Abstract: A multi-articulated arm in a continuous casting machine which interacts with a melt surface condition within a mold, including melt surface abnormalities such as boiling and lack of powder, and a condition of slag beard formation by using image sensors, and also detects a condition of Deckel formation by using a load sensor through a sensor rod, thereby controlling a casting speed, a flow rate of gas blown into a pouring nozzle, a flow rate of a melt poured into the mold, scatter of powder to prevent the occurrence of the melt surface abnormalities. Additionally, said arm can remove a slag beard by a hitting oscillator and removing Deckels by the sensor rod. Those works can be performed following priority thereof by a multi-functional robot equipped with a multi-articulated arm having at its distal end an automatic tool changer mechanism.

Abstract: In a continuous casting method, a melt surface condition within a mold is monitored for melt surface abnormalities such as boiling, lack of powder, and a condition of slag beard formation by using image sensors. Also, a condition of Deckel formation is detected by using a load sensor through a sensor rod. Based on the monitored conditions, a casting speed, a flow rate of gas blown into a pouring nozzle, a flow rate of a melt poured into the mold, scatter of powder, and the like, are controlled to prevent the occurrence of the melt surface abnormalities, as well as removing a slag beard by a hitting oscillator and removing Deckels by the sensor rod.