Multi-axis Robot for Continuous Casting Strand Inspection
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Solution Overview
Problem
Existing continuous casting plants face limitations in sensor placement and thermal exposure, with limited flexibility in measuring strand or slab quality due to fixed sensor positions and adverse surface conditions affecting measurement accuracy.
Innovation Solution
A multi-axis robot system is employed to position sensors and processing tools along the strand or slab, allowing movement in the conveying and transverse directions, equipped with a magazine for automatic tool and sensor exchange, enabling improved measurement and manipulation of the strand or slab surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensors are fixed in place at various points in the continuous casting plant, then measurement locations are established, but the possible locations for sensors are very limited and devices are exposed to very high thermal stress
Solution Approach 1:
The patent applies dynamics by replacing fixed sensors with a mobile robot that can dynamically reposition itself along the strand. The robot moves on a traversing unit that allows movement in the conveying direction and transverse directions, enabling sensors to be positioned at multiple locations rather than being confined to fixed points. This dynamic positioning system resolves the contradiction by providing both measurement capability and placement flexibility.
Solution Approach 2:
The traversing unit acts as an intermediary between the robot and the strand, providing a mobile platform that carries the robot to various measurement positions. This intermediary system enables the robot to access different locations without being permanently installed at each position, thereby increasing sensor placement flexibility while maintaining measurement precision.
2Adaptability or versatility
If sensors are moved along an axis on or above the strand to position at different points, then sensor location flexibility is improved, but the devices are still exposed to very high thermal stress and surface conditions negatively affect measurement
Solution Approach 1:
The patent applies local quality by using a multi-axis robot with multiple degrees of freedom that can position the sensor at optimal locations relative to the strand surface. The robot can adjust its position and orientation to achieve favorable measurement angles and distances, creating locally optimal measurement conditions that reduce the impact of thermal stress and adverse surface conditions such as scale layers.
Solution Approach 2:
The system incorporates a processing tool that can perform preliminary actions on the strand surface before measurement. For example, the robot can remove scale layers or prepare the surface before the sensor takes measurements, thereby eliminating adverse surface conditions that would otherwise negatively affect measurement accuracy.
3Adaptability or versatility
If a robot with multi-axis movement is used to guide sensors over the strand, then measurement flexibility and access to surface are improved, but device complexity increases
Solution Approach 1:
The patent applies universality by designing the robot system to perform multiple functions: it can guide sensors for various types of measurements (geometric dimensions, temperature, chemical composition), operate processing tools for surface preparation, and move along the traversing unit in multiple directions. This multi-functional design consolidates what would otherwise require multiple separate systems into a single versatile platform, thereby managing complexity while maximizing measurement flexibility.
Solution Approach 2:
The system merges the robot, traversing unit, sensors, and processing tools into an integrated measurement and manipulation system. By combining these elements into a coordinated unit that operates synchronously with strand movement, the patent reduces the overall system complexity compared to having separate fixed installations for each function.
4Measurement precision
If the robot moves synchronously with the strand movement in the conveying direction, then measurement accuracy is improved, but the control system complexity increases
Solution Approach 1:
The patent applies feedback by implementing a control system that synchronizes the robot's movement with the strand's conveying motion. The system continuously monitors the strand position and adjusts the robot's traversing unit and multi-axis movements accordingly, ensuring that measurements are taken at the correct positions and times. This feedback-based synchronization maintains measurement accuracy while managing control complexity through coordinated motion control.
Data Source
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AI summary
The invention relates to a continuous casting plant (1) for producing a metallic strand (2) or a slab, wherein the continuous casting plant (1) comprises at least one robot (3). To allow for improved and flexible analysis of the strand or slab, the invention provides that the robot (3) is designed as a multi-axis robot which can guide a sensor (5) and/or a processing tool over the strand (2) or the slab with one end of a robot arm (4). Furthermore, the invention relates to a method for operating such a continuous casting plant.