METHOD FOR A POURING CONTROL AND A STORAGE MEDIUM FOR STORING PROGRAMS FOR CAUSING A COMPUTER TO WORK AS A POURING CONTROL MEANS

• US 20180193907A1
• Filed: 03/09/2018
• Published: 07/12/2018
• Est. Priority Date: 03/12/2012
• Status: Active Grant

• Current Assignee: Nagaoka University of Technology, Sintokogio Limited
• Original Assignee: Nagaoka University of Technology, Sintokogio Limited
• Inventors: SUZUKI, Makio, TERASHIMA, Kazuhiko, ITO, Atsushi, NODA, Yoshiyuki
• Granted Patent: US 10,639,709 B2
• Time in Patent Office: Days
• CPC Class Codes: B22D 37/00 Controlling or regulating the pouring of molten metal from a casting melt-holding vessel B22D11/18, B22D39/00, B22D41/00 take precedence
• CPC Class Codes: B22D 41/04 tiltable
• CPC Class Codes: B22D 41/06 Equipment for tilting
• CPC Class Codes: B22D 46/00 Controlling, supervising, not restricted to casting covered by a single main group, e.g. for safety reasons controlling or regulating in general G05

Abstract

[Problem to Be Solved] A pouring control method for controlling an automatic pouring device with a tilting-type ladle is provided. By the method, a lip of a pouring ladle approaches a sprue of a mold without striking any object located within the range of its movement. Also, by the method, the molten metal that runs out of the ladle can accurately fill the mold. [Solution] The pouring control method comprises the steps of setting a target flow rate of molten metal to be poured, generating a voltage to input it to a motor that tilts the ladle (hereafter, the tilting motor) so as to reach the target flow rate of the molten metal based on an inverse model of a mathematical model of molten metal that runs out of a pouring ladle and an inverse model of the tilting motor, estimating the flow rate of the molten metal that runs out of the ladle, estimating the falling position and getting the estimated falling position to be a target position, and generating a trajectory for the movement of the pouring ladle wherein the trajectory causes the height of the lip of the pouring ladle above the level of a sprite of a mold to decrease.

Claims

1. A pouring control method for an automatic pouring device with a tilting-type pouring ladle, wherein the device can control the movements of the ladle in the back and forth and up and down directions, and can also control its tilting, wherein the method comprises:

setting a target flow rate of molten metal to be poured,

generating a voltage to input it to a tilting motor so as to reach the target flow rate of the molten metal based on an inverse model of a mathematical model of molten metal that runs out of a pouring ladle and an inverse model of the tilting motor,

estimating the flow rate of the molten metal that runs out of the ladle, and

estimating the falling position and getting the estimated falling position to be a target position, and generating a trajectory for the movement of the pouring ladle wherein the trajectory causes the height of the lip of the pouring ladle above the level of a sprue of a mold to decrease and causes the ladle not to strike any object located within the range of its movement, wherein

the method controls the movement of the pouring ladle to pour the molten metal into the mold so that the height of the lip of the pouring ladle above the level of the sprue of the mold decreases and so that the ladle does not strike the object when the molten metal is being poured into the mold.

2. A pouring control method of claim 1, wherein the trajectory for the movement of the pouring ladle is generated based on the mode in which the pouring ladle is going to strike the object (hereafter, the striking mode), which mode is previously set, and based on the conditions for changing the movement of the ladle, which conditions are decided based on the striking mode.

3. A pouring control method for an automatic pouring device with a tilting-type pouring ladle, wherein the device can control the movements of the ladle in the back and forth and up and down directions, and can also control its tilting, wherein the method comprises:

setting a target flow rate of molten metal to be poured,

generating a voltage to be input to a tilting motor so as to reach the target flow rate of the molten metal based on an inverse model of a mathematical model of the molten metal that runs out of a pouring ladle and an inverse model of the tilting motor that tilts the ladle, estimating the flow rate of the molten metal that runs out of the ladle, estimating the falling position of the molten metal and getting the falling position to be a target position, setting a hypothetical axis at the lip of the ladle, generating a second trajectory for the movement of the pouring ladle wherein the trajectory causes the ladle not to strike any object located within the range of its movement and minimizes the height of the lip of the pouring ladle above the level of a sprue of a mold, wherein

the method controls the movement of the pouring ladle so that the ladle does not strike the object when the molten metal is being poured into the mold, and so that the ladle pours the molten metal into the mold by turning the ladle around the hypothetical axis set at the lip of the ladle.

4. A pouring control method of claim 3, wherein at the step of generating the second trajectory for the movement of the pouring ladle the second trajectory determines the location of the ladle based on the striking mode, which mode is previously set.

5-6. -6. (canceled)