EP1768798A1

EP1768798A1 - Method and device for precisely positioning a plurality of interacting roller or cylindrical elements

Info

Publication number: EP1768798A1
Application number: EP06776173A
Authority: EP
Inventors: Horst Von Wyl; Ulrich Zenz; Frank MÖNSTERS
Original assignee: SMS Demag AG
Current assignee: SMS Siemag AG
Priority date: 2005-08-06
Filing date: 2006-07-11
Publication date: 2007-04-04
Anticipated expiration: 2026-07-11
Also published as: TWI344876B; ZA200701373B; EP1768798B1; KR20070057162A; CN101018629A; JP2008519276A; CA2577765A1; TW200722199A; CA2577765C; RU2354472C2; WO2007017030A1; CN100540182C; ATE462513T1; DE502006006560D1; US20080006386A1; JP4518430B2; KR100864610B1; DE102005037138A1; ES2342108T3; UA89203C2

Abstract

The invention relates to a method of precise positioning of a number of cooperating cylinder or roller elements (2, 3, 4) of a roller or casing installation (1) relative to each other. In order to be able to bring off a rapid and precise alignment of the cylinder or roller elements, according to the invention, it is provided that with a measuring apparatus (5), a distance (a6, a7, a8, a9) between at least three reference points (6, 7, 8, 9), which are provided directly or indirectly on each of the cylinder roller elements (2, 3, 4), and the measuring apparatus is measured, and that dependent on measurement results, adjusting elements (10, 11, 12) on each cylinder or roller element (2, 3, 4) are so operated that the distances (a6, a7, a8, a9) between the reference points (6, 7, 8, 9) and the measuring apparatus conform to predetermined values to a best possible extent, wherein the measurement points (6, 7, 8, 9) of each cylinder or roller element (2, 3, 4) are arranged, directly or indirectly on a carrier element (13) of the cylinder or roller element (2, 3, 4). The invention further relates to a roller or casting installation, in particular for carrying out the method.

Description

Method and device for precisely positioning a number of cooperating rolling or rolling elements

The invention relates to a method for precisely positioning a number of cooperating rolling or rolling elements of a rolling or casting device relative to each other. Furthermore, the invention relates to a rolling or casting device with a number of cooperating rolling or rolling elements.

In particular, in continuous casting, it is necessary to align a number of cooperating roller elements relative to each other as precisely as possible, the roller elements in the aligned state form a Gießbogenab- cut for the casting metal to be cast.

In order to make the alignment, it is known to determine the position of the individual elements by measurements with theodolites, leveling equipment or batter boards. In this case reference is usually made to reference marks that are relative to the ideal system dimension reference line, ie. H. usually on the pass line of the trailing edge of the strand, are not stationary (thermal expansions, foundation settlements). Each individual measurement only supplies two of the three spatial coordinates of a measuring point. The complete determination of a point in space is done by cross-correlation, which is usually done by hand with a calculator.

To check after an optical measurement often the segment transitions are readjusted by means of templates. This often shows discrepancies between the expected results from the role plan, ie the theoretical target positions, the measured results and the results from the control. In order to achieve an optimum balance of the individual positions of a rolling or rolling element (ideal position - measurement - control), a very high effort is required. Typically, the alignment of all roller elements of a continuous casting plant takes about two weeks. In addition, erroneous alignments can not always be avoided altogether, which in turn causes quality problems and production limitations. Correspondingly high are the consequential costs of insufficient alignment of the individual roller elements of the continuous casting plant.

In order to eliminate detected incorrect positions of the roller elements, in particular of recognized transitional errors, by so-called messages, the individual roller elements (segments) must be removed by means of a crane or a manipulator and deposited elsewhere. Then, serving for positioning serving lamination packages are disassembled and changed and reinstalled and attached. Then the segment can be reinstalled. Since often only a crane or a manipulator is available, all segments must be aligned one after the other. The time required per segment is at least two to three hours, whereby the alignment of up to 15 segments per line is required, in particular for new buildings or after conversions.

In FR 26 44 715, a laser beam is used to align a number of rollers of a casting machine, wherein the distance of individual elements of the device is determined to the laser beam. The laser beam thus serves as a kind of solder. A similar solution is shown in US 4,298,281.

DE 101 60 636 A1 describes a method for setting a casting gap on a strand guide of a continuous casting plant. In order to allow a simple measurement, the detection of defects and a trouble-free casting start, it is provided that the casting gap before Gießbeginn according to an ideal course of the strand thickness via a distance measuring system inserted. is presented. After the start of pouring, a continuous and gap-free pouring gap is set under operating load. Special measures to set up the individual segments of the caster are not disclosed in this solution.

A distance measurement of individual rolls of a continuous casting plant along the Gießbogenabschnitts to check the alignment of the rollers disclosed in JP 55070706 A.

US 3,831,661, when aligning a number of segments of a continuous casting apparatus, provides that the individual segments are provided with reference marks to which a gauge can be attached in order to be able to check the relative position of adjacent segments.

Further solutions which deal with the alignment of two machine parts, in particular rollers, relative to one another are disclosed in EP 0 075 550 B1, in EP 222 732 B1, in EP 0 868 649 B1, in FR 2 447 764 A, from CH 583 598 and DE-AS 27 20 116 known.

It can therefore be said that the disadvantages of existing methods and associated devices for aligning or setting up the individual rolling or rolling elements of rolling or casting devices are that the times required for setting up are very long, especially after conversions or Maintenance work of the systems. The availability of the systems is correspondingly low, which results in high operating costs. Furthermore, the accuracy with which the alignment of the individual elements can take place is in some cases inadequate, and consequently the product quality is also not optimal. Furthermore, by a non-optimal alignment of the elements relative to each other a greatly reduced reliability in the process and increased error rate. Although the various solutions in the prior art bring partially improved results, but these are not sufficient for a high-quality manufacturing or for a quick and efficient setting of the rolling or rolling elements.

The invention is in the light of the above-described solutions for the alignment of the rolling or rolling elements of rolling or casting devices the object of a method and an apparatus of the type mentioned in such a way that the disadvantages mentioned are eliminated. The alignment or messages of segments should therefore be much easier and more accurate possible. This should be a significant part of the time required so far can be saved.

This object is achieved by the method according to the invention by measuring the distance between at least three directly or indirectly arranged reference points and the measuring device by means of a measuring device and that depending on the measurement result adjusting elements on each rolling or rolling element so be actuated that the distances between the reference points and the meter best match predetermined values, the measuring points of each rolling or rolling element are arranged directly or indirectly on a support member of the rolling or rolling element.

By providing at least three reference points per rolling or rolling element, it is possible to determine the spatial position and orientation of a rolling o- the roller element in a simple manner and to change the determined position by the actuation of adjusting elements such that an optimal Location of each segment is achieved.

It is preferably provided that the method is used for precise alignment of the segments of a continuous casting plant. In this case, that will Measuring device advantageously arranged approximately in the center of the Gießbogenabschnitts the continuous casting.

A further embodiment provides that more reference points are measured with the measuring device than is necessary for an unambiguous positioning of the rolling or rolling elements, and that the actuation of at least a part of the adjusting elements takes place according to a compensating function formed from all measuring points. The equalization function is preferably a regression function that may be linear or polynomial; Of course, other types of regression functions are possible, eg. Eg exponential functions. After this development of the inventive concept, therefore, a regression analysis is used as a statistical method for analyzing the measured data. Thus, so-called "one-sided" statistical dependencies, ie statistical cause-and-effect relationships, are described by a regression function, creating "confidence measures" in the positioning of the individual rolling or rolling elements. below.

The rolling or casting device with a number of interacting rolling or rolling elements is characterized according to the invention in that each rolling or rolling element has a carrier element on which at least three reference points are arranged directly or indirectly, wherein the rolling or casting device further comprises a measuring device or in the rolling or casting device, a measuring device can be introduced, which is suitable for making distance and / or angle measurements between itself or a predetermined direction and the reference points.

Preferably, the rolling or rolling elements are the segments of a continuous casting plant. They advantageously have at least two rollers or rollers.

The measuring device is designed in particular as a laser tracker or as a tachymeter. Laser trackers have a high-precision, kinematic, three-dimensional measuring system capable of performing a distance measurement with high accuracy. The tachymeters provided for use as precision instruments are capable of precisely measuring distances and positions. Electronic tachymeters, which are preferred here, measure the directions for a target process automatically, for. B. by interference methods. The distances are determined by electronic distance measurement. In this case, either the transit time or the phase shift of an emitted and reflected in the target point laser beam is measured. The light of the carrier wave of the laser beam is usually in the infrared range or in the near infrared of the light spectrum. The reflection of the laser beam at the target point takes place either directly on the surface of the targeted object or in a targeted prism. The determination of the measured value with regard to direction and distance takes place electronically.

The reference points are preferably designed as spheres which are arranged directly or indirectly on the carrier element.

Adjusting elements can be arranged on each carrier element with which the carrier element can be positioned or displaced relative to its receptacle. The adjusting elements preferably allow a translational displacement of the carrier element relative to its receptacle. Furthermore, it can be provided that the adjusting elements permit a rotation of the carrier element relative to its receptacle about at least one spatial axis, preferably about the transverse axis.

As adjusting elements are used in particular as such well-known machine shoes, which have at least one (double) wedge element. This can be generated in a simple manner, namely by tightening or loosening a screw, a translational adjustment, which has a function of the arrangement of the machine shoe on the support element a translational and / or rotational movement of the support member relative to its inclusion result. Preferably, the adjustment should be under load So without the help of cranes or manipulators done. Preferably, the adjusting element is designed to be self-locking.

With the proposed procedure and equipment, it is possible to adjust individual rolling or rolling elements of a rolling or casting device in a substantially simplified and faster manner, so that they come to rest in an optimum position relative to one another.

The proposed invention is preferably used in continuous casting, but it can also be used for other metallurgical equipment, such. B. for rolling mills and strip processing lines.

With the invention proposal it will u. a. possible to make a self-referencing by means of a compensation calculation on the basis of the obtained measurement result. This increases the reliability of the positioning of the individual rolling or rolling elements relative to one another, and "confidence measures" can be created by including redundant measured variables, ie, four instead of actually required three reference points per segment are used Use of more reference points than is required for the mathematically unambiguous (statically determined) determination of a body in space The existing redundancies reduce singular errors and serve to create the aforementioned "confidence measures", eg. B. by evaluation of the standard deviation.

For the setpoint-actual comparison of the individual rolling or rolling elements, the "ideal" roll plan is thus replaced by a curve which is derived from the measured data itself by means of regression calculation made the reliability of the measurement quantifiable ("confidence measure"). Another aspect of the invention is that the measurement task for a segment can be carried out in two sub-steps. First, the measurement of the roller conveyor in the segment and a transfer to an external reference point in advance in the workshop. On the other hand, the system measurement is limited to the measurement of the reference points and the reconstruction of the pass line via the transfer information. Although the overall effort is slightly larger due to the transfer, the continuous casting plant can continue to produce during workshop work. The upper frames of the segments do not need to be removed for investment measurement.

There is also the possibility of waiving the reference to fixed, anchored in the foundation of the plant reference points by the formation of a "virtual" reference coordinate system by means of a compensation calculation from the measurement itself. This saves complex transformations of the plant coordinate origin in a work-fair position on the casting platform ,

In the drawings, embodiments of the invention are shown. Show it:

1 shows schematically a continuous casting plant in the side view with the representation of some of the components of the plant,

Fig. 2 shows an enlarged detail of Fig. 1 with three roller elements and

Fig. 3 is an enlarged detail of Fig. 2 with a single roller element.

In Fig. 1, a casting plant 1 is sketched in the form of a continuous casting. Liquid metallic material exits vertically downward from a mold 21 and is gradually diverted from a vertical to a horizontal along a casting arc section 14. The casting arc section 14 is defined by a number of RoI lenelemente 2, 3, 4 are formed, which are aligned relative to each other so that they form the Gießbogenabschnitt 14. It should be noted that actually only the segment subframes are shown, which is however correct in that the dimension reference line is always the "trailing edge strand." In the concept described below, it is particularly advantageous that the measurement of the system also be carried out with mounted upper frame can be done.

The pouring arc section 14 has a center M, d. H. The cast metal strand runs in a quarter circle around the midpoint M from the vertical to the horizontal.

In the region of the center, not necessarily exactly in the center, a measuring device 5 is arranged in the form of a laser tracker.

As can be seen in FIG. 2, each roller element 2, 3, 4 has at least three, in the exemplary embodiment four, reference points 6, 7, 8 and 9, which are designed as measuring balls, which are arranged on a carrier element 13, i. H. For the sake of simplicity, this is referred to as a measuring ball, although a measuring ball holder is meant more precisely and actually better, in which a measuring ball can be inserted temporarily and only during the actual measuring and aligning process , It should also be noted, with regard to the elements 2, 3, 4 to be seen in FIG. 2, that again the segment subframes can be seen.

The arrangement of the measuring balls via a measuring ball holder is also remarkable from the aspect that in this way it is possible in a simple manner to react selectively to roller wear and other changes in geometry of the system or its components. The measuring ball holder can namely be designed so that they can compensate by adjusting the effects mentioned. As best seen in Fig. 3, a plurality of rollers or rollers 15, 16, 17, 18 are rotatably mounted in each support member 13. The support element 13 and thus the entire roller element 2 is mounted on a receptacle 19.

The laser tracker 5 has - due to its favorable arrangement in the region of the midpoint M - "visual contact" to the individual reference points 6, 7, 8, 9 of each roller element 2, 3, 4. As explained above, the laser tracker is capable of exact distances a ₆ , a _7> a ₈ and a ₉ to the reference points 6, 7, 8 and 9 and, if appropriate, to measure the angles α ₆ , α ₇ , α ₈ and α ₉ (see Fig. 3) with an accuracy of a few tenths of a millimeter.

Reference points 7 and 8 should be noted that, in contrast to the drawing in FIG. 2, they are preferably located on the outside of the subframe of an element 2, 3, 4, preferably in the same plane as points 6 and 9, but in FIG Casting direction on the other side.

The carrier element 13 is arranged on the receptacle 19 via adjusting elements 10, 11 and 12, which are only sketched very schematically and designed as machine shoes. The adjustment of the adjusting elements 10, 11, 12 has the consequence that the carrier element 13 and thus the entire roller element 2 can be moved relative to the stationary mount 19 both in the translational direction and in rotation. In Fig. 3 of the three possible translation directions or directions of rotation in space only two are entered, namely the spatial directions x and y and the spatial axes α and ß. The corresponding actuation of the individual adjusting elements - there may be much more than the three outlined - leads to the precise positioning of the carrier element 13 relative to the recording in all spatial directions and spatial axes.

It should be noted that in Fig. 3 only schematically shows the adjustment in the individual spatial directions and the individual spatial axes are, although the different axes and directions of different importance. In particular, the adjustment by means of the adjusting element 10 of minor importance, since this is no significant influence on the continuous casting process is exercised. The adjusting elements 11 and 12 must have a partner lying on the opposite side, as seen in the casting direction, in order to make the angle β adjustable.

In Fig. 3, the position of the support member 13 is shown schematically before the precise alignment with dashed lines and the position after the alignment with solid lines. For adjusting the carrier element 13, the distances a ₆ , a ₇₎ a ₈ and a ₉ and the associated angles α, ₆ , α ₇ , αβ and αg are measured by means of the laser tracker 5, ie the distances and angles between the measuring device 5 and the Reference points 6, 7, 8 and 9 in the form of measuring balls.

The distance between the measuring device 5 and the reference point 7 before the Jus- days is shown in Fig. 3 - representative of the other reference points - with a ₇ '. The measuring device 5 is connected to not shown calculating means in connection. Based on the plant plan, the target positions of the rollers 15, 16, 17 and 18 and thus of the carrier element 13 are stored in the computing means. Since the position of the reference points 6, 7, 8 and 9 on the carrier element 13 is known, the desired positions and desired distances between the reference points 6, 7, 8, 9 and the measuring device 5 are obtained immediately. B. in the segment workshop, the position of the roles on the external reference points and have been stored.

It is essential that due to the choice of at least three reference points, the position of the roller element 2 in the room can be determined. Due to the given geometry of the roller element 2, after performing the distance measurement between measuring device 5 and reference points 6, 7, 8, 9, it is possible in a simple manner to calculate adjustment amounts for the adjusting elements 10, 11 and 12, which are carried out automatically in the computing means can. By appropriate Chendes pressing the adjustment elements 10, 11, 12 can be done in a simple manner, very precise and above all very fast adjustment of a roller element 2.

It should also be noted that the "plane problem" is shown in Fig. 3 for better clarity In fact, with the at least three reference points, the translational and rotational position of the carrier element 13 and thus of the roller element 2 in space can be determined According to many adjusting elements 10, 11, 12, the roller element can be aligned in space.

The invention proposal can again be described essentially as follows: The measurement of the strand guide geometry is carried out by means of a measuring device 5, preferably in the form of a laser tracker or precision tachymeter. When they are used, "targets" in the form of measuring balls are used, so that the position of the carrier element 13 can be determined three-dimensionally (each individual measurement directly supplies a spatial coordinate triplet.) The processing of the measured data takes place online or offline in a computer.

For detecting the positions of the individual segments, the position of the roller conveyor is not measured, but the reference points attached to the stationary part of the carrier element (frame) are considered. The position of the reference points relative to the relevant for the process roller conveyors is in advance, z. B. in the workshop, recorded in a so-called. Transfer measurement. There is no need to use special Ausrichtstände required, but possible.

After the transfer measurement, a setpoint can be determined for each reference point with reference to the dimension reference system of the system (roller plan, pass line).

The result of the system measurement can be compared for evaluation with this target topology (roll plan, pass line) and the deviations from each other can be converted into message amounts for the position correction of the segments.

In this case, it is preferably possible to relate the measurement result by regression to an average value curve of the measured data and to obtain the correction for the deviations from this correlated curve (compensation curve). This creates a new nominal geometry of the plant that deviates slightly from the original plan. The yardstick for the assessment of this changed setpoint geometry is the minimization of the deformation work on the strand shell. Thus, the message overhead without detriment to the strand shell stress can be further reduced. In particular, no reference to reference points in the vicinity of the plant is required.

The regression from the (redundant) measurement results can be done according to a linear or polynomial distribution function.

The measurements can be made using a reference point field in the vicinity of the system to facilitate the location of the instrument during the measurement process. The expected error is limited by using as many points as possible (a redundancy compensates for errors) which are as fixed as possible and independent of the object to be measured.

To convert the evaluated transitional errors in height changes in the bearing surfaces of the segment, a program can be used, which converts the height correction at the input and output rollers (after the set of rays and possibly taking into account elastic shape changes) to the support points.

To correct the position of the segments are preferably under load adjustable and known as such machine shoes used. This makes it possible to correct the position quickly and without the use of cranes or manipulators. be made in accordance with the identified errors or deviations.

As explained, the measurement should be taken from a location that allows the best possible insight into as many segments of the plant as possible, which is usually the midpoint of the casting arc section be used on each other.

Preferably, more reference points 6, 7, 8, 9 are provided than is necessary for the unambiguous definition of the spatial position of a carrier element 13; three points are enough to define a plane. On the one hand, this over-determination serves to reduce a statistically never completely exclude measuring error by redundant compensation. On the other hand, it is thus possible to gain a "measure of confidence" for the measurement by evaluating the remaining gaps.

As known in the prior art as such, it can also be provided in the embodiment according to the invention that segment transition scrap ions are used in order, if appropriate, to be able to check the alignment result of the individual rolling or rolling elements.

The proposal according to the invention therefore divides the entire measuring task into a transfer measurement, on the one hand, which can be carried out in the workshop during production of the rolling or rolling elements, and a system measurement with the reconstruction of the pass line from the transfer measurement, which takes place on-site at the continuous casting plant. This results in the significant reduction of the adjustment of the rolling or rolling elements and thus the downtime, which make up the economic advantage of the inventive concept. LIST OF REFERENCES:

1 rolling or pouring device

2 rolling or rolling element

3 rolling or rolling element

4 rolling or rolling element

5 measuring device

6 reference point

7 reference point

8 reference point

9 reference point

10 adjusting element

11 adjusting element

12 adjustment

13 carrier element

14 pouring arc section

15 roller / roller

16 roller / roller

17 roller / roller

18 roller / roller

19 recording

21 mold

a ₆ Distance a ₇ Distance a ₈ Distance a ₉ Distance α ₆ Angle α ₇ angle αβ angle α ₉ angle

M Center of the casting arc section

X spatial direction y spatial direction α spatial axis ß spatial axis

Claims

claims:

1. A method for precisely positioning a number of cooperating rolling or rolling elements (2, 3, 4) of a rolling or casting device (1) relative to one another, characterized in that by means of a measuring device (5) the distance (a ₆ , a ₇ , a ₈ , a _g ) is measured between at least three reference points (6, 7, 8, 9) arranged directly or indirectly on each of the rolling or rolling elements (2, 3, 4) and the measuring device (5) and that depending on the Measurement result adjusting elements (10, 11, 12) on each rolling or rolling element (2, 3, 4) are operated so that the distances (a ₆ , a ₇ , a ₈ , a ₉ ) between the reference points (6, 7, 8, 9) and the measuring device (5) correspond in the best possible way to predetermined values, the measuring points (6, 7, 8, 9) of each rolling or rolling element (2, 3, 4) being directly or indirectly attached to a carrier element (13). of the rolling or rolling element (2, 3, 4) are arranged.

2. The method according to claim 1, characterized in that it is used for precise alignment of the segments (2, 3, 4) of a continuous casting plant.

3. The method according to claim 2, characterized in that the measuring device (5) substantially at about the midpoint (M) of the

Gießbogenabschnitts (14) of the continuous casting plant is arranged.

4. The method according to any one of claims 1 to 3, characterized in that more reference points (6, 7, 8, 9) are measured with the measuring device (5), as it is for a clear positioning of the rolling or rolling elements (2, 3 , 4) is required, and that the actuation of at least one part of the adjusting elements (10, 11, 12) takes place according to a compensating function formed from all measuring points.

5. The method according to claim 4, characterized in that the compensation function is a regression function.

6. The method according to claim 5, characterized in that the regression function is linear.

7. The method according to claim 5, characterized in that the regression function is square.

8. rolling or casting device (1) with a number of cooperating rolling or rolling elements (2, 3, 4), in particular for carrying out the method according to one of claims 1 to 7, characterized in that each rolling or rolling element (2, 3, 4) has a carrier element (13) on which directly or indirectly at least three reference points (6, 7, 8, 9), wherein in the rolling or casting device (1) further a measuring device (5) can be introduced, which is for making distance and / or angle measurements (a ₆ , a ₇ , a ₈ , a _9, α ₆ , α ₇ , α ₈ , α ₉ ) between itself or a predetermined direction and the reference points (6, 7, 8, 9) is suitable.

9. rolling or pouring device according to claim 8, characterized in that the rolling or rolling elements (2, 3, 4) are segments of a Stranggieß- anläge.

10. rolling or pouring device according to claim 8 or 9, characterized in that each roller or roller element (2, 3, 4) at least two rollers or rollers (15, 16, 17, 18).

11. rolling or pouring device according to one of claims 8 to 10, characterized in that the measuring device (5) is designed as a laser tracker.

12. rolling or pouring device according to one of claims 8 to 10, characterized in that the measuring device (5) is designed as a total station.

13. rolling or pouring device according to one of claims 8 to 12, characterized the reference points (6, 7, 8, 9) are designed as measuring balls which are arranged directly or indirectly on the carrier element (13).

14. rolling or pouring device according to one of claims 8 to 13, characterized in that on each carrier element (13) adjusting elements (10, 11, 12) are arranged, with which the carrier element (13) relative to its receptacle (19) positioned can be.

15. rolling or pouring device according to claim 14, characterized in that the adjusting elements (10, 11, 12) a translational displacement of the carrier element (13) relative to its receptacle (19) in at least one, preferably radial, spatial direction (x, y ) allow.

16. rolling or pouring device according to claim 14 or 15, characterized in that the adjusting elements (10, 11, 12) a rotation of the carrier element

(13) relative to its receptacle (19) by at least one spatial axis (α, ß), preferably allow about the transverse axis.

17. rolling or pouring device according to one of claims 14 to 16, characterized in that the adjusting elements (10, 11, 12) are machine shoes, which have at least one wedge element.