EP1768798B1 - Method and device for precisely positioning a plurality of interacting roller or cylindrical elements - Google Patents

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

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 apparatus 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, wherein the roller elements in the aligned state form a Gießbogenabschnitt for casting the metal strand.

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. Reference is usually made to reference marks that are relative to the ideal plant dimension reference line, d. 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, misalignments can not always be avoided altogether, causing quality problems and production limitations as a result. 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 the FR 26 44 715 a laser beam is used to align a number of rollers of a casting machine, wherein the distance between individual elements of the device is determined to the laser beam. The laser beam thus serves as a kind of solder. A similar solution shows the US 4,298,281 ,

In the DE 101 60 636 A1 a method is described for adjusting a casting gap on a strand guide of a continuous casting plant. In order to enable a simple measurement, the detection of defects and a trouble-free casting start, it is provided that the casting gap before starting casting according to an ideal course of the strand thickness set via a displacement measuring system becomes. 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 discloses the JP 55070706 A ,

The US 3,831,661 When aligning a number of segments of a continuous casting apparatus, 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.

Other solutions that deal with the alignment of two machine parts, in particular roles, relative to each other, are from the EP 0 075 550 B1 , from the EP 222 732 B1 , from the EP 0 868 649 B1 , from the FR 2 447 764 A , from the CH 583 598 and from the 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 is that the times required for setting up are very long, especially after conversions or maintenance work Attachments. 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 or rolling element in a simple manner and to change the position thus determined by the actuation of adjusting elements such that an optimum position of each individual 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. H. statistical cause-and-effect relationships, described by a regression function. It will hereby "confidence measures" created in the positioning of the individual rolling or rolling elements, s. 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 directly or indirectly at least three reference points are arranged, 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 total station.

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 targeting 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 approach and equipment, it is possible to adjust in a much simplified and faster way individual rolling or rolling elements of a rolling or casting device, so that they come to lie in an optimal position relative to each other.

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. Thus, the reliability of the positioning of the individual rolling or rolling elements relative to each other is increased, and "confidence measures" can be created by including redundant measurands, i. H. For example, four instead of actually required three reference points per segment are used. The advantage is therefore the use of more reference points than is required for the mathematically clear (statically determined) determination of a body in space. The existing redundancies reduce singular errors and serve to create the mentioned "confidence measures", z. B. by evaluation of the standard deviation.

For the setpoint-actual comparison of the individual rolling or rolling elements, the "ideal" rolling plan is therefore replaced by a curve that is derived from the measured data itself by means of compensation calculation (regression). By using the redundancies, the never completely avoidable measurement error is reduced and the reliability of the measurement made 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.

Fig. 1

schematisch eine Stranggießanlage in der Seitenansicht mit der Dar- stellung einiger der Komponenten der Anlage,

Fig. 2

einen vergrößerten Ausschnitt aus Fig. 1 mit drei Roollenelementen und

Fig. 3

einen vergrößerten Ausschnitt aus Fig. 2 mit einem einzelnen Rol- lenelement.

Show it:

Fig. 1

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

Fig. 2

an enlarged section Fig. 1 with three scroll elements and

Fig. 3

an enlarged section Fig. 2 with a single roller element.

In Fig. 1 is a casting plant 1 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 pouring arc section 14 is defined by a number of roller elements 2, 3, 4, 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, but this is okay in that the dimension reference line is always the "trailing edge strand". It is particularly advantageous in the concept described below that the measurement of the system can also be done with mounted upper frame.

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 in Fig. 2 can be seen, each roller element 2, 3, 4 at least three, in the exemplary embodiment, four reference points 6, 7, 8 and 9, which are formed as measuring balls, which are arranged on a support member 13, ie on the skeleton of the respective roller element 2, 3, 4. For the sake of simplicity, a measuring ball is mentioned here, although a measuring ball holder is meant more precisely and actually better, in which a measuring ball can be temporarily inserted and only during the actual measuring and alignment process. It was also in terms of in Fig. 2 to be seen elements 2, 3, 4 again noted that again the segment subframes are visible.

The arrangement of the measuring balls on a measuring ball holder is also remarkable from the aspect; that in a simple manner may optionally be responsive to role 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.

How best in Fig. 3 can be seen, 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 optionally the angles α ₆ , α ₇ , α ₈ and α ₉ (s. Fig. 3 ) to eat. This can be done with an accuracy of a few tenths of a millimeter.

Concerning the reference points 7 and 8, it should be noted that in contrast to the graphic representation in Fig. 2 preferably located on the outside of the sub-frame of an element 2, 3, 4, preferably in the same plane as the points 6 and 9, but in the 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 support element 13 and thus the entire roller element 2 can be moved relative to the stationary receptacle 19 both in the translational direction and rotationally. In Fig. 3 only two of the three possible directions of translation or directions of rotation in space are entered, namely the spatial directions x and y and the spatial axes α and β. 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 illustrated 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 one on the - seen in the casting direction - opposite side partner to make the angle β adjustable.

In Fig. 3 schematically shows the position of the support member 13 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 , α ₈ and α _{9 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 adjustment is in Fig. 3 - as a substitute for the other reference points - indicated by 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. It is possible after performing the distance measurement between measuring device 5 and reference points 6, 7, 8, 9 due to the given geometry of the roller element 2 in a simple manner to calculate adjustment amounts for the adjusting elements 10, 11 and 12, which can be done automatically in the computing means. By appropriate Actuation of the adjusting elements 10, 11, 12 can be done in a simple manner, very precisely and, above all, very quickly the adjustment of a roller element 2.

It should be noted that in Fig. 3 because of a better clarity the "level problem" is shown. 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. By providing correspondingly many adjustment elements 10, 11, 12, the roller element can be aligned in space.

The inventive proposal can 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 total station. 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 location of the reference points relative to the process for the alleged 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 relate the correction to 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 quickly and without the use of cranes or manipulators positional corrections to the segment constraints be made according to the detected errors or deviations.

As explained, the measurement should be made from a location that allows the best possible "insight" into as many segments of the plant as possible at the same time. This is usually the center of the Gießbogenabschnitts. For any necessary changes of location, the independent reference point system can be used to synchronize the coordinate system.

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 REFERENCE NUMBERS

1

Rolling or pouring device

2

Rolling or rolling element

3

Rolling or rolling element

4

Rolling or rolling element

5

gauge

6

reference point

7

reference point

8th

reference point

9

reference point

10

adjustment

11

adjustment

12

adjustment

13

support element

14

casting bow

15

Roll / roll

16

Roll / roll

17

Roll / roll

18

Roll / roll

19

admission

21

mold

a ₆

distance

a ₇

distance

a ₈

distance

a ₉

distance

α ₆

angle

α ₇

angle

α ₈

angle

α ₉

angle

M

Center of the Gießbogenabschnitts

x

spatial direction

y

spatial direction

α

spatial axis

β

spatial axis

Claims (17)

1. Method for precise positioning of a number of co-operating roll or roller elements (2, 3, 4) of a rolling or casting device (1) relative to one another, characterised in that the spacing and/or the angle (a₆, a₇, a₈, a₉; α₆, α₇, α₈, α₉) between at least three reference points (6, 7, 8, 9), which are arranged directly or indirectly at each of the roll or roller elements (2, 3, 4), and a measuring apparatus (5) is or are measured by means of the measuring apparatus (5) and that depending on the measurement result adjusting elements (10, 11, 12) at each roll or roller element (2, 3, 4) are so actuated that the spacings (a₆, a₇, a₈, a₉) between the reference points (6, 7, 8, 9) and the measuring apparatus (5) correspond as best possible with predetermined values, wherein the reference points (6, 7, 8, 9) of each roll or roller element (2, 3, 4) are arranged directly or indirectly at a carrier element (13) of the roll or roller element (2, 3, 4).
2. Method according to claim 1, characterised in that it is used for precise orientation of the segments (2, 3, 4) of a continuous casting plant.
3. Method according to claim 2, characterised in that the measuring apparatus (5) is arranged at the centre point (M) of the casting curve section (14) of the continuous casting plant.
4. Method according to any one of claims 1 to 3, characterised in that more reference points (6, 7, 8, 9) are measured by the measuring apparatus (5) than are required for a clear positioning of the roll or roller elements (2, 3, 4) and that the actuation of at least a part of the adjusting elements (10, 11, 12) is carried out in accordance with a differential function formed from all measuring points.
5. Method according to claim 4, characterised in that the differential function is a regression function.
6. Method according to claim 5, characterised in that the regression function is linear.
7. Method according to claim 5, characterised in that the regression function is quadratic.
8. Rolling or casting device (1) with a number of co-operating roll or roller elements (2, 3, 4), characterised in that each roll or roller element (2, 3, 4) comprises a carrier element (13) at which at least three reference points (6, 7, 8, 9) are directly or indirectly arranged, wherein a measuring apparatus (5) suitable for performing spacing and/or angle measurements (a₆, a₇, a₈, a₉; α₆, α₇, α₈, α₉) between itself, or a predetermined direction, and the reference points (6, 7, 8, 9) is additionally introducible into the rolling or casting device (1).
9. Rolling or casting device according to claim 8, characterised in that the roll or roller elements (2, 3, 4) are segments of a continuous casting plant.
10. Rolling or casting device according to claim 8 or 9, characterised in that each roll or roller element (2, 3, 4) comprises at least two rolls or rollers (15, 16, 17, 18).
11. Rolling or casting device according to any one of claims 8 to 10, characterised in that the measuring apparatus (5) is constructed as a laser tracker.
12. Rolling or casting device according to any one of claims 8 to 10, characterised in that the measuring apparatus (5) is constructed as a tachymeter.
13. Rolling or casting device according to any one of claims 8 to 12, characterised in that the reference points (6, 7, 8, 9) are formed as measurement balls which are arranged directly or indirectly at the carrier element (13).
14. Rolling or casting device according to any one of claims 8 to 13, characterised in that adjusting elements (10, 11, 12) by which the carrier element (13) can be positioned relative to its mount (19) are arranged at each carrier element (13).
15. Rolling or casting device according to claim 14, characterised in that the adjusting elements (10, 11, 12) allow a translational displacement of the carrier element (13) relative to its mount (19) in at least one spatial direction (x, y).
16. Rolling or casting device according to claim 14 or 15, characterised in that the adjusting elements (10, 11, 12) allow a rotation of the carrier element (13) relative to its mount (19) about at least one spatial axis (α, β).
17. Rolling or casting device according to any one of claims 14 to 16, characterised in that the adjusting elements (10, 11, 12) are machine shoes which comprise at least one wedge element.

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