JP6902243B2 - A computer-readable recording medium that stores the pouring system, the control method of the pouring system, the control program, and the control program. - Google Patents

Description

An embodiment of the present invention relates to a pouring system, a control method for the pouring system, a control program, and a computer-readable recording medium for storing the control program.

As a kind of hot water pouring device, a tilting type hot water pouring device is used. A tilt-type hot water pouring device generally includes three motors, and the tilt angle, the vertical position, and the front-rear position of the ladle are adjusted by operating these three motors. A technique is known in which the molten metal is accurately poured from the ladle into the mold by automatically controlling the tilt angle, the vertical position, and the front-rear position of the ladle.

For example, in Patent Document 1, the pouring flow rate is estimated using a mathematical model showing the relationship between the operating amount of the servomotor for adjusting the tilt angle of the ladle and the pouring flow rate from the ladle to the mold. It describes an automatic pouring device that pours hot water from a ladle into a mold at a target flow rate by controlling a servomotor so that the difference between the estimated pouring flow rate and the target pouring flow rate is reduced. In Patent Document 2, the operation of the servomotor is controlled so that the pouring is performed at the target pouring flow rate, and the drop position of the molten metal in the plane including the sprue of the mold is determined based on the control command signal to the servomotor. An automatic pouring device for accurately pouring molten metal into a mold by estimating and controlling the operation of three servomotors so that the drop position and the target position coincide with each other is described.

Japanese Unexamined Patent Publication No. 2008-290148 Japanese Unexamined Patent Publication No. 2013-188760

In the apparatus described in Patent Documents 1 and 2, the molten metal in the ladle is automatically poured into the mold, but it may be required to manually pour the molten metal into the mold from the ladle. For example, in order to automatically operate the pouring device by the teaching playback method, the operator first manually operates the ladle to pour the flow rate, the drop position, the vertical position of the ladle, and the ladle. It is necessary to teach the pouring device the pouring conditions such as the position in the front-back direction of. When manually operating the ladle, it is conceivable to pour the molten metal into the mold by individually operating the operating amounts of the three motors. However, if the inclination of the ladle is changed in order to change the pouring flow rate, the falling position of the molten metal also changes, and even if the height position of the ladle is changed, the falling position of the molten metal changes. Therefore, depending on the pouring conditions, the operation of the three motors by the operator may become complicated, and it may be difficult for the operator to pour the molten metal into the mold according to the pouring conditions.

Therefore, in the present technical field, it is required to improve the operability of the ladle.

In one aspect, a pouring system for pouring molten metal into the mold via the sprue of the mold is provided. In this hot water pouring system, a ladle that holds the molten metal, a first motor that tilts the ladle, a second motor that moves the ladle in the vertical direction, and a ladle that moves the ladle in the front-rear direction. A third motor to be operated, a first operation for changing the tilt angle of the ladle, a second operation for adjusting the vertical position of the ladle, and a front-rear direction in the plane including the sprue. It includes an operation input unit that accepts a third operation for adjusting the drop position of the molten metal, and a control unit that controls the operations of the first motor, the second motor, and the third motor. The control unit controls the operation of the first motor according to the operation amount of the first operation, sets the target drop position of the molten metal according to the operation amount of the third operation, and operates the operation amount of the first operation. , The operation of the third motor is controlled so that the drop position determined by the operation amount of the second operation and the operation amount of the third operation becomes the target drop position.

In the pouring system according to the above aspect, the target drop position of the molten metal is set according to the operation amount of the third operation, and the operation of the third motor is controlled so that the drop position becomes the target drop position. , The drop position of the molten metal can be adjusted independently by the third operation. Further, in this pouring system, the drop position is maintained at the target drop position even when the tilt angle of the ladle and the vertical position of the ladle are adjusted by the first operation and the second operation. Since the operation of the third motor is controlled in this way, the tilt angle (pouring flow rate) of the ladle and the vertical position of the ladle can be adjusted independently. Therefore, the operability of the ladle can be improved.

In one embodiment, the control unit may prevent the first motor from operating when the operation amount of the first operation is smaller than a predetermined threshold value. In this embodiment, the operation of the ladle is suppressed by the operator's hand tremor, noise, or the like when the tilt angle is changed, so that the ladle can be operated according to the operator's intention.

In one embodiment, the control unit performs low-pass filter processing on the signal value indicating the operation amount of the first operation, and controls the operation of the first motor based on the signal value after the low-pass filter processing. In this embodiment, the low-pass filter processing removes signals related to the operator's hand tremor, noise, and the like when the tilt angle is changed, so that the ladle can be operated according to the operator's intention.

In one embodiment, the control unit controls the operation of the first motor in the first mode when the tilt angle of the pan is smaller than the first angle, and the tilt angle of the pan is equal to or greater than the first angle. When it is smaller than the second angle, the operation of the first motor is controlled in the second mode, and when the tilt angle of the pan is greater than or equal to the second angle, the operation of the first motor is controlled in the third mode. However, the first angle is smaller than the second angle, the second angle is the hot water discharge start angle at which the outflow of the molten metal from the pan is started, and in the first mode, the first operation A command value for controlling the operation of the first motor is generated by multiplying the manipulated variable of the first operation by the first coefficient, and in the second mode, the manipulated variable of the first operation is different from the first coefficient. By multiplying by the second coefficient, a command value for controlling the operation of the first motor is generated, and in the third mode, the target pouring flow rate of the molten metal is set according to the operation amount of the first operation. , A command value for controlling the operation of the first motor may be generated so that the pouring flow rate from the pan becomes the target pouring flow rate.

In the above embodiment, in the first mode, the operation of the first motor is controlled according to the command value generated by multiplying the operation amount of the first operation by the first coefficient, so that the operator can take the ladle. The tilt angle of can be directly manipulated. In the third mode, the target pouring flow rate of the molten metal is set according to the operation amount of the first operation, and the command value is generated so that the pouring flow rate from the ladle becomes the target pouring flow rate. The operator can directly control the pouring flow rate. Further, in the above embodiment, during the transition between the first mode and the third mode, the first operation is performed according to the command value generated by multiplying the operation amount of the first operation by the second coefficient. A second mode is set in which the operation of the motor is controlled. In the above embodiment, the operation of the ladle can be changed according to the tilt angle of the ladle.

In one embodiment, the control unit of the third motor so that when the tilt angle of the ladle is smaller than the third angle, the outlet of the ladle is located above the edge of the ladle on the side of the ladle. The operation is controlled, and when the tilt angle of the ladle is equal to or greater than the third angle, the operation of the third motor is controlled so that the drop position becomes the target drop position. It may be the tilt angle of the ladle that reaches the center position of.

Immediately after the tilt angle of the ladle becomes larger than the hot water discharge start angle and the outflow of molten metal from the ladle starts, the pouring flow rate increases sharply. Also grows rapidly. In this case, the position of the ladle in the front-rear direction changes abruptly in order to maintain the drop position of the molten metal at the target drop position. If the position of the ladle in the front-rear direction changes suddenly, the liquid level of the molten metal in the ladle vibrates, and it becomes difficult to accurately control the falling position of the molten metal. On the other hand, in the above embodiment, the outlet of the ladle is maintained above the edge of the ladle on the ladle side until the falling position of the molten metal reaches the center position of the sprue, and the falling position of the molten metal is the center of the sprue. Since the operation of the third motor is controlled so that the drop position of the molten metal reaches the target drop position after reaching the position, it is possible to suppress a sudden change in the position of the ladle in the front-rear direction.

In another aspect, a method of controlling a pouring system for pouring molten metal into the mold through the sprue of the mold is provided. In this hot water pouring system, a ladle that holds the molten metal, a first motor that tilts the ladle, a second motor that moves the ladle in the vertical direction, and a ladle that moves the ladle in the front-rear direction. A third motor to be operated, a first operation for changing the tilt angle of the ladle, a second operation for adjusting the vertical position of the ladle, and a front-rear direction in the plane including the sprue. It includes an operation input unit that accepts a third operation for adjusting the drop position of the molten metal, and a control unit that controls the operations of the first motor, the second motor, and the third motor. The method is that the control unit controls the operation of the first motor according to the operation amount of the first operation, and the control unit controls the operation of the second motor according to the operation amount of the second operation. The process to be controlled and the control unit set the target drop position of the molten metal according to the operation amount of the third operation, and the operation amount of the first operation, the operation amount of the second operation, and the operation of the third operation. It includes a step of controlling the operation of the third motor so that the drop position determined by the amount becomes the target drop position. According to this method, the operability of the ladle can be improved.

In one embodiment, the operation input unit receives the operation amount of the first operation, the operation amount of the second operation, and the operation amount of the third operation from the operator, and the operation amount of the first operation received is the first. The step of controlling the operation of the first motor, the second motor and the third motor based on the operation amount of the second operation and the operation amount of the third operation, and pouring the molten metal into the mold, and the received first From the operation amount of the operation, the operation amount of the second operation, and the operation amount of the third operation, the pouring flow rate of the molten metal, the drop position, the amount of movement in the front-rear direction of the pan, and the movement of the pan in the vertical direction. The process of obtaining the amount and acquiring the pouring flow rate of the molten metal, the drop position, the amount of movement of the pan in the front-rear direction, and the amount of movement of the pan in the vertical direction as teaching data, and the molten metal based on the acquired teaching data. May include a step of controlling the operation of the first motor, the second motor and the third motor so that

In the method according to the above embodiment, teaching is performed on the flow rate of the molten metal when the molten metal is poured into the mold by the operator, the drop position, the amount of movement of the ladle in the front-rear direction, and the amount of movement of the ladle in the vertical direction. Since the operation of the first motor, the second motor, and the third motor is controlled so that the molten metal is automatically poured based on the teaching data acquired as data, the operator performs the pouring operation. Can be reproduced by a hot water pouring device.

In one embodiment, a step of calculating the inflow rate of the molten metal into the sprue, the inflow range of the molten metal into the sprue, and the inflow angle of the molten metal with respect to the sprue may be further included based on the teaching data.

When performing a molten metal flow analysis by CAE (Computer aided engineering) analysis, it is necessary to give the inflow rate of the molten metal to the sprue, the inflow range of the molten metal to the sprue, and the inflow angle of the molten metal to the sprue as boundary conditions. .. In the above embodiment, it is possible to calculate the inflow velocity of the molten metal into the sprue, the inflow range of the molten metal into the sprue, and the inflow angle of the molten metal with respect to the sprue, which are useful information for performing CAE analysis with high accuracy.

In yet another aspect, the pouring system is a control program for operating the pouring system so that the molten metal is poured into the mold through the sprue of the mold, and the pouring system is a pan for holding the molten metal. , The first motor that tilts the pan, the second motor that moves the pan in the vertical direction, the third motor that moves the pan in the front-back direction, and the tilt angle of the pan. The first operation for changing, the second operation for adjusting the vertical position of the pan, and the third operation for adjusting the falling position of the molten metal in the front-rear direction in the plane including the sprue. The control program includes an operation input unit that accepts the above and a control unit that controls the operation of the first motor, the second motor, and the third motor, and the control program has a first operation amount according to the operation amount of the first operation. The process of controlling the operation of the motor, the process of controlling the operation of the second motor according to the operation amount of the second operation, and the target drop position of the molten metal according to the operation amount of the third operation are set. , A step of controlling the operation of the third motor so that the drop position determined by the operation amount of the first operation, the operation amount of the second operation, and the operation amount of the third operation becomes the target drop position. Let the control unit execute it.

In yet another aspect, a computer-readable recording medium that stores a control program for operating the pouring system so that the molten metal is poured into the mold through the sprue of the mold, the pouring system. Is a pan for holding the molten metal, a first motor for tilting the pan, a second motor for moving the pan in the vertical direction, and a third motor for moving the pan in the front-rear direction. The first operation for changing the tilt angle of the motor and the ladle, the second operation for adjusting the vertical position of the ladle, and the drop position of the molten metal in the front-rear direction in the plane including the sprue. The control program includes an operation input unit that accepts a third operation for adjusting the above, and a control unit that controls the operation of the first motor, the second motor, and the third motor. A step of controlling the operation of the first motor according to the operation amount of the operation, a step of controlling the operation of the second motor according to the operation amount of the second operation, and a step of controlling the operation of the third operation according to the operation amount of the third operation. The target drop position of the molten metal is set, and the third motor is set so that the drop position determined by the operation amount of the first operation, the operation amount of the second operation, and the operation amount of the third operation becomes the target drop position. The control unit is made to execute the process of controlling the operation of.

According to one aspect of the present invention and various embodiments, the operability of the ladle can be improved.

It is a figure which shows typically the pouring system of one Embodiment. It is a block diagram which shows the functional structure of the pouring system of one Embodiment. It is a vertical sectional view of a ladle. It is a perspective view which shows a part of a ladle. Equation (8) is a graph showing the relationship between the average flow velocity of the molten metal obtained and the average flow velocity of the molten metal measured by the experiment. It is a figure for demonstrating the liquid level height of a molten metal. It is a figure for demonstrating the positional relationship between a sprue and a sprue. It is a figure for demonstrating the synchronization control of a ladle. It is a figure for demonstrating the positional relationship between a sprue and a sprue. It is a figure which shows the method of generating the teaching data. It is a figure which shows the experimental result.

Hereinafter, various embodiments will be described in detail with reference to the drawings. In addition, the same reference numerals are given to the same or corresponding parts in each drawing.

First, the hot water pouring system 1 according to the embodiment will be described. FIG. 1 is a perspective view schematically showing a pouring system 1 according to an embodiment. In the following, as shown in FIG. 1, the extending direction of the transport device CD described later is the X direction, the vertical direction of the pouring device described later is the Z direction, and the front-rear direction of the pouring device is the Y direction. ..

As shown in FIG. 1, the hot water pouring system 1 includes a hot water pouring device 10 and an operation input unit 20. The hot water pouring device 10 includes a ladle 12, a first motor 13, a second motor 14, a third motor 15, a holding portion 16, and a load cell LD. The ladle 12 is a container for holding the molten metal M for pouring into the mold 30, and is supported by the holding portion 16 via a rotating shaft. A hot water nozzle 12a is provided on the upper part of the side surface of the ladle 12. The tip of the hot water nozzle 12a constitutes the hot water outlet 12b. In the hot water pouring device 10, the ladle 12 tilts around the hot water outlet 12b, so that the molten metal M flows out from the hot water outlet 12b.

The first motor 13 rotates the rotation shaft of the ladle 12 and generates a driving force for tilting the ladle 12. The second motor 14 generates a driving force for moving the ladle 12 in the Z direction. The third motor 15 generates a driving force for moving the ladle 12 in the Y direction. The first motor 13, the second motor 14, and the third motor 15 are, for example, servomotors. Further, the load cell LD measures the weight of the molten metal M in the ladle 12.

The operation input unit 20 is a device for operating the tilt angle of the ladle 12, the position in the vertical direction, and the drop position of the molten metal M flowing out of the ladle 12. The operation input unit 20 is provided at a position away from, for example, the hot water pouring device 10. As shown in FIG. 1, the operation input unit 20 has a lever 21 for operating the tilt angle of the ladle 12, the position in the Z direction, and the drop position of the molten metal M. The lever 21 can be steered by the operator. Specifically, the operator can rotate the lever 21 around its axis and tilt it in the vertical direction and the horizontal direction. The first operation of rotating the lever 21 around its axis is an operation for changing the tilt angle of the ladle 12. The second operation of tilting the lever 21 in the vertical direction is an operation for adjusting the position of the ladle 12 in the Z direction. The third operation of tilting the lever 21 in the left-right direction is an operation for adjusting the drop position of the molten metal M flowing out of the ladle 12 in the Y direction. The operation input unit 20, the first operation has been performed by the operator, the operation amount of the second operation and the third operation, that is, the rotation angle phi _r in the axial direction about the lever _21, tilt angle in the vertical direction A signal indicating φ _z and a tilt angle φ _y in the left-right direction is sent to the control unit Cnt described later.

The hot water pouring system 1 further includes a control unit Cnt. The control unit Cnt is a computer including a processor, a storage unit, and the like, and controls each unit of the pouring system 1. The control unit Cnt is provided with the tilt angle of the ladle 12, the position of the ladle 12 in the Y direction, and the position of the ladle 12 in the Z direction in the first motor 13, the second motor 14, and the third motor 15. Obtained from each rotary encoder. Further, the control unit Cnt receives a signal from the operation input unit 20 _{indicating the rotation angle φ r of} the lever 21 in the axial direction, the tilt angle φ _{z in the} vertical direction, and the tilt angle φ _y in the left-right direction. Based on these signals, the tilt angle of the pan 12, the position of the pan 12 in the Z direction, and the position of the pan 12 in the Y direction are controlled. The details of the function of the control unit Cnt will be described later.

In one embodiment, the transport device CD may be arranged in front of the hot water pouring device 10. In the pouring process, the transfer device CD intermittently conveys the mold 30 arranged above the mold 30 along the X direction. In one embodiment, the transfer device CD conveys the mold 30 along the X direction, and stops the mold 30 at a position where the outlet 12b of the ladle 12 and the outlet 31 of the mold 30 overlap in the X direction. After the mold 30 is stopped at that position, the molten metal M is poured into the mold 30 by the pouring device 10.

Hereinafter, the functional configuration of the pouring system 1 will be described with reference to FIG. FIG. 2 shows a block diagram showing the functions of the pouring system 1.

[Mathematical model]
First, a description will be given mathematical model to derive the pouring flow rate q from the command value u _t for the first motor 13. The pouring flow rate indicates the flow rate of the molten metal M flowing out of the ladle 12 due to the tilt of the ladle 12.

In the command value u _t pouring mathematical model for deriving the flow rate q is a if the ladle 12 is controlled angular velocity ω in [deg / s], and if it is controlled by the angle theta [deg] different. Here, the tilt angle θ indicates the tilt angle of the ladle 12 centered on the hot water outlet 12b of the ladle 12, as shown in FIG. The angular velocity ω indicates the tilt angle of the ladle 12 that rotates per unit time.

First, a case where the ladle 12 is controlled by the angular velocity ω will be described. When the control unit Cnt is controlling the ladle 12 at an angular velocity ω, based from the control unit Cnt to the first command value _u t [V], which is output to the motor 13, molten metal flow rate q ^{[m 3} / S] is acquired. Relationship between the angular speed ω of the command value u _t a ladle 12 is expressed by the following equation (1). In the following equation (1), T _t [s] is a time constant, and K _t [deg / (sV)] is a gain constant.

Further, the tilt angle θ and the angular velocity ω have a relationship represented by the following equation (2).

On the other hand, when the ladle 12 is controlled by the tilt angle θ, the operation of the first motor 13 is controlled by the control unit Cnt so that _{the ladle 12 has a predetermined command angle θ r [deg].} Will be done. The relationship between the command angle θ _r and the angular velocity ω is expressed by the following equation (3). In the following equation (3), K _tp [deg / (sV)] is a gain constant.

Ladle 12 in accordance with a command value u _t from the control unit Cnt is tilted by the tilting angle θ or the angular velocity omega. By tilting the ladle 12 in this way, the pouring process PR1 in which the molten metal M in the ladle 12 is poured into the mold 30 is performed. The flow rate of the molten metal M flowing out of the ladle 12 in the pouring process PR1, that is, the pouring flow rate q is obtained according to the following equations (4) and (5).

As shown in FIG. 3, h [m] in the formula (4) represents the liquid level of the molten metal M with reference to the height position of the outlet 12b, and A (θ) [m ² ] is the outlet 12b. It represents the cross-sectional area of the molten metal M in the horizontal plane passing through. Further, V _s (θ) [m ³ ] represents the volume of the molten metal M located at a position lower than the horizontal plane passing through the outlet 12b. _{Further, as shown in FIG. 4, h b} [m] of the formula (5) represents the depth of the molten metal M at the outlet 12b from the liquid level, and L _f [m] corresponds to _{h b.} It represents the width of the hot water outlet 12b at the height position. Further, g [m / s ² ] in the equation (5) represents the gravitational acceleration.

Next, the outflow weight calculation process PR2 for calculating the outflow weight W of the molten metal M from the ladle 12 based on the pouring flow rate q will be described. The pouring flow rate q and the outflow weight W have a relationship represented by the following formula (6). In formula (6), ρ [kg / m ³ ] represents the density of the molten metal M. The outflow weight W is measured by the load cell LD.

The operating characteristics of the load cell LD are expressed by the following equation (7). In the formula _{(7), W L [kg} ] represents the outflow weight of the molten metal M, which is measured by the load cell LD. As shown in equation (7), effluent weight W _L that is measured becomes the response delay with respect to the actual outflow weight W occurs.

Next, the free fall process PR3 of the molten metal M will be described. In free-fall process PR3, fall distance _{S v} in the Y direction of the molten metal M that flows from the tap hole 12b of the ladle 12 is calculated. In free-fall process PR3, in order to determine the drop distance S _v, falling trajectory of the molten metal M fallen by the free fall motion from tapping port 12b is derived. In order to derive the fall locus of the molten metal M, the average flow velocity v _f [m / s] of the molten metal M at the outlet 12b is calculated according to the following equation (8).

_A p ^{[m 2]} in equation (8) shows the cross-sectional area of the molten metal M along a vertical section through the tap holes 12b of the ladle 12. The cross-sectional area _Ap is represented by the following formula (9).

_{FIG. 5 is a graph showing the relationship between the average flow velocity v f} of the molten metal M calculated based on the above formula (8) and _{the average flow velocity v r} [m / s] of the actual molten metal M measured by the experiment. .. _{The horizontal axis of FIG. 5 represents the average flow velocity v f} of the molten metal M calculated based on the above formula (8), and the vertical axis represents the average flow velocity v _r of the molten metal M obtained in the experiment. As shown in FIG. 5, the actual average flow velocity v _{r of the molten metal M is faster than the average flow velocity v f} [m / s] calculated by the equation (8). As a result, when the molten metal M actually flows out from the outlet 12b, as shown in FIG. 6, the liquid level height of the molten metal M on the outlet 12b is separated from the outlet 12b due to the influence of gravity. This is considered to be because it is lower than the liquid level height of the molten metal M at the above position.

Therefore, the theoretical value of the average flow velocity of the molten metal M is corrected according to the following equation (10) so that the theoretical value of the average flow velocity of the molten metal M matches the actually measured value. In equation (10), v _t [m / s] represents the corrected average flow velocity, and α1 and α0 have a minimum relationship between the _{average flow velocity v f} obtained by simulation and the measured value v _{r of the average flow velocity.} It is a coefficient obtained by approximating by the multiplication method. In the embodiment in which the result shown in FIG. 5 is obtained, α1 is set to 2.067 and α0 is set to −0.275.

Next, the drop position DP of the molten metal M on the horizontal surface HP including the sprue 31 is derived. As shown in FIG. 7, if the distance between the hot water outlet 12b of the ladle 12 and the drop position DP in the Y direction is S _v [m], the molten metal M flowing out from the hot water outlet 12b undergoes a free fall motion, so that the distance S _v is derived according to the following equation (11). In the formula _{(11), S w [m} ] represents the distance in the Z direction between the sprue 31 of the tap holes 12b and the mold 30 of the ladle 12.

Furthermore, the pouring system 1 according to an embodiment, based on the pouring flow rate q from the ladle 12, the flow rate of the molten metal M with respect to the sprue 31 v _l, the cross-sectional area A _{l (t} of over sprue 31 of the molten metal M _{), And the inflow angle φ in} of the molten metal M with respect to the sprue 31 may be calculated. In order to calculate the flow velocity v _{l of the molten metal M, first, the flow velocity v g} of the molten metal M in the Z direction at the drop position DP is obtained according to the following equation (12).

Velocity _{v l} of the molten metal M on the horizontal plane HP is obtained according to the following formula (13).

The inflow angle φ _in of the molten metal M is obtained according to the following equation (14).
The inflow angle φ _in represents the angle formed by the straight line extending in the Z direction and the molten metal M passing through the drop position DP.

The cross-sectional area A _l (t) is obtained according to the following formula (15).

_{Further, the radius rl} [m] of the cross section of the molten metal M on the horizontal plane HP is obtained according to the following formula (16).

[Functional configuration of control unit]
Next, the functional configuration of the control unit Cnt will be described. The control unit Cnt includes a pouring flow rate control unit FC1, a synchronization control unit FC2, a drop position estimation unit FC3, a drop position operation unit FC4, a front-rear position control unit FC5, and a vertical position control unit FC6.

[Pouring flow rate control]
Pouring flow controller FC1 receives the operation amount of the first operation of the operation input unit 20 by the operator, for example, the rotation angle phi _r in the axial direction about the lever 21 from the operation input unit 20, the rotation angle phi _r command value for controlling the operation of the first motor 13 to generate the u _t in accordance with. In one embodiment, molten metal flow controller FC1 may calculate a command value u _t output to the first motor 13 in accordance with the following equation (17).

As shown in equation (17), molten metal flow controller FC1, when the rotation angle phi _r is less than the angle phi _d is a command value u _t is 0. That is, when the rotation angle φ _{r is equal to or less than the angle φ d} , which is a predetermined threshold value, the first motor 13 does not operate. The angle φ _d is the width of the dead zone, and in one embodiment the angle φ _d is set to 5 [deg]. Thus, hand tremor of the operator by setting the area of the dead zone to the rotation angle phi _r, ladle by noise or the like can be prevented from malfunction, resulting in improved operability of the ladle Can be made to.

When the rotation angle φ _r is larger than the angle φ _d and the tilt angle θ of the ladle 12 _{is smaller than θ s} −β (first angle), the pouring flow control unit FC1 is in the first mode. Controls the operation of the first motor 13. Here, θ _s is the hot water discharge start angle at which the outflow of the molten metal M from the ladle 12 is started, and β is a constant indicating the width of the mode transition section. In the first mode, it obtains a command value u _t by multiplying the gain constant (first coefficient) k _f0 and the rotational angle phi _r. That is, in the first mode, has a proportional relationship to the gain constant k _f0 proportional constant command value u _t and the rotation angle phi _r. The gain constant k _f0 is set to a value that makes it easier for the operator to operate the tilt angle θ of the ladle 12.

When the rotation angle φ _r is larger than the angle φ _{d and} the tilt angle θ of the ladle 12 is θ _{s −} β or more and _{smaller than θ s} (second angle), the pouring flow rate control The unit FC1 controls the operation of the first motor 13 in the second mode. In the second mode, it obtains a command value u _t by multiplying the gain constant (second coefficient) k _f1 and the rotation angle phi _r. That is, in the second mode, has a proportional relationship to the gain constant k _f1 and the constant of proportionality a command value u _t and the rotation angle phi _r. The gain constant k _f1 is set to a different value from the gain constant k _f0. The gain constant k _f1 will be described later.

When the rotation angle φ _r is larger than the angle φ _d and the tilt angle θ of the ladle 12 is θ _s or more, the pouring flow rate control unit FC1 operates the first motor 13 in the third mode. To control. In the third mode, pouring flow from the ladle 12 so that the target pouring flow rate command value u _t is feedback-controlled or feedforward control. Hereinafter, an example of control in the third mode will be described.

In one embodiment, the pouring flow rate control unit FC1 obtains the _{target tilt angle velocity ω ref} so that the molten metal M is poured at _{the target pouring flow rate q (h ref).} The target pouring flow rate q (h _ref ) and the target tilt angle velocity ω _ref have a relationship represented by the following equation (18).

Than the response of the pouring process PR1 Under the assumption that is sufficiently fast response of the first motor 13, according to the following equation (19), the command value u _t is determined from the target tilting angle velocity omega _ref.

In the formula (18), _href is a target outlet liquid level representing a target value of the liquid level height on the outlet 12b. As shown in the formula (5), since there is a one-to-one relationship between the liquid level h on the hot water outlet 12b and the pouring flow rate q, the hot water pouring is performed by changing the liquid level h on the hot water outlet 12b. The flow rate q can be controlled. Pouring flow controller FC1 is according to the following equation (20) to determine the desired tap hole liquid level _{h ref} from the rotation angle phi _r. As shown in equation (20), a low-pass filter is provided between the rotation angle phi _r and the target outflow liquid level h _ref.

In equation (20), ω _n [rad / s] indicates the break point angular frequency of the low-pass filter, and ζ indicates the attenuation ratio. k _f is a gain constant. In one embodiment, the attenuation ratio ζ may be set to 1 so that the target outlet liquid level h _{ref does not become oscillating, and the break point angular frequency ω n} may be set to 5π in order to improve the responsiveness. Further, the gain constant k _f is set to a value that makes it easier for the operator to operate the pouring flow rate by performing experimental verification. For example, the gain constant k _f is set to 0.001. As described above, molten metal flow controller FC1 performs low-pass filtering with respect to the rotation angle phi _r, determine the target outflow liquid level h _ref based on the value of the low-pass filtering. Then, based on the determined target outflow liquid level h _ref, seeking a target tilting angle velocity omega _ref and the command value u _t for controlling the operation of the first motor 13.

The second mode functions as a transition interval between the first mode and the third mode described above. _{The gain constant k f1} used in the second mode is obtained according to the following equation (21).

In the formula (21) _{, h ref} = 0 and d ² h _ref / dt ² = 0 are substituted into the formula (18) as the target outlet liquid level at the hot water outlet _{start angle θ s} , and the formulas (18) to (18) to the formula (18) can be derived by determining the relationship between the rotation angle phi _r a command value u _t with 20). _{In the second mode, by changing the gain constant from k f0} to k _f1 before the hot water of the molten metal M is started to be discharged from the ladle 12, it is possible to suppress the decrease in the operability of the pouring flow rate. .. In pouring system 1 of an embodiment, according to the above equation (17) to (21), the first operation from the operation input section 20 operation amount, that is, the rotation angle phi _r of the first motor in accordance with the The operation is controlled. As a result, the operator can independently control the pouring flow rate.

Further, in one embodiment, when the tilt angle θ of the ladle 12 _{exceeds the hot water discharge start angle θ s} and the control mode of the pouring flow rate control unit FC1 is switched from the second mode to the third mode, the equation (20) ) May be given the parameters shown in Eq. (22).

[Drop position control]
Next, the synchronization control unit FC2 will be described. The synchronization control unit FC2 performs synchronization control for adjusting the positions of the ladle 12 in the Y direction and the Z direction so that the ladle 12 tilts around the hot water outlet 12b when the ladle 12 tilts. _{The synchronization control unit FC2 obtains the movement amount y s} [m] in the Y direction and the movement amount z _s [m] in the Z direction by the synchronization control according to the following equations (23) and (24).

In the formulas (23) and (24), L [m] is the distance in the Y direction between the rotation axis AX of the ladle 12 and the outlet 12b which is the tilt center of the ladle 12, as shown in FIG. Represents, θ ₀ represents the initial tilt angle of the ladle 12 before the start of the pouring operation. Further, γ [deg] is formed by a straight line and a horizontal line that are orthogonal to the rotation axis AX and extend along the width direction of the ladle 12 (the direction that coincides with the Y direction when the tilt angle of the ladle 12 is 0). The angle.

Next, the drop position estimation unit FC3 will be described. _{The drop position estimation unit FC3 estimates the distance S best} in the Y direction from the hot water outlet 12b of the ladle 12 to the drop position DP (see FIG. 9). The drop position estimation unit FC3 obtains _{the distance Svest} according to the following equation (25).

In the formula _{(25), S w [m} ] represents the distance along the Z direction from the tapping port 12b to the upper surface of the mold 30 (i.e. the horizontal plane HP). The f in the equation (25) represents a function for calculating the distance between the outlet 12b shown in the equations (5) and (8) to (11) and the drop position DP in the Y direction. For example, when the outlet 12b of the ladle 12 is arranged above the sprue 31, the ladle 12 is retracted in the Y direction _{by the distance S best estimated by the equation (25) from the ladle 12.} The outflowing molten metal M will be poured into the sprue 31.

Next, the drop position operation unit FC4 will be described. The drop position operation unit FC4 receives the operation amount of the third operation of the operation input unit 20 by the operator, for example, the tilt angle φ _y in the left-right direction of the lever 21 from the operation input unit 20, and responds to the _{tilt angle φ y. A command value u y} [V] for controlling the operation of the third motor 15 is generated. Specifically, the drop position operation unit FC4 is according to the following equation (26), calculating the moving amount _{y p} along the Y direction of the drop position DP of the molten metal M.

In the equation (26), k _py is a gain constant that determines the relationship between the tilt angle φ _{y and the moving speed dy p} / dt of the falling position DP in the Y direction. The gain constant k _py is set to a value adjusted so that the operability of the drop position DP is good. Position shifted by the Y-direction movement amount y _p from the position before operation of the ladle 12 is set to the target dropping position, which is the target value of the drop position of the molten metal M.

Next, the front-rear position control unit FC5 will be described. Longitudinal position controller FC5 the falling position of the molten metal M from a ladle 12 generates a command value u _y for the third motor 15 so that the target drop position, the command value u _y third motor 15 Send to.

The front-rear position control unit FC5 feedback-controls the position of the ladle 12 in the Y direction according to the following equation (27).

The x _y [m] and Y-direction position of the ladle _12, when the _r y [m] to the target position in the Y direction of the ladle 12, _{X y} the Y-direction position of the ladle 12 of formula (27) x y _[m] a represents the Laplace transformed values, R _y represents a value obtained by Laplace transformation of the target position r _{y [m]} in the Y direction ladle 12. Further, in the equation (27), s represents the Laplace operator, _Py (s) represents the drive system of the third motor 15, and _Ky (s) represents the controller. The drive system P _y (s) is represented by the following equation (28).

In the equation (28), T _my [s] represents the time constant of the third motor 15, and K _my [m / s / V] represents the gain constant. As shown in equation (28), the drive system of the third motor 15, the movement speed of the command value u _y in the Y direction ladle 12 for the third motor 15 has a relationship of first-order lag system. Further, as shown in the equation (27), the controller K _y (s) constitutes PID control and the like. In one embodiment, drop position operation unit FC4 obtains a command value u _y by proportional control as shown in the following formula (29).

In equation (29), k _cy represents the proportional gain in proportional control. Proportional gain k _cy is set to quickly move it such values the target position r _y in the ladle 12 to match the falling position of the molten metal M to the target dropping position. _{The relationship between the Y-direction position x py} [m] of the ladle 12 and the Y-direction _{position x Ly} [m] of the outlet 12b is expressed by the following equation (30). As is clear from the equation (23), by performing the synchronization control of the ladle 12, the position of the hot water outlet 12b in the Y direction is maintained regardless of the tilt angle θ of the ladle 12.

Target position _{r y} in the Y direction ladle 12, as shown in the lower of the following formulas (31), the movement amount _{y s} in the Y direction by the synchronization control obtained in accordance with equation (23), according to equation (25) distance Y direction from the tapping port 12b sought to drop position DP _{S vest,} and is determined based on the movement amount _{y p} along the Y direction of the drop position DP obtained according to equation (26).

_{R c} represents the radius of the sprue 31 in the formula (31). In one embodiment, as shown in the upper part of equation (31), when Y direction distance _{S vest} from tapping port 12b to the falling position DP is smaller than the radius _{r c} of the sprue 31, out of the ladle 12 ladle 12 is controlled so that the sprue 12b is disposed at a position corresponding to the _y s -r _c. In other words, when the tilt angle of the ladle 12 is smaller than the angle at which the drop position DP of the molten metal M reaches the center position of the sprue 31 (third angle), the outlet 12b of the ladle 12 is the ladle of the sprue 31. The position of the ladle 12 is controlled so that it is located above the edge on the 12 side. On the other hand, as shown in the lower part of the equation (31), when Y direction distance _{S vest} from tapping port 12b to the falling position DP is equal to or greater than the radius _{r c} of the sprue 31, drop position DP of the molten metal M is a target The operation of the third motor 15 is controlled so as to be in the drop position. For example, Y-direction distance _{S vest} from tapping port 12b to the falling position DP is not less sprue 31 radius _{r c} above, and, when the movement amount _{y p} is 0, the molten metal M that flows from the ladle 12 The drop position of is maintained at the center of the sprue 31. Then, by the operator operating the lever 21 in the left-right direction by the tilt angle φ _y , the falling position of the molten metal M can be moved from the center of the sprue 31 by the movement amount y _{p according to the tilt angle φ y.}

[Control of vertical position]
Next, the vertical position control unit FC6 will be described. The vertical position control unit FC6 receives the operation amount of the second operation of the operation input unit 20 by the operator, for example, the tilt angle φ _z in the vertical direction of the lever 21 from the operation input unit 20, and responds to the _{tilt angle φ z.} generating a command value for controlling the operation of the second motor 14 Te u _{z [V].} Specifically, the vertical position control unit FC6 _{obtains the amount of movement z p} [m] of the ladle 12 in the Z direction from _{the tilt angle φ z according to the following equation (32).}

In the equation (32), k _pz is a gain constant that determines the relationship between the tilt angle φ _{z and the moving speed dz p} / dt of the ladle 12 in the Z direction. The gain constant k _pz is set to a value adjusted so that the operability of the ladle 12 in the Z direction is good. The vertical position control unit FC6 feedback-controls the position of the ladle 12 in the Z direction according to the following equation (33).

When x _z [m] is the position of the ladle 12 in the Z direction and r _z [m] is the target position _{of the ladle 12 in the Z direction, X z} of the equation (33) is the position of the ladle 12 in the Z direction. It represents the value obtained by laplace-converting _{x z [m], and R z represents the value obtained by ladle-converting the target position r z} [m] in the Z direction of the ladle 12. Further, in the equation (33), s represents the Laplace operator, P _z (s) represents the drive system of the second motor 14, and K _z (s) represents the controller. The drive system P _z (s) is represented by the following equation (34).

In the equation (34), T _mz [s] represents the time constant of the second motor 14, and K _mz [m / s / V] represents the gain constant. As shown in equation (34), the drive system of the second motor 14, the moving speed of the Z-direction of the ladle 12 from the instruction value u _z for the second motor 14 has a relationship of first-order lag system. Further, as shown in the equation (33), the controller K _z (s) constitutes PID control and the like. In one embodiment, the vertical position control section FC6 obtains a command value u _z by proportional control as shown in the following formula (35).

In equation (35), _kcz represents the proportional gain in proportional control. The proportional gain k _cz is set to a value that allows the ladle 12 to be quickly moved to the target position r _{z. The relationship between the Z-direction position x pz} [m] of the ladle 12 and the Z-direction _{position x Lz} [m] of the outlet 12b is expressed by the following equation (36). As is clear from the equation (24), the position of the hot water outlet 12b in the Z direction is maintained regardless of the tilt angle θ of the ladle 12 by controlling the synchronization of the ladle 12.

As shown in the following equation (37), the vertical position control unit FC6 sets the amount of movement z _{s in the Z direction by the synchronization control obtained according to the equation (24) and the tilt angle φ z} obtained according to the equation (32). on the basis of the movement amount z _p in the Z direction according ladle 12 obtains a target position r _z in the Z direction of the ladle 12.

In the formula (37), z ₀ represents the height of the spout 12b with reference to the sprue 31 before the start of pouring. As shown in equation (37), when the movement amount z _p is 0, the height of the pouring port 12b relative to the sprue 31 is maintained constant. Then, when the operator operates the lever 21 in the vertical direction by the tilt angle φ _z , the position of the ladle 12 in the Z direction can be moved by the movement amount z _{p according to the tilt angle φ z.} The distance S _w along the Z direction from the upper surface of the mold 30 after the operation of the ladle 12 by the operator until the tapping port 12b is expressed by the following (38). As shown in equation (25), the distance _{S w} obtained by the vertical position control section FC6 is also used for the calculation of the Y direction distance _{S vest} from tapping port 12b to the drop position DP.

[How to generate teaching data]
The control method of the above-mentioned pouring system 1 will be described with reference to FIG. In the control method of the pouring system 1 of one embodiment, teaching data for use in teaching playback control is generated. In this method, as shown in FIG. 10, the control unit Cnt of the pouring system 1 sets the rotation angle φ _r , the tilt angle φ _z, and the tilt angle φ _y of the lever 21 operated by the operator from the operation input unit 20. Accept. Then, the control unit Cnt the rotation angle phi _r and tilt angle phi in accordance with the _z first motor 13 and the command value u _t for controlling the operation of the second motor _14, and generates respectively a u _z, The target drop position is set according to the tilt angle φ _{y, and a command value u y} is generated so that the drop position of the molten metal M becomes the target drop position. Then, the control unit Cnt may command value _u t, sends a _{u y} and _{u z} in the first to third motors 13, 14, 15, and pouring the molten metal M in the ladle 12 into the mold 30.

Then, the control unit Cnt may command value _u t, using the _{u z} and _{u y} performs pouring simulation according mathematical model shown in the above (1) to (16), the evaluation function represented by the following formula (39) The flow coefficient, the density ρ of the molten metal M, and the hot water start angle θ _s are optimized so as to be the minimum.

In the formula (39), W _Lexp [kg] is the outflow weight of the molten metal M measured by the load cell LD in the teaching mode, and W _Lsim [kg] is the mathematical formula shown in the above formulas (1) to (16). It is the outflow weight of the molten metal M obtained according to the model. Further, T [s] represents the pouring time. In one embodiment, the control unit Cnt solves the optimization problem represented by the equation (39) so that the liquid level h _ct [m] of the molten metal M on the hot water outlet 12b and the Y direction from the hot water outlet 12b to the drop position. The optimum value of the distance S _tvc [m] of is acquired as teaching data. Further, the control unit Cnt also uses _{the movement amount z ptc of} the ladle 12 in the Z direction according to _{the tilt angle φ z and the movement amount y ptc of} the ladle 12 in the Y direction according to the tilt angle φ _y as teaching data. get.

Next, in the control method of the pouring system of one embodiment, the pouring process is performed in the playback mode in which the molten metal is automatically poured into the mold 30 based on the acquired teaching data. In this playback mode, the pouring flow rate is controlled based on the above equations (18) and (19). _{Specifically, the liquid level h ct,} which is the teaching data, is given as the _{target outlet liquid level h ref} represented by the formula (18). Further, in the playback mode, the drop position of the molten metal M is controlled based on the equations (27) to (31). Moving Specifically, given an expression distance _{S VTC} [m] is a teaching data as Y direction distance _{S vest} to drop position DP from tapping port 12b (31), along the Y direction of the falling position DP As the quantity y _p , the movement amount y _ptc which is the teaching data is given. Further, in the playback mode, the vertical position of the ladle 12 is controlled based on the equations (33) to (37). Specifically, the movement amount _{z ptc} is teaching data as a moving amount _{z p} in the Z direction of the ladle 12 of formula (37) is provided. In this way, the control unit Cnt performs the pouring process in the playback mode, so that the pouring control can be performed under the same conditions as the pouring operation performed in the teaching mode.

[Boundary condition derivation method]
In the control method of the pouring system of one embodiment, the boundary condition of the sprue inflow portion required for performing the hot water flow analysis in the mold using CAE is derived based on the acquired teaching data. When analyzing the flow of molten metal in the mold, the inflow velocity, inflow angle, and inflow range of the molten metal M into the sprue 31 are required as the boundary conditions of the sprue inflow portion. In the control method of the pouring system of one embodiment, the inflow flow velocity and the inflow angle of the molten metal M are derived according to the equations (13) and (14). Further, inflow range of the molten metal M with respect to the sprue 31, as shown in equation (40), the radius r _l of the cross section of the molten metal M to the reference center of the sprue 31 obtained according to the equation (16), falling position of the molten metal M It is derived using _{the movement amount y p} along the Y direction of the DP.

In the formula _{(40), S L [m} ] represents a range in which the molten metal M that flows from the ladle 12 on a sprue 31 to flow into the sprue 31. This inflow range S _L becomes the inflow range of the molten metal M. Since it is assumed that the molten metal M falling with respect to the sprue 31 has a cylindrical shape, the inflow range of the molten metal M of the formula (40) is maintained even in the three-dimensional molten metal flow analysis.

[Experimental example]
FIG. 11 shows an example of the experimental result of the pouring operation using the above-mentioned pouring system. (A) of FIG. 11 shows the change over time in the rotation angle phi _r, (b) of FIG. 11 shows the change over time of the tilting angular velocity ω of the ladle 12, in FIG. 11 (c) The time course of the tilt angle θ of the ladle 12 is shown, FIG. 11 (d) shows the time course of the liquid level h on the outlet 12b, and FIG. 11 (e) shows the pouring flow rate. It shows the change of q over time. Further, FIG. 11 (f) shows a change over time in the outflow weight W measured by the load cell LD, and FIG. 11 (g) shows a change over time in the drop position Sv of the molten metal M. 11 (h) shows a change over time in the inflow velocity v _t of the molten metal M with respect to the sprue 31, (i) in FIG. 11 shows the change over time in the inflow range S _L of the molten metal M with respect to the sprue 31 , FIG. 11 (j) shows the time course _{of the inflow angle φ in} of the molten metal M with respect to the sprue 31. Of these data, _{the accuracy of CAE analysis can be improved by giving the inflow velocity dt} , the inflow range _SL, and the inflow angle φ _in as the boundary conditions for the hot water flow analysis by CAE.

Next, a control program for controlling the pouring system 1 will be described. This control unit program is executed in the control unit Cnt.

The control program includes a main module, a pouring flow control module, a synchronization control module, a drop position estimation module, a drop position operation unit module, a front-rear position control module, and a vertical position control module.

The main module is a part that comprehensively controls the pouring system 1. The functions realized by executing the pouring flow rate control module, the synchronization control module, the drop position estimation module, the drop position operation module, the front-rear position control module, and the vertical position control module in the control unit Cnt are the above-mentioned pouring functions, respectively. The functions are the same as those of the flow rate control unit FC1, the synchronization control unit FC2, the drop position estimation unit FC3, the drop position operation unit FC4, the front-rear position control unit FC5, and the vertical position control unit FC6.

The control unit program is provided, for example, in a form recorded on a recording medium such as a CD-ROM, a DVD, or a ROM, or a semiconductor memory. Further, the control unit program may be provided via a communication network.

The pouring system, the control method of the pouring system, the control program, and the computer-readable recording medium for storing the control program have been described above according to the various embodiments, but the present invention is limited to the above-described embodiment. Various modifications can be configured without changing the gist of the invention. For example, in the above embodiment, the position of the hot water outlet 12b is maintained regardless of the tilt angle θ of the ladle 12 by controlling the synchronization of the ladle 12, but the hot water outlet 12b of the ladle 12 is the center of tilt. It is not always necessary to perform synchronization control as long as the mechanism is provided.

In the above embodiment, as shown in equation (17), while setting the region of the dead band to the rotation angle phi _r, this area is not necessarily provided. Further, as shown in the same equation, the pouring flow rate control unit FC1 controls the operation of the first motor 13 according to any of the first to third modes according to the tilt angle θ of the ladle 12. However, the pouring flow rate control unit FC1 can always control the operation of the first motor 13 in the third mode regardless of the tilt angle θ.

Further, in the above embodiment, the operation input unit 20 is configured as a joystick having a lever 21, but the operation input unit 20 does not necessarily have to be a joystick, and the first operation, the second operation, and the third operation Any mechanism can be provided as long as the operation of can be accepted from the operator.

Cnt ... Control unit, FC1 ... Pouring flow control unit, FC2 ... Synchronized control unit, FC3 ... Drop position estimation unit, FC4 ... Drop position operation unit, FC5 ... Front and rear position control unit, FC6 ... Vertical position control unit, HP ... Horizontal plane, M ... molten metal, 1 ... hot water pouring system, 10 ... hot water pouring device, 12 ... hot water pan, 12a ... hot water nozzle, 12b ... hot water outlet, 13 ... first motor, 14 ... second motor, 15 ... second 3 motors, 20 ... operation input unit, 21 ... lever, 30 ... mold, 31 ... sprue.

Claims (10)

A hot water pouring system for pouring molten metal into the mold through the sprue of the mold.
The pouring system
A ladle that holds the molten metal and
The first motor that tilts the ladle and
A second motor that moves the ladle along the vertical direction,
A third motor that moves the ladle along the front-back direction,
A first operation for changing the tilt angle of the ladle, a second operation for adjusting the vertical position of the ladle, and the molten metal in the front-rear direction in the plane including the sprue. An operation input unit that receives from the operator a third operation for adjusting the target drop position of
A control unit that controls the operation of the first motor, the second motor, and the third motor.
With
The control unit
The operation of the first motor is controlled according to the operation amount of the first operation.
The operation of the second motor is controlled according to the operation amount of the second operation.
As drop position of the molten metal to the operation amount and the operation amount of the second operation before Symbol first operation result determined is the target dropping position, controls the operation of the third motor,
Hot water pouring system. The hot water pouring system according to claim 1, wherein the control unit prevents the first motor from operating when the operation amount of the first operation is smaller than a predetermined threshold value. The control unit performs low-pass filter processing on a signal value indicating an operation amount of the first operation, and controls the operation of the first motor based on the signal value after the low-pass filter processing. Or the pouring system according to 2. The control unit
When the tilt angle of the ladle is smaller than the first angle, the operation of the first motor is controlled in the first mode, and the tilt angle of the ladle is greater than or equal to the first angle and greater than the second angle. When it is small, the operation of the first motor is controlled in the second mode, and when the tilt angle of the ladle is equal to or larger than the second angle, the operation of the first motor is controlled in the third mode. ,
The first angle is smaller than the second angle, and the second angle is the hot water discharge start angle at which the outflow of the molten metal from the ladle is started.
In the first mode, a command value for controlling the operation of the first motor is generated by multiplying the operation amount of the first operation by the first coefficient.
In the second mode, a command value for controlling the operation of the first motor is generated by multiplying the operation amount of the first operation by a second coefficient different from the first coefficient.
In the third mode, the target pouring flow rate of the molten metal is set according to the operation amount of the first operation, and the first pouring flow rate from the ladle becomes the target pouring flow rate. Generate command values to control the operation of the motor
The pouring system according to any one of claims 1 to 3. The control unit
When the tilt angle of the ladle is smaller than the third angle, the operation of the third motor is controlled so that the outlet of the ladle is located above the edge of the ladle on the ladle side. ,
When the tilt angle of the ladle is equal to or greater than the third angle, the drop position determined by the operation amount of the first operation, the operation amount of the second operation, and the operation amount of the third operation is said. The operation of the third motor is controlled so as to reach the target drop position.
The third angle is the tilt angle of the ladle at which the drop position reaches the center position of the sprue.
The pouring system according to any one of claims 1 to 4. It is a control method of a pouring system for pouring molten metal into the mold through the sprue of the mold.
The pouring system
A ladle that holds the molten metal and
The first motor that tilts the ladle and
A second motor that moves the ladle along the vertical direction,
A third motor that moves the ladle along the front-back direction,
A first operation for changing the tilt angle of the ladle, a second operation for adjusting the vertical position of the ladle, and the molten metal in the front-rear direction in the plane including the sprue. An operation input unit that receives from the operator a third operation for adjusting the target drop position of
A control unit that controls the operation of the first motor, the second motor, and the third motor.
With
The method is
A step in which the control unit controls the operation of the first motor according to the operation amount of the first operation.
A step in which the control unit controls the operation of the second motor according to the operation amount of the second operation.
Wherein the control unit is pre-SL as the operation amount of the first operation and falling position of the second said molten metal to an operation amount of the operation thus determined to become the target dropping position, controls the operation of the third motor And the process to do
Including methods. The operation input unit receives the operation amount of the first operation, the operation amount of the second operation, and the operation amount of the third operation from the operator, and the operation amount of the first operation received. The operation of the first motor, the second motor, and the third motor is controlled based on the operation amount of the second operation and the operation amount of the third operation, and the molten metal is poured into the mold. Process and
From the received operation amount of the first operation, the operation amount of the second operation, and the operation amount of the third operation, the pouring flow rate of the molten metal, the drop position, and the front-rear direction of the pan. The amount of movement and the amount of movement of the pan in the vertical direction are obtained, and the flow rate of the molten metal, the drop position, the amount of movement of the pan in the front-rear direction, and the amount of movement of the pan in the vertical direction. The process of acquiring the movement amount as teaching data and
The claim includes a step of controlling the operation of the first motor, the second motor, and the third motor so that the molten metal is automatically poured based on the acquired teaching data. The method according to 6. The method according to claim 7, further comprising a step of calculating the inflow rate of the molten metal into the sprue, the inflow range of the molten metal into the sprue, and the inflow angle of the molten metal with respect to the sprue based on the teaching data. .. It is a control program for operating the pouring system so that the molten metal is poured into the mold through the sprue of the mold.
The pouring system
A ladle that holds the molten metal and
The first motor that tilts the ladle and
A second motor that moves the ladle along the vertical direction,
A third motor that moves the ladle along the front-back direction,
A first operation for changing the tilt angle of the ladle, a second operation for adjusting the vertical position of the ladle, and the molten metal in the front-rear direction in the plane including the sprue. An operation input unit that receives from the operator a third operation for adjusting the target drop position of
A control unit that controls the operation of the first motor, the second motor, and the third motor.
With
The control program
A step of controlling the operation of the first motor according to the operation amount of the first operation, and
A step of controlling the operation of the second motor according to the operation amount of the second operation, and
As drop position of the molten metal to the operation amount and the operation amount of the second operation before Symbol first operation result determined is the target dropping position, and controlling the operation of said third motor,
A control program that causes the control unit to execute the above. A computer-readable recording medium that stores a control program for operating the pouring system so that molten metal is poured into the mold through the sprue of the mold.
The pouring system
A ladle that holds the molten metal and
The first motor that tilts the ladle and
A second motor that moves the ladle along the vertical direction,
A third motor that moves the ladle along the front-back direction,
A first operation for changing the tilt angle of the ladle, a second operation for adjusting the vertical position of the ladle, and the molten metal in the front-rear direction in the plane including the sprue. An operation input unit that receives from the operator a third operation for adjusting the target drop position of
A control unit that controls the operation of the first motor, the second motor, and the third motor.
With
The control program
A step of controlling the operation of the first motor according to the operation amount of the first operation, and
A step of controlling the operation of the second motor according to the operation amount of the second operation, and
As drop position of the molten metal to the operation amount and the operation amount of the second operation before Symbol first operation result determined is the target dropping position, and controlling the operation of said third motor,
A computer-readable recording medium that causes the control unit to execute the above.

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