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EP2435201A1 - Robot supported changeover of a tap hole slide gate in a steel casting ladle - Google Patents

Robot supported changeover of a tap hole slide gate in a steel casting ladle

Info

Publication number
EP2435201A1
EP2435201A1 EP10721338A EP10721338A EP2435201A1 EP 2435201 A1 EP2435201 A1 EP 2435201A1 EP 10721338 A EP10721338 A EP 10721338A EP 10721338 A EP10721338 A EP 10721338A EP 2435201 A1 EP2435201 A1 EP 2435201A1
Authority
EP
European Patent Office
Prior art keywords
industrial robot
sliding closure
ladle
molten metal
stand
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP10721338A
Other languages
German (de)
French (fr)
Other versions
EP2435201B1 (en
Inventor
Hans-Wilhelm Schöck
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SMS Siemag AG
Original Assignee
SMS Siemag AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SMS Siemag AG filed Critical SMS Siemag AG
Publication of EP2435201A1 publication Critical patent/EP2435201A1/en
Application granted granted Critical
Publication of EP2435201B1 publication Critical patent/EP2435201B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/14—Closures
    • B22D41/22—Closures sliding-gate type, i.e. having a fixed plate and a movable plate in sliding contact with each other for selective registry of their openings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D41/00—Casting melt-holding vessels, e.g. ladles, tundishes, cups or the like
    • B22D41/14—Closures
    • B22D41/22—Closures sliding-gate type, i.e. having a fixed plate and a movable plate in sliding contact with each other for selective registry of their openings
    • B22D41/28—Plates therefor
    • B22D41/34—Supporting, fixing or centering means therefor

Definitions

  • the invention is directed to a method for exchanging a sliding closure arranged at the outflow of a metal melting container, in particular a steel ladle, in which the sliding closure is gripped by an industrial robot associated with the molten metal container, removed from the molten metal container and deposited. Furthermore, the invention is directed to a system for the maintenance of a pouring of a molten metal container, in particular a Stahlg screenpfanne arranged slide closure having a Pfannenstand with at least one Pfannenkippiene and at least one industrial robot associated therewith, wherein the industrial robot is arranged and designed such that the Schiebever - End of this achievable, removable from the molten metal container and can be stored in the pan level.
  • BESTATIGUNGSKOPIE Change of slide plates in the range of 25 kg. From an ergonomic point of view, it is therefore desirable to improve working conditions in this area.
  • the plant generally designated 1, comprises a ladle stand 2 with two ladle tilting chairs 3, into which steel ladles 4 are inserted and then pivoted or tilted into the horizontal position shown in the figures.
  • An industrial robot 6 equipped with a special tool 5 removes the sliding shutter 7 attached to the respective pan bottom 4a, a so-called pan slide in the steel ladle, from the respective steel ladle 4 and carries or conveys it to a working area of the industrial robot 6 and thus to the ladle level 2 associated conveyor track 8, which is formed in the embodiment as a roller table.
  • the conveyor track 8 leads to a workshop area 9 assigned to the socket stand 2 and / or arranged thereon, a so-called slider workshop.
  • the sliding closure 7 can cool down before it is then used by the operating or maintenance personnel in the workshop area 9 with the aid of workshop information. chen tools and / or lifting means 10 is handled and / or processed.
  • the sliding closure 7 is opened by the staff and the condition of the closure plates 11 or the sliding plates is inspected and checked, and the sliding closure 7 and the sliding unit or sliding mechanism moving in the application and operation case are serviced.
  • the mounted on the bottom of the pan sliding closure 7 is securely fixed there, for example by means of a type of a bayonet closure such that the complete pan slide assembly is securely held.
  • the slide assembly can be released from the sliding closure 7 and inserted into it. This activity can be performed by the industrial robot 6.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Casting Support Devices, Ladles, And Melt Control Thereby (AREA)

Abstract

The invention relates to a method for changing out a gate closure (7) disposed at the discharge of a metal melt container, particularly a steel casting ladle (4), wherein the gate closure (7) is gripped by an industrial robot (6) associated with the metal melt container, removed from the metal melt container, and placed aside. A solution is proposed allowing inspection activity for appraising the gate closure to be moved out of the hot area of the ladle stand. The aim is achieved in that the gate closure (7) is placed on a conveyor (8) by the industrial robot (6) and is conveyed to a workshop area (9) disposed outside of the hot area of a ladle stand (2) by means of said conveyor (8), particularly a roller track.

Description

Robotergestützter Abstichschieberwechsel an Stahlgießpfannen Robot-supported tapping slide change on steel ladles

Die Erfindung richtet sich auf ein Verfahren zum Auswechseln eines am Aus- guss eines Metallschmelzbehälters, insbesondere einer Stahlgießpfanne, angeordneten Schiebeverschlusses, bei welchem der Schiebeverschluss von einem dem Metallschmelzebehälter zugeordneten Industrieroboter ergriffen, vom Metallschmelzebehälter entfernt und abgelegt wird. Weiterhin richtet sich die Erfindung auf eine Anlage zur Wartung eines am Ausguss eines Metallschmelzebehälters, insbesondere einer Stahlgießpfanne, angeordneten Schiebeverschlusses, die einen Pfannenstand mit mindestens einem Pfannenkippstuhl und mindestens einen diesem zugeordneten Industrieroboter aufweist, wobei der Industrieroboter derart angeordnet und ausgebildet ist, dass der Schiebever- Schluss von diesem erreichbar, vom Metallschmelzebehälter entfernbar und im Bereich des Pfannenstandes ablegbar ist.The invention is directed to a method for exchanging a sliding closure arranged at the outflow of a metal melting container, in particular a steel ladle, in which the sliding closure is gripped by an industrial robot associated with the molten metal container, removed from the molten metal container and deposited. Furthermore, the invention is directed to a system for the maintenance of a pouring of a molten metal container, in particular a Stahlgießpfanne arranged slide closure having a Pfannenstand with at least one Pfannenkippstuhl and at least one industrial robot associated therewith, wherein the industrial robot is arranged and designed such that the Schiebever - End of this achievable, removable from the molten metal container and can be stored in the pan level.

Abstichschieber von Stahlgießpfannen, welche einen Metallschmelzebehälter darstellen, unterliegen während des Betriebes einem kontinuierlichen und per- manenten Verschleiß. Im Rahmen der Pfannenumlaufzyklen eines Stahlwerkes werden diese als Schiebeverschluss ausgebildeten Abstichschieber in regelmäßigen Abständen überprüft und gegebenenfalls erneuert. Im Bereich von Stahlwerken werden diese Arbeiten nach heutiger Praxis an einem dafür eingerichteten Pfannenstand ausgeführt. In diesem Pfannenstand werden die Stahl- gießpfannen in einen Pfannenkippstuhl eingesetzt und in eine horizontale Lage verschwenkt. Die am Pfannenboden befestigten Pfannenschieber können in dieser Lage inspiziert, gewartet und bei vorliegendem Verschleiß können die Schieberplatten ausgewechselt werden. Durch die von der Pfannenausmauerung ausgehende Strahlungshitze ist das in diesem Bereich arbeitende War- tungspersonal einer enormen Hitzebelastung ausgesetzt. Darüber hinaus liegen die in diesem Bereich dann zu handhabenden Lasten, insbesondere bei einemTapping slides of steel ladles, which constitute a molten metal container, are subject to continuous and permanent wear during operation. As part of the Pfannenumlaufzyklen a steelworks designed as a sliding shutter tapping slide are checked at regular intervals and renewed if necessary. In the field of steelworks, these works are carried out according to current practice at a specially designed pan stand. In this ladle stand, the ladles are inserted into a ladle tilting chair and swiveled into a horizontal position. The pan slides attached to the bottom of the ladle can be inspected and maintained in this position, and the slide plates can be replaced if there is any wear. Due to the radiant heat emanating from the ladle lining, the maintenance personnel working in this area are exposed to an enormous heat load. In addition, there are the loads to be handled in this area, especially one

BESTATIGUNGSKOPIE Wechsel der Schieberplatten, im Bereich von 25 kg. Aus ergonomischer Sicht ist es daher erstrebenswert, die Arbeitsbedingungen in diesem Bereich zu verbessern.BESTATIGUNGSKOPIE Change of slide plates, in the range of 25 kg. From an ergonomic point of view, it is therefore desirable to improve working conditions in this area.

Es ist aus dem Stand der Technik daher bereits bekannt, die Arbeiten durch Verwendung eines oder mehrerer Industrieroboter zu automatisieren. So beschreibt die WO 2008/025562 A1 einen Pfannenstand, in welchem in einem umzäunten, abgetrennten Arbeitsbereich ein Industrieroboter im Bereich eines Pfannenkippstuhls angeordnet ist. Dieser öffnet und entfernt selbsttätig Schiebeverschlüsse vom Boden einer im Bereich seines Arbeitsraumes angeordne- ten Stahlgießpfanne. Aber auch hier ist weiterhin vorgesehen, dass zur Kontrolle des Schiebeverschlusses, insbesondere der darin befindlichen Schieberplatte, des Gießkanals im Boden der Stahlgießpfanne und der darin ebenfalls angeordneten Ausgießhülie, Bedienungs- oder Wartungspersonal den umgrenzten Arbeitsraum des Roboters betritt und diese Prüfung durchführt. Auch in die- sem Falle betritt Wartungs- und Bedienungspersonal wieder den durch Strahlungshitze beaufschlagten Arbeitsraum.It is therefore already known from the prior art to automate the work by using one or more industrial robots. For example, WO 2008/025562 A1 describes a ladle stand in which an industrial robot in the region of a ladle tilting chair is arranged in a fenced, separated working area. This automatically opens and removes sliding closures from the bottom of a steel ladle arranged in the area of its working space. But here is also provided that for controlling the sliding closure, in particular the slide plate therein, the Gießkanals in the bottom of the steel ladle and the Ausgießhülie also arranged therein, operating or maintenance personnel enters the bounded working space of the robot and performs this test. In this case as well, maintenance and operating personnel again enter the working space exposed to radiant heat.

Der Erfindung liegt die Aufgabe zugrunde, eine Lösung zu schaffen, die es ermöglicht, die Inspektionstätigkeit zur Begutachtung des Schiebeverschlusses aus dem Heißbereich des Pfannenstandes heraus zu verlegen.The invention has for its object to provide a solution that makes it possible to move the inspection activity for reviewing the sliding closure of the hot area of the pan stand out.

Bei einem Verfahren der eingangs näher bezeichneten Art wird diese Aufgabe erfindungsgemäß dadurch gelöst, dass der Schiebeverschluss von dem Industrieroboter auf einer Förderbahn abgelegt wird und mittels dieser Förderbahn, insbesondere eines Rollenganges, in einen außerhalb des Hitzebereiches des Pfannenstandes angeordneten Werkstattbereich gefördert wird.In a method of the type described in more detail, this object is achieved in that the sliding shutter is stored by the industrial robot on a conveyor track and by means of this conveyor track, in particular a roller conveyor, is conveyed in a arranged outside the heat range of the pan stand workshop area.

Bei einer Anlage der eingangs näher bezeichneten Art wird diese Aufgabe erfindungsgemäß dadurch gelöst, dass im Bereich des Pfannenstandes eine För- derbahn, insbesondere ein Rollengang, angeordnet ist, die/der zu einem dem Pfannenstand zugeordneten, außerhalb des Hitzebereiches des Pfannenstan- des angeordneten Werkstattbereich führt, wobei der Schiebeverschluss von dem Industrieroboter auf der Förderbahn ablegbar ist.In a system of the type described in more detail, this object is achieved according to the invention in that a conveyor track, in particular a roller conveyor, is arranged in the region of the socket stand and which is connected to a cup stand outside the heat zone of the ladle stand. the arranged workshop area leads, wherein the sliding closure of the industrial robot on the conveyor track can be stored.

Durch die erfindungsgemäße Ausbildung eines dem Pfannenstand zugeordneten Werkstattbereiches, der aber außerhalb des Hitzebereiches des Pfannen- Standes angeordnet ist und mit diesem über eine Förderbahn, insbesondere einen Rollengang, in funktionaler (Wirk)verbindung steht, ist es möglich, alle im Zusammenhang mit dem Wechsel des Schiebeverschlusses, d. h. dem Wechsel eines Abstichschiebers einer Stahlgießpfanne, stehenden, manuell durchzuführenden Wartungs- und/oder Inspektionstätigkeiten aus dem Heißbereich des Pfannenstandes in die Schieberwerkstatt zu verlegen. Nach einem Transport über den Verschlussschieber mittels des Rollenganges oder der Förderbahn in den Werkstattbereich der Schieberwerkstatt kann dort der Schiebeverschluss oder Abdichtschieber oder Pfannenschieber zunächst erkalten, bevor er sich dann Bedien- oder Wartungspersonal zu Wartungs- oder Inspektionszwecken und -arbeiten nähert. Anschließend kann das Bedien- oder Wartungspersonal an dem erkalteten Schiebeverschluss in der mit üblichen Lasthebemitteln und sonstigem Arbeitsgerät werkstattgerecht ausgerüsteten Werkstattbereich die notwendigen Tätigkeiten durchführen. Arbeiten im Hitzebereich oder unter unmittelbaren Hitzeeinwirkungen sind nicht mehr notwendig. Hierdurch wird zu- dem die Unfallträchtigkeit der manuellen Tätigkeiten deutlich reduziert. Andererseits ist es weiterhin möglich, einen Industrieroboter im unmittelbaren Heißbereich anzuordnen und dort Tätigkeiten durchführen zu lassen. Der Industrieroboter kann den Schiebeverschluss vom Boden des Metallschmeizebehälters, insbesondere der Stahlgießpfanne, entfernen, ohne dass manuelle Tätigkeit oder manuelle Unterstützung durch Bedienpersonal bereitgestellt werden muss. Im Übrigen kann der Industrieroboter auch sämtliche sonst am Pfannenboden vorzunehmenden Tätigkeiten wie Freibrennen des Gießkanals, oder Entfernen der Ausgießhülse oder Ähnliches durchführen.Due to the inventive design of the pan state associated workshop area, but which is located outside the heat range of the pan state and with this on a conveyor track, in particular a roller conveyor, in functional (active) connection, it is possible, all in connection with the change the sliding closure, d. H. the change of a tapping slide of a ladle, standing, manually performed maintenance and / or inspection activities to move from the hot zone of the pan stand in the valve workshop. After being transported via the shutter slide by means of the roller conveyor or the conveyor track into the workshop area of the slide workshop, the slide closure or sealing slide or slide valve can first cool there before it then approaches operating or maintenance personnel for maintenance or inspection purposes and work. Subsequently, the operating or maintenance personnel can carry out the necessary activities on the cooled sliding closure in the workshop area equipped with conventional lifting devices and other equipment. Working in the heat or under direct heat is no longer necessary. This also significantly reduces the accident severity of manual activities. On the other hand, it is still possible to arrange an industrial robot in the immediate hot area and let perform activities there. The industrial robot can remove the sliding closure from the bottom of the metal melt container, especially the steel ladle, without having to provide manual or manual operator assistance. Incidentally, the industrial robot can also carry out all other activities to be carried out on the bottom of the ladle, such as burn-out of the pouring channel, or removal of the pouring sleeve or the like.

Um das Bedienpersonal weg von jeglicher Hitzebeaufschlagung freizuhalten, sieht die Erfindung in Ausgestaltung des Verfahrens vor, dass der Schiebever- Schluss (erst) nach seinem Abkühlen im Werkstattbereich durch Bedienpersonal gehandhabt und/oder bearbeitet wird.In order to keep the operator away from any heat exposure, the invention provides in an embodiment of the method that the sliding mechanism Final (only) after its cooling in the workshop area by operating personnel handles and / or is processed.

Um die Kombination von automatisierter Robotertätigkeit und manuell durchzuführender Arbeit des Bedienpersonals zum einen gut aufeinander abstimmen zu können, auf der anderen Seite aber auch unabhängig voneinander durchführen zu können, sieht die Erfindung in Ausgestaltung der Anlage schließlich vor, dass der Industrieroboter auf dem Pfannenstand verfahrbar angeordnet ist.In order to be able to coordinate the combination of automated robot activity and manually performed work of the operator on the one hand on the other hand, but also independently, the invention finally provides in an embodiment of the system that the industrial robot arranged movably on the pan stand is.

Die Erfindung ist nachstehend anhand der Zeichnung beispielhaft näher erläutert. Diese zeigt inThe invention is explained in more detail below by way of example with reference to the drawing. This shows in

Figur 1 in schematischer Seitenansicht eine erfindungsgemäße Anlage und inFigure 1 is a schematic side view of a plant according to the invention and in

Figur 2 eine schematische Draufsicht auf die Anlage gemäß Fig. 1.2 shows a schematic plan view of the system according to FIG. 1.

Die insgesamt mit 1 bezeichnet Anlage umfasst einen Pfannenstand 2 mit zwei Pfannenkippstühlen 3, in die Stahlgießpfannen 4 eingesetzt und dann in die in den Figuren dargestellte horizontale Lage verschwenkt oder gekippt werden. Ein mit einem SpezialWerkzeug 5 ausgestatteter Industrieroboter 6 nimmt den am jeweiligen Pfannenboden 4a angebrachten Schiebeverschluss 7, bei der Stahlgießpfanne ein so genannter Pfannenschieber, von der jeweiligen Stahl- gießpfanne 4 ab und trägt oder befördert diesen zu einer dem Arbeitsbereich des Industrieroboters 6 und damit dem Pfannenstand 2 zugeordneten Förderbahn 8, die im Ausführungsbeispiel als Rollgang ausgebildet ist. Die Förderbahn 8 führt zu einem dem Pfannenstand 2 zugeordneten und/oder an diesem angeordneten Werkstattbereich 9, einer so genannten Schieberwerkstatt. Hier kann der Schiebeverschluss 7 abkühlen, bevor er dann vom Bedienungs- oder Wartungspersonal im Werkstattbereich 9 unter Zuhilfenahme von werkstattübli- chen Werkzeugen und/oder Lasthebemitteln 10 gehandhabt und/oder bearbeitet wird. Hier wird der Schiebeverschluss 7 vom Personal geöffnet und der Zustand der Verschlussplatten 11 oder der Pfannenschieberplatten inspiziert und überprüft, sowie werden der Schiebeverschluss 7 und das diesen im Anwen- dungs- und Betätigungsfall bewegende Schiebeaggregat oder die Schiebevor- richtung gewartet.The plant, generally designated 1, comprises a ladle stand 2 with two ladle tilting chairs 3, into which steel ladles 4 are inserted and then pivoted or tilted into the horizontal position shown in the figures. An industrial robot 6 equipped with a special tool 5 removes the sliding shutter 7 attached to the respective pan bottom 4a, a so-called pan slide in the steel ladle, from the respective steel ladle 4 and carries or conveys it to a working area of the industrial robot 6 and thus to the ladle level 2 associated conveyor track 8, which is formed in the embodiment as a roller table. The conveyor track 8 leads to a workshop area 9 assigned to the socket stand 2 and / or arranged thereon, a so-called slider workshop. Here, the sliding closure 7 can cool down before it is then used by the operating or maintenance personnel in the workshop area 9 with the aid of workshop information. chen tools and / or lifting means 10 is handled and / or processed. Here, the sliding closure 7 is opened by the staff and the condition of the closure plates 11 or the sliding plates is inspected and checked, and the sliding closure 7 and the sliding unit or sliding mechanism moving in the application and operation case are serviced.

Der Pfannenstand 2 ist zwischen beidseits angeordneten Stützreihen einer Stahlkonstruktion 12 angeordnet und umfasst zwei Pfannenkippstühle 3.The pan stand 2 is arranged between supporting rows of a steel structure 12 arranged on both sides and comprises two pan tilting chairs 3.

Der Industrieroboter 6 ist auf einer Linearachse oder Lineareinheit 13 angeordnet längs welcher er in verschiedenen Arbeitspositionen 14a, 14b, 14c verfahrbar ist, wobei er an jeder der Arbeitspositionen ihm zugeordnete Arbeittätigkeiten vorzugsweise automatisiert ausführt und/oder ausführen kann.The industrial robot 6 is arranged on a linear axis or linear unit 13 along which it can be moved in different working positions 14a, 14b, 14c, wherein it preferably automatically carries out and / or execute work tasks assigned to it at each of the working positions.

Die als Rollgang ausgebildete und in den Werkstattbereich 9 führende Förderbahn 8, mittels welcher der Schiebverschluss 7 in den Werkstattbereich 9 gefördert oder befördert oder transportiert wird, ist mittig zwischen den beiden Pfannenkippstühlen 3 angeordnet.Trained as a roller table and leading into the workshop area 9 conveyor track 8, by means of which the slide fastener 7 is conveyed or transported or transported in the workshop area 9, is arranged centrally between the two pan tipping chairs 3.

Der am Pfannenboden angebrachte Schiebverschluss 7 ist dort beispielsweise mittels eines nach Art eines Bajonettverschlusses ausgebildeten Verschlusses dergestalt sicher fixiert, dass das komplette Pfannenschieberaggregat sicher gehalten ist. Durch eine 90° - Drehung lässt sich das Schieberaggregat aus dem Schiebeverschluss 7 herauslösen und in diesen einsetzen. Diese Tätigkeit kann von dem Industrieroboter 6 ausgeführt werden.The mounted on the bottom of the pan sliding closure 7 is securely fixed there, for example by means of a type of a bayonet closure such that the complete pan slide assembly is securely held. By a 90 ° turn, the slide assembly can be released from the sliding closure 7 and inserted into it. This activity can be performed by the industrial robot 6.

Es ist aber auch möglich, den Schiebeverschluss 7 oder den Pfannenschieber zur Befestigung auf einen oder mehrere Zentrierbolzen aufzusetzen und dort zu fixieren. But it is also possible to set the slide closure 7 or the slide valve for attachment to one or more centering pins and to fix there.

Claims

Patentansprüche claims 1. Verfahren zum Auswechseln eines am Ausguss eines Metallschmelzebehälters, insbesondere einer Stahlgießpfanne (4), angeordneten Schiebeverschlusses (7), bei welchem der Schiebeverschluss (7) von einem dem Metallschmelzebehälter zugeordneten Industrieroboter (6) ergriffen, vom Metallschmelzebehälter entfernt und abgelegt wird, dadurch gekennzeichnet, dass der Schiebeverschluss (7) von dem Industrieroboter (6) auf einer Förderbahn (8) abgelegt wird und mittels dieser Förderbahn (8), insbesondere eines Rollenganges, in einen außerhalb des Hitzebereiches eines Pfannenstandes (2) angeordneten Werkstattbereich (9) gefördert wird.1. A method for replacing a pouring closure (7) arranged at the spout of a molten metal container, in particular a steel ladle (4), in which the sliding closure (7) is gripped by an industrial robot (6) associated with the molten metal container, removed from the molten metal container and deposited in that the sliding closure (7) is deposited by the industrial robot (6) on a conveyor track (8) and conveyed by means of this conveyor track (8), in particular a roller conveyor, into a workshop area (9) arranged outside the heat zone of a socket stand (2) becomes. 2. Verfahren nach Anspruch 1 , dadurch gekennzeichnet, dass der Schiebeverschluss (7) nach seinem Abkühlen im Werkstattbereich (9) durch Bedienpersonal gehandhabt und/oder bearbeitet wird.2. The method according to claim 1, characterized in that the sliding closure (7) after being cooled in the workshop area (9) handled by operators and / or edited. 3. Anlage (1) zur Wartung eines am Ausguss eines Metallschmelzebehäl- ters, insbesondere einer Stahlgießpfanne (4), angeordneten Schiebeverschlusses (7), die einen Pfannenstand (2) mit mindestens einem Pfan- nenkippstuhl (3) und mindestens einen diesem zugeordneten Industrieroboter (6) aufweist, wobei der Industrieroboter (6) derart angeordnet und ausgebildet ist, dass der Schiebeverschluss (7) von diesem erreich- bar, vom Metallschmelzebehälter entfernbar und im Bereich des Pfannenstandes (2) ablegbar ist, dadurch gekennzeichnet, dass im Bereich des Pfannenstandes (2) eine Förderbahn 8), insbesondere ein Rollengang, angeordnet ist, die/der zu einem dem Pfannen- staπd (2) zugeordneten, außerhalb des Hitzebereiches des Pfannenstandes (2) angeordneten Werkstattbereich (9) führt, wobei der Schiebe- verschluss (7) von dem Industrieroboter (6) auf der Förderbahn (8) ablegbar ist.3. installation (1) for the maintenance of a pouring of a molten metal, in particular a Stahlgießpfanne (4), arranged sliding closure (7), a Pfannenstand (2) with at least one Pfannenenkippstuhl (3) and at least one industrial robot associated therewith (6), wherein the industrial robot (6) is arranged and configured in such a manner that the sliding closure (7) can be reached by the latter, can be removed from the molten metal container and can be deposited in the region of the ladle level (2), characterized in that a conveyor track 8), in particular a roller conveyor, is arranged in the region of the socket stand (2), which is assigned to a workshop area (9) assigned to the socket stand (2) and located outside the heat zone of the socket stand (2). leads, with the sliding closure (7) of the industrial robot (6) on the conveyor track (8) can be stored. 4. Anlage nach Anspruch 3, dadurch gekennzeichnet, dass der Industrieroboter (6) auf dem Pfannenstand (2) verfahrbar angeordnet ist. 4. Plant according to claim 3, characterized in that the industrial robot (6) on the socket stand (2) is arranged movable.
EP10721338.1A 2009-05-28 2010-05-21 Robot supported changeover of a tap hole slide gate in a steel casting ladle Active EP2435201B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102009022976 2009-05-28
DE102009050216A DE102009050216A1 (en) 2009-05-28 2009-10-22 Robot-supported tapping slide change on steel ladles
PCT/EP2010/003130 WO2010136159A1 (en) 2009-05-28 2010-05-21 Robot supported changeover of a tap hole slide gate in a steel casting ladle

Publications (2)

Publication Number Publication Date
EP2435201A1 true EP2435201A1 (en) 2012-04-04
EP2435201B1 EP2435201B1 (en) 2014-03-26

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EP10721338.1A Active EP2435201B1 (en) 2009-05-28 2010-05-21 Robot supported changeover of a tap hole slide gate in a steel casting ladle

Country Status (3)

Country Link
EP (1) EP2435201B1 (en)
DE (1) DE102009050216A1 (en)
WO (1) WO2010136159A1 (en)

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US10376954B2 (en) 2013-07-11 2019-08-13 Refractory Intellectual Property Gmbh & Co. Kg Method and device for automatic replacement of a discharge shell on a sliding closure of a metallurgical vessel
US10857593B2 (en) * 2015-02-20 2020-12-08 Refractory Intellectual Property Gmbh & Co. Kg Method and device for repairing a refractory shell of a metallurgical vessel

Families Citing this family (3)

* Cited by examiner, † Cited by third party
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DE102011088619A1 (en) 2011-12-14 2013-06-20 Sms Siemag Ag Method for maintenance and / or repair of the spout area of a metallurgical vessel
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