U.S. patent application number 11/569666 was filed with the patent office on 2008-03-06 for continuous casting installation with at least one robot and method for operating a continuous casting installation including at least one robot.
This patent application is currently assigned to Voest-Alpine Industrieanlagenbau GMBH & Co.. Invention is credited to Andreas Andretsch, Josef Kieweg, Josef Lanschutzer, Hermann Lempradl, Karl Morwald, Johann Poppl, Helmut Resch, Heinrich Thone, Franz Wimmer.
Application Number | 20080058981 11/569666 |
Document ID | / |
Family ID | 35149149 |
Filed Date | 2008-03-06 |
United States Patent
Application |
20080058981 |
Kind Code |
A1 |
Andretsch; Andreas ; et
al. |
March 6, 2008 |
Continuous Casting Installation with at Least One Robot and Method
for Operating a Continuous Casting Installation Including at Least
One Robot
Abstract
A continuous casting installation is equipped with at least one
robot for carrying out process-controlled or automated
interventions on the continuous casting installation and accessing
the assigned auxiliary devices. To ensure optimum use of the
robot(s), the continuous casting installation is assigned a runway,
the robot is assigned a travelling mechanism and the travelling
mechanism is displaceably guided on the runway, at least one
parking position and at least two operating positions are defined
for the robot on the runway and each operating position is assigned
working areas on the continuous casting installation that can only
be reached from this operating position, the distance between each
operating position of the robot and the assigned operating area or
supply area is fixed within the minimum and maximum range of the
robot arm and the robot is equipped with a data transmitting and
receiving device and the latter is connected by signalling
technology to a central control device or a process computer of the
continuous casting installation. Furthermore, the invention
comprises a method for operating a continuous casting installation
including at least one robot which can be displaced on a runway
between a parking position and at least two operating
positions.
Inventors: |
Andretsch; Andreas; (Linz,
AT) ; Kieweg; Josef; (Steinbach, AT) ;
Lempradl; Hermann; (Asten, AT) ; Morwald; Karl;
(St. Florian, AT) ; Poppl; Johann; (Kirchschlag,
AT) ; Resch; Helmut; (Zeillern, AT) ; Thone;
Heinrich; (Linz, AT) ; Wimmer; Franz; (Riedau,
AT) ; Lanschutzer; Josef; (Mauthausen, AT) |
Correspondence
Address: |
OSTROLENK FABER GERB & SOFFEN
1180 AVENUE OF THE AMERICAS
NEW YORK
NY
100368403
US
|
Assignee: |
Voest-Alpine Industrieanlagenbau
GMBH & Co.
Linz
AT
4031
|
Family ID: |
35149149 |
Appl. No.: |
11/569666 |
Filed: |
April 28, 2005 |
PCT Filed: |
April 28, 2005 |
PCT NO: |
PCT/EP05/04569 |
371 Date: |
September 6, 2007 |
Current U.S.
Class: |
700/146 |
Current CPC
Class: |
B22D 11/16 20130101;
B22D 11/14 20130101 |
Class at
Publication: |
700/146 |
International
Class: |
B22D 11/16 20060101
B22D011/16; B22D 11/14 20060101 B22D011/14 |
Foreign Application Data
Date |
Code |
Application Number |
May 26, 2004 |
AT |
A 911/2004 |
Claims
1. Continuous casting installation with at least one robot for
carrying out process-controlled or automated interventions on a
continuous casting installation and accessing assigned auxiliary
devices, wherein the continuous casting installation is assigned a
runway, the robot is assigned a travelling mechanism and the
travelling mechanism is displaceably guided on the runway, at least
one parking position and at least two operating positions are
defined for the robot on the runway and each operating position is
assigned working areas on the continuous casting installation that
can only be reached from this operating position, the distance
between each operating position of the robot and the assigned
operating area or supply area (V1, V2, V3) is fixed within the
minimum and maximum range of the robot arm (15) and the robot is
equipped with a data transmitting and receiving device and the
latter is connected by signalling technology to a central control
device or a process computer of the continuous casting
installation.
2. Continuous casting installation according to claim 1, wherein
the runway is formed by a track system.
3. Continuous casting installation according to claim 1, wherein
the runway is formed by at least one running rail of an overhead
monorail conveyor.
4. Continuous casting installation according to claim 1, wherein
the runway has branches (points).
5. Continuous casting installation according to claim 1, wherein a
runway section is formed in such a way that it can be adjusted in
height or can be swiveled.
6. Continuous casting installation according to claim 1, wherein
the travelling mechanism is assigned a robot swiveling mechanism
and at least two operating positions are defined for the robot with
the swiveling position of the robot swiveling mechanism, the
swiveling mechanism preferably comprising a jib, on the extending
end of which the robot is arranged.
7. Continuous casting installation according to claim 1, wherein
the robot is fixed in its operating position by an arresting
device.
8. Continuous casting installation according to claim 1, wherein
each operating position of the robot on the runway is assigned at
least one operating area at the continuous casting installation and
a supply area at an auxiliary device (tool store, utilities
store).
9. Continuous casting installation according to claim 1, wherein
the runway is arranged on the casting platform, preferably in a
horizontal plane.
10. Continuous casting installation according to claim 1, wherein a
number of robots, preferably two robots, are assigned to a single
runway.
11. Method for operating a continuous casting installation
including at least one robot which can be displaced on a runway
between a parking position and at least two operating positions,
wherein control signals are issued from a process computer or a
central control device to the robot and, on the basis of these
control signals, a selected operating position is moved to and
automated interventions on the continuous casting installation are
performed by the robot, the control signals for the interventions
to be carried out on the continuous casting installation being
issued by the process computer or a central control device to the
robot in the sequence of the priority of the interventions to be
carried out.
12. Method according to claim 11, wherein measurement data are
gathered by the robot on the continuous casting installation, these
measurement data are transmitted to the process computer or a
central control device, are processed by the process computer or
the control device and results of this data evaluation are
converted into control signals for the robot or the continuous
casting installation.
13. Method according to claim 11, wherein, of at least two robots
which can be made to move on a runway, a first robot which can be
made to move on the runway, as the primary robot (master), receives
all the control signals and carries out interventions on the
continuous casting installation and a further robot which can be
made to move on the runway, as the auxiliary robot (slave), is
preferably assigned to a parking position.
14. Method according to claim 13, wherein, if there is a conflict
of priorities of control signals, the primary robot and the
auxiliary robot are activated both robots are directed to the
respective operating positions while excluding the possibility of
them hindering one another.
15. Method according to claim 12, wherein, of at least two robots
which can be made to move on a runway, a first robot which can be
made to move on the runway, as the primary robot (master), receives
all the control signals and carries out interventions on the
continuous casting installation and a further robot which can be
made to move on the runway, as the auxiliary robot (slave), is
preferably assigned to a parking position.
Description
[0001] The invention relates to a continuous casting installation
with at least one robot for carrying out process-controlled or
automated interventions on the continuous casting installation and
accessing assigned auxiliary devices. Furthermore, the invention
relates to a method for operating a continuous casting installation
including a robot.
[0002] The present invention extends to all types of continuous
casting installations in which molten metal from a molten metal
container, such as for example a casting ladle, is directed via a
tundish into a chilled mould, shaped there under intensive cooling
to form an at least partly solidified strand of any desired cross
section and continuously conveyed out of the continuous casting
installation. According to the characteristics of the moulds that
are used, the casting installations may be equipped with
oscillating tubular and plate moulds, track moulds, rotating
casting rolls with side plates (two-roll casting installations) or
moulds with circulating belts. The strands may have cross sections
of slabs, thin slabs, strips, blooms or billets and any other
desired preliminary shaping cross sections of any desired
dimensions.
[0003] Robots are used on a continuous casting installation for
carrying out recurrent work and to eliminate operating problems in
hazardous areas in which the operating personnel are subjected to
great heat exposure, emanating from the liquid metal and the cast
metal strand, or spattered slag and metal. Robots are already used
at the open continuous casting mould to observe the surface of the
molten bath, to eliminate deposits baked on the inner sides of the
mould walls, to feed in casting powder, to measure temperatures and
take samples and the like. Furthermore, robots are used for
changing the shroud, changing the casting tube and for changing
closure plates of the side gate nozzle and for blowing open the
outflow opening at tundishes and casting ladles. Furthermore, it is
known to use robots for inspecting the cast strands or the cut-off
slabs, blooms and billets and for the elimination of defects, for
example by flaming, in the outlet region of a continuous casting
installation.
[0004] For example, the use of a multifunctional robot on a
continuous casting mould is already known from EP-B 371 482, the
robot on the one hand receiving data relating to the casting
process from measuring devices on the mould and on the other hand
acquiring measuring data itself on the mould by a detection system,
for example an optical detection system, and using this information
to prepare and implement a plan of action with priority assignment.
A stationary robot is concerned here, the location of which is
chosen specifically for use on the mould and is accordingly not
suitable for performing activities likewise occurring in areas of
the continuous casting installation neighbouring the continuous
casting mould.
[0005] Robots which are likewise assigned to a single working area
at a continuous casting installation are known from U.S. Pat. No.
5,067,553, JP-A 5-169206, JP-A 9-109100, JP-A 7-60434 and
JP-A-293615.
[0006] More extensive use of robot technology on the casting
platform of a continuous casting installation previously led to a
massing of such robots and to confused operations proceeding in
confined spaces. JP-A 3-71959 discloses the use of two robots on a
casting platform of a multistrand continuous casting installation,
each robot being assigned a runway and the robot being able to
assume an operating position on this runway to exchange casting
tubes on a large tundish and carry out cleaning work at the outlet
openings of the tundish and the casting tubes. Each robot is
assigned a demarcated working area, it not being possible for one
robot to work in the working area of another robot, so that if one
robot fails the other robot cannot take over this work and
interventions on the continuous casting installation by the
operating personnel are necessary. Altogether, the proliferation of
robots increases the investment costs and operating costs, without
at the same time achieving improved availability of the individual
robot.
[0007] The object of the present invention is therefore to avoid
these disadvantages and difficulties of the known prior art and to
propose a continuous casting installation with at least one robot
of the type described at the beginning and a method for operating a
continuous casting installation including a robot, with which
different interventions on a continuous casting installation can be
carried out at various working positions which lie outside the
range of a single operating position of a robot.
[0008] A further aim of the invention is to increase the degree of
utilization and the availability of the robot or robots used.
[0009] This object is achieved according to the invention by the
continuous casting installation being assigned a runway, by the
robot being assigned a travelling mechanism and the travelling
mechanism being displaceably guided on the runway, by at least one
parking position and at least two operating positions being defined
for the robot on the runway and each operating position being
assigned working areas on the continuous casting installation that
can only be reached from this operating position, by the distance
between each operating position of the robot and the assigned
operating area or supply area being fixed within the minimum and
maximum range of the robot arm and by the robot being equipped with
a data transmitting and receiving device and the latter being
connected by signalling technology to a central control device or a
process computer of the continuous casting installation.
[0010] The fixing of a runway on the continuous casting
installation, or in zones of a continuous casting installation,
which is taken past a number of potential working areas in such a
way that these working areas lie within the range of predetermined
operating positions of a robot which can be made to move on the
runway has the effect of overcoming the restricted, only single
operating capability of the robot and creating a much more
efficient operating capability. Depending on demand, the robot can
be guided by a central control device or the process computer of
the continuous casting installation to each desired operating
position and carry out the interventions necessary there.
[0011] Operating positions for the robot define locations of the
robot along the runway from which one or more working areas on the
continuous casting installation lie within the range of the robot
gripper. In embodiments of the robot in which the robot stand is
secured on the travelling mechanism fixedly or rotatably about a
vertical axis, the operating positions of the robot on the runway
are defined by the position of the travelling mechanism alone. In
the case of embodiments of the robot in which a swiveling mechanism
with a jib is arranged on the travelling mechanism, and the actual
robot is only fastened on the projecting end of the jib, the
swiveling angle of the jib of the swiveling mechanism is also
decisive in addition to the position of the travelling mechanism
for defining the operating position of the robot.
[0012] Working areas of the robot are special areas or individual
locations on the continuous casting installation where
interventions are performed by the robot, starting from a
predetermined operating position.
[0013] Supply areas comprise, in spatial terms, storage places with
auxiliary devices, such as tool stores, utility stores and similar
devices, which have fixed positions for tools, spare parts and
utilities to be received and deposited by the robot. Stored in the
auxiliary devices are firstly tools for the robot that are required
for carrying out the interventions, such as for example tongs,
measuring probes, grinding heads, secondly spare parts for the
continuous casting installation, such as casting tubes or slide
valve plates, and thirdly utilities for the continuous operation of
the continuous casting installation, such as for example casting
powder. The tool stores and utility stores provided in the
respective supply areas may be formed by stationary or mobile
auxiliary devices, the mobile auxiliary devices, for example a
utilities carriage, possibly only being brought into the supply
area of a specific operating position when required, and stocked up
away from its supplying position.
[0014] The parking position is defined as the position of the robot
on the runway at which it stops when it is carrying out
interventions and waits for a new operating signal from the central
control device or the process computer. When a number of robots are
assigned to one runway, a number of parking positions are
accordingly defined. In the case of two robots, the two parking
positions are preferably arranged at opposite ends of the
runway.
[0015] The carrying out of process-controlled or automated
interventions by the robot also comprises the alternative
possibility of an intervention that is manually remote-controlled
by the operating personnel. These manually remote-controlled
interventions can take place from the control room or by means of
other portable control units.
[0016] The runway for the robot is preferably formed by a track
system or by at least one running rail in the manner of an overhead
monorail conveyor or craneway. Moving to predetermined operating
positions is achieved by corresponding control devices (position
transmitters, displacement monitoring systems).
[0017] To be able to serve a multiplicity of working areas on the
continuous casting installation, it is expedient if the runway has
branches with the inclusion of customary points. This allows
operating positions away from a main runway to be defined and
assumed and a number of robots can be used without them hindering
one another.
[0018] Alternatively, individual sections of the runway are formed
in such a way that they can be adjusted in height by means of
lifting mechanisms or can be swiveled by swiveling mechanisms, in
order to change the operating position of the robot on the runway
in such a way that best-possible access to the assigned operating
area is achieved.
[0019] Each robot is assigned a travelling mechanism, on which it
is supported or suspended, depending on the design of the runway.
To increase the size of its operating area, the travelling
mechanism may be assigned a robot swiveling mechanism, whereby at
least two operating positions are defined for the robot with the
swiveling position of the robot swiveling mechanism. The swiveling
mechanism preferably comprises an extending jib, on the extending
end of which the robot is arranged. The jib may be adapted to
requirements of the operating environment, possibly for example
also made adjustable in height.
[0020] The robot is preferably fixed in its respective operating
position by an arresting device, to avoid positional changes caused
by reaction forces from the interventions.
[0021] To be able to carry out interventions on the continuous
casting installation as quickly and efficiently as possible, it is
expedient if each operating position of the robot on the runway is
assigned at least one operating area at the continuous casting
installation and a supply area at an auxiliary device, such as for
example a tool store or a utilities store.
[0022] Consequently, all the utilities necessary for carrying out
an intervention are available for the robot within the range of its
robot arm, without it having to perform additional manipulating
movements to change the tool or transport the spare part.
[0023] The runway may extend along the entire continuous casting
installation and at different heights and may also comprise upward
and downward slopes, preferably when the runway is formed as a
running rail of an overhead conveyor. The runway is preferably
restricted to the casting platform and/or to the delivery area of
the continuous casting installation. Here, the runways are
preferably arranged in a horizontal plane.
[0024] According to a preferred refinement, two robots are arranged
on one runway, one robot preferably performing the interventions on
the continuous casting installation as the primary robot and the
second robot being used as an auxiliary robot when there are
conflicts of priority for the work to be carried out and when there
are problems with the primary robot. A different distribution
between the robots of the work to be carried out, for example by
priority assignment of individual robots to specific operating
positions or assignment by manual remote control is quite possible,
and is within the scope of the invention.
[0025] The invention also comprises a method for operating a
continuous casting installation including at least one robot which
can be displaced on a runway between a parking position and at
least two operating positions and is characterized in that control
signals are issued from a process computer or a central control
device to the robot and, on the basis of these control signals, a
selected operating position is moved to and automated interventions
on the continuous casting installation are performed by the robot,
the control signals for the interventions to be carried out on the
continuous casting installation being issued by the process
computer or a central control device to the robot in the sequence
of the priority of the interventions to be carried out.
[0026] The operation of the robot is defined and controlled by the
process computer of the continuous casting installation or a
central control device, the activities to be carried out being
determined with regard to the quality of the products to be
produced. The basis for the priority assignment is formed by a
continuous diagnosis of the casting process, consequently the
continuously gathered measurement data and model calculations in
comparison with default data.
[0027] The robot itself also carries out on the continues casting
installation observations of the state of the casting process as it
proceeds and gathers measurement data. These measurement data are
transmitted to the process computer or a central control device,
are processed by the process computer or the control device and
results of this data evaluation are converted into control signals
for the robot or the continuous casting installation.
[0028] When at least two robots which can be made to move on a
runway are used, a first robot which can be made to move on the
runway, as the primary robot (master robot), receives all the
control signals and carries out interventions on the continuous
casting installation and a further robot which can be made to move
on the runway, as the auxiliary robot (slave robot), is preferably
assigned to a parking position.
[0029] If there is a conflict of priorities of control signals, the
primary robot and the auxiliary robot are activated and both robots
are directed to the respective operating positions while excluding
the possibility of them hindering one another.
[0030] Further advantages and features of the present invention
emerge from the following description of non-restrictive exemplary
embodiments, reference being made to the accompanying figures, in
which:
[0031] FIG. 1 shows a schematic representation of the operating
capabilities of one or two robots on the casting platform of a
continuous casting installation,
[0032] FIG. 2 shows a robot swiveling mechanism with two operating
positions of the robot in an elevation,
[0033] FIG. 3 shows the robot swiveling mechanism according to FIG.
2 with two operating positions on the casting platform in a plan
view,
[0034] FIG. 4 shows a robot runway with a runway section which can
be vertically raised and lowered,
[0035] FIG. 5 shows a robot runway with a runway section which can
be swiveled in a horizontal plane.
[0036] On the casting platform 1 of a continuous casting
installation, the layout of which is in no way restricted, the
outlines are shown of a casting ladle 2 with a ladle nozzle 3
(shroud) and a tundish 4 positioned under it, with a submerged
casting tube 5, which protrudes into a continuous casting mould 6.
A further tundish 4' is indicated by dashed-dotted lines in a
standby position on the casting platform 1.
[0037] On this casting platform there are a wide variety of
possibilities for having a robot carry out process-controlled and
automated interventions on the casting installation, for which
either the operation of a number of stationary robots or the
operation of at least one mobile robot is necessary. A runway 7 is
laid over the casting platform 1 in such a way that a multiplicity
of working areas A.sub.1, A.sub.2, A.sub.3, A.sub.4 can be served
by a single robot 8, starting from a number of operating positions
E.sub.1, E.sub.2, E.sub.3 along the runway. The robot 8 is located
in a waiting position in the parking position P.sub.1 at one end of
the runway 7. A further parking position P.sub.2, which can
likewise be used, is located at the opposite end of the runway 7.
Supply areas V.sub.1, V.sub.2, V.sub.3 are provided at auxiliary
devices H.sub.1, H.sub.2, H.sub.3 on the casting platform and these
are assigned to operating positions E.sub.1, E.sub.2, E.sub.3 and
are set up within the range of the robot arm 15. If the space
conditions on the casting platform do not allow this, individual
supply areas may also be set up outside the range of operating
positions of the robot. The operating time of the robot for the
completion of an intervention is then extended however by the
period of time taken for necessary supplying movements.
[0038] From the operating position E.sub.1, the robot 8 can carry
out interventions in the working areas A.sub.1 (casting ladle) and
A.sub.4 (tundish) which relate to the ladle nozzle 3 and the
shroud, and also the pouring-in area of the tundish 4. Among the
activities to be carried out at time intervals in these working
areas are, for example, changing of the shroud, burning clear the
ladle nozzle or feeding the casting powder into the tundish. The
spare parts and utilities necessary for these interventions, such
as for example a replacement shroud, the necessary specific casting
powder of the predetermined quality and amount or a burner, are
taken by the robot from the assigned supply area V.sub.1, where
these utilities are kept readily available in stock at
predetermined places of the store of the auxiliary device
H.sub.1.
[0039] Starting from the operating position E.sub.2, the robot 8
can carry out interventions in the operating areas A.sub.2 (mould)
and A.sub.4 (tundish) which relate to the pouring-out area of the
tundish 4, the submerged casting tube 5 and the opening on the
inlet side of the continuous casting mould 6. Among the activities
in these working areas are for example feeding casting powder into
the tundish, changing of the submerged casting tube, burning clear
the tundish outlet opening, feeding casting powder into the mould,
observing the level of the bath in the mould, taking samples from
the mould, etc. The utilities and spare parts necessary for these
interventions, such as for example a casting powder appropriate for
the quality of steel to be cast and the casting conditions at the
given time, submerged casting tubes, sublances etc, are taken by
the robot from the auxiliary device H.sub.2 in the supply area
V.sub.2.
[0040] Starting from the operating position E.sub.3, the robot 8
can perform interventions on a further tundish 4' in the working
area A.sub.3 (tundish changing stand), taking the required
utilities from the auxiliary device H.sub.3 in the supply area
V.sub.3.
[0041] The parking position P.sub.2 is available to the robot as a
second parking position if only one robot is provided on the
casting platform. Alternatively, a further robot 8' may wait at the
parking position P.sub.2 to perform operations, whereby a much more
efficient plan of action can be realized. If, for example,
interventions of equal priority, neither of which can be delayed,
must be carried out both in the working area A.sub.1 and in the
working area A.sub.2, the control system or the process computer
will direct the robot 8 from its parking position P.sub.1 to the
operating position E.sub.1 and the robot 8' from its parking
position P.sub.2 to the operating position E.sub.2 assigned to
it.
[0042] FIGS. 2 and 3 show a robot 8 in two operating positions
E.sub.1 and E.sub.2 on the continuous casting installation. The
continuous casting installation is indicated with dashed lines by
the outer contours of the casting ladle 2, the tundish 4 and the
continuous casting mould 6. The runway 7 of the robot is formed by
two running rails 9, 9', which are taken in a straight line past
the tundish 4 and the continuous casting mould 6 at a distance
above the casting platform 1. Fastened to the travelling mechanism
10 is a robot swiveling mechanism 11 with a jib 12, which can
assume two positions that are swiveled by 90.degree. in relation to
each other and cover the operating positions E.sub.1 and E.sub.2.
The robot is arranged in a suspended manner on the extending end of
the jib 12 and can assume the two operating positions E.sub.1 and
E.sub.2. The jib 12 is represented in the operating position
E.sub.1 by dashed-dotted lines and in the operating position
E.sub.2 by solid lines. The kidney-shaped range lines 13, 14 in
FIG. 2 and the circular range lines 13', 14' in FIG. 3 illustrate
the working areas A.sub.1 and A.sub.2 of the robot arm 15. Within
the working area A.sub.1, which is assigned to the operating
position E.sub.1, all the main areas of the casting ladle 2 up to
the mould 6 can be reached by the robot 8. From the second
operating position E.sub.2, interventions can be performed in the
working area A.sub.2, preferably in the transitional area from the
tundish 4 to the continuous casting mould 6 and on the latter
itself. In an area at the edge of the casting platform, the robot
is assigned a parking position P.sub.1. Also provided in the direct
vicinity of this parking position is a supplying position V.sub.1,
from which the robot can take all the auxiliary items required for
its operation. Independently of the casting operation that is in
progress, manual preparation work for the operation of the robot
can be performed undisturbed and in safety in this parking
position.
[0043] On the casting platform 1 there is the control stand 18,
from which the continuous casting installation is monitored and
operated in a largely automated manner by a process computer or a
central control device. The process computer 19 or the central
control device and also the individual robot or number of robots
are assigned data transmitting and data receiving devices 20, 21,
via which all the information necessary for carrying out the
interventions are transmitted, preferably on a radio link.
[0044] In order to bring the robot into favourable operating
positions, various special designs of the runway are possible. FIG.
4 shows a raisable and lowerable runway section 22 of the runway 7,
with which the robot 8, of which only the lower base part is
represented, is lifted into a raised intervention position E with
respect to the plane of the runway. The runway section 22 is
supported on lifting cylinders 23, and is appropriately positioned
by these. In its intervention position E, which for its part is
determined by a robot rotating axis in the base region, the robot 8
is definitively fixed in its position on the runway section 22 by
an arresting device 24, and consequently a fixed point that is
important for the robot control is defined.
[0045] FIG. 5 shows a runway section 27, which can be swiveled
about a vertical swivel axis 26 into a predetermined angular
position, in its starting position in line with the runway 7 and in
a swiveled-out position, which defines the intervention position E
for the robot. The runway section 27 can be made to move in a
horizontal plane on rails 29 set up in the form of an arc of a
circle.
[0046] In addition, branches can be used on the runway, using
conventional points known from the railways. Upward sloping
sections and downward sloping sections may be provided on the
runway, it being possible for example to use cogwheel mechanisms to
overcome upward and downward slopes.
[0047] The invention is not restricted to the use of particular
types of robot. Particularly suitable for use on the casting
platform of a continuous casting installation are buckling-arm
robots or portable robots, as are universally offered by many
manufacturers for the widest variety of operating possibilities and
with special adaptations.
* * * * *