Method and system for controlling multi-bag continuous casting of large ingot based on multiple casting tundishes

Abstract

The application provides a large steel ingot multi-bag continuous pouring control method and system based on multiple pouring trolleys, and relates to the technical field of metallurgical pouring. The method is used for multiple pouring trolleys to perform multi-bag continuous pouring on the same steel ingot mold, and comprises the following steps: collecting the current total weight of the pouring trolley in real time, combining the empty bag weight to obtain the remaining molten steel amount, and obtaining the real-time pouring speed from the weight change per unit time; calculating the expected remaining pouring time according to the real-time pouring speed; comprehensively judging whether the bag changing preparation condition is met, and obtaining the next trolley state to judge the bag changing condition; when the preparation condition is met, the next trolley is scheduled to be in place, the sliding nozzle is installed, and argon is blown; when the bag changing condition is met, the current trolley exits the pouring position, and the next trolley enters and pours. The application drives the measured data step by step, changes the bag changing connection of the multi-bag pouring from serial waiting to an orderly process with a clear advance amount, shortens the connection time, and meets the production requirements of large steel ingots with high quality and high efficiency.

Description

Technical Field

[0001] This invention relates to the field of metallurgical casting technology, and more specifically, to a method and system for controlling the continuous casting of large steel ingots in multiple ladles based on multiple casting vehicles. Background Technology

[0002] Large steel ingots are widely used in the manufacture of critical equipment such as nuclear power, petrochemicals, and shipbuilding. Because their weight often exceeds the capacity of a single ladle, multiple refining ladles are required to sequentially pour the same ingot mold. The common practice for multi-ladle pouring of large steel ingots is to use overhead cranes to transport the refining ladles and pour them sequentially.

[0003] In related technologies, the suspension and pouring of refining ladles is prone to shaking, which affects the stability of the nozzle alignment. The ladle changing process is also constrained by factors such as crane scheduling, on-site space and personnel coordination, resulting in long and uncontrollable connection times. This leads to internal defects such as steel temperature drop, liquid surface fluctuation, slag entrapment, cold shuts and shrinkage cavities. At the same time, the remaining steel volume and the timing of ladle changing rely heavily on manual experience, resulting in a lack of precise control over the entire multi-ladle continuous pouring process, making it difficult to meet the high-quality and high-efficiency production requirements of large steel ingots. Summary of the Invention

[0004] The problem addressed by this invention is how to improve the effect of continuous casting of multiple packages.

[0005] To address the aforementioned problems, this invention provides a method and system for controlling the continuous casting of large steel ingots in multiple ladles based on multiple casting vehicles.

[0006] In a first aspect, the present invention provides a method for controlling continuous multi-ladle casting, the method being used for multiple casting machines to continuously cast multiple ladles onto the same steel ingot mold, the method comprising: Real-time collection of the total weight data of the current pouring truck at the pouring position; The remaining amount of molten steel is determined based on the total weight data and the weight data of the empty ladle of the current casting car. The real-time casting speed of the current casting car is determined based on the weight change per unit time. Based on the current remaining amount of molten steel and the real-time pouring speed, determine the estimated remaining pouring time for the current pouring vehicle; Based on the current remaining amount of molten steel, the real-time pouring speed, and the estimated remaining pouring time, determine whether the current pouring car meets the preset ladle change preparation conditions, and obtain the status information of the next pouring car. Based on the status information of the next pouring car, determine whether the ladle change conditions are met. When it is determined that the current pouring car meets the preset bag changing preparation conditions, the next pouring car is pre-scheduled and controlled to complete the positioning, sliding gate installation and argon blowing of the gate. When it is determined that the current pouring car meets the changing conditions, the current pouring car is controlled to exit the pouring position, and the next pouring car is controlled to enter the pouring position for pouring.

[0007] Optionally, the real-time acquisition of the total weight of the current pouring vehicle at the pouring position includes: The weighing and detection unit installed on the current casting car continuously collects the total weight data of the current casting car and the refining ladle carried by the current casting car according to a preset sampling frequency. The weighing detection unit includes at least one of a weighing sensor, a hydraulic pressure sensor, a support weighing module, a track weighing device, or a vehicle weighing device.

[0008] Optionally, determining the current remaining amount of molten steel based on the total weight data and the current empty ladle weight data of the casting car, and determining the real-time casting speed of the current casting car based on the weight change per unit time, includes: The difference between the total weight data and the empty ladle weight data is used to obtain the current remaining amount of molten steel; The total weight is collected at multiple consecutive time intervals according to a preset time interval, and the weight change per unit time is calculated as the real-time pouring speed of the current pouring vehicle.

[0009] Optionally, determining whether the current pouring car meets the preset ladle change preparation conditions based on the current remaining molten steel volume, the real-time pouring speed, and the estimated remaining pouring time includes: Obtain the current remaining amount of molten steel, real-time pouring speed, and estimated remaining pouring time of the current pouring car; The current remaining amount of molten steel is compared with a preset remaining amount threshold. When the current remaining amount of molten steel is lower than the preset remaining amount threshold, it is determined that the preset ladle replacement preparation condition is met. Alternatively, determine the ratio of the current remaining molten steel to the initial molten steel; when the ratio is lower than a set ratio threshold, determine that the preset ladle replacement preparation conditions are met. Alternatively, the estimated remaining pouring time can be compared with the preparation time required for the next pouring truck. If the estimated remaining pouring time is less than the preparation time required, it is determined that the preset bag change preparation condition is met. Alternatively, the real-time pouring speed can be compared with a set speed threshold. When the real-time pouring speed is lower than the set speed threshold, it is determined that the preset package change preparation condition is met. Alternatively, the cumulative time that the current pouring truck has been continuously pouring can be obtained, and when the cumulative time reaches the set pouring time, it is determined that the preset bag change preparation condition is met.

[0010] Optionally, obtaining the status information of the next pouring truck and determining whether the conditions for changing the ladle are met based on the status information of the next pouring truck includes: Obtain the positioning status information of the next pouring vehicle; Obtain the installation status information of the sliding gate nozzle and the completion status of argon blowing of the nozzle for the next casting vehicle; Obtain the positioning completion status information of the lifting mechanism and lateral movement mechanism of the next pouring vehicle; Obtain the long nozzle readiness status information of the next pouring vehicle; Obtain the estimated remaining pouring time for the current pouring truck; When the next pouring car is positioned for pouring, the sliding nozzle is installed and argon blowing is completed, the lifting mechanism and the lateral movement mechanism are positioned, the long nozzle is ready, and the estimated remaining pouring time of the current pouring car is sufficient to ensure that the next pouring car is ready before the current pouring car finishes pouring, the conditions for changing the pouring car are met.

[0011] Optionally, when it is determined that the current casting truck meets the preset ladle change preparation conditions, the next casting truck is pre-scheduled to complete its positioning, sliding gate installation, and argon blowing, including: When it is determined that the current casting truck meets the preset bag-changing preparation conditions, a dispatching instruction is issued to the next casting truck. The next pouring car responds to the dispatching command, moves from the ready position or standby position to the pouring position, and completes the positioning. The positioning includes: completing the seat confirmation, so that the refining ladle carried by the next pouring car is located in the seat position of the next pouring car; and completing the initial position confirmation, which includes lateral initial position confirmation and lifting initial position confirmation, to ensure that the next pouring car normally enters the pouring position. Install the sliding gate of the next casting car at the side of the casting position. Open the sliding gate to check whether molten steel flows out. If molten steel flows out, close the sliding gate. If no molten steel flows out, blow argon into the sliding gate until molten steel flows out and then close the sliding gate. Confirm that the long nozzle of the next pouring car is in a waiting state above the tundish, and send a signal indicating that the next pouring car has completed its positioning.

[0012] Optionally, when it is determined that the current pouring car meets the changing conditions, controlling the current pouring car to exit the pouring position and controlling the next pouring car to enter the pouring position for pouring includes: When the positioning completion signal of the next pouring car is received and the current pouring car meets the bag changing condition; Control the current pouring vehicle to exit the pouring position; Control the next pouring vehicle to move from the waiting-to-pour position to the pouring position; The next pouring car is controlled to adjust the sliding gate of the refining ladle it carries to be aligned with the pouring gate of the intermediate ladle through the lifting mechanism and the traversing mechanism before pouring begins, so as to achieve continuous or quasi-continuous connection between the two ladles.

[0013] Optionally, the step of controlling the next casting car to adjust the sliding gate of the refining ladle it carries to be aligned with the pouring gate of the tundish via a lifting mechanism and a traversing mechanism before starting casting includes: Control the next pouring vehicle to enter the pouring position and send an in-position signal; In response to the positioning signal, the lifting mechanism is controlled to adjust the vertical height of the refining ladle so that the sliding gate and the pouring port of the intermediate ladle are aligned in the vertical direction. Control the movement of the transverse mechanism to adjust the lateral position of the refining ladle in the horizontal direction, so that the sliding gate and the pouring port of the intermediate ladle are aligned in the horizontal direction; After confirming that the sliding gate and the pouring gate are aligned, open the sliding gate to begin pouring.

[0014] In a second aspect, the present invention provides a multi-ladle continuous casting control system, the system being used for multiple casting machines to perform multiple ladles of continuous casting on the same steel ingot mold, the multi-ladle continuous casting control system comprising: The data acquisition unit is used to collect the total weight data of the current pouring truck at the pouring position in real time. The data processing unit is used to determine the current remaining amount of molten steel based on the total weight data and the empty ladle weight data of the current casting car; to determine the real-time casting speed of the current casting car based on the weight change per unit time; and to determine the estimated remaining casting time of the current casting car based on the current remaining amount of molten steel and the real-time casting speed. The judgment unit is used to determine whether the current pouring car meets the preset ladle change preparation conditions based on the current remaining amount of molten steel, the real-time pouring speed and the estimated remaining pouring time, and to obtain the status information of the next pouring car, and to determine whether the ladle change conditions are met based on the status information of the next pouring car. The control unit is used to, when it is determined that the current pouring car meets the preset bag-changing preparation conditions, pre-schedule the next pouring car to control the next pouring car to complete the positioning, sliding nozzle installation and nozzle argon blowing; when it is determined that the current pouring car meets the bag-changing conditions, control the current pouring car to exit the pouring position and control the next pouring car to enter the pouring position for pouring.

[0015] Thirdly, an electronic device according to the present invention includes: a processor and a memory, the memory being used to store a computer program; When the computer program is loaded by the processor, it causes the processor to execute the above-described method for controlling the continuous casting of large steel ingots in multiple ladles based on multiple casting cars.

[0016] This invention relates to a method and system for continuous multi-ladle pouring control of large steel ingots based on multiple pouring cars. By real-time acquisition of the total weight data at each pouring position and subtracting the weight data of the empty ladle from the current pouring car, the difference is obtained as the current remaining amount of molten steel. This remaining amount is calculated from the force signal directly measured by the weighing sensor, without relying on calculations of the molten steel level or manual visual inspection. This eliminates the influence of factors such as ladle lining erosion and slag coverage on the estimation accuracy, providing a definite molten steel inventory value for subsequent control logic. The decrease in total weight per unit time is determined as the real-time pouring speed, and the change in total weight is the instantaneous flow rate of molten steel exiting the ladle. This speed value is obtained by the time derivative of the weight signal, eliminating the need for an additional flow measurement device. It can be used as a continuously updated dynamic feedback parameter directly in the calculation of the estimated remaining time. Based on the current remaining amount of molten steel and the real-time pouring speed, the estimated remaining pouring time is determined. This time is jointly determined by the currently measured remaining amount and the speed value: the quotient automatically shortens when the speed increases and automatically lengthens when the speed decreases, constantly updating according to changes in the pouring state. This invention uses the real-time updated time value as the basis for comparison with the preset ladle-changing preparation conditions, thus eliminating the problem of fixed time thresholds failing when operating conditions change. Furthermore, it first determines whether the preset ladle-changing preparation conditions are met based on the current remaining molten steel volume, real-time pouring speed, and estimated remaining pouring time. Simultaneously, it acquires the status information of the next pouring car and uses this information to determine whether the ladle-changing conditions are met. The ladle-changing preparation conditions determine when to initiate the advance scheduling of the next car, and the ladle-changing conditions confirm that the next car has actual pouring capacity before switching can proceed. These two conditions are sequential, ensuring that the ladle-changing action has advance time and status confirmation during execution. When it is determined that the current pouring car meets the ladle-changing preparation conditions, the next pouring car is advanced, controlling its positioning, sliding gate installation, and argon blowing. These procedures are performed within the time window provided by the estimated remaining time, synchronously with the final pouring of the current pouring car, without waiting for the current car to exit before starting preparation. When the ladle-changing conditions are met, the current pouring car is first controlled to exit the pouring position, and then the next pouring car is controlled to enter the pouring position. Before entering, the next car has completed the installation of the sprue and argon blowing. After entering the pouring position, it can directly establish the steel flow for pouring. The exit and entry are carried out in sequence to ensure that only one pouring car is in the pouring position at the same time, so as to avoid spatial interference caused by two cars occupying the pouring position at the same time.

[0017] In summary, this invention obtains the remaining molten steel volume from the difference between the total weight and the empty ladle weight, obtains the real-time pouring speed from the weight change per unit time, and obtains the estimated remaining pouring time from the ratio of the remaining volume to the speed. Based on this, it sets ladle change preparation conditions and ladle change conditions. When the preparation conditions are met, the next car is scheduled in advance to complete its positioning, nozzle installation, and argon blowing, and is parallel to the current final pouring stage. When the ladle change conditions are met, the workstation handover is completed in the order of the current car exiting first and the next car entering. The whole process is driven step by step by measured data, transforming the ladle change connection of multi-ladle pouring from a serial waiting process to an orderly process with a clear lead time, shortening the connection time, thereby suppressing internal defects such as molten steel temperature drop, cold shut, and shrinkage cavity, and meeting the high-quality and high-efficiency production requirements of large steel ingots. Attached Figure Description

[0018] Figure 1 This is a flowchart illustrating the method for controlling the continuous casting of large steel ingots using multiple casting vehicles, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the overall layout of the multi-station continuous molten steel casting system according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the cycle switching process of the three pouring car station according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the multi-dimensional adjustment and automatic sprue centering structure of the casting truck according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a large steel ingot multi-bundle continuous casting control system based on multiple casting vehicles, according to an embodiment of the present invention. Detailed Implementation

[0019] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0020] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0021] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0022] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0023] It should be noted that the information (including but not limited to user device information, user personal information, etc.), data (including but not limited to data used for analysis, data stored, data displayed, etc.) and signals involved in this application are all authorized by the user or fully authorized by all parties. The collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals are provided for users to choose to authorize or refuse.

[0024] Combination Figure 1 As shown in the figure, this invention provides a method for controlling continuous multi-ladle casting. The method is used for multiple casting machines to continuously cast multiple ladles of the same steel ingot mold. The method includes: Real-time collection of the total weight data of the current pouring truck at the pouring position.

[0025] Specifically, when preparing for multiple ladles, the total number of refining ladles required to complete the casting of the steel ingot is first determined based on the target weight of the large steel ingot and the effective capacity of a single refining ladle or steel ladle. The determined refining ladles are then placed on the ladle positions of the corresponding casting cars, so that each casting car carries one refining ladle, providing a material basis for subsequent multi-ladle relay casting.

[0026] The remaining amount of molten steel is determined based on the total weight data and the weight data of the empty ladle of the current casting car. The real-time casting speed of the current casting car is determined based on the weight change per unit time.

[0027] Specifically, after the first casting car carries the first refining ladle into the casting position of the ingot mold, the position of the refining ladle gate is adjusted by the lifting mechanism and the lateral movement mechanism of the casting car, so that the sliding gate of the refining ladle is precisely aligned with the casting port of the intermediate ladle, thereby completing the positioning and alignment operation of the first casting car at the casting position.

[0028] Based on the current remaining amount of molten steel and the real-time pouring speed, the estimated remaining pouring time for the current pouring vehicle is determined.

[0029] Specifically, after the first refining ladle is poured, the molten steel enters the ingot mold through the tundish. During this process, the weighing and detection unit installed on the casting car detects the total weight of the first refining ladle and the molten steel inside it in real time, and transmits the weight data to the central control system in real time as the basic input for all subsequent calculations and controls.

[0030] Based on the current remaining amount of molten steel, the real-time pouring speed, and the estimated remaining pouring time, determine whether the current pouring car meets the preset ladle change preparation conditions, and obtain the status information of the next pouring car. Based on the status information of the next pouring car, determine whether the ladle change conditions are met.

[0031] Specifically, after receiving the weighing data, the central control system determines the current remaining amount of molten steel based on the difference between the current total weight and the pre-stored weight of the empty ladle, using the formula: Current remaining amount of molten steel = Current total weight - Weight of empty ladle; simultaneously, it determines the real-time pouring speed based on the weight change per unit time, using the formula: Real-time pouring speed = Weight change per unit time; and finally, it determines the estimated remaining pouring time based on the formula: Estimated remaining pouring time = Current remaining amount of molten steel / Real-time pouring speed.

[0032] When it is determined that the current casting car meets the preset bag-changing preparation conditions, the next casting car is pre-scheduled to control the next casting car to complete the positioning, sliding gate installation and argon blowing.

[0033] Specifically, based on the calculated remaining molten steel in the current ladle, the real-time pouring speed, and the estimated remaining pouring time, the system determines in real time whether the current pouring car meets the preset ladle change preparation conditions. These preset ladle change preparation conditions include one or more of the following: the remaining molten steel in the current ladle is lower than a set threshold; the remaining molten steel in the current ladle is lower than a set percentage of the initial molten steel; the estimated remaining pouring time of the current ladle is less than the time required to prepare for the next car; the current pouring speed is lower than a set value; and the current ladle has reached a set pouring time. When the above ladle change preparation conditions are met, the central control system schedules the next pouring car in advance, controls the next pouring car to enter the pouring position, and completes the positioning, sliding nozzle installation, and argon blowing at the nozzle in the pouring position.

[0034] When the current casting car meets the conditions for changing the ladle, the central control system makes a comprehensive judgment based on the current ladle's pouring speed feedback, the remaining molten steel in the current ladle, the estimated pouring end time of the current ladle, the positioning status of the next casting car, the argon blowing completion signal of the next casting car's nozzle, the long nozzle replacement or ready status, and the positioning completion signal of the lifting and traversing mechanism. This comprehensive judgment specifically includes confirming one by one whether the next ladle has been seated, whether the sliding nozzle can be opened normally (the sliding nozzle opening operation is specifically performed at a steel receiving point next to the pouring position; first, try to open the sliding nozzle; if molten steel flows out, immediately close the sliding nozzle; if no molten steel is found to flow out, purge the sliding nozzle with argon until molten steel flows out and then close the sliding nozzle), whether the initial traversing position and the initial lifting position of the casting car have been confirmed to ensure that the casting car can drive into the pouring position normally, and whether the long nozzle is above the tundish in a waiting state. It must be ensured that all the above confirmation steps have been completed before the current ladle finishes pouring. When all the above conditions are met, it is determined that the conditions for changing the ladle are met.

[0035] When it is determined that the current pouring car meets the changing conditions, the current pouring car is controlled to exit the pouring position, and the next pouring car is controlled to enter the pouring position for pouring.

[0036] Specifically, when the conditions for changing the ladle are met, the current pouring car is controlled to exit the pouring position, and the next pouring car is controlled to enter the pouring position to start pouring, thereby achieving a continuous or quasi-continuous connection between the two ladles. During this process, the connection time between the two ladles is controlled within a preset range, for example, within 3 minutes, in order to reduce the temperature drop of the molten steel and the fluctuation of the liquid surface.

[0037] In one embodiment, a three-vehicle casting system is implemented. The three casting vehicles form a cyclical relay cycle. One vehicle is in the casting position performing the actual casting, another is in the waiting-to-cast position and has completed centering and other preparatory work in advance, and the third is in a ready, withdrawn, or standby position. After the current vehicle finishes casting and withdraws from the casting position, the original waiting-to-cast vehicle immediately enters the casting position, the original ready-to-cast vehicle enters the waiting-to-cast sequence, and the withdrawn vehicle receives a new ladle or enters a standby state, thereby realizing the cyclical relay casting of multiple casting vehicles. Multiple casting vehicles perform casting sequentially according to the above cyclical relay method until the entire casting of the large steel ingot body and the riser feeding casting are completed, ultimately completing the multi-ladle continuous casting process of the entire large steel ingot.

[0038] In a preferred embodiment of the present invention, combined with Figure 2The diagram illustrates the overall layout of a multi-station continuous molten steel casting system. The system comprises a central control unit, three independent casting cars, and three functional stations along a track: a casting preparation station, a casting station, and a casting completion waiting station. The central control unit establishes signal interaction with the three casting cars via communication links to uniformly schedule their movements. The casting car located at the left-hand casting preparation station carries the refining ladle, used for pre-positioning and initial self-checking of the refining ladle to be cast. The middle casting station is the core operating station; the casting car at this station carries the refining ladle, with an intermediate ladle positioned below it, and steel... The ingot mold forms a complete steel pouring channel. The molten steel flows from the refining ladle through the tundish into the ingot mold to complete the ingot casting operation. The pouring car on the right side, which is waiting for the pouring to finish, is used to receive the empty ladle after pouring and place it for transfer. The entire system is controlled by the central control unit to coordinate the orderly flow of the three pouring cars in different workstations. This realizes a segmented parallel operation mode of refining ladle pre-preparation, online continuous pouring, and empty ladle offline waiting. It effectively eliminates the waiting gap at a single workstation and ensures uninterrupted continuous pouring of molten steel. At the same time, relying on the independent car body of the workstation for zoned operation, it avoids the ladle changing process from occupying the pouring operation workstation and improves the overall pouring production efficiency.

[0039] Combination Figure 3 The diagram illustrates the cyclical switching process of three casting cars. It includes three types of workstation nodes: casting station A, casting waiting station B, and casting completion waiting station. Casting station A corresponds to the current state of the casting car carrying the refining ladle, where it performs molten steel casting. After the current car completes casting, it moves to the casting completion waiting station, where the previous car temporarily stores itself and waits to exit the work area. Once the previous car has completed its removal, the next car, carrying the refining ladle to be cast, moves from casting waiting station B to casting station A to continue the casting operation. The three cars continuously cycle through the workstations according to the AB, BC, and AC workstation rotation rhythms. The central control unit schedules the three casting cars to occupy different workstations in parallel, completing material preparation, online casting, and completion waiting processes, based on the workstation status and timing. This achieves seamless connection between the casting processes of the preceding and following ladles, eliminates the waiting window period for ladle changes under the single-workstation operation mode, and achieves the goal of continuous and uninterrupted molten steel casting production.

[0040] This embodiment of the multi-ladle continuous casting control method is used in multi-ladle casting scenarios for large steel ingots. Since the target weight of a large steel ingot exceeds the effective capacity of a single refining ladle or steel ladle, it cannot be completed by a single ladle casting. Instead, two or more refining ladles must be used to continuously cast the same ingot mold. Therefore, this embodiment uses at least two casting cars, preferably three, to complete the multi-ladle casting task. Each casting car can carry one refining ladle or steel ladle, and each casting car is equipped with a weighing detection unit for real-time weight feedback, a lifting adjustment mechanism, and a lateral positioning mechanism to ensure precise alignment between the refining ladle nozzle and the casting system, as well as long nozzle replacement or status detection functions to ensure steel flow protection. Simultaneously, all casting cars are uniformly scheduled and controlled by a central control system, which collects data in real time. The system monitors the current weighing data of the casting cars and issues scheduling instructions to each car based on data changes. Throughout the casting process, multiple casting cars perform relay casting on the same large ingot mold, meaning that the molten steel in all refining ladles is poured into the same ingot mold. When the refining ladle carried by one casting car is about to be finished, the central control system schedules the next casting car, which is already in place and ready, to seamlessly take over based on weighing feedback and the estimated remaining time. This relay continues in a cyclical manner until the main body casting and riser feeding of the same ingot mold are completed. This achieves continuous or quasi-continuous casting operations from the first ladle to the last. During this process, the coordinated operation of multiple casting cars effectively shortens the ladle connection time, stabilizes the casting flow rate, reduces the temperature drop and surface fluctuation of the molten steel, and ultimately improves the forming quality and casting safety of the large ingot.During implementation, the weighing and detection unit can be replaced by weighing sensors, hydraulic pressure sensors, support base weighing modules, track weighing devices, vehicle weighing devices, or a combination of pre-lifting weight data and pouring process correction data; the ladle change judgment conditions can be replaced by remaining molten steel volume, pouring speed, estimated remaining time, ingot mold liquid level height, current ladle weight threshold, pouring time, steel flow status, or a multi-parameter comprehensive judgment; the pouring speed can be calculated from weighing data, or it can be replaced by combining sprue opening, steel flow detection, liquid level rise speed, visual inspection, flow sensor, or model prediction algorithm; sprue alignment can be completed by lifting and lateral movement and vehicle traveling mechanism, or by visual recognition, laser... The method can be replaced by ranging, mechanical guidance positioning, or positioning pin hole structure; the long nozzle can be replaced by protective sleeve, pouring funnel, middle pouring pipe protective connector or other protective pouring structure; the long nozzle status detection can be replaced by position sensor, pressure detection, image recognition, temperature detection or manual confirmation signal; the control system can be a centralized central control system, or a central control system and vehicle controller can work together, or multiple pouring vehicles can use master-slave control, distributed control or interlock control; and this embodiment can be used not only for large steel ingot multi-ladle pouring, but also for ultra-large steel ingots, heavy steel castings, multi-ladle castings and metallurgical pouring scenarios that require continuous replenishment or riser feeding.

[0041] This embodiment of the large steel ingot multi-ladle continuous pouring control method based on multiple pouring cars uses real-time acquisition of the total weight data at the pouring position. The difference between this and the weight of the empty ladle in the current pouring car is the current remaining amount of molten steel. This remaining amount is obtained through difference calculation from the force signal directly measured by the weighing sensor, without relying on steel level estimation or manual visual inspection. This eliminates the influence of factors such as ladle lining erosion and slag coverage on the estimation accuracy, providing a definite molten steel inventory value for subsequent control logic. The decrease in total weight per unit time is determined as the real-time pouring speed, and the change in total weight is the instantaneous flow rate of molten steel flowing out of the ladle. This speed value is obtained by the time derivative of the weight signal, requiring no additional flow measurement device, and can be directly used as a continuously updated dynamic feedback parameter in the calculation of the estimated remaining time. Based on the current remaining amount of molten steel and the real-time pouring speed, the estimated remaining pouring time is determined. This time is jointly determined by the currently measured remaining amount and the speed value: the quotient automatically shortens when the speed increases and automatically lengthens when the speed decreases, constantly updating with changes in the pouring state. This embodiment uses the real-time updated time value as the basis for comparison with the preset ladle-changing preparation conditions, thus eliminating the problem of the fixed time threshold failing when the working conditions change. Furthermore, it first determines whether the preset ladle-changing preparation conditions are met based on the current remaining molten steel volume, real-time pouring speed, and estimated remaining pouring time. Simultaneously, it acquires the status information of the next pouring car and determines whether the ladle-changing conditions are met accordingly. The ladle-changing preparation conditions determine when to initiate the advance scheduling of the next car, and the ladle-changing conditions confirm that the next car has actual pouring capacity before switching can proceed. These two conditions are sequential, ensuring that the ladle-changing action has advance time and status confirmation during execution. When it is determined that the current pouring car meets the ladle-changing preparation conditions, the next pouring car is advanced, controlling its positioning, sliding gate installation, and argon blowing. The above procedures are executed within the time window provided by the estimated remaining time, synchronously with the final pouring of the current pouring car, without waiting for the current car to exit before starting preparation. When the ladle-changing conditions are met, the current pouring car is first controlled to exit the pouring position, and then the next pouring car is controlled to enter the pouring position. Before entering, the next car has completed the installation of the sprue and argon blowing. After entering the pouring position, it can directly establish the steel flow for pouring. The exit and entry are carried out in sequence to ensure that only one pouring car is in the pouring position at the same time, so as to avoid spatial interference caused by two cars occupying the pouring position at the same time.

[0042] In summary, this embodiment obtains the remaining molten steel volume from the difference between the total weight and the empty ladle weight, obtains the real-time pouring speed from the weight change per unit time, and obtains the estimated remaining pouring time from the ratio of the remaining volume to the speed. Based on this, ladle change preparation conditions and ladle change conditions are set. When the preparation conditions are met, the next car is scheduled in advance to complete its positioning, nozzle installation, and argon blowing, and is parallel to the current final pouring stage. When the ladle change conditions are met, the workstation handover is completed in the order of the current car exiting first and the next car entering. The whole process is driven step by step by measured data, transforming the ladle change connection of multi-ladle pouring from a serial waiting process to an orderly process with clear advance time, shortening the connection time, thereby suppressing internal defects such as molten steel temperature drop, cold shut, and shrinkage cavity, and meeting the high-quality and high-efficiency production requirements of large steel ingots.

[0043] Optionally, the real-time acquisition of the total weight of the current pouring vehicle at the pouring position includes: The weighing and detection unit installed on the current casting car continuously collects the total weight data of the current casting car and the refining ladle carried by the current casting car according to a preset sampling frequency. The weighing detection unit includes at least one of a weighing sensor, a hydraulic pressure sensor, a support weighing module, a track weighing device, or a vehicle weighing device.

[0044] Specifically, a weighing detection unit installed on the current casting car collects the total weight of the casting car at the casting position in real time. This weighing detection unit is specifically installed below the ladle seat of the casting car to support the refining ladle and sense its weight changes in real time. After the system is started, the central control system continuously triggers the weighing detection unit to collect data at a preset sampling frequency, for example, a sampling frequency ≥10Hz, thereby continuously acquiring the total weight data of the current casting car and the refining ladle it carries. During this continuous acquisition process, the weighing detection unit can adopt various forms depending on the actual configuration, including a weighing sensor that directly measures gravity, a hydraulic pressure sensor that converts weight based on hydraulic oil pressure, a support seat weighing module integrated into the ladle seat support structure, a track weighing device set on the casting car's travel track, and a direct... By integrating a vehicle weighing device into the vehicle structure, any of the above methods can achieve real-time output of total weight data. The collected analog weight signal is amplified and converted from analog to digital, and then transmitted to the central control system in real time via wired or wireless communication. The central control system performs necessary digital filtering on the received raw weight data to eliminate signal noise caused by mechanical vibration and steel flow impact during the pouring process, obtaining stable and reliable total weight time series data. This continuous acquisition process starts when the first pouring car starts pouring, and each subsequent pouring car starts its own continuous acquisition when it enters the pouring position until the car finishes pouring and leaves the pouring position. This provides real-time, continuous and accurate raw data support for subsequent calculation of remaining molten steel, real-time pouring speed, and estimated remaining pouring time.

[0045] In this optional embodiment, by directly integrating a weighing and detection unit on the casting truck and continuously collecting the total weight at a high sampling frequency, real-time quantitative perception of the steel consumption during the casting process is achieved. Compared with manual visual inspection or experience estimation, the data is more objective, updated more promptly, and can truly reflect the remaining state of the steel at each moment. This provides a reliable raw data foundation for subsequent automated ladle-changing decisions and advance scheduling, avoiding misjudgments of ladle-changing timing due to weighing delays or omissions.

[0046] Optionally, determining the current remaining amount of molten steel based on the total weight data and the current empty ladle weight data of the casting car, and determining the real-time casting speed of the current casting car based on the weight change per unit time, includes: The difference between the total weight data and the empty ladle weight data is used to obtain the current remaining amount of molten steel; The total weight is collected at multiple consecutive time intervals according to a preset time interval, and the weight change per unit time is calculated as the real-time pouring speed of the current pouring vehicle.

[0047] Specifically, after the central control system receives the total weight data transmitted in real time by the weighing and detection unit, it first retrieves the pre-entered empty ladle weight data of the refining ladle currently being carried by the casting car from the system memory. This empty ladle weight data includes the total weight of all fixed accessories such as the ladle shell, sliding gate, internal refractory material, and installed long gate. This data is typically obtained and stored in the system during the initial empty ladle calibration before the refining ladle is used. The central control system then subtracts the real-time total weight data from the aforementioned empty ladle weight data, calculating the precise mass of the remaining molten steel in the casting car at the current moment using the formula: Current remaining molten steel = Current total weight - Empty ladle weight. This value is continuously and dynamically updated as the total weight decreases during the casting process. Simultaneously, the central control system operates at preset time intervals, which are related to the sampling frequency of the weighing and detection unit, for example, multiples of the sampling period, such as every 1 second or 5 seconds. The system extracts weight data from multiple consecutive moments in the continuously collected total weight time series and calculates the weight change per unit time. This is achieved by subtracting the total weight of the next moment from the total weight of the previous moment and then dividing by the corresponding time interval. This yields the rate of steel reduction per unit time, which is then determined as the real-time pouring speed of the current pouring truck. To avoid significant errors caused by signal fluctuations in a single differential calculation, the central control system can smooth the results from multiple consecutive time periods during actual calculations. For example, the arithmetic mean of the results from the most recent 3 to 5 calculation cycles can be taken to obtain a more stable and accurate real-time pouring speed value. The calculation process for the current remaining molten steel and the real-time pouring speed is continuously performed throughout the pouring period at a fixed update cycle, such as once per second. This ensures that the central control system always has a grasp of the latest pouring status of the current pouring truck, providing accurate quantitative basis for subsequent calculations of the estimated remaining pouring time and judgment of ladle changing conditions.

[0048] In this optional embodiment, the remaining amount of molten steel is directly obtained by subtracting the total weight from the weight of the empty ladle, and the real-time pouring speed is calculated based on the weight change per unit time. This achieves quantitative and real-time acquisition of the remaining amount of molten steel and the pouring speed during the pouring process, replacing the traditional manual experience-based judgment method. The data is accurate and updated frequently, providing a quantitative basis for accurate prediction of the timing of subsequent ladle replacement and advance scheduling of the next batch, effectively avoiding the problem of premature or delayed ladle replacement caused by errors in manual estimation.

[0049] Optionally, determining whether the current pouring car meets the preset ladle change preparation conditions based on the current remaining molten steel volume, the real-time pouring speed, and the estimated remaining pouring time includes: Obtain the current remaining amount of molten steel, real-time pouring speed, and estimated remaining pouring time of the current pouring car; The current remaining amount of molten steel is compared with a preset remaining amount threshold. When the current remaining amount of molten steel is lower than the preset remaining amount threshold, it is determined that the preset ladle replacement preparation condition is met. Alternatively, determine the ratio of the current remaining molten steel to the initial molten steel; when the ratio is lower than a set ratio threshold, determine that the preset ladle replacement preparation conditions are met. Alternatively, the estimated remaining pouring time can be compared with the preparation time required for the next pouring truck. If the estimated remaining pouring time is less than the preparation time required, it is determined that the preset bag change preparation condition is met. Alternatively, the real-time pouring speed can be compared with a set speed threshold. When the real-time pouring speed is lower than the set speed threshold, it is determined that the preset package change preparation condition is met. Alternatively, the cumulative time that the current pouring truck has been continuously pouring can be obtained, and when the cumulative time reaches the set pouring time, it is determined that the preset bag change preparation condition is met.

[0050] Specifically, when the central control system performs the judgment on the preset ladle change preparation conditions, it first obtains three key parameters from the real-time calculation module: the current remaining amount of molten steel in the current pouring car, the real-time pouring speed, and the estimated remaining pouring time. These parameters serve as the basic input data for subsequent comparisons and judgments. Then, the central control system selects one or more of the following five methods for judgment according to the preset criterion logic. Specifically: The first method is for the central control system to compare the current remaining amount of molten steel with the system's preset remaining amount threshold. This threshold can be preset according to the target weight of the steel ingot and the capacity of a single ladle, such as 5 tons, 8 tons or 15 tons. When the current remaining amount of molten steel is detected to be lower than the preset remaining amount threshold, it is determined that the current casting truck meets the preset ladle changing preparation conditions.

[0051] The second method is for the central control system to first read the initial molten steel volume data recorded when the current casting truck starts casting, then calculate the percentage of the current remaining molten steel volume relative to the initial molten steel volume, and then compare the calculated percentage with the system's preset percentage threshold, such as 15%, 20%, 25% or 35%. When the percentage is lower than the preset percentage threshold, it is determined that the preset ladle change preparation conditions are met.

[0052] The third method involves the central control system comparing the calculated estimated remaining pouring time with the preparation time required for the next pouring vehicle. This preparation time refers to the total time required from the moment the central control system issues the dispatch command to the completion of all preparatory work, including entering the pouring position, confirming the seat, installing and testing the sliding nozzle, blowing argon into the nozzle, zeroing the lifting and traversing mechanism, and positioning the long nozzle and placing it in a waiting state. This preparation time can be obtained from historical data statistics or preset by process personnel, for example, 2 minutes, 3 minutes, or 5 minutes. When the estimated remaining pouring time is less than this preparation time, it is determined that the preset changeover preparation conditions are met.

[0053] The fourth method is that the central control system compares the real-time pouring speed calculated in real time with the preset speed threshold of the system. This threshold can be set as an absolute value, such as 0.05t / min, or as a relative value, such as being lower than 80% of the target pouring speed. When the real-time pouring speed is lower than the preset speed threshold, it is determined that the preset bag replacement preparation conditions are met.

[0054] The fifth method is that the central control system starts accumulating the continuous pouring time from the moment the current pouring car starts pouring, and compares the accumulated time with the preset pouring time of the system. The preset pouring time is calculated in advance based on the amount of molten steel in a single ladle and the target pouring speed required by the process, and is given by the process card. When the accumulated pouring time reaches the preset pouring time, it is determined that the preset ladle change preparation conditions are met.

[0055] The above five judgment methods can be used individually or in combination according to process needs. For example, when using "OR" logic, any condition being met will trigger the preparation scheduling. When using "AND" logic, multiple conditions need to be met simultaneously to trigger the preparation scheduling. The central control system performs comprehensive calculations on the above comparison results according to the preset combination logic. Once the comprehensive judgment meets the preset package change preparation conditions, the system immediately outputs the package change preparation signal and begins to execute the advance scheduling and preparation work of the next pouring car.

[0056] In this optional embodiment, by setting five different triggering conditions based on the remaining molten steel quantity, remaining proportion, estimated remaining time, real-time pouring speed, and cumulative pouring time, the ladle change preparation judgment can flexibly adapt to various pouring conditions. Regardless of the pouring performance of the current refining ladle due to factors such as initial molten steel quantity deviation, pouring speed fluctuation, molten steel fluidity difference, or nozzle erosion, there will always be one or more criteria that can trigger the ladle change preparation in a timely and accurate manner. This effectively avoids scheduling delays caused by the failure of a single criterion under specific conditions, ensuring that the next pouring car always has sufficient preparation time, thereby achieving the reliability and stability of ladle connection.

[0057] Optionally, obtaining the status information of the next pouring truck and determining whether the conditions for changing the ladle are met based on the status information of the next pouring truck includes: Obtain the positioning status information of the next pouring vehicle; Obtain the installation status information of the sliding gate nozzle and the completion status of argon blowing of the nozzle for the next casting vehicle; Obtain the positioning completion status information of the lifting mechanism and lateral movement mechanism of the next pouring vehicle; Obtain the long nozzle readiness status information of the next pouring vehicle; Obtain the estimated remaining pouring time for the current pouring truck; When the next pouring car is positioned for pouring, the sliding nozzle is installed and argon blowing is completed, the lifting mechanism and the lateral movement mechanism are positioned, the long nozzle is ready, and the estimated remaining pouring time of the current pouring car is sufficient to ensure that the next pouring car is ready before the current pouring car finishes pouring, the conditions for changing the pouring car are met.

[0058] Specifically, when the central control system makes a comprehensive judgment on the conditions for changing the ladle, it first obtains the positioning status information from the on-board controller and various position sensors of the next casting car. This positioning status information includes whether the next casting car has entered the pouring position and confirmed to be in place by a proximity switch or laser ranging, whether the walking mechanism of the next casting car is in a brake-locked state, and whether the ladle is loaded on the ladle and the ladle is confirmed to be in place. Secondly, the central control system obtains the installation status information of the sliding gate nozzle and the completion status information of the argon blowing of the nozzle of the next casting car. This status information includes whether the sliding gate nozzle has been installed at the bottom of the ladle and is securely installed, and whether the opening test of the sliding gate nozzle has been completed. This test is specifically carried out at the steel receiving point next to the pouring position, and an initial attempt is made to open the nozzle. Open the sliding gate. If molten steel flows out, immediately close it and confirm that the gate opens smoothly. If no molten steel flows out, purge the gate with argon gas from below until molten steel flows out, then close the gate. Also, check that the argon purging line is connected and that the argon pressure reaches the preset value (e.g., 0.3-0.5 MPa), and maintain normal gas supply. Next, the central control system acquires the positioning completion status information of the lifting and traversing mechanisms of the next casting vehicle. This status information includes whether the lifting mechanism has descended to the lower limit (lowest position) to ensure the vehicle can enter the casting position without obstruction; whether the traversing mechanism has returned to the center zero position to ensure the vehicle width does not exceed the travel limit; and whether the position sensors of the lifting and traversing cylinders have all returned position signals and are functioning correctly. Alarm; The central control system acquires the readiness status information of the long nozzle of the next pouring car. This status information includes whether the long nozzle is installed at the lower end of the sliding nozzle and securely connected, whether the long nozzle is in the waiting position above the tundish, whether the argon blowing interface of the long nozzle is connected and well-sealed, and whether the long nozzle status detection unit, such as a position sensor, pressure detection, or image recognition device, has fed back a readiness signal; The central control system acquires the estimated remaining pouring time of the current pouring car. This time is continuously and dynamically calculated and updated by the central control system based on the current remaining amount of molten steel divided by the real-time pouring speed; Finally, the central control system performs comprehensive logic and judgment on all the above acquired status information, that is, it requires that the next pouring car is in the waiting position for pouring. Furthermore, once the sump is confirmed to be complete, the sliding nozzle has been installed and argon blowing has been completed, the lifting and traversing mechanisms have returned to their initial positions and completed positioning, and the long nozzle is ready and waiting, the central control system must also confirm that the estimated remaining pouring time of the current pouring vehicle is long enough to ensure that all the above preparations are completed before the current pouring vehicle finishes pouring. In other words, the estimated remaining pouring time of the current pouring vehicle must be greater than the remaining preparation time required for the next pouring vehicle to go from the current preparation state to full readiness. Only when all the above conditions are met simultaneously will the central control system finally determine that the sump changing conditions are met, and then issue a sump changing execution command to control the current pouring vehicle to exit and control the next pouring vehicle to enter the pouring position to start pouring.

[0059] In this optional embodiment, by comprehensively acquiring and integrating logic and judgment on the positioning status of the next pouring car, the installation status of the sliding nozzle and the completion status of argon blowing, the completion status of the lifting and lateral positioning, the readiness status of the long nozzle, and the estimated remaining pouring time of the current pouring car, it is ensured that the next car has fully reached the ready state before pouring when the changeover action is initiated. This avoids the interruption or delay of the changeover due to the incomplete completion of a certain preparation. At the same time, the sufficiency of preparation time is ensured by checking the estimated remaining pouring time, thereby realizing the reliability, orderliness and controllability of the changeover process.

[0060] Optionally, when it is determined that the current casting truck meets the preset ladle change preparation conditions, the next casting truck is pre-scheduled to complete its positioning, sliding gate installation, and argon blowing, including: When it is determined that the current casting truck meets the preset bag-changing preparation conditions, a dispatching instruction is issued to the next casting truck. The next pouring car responds to the dispatching command, moves from the ready position or standby position to the pouring position, and completes the positioning. The positioning includes: completing the seat confirmation, so that the refining ladle carried by the next pouring car is located in the seat position of the next pouring car; and completing the initial position confirmation, which includes lateral initial position confirmation and lifting initial position confirmation, to ensure that the next pouring car normally enters the pouring position. Install the sliding gate of the next casting car at the side of the casting position. Open the sliding gate to check whether molten steel flows out. If molten steel flows out, close the sliding gate. If no molten steel flows out, blow argon into the sliding gate until molten steel flows out and then close the sliding gate. Confirm that the long nozzle of the next pouring car is in a waiting state above the tundish, and send a signal indicating that the next pouring car has completed its positioning.

[0061] Specifically, based on a comprehensive assessment of the current remaining molten steel, real-time pouring speed, and estimated remaining pouring time, the central control system determines that the current pouring car meets the preset ladle-changing preparation conditions. Immediately upon receiving this determination, the central control system sends a dispatch command to the onboard controller of the next pouring car via an industrial Ethernet or wireless communication network. This dispatch command includes target location information (coordinates of the pouring position) and action requirements. Upon receiving the dispatch command, the onboard controller of the next pouring car starts the drive motor, controlling the pouring car to travel at a safe speed, for example, ≤5m / min, from the preparation or standby position along the preset track to the pouring position. Precise parking and positioning are achieved through proximity switches and laser ranging. The next pouring car performs a positioning confirmation process after entering the pouring position. This process first includes confirming the ladle position, which involves using a weighing detection unit or ladle positioning sensor below the ladle position to confirm that the ladle is securely placed on the ladle position of the pouring car and that the ladle's posture is normal, ensuring that the ladle will not tip over or shift during subsequent lifting and lateral movements. The positioning confirmation process also includes confirming the initial position, which specifically includes confirming the initial position of lateral movement and the initial position of lifting, which involves using the position sensor of the lateral movement mechanism to confirm that the lateral movement cylinder has returned to the center zero position, ensuring that the width of the car does not exceed the travel limit of the pouring position. Simultaneously, the position sensor of the lifting mechanism confirms that the lifting cylinder has descended to the lower limit, ensuring the vehicle body is at its lowest height and can drive into the pouring position without obstruction. This ensures that the next pouring vehicle has the conditions to drive into the pouring position normally. After confirming the positioning, the next pouring vehicle performs the installation operation of the sliding gate at the specially set steel receiving operation station next to the pouring position. The sliding gate is installed at the outlet at the bottom of the refining ladle and the connection is ensured to be tight. After installation, the sliding gate is opened to check whether the molten steel can flow out normally. If molten steel is observed to flow out, the sliding gate is immediately closed. The gate is prepared for subsequent pouring. If no molten steel is observed flowing out, the sliding gate is purged with argon gas, for example, at a pressure of 0.3-0.5 MPa, from below the gate until the molten steel flows out smoothly. The sliding gate is then closed, thus completing a functional test to confirm its ability to open and close normally. After completing the above operations, the next pouring car confirms that its long gate is installed at the lower end of the sliding gate and is in a waiting position above the tundish, maintaining a certain distance between the lower end of the long gate and the tundish gate, ready to descend without contacting the molten steel inside the tundish. Simultaneously, a completion signal indicating that all the above steps have been completed is fed back to the central control system via the communication network, informing the central control system that the next pouring car is fully ready and can enter the pouring position at any time to receive a ladle change command to begin pouring.

[0062] In this optional embodiment, by scheduling the next vehicle in advance to complete the entire preparation process—from driving into position, seat confirmation, initial position confirmation, sliding gate installation and testing to argon blowing and waiting for the long gate—while the current vehicle is still pouring, the originally sequential preparation work is executed in parallel with the current vehicle's pouring process. This ensures that the next vehicle is fully ready before the changeover command is issued, effectively reducing the changeover connection time. Simultaneously, the advance testing and argon blowing of the sliding gate ensures reliable gate opening, avoiding the risk of pouring interruption due to gate blockage during the changeover.

[0063] Optionally, when it is determined that the current pouring car meets the changing conditions, controlling the current pouring car to exit the pouring position and controlling the next pouring car to enter the pouring position for pouring includes: When the positioning completion signal of the next pouring car is received and the current pouring car meets the bag changing condition; Control the current pouring vehicle to exit the pouring position; Control the next pouring vehicle to move from the waiting-to-pour position to the pouring position; The next pouring car is controlled to adjust the sliding gate of the refining ladle it carries to be aligned with the pouring gate of the intermediate ladle through the lifting mechanism and the traversing mechanism before pouring begins, so as to achieve continuous or quasi-continuous connection between the two ladles.

[0064] Specifically, when the central control system receives the positioning completion signal from the next casting car, this signal indicates that the next casting car has completed all preparations, including positioning at the casting position, confirmation of the ladle seat, confirmation of the initial position of lateral movement, confirmation of the initial position of lifting, installation and testing of the sliding nozzle and argon blowing, and the long nozzle being positioned above the tundish and waiting. When the central control system confirms that the current casting car meets the ladle changing conditions after comprehensively judging based on the real-time casting speed feedback of the current casting car, the remaining amount of molten steel, the estimated casting end time, the positioning status of the next casting car, the argon blowing completion signal of the nozzle, the ready status of the long nozzle, and the positioning completion signal of the lifting and lateral movement mechanism, the central control system first issues an exit command to the on-board controller of the current casting car. After receiving the exit command, the current casting car immediately closes its sliding nozzle to terminate the steel flow, and then lowers the ladle it carries to the lower limit position (minimum height) through the lifting mechanism, and then returns the ladle nozzle to the center zero position through the lateral movement mechanism. Then, the drive motor is activated to exit the pouring position at a safe speed, such as ≤5m / min, along the track, moving to the exit position or a standby position, thus making room for the next pouring vehicle. During or after the current pouring vehicle's exit, the central control system sends an entry command to the onboard controller of the next pouring vehicle, which is already positioned at the waiting pouring position. Upon receiving the entry command, the next pouring vehicle activates its drive motor and moves from the waiting pouring position along the track at a safe speed, such as ≤5m / min, and achieves precise parking and positioning through proximity switches and laser ranging, with a positioning accuracy of ±5mm, completing the movement to enter the pouring position. After the next pouring vehicle enters the pouring position and stops, the central control system controls the lifting mechanism of the next pouring vehicle to rise to a preset height, while simultaneously controlling... The lateral movement mechanism performs fine-tuning left and right (e.g., within ±20mm), adjusting the position of the sliding gate of the refining ladle through coordinated lifting and lateral movements. This ensures precise alignment between the centerline of the sliding gate and the centerline of the tundish pouring port, with a deviation of ≤2mm. Visual recognition or laser ranging can be used to assist in alignment. Once aligned, the central control system issues a pouring start command. The next pouring car immediately opens the sliding gate and simultaneously activates argon blowing protection. The molten steel flows into the tundish through the long gate or is directly injected into the ingot mold, starting the pouring operation for the next ladle. This achieves continuous or quasi-continuous connection between the two ladles. The entire ladle change time, from the exit of the current pouring car to the completion of the next pouring car's pouring start, is controlled within a preset range, such as within 3 minutes, to reduce molten steel temperature drop and surface fluctuations.

[0065] In this optional embodiment, the current car is controlled to exit and free up the pouring position by issuing a command first, and then the next car, which is fully ready, is controlled to immediately drive in and start pouring. This achieves a close connection between the two pouring operations in terms of time. With the precise alignment of the lifting and traversing mechanism, the steel flow is accurately injected into the intermediate ladle. The entire ladle changing process is orderly and controllable, effectively shortening the steel flow interruption time and avoiding safety accidents and pouring quality defects caused by chaotic ladle changing actions or alignment deviations.

[0066] Optionally, the step of controlling the next casting car to adjust the sliding gate of the refining ladle it carries to be aligned with the pouring gate of the tundish via a lifting mechanism and a traversing mechanism before starting casting includes: Control the next pouring vehicle to enter the pouring position and send an in-position signal; In response to the positioning signal, the lifting mechanism is controlled to adjust the vertical height of the refining ladle so that the sliding gate and the pouring port of the intermediate ladle are aligned in the vertical direction. Control the movement of the transverse mechanism to adjust the lateral position of the refining ladle in the horizontal direction, so that the sliding gate and the pouring port of the intermediate ladle are aligned in the horizontal direction; After confirming that the sliding gate and the pouring gate are aligned, open the sliding gate to begin pouring.

[0067] Specifically, after the central control system determines that the current pouring car meets the conditions for changing the ladle and issues an entry command to the next pouring car, the onboard controller of the next pouring car drives the travel motor to move the pouring car from the waiting position to the pouring position at a safe speed, for example, ≤5m / min. Precise stopping is achieved through a combination of proximity switches and laser rangefinders pre-set on the pouring position track. When the vehicle reaches the preset stopping position and the positioning deviation is within the allowable range, for example, ±5mm, the onboard controller sends a positioning signal to the central control system. This positioning signal indicates that the next pouring car has completed precise stopping at the pouring position and is in a stable state where centering operations can be performed. Upon receiving this positioning signal, the central control system immediately moves to the next pouring position. The lifting mechanism controller of the tundish ladle sends a height adjustment command. Upon receiving the command, the lifting mechanism activates the hydraulic cylinder or electric actuator to drive the lifting platform carrying the refining ladle to rise or fall smoothly in the vertical direction. Simultaneously, position sensors installed on the lifting mechanism, such as magnetostrictive displacement sensors or encoders, feed back the current height position to the central control system in real time. The central control system compares the fed-back height position with a preset target height value, which is the required height for aligning the sliding gate and the tundish pouring port in the vertical direction. When the feedback value reaches the allowable deviation range of the target value, such as ±2mm, the central control system issues a stop signal, the lifting mechanism stops and locks, completing the vertical adjustment. Alignment is achieved; after vertical alignment is completed, the central control system immediately sends a lateral adjustment command to the lateral movement mechanism controller of the next casting car. Upon receiving the command, the lateral movement mechanism activates the hydraulic cylinder or screw drive mechanism to drive the lateral movement platform carrying the refining ladle to move slowly in the horizontal direction. Simultaneously, position sensors installed on the lateral movement mechanism, such as linear displacement sensors or encoders, feed back the current lateral position to the central control system in real time. The central control system compares the feedback lateral position with the preset target lateral position, which is the position required for horizontal alignment between the center line of the sliding gate and the center line of the tundish pouring gate. When the feedback value reaches the allowable deviation range of the target value, for example, ±2mm... The central control system issues a stop signal, the traverse mechanism stops and locks, completing the horizontal alignment. After both the lifting and traverse mechanisms have completed positioning, the central control system comprehensively confirms that the sliding gate and the tundish pouring port have achieved the required alignment accuracy in both the height and horizontal directions, i.e., the deviation is ≤2mm. At this point, the central control system considers the alignment operation to be completed and immediately issues a pouring start command to the sliding gate actuator of the next pouring car. The sliding gate actuator responds to the command by opening the sliding gate and simultaneously activating the argon blowing protection. The argon pressure is maintained at 0.3-0.5MPa. The molten steel flows accurately into the tundish pouring port through the aligned sliding gate and long gate, starting the normal pouring operation of the ladle.

[0068] Combination Figure 4The diagram illustrates a multi-dimensional adjustment mechanism for the casting car and an automatic nozzle alignment structure. The main body of the car is a casting car that travels on a track at the casting position. The car is equipped with three independent actuators: a traveling mechanism, a lateral movement mechanism, and a lifting mechanism. The traveling mechanism controls the longitudinal movement of the car along the track to enter and exit the casting position. The lateral movement mechanism adjusts the horizontal displacement of the refining ladle, and the lifting mechanism adjusts the vertical height of the refining ladle. The refining ladle is placed on the casting car's support platform, and the intermediate ladle is positioned below it. By linking the lateral movement mechanism and the lifting mechanism, the spatial position of the refining ladle is adjusted to complete the nozzle alignment operation, ensuring that the bottom nozzle of the refining ladle is precisely coaxially aligned with the casting port of the intermediate ladle. A steel ingot mold is set in the casting position area below the intermediate ladle. Molten steel flows sequentially through the refining ladle and intermediate ladle into the steel ingot mold to complete the ingot casting operation. The entire mechanism can eliminate alignment deviations through precise micro-adjustment with multiple degrees of freedom, replacing manual visual alignment, improving nozzle docking accuracy, and avoiding defects such as molten steel splashing, deviation, and slag entrapment during the casting process.

[0069] In this optional embodiment, a step-by-step control method is adopted, which first aligns the ladle nozzle and then performs vertical alignment and horizontal alignment in sequence. With the real-time feedback and closed-loop adjustment of the position sensor, the precise automatic alignment of the ladle nozzle and the tundish pouring port is achieved. This avoids the deviation and shaking caused by manual visual alignment, ensures that the steel flow is accurately and stably injected into the tundish, effectively reduces the problems of steel splashing and pouring deviation caused by alignment deviation, and improves the safety and steel flow stability of the pouring process.

[0070] Combination Figure 5 As shown in the figure, an embodiment of the present invention provides a multi-ladle continuous casting control system. The system is used for multiple casting vehicles to continuously cast multiple ladles of steel ingot into the same mold. The multi-ladle continuous casting control system includes: The data acquisition unit is used to collect the total weight data of the current pouring truck at the pouring position in real time. The data processing unit is used to determine the current remaining amount of molten steel based on the total weight data and the empty ladle weight data of the current casting car; to determine the real-time casting speed of the current casting car based on the weight change per unit time; and to determine the estimated remaining casting time of the current casting car based on the current remaining amount of molten steel and the real-time casting speed. The judgment unit is used to determine whether the current pouring car meets the preset ladle change preparation conditions based on the current remaining amount of molten steel, the real-time pouring speed and the estimated remaining pouring time, and to obtain the status information of the next pouring car, and to determine whether the ladle change conditions are met based on the status information of the next pouring car. The control unit is used to, when it is determined that the current pouring car meets the preset bag-changing preparation conditions, pre-schedule the next pouring car to control the next pouring car to complete the positioning, sliding nozzle installation and nozzle argon blowing; when it is determined that the current pouring car meets the bag-changing conditions, control the current pouring car to exit the pouring position and control the next pouring car to enter the pouring position for pouring.

[0071] The large steel ingot multi-ladle continuous casting control system based on multiple casting vehicles of the present invention has the same advantages over the prior art as the above-mentioned large steel ingot multi-ladle continuous casting control method based on multiple casting vehicles, and will not be repeated here.

[0072] An electronic device according to an embodiment of the present invention includes: a processor and a memory, wherein the memory is used to store a computer program; When the computer program is loaded by the processor, it causes the processor to execute the above-described method for controlling the continuous casting of large steel ingots in multiple ladles based on multiple casting cars.

[0073] The electronic device of the present invention has the same advantages over the prior art as the above-mentioned control method for continuous casting of large steel ingots based on multiple casting cars, and will not be repeated here.

[0074] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A method for controlling continuous casting of multiple packages, characterized in that, The method is used for multiple casting machines to continuously cast multiple batches of steel ingot molds. The method for controlling the continuous casting of multiple batches includes: Real-time collection of the total weight data of the current pouring truck at the pouring position; The remaining amount of molten steel is determined based on the total weight data and the weight data of the empty ladle of the current casting car. The real-time casting speed of the current casting car is determined based on the weight change per unit time. Based on the current remaining amount of molten steel and the real-time pouring speed, determine the estimated remaining pouring time for the current pouring vehicle; Based on the current remaining amount of molten steel, the real-time pouring speed, and the estimated remaining pouring time, determine whether the current pouring car meets the preset ladle change preparation conditions, and obtain the status information of the next pouring car. Based on the status information of the next pouring car, determine whether the ladle change conditions are met. When it is determined that the current pouring car meets the preset bag changing preparation conditions, the next pouring car is pre-scheduled and controlled to complete the positioning, sliding gate installation and argon blowing of the gate. When it is determined that the current pouring car meets the changing conditions, the current pouring car is controlled to exit the pouring position, and the next pouring car is controlled to enter the pouring position for pouring.

2. The method for controlling the continuous casting of large steel ingots using multiple casting cars based on claim 1, characterized in that, The real-time acquisition of the total weight of the current pouring vehicle at the pouring position includes: The weighing and detection unit installed on the current casting car continuously collects the total weight data of the current casting car and the refining ladle carried by the current casting car according to a preset sampling frequency. The weighing detection unit includes at least one of a weighing sensor, a hydraulic pressure sensor, a support weighing module, a track weighing device, or a vehicle weighing device.

3. The method for controlling the continuous casting of large steel ingots using multiple casting vehicles based on claim 1, characterized in that, The step of determining the current remaining amount of molten steel based on the total weight data and the current empty ladle weight data of the casting car, and determining the real-time casting speed of the current casting car based on the weight change per unit time, includes: The difference between the total weight data and the empty ladle weight data is used to obtain the current remaining amount of molten steel; The total weight is collected at multiple consecutive time intervals according to a preset time interval, and the weight change per unit time is calculated as the real-time pouring speed of the current pouring vehicle.

4. The method for controlling the continuous casting of large steel ingots using multiple casting vehicles according to claim 3, characterized in that, The step of determining whether the current pouring car meets the preset ladle change preparation conditions based on the current remaining molten steel volume, the real-time pouring speed, and the estimated remaining pouring time includes: Obtain the current remaining amount of molten steel, real-time pouring speed, and estimated remaining pouring time of the current pouring car; The current remaining amount of molten steel is compared with a preset remaining amount threshold. When the current remaining amount of molten steel is lower than the preset remaining amount threshold, it is determined that the preset ladle replacement preparation condition is met. Alternatively, determine the ratio of the current remaining molten steel to the initial molten steel; when the ratio is lower than a set ratio threshold, determine that the preset ladle replacement preparation conditions are met. Alternatively, the estimated remaining pouring time can be compared with the preparation time required for the next pouring truck. If the estimated remaining pouring time is less than the preparation time required, it is determined that the preset bag change preparation condition is met. Alternatively, the real-time pouring speed can be compared with a set speed threshold. When the real-time pouring speed is lower than the set speed threshold, it is determined that the preset package change preparation condition is met. Alternatively, the cumulative time that the current pouring truck has been continuously pouring can be obtained, and when the cumulative time reaches the set pouring time, it is determined that the preset bag change preparation condition is met.

5. The method for controlling the continuous casting of large steel ingots using multiple casting cars according to claim 1, characterized in that, The step of obtaining the status information of the next pouring truck and determining whether the conditions for changing the ladle are met based on the status information of the next pouring truck includes: Obtain the positioning status information of the next pouring vehicle; Obtain the installation status information of the sliding gate nozzle and the completion status of argon blowing of the nozzle for the next casting vehicle; Obtain the positioning completion status information of the lifting mechanism and lateral movement mechanism of the next pouring vehicle; Obtain the long nozzle readiness status information of the next pouring vehicle; Obtain the estimated remaining pouring time for the current pouring truck; When the next pouring car is positioned for pouring, the sliding nozzle is installed and argon blowing is completed, the lifting mechanism and the lateral movement mechanism are positioned, the long nozzle is ready, and the estimated remaining pouring time of the current pouring car is sufficient to ensure that the next pouring car is ready before the current pouring car finishes pouring, the conditions for changing the pouring car are met.

6. The method for controlling the continuous casting of large steel ingots using multiple casting cars according to claim 1, characterized in that, When it is determined that the current casting truck meets the preset baggage change preparation conditions, the next casting truck is pre-scheduled to complete its positioning, sliding gate installation, and argon blowing, including: When it is determined that the current casting truck meets the preset bag-changing preparation conditions, a dispatching instruction is issued to the next casting truck. The next pouring car responds to the dispatching command, moves from the ready position or standby position to the pouring position, and completes the positioning. The positioning includes: completing the seat confirmation, so that the refining ladle carried by the next pouring car is located in the seat position of the next pouring car; and completing the initial position confirmation, which includes lateral initial position confirmation and lifting initial position confirmation, to ensure that the next pouring car normally enters the pouring position. Install the sliding gate of the next casting car at the side of the casting position. Open the sliding gate to check whether molten steel flows out. If molten steel flows out, close the sliding gate. If no molten steel flows out, blow argon into the sliding gate until molten steel flows out and then close the sliding gate. Confirm that the long nozzle of the next pouring car is in a waiting state above the tundish, and send a signal indicating that the next pouring car has completed its positioning.

7. The method for controlling the continuous casting of large steel ingots using multiple casting cars according to claim 6, characterized in that, When it is determined that the current pouring car meets the changing conditions, controlling the current pouring car to exit the pouring position and controlling the next pouring car to enter the pouring position for pouring includes: When the positioning completion signal of the next pouring car is received and the current pouring car meets the bag changing condition; Control the current pouring vehicle to exit the pouring position; Control the next pouring vehicle to move from the waiting-to-pour position to the pouring position; The next pouring car is controlled to adjust the sliding gate of the refining ladle it carries to be aligned with the pouring gate of the intermediate ladle through the lifting mechanism and the traversing mechanism before pouring begins, so as to achieve continuous or quasi-continuous connection between the two ladles.

8. The method for controlling the continuous casting of large steel ingots using multiple casting vehicles according to claim 7, characterized in that, The control of the next pouring car to adjust the sliding gate of the refining ladle it carries to be aligned with the pouring gate of the tundish via a lifting mechanism and a traversing mechanism before pouring begins includes: Control the next pouring vehicle to enter the pouring position and send an in-position signal; In response to the positioning signal, the lifting mechanism is controlled to adjust the vertical height of the refining ladle so that the sliding gate and the pouring port of the intermediate ladle are aligned in the vertical direction. Control the movement of the transverse mechanism to adjust the lateral position of the refining ladle in the horizontal direction, so that the sliding gate and the pouring port of the intermediate ladle are aligned in the horizontal direction; After confirming that the sliding gate and the pouring gate are aligned, open the sliding gate to begin pouring.

9. A multi-bundle continuous pouring control system, characterized in that, The system is used for multiple casting vehicles to continuously cast multiple ladles of steel ingots from the same mold. The multi-ladle continuous casting control system includes: The data acquisition unit is used to collect the total weight data of the current pouring truck at the pouring position in real time. The data processing unit is used to determine the current remaining amount of molten steel based on the total weight data and the empty ladle weight data of the current casting car; to determine the real-time casting speed of the current casting car based on the weight change per unit time; and to determine the estimated remaining casting time of the current casting car based on the current remaining amount of molten steel and the real-time casting speed. The judgment unit is used to determine whether the current pouring car meets the preset ladle change preparation conditions based on the current remaining amount of molten steel, the real-time pouring speed and the estimated remaining pouring time, and to obtain the status information of the next pouring car, and to determine whether the ladle change conditions are met based on the status information of the next pouring car. The control unit is used to, when it is determined that the current pouring car meets the preset bag-changing preparation conditions, pre-schedule the next pouring car to control the next pouring car to complete the positioning, sliding nozzle installation and nozzle argon blowing; when it is determined that the current pouring car meets the bag-changing conditions, control the current pouring car to exit the pouring position and control the next pouring car to enter the pouring position for pouring.

10. An electronic device, characterized in that, include: Processor and memory, the memory being used to store computer programs; When the computer program is loaded by the processor, it causes the processor to execute the method for continuous casting control of large steel ingots in multiple ladles based on multiple casting cars as described in any one of claims 1-8.

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