To provide a ladle tilting type automatic molten-metal pouring method by which a molten metal is poured at high speed with excellent accuracy.
The height of a molten metal positioned above a tapping port and the weight of a molten metal to be outflowed from a ladle are estimated using an extension Kalman filter from: the weight of a molten metal outflowed from a ladle 3, which is measured with a load cell 9; a voltage inputted to servo-motors 4, 5; and a tilting angle and an elevating-directional position of the ladle, which is measured with a rotary encoder. The sum of the weight of the molten metal to be outflowed from the ladle at the time of backward tilting that is estimated from the height of the molten metal positioned above the tapping port, which is presumed from the tilting angle of the ladle and by the extension Kalman filter, and the weight of the molten metal to be outflowed from the ladle, which is presumed by the extension Kalman filter, is estimated as a final molten-metal outflow. After judging whether or not the final molten-metal outflow estimated exceeds a specified outflow, the operation of backward tilting of the ladle is started based on the resulted judgement.
TOYOHASHI UNIV OF TECHNOLOGY