Patent ID: 8875960

Claim:
A method for tilting-type automatic pouring of molten metal from a ladle to a mold, wherein the ladle has a tapping hole having a predetermined shape and holds the molten metal, by tilting the ladle by means of a servo motor under the control of a computer in which a program to execute a pouring process is pre-configured, the method comprising the steps of: measuring outflow weight of the molten metal that flows from the ladle; measuring the tilting angle that the ladle tilts and the moving position of the ladle along the direction of vertical motion of the ladle; estimating the height level of the molten metal above the tapping hole of the ladle and the outflow weight of the molten metal that flows from the ladle, using an extended Kalman filter, based on the measured outflow weight of the molten metal that flows from the ladle, the measured tilting angle that the ladle tilts, the measured position of the ladle along a direction of vertical motions of the ladle, and an input voltage to the servo motor; predicting the final outflow weight of the molten metal as the sum of a predicted outflow weight of the molten metal that flows from the ladle when the ladle inversely tilts, which is predicted based on the tilting angle of the ladle and the estimated height level of the molten metal above the tapping hole of the ladle that has been estimated by the extended Kalman filter, and the estimated outflow weight of the molten metal that flows from the ladle and that has been estimated by the extended Kalman filter; and determining if the predicted final outflow weight of the molten metal is at least a specified outflow weight, and beginning an inverse tilting motion of the ladle based on the determined result.