CN207255228U - Automatic pouring device - Google Patents
Automatic pouring device Download PDFInfo
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- CN207255228U CN207255228U CN201721126539.7U CN201721126539U CN207255228U CN 207255228 U CN207255228 U CN 207255228U CN 201721126539 U CN201721126539 U CN 201721126539U CN 207255228 U CN207255228 U CN 207255228U
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Abstract
A kind of automatic pouring device is the utility model is related to, is possessed：Casting ladle, has the flow export for being used for flowing out molten metal；First drive division, for moving casting ladle along prescribed direction；Second drive division, for making casting ladle vert；Control unit, controls the first drive division and the second drive division.Control unit falls track based on the molten metal flowed out from flow export, calculate lowering position of the molten metal on the horizontal plane by the height and position of cast gate, flow velocity at lowering position and section radius in the horizontal plane, based on lowering position, flow velocity at lowering position, section radius in the horizontal plane, pour port radius, from the flow of molten metal and the density of molten metal of flow export outflow, generation and the relevant object function of gross weight that the molten metal in casting mold is flowed into from casting ladle, gross weight of the molten metal flowed into based on this calculating from casting ladle in casting mold reaches the distance of the center of maximum flow export and cast gate in the prescribed direction.
Description
Technical field
It the utility model is related to automatic pouring device.
Background technology
As a kind of automatic pouring device, usually using the automatic pouring device of tilting type.Automatic as tilting type is poured
Dispensing device, such as the known automatic pouring device having described in patent document 1~4.The automatic pouring device of these tilting types passes through
The casting ladle for stockpiling molten metal is set to vert, to make the molten metal from the flow export outflow of the casting ladle via the cast gate of casting mold, stream
Enter in casting mold.
, it is necessary to make the molten metal from the flow export outflow of casting ladle correct in the automatic pouring device of such tilting type
Ground flows into the cast gate of casting mold.As for make molten metal correctly flow into casting mold cast gate technology, for example, as it is known that there is patent
Technology described in document 5~7.
Recorded in patent document 5, trajectory calculation melting is fallen according to the molten metal of the flow export outflow from casting ladle
Lowering position of the metal at the height and position of the cast gate of casting mold, and by the position of dynamic control casting ladle make the lowering position with
The position consistency of the cast gate of casting mold makes molten metal correctly flow into casting mold.Patent document 6 describes, using literary with patent
The position of the identical method dynamic control casting ladle of method described in 5 is offered, and is measured on this basis using optical sensor
The actual lowering position of molten metal, and according to the position of its modified result casting ladle.In patent document 7 record, using with it is special
The identical method of method described in sharp document 5 calculates the lowering position of molten metal, and reaches target position with the lowering position
Put and flow export is in a manner of the height and position on the basis of the cast gate of casting mold is in lower position, transfer ladle.
Patent document 1：Japanese Unexamined Patent Publication 11-207458 publications
Patent document 2：Japanese Unexamined Patent Publication 11-342463 publications
Patent document 3：Japanese Unexamined Patent Publication 2012-16708 publications
Patent document 4：Japanese Unexamined Patent Publication 2013-244504 publications
Patent document 5：Japanese Unexamined Patent Publication 2008-272802 publications
Patent document 6：Japanese Unexamined Patent Publication 2011-224631 publications
Patent document 7：Japanese Unexamined Patent Publication 2013-188760 publications
In the method described in above patent document 5~7, the stream of the molten metal flowed out from the flow export of casting ladle is used
Speed calculating molten metal falls track.Therefore, the molten metal flow velocity over time and change in the case of, be based on
The lowering position of the molten metal for falling trajectory calculation of molten metal also changes over time.At this time, in order to make melting
The position consistency of the lowering position of metal and the cast gate of casting mold, and casting ladle is moved with the variation of the flow velocity of molten metal,
As a result, during casting molten metal, the liquid level of the molten metal in casting ladle produces vibration.Such vibration is further
Change flow velocity of the molten metal at the flow export of casting ladle, so as to cause the lowering position of molten metal to produce difference.It is if molten
The lowering position for melting metal produces difference, then the cast gate for deviateing casting mold can be dropped to by being likely to occur the molten metal from casting ladle
The so-called melt spillage of position.
Thus, in the art, it is desirable to use the method for melt spillage when suppressing to pour into a mould.
Utility model content
In a mode, there is provided the automatic pouring device of casting molten metal into casting mold.The automatic pouring device has
Have：Casting ladle, it is used to store molten metal, and with the flow export for being used to flow out molten metal；First drive division, it is used for
Casting ladle is set to be moved along prescribed direction, horizontal component direction of the prescribed direction towards the direction for the cast gate for linking flow export and casting mold
Extension；Second drive division, it is used to make casting ladle vert；And control unit, it controls the first drive division and the second drive division.Control
Fall track of the portion based on the molten metal flowed out from flow export, calculates level of the molten metal in the height and position by cast gate
The radius in the section of flow velocity and molten metal in the horizontal plane of lowering position, molten metal at lowering position on face,
Based on flow velocity at lowering position of lowering position, molten metal, molten metal section radius in the horizontal plane, cast gate half
Footpath, the flow of molten metal and the density of molten metal from flow export outflow, generation are molten in casting mold with being flowed into from casting ladle
Melt the relevant object function of gross weight of metal, object function depend on the center of flow export and cast gate in the prescribed direction away from
From based on object function, the gross weight for calculating the molten metal flowed into from casting ladle in casting mold reaches maximum, flow export and cast gate
Center distance in the prescribed direction.
In the automatic pouring device involved by a mode, the gross weight of the molten metal flowed into from casting ladle in casting mold is calculated
Amount reaches the distance of the center of maximum flow export and cast gate in the prescribed direction.Apart from corresponding position it is when making to melt with this
Melting the gross weight of the molten metal for the cast gate for deviateing casting mold during metal outflow becomes minimum position.Thus, such as by making to melt
Melt metal to flow out from the position, thus, it is possible to suppress melt spillage during cast.
In the automatic pouring device involved by an embodiment, Ke Yishi, control unit controls the first drive division and the
Two drive divisions, make the first drive division reach so that flow export to be configured to the gross weight of the molten metal with being flowed into from casting ladle in casting mold
The mode of the corresponding optimal pouring position of the distance of maximum flow export and the center of cast gate in the prescribed direction acts, and makes the
Two drive divisions are acted by a manner of making casting ladle vert in the state of flow export to be maintained to optimal pouring position.
In the automatic pouring device involved by said one embodiment, due to making molten metal from optimal cast position
Put, reach the flow export of maximum and the center of cast gate in regulation side with the gross weight of the molten metal out of casting ladle inflow casting mold
The corresponding position outflow of upward distance, therefore can minimize melt spillage.In addition, because maintained by flow export
Implement cast in the state of on the optimal pouring position, therefore can prevent during casting molten metal, in casting ladle
The liquid level of molten metal produces vibration.Lowering position thereby, it is possible to suppress molten metal produces difference.
In the automatic pouring device involved by an embodiment, Ke Yishi, control unit is based on lowering position, melting gold
Belong to flow velocity, radius, the radius of cast gate in the section of molten metal in the horizontal plane at lowering position, calculate and flowed into from casting ladle
The change over time of the flow of molten metal in casting mold, by the change over time of the flow of molten metal
Integrated value and the density product of molten metal are generated as object function.
In the automatic pouring device involved by an embodiment, Ke Yishi, is being advised when by flow export and lowering position
The distance determined on direction is set to Sv, the distance of the center of flow export and cast gate in the prescribed direction is set to Sy, molten metal is existed
Flow velocity at lowering position is set to vl, the radius in the section of molten metal in the horizontal plane is set to rl, the radius of cast gate is set to
rs, the flow of the molten metal flowed out from flow export is set to q (t), the section of cast gate and molten metal is weighed in the horizontal plane
The area in folded region is set to Ain, the density of molten metal is set to ρ, when the duration of pouring will be set to T, (1-1) is counted according to the following formula
Calculate the change Q over time of the flow of molten metalin(t), object function is expressed as following formula (1-2).
【Formula 1】
【Formula 2】
In another mode, there is provided the automatic pouring device of casting molten metal into casting mold.Automatic pouring device has
It is standby：Casting ladle, it is used to store molten metal, and with the flow export for being used to flow out molten metal；First drive division, it is used for
Casting ladle is set to be moved along prescribed direction, and prescribed direction direction links the horizontal component in the direction of the cast gate of flow export and casting mold
Direction extension；Second drive division, it is used to make casting ladle vert；And control unit, it can control the first drive division and second
Drive division, and to make molten metal control the second drive division in a manner of predetermined constant flow rate is from the flow export outflow of casting ladle,
Fall track of the control unit based on the molten metal flowed out with constant flow rate from flow export, is calculated molten metal and is passing through casting mold
The radius in the section of lowering position and molten metal in the horizontal plane on the horizontal plane of the height and position of cast gate, and be based on
The radius of lower position, the radius in the section of molten metal in the horizontal plane and cast gate, calculates from casting ladle and flows into melting in casting mold
The gross weight for melting metal reaches the distance of the center of maximum flow export and cast gate in the prescribed direction.
In the automatic pouring device involved by above-mentioned another way, the molten metal flowed into from casting ladle in casting mold is calculated
Gross weight reaches the distance of the center of maximum flow export and cast gate in the prescribed direction.With this apart from corresponding position be work as
Molten metal deviates the molten metal of the cast gate of casting mold gross weight when flowing out is set to become minimum position.Thus, by making to melt
Melt metal to flow out from the position, thus, it is possible to suppress melt spillage during cast.In addition, in above-mentioned another way, without base
Optimization problem is solved in object function, the gross weight that can just calculate the molten metal flowed into from casting ladle in casting mold reaches maximum stream
The distance of outlet and the center of cast gate in the prescribed direction, therefore the relevant processing high speed of the calculating with the distance can be made.
In one embodiment, Ke Yishi, control unit control the first drive division and the second drive division, so that the first driving
Portion reaches maximum flow export and cast gate so that flow export to be configured to the gross weight of the molten metal with being flowed into from casting ladle in casting mold
The mode of the corresponding optimal pouring position of center distance in the prescribed direction act, and make the second drive division with will stream
Outlet maintains the mode for making casting ladle vert in the state of optimal pouring position and acts.
In said one embodiment, the gross weight of molten metal from the molten metal with being flowed into from casting ladle in casting mold reaches
To the corresponding position outflow of the distance of the center of maximum flow export and cast gate in the prescribed direction, therefore melt can be sprinkled
Go out to minimize.In addition, because be to implement cast in the state of flow export to be maintained to the position, therefore prevent from melting in cast
During metal, the liquid level of the molten metal in casting ladle produces vibration.Thereby, it is possible to suppress the lowering position production of molten metal
Raw difference.
In one embodiment, Ke Yishi, when flow export and the distance of lowering position in the prescribed direction are set to Sv,
Flow export and the distance of cast gate in the height direction are set to Sw, the radius in the section of molten metal in the horizontal plane is set to rl,
The radius of cast gate is set to rs, constant flow rate is set to qstWhen, according to the following formula (1-3), calculate from casting ladle and flow into melting in casting mold
The gross weight for melting metal reaches the distance S of the center of maximum flow export and cast gate in the prescribed directionyopt。
【Formula 3】
Syopt=Sv(qst,Sw)+rl(qst,Sw)-rs…(1-3)
In one embodiment, Ke Yishi, will split from cast start time to the duration of pouring of cast finish time
For multiple time sections, control unit with first time section of the molten metal in multiple time sections with the first constant flow rate from
The mode of flow export outflow controls the second drive division, and with second time section of the molten metal in multiple time sections with the
The mode that two constant flow rates are flowed out from the flow export of casting ladle controls the second drive division, based on molten metal with the first constant flow rate and
Larger constant flow rate in second constant flow rate falls track from what flow export flowed out, calculates lowering position and molten metal
The radius in section in the horizontal plane.
One side according to the present utility model and various embodiments, can suppress melt spillage during cast.
Brief description of the drawings
Fig. 1 is the stereogram for the automatic pouring device for briefly showing an embodiment.
Fig. 2 is the figure of an example of the structure for the function of showing control unit.
Fig. 3 is the flow chart of the control method for the automatic pouring device for showing an embodiment.
Fig. 4 is the block diagram for representing the processing for exporting cast flow according to command signal.
Fig. 5 is the longitudinal section of casting ladle.
Fig. 6 is the partial perspective view of casting ladle.
Fig. 7 is the mean flow rate for the molten metal for representing to calculate based on formula (6) and the molten metal being determined by experiment
The chart of relation between mean flow rate.
Fig. 8 is the figure for illustrating the liquid level of molten metal.
Fig. 9 is the figure for illustrating the position relationship of flow export and cast gate.
Figure 10 is the figure for illustrating the position relationship of flow export and cast gate.
Figure 11 is the figure for the position relationship for representing cast gate and the section of molten metal in the horizontal plane.
Figure 12 is the flow chart of the control method for the automatic pouring device for representing another embodiment.
Figure 13 is the chart for representing the cast flow used in experimental example 1 and experimental example 2.
Figure 14 is represented between the center of flow export and cast gate distance in the Y direction and the gross weight of molten metal M
The analog result of relation.
Figure 15 is the chart for the change over time for showing flow export and the distance of lowering position in the Y direction.
Figure 16 is to represent the distance S of the center of flow export and cast gate in the Y directionyChange over time and pour
Flow export and the chart of the change over time of the distance of cast gate in z-direction during note.
Description of reference numerals
1 ... automatic pouring device；2 ... casting ladles；2a ... flows out mouth；2b ... flow exports；3 ... first drive divisions；4 ... second drive
Dynamic portion；5 ... the 3rd drive divisions；10 ... conveying devices；20 ... casting molds；21 ... cast gates；The center of 21a ... cast gates；Cnt ... is controlled
Portion；The lowering position of DP ... molten metals；HP ... horizontal planes；M ... molten metals.
Embodiment
In the following, various embodiments are explained in detail with reference to the accompanying drawings.In addition, to the part identically or comparably in each attached drawing
Mark identical reference numeral.
First, the automatic pouring device involved by an embodiment is illustrated.Fig. 1 is to briefly show an embodiment institute
The stereogram for the automatic pouring device 1 being related to.In the following, as shown in Figure 1, the extending direction of conveying device described later is set to X side
To vertical being set to Z-direction, the direction orthogonal with X-direction and Z-direction is set to Y-direction (prescribed direction) illustrates.
As shown in Figure 1, automatic pouring device 1 possesses casting ladle 2, the first drive division 3, the second drive division 4, the 3rd drive division 5
And maintaining part 6.Casting ladle 2 is the container for storing the molten metal M for being used for pouring into a mould to casting mold 20.On the side of casting ladle 2
Portion is provided with outflow mouth 2a.The front end for flowing out mouth 2a forms flow export 2b.2 maintained portion 6 of casting ladle remains can be with outflow
Vert centered on mouth 2b.In automatic pouring device 1, casting ladle 2 is verted centered on flow export 2b, thus molten metal M from
Flow export 2b flows out.
First drive division 3 is, for example, servo motor, produces and is used to make the driving force that casting ladle 2 is moved along Y-direction.That is, logical
Cross the flow export 2b positions overlapping with the cast gate 21 of casting mold 20 that casting ladle 2 is configured at casting ladle 2 in X-direction by conveying device described later
In the case of upper, side of first drive division 3 along the direction extension of the horizontal component to the direction for linking flow export 2b and cast gate 21
To mobile casting ladle 2.Second drive division 4 is, for example, servo motor, produces and is used to make the drive that casting ladle 2 verts centered on flow export 2b
Power.3rd drive division 5 is, for example, servo motor, produces and is used to make the driving force that casting ladle 2 is moved along Z-direction.
In addition, automatic pouring device 1 is further equipped with control unit Cnt.Control unit Cnt is that possess processor, storage part etc.
Computer, control automatic pouring device 1 each several part.Specifically, control unit Cnt is from sensor for being arranged at each several part etc.
Obtain the tilt angle of position and casting ladle 2 of the casting ladle 2 in X-direction, Y-direction and Z-direction.In addition, control unit Cnt is to first
Drive division 3, the second drive division 4 and the 3rd drive division 5 send control signal, control casting ladle 2 in the Y direction with the position in Z-direction
Put and the tilt angle of casting ladle 2.In addition, in the embodiment shown in figure 1, control unit Cnt is arranged at automatic pouring device 1
Main body, but control unit Cnt can also be configured at away from automatic pouring device 1 main body position.
As shown in Fig. 2, control unit Cnt possesses cast flow figure obtaining section 31, parameter as functional member of formation
Calculating part 32, molten metal flowmeter calculation portion 33, molten metal weight calculating part 34, optimum distance calculating part 35 and motor control
Portion 36 processed.Cast flow figure obtaining section 31 is to obtain the building blocks of function of cast flow figure described later.Parameter calculating part 32 is
Calculate be used for by with the relevant object function of the gross weight of molten metal derived from various parameters building blocks of function.Motlten metal stream
Amount calculating part 33 is the building blocks of function for calculating the flow of the molten metal M flowed into from casting ladle 2 in casting mold 20.Molten metal weight
Amount calculating part 34 is the building blocks of function for the gross weight for calculating the molten metal M flowed into from casting ladle 2 in casting mold 20.Optimum distance calculates
Portion 35 is the building blocks of function that the gross weight for the molten metal M that calculating is flowed into casting mold 20 from casting ladle 2 reaches maximum pouring position.
Motor control part 36 is to control the building blocks of function of the first drive division 3, the second drive division 4 and the 3rd drive division 5.Control unit Cnt
The details of each building blocks of function will be set forth later.
In one embodiment, conveying device 10 can be configured in the front of automatic pouring device 1.Conveying device 10 exists
Pour into a mould in process, the casting mold 20 in the portion that is configured thereon that discontinuously is conveyed in X direction.In one embodiment, conveying device
10 convey casting mold 20 in X direction, and the cast gate 21 for the flow export 2b and casting mold 20 that casting mold stops at casting ladle 2 is weighed in the X direction
Folded position.After casting mold 20 stops at the position, implement the control method of automatic pouring device 1 described later.
Next, the control method and the function of control unit Cnt of the automatic pouring device of one embodiment of explanation.Fig. 3
It is the flow chart of the control method for the automatic pouring device for showing an embodiment.The control of automatic pouring device shown in Fig. 3
Method MT1 processed can be performed by control unit Cnt implements various computings and controls automatic pouring device 1 each several part.
In the method MT1 shown in Fig. 3, process ST1 is first carried out.In process ST1, by cast flow figure obtaining section
31 judge whether to perform cast flow control.Cast flow control control molten metal M is flowed out with predetermined flow from casting ladle 2.
Cast flow figure of the flow control based on the storage part for being pre-stored within control unit Cnt is poured into a mould to implement.Pour into a mould flow figure
Flow containing the molten metal M flowed out from casting ladle 2 is (below also known as " cast flow ".) change over time.
In the case where not implementing to pour into a mould flow control, process ST2 is performed.In process ST2, taken by cast flow figure
Portion 31 according to the casting ladle for the storage part for being stored in control unit Cnt vert graphics calculations cast flow figure.Casting ladle verts figure
The change over time of tilt angle including casting ladle 2.Below to for from casting ladle vert graphic derivation cast flow diagram
The mathematical model of shape illustrates.
For from casting ladle vert graphic derivation cast flow figure mathematical model with angular velocity omega [deg/s] control pour
It is different in the case of in the case of bag 2 and with angle, θ [deg] control casting ladle 2.Here, angle, θ represents casting ladle 2 with casting ladle 2
Flow export 2b centered on tilt angle.Angular velocity omega represents 2 unit interval of casting ladle rotating tilt angle.
First, the situation using angular velocity omega control casting ladle 2 is illustrated.Angular velocity omega control is used in control unit Cnt
In the case of casting ladle 2 processed, based on command signal ut[V], obtains cast flow q [m3/s].Command signal utRepresent from control unit
The signal that Cnt is sent to the second drive division 4, such as it is stored in the storage part of control unit Cnt.Fig. 4 is to represent to be used to believe from instruction
Number utThe block diagram of the processing of export cast flow q.Here, the command signal u to the second drive division 4tPass between angular velocity omega
System is expressed as following formula (1).In following formula (1), Tt[s] is time constant, Kt[deg/ (sV)] is gain constant.
【Formula 4】
In addition, angular velocity omega is expressed as following formula (2).
【Formula 5】
On the other hand, in the case where using angle, θ control casting ladle 2, the second drive division 4 is controlled to make to pour by control unit Cnt
Bag 2 reaches predetermined instruction angle, θr[deg].For example, instruction angle, θrIt is stored in the storage part of control unit Cnt.Here, to
The instruction angle, θ of two drive divisions 4rRelationship expression between angular velocity omega is following formula (3).In following formula (3), TtIt is normal for the time
Amount, Ktp[deg/ (sV)] is gain constant.
【Formula 6】
Next, being based on following formula (4) and formula (5), cast flow q is calculated according to the angular velocity omega of casting ladle 2.
【Formula 7】
【Formula 8】
Here, as shown in figure 5, the h [m] of above formula (4) represents molten metal M on the basis of the height and position of flow export 2b
The height and position of liquid level, A (θ) [m2] represent molten metal M on the horizontal plane by the height and position identical with flow export 2b
Sectional area, Vs(θ)[m3] represent molten metal M in the position lower than the horizontal plane by the height and position identical with flow export 2b
Put the volume at place.In addition, the as shown in fig. 6, h of formula (5)b[m] represents molten metal M on the vertical section by flow export 2b
Apart from the depth of liquid level, Lf[m] represent flow export 2b with hbWidth at corresponding height and position.In addition, the g of formula (5)
[m/s2] represent acceleration of gravity.
In method MT1, held when judging to perform cast flow control in process ST1 or after process ST2 is performed
Row process ST3.In process ST3, track is fallen based on the molten metal M flowed out from flow export 2b by parameter calculating part 32,
Lowering position DP, molten metal Ms of the molten metal M on the horizontal plane of the height and position of the cast gate 21 by casting mold 20 is calculated to exist
Flow velocity v at lowering position DPlThe section of [m/s] and molten metal M on the horizontal plane of the height and position by cast gate 21
Radius rl[m]。
In process ST3, export first from the molten metal M of the outflow of casting ladle 2 and fall track.In order to export molten metal
M's falls track, and mean flow rate Vs of the molten metal M at the flow export 2b of casting ladle 2 is calculated first by following formula (6)f[m/s]。
【Formula 9】
Here, the A in above formula (6)p[m2] represent molten metal M on the vertical section by the flow export 2b of casting ladle 2
Sectional area.Sectional area ApExpressed with following formula (7).
【Formula 10】
Here, Fig. 7 is the mean flow rate V for representing the molten metal M based on above formula (6) calculatingfWith being determined by experiment
The mean flow rate v of actual molten metal MrThe chart of relation between [m/s].The transverse axis of Fig. 7 represents to calculate based on above formula (6)
Molten metal M mean flow rate Vf, the mean flow rate v for the molten metal M that longitudinal axis expression obtains in an experimentr.As shown in fig. 7,
From the actual average flow velocity v of the molten metal M of flow export 2b outflowsrIt is faster than the mean flow rate V calculated using above formula (6)f[m/s]。
The result you can think of it because, as shown in figure 8, in the case of from the actual outflow molten metal M of flow export 2b, because of gravity
Influence, the height and position of liquid levels of the molten metal M at flow export 2b is less than molten metal M at the position for leaving flow export 2b
Liquid level height and position.
Therefore, in process ST3, as shown in following formula (8), the theoretical value of the mean flow rate of molten metal M is corrected, makes melting
The theoretical value of the mean flow rate of metal M is consistent with measured value.Here, the v in formula (8)t[m/s] is revised mean flow rate, α1
And α0It is to the mean flow rate V as obtained from simulation using least squares methodfWith the measured value v of mean flow raterRelation ask for closely
The coefficient like obtained from.In the embodiment for obtaining the result shown in Fig. 7, α1It is set to 2.067, α0Be set to-
0.275。
【Formula 11】
vt=α1vf+α0…(8)
Next, lowering position DPs of the export molten metal M on the horizontal plane HP of the height and position by cast gate 21.This
In, as shown in Figure 9 and Figure 10, if the flow export 2b of casting ladle 2 and the distances of lowering position DP in the Y direction are set to Sv[m], will
The flow export 2b of casting ladle 2 is set to S with the distance of the cast gate 21 of casting mold 20 in z-directionw[m], then from the molten of flow export 2b outflows
Melt metal M and be the movement of falling object, distance SvIt is expressed as following formula (9).
【Formula 12】
Lowering position DPs of the molten metal M on horizontal plane HP is from the distance S calculated according to above formula (9)vExport.
Next, (10) calculate flow velocity vs along Z-direction of the molten metal M at lowering position DP according to the following formulag。
【Formula 13】
Next, according to the following formula (11), calculate flow velocity vs of the molten metal M at lowering position DPl。
【Formula 14】
Here, it is assumed that the cross sectional shape in the molten metal M of the height and position free-falling of cast gate 21 is circular feelings
Under condition, the area A of section CSs of the molten metal M at horizontal plane HPl[m2] it is expressed as following formula (12).
【Formula 15】
In addition, the radius r of section CSs of the molten metal M on horizontal plane HPl[m] is expressed as following formula (13).
【Formula 16】
Next, in method MT1, process ST4 is performed.In process ST4, calculated by molten metal flowmeter calculation portion 33
The flow Q of the molten metal M in casting mold 20 is flowed into from casting ladle 2in.Flow QinBased on the casting ladle 2 calculated in process ST3
The flow export 2b and distance S of lowering position DP in the Y directionv, molten metal M flow velocity vlWith the half of the section CS of molten metal M
Footpath rlAnd the radius r of cast gate 21s, it is expressed as following formula (1-1).
【Formula 17】
Here, as shown in figure 11, the A of formula (1-1)in(t)[m2] represent from the Z-direction top view submarine gate 21 with melting
The area in section CS equitant regions of the metal M on the horizontal plane HP at lowering position DP.Area Ain(t) according to outflow
The mouth 2b and distance S of lowering position DP in the Y directionv, flow export 2b and cast gate 21 center 21a distance S in the Y directiony、
The radius r of cast gate 21sAnd the radius r in sections of the molten metal M on horizontal plane HPlCalculated in geometry method.In formula (1-
1) in, the flow Q of molten metal MinFor depending on distance SyFunction.
Next, in method MT1, process ST5 is performed.In process ST5, generated by molten metal weight calculating part 34
Gross weight W with flowing into the molten metal M in casting mold 20 from casting ladle 2in[kg] relevant function.As shown in following formula (1-2), melting
The gross weight W of metal MinIt is expressed as the flow Q of molten metal M changed over timeinIntegrated value and molten metal
The density p product of M.T in formula (1-2) represents the duration of pouring from cast start time to cast finish time.
【Formula 18】
Next, in method MT1, process ST6 is performed.In process ST6, by optimum distance calculating part 35 calculate as from
Casting ladle 2 flows into the gross weight W of the molten metal M in casting mold 20inThe center of flow export 2b as reaching maximum and cast gate 21 is in Y
Distance S on directionyopt.As shown in following formula (14), distance SyoptBy solving the single argument with formula (1-2) for object function
Optimization problem and obtain.Optimization problem as such object function can for example use dichotomy or Fibonacci method
Solve.
【Formula 19】
Syopt=arg max (Win)…(14)
Next, in method MT1, process ST7 is performed.In process ST7, motor control part 36 controls the first drive division
3, thus so that flow export 2b is configured at and distance SyoptThe mode of corresponding position (optimal pouring position) moves casting ladle 2.
Next, in method MT1, process ST8 is performed.In process ST8, cast action is performed.Specifically, motor
Control unit 36 sends control signal to the second drive division 4, is maintained at and distance S in the flow export 2b of casting ladle 2yoptIt is corresponding
In the state of on position, casting ladle 2 is set only to vert predetermined angular.Thus, molten metal is flowed out from the flow export 2b of casting ladle 2, is flowed
The molten metal gone out is flowed into casting mold 20 via cast gate 21.When by the predetermined duration of pouring, embodiment it is automatic
The control method MT1 of casting device terminates.
As described above, in method MT1, the gross weight W of the molten metal M made in inflow casting mold 20 is calculatedinInto
For the center distance S in the Y direction of maximum flow export 2b and cast gate 21yopt.Moreover, by make molten metal M from this
Distance SyoptCorresponding position outflow, can minimize melt spillage.
Next, other control methods of explanation automatic pouring device 1.Figure 12 is shown involved by another embodiment
The flow chart of the control method MT2 of automatic pouring device 1.It in the cast flow from casting ladle 2 is constant flow rate that method MT2, which is,
In the case of performed automatic pouring device 1 control method.In the following, the second drive division 4 is controlled control unit Cnt to make melting golden
Belong to M to illustrate from the flow export 2b of casting ladle 2 situations about flowing out with predetermined constant flow rate.
The process ST11 and process ST12 of method MT2 is identical with the process ST1 and ST2 of method MT1 respectively, therefore omission pair
Their explanation.In method MT2, after process ST12 is performed, process ST13 is performed.In process ST3, based on from outflow
The molten metal M of mouthful 2b outflow fall track, molten metal M the height and position of the cast gate 21 by casting mold 20 horizontal plane
On section on the horizontal plane of the height and position by cast gate 21 of lowering position DP and molten metal M radius rl[m]。
The radius r in the section of lowering position DP and molten metal MlComputational methods and the method that illustrates in the process ST3 of method MT1
Identical, description will be omitted.
Next, in method MT2, process ST14 is performed.In process ST14, calculate as flowing into the melting in casting mold 20
The gross weight W of metal MinThe distance S of the center of flow export 2b as reaching maximum and cast gate 21 in the Y directionyopt.In method
In MT2, as shown in following formula (1-3), distance SyoptBased on flow export 2b and the distance S of lowering position DP in the Y directionv, flow export
The 2b and distance S of cast gate 21 in the Y directionw, cast gate 21 radius rsAnd constant flow rate qst[m3/ s] calculate.
【Formula 20】
Syopt=Sv(qst max,Sw)+rl(qst max,Sw)-rs…(1-3)
Furthermore, it is possible to multiple time sections will be divided into from cast start time to the duration of pouring of cast finish time,
The second drive division 4 is controlled, the first time section in multiple time sections, makes molten metal M with the first constant flow rate from stream
2b outflows are exported, molten metal M is flowed out with the second constant flow rate from the flow export 2b of casting ladle 2 in the second time section.At this time,
As shown in following formula (15), control unit Cnt can be based on molten metal M with larger in the first constant flow rate and the second constant flow rate
Constant flow rate qstmax[m3/ s] from the track that falls of flow export 2b outflows, calculating flow export 2b and lowering position DP is in the Y direction
On distance SvAnd the radius r in the section of molten metal Ml。
【Formula 21】
Syopt=Sv(qst max,Sw)+rl(qst max,Sw)-rs…(15)
Next, in method MT2, process ST15 is performed.In process ST15, the first drive is controlled by motor control part 36
Dynamic portion 3, flow export 2b is configured at and distance SyoptThe mode of corresponding position moves casting ladle 2.
Next, in method MT2, process ST16 is performed.In process ST16, cast action is performed.Specifically, horse
Control signal is sent up to control unit 36 to the second drive division 4, the distance with Y-direction is maintained in the flow export 2b of casting ladle 2
SyoptIn the state of corresponding position, casting ladle 2 is set only to vert predetermined angular.Thus, flow export 2b of the molten metal from casting ladle 2
Outflow, the molten metal of outflow are flowed into casting mold 20 via cast gate 21.When by the predetermined duration of pouring, an embodiment
The control method MT2 of automatic pouring device terminate.
In method MT2 described above, distance S is being calculatedyoptWhen, without solving the optimization problem shown in formula (14),
Therefore computing can be simplified.Thereby, it is possible to make the S that adjusts the distanceyoptCalculating high speed.
Next, to for playing function automatic pouring device 1 with the control program of the casting molten metal into casting mold
Illustrate.The control unit program is performed in control unit Cnt.
Control program possesses primary module, cast flow figure obtains module, parameter calculating module, molten metal flowmeter and calculates
Module, molten metal weight computing module, optimum distance computing module and motor control module.
Primary module is the part for being uniformly controlled automatic pouring device 1.Taken by performing cast flow figure in control unit Cnt
Obtain module, parameter calculating module, molten metal flowmeter and calculate module, molten metal weight computing module, optimum distance calculating mould
Block and motor control module and the function realized respectively with above-mentioned cast flow figure obtaining section 31, parameter calculating part 32, molten
Melt the work(of metal flow calculating portion 33, molten metal weight calculating part 34, optimum distance calculating part 35 and motor control part 36
Can be identical.
Control unit program is in a manner of the recording medium being recorded in CD-ROM, DVD, ROM or semiconductor memory
There is provided.In addition, control unit program can be provided via communication network.
In the following, the utility model is more specifically described based on experimental example, but the utility model is not limited to following reality
Test example.
(a) in Figure 13 is the chart for representing the cast flow q used in experimental example 1.As shown in (a) in Figure 13,
In experimental example 1, make molten metal M with 1.0 × 10-4[m3/ s] constant flow rate flowed out from casting ladle 2.(b) in Figure 13 is table
Show the gross weight W of the molten metal M flowed out in experimental example 1 from casting ladle 2inChange over time chart.In Figure 13
(c) be the chart for representing the cast flow q used in experimental example 2.In experimental example 2 shown in (c) in fig. 13,
Molten metal M is with 1.0 × 10- in one time section (that is, the time sections of 3 seconds to 7 seconds)4[m3/ s] constant flow rate from casting ladle 2
Outflow, in the second time section (that is, the time sections of 8 seconds to 12 seconds) after first time section, molten metal M with
2.0×10-4[m3/ s] constant flow rate flowed out from casting ladle 2.(d) in Figure 13 represents to flow out from casting ladle 2 in experimental example 2
The chart of the change over time of the gross weight of molten metal M.In experimental example 1 and experimental example 2, by outflow when pouring into a mould
The mouth 2b and distance S of cast gate 21 in z-directionw0.20 [m] is set to, by the radius r of cast gate 21sIt is set to 0.03 [m].
Next, with reference to Figure 14.Figure 14 is to represent the distance S of the center of flow export 2b and cast gate 21 in the Y directionyWith making
The slave casting ladle 2 calculated with above formula (1-2) flows into the gross weight W of the molten metal M in casting mold 20inBetween relation simulation knot
Fruit.(a) in Figure 14 is the analog result of experimental example 1, and (b) in Figure 14 is the analog result of experimental example 2.
From (b) in (a) in Figure 14 and Figure 14, the gross weight W of molten metal MinDepending on distance Sy.In Figure 14
(a) and Figure 14 in (b) shown in × mark represents the gross weight W of molten metal MinMaximum.With these gross weights Win
The corresponding distance S of maximumyRepresent the gross weight W of molten metal MinIt is set in the flow export 2b and cast gate 21 of maximum
The distance S of the heart in the Y directionyopt.As shown in figure 14, in experimental example 1, distance SyoptFor 0.044 [m], in experimental example 2, away from
From SyoptFor 0.075 [m].
(a) in Figure 15 be represent in experimental example 1 when make molten metal M from distance SyoptCorresponding position outflow
When flow export 2b and the distance S of lowering position DP in the Y directionvChange over time chart.(b) in Figure 15
Be represent in experimental example 2 when make molten metal M from distance SyoptFlow export 2b during corresponding position outflow is with falling
The distance S of position DP in the Y directionvChange over time chart.In (b) in (a) in fig.15 and Figure 15,
Transverse axis represents the time, and the longitudinal axis represents distance Sv.In (b) in (a) in fig.15 and Figure 15, single dotted broken line represent cast gate 21 with
Center on the basis of flow export 2b in the Y direction, double dot dash line represent the edge part of cast gate 21 on the basis of flow export 2b
Position in the Y direction.In addition, in (b) in (a) in fig.15 and Figure 15, solid line is the distance calculated using above formula (9)
SvAnalog result, dotted line is illustrated respectively in the distance S of practical measurement in experimental example 1 and experimental example 2v。
From the result shown in (b) in (a) in Figure 15 and Figure 15, by make molten metal M from distance Syopt
Corresponding position is fallen, and the most of of the molten metal M from casting ladle 2 is flowed into casting mold 20.
Next, with reference to Figure 16.When (b) in (a) and Figure 16 in Figure 16 is represented in experimental example 1 since cast respectively
It is carved into the distance S of cast finish timeyChange over time and distance SwChange over time.In Figure 16
(c) and Figure 16 in (d) respectively represent experimental example 2 in from cast start time to cast finish time distance SyAt any time
Between the change that elapses and distance SwChange over time.
From (d) in (a) in Figure 16~Figure 16, in experimental example 1 and experimental example 2, from cast start time
To between cast finish time, casting ladle 2 is not moved along Y-direction and Z-direction.From the result, in experimental example 1 and experimental example 2
In can reduce the caused molten metal M in casting process liquid level vibration.
The control method of the automatic pouring device and automatic pouring device involved by an embodiment is this concludes the description of,
But the above embodiment is not limited to, various modifications mode can be formed in the range of the main idea of utility model is not changed.
For example, automatic pouring device 1 may not necessarily possess the 3rd drive division 5 and maintaining part 6.In addition, the first drive division 3 is to casting ladle 2
Conveying direction is not limited to the direction orthogonal with the conveying direction of casting mold i.e. X-direction.As long as also, set and flow out in casting ladle 2
Mouth 2b, the shape or purposes of casting ladle 2 are not limited to the above embodiment.
Claims (9)
1. a kind of automatic pouring device, the casting molten metal into casting mold, wherein,
The automatic pouring device possesses：
Casting ladle, it is used to store the molten metal, and with the flow export for being used to make the molten metal outflow；
First drive division, it is used to make the casting ladle move along prescribed direction, and the prescribed direction direction links the flow export
Extend with the horizontal component direction in the direction of the cast gate of the casting mold；
Second drive division, it is used to make the casting ladle vert；And
Control unit, it controls first drive division and second drive division,
The control unit falls track based on the molten metal flowed out from the flow export, calculates the molten metal and exists
Pass through flow velocity of the lowering position, the molten metal on the horizontal plane of the height and position of the cast gate at the lowering position
And section radius of the molten metal on the horizontal plane,
Based on flow velocity at the lowering position of the lowering position, the molten metal, the molten metal in the water
The radius of section radius, the cast gate in plane, from the flow of the molten metal of flow export outflow and described
The density of molten metal, generation and the relevant target of gross weight that the molten metal in the casting mold is flowed into from the casting ladle
Function, the object function depend on distance of the flow export with the center of the cast gate in the prescribed direction,
Based on the object function, the gross weight for calculating the molten metal flowed into from the casting ladle in the casting mold reaches most
Distance of the center of big, described flow export and the cast gate in the prescribed direction.
2. automatic pouring device according to claim 1, wherein,
The control unit controls first drive division and second drive division, acts first drive division, to incite somebody to action
The flow export is configured at optimal pouring position, the i.e. gross weight with flowing into the molten metal in the casting mold from the casting ladle
Distance corresponding position of the center for the flow export and cast gate for reaching maximum in the prescribed direction is measured,
And act second drive division, to be maintained in the flow export in the state of the optimal pouring position
The casting ladle is set to vert.
3. the automatic pouring device according to claims 1 or 2, wherein,
Flow velocity, the melting gold of the control unit based on the lowering position, the molten metal at the lowering position
Belong to radius, the radius of the cast gate in the section on the horizontal plane, calculate the institute flowed into from the casting ladle in the casting mold
The change over time of the flow of molten metal is stated, by the product of the change over time of the flow of the molten metal
Score value and the product of the density of the molten metal are generated as the object function.
4. automatic pouring device according to claim 3, wherein,
The flow export and distance of the lowering position in the prescribed direction are set to Sv,
Distance of the center of the flow export and the cast gate in the prescribed direction is set to Sy,
Flow velocity of the molten metal at the lowering position is set to vl,
The radius in section of the molten metal on the horizontal plane is set to rl,
The radius of the cast gate is set to rs,
The flow of the molten metal flowed out from the flow export is set to q (t),
The area in the cast gate region overlapping on the horizontal plane with the section of the molten metal is set to Ain,
The density of the molten metal is set to ρ,
The duration of pouring T will be set to,
At this time, according to the following formula (1-1) calculate the molten metal flow change Q over timein(t),
The object function is expressed as following formula (1-2),
【Formula 1】
<mrow>
<msub>
<mi>Q</mi>
<mi>in</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mfenced open='{' close='}'>
<mtable>
<mtr>
<mtd>
<mn>0</mn>
<mo>,</mo>
</mtd>
<mtd>
<mrow>
<mo>(</mo>
<mo>|</mo>
<msub>
<mi>S</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<msub>
<mi>S</mi>
<mi>v</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
<mo>-</mo>
<msub>
<mi>r</mi>
<mi>l</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>&GreaterEqual;</mo>
<msub>
<mi>r</mi>
<mi>s</mi>
</msub>
<mo>)</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<mi>q</mi>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>,</mo>
</mtd>
<mtd>
<mrow>
<mo>(</mo>
<mo>|</mo>
<msub>
<mi>S</mi>
<mi>y</mi>
</msub>
<mo>-</mo>
<msub>
<mi>S</mi>
<mi>v</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>|</mo>
<mo>+</mo>
<msub>
<mi>r</mi>
<mi>l</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>&le;</mo>
<msub>
<mi>r</mi>
<mi>s</mi>
</msub>
<mo>)</mo>
</mrow>
</mtd>
</mtr>
<mtr>
<mtd>
<msub>
<mi>A</mi>
<mi>in</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<msub>
<mi>v</mi>
<mi>l</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>,</mo>
</mtd>
<mtd>
<mrow>
<mo>(</mo>
<mi>else</mi>
<mo>)</mo>
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</mtd>
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</mtable>
</mfenced>
<mo>.</mo>
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<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<mn>1</mn>
<mo>)</mo>
</mrow>
</mrow>
【Formula 2】
<mrow>
<msub>
<mi>W</mi>
<mrow>
<mi>i</mi>
<mi>n</mi>
</mrow>
</msub>
<mo>=</mo>
<mi>&rho;</mi>
<msubsup>
<mo>&Integral;</mo>
<mn>0</mn>
<mi>T</mi>
</msubsup>
<msub>
<mi>Q</mi>
<mrow>
<mi>i</mi>
<mi>n</mi>
</mrow>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mi>d</mi>
<mi>t</mi>
<mn>...</mn>
<mrow>
<mo>(</mo>
<mn>1</mn>
<mo>-</mo>
<mn>2</mn>
<mo>)</mo>
</mrow>
<mo>.</mo>
</mrow>
5. a kind of automatic pouring device, the casting molten metal into casting mold, wherein,
The automatic pouring device possesses：
Casting ladle, it is used to store the molten metal, and with the flow export for being used to make the molten metal outflow；
First drive division, it is used to make the casting ladle move along prescribed direction, and the prescribed direction direction links the flow export
Extend with the direction of the horizontal component in the direction of the cast gate of the casting mold；
Second drive division, it is used to make the casting ladle vert；And
Control unit, it can control first drive division and second drive division, and control second drive division, so that
The molten metal is flowed out with predetermined constant flow rate from the flow export of the casting ladle,
Fall track of the control unit based on the molten metal flowed out with the constant flow rate from the flow export, calculates
Lowering position and the melting gold of the molten metal on the horizontal plane of the height and position of the cast gate by the casting mold
Belong to the radius in the section on the horizontal plane,
And the half of the radius in the section based on the lowering position, the molten metal on the horizontal plane and the cast gate
Footpath, calculate the molten metal flowed into from the casting ladle in the casting mold gross weight reach maximum, described flow export with
Distance of the center of the cast gate in the prescribed direction.
6. automatic pouring device according to claim 5, wherein,
The control unit controls first drive division and second drive division, acts first drive division, to incite somebody to action
The flow export is configured at optimal pouring position, the i.e. gross weight with flowing into the molten metal in the casting mold from the casting ladle
Distance corresponding position of the center for the flow export and cast gate for reaching maximum in the prescribed direction is measured,
And act second drive division, to be maintained in the flow export in the state of the optimal pouring position
The casting ladle is set to vert.
7. according to the automatic pouring device described in claim 5 or 6, wherein,
The flow export and distance of the lowering position in the prescribed direction are set to Sv,
The flow export and the distance of the cast gate in the height direction are set to Sw,
The radius in section of the molten metal on the horizontal plane is set to rl,
The radius of the cast gate is set to rs,
The constant flow rate is set to qst,
At this time, according to the following formula (1-3), the gross weight for calculating the molten metal flowed into from the casting ladle in the casting mold reaches
Distance S of the center of maximum, described flow export and the cast gate in the prescribed directionyopt,
【Formula 3】
Syopt=Sv(qst,Sw)+rl(qst,Sw)-rs …(1-3)。
8. according to the automatic pouring device described in claim 5 or 6, wherein,
Multiple time sections will be divided into from cast start time to the duration of pouring of cast finish time,
The control unit controls second drive division so that the molten metal in the multiple time section first when
Between section flowed out with the first constant flow rate from the flow export, and second drive division is controlled, so that the molten metal exists
The second time section in the multiple time section is flowed out with the second constant flow rate from the flow export of the casting ladle,
Based on the molten metal with the larger constant flow rate in first constant flow rate and second constant flow rate from
The flow export outflow falls track, calculates the section of the lowering position and the molten metal on the horizontal plane
Radius.
9. automatic pouring device according to claim 7, wherein,
Multiple time sections will be divided into from cast start time to the duration of pouring of cast finish time,
The control unit controls second drive division so that the molten metal in the multiple time section first when
Between section flowed out with the first constant flow rate from the flow export, and second drive division is controlled, so that the molten metal exists
The second time section in the multiple time section is flowed out with the second constant flow rate from the flow export of the casting ladle,
Based on the molten metal with the larger constant flow rate in first constant flow rate and second constant flow rate from
The flow export outflow falls track, calculates the section of the lowering position and the molten metal on the horizontal plane
Radius.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822082A (en) * | 2019-01-25 | 2019-05-31 | 河南卫华重型机械股份有限公司 | A kind of mold automatic casting flow control methods |
| CN111097887A (en) * | 2020-01-13 | 2020-05-05 | 九江职业技术学院 | Novel die forming and die casting device |
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2017
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822082A (en) * | 2019-01-25 | 2019-05-31 | 河南卫华重型机械股份有限公司 | A kind of mold automatic casting flow control methods |
| CN111097887A (en) * | 2020-01-13 | 2020-05-05 | 九江职业技术学院 | Novel die forming and die casting device |
| CN111097887B (en) * | 2020-01-13 | 2021-04-06 | 九江职业技术学院 | Novel die forming and die casting device |
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