A robotic disc continuous casting system and method of controlling the same

Abstract

The application relates to a robot disc continuous casting system and a control method thereof, and relates to the technical field of casting. The robot disc continuous casting system comprises a rotating disc, a plurality of casting machines are arranged on the rotating disc, each casting machine corresponds to a liquid storage groove, a liquid discharge pipe and a lifting piece are arranged below the rotating disc, the lifting piece is used for driving the liquid discharge pipe to ascend and descend and receiving liquid discharged from the liquid storage groove, and the liquid discharge is located before the discharging. The application has the advantages that the probability of ground wet slip can be reduced.

Description

Technical Field

[0001] This application relates to the technical field of casting, and in particular to a robotic disc continuous casting system and its control method. Background Technology

[0002] In gravity casting, manual pouring of molten metal is required. To reduce the risks associated with manual pouring, existing gravity casting machines use robots for pouring, thereby reducing the safety risks of manual pouring. For example, CN120790913A discloses a disk-type robot for continuous pouring in a gravity casting system. This system uses multiple casting machines moving around a center to improve efficiency. However, in use, the positions of the multiple casting machines may change, and a large amount of cooling water is used during the casting process. Therefore, when multiple casting machines discharge coolant at the same location (such as the material unloading station), the ground at that location can easily become slippery. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, one of the objectives of this application is to provide a robotic disc continuous casting system and its control method, which has the advantage of reducing the probability of slippery ground.

[0004] The above-mentioned objective of this application is achieved through the following technical solution: A robotic disc continuous casting system includes a rotating disk with multiple casting machines on it. Each casting machine corresponds to a liquid storage tank. A drain pipe and a lifting device are provided below the rotating disk. The lifting device is used to drive the drain pipe to rise and fall and to receive the liquid discharged from the liquid storage tank. The drain is located before the material is unloaded.

[0005] By adopting the above technical solution, the presence of the drain pipe can greatly reduce the probability of liquid leakage on the ground during production. Furthermore, since the drain is located before material feeding, even if leakage occurs, the impact on the ground at the material feeding station can be reduced.

[0006] In a preferred embodiment, this application can be further configured as follows: the liquid storage tank is provided with a liquid outlet pipe, the liquid outlet pipe is provided with a valve, and the drain pipe is provided with a position sensor. The position sensor is used to detect the distance of the liquid outlet pipe into the drain pipe. When the distance meets the requirements, the valve is turned on.

[0007] By adopting the above technical solution, namely, by opening and closing valve one during the drainage process, the probability of the coolant making the ground wet during the production process can be further reduced.

[0008] This application also discloses a control method for a robotic disc continuous casting system: applied to the above-mentioned robotic disc continuous casting system, including the following steps: cooling step: cooling the casting machine that needs to be cooled; storage step: the coolant generated in the cooling step enters the storage tank for temporary storage; draining step: the coolant in the storage tank is drained into the drain pipe; unloading step: unloading the material in the casting machine.

[0009] By adopting the above technical solution and following the above steps, the probability of the ground being slippery at the material unloading station during use can be greatly reduced.

[0010] In a preferred embodiment, this application may be further configured to include a confirmation step before the drainage step. The confirmation step is used to confirm the relative position of the drainage pipe and the outlet pipe. When the relative position of the two meets the requirements, the valve is opened to drain the liquid.

[0011] By adopting the above technical solution, namely by confirming the relative positions of the drain pipe and the outlet pipe, the probability of coolant spillage due to incorrect relative positions of the two during the draining process can be effectively reduced.

[0012] In a preferred embodiment, this application can be further configured such that: the liquid storage tank is closed and connected to the cooling channel of the casting machine through a pipeline; in the confirmation step, when the position of the drain pipe and the relative position of the outlet pipe do not meet the requirements, a manual draining step is performed.

[0013] By adopting the above technical solution, the liquid storage tank is enclosed, which can greatly reduce the probability of liquid splashing out of the tank during the rotation of the rotating disc. Furthermore, the amount of coolant in the tank can be reduced by manually draining the liquid.

[0014] In a preferred embodiment, this application can be further configured as follows: manual draining step: the rotating disc rotates, causing the casting machine corresponding to the liquid storage tank that needs to be drained to move to the unloading station. Before unloading, the manual connection of the liquid outlet pipe to other pipelines is completed. After the valve is opened to drain the liquid, the unloading step is executed.

[0015] By adopting the above technical solution, namely by draining liquid during the feeding stage, the impact of liquid drainage on the normal production rhythm can be reduced.

[0016] In a preferred embodiment, this application may be further configured such that: multiple liquid storage tanks are connected through pipelines with valves; after the feeding step, a detection step is also included, which is used to detect the amount of liquid in the liquid storage tanks; when the amount of liquid is greater than a preset value, the multiple liquid storage tanks are connected.

[0017] By adopting the above technical solution, namely by connecting multiple liquid storage tanks, the liquid level in a single liquid storage tank increases more slowly, thereby reducing the probability of liquid overflowing or splashing out during movement. Detailed Implementation

[0018] This application discloses a robotic disc continuous casting system, including a rotating disk with multiple casting machines mounted on it. Each casting machine corresponds to a liquid storage tank, which has an outlet pipe for liquid discharge and a valve. The liquid storage tank is enclosed and connected to the cooling channels of the casting machine's mold via pipelines. In this embodiment, the enclosed configuration of the liquid storage tank does not mean it is completely sealed, but rather that it has holes connecting to the outside environment to balance the air pressure when coolant enters the tank. The multiple liquid storage tanks are interconnected via pipelines, and valves are installed on these pipelines.

[0019] Below the rotating disc (such as on the ground) is a drain pipe and a lifting device. The drain pipe is equipped with a position sensor. The drain pipe is a flexible hose or at least part of it is a flexible hose. The lifting device is used to drive the drain pipe to rise and fall. The lifting device can be a cylinder. The drain pipe receives the liquid discharged from the outlet pipe of the storage tank. The draining process is located before the unloading process.

[0020] This application also discloses a control method for a robotic disc continuous casting system, applied to the aforementioned robotic disc continuous casting system, comprising the following steps: Cooling step: Cool the mold of the casting machine that needs to be cooled; Storage steps: The coolant produced during the cooling step is temporarily stored in a storage tank; Confirmation steps: Confirm the relative positions of the drain pipe and the outlet pipe. If the relative positions of the two meet the requirements, proceed to the draining step. If the positions of the drain pipe and the outlet pipe do not meet the requirements, proceed to the manual draining step. Drainage procedure: Once the valve is turned on, the coolant in the storage tank is drained into the drain pipe; Manual draining procedure: The rotating disc moves the casting machine corresponding to the liquid storage tank that needs to be drained to the unloading station. Before unloading, the manual connects the liquid outlet pipe to other pipelines. After the valve is opened to drain the liquid, the unloading procedure is executed. Material feeding step: Feed the material into the casting machine.

[0021] Detection steps: Detect the liquid volume in the storage tank. When the liquid volume is greater than the preset value, connect multiple storage tanks together.

[0022] During the production process, the rotating disc is blocked by guardrails on all sides, except for the unloading station, through which operators remove the formed workpieces.

[0023] Taking three casting machines (A, B, and C) as an example, during production, molten metal is poured into the mold of casting machine A at the pouring station by a robot (such as a crucible held and transferred by a robotic arm). Then, the turntable rotates, moving casting machine A to the cooling station. At the cooling station, casting machine A cools the mold with coolant. The coolant flowing through the mold is discharged through pipes to a storage tank for temporary storage. Casting machine B moves to the unloading station, and casting machine C moves to the pouring station. The robot pours molten metal into casting machine C. The three casting machines (A, B, and C) cycle back and forth to improve efficiency.

[0024] During drainage, drainage can be carried out at the cooling station, or a drainage station can be set up between the cooling station and the unloading station.

[0025] During drainage, the lifting device drives the drainage pipe to rise and fall, so that the outlet pipe on the storage tank enters the drainage pipe. After the position sensor inside the drainage pipe detects that the outlet pipe has entered the drainage pipe, it indicates that the relative position of the two meets the requirements. At this time, the valve is opened, and the liquid in the storage tank is discharged through the drainage pipe.

[0026] When the outlet pipe does not enter the drain pipe, it indicates that the relative positions of the two do not meet the requirements, and valve one will not be open. Taking the storage tank A corresponding to casting machine A as an example, when casting machine A moves to the unloading station, the operator connects the outlet pipe of storage tank A to other pipelines, and then valve one is opened to drain the liquid. Subsequently, the operator unloads the workpiece.

[0027] The coolant storage tank is designed to hold three units of coolant (one unit is the amount of coolant required to cool one workpiece). After the material is unloaded, the amount of coolant in the storage tank is checked. When the amount of coolant exceeds a preset value, the multiple storage tanks are connected to each other (in this application, "connected to each other" means that one storage tank can be directly connected to another storage tank or indirectly connected through other storage tanks).

[0028] If the time taken for feeding is insufficient to completely drain the liquid in the storage tank, or if the operator forgets to connect the external pipeline for drainage, the amount of liquid in the storage tank will exceed the preset value (e.g., 0.5 units of liquid). In this case, connecting multiple storage tanks can effectively reduce the liquid level in a single storage tank, and also make the liquid level rise more slowly in the subsequent single storage tank during the cooling process of the mold.

[0029] When multiple liquid storage tanks are interconnected, the valve closes when the rotating disc rotates as liquid is drained through the drain pipe. When the liquid level in the storage tanks is zero, the multiple storage tanks are not interconnected.

[0030] In a normal draining process, taking draining at the cooling station as an example, if the dwell time at the cooling station is 3 units of time, and there is only one unit of coolant in the storage tank, draining that amount of coolant takes 1.5 units of time. After the liquid in the storage tank is drained, the valve is closed, and then the tank needs to remain at the cooling station for another 1.5 units of time. When multiple storage tanks are connected, the valve closes when the draining time at the cooling station is 3 units of time, or when the liquid level in the storage tank is zero.

[0031] The implementation principle of this embodiment is as follows: Compared with the existing method of setting up a liquid receiving tank around the turntable and concentric with the turntable, which causes splashing and other problems caused by the liquid in the storage tank flowing into the receiving tank at any time, in production, by setting up a drain pipe and an outlet pipe, the liquid discharge is regulated, thereby reducing the probability of the ground becoming slippery during the liquid discharge process.

[0032] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robotic disc continuous casting system, characterized in that: It includes a rotating disk with multiple casting machines on it. Each casting machine corresponds to a liquid storage tank. Below the rotating disk are a drain pipe and a lifting device. The lifting device is used to drive the drain pipe to rise and fall and to receive the liquid discharged from the liquid storage tank. The drain is located before the material is unloaded.

2. The robotic disc continuous casting system according to claim 1, characterized in that: The liquid storage tank is equipped with a liquid outlet pipe, and a valve is installed on the liquid outlet pipe. A position sensor is installed on the liquid drain pipe. The position sensor is used to detect the distance from the liquid outlet pipe into the liquid drain pipe. When the distance meets the requirements, the valve is turned on.

3. A control method for a robotic disc continuous casting system, applied to the robotic disc continuous casting system as described in any one of claims 1-2, characterized in that: The process includes the following steps: Cooling step: Cooling the casting machine that needs to be cooled; Storage step: The coolant generated in the cooling step is temporarily stored in a storage tank; Draining step: The coolant in the storage tank is drained into the drain pipe; Unloading step: Unloading the material from the casting machine.

4. The control method for a robotic disc continuous casting system according to claim 3, characterized in that: Before the drainage step, there is also a confirmation step, which is used to confirm the relative position of the drainage pipe and the outlet pipe. When the relative position of the two meets the requirements, the valve is opened to drain the liquid.

5. The control method for a robotic disc continuous casting system according to claim 4, characterized in that: The liquid storage tank is enclosed and connected to the cooling channel of the casting machine through pipelines. During the confirmation process, if the position of the drain pipe and the relative position of the outlet pipe do not meet the requirements, a manual draining step is performed.

6. The control method for a robotic disc continuous casting system according to claim 5, characterized in that: Manual draining procedure: The rotating disc moves the casting machine corresponding to the liquid storage tank that needs to be drained to the unloading station. Before unloading, the manual connects the liquid outlet pipe to other pipelines. After the valve is opened to drain the liquid, the unloading procedure is executed.

7. The control method for a robotic disc continuous casting system according to claim 6, characterized in that: Multiple liquid storage tanks are connected by pipelines with valves. After the feeding step, there is also a detection step to detect the amount of liquid in the liquid storage tanks. When the amount of liquid is greater than a preset value, the multiple liquid storage tanks are connected.