Weight Control of Pouring Liquid by Automatic Pouring Robot

This paper gives an advanced control system in tilting-ladle type automatic pouring robot. In a pouring process, it has been required that molten metal is poured precisely and quickly into the mold for improving the productivity and saving energy. Therefore, the pouring liquid weight control, which the weight of the pouring liquid is controlled precisely to the target weight, is proposed in this paper. In the proposed control system, the state of pouring process are estimated using Extended Kalman Filter, and the timing of tilting the ladle back is determined by the predictive equation to the pouring liquid. The effectiveness of the proposed pouring liquid weight control is demonstrated through the experiments using water to generalize the design procedure of pouring liquid weight control.