Tilting-type automatic pouring method and a medium that stores programs to control the tilting of a ladle

• US 8,062,578 B2
• Filed: 04/21/2008
• Issued: 11/22/2011
• Est. Priority Date: 04/28/2007
• Status: Active Grant

• Current Assignee: National University Corporation Toyohashi University Of Technology, Sintokogio Limited
• Original Assignee: National University Corporation Toyohashi University Of Technology, Sintokogio Limited
• Inventors: Miyoshi, Takanori, Ota, Kazuhiro, Noda, Yoshiyuki, Suzuki, Makio, Terashima, Kazuhiko
• Primary Examiner(s): KASTLER, SCOTT R
• Application Number:
  US12/597,876
• Publication Number:
  US 20100059555A1
• Time in Patent Office: 1,310 Days
• Field of Search: 266/45, 266/236, 266/99, 222/590, 222/604
• US Class Current: 266/45
• 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 41/06 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

A method for controlling a ladle to pour molten metal into a sprue of a mold. The method includes obtaining a mathematical model describing a locus of positions where the molten metal flowing from the ladle drops on an upper surface of the sprue. The method further includes solving an inverse problem of the mathematical model, estimating a position where the molten metal drops using a result of the solving of the inverse problem, and determining target voltages to be supplied to servomotors controlling the ladle. At least the target voltage to be supplied to one of the servomotors is determined based on the estimated position. The method also includes controlling the servomotors based on respective target voltages.

Claims

1. A tilting-type automatic pouring method for controlling a ladle to pour molten metal into a sprue of a mold by controlling voltages supplied to a first servomotor tilting the ladle, a second servomotor moving the ladle backward and forward, and a third servomotor lifting and lowering the ladle, the method comprising:

obtaining a mathematical model describing a locus of positions where the molten metal flowing from the ladle drops on an upper surface of the sprue, the mathematical model including;

a first term describing a first relationship between a target flow rate of the molten metal flowing from the ladle when the ladle is tilted and a speed of the molten metal flowing out of the ladle, and

a second term describing a second relationship between the speed and a position where the molten metal drops on the upper surface of the sprue;

solving an inverse problem of the mathematical model;

estimating the position where the molten metal drops using a result of the solving of the inverse problem;

determining target voltages to be supplied to the first, second, and third servomotors, at least the target voltage to be supplied to the second servomotor being determined based on the estimated position; and

controlling the first, second, and third servomotors based on the respective target voltages.

2. A computer-readable non-transitory storage medium storing a program for controlling a ladle to pour molten metal into a sprue of a mold by controlling voltages supplied to a first servomotor tilting the ladle, a second servomotor moving the ladle backward and forward, and a third servomotor lifting and lowering the ladle, whereby the molten metal is poured into a mold by the tilting of the ladle, the program, when executed, controlling a computer to:

produce a mathematical model describing a locus of positions where the molten metal flowing from the ladle drops on an upper surface of the sprue, the mathematical model including;

a first term describing a first relationship between a target flow rate of the molten metal flowing from the ladle when the ladle is tilted and a speed of the molten metal flowing out of the ladle, and

a second term describing a second relationship between the speed and a position where the molten metal drops on the upper surface of the sprue;

solve an inverse problem of the mathematical model;

estimate the position where the molten metal drops based on a result of the solving the inverse problem;

determine target voltages to be supplied to the first, second, and third servomotors, at least the target voltage to be supplied to the second servomotor being determined based on the estimated position; and

control the first, second, and third servomotors based on the respective target voltages.