JPH0119994B2 - - Google Patents

Description

[Detailed description of the invention] [Industrial application field]

The present invention relates to a pouring machine that accurately controls the amount of molten cast iron poured into a mold and enables high-speed automatic pouring.

[Prior art]

Conventionally, pouring into a mold has been carried out by manually tilting a ladle filled with molten cast iron to allow the molten metal to flow out naturally. In addition, the manual pouring speed becomes constant, making it easier to control pouring.
The shape of the ladle is configured as follows. That is, the outlet is provided at the position where the virtual axis of rotation of the ladle exists, and the cross section perpendicular to the axis of rotation is configured in a fan shape, so that the cross-sectional area in the direction of the radius of rotation including the axis of rotation is constant regardless of the angle. ing. However, the angle of inclination of the ladle is controlled manually by the worker while monitoring the status of pouring into the mold. It was influenced by the feeling of

[Problems to be solved by the invention]

For this reason, the amount of molten metal poured into the mold is not constant, and if the amount of molten metal poured is small, it will cause product defects, and if the amount of molten metal poured is too large and overflows from the mold, the molten metal will be wasted and the molten metal will be removed. It was a hassle to have to do it. Furthermore, since accurate pouring control is performed manually, the pouring process takes a long time. The present invention has been made to improve the above-mentioned drawbacks, and its purpose is to accurately and quickly control the amount of molten cast iron poured and to realize such an automated device.

[Means to solve the problem]

The structure of the present invention for solving the above problems is as follows, and the concept thereof is shown in FIG. The present invention is a container for pouring molten cast iron into a mold 6 while filling it with molten cast iron and tilting it, which has a shape such that the area of the horizontal surface of the molten metal at the time of pouring is constant regardless of the inclination of the container. a ladle 5; a ladle tilting device 4 that supports the ladle 5 and tilts the ladle 5 by rotating the ladle 5 around a rotation axis; and the ladle tilting device Motor 3 is the power source of 4.
a drive device 2 that rotates the motor 3 at a command speed and controls positioning according to a control signal from the control device 1; and a drive device 2 that outputs a control signal to the drive device 2 to control the rotation of the motor 3. , a control device 1 that controls the inclination of the ladle 5, and the control device 1 controls the ladle 5 at a first predetermined speed at an angle at which pouring starts. The drive device 2 is tilted slightly forward by a first predetermined angle.
a feed control unit 11 that outputs a control signal S1 to
Immediately after the ladle 5 is tilted by a second predetermined angle at a second predetermined speed, the ladle 5 is tilted by a third predetermined angle in the opposite direction to the pouring direction. tilting by a third predetermined angle at a predetermined speed;
a pouring control section 12 that outputs a control signal S2 to the driving device 2 so as to complete the substantial pouring; and a pouring control section 12 that controls the ladle 5 after the substantial pouring is completed. a return control unit 13 that outputs a control signal S3 to the drive device 2 so as to tilt the drive device 2 by the first predetermined angle at a fourth predetermined speed in the opposite direction to the pouring direction; and a data setting device 14 for variably setting the predetermined speed. Here, the first predetermined speed and the fourth predetermined speed may be equal. Also, the second predetermined speed is
It is desirable that the speed be below the first or fourth predetermined speed. At that time, the molten metal is tilted at a high speed until the actual pouring starts, the molten metal is tilted at a low speed during the actual molten pouring, and the return process after the molten pouring is completed can be returned at a high speed, so the amount of molten metal poured is It is possible to accurately control the process and shorten the pouring cycle time. Further, the third predetermined speed may be set equal to the second predetermined speed to be low, or may be equal to the fourth predetermined speed and set to high speed. After completing the process of returning the molten metal in the opposite direction to the pouring direction at the third predetermined speed, pouring is essentially completed, but this process accurately controls the end of pouring and improves the draining of hot water. It is provided for. The initial angle at which the feed control section starts tilting the ladle and the final angle at which the return control section ends the return of the ladle are determined such that the difference between them is proportional to the amount of metal poured at one time. Also, this angular difference is
It is proportional to the difference between the substantial pouring start angle and the substantial pouring end angle in the control process of the pouring control section. However, in an ideal state (ignoring the viscosity and inertia of the hot water) where the actual pouring start angle is equal to the actual pouring end angle of the previous cycle, the difference between the two becomes equal. In the present invention, the ladle is tilted to a greater angle than the angle determined by the pouring amount through processing by the pouring control unit, the pouring speed is increased, and when pouring is finished, the ladle is forced to rotate in the opposite direction. The pouring of hot water is finished.

[Effect]

FIG. 2 is a characteristic diagram specifically showing the operation of the control device. The angle of inclination assumes that the pouring direction is positive, and rotating the ladle in the pouring direction is called tilting. Also, rotating the ladle in the anti-pouring direction according to the negative direction is called standing up. Structurally, the ladle is
The structure is such that the area of the horizontal surface of the molten metal during pouring is constant regardless of the angle. Therefore, the amount of poured metal can be controlled by the rotation angle of the ladle. First, the ladle is rotated so that the surface of the molten metal filling the ladle is at a predetermined position, and the initial angle is set to θ1. Thereafter, the feed control unit 11 outputs a control signal S1 to the drive device 2 so as to tilt the ladle by a first predetermined angle Δ1 at a first predetermined speed V1, and the drive device 2 causes the motor 3 to move in the forward direction. Rotate by the commanded rotation angle or up to the commanded angle at the commanded speed. As a result, the ladle is rotated by Δ1 from the position at angle θ1 and is positioned at angle α1. This position is set slightly in front of the angle at which the molten metal is poured from the sprue. Next, the pouring control unit 12 moves the ladle at a second predetermined speed V2.
The control signal S is applied to tilt the
2 to the drive device 2, and the drive device 2 outputs the motor 3 to the drive device 2.
rotate in the positive direction at the commanded speed by the commanded rotation angle or up to the commanded rotation angle. As a result, the ladle is rotated by Δ2 from the position at angle α1 and is positioned at angle α2. Thereafter, the pouring control unit 12 continues to send a control signal S2 to the drive device 2 so as to raise the ladle by a third predetermined angle Δ3 at a third predetermined speed V3 (=V2).
The drive device 2 rotates the motor 3 in the opposite direction at the command speed by the command rotation angle or up to the command rotation angle. As a result, the ladle is rotated by Δ3 from the position at angle α2 and is positioned at angle α3. This position is set slightly in the negative direction from the end angle of pouring. Thereafter, the return control unit 13 sends a control signal S3 to the drive device 2 so as to raise the ladle by a fourth predetermined angle Δ4 (=Δ1) at a fourth predetermined speed V4 (=V1).
The drive device 2 rotates the motor 3 in the opposite direction at the command speed by the command rotation angle or up to the command rotation angle. As a result, the ladle is rotated by Δ4 from the position at angle α3 and is positioned at angle θ2. This is one cycle of pouring, and the above process is repeated in sequence to perform continuous pouring. Here, the pouring amount M is expressed by the following equation. M=a・Δθ...(1) However, Δθ=θ2−θ1...(2). Therefore, each control constant is determined as follows. First, the step width Δθ of the inclination angle of the ladle is determined from the desired pouring amount, and the difference between the rotation angle difference Δ2 and Δ3 (actual pouring angle) in the pouring process is calculated as Δθ.
set equal to . Δ3 is set based on the relationship between the third predetermined speed V3 and the lack of hot water. Also Δ1, Δ4 (=
Δ1) is essentially the empty feed amount and empty return amount that are not involved in pouring. The pouring speed is controlled by the pouring control unit 1.
V2 is determined from the desired pouring rate. If the pouring speed is constant regardless of the pouring amount, the pouring amount can be controlled by the pouring time, and the pouring time can be varied by changing Δ2 and Δ3. Therefore,
The present invention can also be said to be a device that controls the amount of molten metal poured by the pouring time when the molten metal pouring speed is kept constant.

【Example】

The present invention will be explained below based on specific examples. 3 and 4 are mechanical diagrams showing the configuration of the ladle 5 and the ladle tilting device 4. 71 is a bed, and on the bed 71 are formed supports 72 and 73 to which the ladle tilting device 4 is attached. A ladle tilting device 4 is disposed on the support 73. The ladle tilting device 4 has a frame 41, a rotating shaft 42, and a bearing 43, and the bearing 43 is connected to the support 73.
It is fixedly installed. A gear 44 is formed on the side rail 41a of the frame 41, and the gear meshes with a gear 46 formed on the drive shaft 45.
The drive shaft 45 is supported by a bearing 47, and is operatively connected to the speed reducer 31 via a sprocket 48, a chain 49, and a sprocket 48a. The speed reducer 31 is connected to the motor 3. 5 is a ladle, which is fixed to the frame body 41 with a flange 51. 52 is a sprue. In this way, the ladle 5 has a fan-shaped cross-sectional shape perpendicular to the rotating shaft 42, and the cross-sectional shape in the rotation radius direction including the rotating shaft 42 remains constant regardless of the rotation angle. In such a configuration, when the motor 3 rotates, the drive shaft 45 rotates via the reducer 31, and the gear 46 rotates.
By the action of and 44, the rotational force of the motor 3 is transmitted to the frame body 41, and therefore, the angle of inclination of the ladle 5 is controlled by the motor 3. FIG. 5 shows a control device 1 for a pouring machine according to this embodiment.
2 is a block diagram showing the electrical configuration of the drive device 2. The control device 1 is composed of a programmable controller, and mainly includes a CPU module 80,
Power supply module 91 and input/output module 92
and a digital switch 93. The CPU module 80 includes a CPU control unit 81 that executes arithmetic processing, a program memory 83 that stores processing programs, a control memory 82 that stores constants, and stores the states of input/output elements, internal relays, etc. It consists of an input/output memory 84 and an input/output control section 85 that controls input/output of signals to various input/output modules. Further, the drive device 2 mainly includes a positioning module 21 and a servo amplifier 22. The positioning module 21 includes a control section 2 that performs logical operation processing.
3. It consists of a deviation counter 24 which inputs a command pulse whose frequency is proportional to the rotation speed and whose rotation angle is proportional to the number of pulses, and a D/A converter 25 which converts the output from the deviation counter 24 to a D/A converter. The deviation counter 24 includes a pulse generator 2 that detects the rotation angle of the motor 3.
The feedback pulse from 7 is input.
A command speed signal, a command rotation angle signal, and other control signals are input to the positioning module 21 from the CPU module 80. The positioning module 21 performs gradual acceleration and deceleration processing based on these control signals, and generates a command pulse to rotate the motor by a commanded angle at a commanded steady speed. Also, external sequence circuit 26
is connected to the control section 23, and inputs detection signals from a limit switch for setting the motor's origin, manual command pulses for jog operation, and the like. Further, a positioning module 21a for a travel motor and a servo amplifier 22a are connected to the CPU module 80 in order to control the travel of a truck 95, which will be described later. The automatic pouring machine having such a configuration is placed on a trolley 95, as shown in FIG.
The self-propelled motor 96 sequentially self-propels on a rail 97 to a predetermined position, and sequentially pours the metal into the molds 6 disposed on a belt conveyor 99. The motor 96 is controlled by the control device 1. Next, the operation of the automatic pouring machine according to this embodiment will be explained with reference to the flowchart of FIG. 7 showing the operating procedure of the control device 1. In this example,
The first predetermined speed and the fourth predetermined speed are equal to V1, and the second predetermined speed and the third predetermined speed are equal to each other.
V2, and the relationship is set to V1>V2. below,
The first predetermined speed is called a high tilting speed, the second predetermined speed is called a low tilting speed, the third predetermined speed is called a low rising speed, and the fourth predetermined speed is called a high rising speed. or,
In FIG. 2, θ1 is called the tilting start angle (initial angle), the angle α1 is called the tilting speed switching angle, α2 is the tilting stop angle, α3 is the rising speed switching angle, and θ2 is the rising and stopping angle (final angle). First, in manual mode, a predetermined initial angle θ1 is set with a certain margin from the angle at which pouring actually starts.
Set the ladle to . The driving mode is determined in step 102, and if it is automatic driving mode, step 104 is performed.
The following steps are performed. Steps 106 to 136 are steps for inputting various data and converting the scale. Various data are set by a digital switch 93. In step 106, the free running speed V3 of the truck 95 is read, and in step 110, the moving distance X1 of the truck 95 is read.
is loaded. And those values are
At 108 and 112, it is converted into a command pulse number for controlling the rotation angle of the motor 96. Also step 114,
118 has low-speed tilt/rise speed V2 and high-speed tilt/rise speed V2.
The rising speed V1 is input and scaled to the number of pulses in steps 116 and 120. Next, in step 122, the tilt stop angle rotation amount (Δ1+Δ2), which is the relative rotation amount from the initial angle θ1 to the tilt stop angle α2, is read, and in step 124, it is converted into the number of command pulses. Next, in step 126, the tilting speed switching angle rotation amount Δ1, which is the relative rotation amount from the initial angle θ1 up to the tilting speed switching angle α1, is read.
The scale is converted in step 128. Next, in step 130, the rising speed switching angle rotation amount (Δ3=α3−α2), which is the relative rotation amount of the rising speed switching angle α3 with respect to the tilt stop angle α2, is read, and in step 132, the scale is converted. Next, the amount of rotation of the standing/stopping angle (Δ3+Δ1), which is the relative rotation amount of the standing/stopping angle θ2 with respect to the tilting stopping angle α2, is read and scale-converted in step 136. Next, in step 138, when the start pouring or running switch is on, the next step is executed.
In step 140, the current position θ1 of the motor 3 is read from the positioning module 21, and the step
At steps 142 and 144, the tilt switching angle α1 and the tilt stop angle α2, which are absolute angles, are calculated. Next, step 146,
At 148, control data for tilting processing is set in the positioning module 21. Next, step
In steps 150 and 152, a rising speed switching angle α3 and a rising stop angle θ2, which are absolute angles, are calculated from the relative rotation angles read in steps 130 and 134, respectively. Next, in step 154, a start signal is output to the positioning module 21 to drive the motor to tilt the ladle. Next, in steps 156 and 158, control data for the raising process is preset in the positioning module 21 immediately after the start signal is output. Next, during the tilting operation, in step 160, a start signal for the next positioning process, that is, the standing process, is output to the positioning module 21. Then, the positioning module 21 starts the raising process immediately after the tilting process is completed. The positioning module 21 receives these start signals and controls the speed and positioning of the motor 3 in accordance with the control data, and the ladle 5 performs tilting and rising operations as shown in FIG. As a result, substantial pouring starts slightly after the tilting speed switching angle α1, and substantial pouring is completed slightly before reaching the rising speed switching angle α3. Then, the amount of poured metal becomes a value proportional to these angular differences. Next, in step 162, it is determined whether a signal indicating that the raising process has been completed has been output from the positioning module 21. If it has been output, the process moves to step 164, where it is determined whether or not to carry out the running process of the trolley. If so, steps 166 and subsequent steps are executed. That is,
Find the absolute position for the next positioning from the current position,
After presetting the speed and the control data in the positioning module, output the start signal and
The motor 96 for self-propulsion is driven. Then step
At 174, it is determined whether a positioning completion signal has been received from the positioning module 21a, and if so, the cart positioning process is completed. Then, the process returns to step 102 and the next pouring process is executed.

【Effect of the invention】

The present invention provides a ladle having a shape such that the amount of molten metal poured when the ladle is tilted by a unit angle is constant regardless of the tilt angle, a ladle tilting device for tilting the ladle, and a power source for the ladle tilting device. An automatic pouring machine consisting of a motor, a drive device that rotates the motor and controls positioning, and a control device that outputs a control signal to the drive device to control the inclination of the ladle. A feed control unit that feeds the ladle in the vicinity of the pouring start angle, and then tilts the ladle by a predetermined angle at a predetermined speed;
Immediately, a pouring control section that controls actual pouring by tilting the ladle by a predetermined angle in a direction opposite to the pouring direction at a predetermined speed; and a return control unit that tilts the feed angle in the direction by the idle feed angle, and is characterized by being provided with a data setting device that variably sets a predetermined angle and a predetermined speed. Therefore, by the action of the pouring control section, the angular difference between the actual pouring start angle and the practical pouring end angle is controlled to be constant according to the set value, so that the pouring amount is can be controlled accurately. Furthermore, since the tilting and rising angles can be freely set at predetermined relative angles, continuous pouring can be easily controlled.
Also, when pouring, the ladle is tilted in the pouring direction at a constant speed, and at the end of pouring, before pouring is completed naturally, the ladle is tilted in the opposite direction to increase the attenuation of the pouring amount. There is. Therefore, the pouring speed can be made uniform throughout the pouring period, and the end of pouring can be clearly controlled. Therefore, the amount of molten metal poured can be uniformly and accurately controlled, and the molten metal pouring speed can be improved. Since such operations are automatically performed by the control device, pouring is performed quickly and easily.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing the concept of the present invention, Fig. 2 is an operational explanatory diagram for concretely explaining the action of the present invention, and Fig. 3 is a machine of a pouring machine according to an embodiment. 4 is a plan view thereof, FIG. 5 is a block diagram showing the electrical configuration of the pouring machine according to the embodiment, and FIG. 6 is a diagram showing the pouring machine mounted on a cart. FIG. 7, which is an explanatory drawing showing how the metal is installed and poured into each mold, is a flowchart showing the processing of the CPU module used in the pouring machine according to the embodiment. 5... Ladle, 51... Flange, 52... Sprue, 41... Frame, 42... Rotating shaft, 44, 46
... Gear, 45 ... Drive shaft, 43, 47 ... Bearing, 49 ... Chain, 31 ... Reducer, 71 ...
...Betsudo, 72, 73...pillar.

Claims (1)

[Scope of Claims] 1. A container for pouring molten cast iron into a mold while filling it with molten cast iron and tilting it, such that the area of the horizontal surface of the molten metal during pouring is constant regardless of the tilt of the container. a shaped ladle; a ladle tilting device that supports the ladle and tilts the ladle by rotating the ladle around a rotation axis; and a power source for the ladle tilting device. a motor that rotates the motor at a command speed and controls positioning according to a control signal from a control device; a drive device that outputs a control signal to the drive device to control the rotation of the motor; an automatic pouring machine comprising: a control device for controlling the inclination of the ladle; 1
a feed control unit that outputs a control signal to the drive device so as to tilt the ladle by a first predetermined angle, and after the ladle is tilted by a first predetermined angle, the ladle is tilted by a second predetermined angle Immediately after tilting the ladle by a second predetermined angle at a third predetermined speed in a direction opposite to the pouring direction, the ladle is tilted by a third predetermined angle at a third predetermined speed to substantially pour the molten metal. a pouring control section that outputs a control signal to the driving device so that the pouring is completed; and the pouring control section causes the ladle to move in a fourth direction in the opposite direction to the pouring direction after the pouring is substantially completed. a return control unit that outputs a control signal to the drive device so as to tilt the drive device by the first predetermined angle at a predetermined speed, and a data setting device that variably sets the predetermined angle and the predetermined speed. An automatic pouring machine characterized by having: 2. Claim 1, wherein the first predetermined speed and the fourth predetermined speed are equal.
Automatic pouring machine as described in section. 3. The automatic hot water pouring machine according to claim 1, wherein the second predetermined speed is less than or equal to the first or fourth predetermined speed. 4. Claim 1, wherein the second predetermined speed and the third predetermined speed are equal.
Automatic pouring machine as described in section. 5. Claim 1, wherein the third predetermined speed and the fourth predetermined speed are equal.
Automatic pouring machine as described in section. 6. The difference between the initial angle at which tilting of the ladle is started by the feed control unit and the final angle at which the return of the ladle is finished by the return control unit is determined by the pouring control unit. The automatic pouring machine according to claim 1, characterized in that the amount of molten metal poured is proportional to the amount of molten metal poured.