes to provide a robot 21 on or near the loading platform 20, instead of having these operations performed manually by a human operator. The robot 21 is configured to load new ladle nozzles 13b onto the ladle sliding nozzle mechanism 15, and to connect a drive unit 17 to the ladle sliding nozzle mechanism 15.

[0114] Casting equipment

[0115] Figure 1 illustrates the various steps of a continuous casting operation using the apparatus according to the invention. The exchange of the emptied first ladle 11 with the filled second ladle 12 will be discussed in more detail in the following sections. Figure 1(a) shows a rotary table 30 as a transport device, comprising a first holding device and a second holding device for holding the first and second ladles 11, 12. The rotary table is located near the tundish such that each of the first and second holding devices can bring the ladles 11, 12 to the casting station, wherein the long nozzle of the ladle is partially inserted into the tundish below the level of the molten metal contained in the tundish during use under stable conditions. Figure 1(a) shows a configuration in which the first ladle 11 is partially filled with molten metal and held at the casting station by the first holding device of the rotary table 30. The first ladle is positioned above the tundish 1, with the ladle nozzles 13a-13c held in place by a ladle nozzle manipulator 35 fixed to the rotary table 30 by a first holding device, such that the ladle nozzles are partially inserted into the tundish and partially submerged below the level of the molten metal contained in the tundish. The ladle nozzle sliding mechanism 15 of the first ladle 11 is coupled to a drive device 17, which is configured to move the plate of the sliding nozzle mechanism between the aforementioned sealing position and the casting position. In the embodiment of FIG. 1, the drive device 17 is a hydraulic piston connected to a pressurized fluid source 17h via a hose 17t. The drive device 17 can be pneumatic or electric, but a hydraulic drive is preferred.

[0116] A second ladle 12, filled with molten metal directly from the furnace, is held at the loading station by a second holding device of the rotary table 30, within the reach of the robot on the loading platform 20. The ladle sliding gate mechanism 15 of the second ladle 12 is in a sealed position. Unlike the first ladle 11, the second ladle 12 is not ready to be filled with molten metal because it does not have any ladle long gate 13b or any drive device 17. The second ladle 12 may be equipped with a drive device 17, but this drive device is not operational because it is not connected to any pressurized fluid source for hydraulic or pneumatic drives, nor to a power source for electric drives. Generally, the second ladle 12 arrives at the rotary table without any drive device 17, but in rare cases, the second ladle is equipped with an inoperable drive device.

[0117] The loading platform 20 includes a storage rack 29 with various tools (not shown) for preparing the second ladle 12 for casting, and spare ladle nozzles 13b, 13c. Preferably, the first ladle nozzles 13a-13c for connection to the ladle are preheated in the storage rack 29 or in a separate baking oven within the robot's reach to avoid any severe thermal shock as the molten metal flows through the ladle nozzles after the casting operation begins at the casting station. In some cases, the platform may include a spare drive unit 17 and may include a spare drain 14, although the drain 14 is preferably connected to the second ladle in a separate hot-repair station before the ladle is filled with molten metal from the furnace.

[0118] Preferably, the drive unit 17 for actuating the ladle sliding nozzle mechanism 15 of the second ladle 12 is stored on or near the second holding device of the rotary table 30. It is preferable to store the drive unit on the first and second holding devices because this avoids the need to connect and disconnect the (drawer) drive unit each time it is connected to or removed from the ladle, as it is most convenient, as shown in FIG. 1(a), to also position the pressurized fluid source 17h on or near the first and second holding devices.

[0119] Figure 1(b) illustrates that as the first ladle 11 discharges its molten metal contents into the tundish, the robot 21 removes a new ladle long nozzle 13b from the storage rack 29 and connects it to the ladle sliding nozzle mechanism 15 of the second ladle 12, holding the ladle sliding nozzle mechanism in a sealed position throughout the second ladle's stay at the loading station. As explained above, in a preferred embodiment, the new ladle long nozzle 13b is preheated to a preheating temperature in the storage rack 29 or in a separate baking oven within the reach of the robot 21 before being loaded onto the ladle sliding nozzle mechanism. Preheating the ladle long nozzle before casting reduces the risk of breakage due to severe thermal shock, since the molten metal only begins to flow through the ladle long nozzle at the start of the casting operation. Since the second ladle 12, equipped with the new ladle nozzle 13b, can remain at the loading station for a certain period of time before being moved to the casting station, as the first ladle 11 is conveying molten metal to the tundish and gradually emptying, the new ladle nozzle 13b has time to cool down, losing all the benefits of the preheating operation. Therefore, in the preferred embodiment of the invention shown in FIG. 1(c), as a supplement or alternative to preheating the new ladle nozzle in a storage rack or a separate baking oven, a preheating baking oven 25 can be provided at the loading station to maintain the new ladle nozzle 13b (optionally reaching and) at the preheating temperature, held by a robot arm above the lower nozzle 14 of the ladle sliding nozzle mechanism 15 of the second ladle 12 located at the loading station. Through this preheating baking oven 25, the ladle nozzle reaches the casting station at the required preheating temperature, and casting can begin with a lower risk of cracking due to thermal shock. The preheating oven 25 can be movably connected to the loading platform 20, or to the first and second holding devices of the rotary table. The preheating oven is preferably in the form of an open book, surrounding the new ladle nozzle 13b once it has been loaded onto the ladle sliding nozzle mechanism 15. The robot 21 can move the oven into the preheating position.

[0120] Robot 21 can preferably move along a horizontal plane (X, Y) and has several degrees of freedom, preferably at least five or at least seven degrees of freedom. The robot must be able to reach the storage rack 29 to collect or store tools and / or casting parts, and must also be able to reach the ladle nozzle manipulator 35 stationed at the loading station. The robot must have sufficient degrees of freedom to perform all connections and disconnections required to ensure continuous casting operation of the casting equipment, as well as to connect and disconnect connections.

[0121] Specifically, as shown in Figures 1(b) and 1(c), the robot must be configured to transport the new ladle nozzle 13b to the manipulator 35 and to recover the used ladle nozzle from the empty ladle detached from the manipulator 35. The robot must also be configured to connect the drive unit 17 to the ladle nozzle sliding mechanism 15 and the ladle (disconnected), and to connect the hose 17t to the drive unit 17 (disconnected). In Figure 1, both the first and second holding devices of the rotary table 30 are provided with:

[0122] • Storage station for storing one or more (drawer) drive units 17, and

[0123] • A pressurized fluid source connected to one or more (drawer) drive devices for actuating the ladle sliding gate mechanism 15.

[0124] With this configuration, all the robot 21 needs to do is collect the drive unit 17 from its storage station at the second holding device and connect it to the ladle and ladle sprue mechanism 15. If the drive unit is stored in the storage rack 29, or if the drive unit stored in the storage station needs to be replaced with a new drive unit stored in the storage rack 29, then in addition to connecting one or more (drawer) drive units 17 to the ladle and ladle sprue mechanism 15, the robot 21 must also connect one or more hoses 17t to the corresponding (drawer) drive unit to operate the drive unit to actuate the ladle sprue mechanism.

[0125] Because ladles 11 and 12 are supported by a transport device such as a turntable 30 or a ladle car, a ladle nozzle manipulator 35 (or simply "manipulator") follows the ladle throughout all operations. In the first embodiment, as shown in Figures 1 and 3, the manipulator can be fixed to a first and a second holding device of the transport device. This solution is advantageous because the manipulator remains connected to the transport device for the entire duration of one or more casting operations and must not be changed each time a new ladle arrives at the transport device. Alternatively, according to the second embodiment, the manipulator can be fixed to the ladle sliding nozzle mechanism 15, preferably moving together with the lower plate 15d, such as... Figures 2(a) to 2(d) As shown. Because the robot arm must engage and disengage with the ladle sliding nozzle mechanism each time a new ladle arrives at and leaves the corresponding holding device of the transport device, this solution does not have the advantages of the previous embodiment, but has the following advantages: In order to ensure that the ladle long nozzle held by the robot arm follows the same movement as the drain outlet 14, which is controlled by the drive device 17, the robot arm does not need to be synchronized with the drive device 17.

[0126] As shown in Figure 1(d), when the first ladle 11 is substantially empty, it must be replaced by a full second ladle 12 waiting at the loading station. In the embodiment shown in Figure 1, the rotary table 30 is configured to raise the first and second ladles 11, 12 to a rotational height to ensure that the ladle nozzles 13a, 13b of the first and second ladles do not collide with the tundish 1 or any other component of the casting equipment while the rotary table rotates. As shown in Figure 1(e), the rotary table 30 is also configured to rotate about a vertical axis (Z) to exchange the positions of the first and second ladles in a single movement, while the first and second ladles remain at a rotational height above their respective loading and casting positions. Finally, the rotary table 30 must be configured to lower the first and second ladles to their respective loading and casting positions, as shown in Figure 1(f). Regardless of whether the robotic arm 35 is fixed to the first holding device, the second holding device, or the ladle sliding gate mechanism 15, the robotic arm follows the rising, rotating, and falling movements of the two ladles.

[0127] The movement of the rotary table and the movement of the ladle sliding gate mechanism 15 of both the first and second ladles must be completely synchronized to prevent any unwanted molten metal from dripping or flowing out from either the first or second ladle.

[0128] Robot 21 must also be configured to remove the emptied first ladle 11 from the loading station after the corresponding manipulator 35 disengages the ladle long nozzle 13a from the drain outlet 14. The robot is also configured to disconnect the drive unit 17. The used ladle long nozzle 13a can be cleaned and stored for further use, or it can be discarded into the waste bin 27, as shown in Figure 1(f). The drive unit 17 can be stored in a storage station on the first holding device of the rotary table 30 without disconnecting it from the pressurized fluid source, or stored in the storage rack 29 of the loading platform after it has been disconnected from the pressurized fluid source. If the manipulator 35 is attached to the ladle sliding nozzle mechanism 15, the robot is configured to disconnect the manipulator from the ladle sliding nozzle mechanism and store the ladle sliding nozzle mechanism in the rack 29 for loading the next ladle onto the first holding device of the transport device. The removed ladle nozzle 13a and drive unit 17, along with the optional robotic arm, and the emptied first ladle 11 can now be removed to the maintenance station for hot repair. A new ladle filled with molten metal can be drawn from the furnace and loaded onto the now-empty first holder on the rotary table to initiate the entire operation, as discussed above. Figures 1(a) to 1(f) What is shown.

[0129] Robot 21

[0130] Robot 21 may have at least five, preferably at least six or seven degrees of freedom. The robot is preferably movably mounted on loading platform 20 such that it can translate parallel to a first axis (X) and / or a second axis (Y) perpendicular to the first axis (X), or a combination thereof. Robot 21 may preferably rotate about a vertical axis (Z) perpendicular to the first and second axes (X, Y). Through this combination of movements, the robot must be able to reach and retrieve any tools or parts from storage rack 29, and be able to reach the ladle sliding gate mechanism 15 of the first or second ladle 11, 12, which is held at the loading station for the operations described below. Excellent results were obtained using the Kuka Foundry type robot KR480.

[0131] The robot may include a base that communicates with motion-generating components such as wheels or pedals. The base may communicate with an arm; the arm may be rotatably, fixedly, and / or pivotally attached to the base. The arm may be extendable. The arm may be provided with one or more sections connected to each other via pivots or rotatable joints. The arm may be provided with holding devices, such as grippers, housings, receptacles, supports, pliers, etc., configured for engaging, manipulating, handling, connecting, grasping, and / or moving drive mechanisms 17, ladle nozzles 13a-13c, tools, or manipulators 35.

[0132] A robot is configured to connect drive unit 17 to ladles 11, 12 filled with molten metal and their ladle sliding nozzle mechanisms 15. The robot is also configured to remove drive unit 17 from the emptied first or second ladle 11, 12 held at the loading station after movement from the casting station. Robot 21 is configured to transport new ladle nozzles to manipulator 35 and to remove used ladle nozzles 13a-13c from the manipulator of the emptied ladles 11, 12. Finally, and only when the manipulator is not secured to the first and second holding devices of the transport device, the robot is configured to connect and disconnect the manipulator from the ladle at the loading station. To avoid severe thermal shock, preferably, the ladle nozzle 13b is enclosed in a preheating station before being connected to the ladle sliding nozzle mechanism 15 at the loading station. The robot can move the ladle nozzle from storage rack 29 to a preheating station (not shown), and then to robotic arm 35. Similarly, to remove the ladle nozzle from the emptied first ladle 11, the robot can grasp the ladle nozzle from the robotic arm after it has disconnected it from the drain outlet. The robot can then take the removed ladle nozzle to a pressurized gas (e.g., oxygen) cleaning station (not shown) and a preheating station or storage rack 29 for further use. Alternatively, if the ladle nozzle is too worn to be used further, the robot can discard it into waste bin 27 (see Figure 1(f)).

[0133] The robot is also configured to inspect the condition of the used ladle nozzles 13a-13c after they have been removed from the emptied ladle. In a preferred embodiment, the robot is configured to assess whether the used ladle nozzles can be reused after cleaning or must be discarded. This can be achieved through artificial intelligence programming of the robot, which can "learn" to distinguish between used ladle nozzles that can be reused or those that must be discarded. The robot is also preferably configured to clean the used ladle nozzles with an oxygen purifier to remove any residue adhering to the walls of the used ladle nozzles.

[0134] Steel ladle sliding gate mechanism 15

[0135] The ladle sliding gate mechanism 15 applicable to the present invention includes an upper plate 15u and a lower plate 15d. The upper plate includes a fixed surface and a bottom sliding surface, and an upper hole, the fixed surface and the bottom sliding surface being spaced apart from each other by the thickness of the upper plate, the upper hole extending from the fixed surface to the bottom sliding surface. The fixed surface of the upper plate is rigidly fixed to the lower portion of the corresponding first ladle or second ladle 11, 12, wherein the upper hole is in fluid communication with openings 11o, 12o. As shown in Figures 2(a) and 3(a), the openings are generally formed by the downstream end of the inner hole of the inner gate 18. Throughout the casting operation from the ladle 11, 12 to the tundish 1, the upper plate 15u is fixed relative to the openings 11o, 12o and the inner gate 18.

[0136] The lower plate 15d includes a nozzle surface and a top sliding surface, and one or two lower holes spaced apart from each other by the thickness of the lower plate. The one or two lower holes extend from the top sliding surface to the nozzle surface. In a first embodiment, the lower plate includes a single first lower hole. In a second embodiment, the lower plate includes a first hole and a second hole. These two embodiments will be discussed in detail below. The lower plate 15d is slidably mounted such that the top sliding surface can be translatably slid along the bottom sliding surface to allow the one or two lower holes to be in fluid communication with and out of fluid communication with the upper hole. The lower plate can be translatably moved by activating a drive device 17. The drive device may include a cylinder 17c rigidly and reversibly coupled to the bottom portion of the first ladle or the second ladle 11, 12, and a piston 17p reversibly fixed to the lower plate 15d.

[0137] The drive unit 17 can be actuated hydraulically, pneumatically, or electrically. Each of at least the first and second holding devices of the ladle turret is preferably provided with a pressurized fluid source for actuating the drive unit 17 via hose 17t. In a preferred embodiment, each of at least the first and second holding devices of the ladle turret also includes a storage unit for storing the drive unit 17 when it is not connected to the ladle sliding nozzle mechanism 15, as shown in Figures 1(a), 1(b), and 1(f). The drive unit 17 can also be stored in a storage rack on the loading platform. However, it is preferable to store the drive unit 17 on the first and second holding devices because this allows the drive unit 17 to be permanently connected to the hydraulic or pneumatic fluid source 17h via hose 17t. This saves robot 21 from having to perform the complex operation of connecting hose 17t to the most recently connected drive unit(s) 17, which is necessary when the drive unit 17 is stored in the storage rack 29 on the loading platform.

[0138] First embodiment: The lower plate 15d includes a single first lower hole.

[0139] exist Figures 2(a) to 2(d) In the first embodiment shown, the lower plate 15d includes a single first lower orifice. A drain outlet 14 is rigidly (and reversibly) coupled to the nozzle surface of the lower plate. A top sliding surface surrounds the inlet of the single first lower orifice and has a surface area sufficient to seal the outlet of the upper orifice 18 when the ladle sliding nozzle mechanism is in the sealed position, as shown in FIG2(a). Ladle long nozzles 13a-13c are coupled to the drain outlet by a manipulator 35, wherein the drain outlet is inserted into the ladle orifice.

[0140] Figures 2(a) to 2(d) The following steps, according to a first embodiment, are illustrated for initiating the casting operation from ladles 11, 12 to tundish 1 via a ladle sliding gate mechanism. Figure 2(a) shows the new ladles 11, 12 that have arrived at the casting station. The ladle sliding gate mechanism is in a sealed position, with the single first hole of the lower plate 15d not aligned with the upper hole of the upper plate 15u. The inner hole of the inner gate 18 and the upper hole are filled with a blocking material 19, which can be sand or any other granular material, to prevent the sliding mechanism from freezing due to solidified metal. Since the downstream end of the upper hole is sealed by the lower plate, neither the molten metal 2 nor the blocking material 19 is allowed to flow through the ladle sliding gate mechanism. Once the ladle is at the casting station, casting can begin.

[0141] As shown in Figure 2(b), in order to begin casting, the drive device 17 translates the lower plate and the ladle nozzles 13a-13c until the lower hole and ladle hole are fluidly connected to the upper hole, thereby forming a continuous flow channel from the inner hole to the nozzle hole. Figures 2(a) to 2(d) As shown, if the robotic arm 35 is connected to the lower plate to move together with it, the long sprue nozzles 13a-13c of the ladle, which are held in place by the robotic arm, move together with the drain nozzle 14 fixed to the lower plate 15d. Figures 1(a) to 1(f) and Figure 6 As shown, if the robot arm is connected to the first or second holding device of the transport device, the robot arm must be synchronized with the drive device so that when the lower plate 15d of the ladle sliding nozzle mechanism moves, the robot arm ensures that the ladle long nozzle follows the same movement as the lower plate and thus remains connected to the outlet 14 without damaging any parts.

[0142] Under normal circumstances, driven by the pressure of the molten metal in the ladle, the blocking material 19 flows out through the lower orifice and the long nozzle. Once the blocking material 19 is discharged, the molten metal flows out of the ladle through the long nozzle. This operation takes a few seconds, and casting from the tundish to the crystallizer can be continuous. However, as discussed in the background section, in some cases, solidified clumps of the blocking material 19 may block the inner and upper orifices, preventing the molten metal from flowing out of the ladle, and the channels must be cleared. With the casting apparatus according to the first embodiment of the invention, the blocked inner and / or upper orifices can be cleared very quickly as follows.

[0143] As shown in Figure 2(c), the robot arm 35 disconnects the ladle long nozzles 13a-13c from the drain 14 by lowering and driving them away to access the downstream end of the drain hole. Since the drain is much shorter than the ladle long nozzles, sufficient clearance is left above the tundish, allowing the unclogging tool 19r to be easily introduced through the downstream end of the drain, through the upper and lower holes, and all the way to the inner hole. The unclogging tool can be a metal rod used to break up the solidified clump by impacting the solidified blockage material. Alternatively, as shown in Figure 4(b), the unclogging tool 19r can be a pressurized gas spray gun that sprays a pressurized gas jet, such as oxygen. The unclogging tool 19r can be handled manually or by the robot 31 located at the casting station.

[0144] Once the solid agglomerate breaks up, particles of the clogging material 19 begin to flow out through the drain. The robot arm 35 can bring the ladle long nozzle to the drain, with the ladle sliding nozzle mechanism in either the sealing or casting position. In the sealing position, the robot arm can slowly connect the ladle long nozzle. In the casting position, the connection operation must be performed quickly to prevent molten metal from flowing out of the drain before the ladle long nozzle is connected to the drain. As shown in Figure 2(d), once the ladle long nozzle is connected to the drain, the ladle sliding nozzle mechanism, if in the sealing position, must be brought to the casting position for casting to begin normally.

[0145] Alternatively, it can also be done according to Figures 4(a) to 4(c) The following method is demonstrated for clearing blocked holes in a ladle equipped with a ladle sliding gate mechanism 15 according to the first embodiment. Figure 4(a) shows a metal casting apparatus in which an empty first ladle 11 is held at the loading station before being removed, and a full second ladle 12 is positioned at the casting station, with the lower plate 15d of the ladle sliding gate mechanism in the casting position. This is equivalent to the situation shown in Figure 2(b), where the lower hole and the ladle hole are in fluid communication with the upper hole, thereby forming a continuous flow channel from the inner hole to the elongated gate hole.

[0146] As discussed in the background section, if the inner and upper orifices are blocked, preventing molten metal from flowing out of the ladle, the channels must be cleared. Using the casting apparatus according to the first embodiment of the present invention, the blocked inner and / or upper orifices can be cleared as follows: Figures 4(a) to 4(c) The method demonstrated was cleared very quickly.

[0147] As shown in Figure 4(b), the rotary table 30 (or other transport device) lifts the full second ladle 12 until the long nozzle of the ladle leaves the tundish, with sufficient clearance above the top of the tundish to reach the outlet of the long nozzle, so that the unblocking tool 19r can be introduced through the outlet of the long nozzle, through the drain hole, the lower hole, the upper hole, and all the way to the inner hole. The unblocking tool can be a metal rod that can be used to break up the solidified clump by impacting the solidified blockage material. As shown in Figure 4(b), the unblocking tool 19r is preferably a pressurized gas spray gun that sprays a pressurized gas jet, such as oxygen. The unblocking tool 19r can be carried manually or by a robot 31 located on the casting platform at the casting station. In this embodiment, the unblocking tool is preferably retractable to facilitate the introduction of the unblocking tool through the outlet of the long nozzle of the ladle with minimal clearance. In an alternative embodiment, the pressurized gas spray gun 19r can be integrated into the long nozzle of the ladle. This solution increases the cost of the long nozzles used in the ladle and requires connecting the integrated spray gun to a pressurized gas source before casting.

[0148] Once the solid agglomerates break up, particles of the clogging material 19 begin to flow out through the drain and ladle nozzle. As shown in Figure 4(c), when the lower plate is in the sealing or casting position, the rotary table 30 lowers the second ladle 12 to the casting position. In the sealing position, the rotary table allows the ladle to descend slowly. In the casting position, the descent must be rapid to prevent molten metal from flowing out of the tundish before the ladle nozzle is introduced into the tundish. At this stage, casting can begin normally.

[0149] By lifting the ladle and its long nozzle away from the tundish, it is possible to clear the upper and inner holes through the long nozzle orifice. This is because the robotic arm 35 is either fixed to the holding device, the ladle, or the ladle sliding nozzle mechanism, and is lifted together with the ladle. In existing metal casting equipment, where the ladle long nozzle is held in place by a robot 31 located on the casting platform at the casting station, this would be impossible because the robot 31 cannot hold the ladle long nozzle at the high position required by this clearing method.

[0150] Figures 4(a) to 4(c)The diagram also shows the replacement of an empty ladle 12, which is currently stationed at the loading station, with a new, full ladle 12b. A crane carries the new ladle 12b, filled with molten metal, from the furnace to the metal casting equipment. The new ladle 12b is equipped with a ladle sliding gate mechanism 15 in a sealed position, with the lower gate 14 connected to the lower plate 15d of the ladle sliding gate mechanism. However, the new ladle does not carry any ladle long gates 13a-13c or any drive unit 17. Once the new ladle 12b is loaded onto the rotary table 30, the robot 21 can hand over the new ladle long gate 13c to the robotic arm 35, and the drive unit 17 can be connected to the ladle sliding gate mechanism, as explained above.

[0151] Second embodiment: The lower plate 15d includes a first hole and a second hole.

[0152] exist Figures 3(a) to 3(d) In the second embodiment shown, the lower plate 15d includes a first lower hole and a second lower hole, each extending from a top sliding surface to a nozzle surface. The lower plate 15d is slidably mounted such that the top sliding surface can slide along the bottom sliding surface to allow each of the first and second lower holes to be in fluid communication with and out of fluid communication with the upper hole. A first and second lower nozzle 14 are rigidly and reversibly coupled to the nozzle surface, wherein the lower nozzle orifices of the first and second lower nozzles 14 are in fluid communication with the first and second lower holes, respectively. The top sliding surface surrounds the inlets of both the first and second lower holes, and the surface area of ​​the top sliding surface is sufficient to seal the outlet of the upper hole when the ladle sliding nozzle mechanism is in the sealed position, as shown in FIG3(a). Ladle long nozzles 13a-13c are coupled to the first lower nozzle by a manipulator 35, wherein the first lower nozzle is nested within the ladle hole.

[0153] Figures 3(a) to 3(d) The following steps, according to the second embodiment, are illustrated for initiating the casting operation from ladles 11, 12 to tundish 1 via a ladle sliding gate mechanism. Figure 3(a) shows the new ladles 11, 12 that have arrived at the casting station. The ladle sliding gate mechanism is in a sealed position, wherein the first and second lower holes of the lower plate 15d are not aligned with the upper hole of the upper plate 15u. The inner hole of the inner gate 18 and the upper hole are filled with a blocking material 19, which can be sand or any other granular material, to prevent the sliding mechanism from being frozen by the solidified metal. Since the downstream end of the upper hole is sealed by the lower plate, neither the molten metal 2 nor the blocking material 19 is allowed to flow through the ladle. Once the ladle is at the casting station, casting can begin.

[0154] As shown in Figure 3(b), in order to begin casting, the drive device 17 translates the lower plate and the ladle nozzles 13a-13c until the first lower hole and the ladle hole are fluidly connected to the upper hole, thereby forming a continuous flow channel from the inner hole to the nozzle hole. Figures 3(a) to 3(d) As shown, if the robotic arm 35 is connected to the lower plate to move together with it, the long sprue nozzles 13a-13c of the ladle, which are held in place by the robotic arm, move together with the drain nozzle 14 fixed to the lower plate 15d. Figures 1(a) to 1(f) and Figure 6 As shown, if the robot arm is connected to the first or second holding device of the transport device, the robot arm must be synchronized with the drive device so that when the lower plate 15d of the ladle sliding nozzle mechanism moves, the robot arm ensures that the ladle long nozzle follows the same movement as the lower plate and thus remains connected to the outlet 14 without damaging any parts.

[0155] Under normal circumstances, driven by the pressure of the molten metal in the ladle, the blocking material 19 flows out through the lower orifice and the long nozzle. Once the blocking material 19 is discharged, the molten metal flows out of the ladle through the long nozzle. This operation takes a few seconds, and casting from the tundish to the crystallizer can be continuous. However, as discussed in the background section, in some cases, solidified clumps of the blocking material 19 may block the inner and upper orifices, preventing the molten metal from flowing out of the ladle, and the channels must be cleared. With the casting apparatus according to the first embodiment of the invention, the blocked inner and / or upper orifices can be cleared very quickly as follows.

[0156] As shown in Figure 3(c), the lower plate 15d is moved to allow fluid communication between the second lower hole and the upper hole. (In conjunction with the above text) Figures 2(a) to 2(d) The unblocking methods discussed differ, and the ladle nozzles 13a-13c can remain connected to the first drain throughout the unblocking operation. Since the second drain has no ladle nozzles and is therefore much shorter than the first drain with its attached ladle nozzle, sufficient clearance is left below the second drain and above the tundish. Therefore, as shown in Figure 3(c), the unblocking tool 19r can be easily introduced through the downstream end of the second drain, through the second lower hole, the upper hole, and all the way to the inner hole. The unblocking tool can be a metal rod used to break up the solidified clump by impacting the solidified blockage material. Alternatively, as shown in Figure 4(b), the unblocking tool 19r can be a pressurized gas spray gun that sprays a pressurized gas jet, such as oxygen. The unblocking tool 19r can be carried manually or by a robot 31 located on the casting platform at the casting station.

[0157] Once the solid agglomerate breaks up, the particles of the clogging material 19 begin to flow out through the drain. As shown in Figure 3(d), the lower plate can be moved to the casting position, where the first drain and the connected ladle nozzle are in fluid communication with the inner bore. At this point, casting can begin and proceed normally.

[0158] robotic arm 35

[0159] The robotic arm 35 can be considered a simplified robot with fewer degrees of freedom and is configured to perform a limited number of fairly simple movements. The robotic arm includes an arm 35a, one end of which is provided with gripping elements 35g. These gripping elements are used to firmly grasp the long ladle nozzle received from the robot 21 and to release the long ladle nozzle when the robot is ready to remove it from the emptied ladles 11, 12. The robotic arm is configured to allow the arm 35a to move up and down along an axis (Z) parallel to the drain hole, and to allow the gripping elements 35g to move along a plane parallel to a plane (X, Y) perpendicular to the axis (Z).

[0160] For connecting the ladle nozzle to the drain outlet, the movement of the gripping element in the plane (X, Y) allows the ladle nozzle to be positioned aligned with the drain outlet 14, and the upward movement along the axis (Z) of the arm 35a allows the ladle nozzle to be connected to the drain outlet, which is inserted into the upstream end of the ladle nozzle orifice, as shown in Figures 2(a), 2(b) and 2(d).

[0161] To disconnect the ladle nozzle from the drain outlet 14, moving it downward along the axis (Z) of arm 35a allows for disconnection of the ladle nozzle from the drain outlet, leaving sufficient clearance for the gripping element to move the ladle nozzle in the plane (X, Y) to access the drain outlet hole for unclogging, as shown in Figure 2(c), or to transport the ladle nozzle to robot 21 for removal for heat repair or disposal, as shown in Figures 1(e) and 1(f).

[0162] In one embodiment, the robotic arm includes a piston 35p configured to drive upward and downward movements parallel to the axis (Z) (see [link]). Figures 5(a) to 5(c) and Figure 6 Arm 35a is configured to rotate about the piston's central axis parallel to the axis (Z) (see Figure 5(b) and...). Figure 6 (The dotted line centered on piston 35p). Figures 5(a) to 5(c)In the simplest form shown, the manipulator 35 is directly or indirectly coupled to the lower plate 15d to follow its movement, and the arm 35a can have a fixed length, and rotation of the arm about the central axis of the piston 35p is sufficient to align or misalign the ladle nozzle with the drain outlet 14. In Figure 5(a), the manipulator descends and is not aligned with the drain outlet 14 to receive a new ladle nozzle 13a from the robot 21. By rotating about an axis parallel to the drain outlet axis, the manipulator aligns the ladle nozzle with the drain outlet and positions it below the drain outlet, as shown in Figure 5(b). By raising the ladle nozzle, as shown in Figure 5(c), the manipulator connects the ladle nozzle to the drain outlet, where the drain outlet is nested within the ladle nozzle. The manipulator can maintain the ladle nozzle in this position as needed. In this embodiment, since the manipulator moves together with the lower plate 15d and the drain outlet 14, no additional degrees of freedom are required. If the robotic arm 35 is fixed to the corresponding first and second holding devices, then the robotic arm must have the following characteristics: Figure 6 The additional degrees of freedom shown allow the ladle nozzle to follow the movement of the lower plate and the outlet 14. In this case, it is necessary to synchronize the movement of the manipulator with the movement of the base plate driven by the drive unit 17.

[0163] The used ladle nozzles are removed in reverse order from... Figures 5(c) to 5(a) Proceeding with the reverse arrow. The used ladle nozzle is disconnected from the drain outlet by lowering it (see Figures 5(c) and 5(b)). The used ladle nozzle can then be transferred to robot 21 by rotating the robotic arm (see Figure 5(a)).

[0164] However, in a preferred embodiment, in order to allow the gripping element 35g to reach any point parallel to the (X, Y) plane, the arm 35a may be formed by a telescopic piston, or alternatively, as... Figure 6 As shown, the arm can consist of two or more arm segments rotatably connected to each other. The movement of the robotic arm 35 is preferably driven hydraulically, pneumatically, or electrically. For example... Figure 6 As shown, the drive device 17 can be stored on the first holding device and the second holding device, preferably on the static part of the corresponding manipulator, and shares a hydraulic fluid source, a pneumatic fluid source or an electric current source with the manipulator.

[0165] As mentioned above, the robotic arm can be fixed to the first and second holding devices of the transport device (or to the stationary portion of the corresponding robotic arm relative to the holding devices), as shown in Figures 1 and 3. This solution is advantageous because the robotic arm remains connected to the transport device even when a new ladle 12b is loaded onto the holding device or when an emptied ladle is removed from the holding device.

[0166] Alternatively, the robotic arm can be fixed to the ladle sliding gate mechanism 15, preferably moving together with the lower plate 15d, such as... Figures 2(a) to 2(d) , Figures 3(a) to 3(d) and Figures 5(a) to 5(c) As shown, this solution has the following advantages: To ensure that the ladle's long nozzle held by the robotic arm follows the same movement as the drain outlet 14, these movements are controlled by the drive unit 17, and the robotic arm does not need to be synchronized with the drive unit 17. On the other hand, each time a new ladle 12b is loaded onto the holding device, the robotic arm must be reattached to the ladle sliding nozzle mechanism 15, and the robotic arm must be removed each time an empty ladle is removed from the transport device.

[0167] Method for casting molten metal

[0168] The present invention also relates to a method for casting molten metal 2 from ladles 11 and 12 into an tundish 1 in a casting apparatus as discussed above, wherein a first ladle 11 is filled with molten metal and is located at a casting station, and a second ladle 12 is filled with molten metal and is located at a loading station. As shown in FIG1(a), the ladle sliding gate mechanism 15 of the first ladle 11 is in a sealed position and is provided with ladle long gates 13a-13c, which are held in place by a robot arm 35 on a drain port 14. The lower plate 15d of the ladle sliding gate mechanism is connected to a drive unit 17. The ladle sliding gate mechanism 15 of the second ladle 12 is in a sealed position and includes a drain port 14 but does not include ladle long gates. The ladle sliding gate mechanism 15 of the second ladle 12 is not connected to any drive unit 17.

[0169] To begin pouring molten metal from the first ladle 11 through the ladle nozzle 13a into the tundish 1, the ladle sliding nozzle mechanism 15 of the first ladle 11 is moved into the pouring position. This operation is performed by an actuation drive device 17. The first ladle 11 discharges the molten metal 2 contained therein into the tundish 1 until the first ladle is considered empty.

[0170] While the first ladle 11 is emptying its contents into the tundish, robot 21 transports the new ladle elongated nozzle 13b to manipulator 35, which is secured to the second holding device (see Figure 1(b)). As illustrated in Figure 1(c), on one hand, manipulator 35 connects the received ladle elongated nozzle to the ladle sliding nozzle mechanism 15 of the second ladle 12, and on the other hand, robot 21 connects the drive unit 17 to the sliding nozzle mechanism 15 of the second ladle 12. As discussed above, the operation of the other side becomes simpler if the first and second holding devices of the rotary table 30 are provided with storage units for storing one or more drive units 17, because the one or more drive units can thus be kept connected to the pressurized fluid source 17h via hose 17t throughout the entire casting operation involving emptying several (more than two) ladles into the tundish. If one or more drive units 17 are stored elsewhere, typically in storage racks 29 located on the loading platform 20, then the robot 21 must additionally connect one or more hoses 17t to the corresponding one or more drive units to operate them. Throughout operation on the second ladle 12, the ladle sliding nozzle mechanism remains in the sealed position.

[0171] As shown in Figure 1(d), when the first ladle is substantially empty, the ladle sliding gate mechanism 15 of the first ladle 11 is moved from the casting position to the sealing position to interrupt any flow of molten metal from the first ladle 11. The positions of the first ladle and the second ladle are exchanged by moving the first ladle 11 from the casting station to the loading station and simultaneously moving the second ladle 12 from the loading station to the casting station. The exchange of positions of the first ladle and the second ladle 11, 12 can be performed as follows. Figure 1(d) shows how the rotary table 30 lifts the first ladle and the second ladle 11, 12 until the ladle elongated gates 13a, 13b of the first ladle and the second ladle are both detached from the tundish and are higher than the tundish in the vertical direction (Z), thus defining the rotation height. Therefore, the rotary table can rotate without any risk of the ladle elongated gates 13a, 13b of the first ladle or the second ladle 11, 12 colliding with the tundish or any other part of the casting equipment. Figure 1(e) shows the rotary table rotating 180° about the vertical axis (Z) so that the emptied first ladle 11 is above the loading station and the filled second ladle 12 is above the casting station and above the tundish 1. During the rotation operation, the first and second ladles remain at their rotational height. At this stage, the first and second ladles 11 and 12 can be lowered to their respective loading and casting stations, and the ladle nozzle 13b of the second ladle is inserted into the tundish 1.

[0172] The ladle sliding gate mechanism 15 of the second ladle 12 can be put into the casting position, allowing molten metal to flow from the second ladle 12 through the ladle long gate 13b into the tundish 1. The entire exchange operation from closing the ladle sliding gate mechanism of the first ladle 11 to opening the ladle sliding gate mechanism of the second ladle 12 can last less than 2 minutes, preferably less than 1 minute, more preferably less than 30 seconds, and the liquid level of the molten metal in the tundish can be easily restored to a fixed casting liquid level.

[0173] If the manipulator 35 is fixed to the corresponding holding device of the transport device, the manipulator must be configured to synchronously follow the movement of the lower plate 15d of the ladle sliding nozzle mechanism 15, such that the lower nozzle 14 and the ladle long nozzles 13a-13c are always nested together. If the manipulator 35 is fixed to the lower plate 15d or any element of the ladle sliding nozzle mechanism that is stationary relative to the lower plate 15d, then it is not necessary to synchronize the movement of the manipulator 35 with the movement of the drive device 17, because the manipulator moves together with the lower plate 15d.

[0174] The ladle nozzle of the first, emptied ladle 11, now stationed at the loading station, can now be removed to allow for its transport across the workshop to the hot repair station (not shown). The robot arm 35 disconnects the used ladle nozzle from the drain 14 by lowering it along the central axis of the drain hole, and then hands the used ladle nozzle to the robot 21. The used ladle nozzle 13a can be stored for hot repair and cleaning (not shown) or disposed of as waste in the waste bin 27 as shown in Figure 1(f).

[0175] As shown in Figure 1(f), the robot 21 can disconnect and remove the one or more drive units 17 from the sliding gate mechanism 15 of the first ladle 11 and store the one or more drive units for further use. If the first and second holding devices of the rotary table 30 are provided with storage units for storing one or more drive units 17, the robot 21 does not need to disconnect the corresponding one or more hoses 17t before storing the one or more drive units, because the hydraulic or pneumatic fluid source 17h or power source is also located on the first and second holding devices. On the other hand, if the one or more drive units 17 are to be stored in the storage rack 29 located on the loading platform 20, the robot must also disconnect the one or more hoses 17t from the corresponding one or more drive units 17 before storing the one or more drive units in the storage rack 29. The same applies if a drive unit must be replaced due to a defect.

[0176] A crane can be used to remove the first empty ladle, with the long nozzle 13a and one or more drive units 17 removed, from the first holding device to a hot repair station (not shown), where the ladle can be cleaned, repaired, and prepared to be filled with newly loaded molten metal from the furnace. A new ladle filled with molten metal can be loaded at the loading station onto the now empty first holding device of the ladle turntable 30, wherein, like the second ladle 12 in the aforementioned steps, the new ladle includes the ladle sliding nozzle mechanism 15 in a sealed position and includes a drain outlet but does not include the long nozzles 13a-13c and drive unit 17. Therefore, the process can be repeated... Figures 1(a) to 1(f) The described cycle, and the casting from the tundish to the crystallizer, can be performed continuously, wherein the level of molten metal in the tundish remains substantially constant throughout the continuous casting operation, and the fluctuations are minimal during the exchange of positions of the emptied ladle 11 and the filled ladle 12 as defined in the aforementioned steps. These fluctuations can be very small because, under optimal operating conditions, the exchange operation is very rapid.

[0177] If the step of exchanging the positions of the first and second ladles is not performed optimally, the inner and / or upper holes may become blocked by solidified plugging material, as described above in the section titled "Ladle Sliding Nozzle Mechanism 15". Figures 2(a) to 2(d) , Figures 3(a) to 3(d) As described in Figures 4(a) to 4(c), the inner and / or upper holes can be quickly and effectively cleared by using a suitable unclogging tool 19r through the drain hole. This minimizes interruptions to the flow of metal into the tundish. Without these options for quickly clearing the casting channels, many operators would be reluctant to connect the ladle long nozzles 13a-13c to the bottom of the ladle at the loading station, regardless of the presence of robot 21, because clearing the inner and upper holes when the ladle long nozzles are connected to the ladle sliding nozzle mechanism requires returning the blocked ladle to the loading station, replacing the ladle long nozzles with the drain hole to allow clearing with the unclogging tool 19r, then reconnecting the ladle long nozzles and returning the ladle to the casting station. All of these operations would take too long and pose a risk of metal freezing, which should be prevented by using a blocking material. Furthermore, prolonged periods without feeding molten metal into the tundish could cause interruptions to the casting operation, which must be avoided by all means.

[0178] In a preferred embodiment, the loading operation of the second ladle 12 stationed at the loading station is performed in the following order: connecting (multiple) drive devices to the ladle sliding nozzle mechanism 15, followed by transferring the new ladle long nozzle 13b to the robot arm 35 and connecting the new ladle long nozzle to the drain outlet 14. Preferably, the unloading operation of the emptied first ladle 11 stationed at the loading station is performed in the following order: the robot arm 35 disconnects the used ladle long nozzle 13b, transfers the used ladle long nozzle to the robot 21, followed by disconnecting (multiple) drive devices from the ladle sliding nozzle mechanism 15.

[0179] Advantages of the invention

[0180] This invention provides an automated metal casting apparatus, wherein, compared to conventional metal casting apparatus, a robot 21 can prepare fresh ladles for casting at the loading station without any additional risk of interruption to casting in the crystallizer. This invention has at least the following advantages.

[0181] Robots are no longer essential on the casting platform at the casting station. Many facilities lack the necessary space at the casting station. With this invention, a robot is installed at the loading station, where more space exists for mounting the robot on the loading platform 20 to transfer the ladle nozzles 13a-13c to the robotic arm 35, connecting the ladle nozzles to the newly filled ladle 12 at the loading station before it arrives at the casting station. At the casting station of many casting facilities, a front-end robotic arm is generally available. As explained above, this front-end robotic arm remains useful, for example, for handling unclogging tools 19r, in cases where the inner and / or upper holes are blocked and the robotic arm 35 disengages the ladle nozzles from the drain outlet.

[0182] This invention significantly reduces the steel-off time between ladle changes because all handling and preparation of the newly filled ladle 12 for casting takes place at the loading station during the casting time of the first ladle 11 held at the casting station. Shorter ladle steel-off time.

[0183] This resulted in a lower drop in the molten steel level in tundish 1.

[0184] This results in better protection of steel quality because there is no need to reduce the casting speed during ladle changes.

[0185] In the event of blockage of the inner hole and / or the upper hole, the unblocking operation can be performed in a similar manner to when a robot or front-end robot is used to hold the ladle long nozzle in place in an existing metal casting equipment. Another advantage is that the robot or front-end robot is available at the casting station and can be used freely and arbitrarily while the robot 35 holds the ladle long nozzle 13a-13c.

[0186]

[0187]

[0188]

Claims

1. A metal casting apparatus, comprising: (a) Loading platform (20), (b) Intermediate package (1), (c) A first ladle (11) and a second ladle (12), each of the first ladle and the second ladle comprising: The base plate has openings (11°, 12°). Long nozzle of steel ladle A ladle sliding nozzle mechanism (15) includes a lower nozzle configured to reversibly receive and support the ladle elongated nozzle. The ladle sliding nozzle mechanism (15) is further configured to connect with a drive device (17) for actuating the ladle sliding nozzle mechanism between a sealed position and a casting position, wherein the opening is sealed in the sealed position and in fluid communication with the ladle elongated nozzle in the casting position. (d) A first ladle long nozzle manipulator and a second ladle long nozzle manipulator, the first ladle long nozzle manipulator and the second ladle long nozzle manipulator being used respectively to fix the connected ladle long nozzles to the drain outlets of the first ladle and the second ladle. (e) A transport device comprising a turntable (30) or a ladle car, the transport device comprising at least a first holding device and a second holding device for holding the first ladle (11) and the second ladle (12), wherein the transport device is configured to move the first ladle and the second ladle between a loading station adjacent to the loading platform (20) and a casting station above the tundish (1) and hold the first ladle and the second ladle in place. Its features are, The metal casting equipment includes a robot (21) configured to perform the following operations on the first or second ladle held in the loading station: The new ladle nozzle is handed over to the ladle nozzle robot located at the loading station, and Connect the drive unit (17) to the ladle sliding gate mechanism (15). Each ladle's long nozzle manipulator is fixed relative to the corresponding first or second ladle so that it can move together with the corresponding first or second ladle between the loading station and the casting station.

2. The metal casting equipment according to claim 1, characterized in that, The loading platform (20) includes a tool storage rack (29) containing one or more spare ladle nozzles within reach of the robot (21).

3. The metal casting equipment according to claim 2, characterized in that, The tool storage rack also includes tools and / or one or more drive units (17) and / or spare drain outlets.

4. The metal casting equipment according to claim 2, characterized in that, The robot (21) is movably mounted on the loading platform (20) such that the robot can translate parallel to a first axis (X) or a second axis (Y) perpendicular to the first axis (X), or a combination thereof, and / or rotate about a vertical axis (Z) perpendicular to the first axis and the second axis (X, Y) to reach the tool storage rack (29) and retrieve any tools or parts from the tool storage rack (29) and reach the ladle sliding gate mechanism of the first ladle or the second ladle held at the loading station to perform the operation defined in claim 1.

5. The metal casting equipment according to any one of claims 1-4, characterized in that, The robot (21) is configured to: The long nozzle of the ladle is collected by a robotic arm from the long nozzle of the first or second ladle that has been emptied and held at the loading station after being moved from the casting station. Remove the drive unit (17).

6. The metal casting equipment according to claim 1, characterized in that, The ladle sliding gate mechanism (15) includes: (a) Upper plate (15u), the upper plate includes: A fixed surface and a bottom sliding surface, the fixed surface and the bottom sliding surface being spaced apart from each other by the thickness of the upper plate; An upper hole extends from the fixed surface to the bottom sliding surface, and wherein... The fixing surface of the upper plate is rigidly fixed to the lower portion of the corresponding first or second steel ladle, wherein the upper hole is in fluid communication with the opening. (b) Lower plate (15d), said lower plate comprising: The sprue surface and the top sliding surface are spaced apart from each other by the thickness of the lower plate; Lower hole, the lower hole extending from the top sliding surface to the sprue surface, wherein The lower plate (15d) is slidably mounted such that the top sliding surface can slide translationally along the bottom sliding surface to allow the lower hole to be in fluid communication with and out of fluid communication with the upper hole, and wherein... (c) The drain outlet includes a drain hole and is fixed to the drain outlet surface of the lower plate (15d), wherein the drain hole is in fluid communication with the drain hole. (d) The drive device (17) is connected to the lower plate (15d) and includes a cylinder (17c) and a piston (17p), the cylinder being rigidly and reversibly connected to the bottom portion of a corresponding first or second ladle, the piston being rigidly and reversibly fixed to the lower plate (15d), and the drive device being configured to move the lower plate so that the lower hole is aligned with or misaligned with the upper hole.

7. The metal casting equipment according to claim 6, characterized in that, The lower plate (15d) includes a second lower hole, which is separate from the first lower hole and extends from the top sliding surface to the sprue surface. A second drain hole, including a second drain outlet hole, is fixed to the drain outlet surface of the lower plate (15d), wherein the second drain outlet hole is in fluid communication with the second drain hole.

8. The metal casting equipment according to claim 6, characterized in that, Each of the first ladle long nozzle manipulator and the second ladle long nozzle manipulator Fixed to the corresponding first and second holding devices, or The ladle sliding gate mechanism (15) is fixed to the corresponding first and second ladles so as to move together with the lower plate, or Secure it to the corresponding first and second steel ladles.

9. The metal casting equipment according to claim 6, characterized in that, Each of the first ladle long nozzle manipulator and the second ladle long nozzle manipulator It can translate along a first direction parallel to the upper hole. It can rotate around the first direction. The device includes one or more arm segments extending substantially perpendicular to a column parallel to the first direction. These arm segments are coupled to the column and interconnected via rotary joints configured for rotation about the first direction. Includes a clamping device located at the free end of the arm section furthest from the column, for securely and reversibly holding the ladle nozzle.

10. The metal casting equipment according to claim 1, characterized in that, The drive device (17) is actuated hydraulically, pneumatically, or electrically, and wherein at least each of the first and second holding devices of the transport device is provided with: A pressurized fluid source or an electrical source for actuating the drive unit (17) via a hose (17t).

11. The metal casting equipment according to claim 10, characterized in that, Each of at least the first holding device and the second holding device of the transport device is provided with: Storage station for storing drive units (17) that are ready to be connected to the ladle sliding gate mechanism.

12. The metal casting equipment according to claim 1, characterized in that, The metal casting equipment also includes a preheating oven (25) for bringing the new ladle long nozzle loaded on the ladle sliding nozzle mechanism (15) of the first or second ladle at the loading station to and maintaining it at the preheating temperature.

13. The metal casting equipment according to claim 1, wherein, The robot is also configured to: After the used ladle long nozzle is removed from the emptied ladle, check the condition of the used ladle long nozzle. Assess whether the used ladle nozzles can be reused after cleaning or must be discarded. Use an oxygen blower to clean the used ladle nozzle to remove any residue adhering to the wall of the used ladle nozzle.

14. A method for casting molten metal, comprising the following steps: (a) A metal casting apparatus according to any one of claims 1-13, wherein, The first ladle is filled with molten metal (2) and is located in the casting station, and The second ladle (12) is filled with molten metal (2) and is located in the loading station. The ladle sliding nozzle mechanism (15) of the first ladle (11) is in the sealed position, connected to one or more drive devices (17), and is provided with a ladle long nozzle, which is held on the drain outlet by a corresponding ladle long nozzle manipulator. The ladle sliding nozzle mechanism (15) of the second ladle (12) is in the sealed position and includes a drain outlet fixed to the lower plate (15d), but does not include the ladle long nozzle and the operable drive device (17). (b) The ladle sliding gate mechanism (15) of the first ladle (11) is moved into the casting position so that molten metal is poured from the first ladle (11) through the ladle long gate into the tundish (1). (c) During the preceding step, The robot (21) is used to transport the new ladle nozzle to the second ladle (12) using a second ladle nozzle manipulator. The new long sprue nozzle is connected to the second long sprue nozzle manipulator, and the second long sprue nozzle manipulator is used to hold the new long sprue nozzle in place on the drain outlet. The robot (21) connects the drive device (17) to the sliding gate mechanism (15) of the second ladle (12). (d) When the first ladle is substantially empty, the ladle sliding gate mechanism (15) of the first ladle (11) is brought into the sealing position, and then... (e) The positions of the first ladle (11) and the second ladle are exchanged by moving the first ladle (11) from the casting station to the loading station and simultaneously moving the second ladle (12) from the loading station to the casting station. (f) The ladle sliding gate mechanism (15) of the second ladle (12) is brought into the casting position, and molten metal is poured from the second ladle (12) through the ladle long gate into the tundish (1).

15. The method according to claim 14, characterized in that, During step (f) Includes the following steps: (g) The used ladle long nozzle is removed from the drain outlet using the first ladle long nozzle manipulator. (h) The robot (21) collects the used ladle nozzles from the first ladle nozzle manipulator and stores the used ladle nozzles for heat repair or as waste. (i) Using the robot (21), the one or more drive units (17) are disconnected from and removed from the sliding gate mechanism (15) of the first ladle (11), and the one or more drive units are stored for further use. (j) Remove the first emptied ladle (11), and (k) At the loading station, a new ladle filled with molten metal is loaded onto the first holding device of the transport device, wherein, like the second ladle (12) in step (a), the new ladle includes a ladle sliding nozzle mechanism (15) with a drain outlet fixed in the sealed position, but the new ladle does not include a ladle long nozzle.

16. The method according to claim 14 or 15, characterized in that, The opening of the first ladle is filled with a blocking material (19), and if little or no molten metal flows out of the opening when the ladle sliding gate mechanism (15) of the first ladle (11) is brought into the casting station in step (b), the following steps are performed: The first ladle long nozzle manipulator is used to remove the ladle long nozzle from the drain outlet to expose the drain outlet. The opening of the first ladle is cleared by using a suitable drain cleaning tool (19r) to break the blocking material through the exposed drain opening. When the clogging material begins to flow out of the drain, the ladle nozzle is connected to the first ladle nozzle manipulator and the ladle nozzle is held in place on the drain using the first ladle nozzle manipulator, thus allowing molten metal to be poured from the first ladle (11) through this clogging-removing opening and through the ladle nozzle into the tundish (1).

17. The method according to claim 14 or 15, characterized in that, The lower plate (15d) includes a first lower hole and a second lower hole as defined in claim 7, as well as a first drain outlet and a second drain outlet, wherein the opening of the first ladle is filled with a blocking material (19), and if no or very little molten metal flows out of the opening when the ladle sliding gate mechanism (15) of the first ladle (11) is brought into the casting station in step (b), wherein the first lower hole is aligned with the upper hole, then the following steps are performed: The driving device (17) is used to move the lower plate (15d) to a clearing position where the second lower hole aligns with the upper hole. The opening of the first ladle is cleared by using a suitable drain cleaning tool (19r) to break the blockage material through the second drain outlet thus exposed. When the clogging material begins to flow out of the drain, the lower plate (15d) is translated back to the casting position where the first lower hole and the upper hole are aligned by the drive device (17), and thus allows molten metal to be poured from the first ladle (11) through this clogging-removing opening and through the ladle's long nozzle into the intermediate ladle (1).

18. The method according to claim 14, characterized in that, The transport device is a turntable (30), and the step (e) of exchanging the positions of the first ladle and the second ladle includes the following steps: Raise the first and second ladles until the long nozzles of both ladles are detached from the tundish and are higher than the tundish in the vertical direction (Z). The rotary table is rotated 180° around the vertical axis (Z) so that the first ladle (11) is higher than the loading station, and the second ladle (12) is higher than the casting station and higher than the intermediate ladle (1). The first and second ladles are lowered to their respective loading and casting positions, and the long sprue of the second ladle is inserted into the intermediate ladle (1). During all the preceding steps, the first ladle long nozzle manipulator and the second ladle long nozzle manipulator move together with the corresponding first ladle and second ladle, while holding the corresponding ladle long nozzle on the corresponding drain outlet.

19. The method according to claim 14, characterized in that, The robot also: After the used ladle long nozzle is removed from the emptied ladle, check the condition of the used ladle long nozzle. Assess whether the used ladle nozzles can be reused after cleaning or must be discarded. Use an oxygen blower to clean the used ladle nozzle to remove any residue adhering to the wall of the used ladle nozzle.

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