Metallurgical vessel stopper control device

Abstract

The present application discloses a control device (10) for a metallurgical vessel stopper (3) controlling a flow of molten metal, the device comprising: an electric drive element (20); a manually operated lever (120) rotatable about an axis of rotation (X) and held by an operator; a load sensor and / or a motion sensor (40) configured to generate a motion measure representative of the rotation of the manually operated lever (120); a control unit configured to issue instructions to the electric drive element (20) to control an auxiliary drive force, wherein the auxiliary drive force is a function of at least one of: a load measure generated by the load sensor and / or a motion measure of the manually operated lever (120) generated by the motion sensor (40); wherein the control device (10) is configured to operate in a manual assistance mode for manually assisted control of the flow of molten metal, in which mode the stopper (3) is manually actuated by the operator and assisted by the electric drive element (20).

Description

Technical Field

[0001] The present invention relates to a control device for a stopper rod of a metallurgical container, a kit including the control device for installing a stopper rod assembly of a metallurgical container, and a method for controlling the discharge of a flow of molten metal from a metallurgical container containing and using the control device. Background Technology

[0002] Traditionally, metallurgical vessels discharge molten material through a gating system using a stopper rod. The vertical displacement of the stopper rod can be controlled automatically or manually. A manual operating lever is provided for manual control. Manual operation is complex, especially when the stopper rod is heavy. It has been proposed to mount removable counterweights on the manual operating lever for ease of operation. However, this approach has limitations. The presence of these counterweights not only increases inertia but may also prevent the stopper rod from being mechanically biased in the closed position (e.g., when the counterweight is excessive). However, for safety reasons, biasing the stopper rod in the closed position is desirable. Furthermore, this counterweight also affects the stopper rod's response time, especially during its closing process, regardless of whether it is in automatic or manual mode.

[0003] Purpose of the invention The present invention aims to address at least one drawback of the teachings provided by the prior art.

[0004] More specifically, the present invention aims to provide a solution to improve control of the stopper rod, particularly to ensure more precise control of the stopper rod when operated by an operator, while reducing the actuation force borne by the operator. Summary of the Invention

[0005] To achieve the above objectives, the present invention relates to a control device for a stopper rod in a metallurgical container, the stopper rod controlling the flow of molten metal, the control device comprising: Electric drive components; A first motion conversion mechanism, particularly a first rotational translation mechanism, is configured to make the displacement of the stopper rod, particularly the vertical displacement of the stopper rod, a first function of the motion of the moving part of the electric drive element, particularly the rotor, particularly the rotation, wherein the primary auxiliary driving force provided by the moving part of the electric drive element is converted by the first motion conversion mechanism into a secondary auxiliary driving force acting on the stopper rod, the secondary auxiliary driving force being oriented along a reference displacement direction, particularly along the upward vertical displacement direction, and the direction of the secondary auxiliary driving force being the same as or opposite to the reference displacement direction; A manual control lever that can rotate about a rotation axis and is held by the operator; The second motion conversion mechanism, particularly the second rotational translation mechanism, is configured such that the displacement of the stopper is a second function of the rotation of the manual operating lever, wherein the primary manual driving force applied by the operator to the manual operating lever is converted by the second motion conversion mechanism into a secondary manual driving force acting on the stopper, the secondary manual driving force being oriented along the reference displacement direction, and the direction of the secondary manual driving force being the same as or opposite to the reference displacement direction; At least one: ○ A load sensor configured to generate a load measurement representing the main manual drive force applied by the operator to the manual lever; and / or ○ Motion sensor, which is configured to generate motion measurements representing the rotation of the manual lever; as well as A control unit configured to issue commands to the electric drive element to control the primary and auxiliary drive forces, wherein the primary and auxiliary drive forces are functions of at least one of the following: ○ The load measurement value generated by the load sensor; and / or ○ The motion measurement value of the manual lever generated by the motion sensor; The control device is configured to operate in a manual-assisted mode, which is used to manually assist control the molten metal flow. In this mode, the stopper is manually driven by the operator through a secondary manual driving force and assisted by the electric drive element through the main auxiliary driving force. In this mode, the manual operating lever and the electric drive element are mechanically connected, so that the movement of the moving part, especially the rotation, is kinematically correlated with the rotation of the manual operating lever.

[0006] According to a specific embodiment of the present invention, the control device for a stopper rod in a metallurgical container includes one or more of the following technical features, which may be employed individually or in any combination: • The control device is configured such that the secondary auxiliary driving force acting on the stopper rod and in the same direction as the reference displacement does not exceed (hereinafter referred to as "secondary auxiliary driving force") a safe load threshold or is between 50% and 90% of the safe load threshold, wherein the safe load threshold is defined as any of the following: The maximum secondary auxiliary driving force ensures that if the operator voluntarily or accidentally releases the manual operating lever and this maximum secondary auxiliary driving force is improperly maintained, the stopper will still fall under gravity to close the sprue through which the molten metal flow passes, regardless of the vertical position of the stopper between the closed position and the upper limit position of the stopper during operation. Preferably, once the operator voluntarily or accidentally releases the manual operating lever, the opened sprue closes within less than 5 seconds, particularly within less than 2 seconds. or The maximum secondary auxiliary driving force lifts the stopper rod from the closed position when there is no molten metal around it. The control device is configured such that, when at least one of the following conditions is met, a secondary auxiliary driving force acting on the stopper rod and aligned with the reference displacement direction is provided by an electric drive element via a second motion conversion mechanism: The direction of the manual driving force derived from the load measurement value generated by the load sensor or the direction of the piston vertical velocity derived from the motion measurement value generated by the motion sensor is consistent with the reference displacement direction, and / or The value associated with the measured value of the manual lever movement generated by the motion sensor is higher than a first threshold corresponding to the hold or stable state of the manual lever, or the value associated with the measured value of the load of the manual lever generated by the load sensor is higher than a second threshold corresponding to the hold or stable state of the manual lever. The control device is configured such that, when at least one of the following conditions is met, the secondary auxiliary driving force acting on the stopper rod is aligned with the reference displacement direction, and the primary auxiliary driving force provided by the electric drive element is set to a predetermined first value: The direction of the manual driving force derived from the load measurement value generated by the load sensor or the direction of the piston vertical velocity derived from the motion measurement value generated by the motion sensor is consistent with the reference displacement direction, and / or The value associated with the motion measurement of the manual lever generated by the motion sensor is higher than a first threshold corresponding to the hold or stable state of the manual lever, or the value associated with the load measurement of the manual lever generated by the load sensor is higher than a second threshold corresponding to the hold or stable state of the manual lever. The control device is configured such that, when at least one of the following conditions is met, the primary and auxiliary driving forces provided by the electric drive element are set to a predetermined second value, which is lower than a first value: The direction of the manual driving force derived from the load measurement value generated by the load sensor, or the direction of the piston vertical velocity derived from the motion measurement value generated by the motion sensor, is opposite to the reference displacement direction, and / or The value associated with the motion measurement value of the manual lever generated by the motion sensor is lower than a first threshold corresponding to the hold or stable state of the manual lever, or the value associated with the load measurement value of the manual lever generated by the load sensor is lower than a second threshold corresponding to the hold or stable state of the manual lever. • The first threshold is defined as such that the rotational speed of the manual lever, as determined from the motion measurement, is within the range of rotational speed from a negative value to 0.0 rpm, wherein the rotational speed of the manual lever is positive when it rotates in the direction corresponding to the reference displacement direction; • The second threshold is defined as such that the torque acting on the manual lever, as measured from the load, is within the range of negative torque to 0.0 Nm, wherein the torque acting on the manual lever is positive when the torque causes the manual lever to rotate in the direction corresponding to the reference displacement direction; • The rotational speed range corresponds to the vertical speed range of the stopper rod from -1.0 mm / s to 0.0 mm / s, where the vertical speed of the stopper rod is positive when the direction of the vertical speed of the stopper rod is consistent with the direction of the reference displacement. • The upward vertical displacement direction allows the gating gate through which the molten metal flow to be opened; The motion measurement value generated by the motion sensor is the rotational speed generated by the rotation sensor; • A rotary sensor is an encoder or a rotary transformer; • The rotation sensor is installed inside or on the motor of the electric drive element; • Rotation sensors are suitable for detecting rotation of at least one of the following: manual operating levers and / or rotating components mechanically connected to and adapted to rotate synchronously with the manual operating levers and electric drive elements; • Load measurements generated by load sensors are force, torque, deformation parameters, or stress tensor parameters; • Load sensors are torque sensors, piezoelectric or strain gauge sensors, and are suitable for detecting loads on moving parts (especially rotors) of electrically driven elements, manual levers, or rotating parts mechanically connected to manual levers and electrically driven elements and suitable for rotating synchronously with them; • The manual operating lever includes a counterweight loading section suitable for loading at least one counterweight; • At least one counterweight is connected to the counterweight loading section; • The control device is configured such that when the secondary auxiliary driving force (hereinafter referred to as "secondary auxiliary driving force") acting on the stopper rod and in the same direction as the reference displacement is greater than zero, the secondary auxiliary driving force is less than 90% of the sum of the secondary auxiliary driving force and the secondary manual driving force acting on the stopper rod and in the same direction as the reference displacement, preferably less than 80%, more preferably less than 70%; • The auxiliary ratio is less than 90%, preferably less than 80%, and more preferably less than 70%; The control device is configured to operablely switch between a manual assistance mode and a manual or automatic mode, wherein... In manual mode, the stopper is entirely operated manually by the operator to control the flow of molten metal. Optionally, in automatic mode, the stopper is electrically actuated entirely by an electric drive element to automatically control the flow of molten metal.

[0007] The present invention also relates to a kit for installing a stopper rod assembly for a metallurgical container, wherein the kit includes a pouring port, a stopper rod, and a control device for the stopper rod of the metallurgical container, the assembly being adapted to be arranged inside or at the bottom of a metallurgical container, particularly an tundish or ladle.

[0008] The present invention also relates to a method for controlling the flow of molten metal discharged from a metallurgical vessel, particularly a tundish or ladle, including the use of a control device for a stopper rod in a metallurgical vessel.

[0009] The present invention also relates to a control device for use with a stopper rod for a metallurgical container.

[0010] This invention also has the advantage that assistance can be achieved by updating the software of existing control systems, since the electric motor used for automatic control, and optionally its dedicated rotation sensor, can both be used as a cadence sensor for electric assistance. This requires only minor adjustments.

[0011] Generally, preferred embodiments of each subject matter of the present invention are also applicable to other subjects. Each subject matter of the present invention can be combined with other subjects whenever possible. Features of the present invention can also be combined with embodiments described in the specification, and these embodiments can also be combined with each other. Attached Figure Description

[0012] Preferred aspects of the invention will now be described in more detail with reference to the accompanying drawings, wherein like reference numerals denote like features, and wherein: Figure 1 A side view of a control device according to a first embodiment of the present invention is shown.

[0013] Figure 2 The control method for operating the control device according to the first embodiment is shown.

[0014] Figure 3 A side view of a control device according to a second embodiment of the present invention is shown.

[0015] Figure 4 A side view of a control device according to a third embodiment of the present invention is shown.

[0016] Figure 5 A side view of a control device according to a fourth embodiment of the present invention is shown.

[0017] Figure 6 A side view of a control device according to a fifth embodiment of the present invention is shown.

[0018] List of reference numerals 3 stopper rods 7 Metallurgical Containers 9. Gating gate 10. Control device 20 Driving Components 30 Load (torque) sensor 40 Motion (rotation) sensor 70 counterweights 101 Linkages 102 Crank Components 103 Stopper arm connecting device 104 Vertical sliding element 105 guide body 120 manual control lever 126 Handle X Rotation Axis Z is the reference displacement direction (e.g., the upward vertical displacement direction). Detailed Implementation

[0019] In the first embodiment, according to Figure 1 The image shows a side view of the control device 10 for the stopper rod 3 of the metallurgical container. Figure 1 The cross-section of the metallurgical vessel 7 is shown. The lower end of the stopper rod 3 controls the flow of molten metal discharged from the metallurgical vessel 7 through the pouring port 9. The control device 10 can switch between manual mode, manual-assisted mode, and automatic mode.

[0020] In automatic mode, the control device 10 is actuated by an electric drive element 20 to automatically control the flow of molten metal. The drive element 20 mechanically cooperates with an internal vertical sliding member disposed within a guide body 105 of the control device 10. The electric drive element 20 includes an electric motor and cooperates with the internal vertical sliding member via a first rotary translation mechanism, in which the rotation of the electric motor is converted into linear motion of the internal vertical sliding member. Preferably, the first rotary translation mechanism is a ball screw, roller screw, or reverse roller screw mechanism. Such mechanisms are known for their efficiency and minimal axial resistance. Therefore, translation of the internal vertical sliding member results in rotation of the electric motor without generating undue friction.

[0021] According to Figure 1 In the first embodiment, the electric motor 20 is located at the lower end of the control device 10. The motor shaft is vertically oriented so as to directly engage with the screw of a ball screw or roller screw mechanism. A motor with a vertically arranged rotor is preferred due to its simplicity, but other configurations (e.g., a horizontal shaft or a linear motor) are also conceivable.

[0022] According to Figure 1In the first embodiment, the stopper arm 103 is connected to and located between the stopper 3 and the vertical sliding element 104. The vertical sliding element 104 is arranged on the upper part of the guide body 105. The vertical sliding element 104 is also connected to an internal vertical sliding member. For rigidity purposes, the inner contour of the sliding element 104 is preferably adapted to be guided by the outer contour of the guide body 105 for translation. Therefore, the stopper arm 103 can be actuated by the internal vertical sliding member and undergoes vertical displacement during use.

[0023] According to Figure 1 In the first embodiment, the stopcock arm 103 can also be actuated by the manual operating lever 120 in manual or manual-assisted control mode. For this purpose, a connecting rod 101 is provided, one end of which is rotatably connected to the vertical sliding element 104, and the other end of which is connected to the crank element 102 (formed by the proximal end of the manual operating lever 120).

[0024] According to Figure 1 In the first embodiment, the crank element 102, the connecting rod 101, and the vertical sliding element 104 form a second rotational translation mechanism for converting the rotation of the manual operating lever 120 about the rotation axis X into the vertical displacement of the stopper arm 103. Figure 1 The second rotary translation mechanism shown is a crank mechanism. Alternatively, other rotary translation mechanisms, such as rack and pinion or cam follower mechanisms, can be contemplated. It is also conceivable to combine the first and second rotary translation mechanisms into a single translation mechanism. In this case, the rotor of the electric motor directly drives the manual operating lever 120.

[0025] According to Figure 1 In the first embodiment, the manual operating lever 120 includes a handle portion 126 that can be gripped by an operator. By moving the manual operating lever 120 up or down, the operator can control the vertical position of the stopper 3.

[0026] According to Figure 1 In the first embodiment, a motion sensor, particularly a rotation sensor 40, is located in the electric drive element 20 to detect the rotation of the motor 20. The rotation sensor is preferably an encoder or resolver mounted inside or near the motor 20. The motion (rotation) detected by this sensor 40 is used as an input for controlling manual assistance.

[0027] In fact, according to Figure 1In the first embodiment, the vertical sliding element 104 is mechanically coupled to the manual operating lever 120 and the electric drive element 20. Therefore, rotation of the manual operating lever 120 causes rotation of the motor of the electric drive element 20. Thus, rotation of the manual operating lever 120 can be indirectly detected by the encoder or resolver 40 of the motor. Typically, the motor 40 for the stopcock is already equipped with an encoder or resolver. Therefore, no additional sensors are required to perform manual auxiliary control.

[0028] According to Figure 1 In the first embodiment, when the manual assist mode is selected, the motor of the electric drive element 20 is controlled by the rotation of the manual operating lever 120.

[0029] In particular, Figure 2 An advantageous control method is shown to ensure that stopper 3 is assisted when the manual assistance mode is selected. Figure 2 The control method is particularly suitable for controlling according to Figure 1 The control device 10 of the first embodiment.

[0030] In step S01, control begins. In step S02, it is detected whether a manual mode or a manual-assisted mode is required. If not, another control mode, such as an automatic mode, is enabled in step S15. If yes, the control scheme proceeds to step S03, where it is detected whether a manual-assisted mode is selected. If not, it proceeds to step S14, where the motor is de-energized. If yes, control proceeds to step S04, where the motor 20 is energized, and then in step S05, the motor rotates in a predetermined direction, ensuring that the driving force acting on the stopper is aligned with the reference vertical displacement direction. Preferably, in the first iteration / cycle / period after detecting the manual-assisted mode, the motor does not generate torque or generates an initial torque as an auxiliary current by default. For the second and subsequent iterations / cycles / periods, a target auxiliary (e.g., in S08) is defined and used to control the motor. Figure 1In the first embodiment, the assistance is performed in at least one direction, i.e., a reference vertical displacement direction corresponding to the upward direction. In step S06, it is detected whether the rotational speed of the motor is higher than a predetermined threshold. The rotational speed of the motor is used to measure the rotational speed of the manual operating lever, as their motion characteristics are mechanically correlated. If the operator applies movement to the manual operating lever, this movement is indirectly detected by a rotation sensor mounted on the motor. When the speed of the manual operating lever detected by the sensor exceeds a certain threshold, it indicates that the operator is moving the manual operating lever within the mechanism in the assistance direction. Advantageously, this threshold is a negative speed to ensure that the assistance load still exists even if the operator does not hold the manual operating lever 120. Therefore, when the operator grasps the manual operating lever 120 and then begins to move the manual operating lever 120 in the direction that causes the stopper 3 to lift, the operator's operating force is reduced from the beginning. The assistance load and / or initial load are selected such that there is no risk of accidentally opening the stopper. Typically, even in the absence of Archimedes' forces under conservative operating conditions (the container is dry), the assistance load is insufficient to lift the stopper. If so, the assistance current is set to a predetermined value in step S07. In step S08, the value will not exceed a predetermined threshold. In step S09, a request for repeated iterations is tested. If not, the control program ends in step S10. If yes, the program returns to step S02 to resume the control loop. In another loop, if the rotational speed of the motor is detected to be below a predetermined threshold in step S06 (typically during the downward movement of the stopper rod), the control program proceeds to step S11, where it checks whether the auxiliary current is still greater than or significantly greater than zero. If yes, the program proceeds to step S12, where the auxiliary current is reduced by a certain amount; otherwise, the auxiliary current is set to zero in step S13. Advantageously, this gradual reduction of the auxiliary current allows for a smooth descent of the stopper rod 3, thus avoiding the sudden disappearance of the auxiliary current. Typically, this control program is processed in the control unit (also called the computing unit). In particular, the computing unit can perform the above-described control of the motor. Figure 2 The steps involved are stored in storage units, specifically the storage units of the computing unit or external storage units. Control data (speed thresholds, auxiliary current, etc.) can be input through the interface.

[0031] according to Figure 3 The second embodiment and according to Figure 1The first embodiment differs in that a load sensor 30 is used instead of a motion sensor 40. Specifically, assistance is controlled via a bending beam force sensor 30 or a strain gauge sensor mounted on a lever 120 of the manual operating lever. The load detected by the sensor 30 can be treated in the same way as the detected motion, particularly the measured velocity. For example, assistance begins when the torque exceeds a certain threshold. This threshold is preferably set to a value close to or equal to zero torque or zero force. More preferably, in torque / force-based control, the level of electric assistance is proportional to the measured torque / force. The presence of a torque / force sensor—or better yet, a combination of torque / force and rotation sensors—generally ensures a more rapid response of the electric assistance compared to solutions using rotation sensors (e.g., cadence sensors). The torque / force sensor provides natural control.

[0032] according to Figure 4 The third embodiment and according to Figure 1 The first embodiment differs in that, in addition to the motion sensor 40, a load sensor 30 is also used. Specifically, the assistance is provided by the load sensor 30 and an encoder or resolver mounted inside or near the motor 20. The load sensor 30 takes the form of a bending beam force sensor or strain gauge sensor mounted on the lever 120 of the manual operating lever. This arrangement allows for better control because both acceleration (through the load) and speed are used for control. For example, the advantages of selecting an assistance equipped with a load / torque / force sensor or a speed sensor are foreseeable. For instance, the speed sensor can activate the assistance immediately upon detecting movement of the operating lever. The assistance utilizes the load / torque / force sensor to adjust the difficulty for the operator to push the manual operating lever. Furthermore, this combination provides a safer configuration in case one of the sensors fails.

[0033] according to Figure 5 The fourth embodiment of the example and according to Figure 3 The second embodiment differs in that the drive element 20 is an additional electric cylinder (first rotary translation mechanism), and the manual mechanism (second rotary translation mechanism) that ensures the rotation of the manual operating lever 120 is converted into the vertical translation of the stop bar 7 is a rack and pinion mechanism. Alternatively, this mechanism can also be a cam, lever, or crank mechanism.

[0034] according to Figure 6 The fifth embodiment of the embodiments and according to Figure 5 The fourth embodiment differs in that a linear displacement sensor (not shown) instead of a torque sensor 30 mounted on the lever 120 of the manual operating lever tracks the vertical displacement of the screw of the electric cylinder.

[0035] The sixth embodiment (not shown) and Figure 1 The difference in the first embodiment is that the rotation sensor 40 is adapted to measure the rotation (e.g., rotational speed) of a rotating component (e.g., a linkage or a support journal of the manual operating lever) connected to the manual operating lever 120 and the electric drive element 20 and adapted to rotate synchronously with them.

[0036] The seventh embodiment (not shown) and Figure 1 The first embodiment differs in that a clutch mechanism is provided between the manual operating lever 120 and the electric drive element 20. The clutch can disengage, allowing the synchronization between the manual operating lever 120 and the electric drive element 20 to be released, so that the stop bar can be automatically actuated by the electric drive element 20 while the manual operating lever remains stationary. When the clutch is engaged, the manual operating lever 120 moves synchronously with the electric drive element 20.

[0037] The “assistance ratio” refers to the ratio between the power absorbed by the electric drive element (20) and the sum of the power absorbed by the electric drive element (20) and the mechanical power generated by the manual operating lever (120) when the operator actuates in manual assist mode. The power absorbed by the electric drive element (20) can be measured using electrical measurement techniques. Power allows for accurate estimation of the mechanical power transmitted by the electric drive element (20). If necessary, the mechanical power generated by the manual operating lever (120) can be measured by combining data provided by load and motion measurements. The assist level can be controlled by the magnitude of the assist current.

[0038] As an alternative to or supplement to the "auxiliary ratio," the control device 10 may be configured such that the secondary auxiliary driving force (hereinafter referred to as "secondary auxiliary driving force") acting on the stopper rod 3 and in the same direction as the upward vertical displacement does not exceed a safe load threshold or is 50% to 90% of the safe load threshold. The safe load threshold is defined as the maximum secondary auxiliary driving force, which ensures that if the operator voluntarily or accidentally releases the manual operating lever 120 and the maximum secondary auxiliary driving force is improperly maintained, the stopper rod 3 will still fall under gravity to close the pouring gate 9 through which the molten metal flow passes, preferably in less than 5 seconds, more preferably in less than 3 seconds. This threshold can be determined based on the weight of the stopper rod 3, the stopper rod arm connecting device, and the vertical sliding element 104. In addition, the Archimedes force acting on the stopper rod 3 can also be used to determine the safe load threshold.

[0039] As an alternative to or supplement to the "auxiliary ratio" and / or "safe load threshold", when the secondary auxiliary driving force (hereinafter referred to as "secondary auxiliary driving force") acting on the stopper rod and in the same direction as the reference upward displacement is greater than zero, the control device 10 may be configured such that the secondary auxiliary driving force is less than 90% of the sum of the secondary auxiliary driving force and the secondary manual driving force acting on the stopper rod and in the same direction as the reference upward displacement, preferably less than 80%, and more preferably less than 70%.

[0040] Although the invention has been described and illustrated in detail, it should be clearly understood that this is merely illustrative and exemplary and does not constitute a limitation, the scope of which is defined only by the terms of the appended claims.

Claims

1. A control device (10) for a stopper rod (3) of a metallurgical container, the stopper rod controlling the flow of molten metal, the control device comprising: - Electric drive element (20); - A first motion conversion mechanism, particularly a first rotational translation mechanism, is configured to make the displacement of the stopper (3), particularly the vertical displacement of the stopper (3), a first function of the motion of the moving part of the electric drive element (20), particularly the rotor, particularly the rotation, wherein the primary auxiliary driving force provided by the moving part of the electric drive element (20) is converted by the first motion conversion mechanism into a secondary auxiliary driving force acting on the stopper, the secondary auxiliary driving force being oriented along the reference displacement direction (Z), particularly along the upward vertical displacement direction, the direction of the secondary auxiliary driving force being the same as or opposite to the reference displacement direction; - Manual operating lever (120), which is rotatable about a rotation axis (X) and can be held by the operator; - A second motion conversion mechanism, particularly a second rotational translation mechanism, is configured such that the displacement of the stopper (3) is a second function of the rotation of the manual operating lever (120), wherein the primary manual driving force applied by the operator to the manual operating lever (120) is converted by the second motion conversion mechanism into a secondary manual driving force acting on the stopper, the secondary manual driving force being oriented along the reference displacement direction (Z), the direction of the secondary manual driving force being the same as or opposite to the reference displacement direction; - at least one of the following: ○ Load sensor (30), the load sensor (30) being configured to generate a load measurement representing the main manual drive force applied by the operator to the manual operating lever (120); and / or ○ Motion sensor (40), which is configured to generate motion measurements representing the rotation of the manual lever (120); as well as - Control unit, configured to issue commands to the electric drive element (20) to control the main and auxiliary drive forces, wherein the main and auxiliary drive forces are functions of at least one of the following: ○ The load measurement value generated by the load sensor; and / or ○ The motion measurement value of the manual operating lever (120) generated by the motion sensor; -The control device (10) is configured to operate in a manual-assisted mode for manually assisting control of the molten metal flow. In the manual-assisted mode, the stopper (3) is manually actuated by the operator through the secondary manual driving force and assisted by the electric drive element (20) through the main auxiliary driving force. In the manual-assisted mode, the manual operating lever (120) and the electric drive element (20) are mechanically connected so that the movement of the moving parts, especially the rotation, is kinematically related to the rotation of the manual operating lever (120).

2. The control device (10) according to claim 1, wherein, The control device (10) is configured such that the secondary auxiliary driving force (hereinafter referred to as "secondary auxiliary driving force") acting on the stopper (3) and in the same direction as the reference displacement does not exceed a safety load threshold or is 50% to 90% of the safety load threshold, wherein the safety load threshold is defined as any of the following: - Maximum secondary auxiliary driving force, which ensures that if the operator voluntarily or accidentally releases the manual operating lever (120) and the maximum secondary auxiliary driving force is improperly maintained, the stopper (3) will still fall under gravity to close the gating gate (9) through which the molten metal flow passes, regardless of the vertical position of the stopper (3) between the closed position and the upper limit position of the stopper (3) in operation. Preferably, once the operator voluntarily or accidentally releases the manual operating lever (120), the opened gating gate (9) closes in less than 5 seconds, particularly less than 2 seconds. or - Maximum secondary auxiliary driving force, which lifts the stopper rod (3) from the closed position when there is no molten metal around the stopper rod (3).

3. The control device (10) according to claim 1 or 2, wherein the control device (10) is configured such that, when at least one of the following conditions is met, the secondary auxiliary driving force acting on the stopper (3) and aligned with the reference displacement direction is provided by the electric drive element (20) through the second motion conversion mechanism: - The direction of the secondary manual driving force derived from the load measurement value generated by the load sensor, or the direction of the vertical velocity of the stopper (3) derived from the motion measurement value generated by the motion sensor (40), is consistent with the reference displacement direction, and / or - The value associated with the motion measurement value of the manual operating lever (120) generated by the motion sensor is higher than a first threshold corresponding to the hold or stable state of the manual operating lever (120), or the value associated with the load measurement value of the manual operating lever generated by the load sensor is higher than a second threshold corresponding to the hold or stable state of the manual operating lever (120).

4. The control device (10) according to claim 1 or 2, wherein the control device (10) is configured such that the secondary auxiliary driving force acting on the stopper (3) is aligned with the reference displacement direction when at least one of the following conditions is met, and the primary auxiliary driving force provided by the electric drive element (20) is set to a predetermined first value: - The direction of the secondary manual driving force derived from the load measurement value generated by the load sensor, or the direction of the vertical velocity of the stopper (3) derived from the motion measurement value generated by the motion sensor (40), is consistent with the reference displacement direction, and / or - The value associated with the motion measurement value of the manual operating lever (120) generated by the motion sensor is higher than a first threshold corresponding to the hold or stable state of the manual operating lever (120), or the value associated with the load measurement value of the manual operating lever generated by the load sensor is higher than a second threshold corresponding to the hold or stable state of the manual operating lever (120).

5. The control device (10) according to any one of the preceding claims, wherein, The control device (10) is configured such that the main and auxiliary driving forces provided by the electric drive element (20) are set to a predetermined second value, which is lower than the first value, when at least one of the following conditions is met: - The direction of the secondary manual driving force derived from the load measurement value generated by the load sensor, or the direction of the vertical velocity of the stopper (3) derived from the motion measurement value generated by the motion sensor, is opposite to the reference displacement direction, and / or - The value associated with the motion measurement value of the manual operating lever (120) generated by the motion sensor is lower than a first threshold corresponding to the hold or stable state of the manual operating lever (120), or the value associated with the load measurement value of the manual operating lever generated by the load sensor is lower than a second threshold corresponding to the hold or stable state of the manual operating lever (120).

6. A control device (10) according to any one of claims 3 to 5 and optionally in combination with claim 2, wherein, The first threshold is defined as such that the rotational speed of the manual lever (120) derived from the motion measurement is within a range from a negative rotational speed value to 0.0 rpm, wherein the rotational speed of the manual lever (120) is positive when it rotates in a direction corresponding to the reference displacement direction, and / or wherein, The second threshold is defined as such that the torque acting on the manual operating lever (120) obtained from the load measurement is within the torque range from a negative torque value to 0.0 Nm, wherein the torque acting on the manual operating lever (120) is positive when the torque causes the manual operating lever (120) to rotate in a direction corresponding to the reference displacement direction. Preferably, the rotation speed range corresponds to the vertical speed range of the stopper (3) from -1.0 mm / s to 0.0 mm / s, wherein the vertical speed of the stopper (3) is positive when the direction of the vertical speed of the stopper (3) is consistent with the reference displacement direction.

7. The control device (10) according to any one of the preceding claims, wherein, The upward vertical displacement direction allows the opening of the gating port (9) through which the molten metal flow passes.

8. The control device (10) according to any one of the preceding claims, wherein, The motion measurement value generated by the motion sensor is the rotational speed generated by the rotation sensor.

9. The control device (10) according to claim 8, wherein, The rotary sensor is an encoder or a rotary transformer.

10. The control device (10) according to any one of the preceding claims, wherein, The load measurement value generated by the load sensor is a force, torque, deformation parameter, or stress tensor parameter.

11. The control device (10) according to any one of the preceding claims, wherein, The control device (10) is configured such that when the secondary auxiliary driving force (hereinafter referred to as "secondary auxiliary driving force") acting on the stopper (3) and in the same direction as the reference displacement is greater than zero, the secondary auxiliary driving force is less than 90% of the sum of the secondary auxiliary driving force and the secondary manual driving force acting on the stopper and in the same direction as the reference displacement, preferably less than 80%, more preferably less than 70%.

12. The control device (10) according to any one of the preceding claims, wherein, The auxiliary ratio is less than 90%, preferably less than 80%, and more preferably less than 70%.

13. The control device (10) according to any one of the preceding claims, wherein the control device is configured to operably switch between the manual assistance mode and the manual mode or the automatic mode, wherein - In the manual mode, the stopper (3) is manually actuated only by the operator to manually control the flow of molten metal. - and optionally, in the automatic mode, the stopper is electrically actuated only by the electric drive element (20) to automatically control the flow of molten metal.

14. A kit for mounting a stopper rod assembly for a metallurgical container, wherein the kit includes a pouring port (9), a stopper rod (3), and a control device for the stopper rod of the metallurgical container, the assembly being adapted to be disposed inside or at the bottom of a metallurgical container (7), particularly an tundish or ladle, wherein the control device is a control device (10) for the stopper rod of a metallurgical container as claimed in any one of claims 1 to 13.

15. A method for controlling a flow of molten metal discharged from a metallurgical vessel (7), particularly a tundish or ladle, comprising using a control device (10) for a stopper bar (3) of a metallurgical vessel as claimed in any one of claims 1 to 13.

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