A continuous casting tundish changing method
Patent Information
- Application Number
- CN202611082790.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-07-21
- Publication Date
- 2026-09-25
AI Technical Summary
传统换包操作多依赖人工经验，缺乏统一标准所导致的以下技术问题：
（1）本发明通过将换包全过程拆解为设备预检—吊入定位—旋转对中—开浇注流—分区覆盖—安全联锁—时序监控的阶段化、闭环化作业体系，将传统上高度依赖操作工个人经验和班组习惯的口传心授式换包操作，转化为按预设阈值、预设顺序、预设判据自动判定与联锁的标准化流程，新员工经短时间培训即可按标准作业，不同班组、不同人员之间的操作差异被基本消除，提升换包操作的一致性与稳定性。
Smart Images
Figure CN122807027A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of continuous casting technology in iron and steel metallurgy, and in particular to a method for changing ladle in continuous casting. Background Technology
[0002] In continuous casting, the ladle (steel ladle) is used to hold molten steel and continuously supply it to the tundish. When the molten steel in the ladle is about to run out, a new ladle must be quickly replaced to ensure the continuity and stability of continuous casting. Traditional ladle-changing operations rely heavily on manual experience, and the lack of standardized procedures leads to the following technical problems: Insufficient standardization of operations: Traditional packing operations rely heavily on the experience and judgment of operators, resulting in significant differences in operation among different personnel, making it difficult to ensure process consistency and stability; Unsystematic equipment inspection: There is a lack of quantitative standards for the inspection of key equipment such as robotic arms, protective sleeves, argon systems, and bulkhead nozzles, which can easily lead to operational accidents due to hidden equipment problems; The quality of molten steel is easily damaged: problems such as poor sealing of the protective sleeve, insufficient argon pressure, and improper timing of adding covering agent can easily cause secondary oxidation of molten steel and affect the quality of the billet; Significant safety hazards exist: the hoisting, rotation, and pouring of molten steel in the process of large-scale hoisting pose safety risks such as high-temperature burns, molten steel splashes, and mechanical collisions, and there is a lack of unified safety control measures; Low ladle changing efficiency: The time of each operation step is not controlled, the ladle changing cycle is long, which affects the continuous casting machine's operating rate. Summary of the Invention
[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a continuous casting ladle changing method.
[0004] To solve the above technical problems, the technical solution of the present invention is as follows: A continuous casting ladle changing method includes performing the following steps sequentially in time: S1 Equipment Pre-inspection and Preparation Phase: Before performing a ladle change, a gated inspection is conducted on the continuous casting ladle change-related equipment and protective casting components according to preset thresholds. The inspection items include at least the airtightness and gas supply parameters of the manipulator and its protective gas supply system, the appearance and performance status of the protective sleeve, the status of the ladle nozzle, the status of the ladle clamp, and the operational status of the ladle turret and sliding nozzle drive mechanism. When all inspection items meet the preset qualification thresholds, a ladle change permission signal is output. If any inspection item fails, a ladle change stop interlock is triggered, prohibiting subsequent ladle change operations. S2 Large Package Lifting and Positioning Stage: After the ladle change permission signal is output, confirm that the ladle arm is in the low position, the ladle cover and sliding nozzle drive mechanism are in the original position, and the ladle slewing table is in the locked state. Hoist the full ladle of molten steel into the slewing arm and confirm that it is stable. Install the sliding nozzle drive and slag detection element, close the ladle cover, release the slewing table lock and lift the ladle arm. S3 Large Package Rotation and Protective Sleeve Alignment Stage: The tundish slewing table is driven to rotate and move the full ladle of molten steel to the casting position. The robot arm is operated to place the protective sleeve that has passed the S1 inspection into the top of the tundish. The robot arm is adjusted to axially align the protective sleeve with the ladle outlet and then press it to form a sealed connection. S4 Initial Casting and Flow Control Stage: Open the sliding gate to allow molten steel to flow into the tundish through the protective sleeve. In the initial stage of pouring, the steel flow is controlled in manual mode. Once the steel flow meets the preset stability criteria, the control system automatically and smoothly switches from manual flow control mode to automatic flow control mode, and the molten steel in the tundish is accumulated to the target amount in automatic flow control mode. S5 Protection Casting and Zone Covering Stage: After the molten steel in the tundish reaches the target steel quantity, covering materials are added in a differentiated manner according to different functional areas of the tundish: the first type of covering material is added to the impact zone of the tundish, and the second type of covering material is added to the stabilizing zone of the tundish, until there is no exposed molten steel surface and the protective casting is established; S6 full-process safety interlock control: At key operational nodes such as hoisting and unloading the package, installing the drive components, covering the package, rotating the turntable, pouring the concrete, and adding the covering material, safety protection conditions are set up for electrical interlocking with the corresponding work actions. If the safety protection conditions are not met, the corresponding work action is prohibited from being performed.
[0005] The beneficial effects of this invention are: (1) This invention breaks down the entire packing change process into a phased and closed-loop operation system consisting of equipment pre-inspection, hoisting and positioning, rotation and centering, opening the pouring flow, zoned covering, safety interlocking, and time-sequence monitoring. This transforms the traditional packing change operation, which relies heavily on the personal experience of operators and the habits of work groups, into a standardized process that automatically judges and interlocks according to preset thresholds, preset sequences, and preset criteria. New employees can operate according to the standard after a short period of training, and the differences in operation between different work groups and different personnel are basically eliminated, thereby improving the consistency and stability of the packing change operation.
[0006] (2) This invention implements a hard interlock that prohibits the replacement of packages if key equipment items such as argon parameters, protective sleeve size / permeability, and water inlet / tightener status are not qualified, thus avoiding the introduction of equipment hazards into the replacement process and significantly reducing the accident rate.
[0007] (3) This invention, through axial alignment and compression sealing of the protective sleeve and the ladle outlet, argon pre-purging + continuous argon sealing, smooth switching of manual / automatic flow control, zoning of the impact zone / stable flow zone, and batch addition of covering agent, establishes a process from start to finish of molten steel without exposure, slag entrapment, or air intake. Compared with the traditional crude method of applying covering agent all at once and rapidly opening the steel flow, it can significantly reduce secondary oxidation of molten steel, reduce the entrapment of large inclusions, stabilize the temperature and composition of molten steel in the tundish, and significantly reduce quality defects such as total oxygen content, surface inclusions, and subcutaneous bubbles in the billet, thereby improving the billet qualification rate and yield.
[0008] (4) This invention hard-locks six key safety control points with equipment actions, and replaces traditional verbal reminders with measures such as automatic shutdown when personnel enter the rotating area, prohibition of pouring in violation of the rules, and time window interlock for prohibition of application of covering agent. The safety risks of personnel burns, splashes, collisions and other risks are fundamentally controlled.
[0009] (5) The present invention has a fine decomposition of time for each stage and no waiting idle time. The total pack change time is stably controlled at ≤2 minutes, which is 33% to 60% shorter than the traditional 3 to 5 minutes for large pack change and is also more efficient than the existing 5.5 minutes for medium pack quick change. It greatly improves the operating rate and brings increased production benefits. Attached Figure Description
[0010] Figure 1 This is a flowchart of the method of the present invention; Figure 2 This is a framework diagram of the packing change operation control system of the present invention. Detailed Implementation
[0011] To make the content of this invention easier to understand, the invention will be further described in detail below based on specific embodiments. Example 1
[0012] This embodiment uses a twin-strand slab continuous casting machine (slab cross-section 250mm×1250mm, typical casting speed 1.1m / min, tundish rated capacity 60t, target tonnage 45t) in the No. 1 steelmaking plant of a steel plant as an example to explain in detail the implementation process of the continuous casting ladle changing method of the present invention. Figure 1 As shown, specifically: S1 Equipment Pre-inspection and Preparation Phase: (1) Action pre-inspection: Start the full stroke test program of the robot arm with one key on the HMI, drive the robot arm to complete a full stroke lifting and the support ring ±90° rotation, and confirm that the lifting is unobstructed and the support ring rotates flexibly; the system reads the clamping force in real time through the robot arm clamping force sensor as 1020N, which is within the qualified range of 800~1200N; at the same time, confirm that the 360° rotation of the large bag turntable is normal, the sliding sprue cylinder quick connector is unobstructed, and the receiving arm lifting cylinder is leak-free; (2) Argon system inspection: Open the argon main valve of the robot arm, read the pressure transmitter reading on the main line as 0.25MPa and the metal tube float flow meter reading as 72L / min; use the soap film method to check for leaks at each joint of the argon pipeline of the robot arm. If no bubbles are generated, the argon system is deemed qualified. (3) Double inspection of protective sleeve: Take a baked aluminum carbon integral protective sleeve and use a φ150 inner diameter go and no-go gauge to check the inner diameter. If the go end passes and the no-go end stops, the inner diameter is qualified. Use an outside micrometer to measure the outer diameter at four measuring points below the cup-shaped part of the sleeve at 0°, 90°, 180° and 270° respectively. The outer diameter is 225.1mm, 224.8mm, 225.3mm and 225.0mm respectively. All are in the range of 224~226mm, so the outer diameter is qualified. Connect the lower end of the sleeve to the air tightness tester, seal the cup mouth, introduce 0.05MPa compressed air into the inner cavity of the sleeve and hold the pressure for 3s. The pressure drop is 0.002MPa (≤0.005MPa), so the air permeability is qualified. In addition, the industrial camera of the vision inspection unit takes an image of the end face of the sleeve. After AI recognition, there are no missing corners, no cracks and no residual steel adhering. The protective sleeve is judged to be qualified. (4) Inspection of ladle nozzle and jack: Visually inspect the ladle nozzle to be filled with molten steel, and check for defects and residual steel residue; check that the ladle jack is not deformed and the pin is not detached; After all four items above are qualified, the equipment pre-inspection module outputs a pre-inspection pass signal, the PLC releases the S1 stage stop-packet replacement interlock, and allows entry into the S2 stage; if any item is unqualified (such as argon pressure only 0.15MPa), the system immediately outputs an audible and visual alarm and locks subsequent operations until the fault is cleared and the pre-inspection is qualified again.
[0013] S2 Large Package Lifting and Positioning Stage: After the pre-inspection is passed, the system automatically confirms that the receiving arm is in the lowest position, the ladle cover is raised to the highest position, and the sliding gate cylinder is in its original position (the cylinder has been withdrawn). The rotary table is then locked by the locking pin, and the HMI displays a green "Loop Lifting Permit" message. The overhead crane then smoothly lifts the full ladle of molten steel (approximately 280 tons, 1565°C) into the rotary arm saddle. The lowering process is performed with a "gentle approach and slow descent," with the descent speed of the overhead crane's auxiliary coil controlled below 0.5 m / min. When the bottom of the ladle contacts the saddle, the impact load is monitored by the weighing sensor and does not exceed 5% of the rated value. After the ladle is safely in place, the overhead crane withdraws.
[0014] After the overhead crane retracts, the operator puts on high-temperature resistant protective gloves (the video AI camera in front of the control panel identifies whether the gloves are worn; if not worn, the next operation is prohibited). First, use compressed air (0.4MPa) to blow the end face of the ladle's outlet for 3 seconds, visually confirming that there is no residual steel adhering to it. Then, align the quick-connect connector of the sliding nozzle cylinder with the nozzle slide plate drive shaft and insert it. The Hall position sensor on the cylinder body detects the insertion position signal and sends it back to the PLC. Next, insert the aviation plug of the slag detection line and confirm that the indicator light is on. Finally, operate the ladle cover hydraulic system to lower and lock the ladle cover. After the above actions are completed, the operator presses the "Unlock and Raise Arm" button. The PLC automatically pulls out the rotary table locking pin and raises the arm to the working height. This stage actually takes 37 seconds.
[0015] S3 Large Package Rotation and Protective Sleeve Alignment Stage: After the ladle arm is in position, the system automatically activates the argon main pipeline of the robotic arm, adjusting the argon flow rate to 35L / min for pre-purging. Simultaneously, it drives the ladle rotary table to rotate 180° counterclockwise, rotating the full ladle of molten steel from the receiving position to the casting position. During the rotation, a laser fence continuously monitors the restricted area for personnel; if personnel are detected, the rotation immediately stops and an alarm sounds. After rotation is complete, the robotic arm is manipulated to grip the protective sleeve, which has passed the S1 pre-inspection, from the storage position and places it above the impact zone of the tundish. Coarse positioning is performed first, followed by precise adjustment using the two-dimensional fine-tuning mechanism on the robotic arm, aligning the axis of the protective sleeve with the axis of the ladle's outlet. The laser alignment sensor measures an alignment deviation of 1.2mm. Then, the robotic arm is driven to lift upwards, fitting the cup-shaped part of the protective sleeve into the ladle's outlet. The fiber sealing gasket at the cup opening is compressed, and the force sensor at the gripping end of the robotic arm measures a clamping force of 2.2kN, corresponding to a sealing ring compression of approximately 22%. After compression is complete, the system automatically increases the argon flow rate to 72L / min and maintains it. This stage, from pre-purging to final compaction, actually took 28 seconds.
[0016] S4 Initial Casting and Flow Control Stage: After the steel is properly clamped, the operator retreats to the safe pouring position (the compliance of the position is jointly identified by the yellow marking area on the ground and the AI video on the top; the sliding gate opening button is locked when the position is not safe). The operator presses the pouring button, and the sliding gate cylinder first opens the slide plate to 40%. Molten steel flows into the tundish through the protective sleeve in a controlled flow. During manual flow control, the PLC samples the slide plate opening and the tundish weighing signal every 0.5 seconds, calculating the tundish molten steel rise rate to be 1.0 t / min. After 12 seconds, the system detects that the sliding gate opening fluctuates by ±2% within 5 consecutive seconds, and the tundish weight change rate deviation is 6%, thus establishing a stable steel flow criterion. After a smooth transition of 0.8 seconds, the flow control switching module switches control to automatic flow control mode. The PLC automatically adjusts the slide plate opening based on the tundish target tonnage (45t) and the pouring speed signal to avoid slag entrapment and steel overflow caused by the steel flow impact. This stage ends when the tundish weight reaches 45t, with an actual time of 33 seconds.
[0017] S5 Protection Casting and Zone Covering Stage: Once the tundish tonnage reaches 45t, the zone covering agent addition prompt module first illuminates the red "Impact Zone Addition of Carbonized Rice Husk" indicator on the HMI. Two batches of two bags of carbonized rice husk (2.2kg each) are added in the tundish impact zone. After addition, it is observed that there is no exposed molten steel or obvious flames in the impact zone. The "Impact Zone Addition Complete" button is then pressed. Subsequently, the HMI illuminates the yellow "Stabilizing Zone Addition of Covering Agent" indicator. Three batches of four bags of covering agent (2.8kg each) are added in the tundish stabilizing zone. After addition, the average slag layer thickness is measured to be approximately 40mm using a slag probe. The "Stabilizing Zone Addition Complete" button is then pressed. At this point, the molten steel surface is completely protected by the covering agent, and the protective casting is officially established. This stage actually takes 13 seconds.
[0018] S6 security joint control procedure, this procedure is executed in parallel throughout the entire process from S1 to S5: ① During the hoisting of the large bag, the crane command signal and the impact signal of the weighing sensor are linked. If the impact is too large, an audible and visual alarm will remind the user to lower the bag slowly. ② Before installing the hydraulic cylinder, the video AI will identify whether protective gloves are worn. If gloves are not worn, the covering action and the hydraulic cylinder installation action will be locked. ③ When the bag is closed, an infrared grating is installed under the bag. If an arm or tool is detected to be inserted, the bag will stop descending. ④ The laser fence around the rotary table is deployed 24 hours a day. If any beam is blocked, the rotation of the rotary table will be immediately interrupted and an audible and visual alarm will be issued. ⑤ Before pouring, the top AI camera identifies the operator's position. If the operator is not in a safe position, the sliding gate opening circuit will be cut off. ⑥ Interlocking for prohibition of covering agent application before and after bag change: From 60 seconds before the start of S1 pre-inspection until the tonnage of the intermediate ladle reaches 80% of the target tonnage (i.e., 36t) after the start of S4 pouring, the covering agent application indicator light on the HMI remains off. When the application action in the impact zone / steady flow zone is detected (through video AI recognition), an alarm will be triggered. The indicator light will only be turned on according to the prescribed amount during the S5 zone covering stage to allow application.
[0019] In this embodiment, the S1 pre-inspection takes approximately 90 seconds (which can be carried out in parallel with the later stages of the previous furnace tail ladle casting, without occupying pure ladle change time). The cumulative time for S2 to S5 is 37 + 28 + 33 + 13 = 111 seconds (i.e., 1 minute and 51 seconds), meeting the requirement of a total ladle change time of ≤2 minutes. After the ladle change is completed, the system automatically packages and uploads the total ladle change time of 111 seconds, argon pressure-flow curve, sliding nozzle opening curve, tundish tonnage increase curve, interlock trigger records (zero trigger in this case), protective sleeve number, operator ID, and other data to the plant-level MES system, forming an electronic archive of the single furnace ladle change operation for process engineers to review and analyze.
[0020] After the ladle change was completed, the continuous casting machine immediately entered the normal pouring state. The temperature of the molten steel in the tundish was stable, there was no exposed surface, and the protective slag melted well. The first billet sample after the ladle change was tested and found to have a total oxygen content of 18 ppm, which is 35.7% lower than the 28 ppm of the traditional ladle change. The billet surface was free of scale and slag inclusions, and the quality was significantly improved. No safety incidents occurred during this ladle change, and the labor intensity of the operators was reduced. Example 2
[0021] This embodiment was implemented on a six-strand, six-cup small billet continuous casting machine (150mm×150mm cross-section, typical casting speed 2.8m / min, tundish rated capacity 35t, target tonnage 28t) at a steel plant. The main difference from Embodiment 1 is that, due to the larger number of strands and smaller tundish capacity, the manual flow control opening in stage S4 was set to 35%, and the molten steel rise rate was controlled at 0.8t / min; in stage S5, two bags of carbonized rice husks (2.0kg per bag) were added to the impact zone, and three bags of covering agent (2.5kg per bag) were added to the stabilizing zone; the time budgets for stages S2, S3, S4, and S5 were set to 38s, 28s, 32s, and 12s respectively, with a total ladle change time of 108s. All other process parameters, interlocking logic, and control system composition were the same as in Embodiment 1, achieving the same results of standardized ladle changes, improved billet quality, and zero accidents. Example 3
[0022] This embodiment details the hardware components of the packing change operation control system that implements the above method, such as... Figure 2 As shown: The system uses a Siemens S7-1500 series PLC as the main controller, configured with a CPU1516-3PN / DP; The equipment pre-inspection module is connected via PROFINET bus to an argon pressure transmitter (range 0-0.6MPa, accuracy 0.25), an argon metal tube float flow meter (with 4-20mA output), a protective sleeve vision inspection unit (using a 2-megapixel industrial camera + ring light source), a robotic arm gripping force sensor (range 0-5kN), and a hydraulic cylinder position Hall sensor. The timing monitoring module is connected to the frequency converter of the main turntable, the servo valve of the sliding nozzle cylinder, and the servo controller of the robot arm via PROFIBUS-DP bus, and is connected to the secondary weighing instrument of the intermediate package (metering accuracy ±0.5%) via Ethernet. The flow control switching module has a built-in steel flow stability criterion algorithm, which is implemented in the PLC as an FB block; The zoned covering agent dosing prompt module drives the red / yellow indicator lights on the HMI (using a 15-inch touchscreen Weintek MT8150iE) through the DO module; the safety interlock module connects to four pairs of infrared laser fences around the rotary table, the AI behavior recognition camera (Hikvision DS-2CD7A47FWD) on the top of the pouring position, personnel UWB positioning tags (positioning accuracy 30cm), infrared gratings under the cover, and protective glove recognition cameras; The PLC communicates with the plant-level MES system via the OPC UA interface to upload and archive package change data. The HMI interface displays independent countdown bars for each of the four stages (S2-S5). When 5 seconds remain in a stage's countdown, the bar flashes as a warning. A yellow warning pop-up appears when the total accumulated time reaches 110 seconds, and a red timeout alarm pop-up appears when it reaches 120 seconds, along with an alarm log entry.
[0023] In addition to the above embodiments, the present invention may have other implementation methods; all technical solutions formed by equivalent substitution or equivalent transformation fall within the protection scope claimed by the present invention.
Claims
1. A continuous casting ladle changing method, characterized in that, This includes performing the following steps sequentially in chronological order: S1 Equipment Pre-inspection and Preparation Phase: Before performing a ladle change, a gated inspection is conducted on the continuous casting ladle change-related equipment and protective casting components according to preset thresholds. The inspection items include at least the airtightness and gas supply parameters of the manipulator and its protective gas supply system, the appearance and performance status of the protective sleeve, the status of the ladle nozzle, the status of the ladle clamp, and the operational status of the ladle turret and sliding nozzle drive mechanism. When all inspection items meet the preset qualification thresholds, a ladle change permission signal is output. If any inspection item fails, a ladle change stop interlock is triggered, prohibiting subsequent ladle change operations. S2 Large Package Lifting and Positioning Stage: After the ladle change permission signal is output, confirm that the ladle arm is in the low position, the ladle cover and sliding nozzle drive mechanism are in the original position, and the ladle slewing table is in the locked state. Hoist the full ladle of molten steel into the slewing arm and confirm that it is stable. Install the sliding nozzle drive and slag detection element, close the ladle cover, release the slewing table lock and lift the ladle arm. S3 Large Package Rotation and Protective Sleeve Alignment Stage: The tundish slewing table is driven to rotate and move the full ladle of molten steel to the casting position. The robot arm is operated to place the protective sleeve that has passed the S1 inspection into the top of the tundish. The robot arm is adjusted to axially align the protective sleeve with the ladle outlet and then press it to form a sealed connection. S4 Initial Casting and Flow Control Stage: Open the sliding gate to allow molten steel to flow into the tundish through the protective sleeve. In the initial stage of pouring, the steel flow is controlled in manual mode. Once the steel flow meets the preset stability criteria, the control system automatically and smoothly switches from manual flow control mode to automatic flow control mode, and the molten steel in the tundish is accumulated to the target amount in automatic flow control mode. S5 Protection Casting and Zone Covering Stage: After the molten steel in the tundish reaches the target steel quantity, covering materials are added in a differentiated manner according to different functional areas of the tundish: the first type of covering material is added to the impact zone of the tundish, and the second type of covering material is added to the stabilizing zone of the tundish, until there is no exposed molten steel surface and the protective casting is established; S6 full-process safety interlock control: At key operational nodes such as hoisting and unloading the package, installing the drive components, covering the package, rotating the turntable, pouring the concrete, and adding the covering material, safety protection conditions that are electrically interlocked with the corresponding work actions are set. If the safety protection conditions are not met, the corresponding work actions are prohibited from being performed.
2. The continuous casting ladle changing method according to claim 1, characterized in that: The performance status inspection of the protective sleeve in S1 includes dimensional inspection and air permeability inspection; the dimensional inspection includes quantitative detection of the inner and outer diameters of the protective sleeve, and the air permeability inspection includes introducing compressed air at a preset pressure into the inner cavity of the protective sleeve and maintaining the pressure for a preset time, and determining whether the protective sleeve is qualified based on the pressure drop.
3. The continuous casting ladle changing method according to claim 2, characterized in that: In the dimensional inspection, the inner diameter of the protective sleeve is 150mm and the outer diameter is 225±1mm. The inner diameter is measured using an inner diameter go / no-go gauge, and the outer diameter is measured using an outer diameter micrometer at no less than 4 measuring points evenly distributed around the circumference of the sleeve. In the air permeability inspection, 0.05MPa compressed air is introduced and the pressure is maintained for 3s. A pressure drop ≤0.005MPa is considered as passing the air permeability test. The protective gas is argon. In the S1 stage, the argon pipeline of the robot arm is checked for leaks, and the argon working pressure is ≥0.2MPa and the argon flow rate is ≥60L / min.
4. The continuous casting ladle changing method according to claim 1, characterized in that: In step S3, before the protective sleeve is tightened, the protective gas supply is pre-activated and the inside of the protective sleeve is pre-purged at 30-40 L / min. After pre-purge for 5-10 seconds, when the protective sleeve is tightened in place, the protective gas flow rate is increased to ≥60 L / min and maintained until the ladle replacement is completed. At the same time, in step S3, the axial alignment deviation between the protective sleeve and the ladle drain outlet is ≤2 mm, and the tightening force is controlled at 1.5-3.0 kN, so that the compression of the sealing ring at the cup mouth of the protective sleeve is maintained at 15%-30%.
5. The continuous casting ladle changing method according to claim 1, characterized in that: In the S4 manual flow control mode, the opening of the sliding gate is controlled at 30% to 50%, and the molten steel rising rate in the tundish is controlled at 0.5 to 1.5 t / min. The stability criteria include: the fluctuation range of the sliding gate opening within the preset time window does not exceed the preset opening threshold, and the deviation of the tundish weight change rate does not exceed the preset flow threshold. After the criteria are met, the automatic flow control mode is switched after a smooth transition of 0.5 to 1 second.
6. The continuous casting ladle changing method according to claim 1, characterized in that: The first type of covering material is carbonized rice husk, and the second type of covering material is intermediate slag covering agent. In the impact zone of S5, the carbonized rice husk is added in 2-3 batches, with a total of 2-3 bags. In the stabilization zone, the covering agent is added in 3-5 batches, with a total of 3-5 bags. The weight of a single bag of carbonized rice husk is 2.0-2.5 kg, and the weight of a single bag of covering agent is 2.5-3.0 kg. The addition point in the impact zone is when the exposed surface of the molten steel is covered and no obvious flames emerge. The addition point in the stabilization zone is when a uniform slag layer with a thickness of 30-50 mm is formed.
7. The continuous casting ladle changing method according to claim 1, characterized in that: It also includes a timing monitoring step, which monitors and records the operation time of each stage from S2 to S5 in real time. The timing starts when the S1 pre-inspection passes the packing change permission signal output and ends when the S5 protection pouring is completed. The total packing change time is monitored and controlled within 2 minutes.
8. A ladle changing operation control system for implementing the continuous casting ladle changing method according to any one of claims 1-7, characterized in that, include: The equipment pre-inspection module is used to collect signals such as argon pressure of the robotic arm, argon flow rate, size and permeability of the protective sleeve, status of the ladle nozzle, and status of the ladle tensioner. When any signal fails to meet the gate control threshold of stage S1, it outputs a stop-and-change interlock signal. The timing monitoring module communicates with the equipment pre-inspection module, the large bag turntable drive unit, the sliding sprue cylinder control unit, the robot control unit, and the intermediate bag weighing unit. It is used to output operation timing instructions in the order of S2 to S5 and record the time consumption of each stage in real time. When the total bag changing time exceeds 2 minutes, it outputs a timeout alarm. The flow control switching module is connected to the sliding gate cylinder control unit. It is used to control the flow in manual mode at the beginning of casting and to automatically switch to automatic flow control mode when the steel flow stability criterion is met. The zoned covering agent addition prompt module is used to output the addition amount and batch of carbonized rice husk and covering agent to the impact zone and the steady flow zone respectively after the tonnage of the intermediate bag reaches the target tonnage. The safety interlock module is connected to the personnel detection unit, the cover action unit, and the pouring station detection unit in the rotary table area, respectively, and is used to execute the safety interlocking control described in S6.