DE102017000869A1 - Positioning arrangement and method - Google Patents

Abstract

A positioning arrangement (1) for determining a rotational angular position (α) of a container section (2) of a process plant, comprising at least one positioning device (6) for rotating the container section (2) about an axis of symmetry (M2) thereof into the rotational angular position (α) A measuring tape (10) attachable to the container portion (2) so as to circumferentially revolve around the container portion (2) and a scanner (21) for scanning the tape (10), the scanner (21) being arranged thereon to determine the rotational position (α) by means of scanning a machine-readable scale (17, 19, 20) of the tape measure (10).

Description

The invention relates to a positioning arrangement for determining a rotational angular position of a container section of a process plant and a method for determining a rotational angular position of a container section.

A process plant, such as for the cryogenic separation of air, may comprise a rectification or air separation column. Such a rectification or air separation column has a cylindrical container in which various installations can be installed. The container is constructed of so-called container sections or container sections. Each container portion may have a plurality of so-called shell shots. For producing such a container, it is necessary to perform various operations on the container sections. For this purpose, scribe lines can be applied manually to the respective container section in order to determine the position of openings, weld-on parts or the like. The necessary work can then be carried out manually using these scribe lines.

To automate or semi-automate this work with a robot or other computerized numerical control (CNC) machine, it is necessary to reference these machines to a common reference coordinate system. Furthermore, in order to produce such a container, it is necessary to firmly connect a plurality of container sections, for example to weld them. For this purpose, the container sections can be positioned by means of positioning devices relative to each other. Such a positioning device comprises rollers, which may be driven, on which rests the respective container section and with the aid of which these can be rotated and positioned. However, since the container portions in cross-section are often not ideal circular cylindrical, the positioning accuracy of the positioning can be limited, especially for large diameters of the container portion.

Against this background, the object of the present invention is to provide an improved positioning arrangement.

Accordingly, a positioning arrangement for determining a rotational angular position of a container section of a process plant is proposed. The positioning assembly includes at least one positioning device for rotating the container portion about an axis of symmetry thereof to the rotational angular position, a tape measure attachable to the container portion to circumferentially revolve around the container portion, and scanning means for scanning the tape scale, the scanner means being arranged thereon is to determine the rotational position by means of a scanning of a machine-readable scale of the measuring tape.

Characterized in that the rotational angular position of the container portion is not determined by means of the positioning device but as measured on the tape measure Längenmaß, the exact rotational angle position can also be determined in container sections that are not ideal circular cylindrical in cross section or ideally correspond to a drawing diameter ideal. Also due to slippage between the positioning device and the container section, measurement inaccuracies in the determination of the rotational angle position can not arise. With the help of the positioning arrangement an easy to manufacture and exact connection between the rotational angle position and automated manufacturing processes is possible. Automation measures also on container sections with large dimensions can be realized inexpensively.

The positioning arrangement is also configured to determine a coordinate origin and / or a longitudinal direction of the container section. The positioning arrangement can also be set up to determine an angular position of the axis of symmetry in a horizontal reference plane and / or in a vertical reference plane. Furthermore, the scanning device can determine an angular position of the longitudinal direction and the position of the coordinate origin in the longitudinal direction of the container section by means of further marking lines on the measuring tape. In the present case, a "measuring tape film" can be understood as meaning a plastic film, a metal foil but also a paper. That is, the term "film" means no limitation on the material used. The tape measure is so thin that it can be wrapped fitting around the container portion, the tape measure also follows unevenness or irregularities. The measuring tape film preferably comprises a plurality of machine-readable measuring scales which can be printed on the measuring tape film. The tape measure may also include a scale readable by the human eye.

The scanning device is preferably a laser measuring head or comprises a laser measuring head and can scan the measuring tape film without contact with the aid of laser beams. The scanning device may be associated with a position detection device of the positioning arrangement. Preferably, the container portion is constructed substantially rotationally symmetrical to the central or symmetry axis. By "substantially" is to be understood that the container portion in cross section not imperatively ideal circular, but may have omissions. For example, the container portion is elliptical or oval in cross-section. The positioning arrangement may comprise the container portion at least temporarily. That is, the container portion may be part of the positioning assembly, for example, during the determination of the rotational angular position. The positioning assembly may be configured to receive a plurality of container sections, which are then aligned relative to each other. The at least one positioning device can be driven, for example by means of an electric motor. Alternatively, the at least one positioning device can also be drive-free, so that the container section can be rotated manually. The positioning arrangement may comprise a plurality of positioning devices. In particular, the measuring tape is infinitely variable, in particular by appropriate shortening thereof, adapted to different diameters of the container portion.

According to one embodiment, the scanning device is set up to determine a circumference of the container section in order to determine the rotational angle position as a length measure scanned circumferentially on the machine-readable scale.

As previously mentioned, the scale can be adjusted continuously by shortening the tape measure to any diameter. The scanning device is preferably configured to calculate a circumference of the container section. For this purpose, the scanning device may comprise a computer unit. From the calculated extent, the positioning arrangement can calculate which size of the rotational angle position or how many angular degrees of a unit of measurement, for example one millimeter, correspond to the machine-readable scale. In this way, a direct possibility of scanning the angular position of the container portion can be achieved.

According to a further embodiment, the scanning device is adapted to determine a tilt of the axis of symmetry in a horizontal reference plane and / or in a vertical reference plane.

According to a further embodiment, the scanning device is adapted to determine by means of a scanning of the tape measure the determined distance between a vertical alignment rule and a vertical Referenzausrichtlinie to determine an angular position of the symmetry axis to the scanning device in the horizontal reference plane.

According to a further embodiment, the scanning device is arranged to set up the scanning device parallel to the horizontal reference plane of the symmetry axis by means of the scanning laser beam in conjunction with the vertical alignment rule and a first scale of a machine-readable absolute scale.

The scanner is preferably oriented so that the axis of symmetry is both parallel to the horizontal reference plane and to the vertical reference plane. With the help of the vertical reference alignment of the tape measure, the scanning device can detect, in particular, whether laser beams of the scanning device are positioned perpendicular to the axis of symmetry. The horizontal reference plane is preferably positioned perpendicular to the vertical reference plane, and the two reference planes are positioned perpendicular to a further reference plane defined by an end face of the container section. Ideally, the symmetry axis corresponds to a section line of the horizontal reference plane and the vertical reference plane. If the symmetry axis is not positioned parallel to guide elements of the positioning arrangement or if the laser beams are not oriented perpendicular to the axis of symmetry and is thus tilted in at least one of the reference planes, a distance measurement during rotation of the container section between the vertical alignment guideline and the vertical reference guideline yields measured distance is smaller than the actual distance between the alignment lines. The scanning device is then in particular pivoted such that when the container section is rotated, the measured distance corresponds to the actual distance and the measured distance remains constant during the rotation of the container section. As soon as the scanning device is optimally aligned, the symmetry axis is not tilted in any of the reference planes and corresponds to the intersection line of the two reference planes. The axis of symmetry is then positioned in particular parallel to the guide elements. If an angle by which the scanning device was then pivoted is known, this information can computationally compensate for non-parallelism of the axis of symmetry relative to the guide elements and nevertheless achieve exact positioning of a tool head. Alternatively, the entire system can be pivoted with the guide elements about a vertical axis or the positioning devices are moved transversely until the axis of symmetry is arranged parallel to the guide elements.

According to a further embodiment, the measuring tape has self-adhesive areas for attaching it to the container portion.

As a result, the tape measure film can be attached particularly comfortably and easily to the container section. The adhesive areas can through be protected by a protective film. The adhesive areas may be formed as tabs. Alternatively, the adhesive areas can also be formed without tabs, so that the tape strip is without bulges.

In accordance with another embodiment, the tape foil has a vertical alignment rule and a vertical reference alignment parallel to and spaced from the vertical alignment policy.

In this way it can be determined whether the scanning device is arranged perpendicular to the symmetry axis or not. In addition, a conical deviation from the ideal cylindrical shape can be determined. If the scanner is not positioned perpendicular to the symmetry axis, the scanner measures a smaller distance between the vertical alignment rule and the vertical reference alignment than the actual distance. When the container section is rotated, the distance determined by means of the scanner between the vertical alignment rule and the vertical reference alignment changes as an indication of a conical container section whose axis of symmetry lies obliquely to an axis of the scanning device or to guide elements of the scanning device. Preferably, the scanning device is positioned in a height direction at the height of the axis of symmetry.

According to a further embodiment, the scanning device is adapted to determine a coordinate origin of the container section with the aid of a scanning of a vertical alignment rule of the measuring tape.

In particular, the scanning device is set up to determine the origin of the coordinate in the longitudinal direction of the container section with the aid of a scanning laser beam by scanning the vertical alignment rule during a rotation of the container section about the axis of symmetry independently of the rotational angle position. The coordinate origin is assigned a coordinate system with a longitudinal direction oriented in the direction of the axis of symmetry and the rotational angle position. The origin of the coordinates can be determined by scanning the vertical alignment rule. The origin of the coordinates may lie in the reference plane spanned by the front side of the container section or in a plane defined by the vertical alignment guideline, which is arranged parallel to the aforementioned reference plane. The coordinate origin is then preferably an intersection of the axis of symmetry with the plane defined by the vertical alignment rule or the reference plane. The longitudinal direction is in particular oriented from the origin of the coordinate along the symmetry axis. With the aid of the coordinates, namely the rotational angle position and a position along the longitudinal direction, the container portion can be rotated and a tool head of the positioning arrangement can be moved so that the tool head can approach and process each point of the container portion.

According to a further embodiment, the measuring tape has a machine-readable absolute scale and a transition region with a machine-readable positive scale and a machine-readable negative scale.

The transition region is provided laterally on a foil section of the measuring tape foil. The machine-readable absolute scale is printed on the film section. The zero point between the machine readable positive scale and the machine readable negative scale is a horizontal alignment rule printed on the film section.

According to a further embodiment, the positioning arrangement further comprises a tool head coupled to the scanning device for processing the container section.

The tool head may be adapted to mark or print marks on a wall of the container portion. Furthermore, the tool head may have cutters, drills, one or more laser devices, one or more welding devices, an X-ray device or the like. The tool head can be moved electrically, hydraulically or pneumatically about different axes. A control device of the tool head can thereby use CAD data (English: "Computer Aided Design") and determined by means of the scanning device position position data.

According to a further embodiment, the tool head is mechanically coupled to the scanning device by means of guide elements.

The tool head can be height-adjustable by means of a height adjustment device along the height direction. The height adjustment device can be linearly displaceable on the guide elements, in particular guide rails, along the symmetry axis. The tool head can be mechanically coupled to the scanning device by means of the guide elements. The guide elements can be fastened to a foundation, for example a concrete slab or a hall floor. The guide elements can be oriented parallel to the axis of symmetry.

According to a further embodiment, the tool head is coupled with the aid of a displacement measuring system without contact with the scanning device.

The non-contact path measuring system can be, for example, a laser measuring system or the like. The scanning device and / or the tool head can then be moved autonomously without guides on rollers or wheels relative to the container section.

Furthermore, a method for determining a rotational angular position of a container section of a process plant is proposed. The method comprises the steps of attaching a tape measure to the container portion to circumferentially revolve around the container portion, rotating the container portion about an axis of symmetry thereof by at least one positioner in the rotational angular position, and determining the rotational angle position by scanning a machine readable scale the measuring tape with the help of a scanner.

The order of the steps is arbitrary. The steps can be performed sequentially or simultaneously. In the method, as already mentioned, the coordinate origin can be determined.

According to one embodiment, a vertical alignment of the tape measure in attaching the tape measure to the container portion is aligned parallel to a reference plane defined by an end face of the container portion.

The container portion has a tubular wall which is bounded on both sides by a respective end face. At least one of the end faces is processed, for example milled over, and serves as reference plane for attaching the measuring tape to the container portion.

In accordance with another embodiment, the scanner is aligned with the container portion such that as the container portion is rotated about the axis of symmetry, a distance determined by the scanner between the vertical alignment rule and a vertical reference alignment of the tape measure with an actual distance between the vertical alignment rule and the vertical Referenzausrichtlinie is identical, wherein the determined distance remains constant during the rotation of the container section.

As a result, the scanning device can be aligned with simple means perpendicular to the axis of symmetry. Preferably, the scanning device is also aligned in the height direction at the height of the axis of symmetry. Preferably, the scanning device is adapted to determine by means of a scanning of the tape measure the determined distance between the vertical alignment rule and the vertical Referenzausrichtlinie to determine an angular position of the axis of symmetry to the scanning device in a horizontal reference plane. In particular, the scanning device is arranged to set up the scanning device parallel to the horizontal reference plane of the axis of symmetry by means of the scanning laser beam in conjunction with the vertical alignment rule and a first scale of the machine-readable absolute scale.

According to a further embodiment, a first scanning laser beam of the scanning device on a machine-readable absolute Maßskala a first distance between a first end portion of the tape measure associated first Maßstrich the machine-readable absolute Maßskala and a second end portion of the tape measure associated second Maßstrich the machine-readable absolute Maßskala detected.

The measuring tape is preferably applied to the container portion, that the first end portion and the second end portion are positioned opposite to each other. The first distance is defined as a measured on the circumference of the container portion distance between the two scales. Two distances are measurable between the two scales, namely a long circumferential distance and a short distance measurable directly between the two scales. The first distance is in particular the longer of the two possible measurable distances. The machine-readable absolute measure scale preferably comprises a multiplicity of uniformly spaced-apart graduations.

According to a further embodiment, a machine-readable negative scale is scanned with the aid of a second scanning laser beam of the scanning device and a negative scale value is detected.

In addition to the machine-readable negative scale, a machine-readable positive scale is provided at a transition region of the tape measure. The machine-readable negative scale preferably includes a plurality of uniformly spaced apart scales. The negative scale value is defined as a distance between the first Measure of the machine-readable absolute scale and a measure of the machine-readable negative scale. The first measure of the machine-readable absolute measure scale preferably forms a zero point of the machine-readable absolute measure scale, the machine-readable negative measure scale and the machine-readable positive measure scale.

According to another embodiment, a second distance between the second measure of the machine-readable absolute measure scale and a measure of the machine-readable negative measure scale is detected.

The measure of the machine readable negative scale used to determine the negative scale value is also preferably used to determine the second distance.

According to another embodiment, a circumference of the container portion is calculated as a sum of the first distance and the negative scale value from which the second distance is subtracted.

As a result, the circumference of the container section can be calculated with the aid of three scannable spacings from the measuring tape film. With the aid of the determined circumference and the scales applied to the measuring tape, it can then be determined which angular position or which angle of rotation corresponds to a scannable distance between two adjacent dimension marks on the measuring tape. As a result, a simple and accurate positioning of the container portion is possible. In a correspondingly fine graduated scale division, the second distance in the context of container tolerances goes in particular to zero and can be neglected.

Further possible implementations of the positioning arrangement and / or of the method also include combinations of features or embodiments described above or below with respect to the exemplary embodiments which are not explicitly mentioned. The person skilled in the art will also add individual aspects as improvements or additions to the respective basic form of the positioning arrangement and / or the method.

• 1 zeigt eine schematische perspektivische Ansicht einer Ausführungsform einer Positionieranordnung;
• 2 zeigt eine schematische Ansicht einer Ausführungsform einer Maßbandfolie für die Positionieranordnung gemäß 1;
• 3 zeigt eine weitere schematische Ansicht der Maßbandfolie gemäß 1;
• 4 zeigt eine weitere schematische perspektivische Ansicht der Positionieranordnung gemäß 1;
• 5 zeigt eine schematische perspektivische Ansicht einer weiteren Ausführungsform einer Positionieranordnung; und
• 6 zeigt ein schematisches Blockdiagramm eines Verfahrens zum Verwenden der Positionieranordnung gemäß 1 oder 5.

Further advantageous embodiments and aspects of the positioning arrangement and / or the method are the subject matter of the subclaims and the exemplary embodiments of the positioning arrangement and / or the method described below. In the following, the positioning arrangement and / or the method will be explained in more detail on the basis of preferred embodiments with reference to the enclosed figures.

• 1 shows a schematic perspective view of an embodiment of a positioning arrangement;
• 2 shows a schematic view of an embodiment of a tape measure for the positioning assembly according to 1 ;
• 3 shows a further schematic view of the tape measure according to 1 ;
• 4 shows a further schematic perspective view of the positioning assembly according to 1 ;
• 5 shows a schematic perspective view of another embodiment of a positioning assembly; and
• 6 FIG. 12 shows a schematic block diagram of a method of using the positioning arrangement according to FIG 1 or 5 ,

In the figures, the same or functionally identical elements have been given the same reference numerals, unless stated otherwise.

The 1 shows a schematic perspective view of an embodiment of a positioning arrangement 1 for positioning a jacket shot, a container section 2 or a complete container of a process plant, in particular for air separation. The container section 2 can also be referred to as a container section. One or more shells may be a container section or a container section 2 form and a plurality of container sections 2, the container of the process plant, in particular for air separation, form. The container section 2 is hollow cylindrical or tubular and may have a diameter of several meters and a length of several meters. The container section 2 is rotationally symmetric to a symmetry or central axis M2 educated. The container section 2 includes a tubular wall 3 passing through two opposite ends 4 . 5 is limited.

The positioning arrangement 1 comprises at least one, but preferably a plurality of positioning devices 6 on which the container section 2 is stored. The positioning devices 6 are on a foundation 7 , For example, a hall floor or a concrete slab placed. The positioning devices 6 can be stuck to the foundation 7 be mounted or slidably supported by means not shown guide rails. Every positioning device 6 can rollers 8th have, on which the container portion 2 is positioned. The rollers 8th or at least some rollers 8th can be driven, for example by means of an electric motor, to the container portion 2 to rotate about the symmetry axis M2. This allows the container section 2 For example, be rotated by a desired angle of rotation to a defined rotational angle position α to reach. Thus, it is possible, for example, the container portion 2 relative to another, not shown, container section 2 to position, for example, to weld them together.

For turning the container section 2 is applied to this by at least one of the positioning devices 6 a torque DM transfer. The torque DM can be transmitted by frictional engagement or adhesion or by positive locking. A frictional connection requires a normal force on the surfaces to be joined together. Frictional connections can be realized by friction. The mutual displacement of the surfaces is prevented as long as caused by the static friction counter-force is not exceeded. A positive connection is created by the meshing or grasping of at least two connection partners. The container section 2 can also be rotated manually. In this case, the positioning devices 6 can also be without drive, that is, without a mechanical drive.

As the container section 2 in cross section due to production is not ideal circular and / or the rollers 8th In particular, for cost reasons, often are not made very accurate, is the positioning accuracy of the positioning 6 especially with large diameters of the container section 2 unsatisfactory. In addition, an actual diameter of the container portion 2 for manufacturing tolerance reasons of a nominal diameter of the same deviate. In particular, large dimensions of the container section result 2 and interface problems when using CAD data. A processing of the container section 2 similar to CNC milling machines is therefore difficult. Automatic manufacturing processes or scribing methods with laser measurement require reference points for the workpiece to be machined. In the manufacture of containers, it is necessary to the container sections 2 again and again with the help of positioning devices 6 to turn. This makes the reference finding difficult. To simplify the production of containers or to edit a container section 2 simplify, has the positioning arrangement 1 a position detection device 9 on.

The position detection device 9 includes one on the container portion 2 attached measuring tape 10 that also in the 2 . 3 and 4 is shown, to which reference is made simultaneously in the following. The tape measure 10 comprises a plurality of self-adhesive adhesive areas each provided with a peelable protective film 11 on the wall 3 of the container section 2 are stickable. The adhesive areas 11 can, as in the 2 . 3 and 4 shown to be formed as tabs. Alternatively, the adhesive areas 11 also be formed without tabs, so that the tape measure 10 without bulges. The adhesive areas 11 are spaced apart, for example, with a distance of 50 cm, arranged. The adhesive areas 11 are on a foil section 12 attached to the container section 2 circulates. At the film section 12 is one perpendicular to the axis of symmetry M2 arranged vertical alignment rule 13 intended. Furthermore, the tape measure includes 10 one perpendicular to the vertical alignment rule 13 positioned horizontal alignment policy 14 , The horizontal alignment policy 14 can also be referred to as start line or zero line. A vertical reference policy 15 is parallel to and spaced from the vertical alignment rule 13 arranged. For example, the vertical reference policy is 15 by a distance a13 that is, for example, 100 mm from the vertical alignment rule 13 spaced apart. The alignment lines 13 . 14 . 15 For example, printed on the film section 12.

The tape measure 10 further includes an optional human-readable absolute measure scale 16 and a machine-readable absolute scale 17 , To overlap the film section 12 when laying around the tape strip 10 around the container portion 2 to prevent is laterally on the machine-readable absolute scale 17 a transition area 18 intended. Transition area 18 includes another machine readable positive scale 19 up to the level of the horizontal alignment 14 runs, as well as a machine-readable negative scale 20.

The position detection device 9 further comprises a scanning device 21 , in particular a laser scanning head, located at one in a height direction z adjustable height adjustment device 22 is mounted. The height direction z is perpendicular to the axis of symmetry M2 positioned. The height adjustment device 22 is on guide elements 23 . 24 , In particular guide rails, which are parallel to the axis of symmetry M2 are positioned along the axis of symmetry M2 linearly displaceable. The guide elements 23 . 24 are stuck to the foundation 7 assembled. With the help of laser beams 25 can the scanning device 21 the tape measure 10 Touch without contact.

Furthermore, a multiaxial adjustable machining unit 26 be provided, which is a tool head 27 having. The tool head 27 can with the help of a height adjustment 28 along the height direction z be height adjustable. The height adjustment device 28 can be attached to the guide elements 23 . 24 along the axis of symmetry M2 be linearly displaceable. The tool head 27 can with the help of guide elements 23 . 24 mechanically with the scanner 21 be coupled. The tool head 27 can be set up on the wall 3 of the container section 2 Mark or print markings. Furthermore, the tool head 27 via milling cutters, drills, one or more laser devices, one or more have a plurality of welding devices, an X-ray device or the like. The tool head 27 can be moved electrically, hydraulically or pneumatically about different axes. A control device of the tool head 27 can do CAD data and with the help of the scanner 21 use determined position position data.

The functionality of the position detection device 9 or the positioning arrangement 1 is explained below. First, the container section 2, for example by means of a hall crane, on the positioning devices 6 placed. With the help of adhesive areas 11 becomes the tape measure 10 on the wall 3 of the container section 2 attached. This becomes a horizontal alignment policy 14 comprehensive first end section 29 the tape strip 10 on the wall 3 glued on and the tape measure 10 around the container section 2 placed. The scanning device 21 will be on the vertical alignment rule 13 and the axis of symmetry M2 directed. The vertical alignment policy 13 becomes one of one of the faces 4 , 5 clamped reference plane E1 aligned. For example, the vertical alignment policy becomes 13 surrounding the container section 2 at a distance of 100 mm from the reference plane E1 positioned at a distance. The tape measure 10 is cut off so that the film section 12 does not overlap. The machine-readable negative scale 20 then protrudes over a second end portion 30 the cut tape measure 10 above.

Using the vertical reference alignment policy 15 can the position detection device 9 recognize if the laser beams 25 perpendicular to the axis of symmetry M2 are positioned. In particular, it can be determined whether the axis of symmetry M2 in a horizontal reference plane E2 and / or in a vertical reference plane E3 is tilted. The horizontal reference plane E2 is perpendicular to the vertical reference plane E3 positioned and the reference planes E2 . E3 are perpendicular to the reference plane E1 positioned. Ideally, the symmetry axis corresponds M2 a section line of the reference planes E2 . E3 , Is the symmetry axis M2 not parallel to the guide elements 23 . 24 positioned or are the laser beams 25 not perpendicular to the axis of symmetry M2 oriented and thus this is in at least one of the reference levels E2 . E3 tilted results in a distance measurement during rotation of the container portion 2 between the vertical alignment rule 13 and the vertical reference directive 15 in which by means of the scanning device 21 a distance a13 ' is measured that the measured distance a13 ' less than the actual distance a13 between the alignment lines 13 . 15 , The scanning device 21 is then pivoted so that when turning the container section 2 the measured distance a13 ' the actual distance a13 corresponds and the measured distance a13 ' during the turning of the container section 2 remains constant. Once the scanner 21 is optimally aligned, the symmetry axis M2 is not in any of the reference planes E2 . E3 tilted and corresponds to the intersection of the two reference planes E2 . E3 , The symmetry axis M2 is then parallel to the guide elements 23 . 24 positioned.

If an angle to which the scanning device 21 is then pivoted, it is known from this information, a non-parallelism of the axis of symmetry M2 to the guide elements 23 . 24 mathematically compensated and still an exact positioning of the tool head 27 be achieved. Alternatively, the entire system with the guide elements 23 . 24 pivoted about a vertical axis, or the positioning 6 be moved transversely until the axis of symmetry M2 parallel to the guide elements 23 . 24 stands. The horizontal alignment policy 14 supports a horizontal alignment of the scanner 21 ,

A height of the scanner 21 in the height direction z is using the height adjustment 22 to the height of the axis of symmetry M2 set. Subsequently, the container portion 2 with the help of positioning devices 6 turned so that a first scanning laser beam 31 on the machine-readable absolute scale 17 is at a zero position. Taking advantage of the machine-readable positive scale 19 and a second scanning laser beam 32 becomes the container section 2 into the machine readable negative scale 20 turned. Off with the help of scanning laser beams 31 . 32 Certain values may have a scope u of the container section 2 be determined.

For example, with the aid of the first scanning laser beam 31 on the machine-readable absolute scale 17 a distance a17 of 9400 mm between a first end portion 29 assigned first Maßstrich 33 and one the second end portion 30 assigned second Maßstrich 34 the machine-readable absolute measure scale 17 be recorded. The distance a17 runs around the container section 2 around. With the help of the second scanning laser beam 32 can be the machine readable negative scale 20 sampled and a negative scale value a20 be determined. This is also a distance a20 ' between the second Maßstrich 34 and a Maßstrich 35 the machine readable negative scale 20 determined. From the distance a20 ' and at the machine-readable negative scale 20 determined negative scale value a20 there is a gap a17 ' of for example 32 mm. With correspondingly fine scaling of the scale 17 can the distance a20 ' be neglected and the distance a17 ' results directly from the negative scale value a20 ,

This can be the scope u of the container section 2 be calculated with 9432 mm, for example. The scope u is the sum of the distances a17 . a17 ' , The distance a17 'is the difference of the negative scale value a20 and the distance a20 ' , From the calculated scope u can the position detection device 9 Determine the size of the angular position α or how many degrees of angular position α a unit of measure, for example one millimeter, on the machine-readable absolute scale of measurement 17 correspond. This allows a direct sampling of the rotational angle position α of the container section 2 be achieved.

With the help of scanning laser beams 36 . 37 . 38 , the vertical alignment rule 13 , the horizontal alignment rule 14 and the vertical reference directive 15 can change the position of the scanner 21 opposite the container section 2 be checked at any time and readjusted automatically or manually if necessary. With the help of the positioning arrangement 1 is an easy to make and accurate connection between the rotational angle position α and automated manufacturing processes possible. Automation measures also on container sections 2 with large dimensions can be realized inexpensively. The scanning device 21 and the tool head 27 can be moved autonomously without requiring much space at the production site.

Furthermore, with the aid of the positioning arrangement 1 a coordinate origin K a coordinate system with one in the direction of the axis of symmetry M2 oriented longitudinal direction L and the rotational angle position α be determined. The origin of the coordinates K can do this by scanning the vertical alignment rule 13 be determined. The origin of the coordinates K can be in the reference plane E1 or in one of the vertical alignment rules 13 spanned plane parallel to the reference plane E1 is arranged, lie. The origin of the coordinates K is then an intersection of the axis of symmetry M2 with the from the vertical alignment rule 13 spanned plane or the reference plane E1 , The longitudinal direction L is from the coordinate origin K along the axis of symmetry M2 oriented. The origin of the coordinates K is in the 1 shown as a circle. With the help of coordinates, namely the angular position α and a position along the longitudinal direction L , the container section 2 be turned so that the tool head 27 every point of the container section 2 approach and edit.

The 5 shows a development of the positioning 1 according to the 1 , In this development of the positioning 1 is the scanner 21 not with the help of guide elements 23 . 24 mechanically with the tool head 27 coupled. The coupling can in this case by a non-contact displacement measuring system 39 , such as a laser measuring system or the like, take place. The scanning device 21 and / or the tool head 27 can then autonomously without guides on wheels or wheels 40 to be moved.

The 6 shows a schematic block diagram of an embodiment of a method for using the positioning assembly 1 , In the method, in a step S1, the measuring tape sheet 10 so on the container section 2 attached so that these circumferentially around the container section 2 circulates. In a step S2, the container portion 2 with the help of at least one of the positioning device 6 turned. In a step S3, the rotational angle position α with the help of a scan of the machine-readable scales 17 . 19 . 20 the tape strip 10 determined. The scanning is done without contact by means of the scanning device 21 , The order of steps S1 to S3 is arbitrary. The steps S1 to S3 may be performed sequentially or simultaneously. The method may include further steps, such as determining the origin of the coordinates K include.

Although the present invention has been described with reference to embodiments, it is variously modifiable.

LIST OF REFERENCE NUMBERS

1

positioner

2

container section

3

wall

4

front

5

front

6

positioning

7

foundation

8th

caster

9

Position detection device

10

tape foil

11

adhesive area

12

film section

13

alignment line

14

alignment line

15

Referenzausrichtlinie

16

measuring scale

17

measuring scale

18

Transition area

19

measuring scale

20

measuring scale

21

scanning

22

height adjustment device

23

guide element

24

guide element

25

laser beam

26

processing unit

27

tool head

28

height adjustment device

29

end

30

end

31

scanning laser beam

32

scanning laser beam

33

Maßstrich

34

Maßstrich

35

Maßstrich

36

scanning laser beam

37

scanning laser beam

38

scanning laser beam

39

displacement measuring system

40

wheel

a13

distance

a13 '

distance

a17

distance

a17 '

distance

a20

scale value

a20 '

distance

DM

torque

E1

reference plane

E2

reference plane

E3

reference plane

K

origin

L

longitudinal direction

M2

axis of symmetry

u

scope

z

height direction

α

Rotational angle position

Claims (15)

Positioning arrangement (1) for determining a rotational angular position (a) of a container section (2) of a process plant, with at least one positioning device (6) for rotating the container section (2) about an axis of symmetry (M2) thereof in the rotational angular position (a), a tape measure (10) attachable to the container portion (2) so as to circumferentially revolve around the container portion (2), and a scanner (21) for scanning the tape (10), the scanner (21) being adapted to determine the rotational angle position (a) by means of scanning a machine-readable scale (17, 19, 20) of the measuring tape (10). Positioning arrangement after Claim 1 wherein the scanning device (21) is adapted to determine a circumference (u) of the container portion (2) in order to determine the rotational angular position (a) as a measure of length scanned circumferentially on the machine-readable graduated scale (17, 19, 20). Positioning arrangement after Claim 1 or 2 wherein the scanning device (21) is adapted to determine a tilting of the symmetry axis (M2) in a horizontal reference plane (E2) and / or in a vertical reference plane (E3). Positioning arrangement according to one of Claims 1 - 3 wherein the measuring tape (10) has a vertical alignment rule (13) and a vertical reference alignment (15) positioned parallel to and spaced from the vertical alignment rule (13). Positioning arrangement according to one of Claims 1 - 4 in which the scanning device (21) is set up to determine a coordinate origin (K) of the container section (2) by means of scanning a vertical alignment rule (13) of the measuring tape (10). Positioning arrangement according to one of Claims 1 - 5 in that the measuring tape (10) has a machine-readable absolute scale (17) and a transition area (18) with a machine-readable positive scale (19) and a machine-readable negative scale (20). Positioning arrangement according to one of Claims 1 - 6 , further comprising a tool head (27) coupled to the scanning device (21) for processing the container section (2). Positioning arrangement after Claim 7 , wherein the tool head (27) by means of guide elements (23, 24) mechanically or non-contact with the scanning device (21) is coupled. Method for determining a rotational angle position (a) of a container section (2) of a process plant, comprising the following steps: attaching (S1) a measuring tape (10) to the container section (2) so that it circumferentially revolves around the container section (2), Turning (S2) of the container portion (2) around an axis of symmetry (M2) thereof by at least one positioning device (6) into the rotational angular position (a), and determining (S3) the rotational angular position (a) by scanning a machine-readable scale (17 , 19, 20) of the measuring tape (10) by means of a scanning device (21). Method according to Claim 9 in which a vertical alignment rule (13) of the measuring tape (10) is aligned during attachment of the measuring tape (10) to the container section (2) parallel to a reference plane (E) spanned by an end face (4, 5) of the container section (2) , Method according to Claim 10 in that the scanning device (21) is aligned with the container section (2) such that when the container section (2) is rotated about the symmetry axis (M2) a distance (a13 ') determined by means of the scanning device (21) is interposed the vertical alignment guideline (13) and a vertical reference alignment guideline (15) of the measuring tape (10) is identical to an actual spacing (a13) between the vertical alignment guideline (13) and the vertical reference alignment guideline (15), and wherein the determined distance (a13 ') ) remains constant at the turning (S2) of the container portion (2). Method according to one of Claims 9 - 11 , wherein with the aid of a first scanning laser beam (31) of the scanning device (21) on a machine-readable absolute scale (17) a first distance (a17) between a first end portion (29) of the tape measure (10) associated first Maßstrich (33) of the machine-readable Absolute Maßskala (17) and a second end portion (30) of the tape measure (10) associated second Maßstrich (34) of the machine-readable absolute Maßskala (17) is detected. Method according to Claim 12 , wherein with the aid of a second scanning laser beam (32) of the scanning device (21) a machine-readable negative scale (20) is scanned and a negative scale value (a20) is detected. Method according to Claim 13 wherein a second distance (a20 ') is detected between the second scale (34) of the machine readable absolute scale (17) and a measure (35) of the machine readable negative scale (20). Method according to Claim 14 wherein a circumference (u) of the container portion (2) is calculated as a sum of the first distance (a17) and the negative scale value (a20) from which the second distance (a20 ') is subtracted.

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