EP2247691B1 - Method and device for the positioning of operating units of a coal filling cart at the filling openings of a coke oven - Google Patents

Method and device for the positioning of operating units of a coal filling cart at the filling openings of a coke oven Download PDF

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Publication number
EP2247691B1
EP2247691B1 EP09716110.3A EP09716110A EP2247691B1 EP 2247691 B1 EP2247691 B1 EP 2247691B1 EP 09716110 A EP09716110 A EP 09716110A EP 2247691 B1 EP2247691 B1 EP 2247691B1
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EP
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Prior art keywords
charging
control unit
marking
filling
values
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EP09716110.3A
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German (de)
French (fr)
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EP2247691A1 (en
Inventor
Ralf Knoch
Franz-Josef Schücker
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ThyssenKrupp Industrial Solutions AG
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ThyssenKrupp Industrial Solutions AG
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    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
    • C10B31/00—Charging devices
    • C10B31/02—Charging devices for charging vertically
    • C10B31/04—Charging devices for charging vertically coke ovens with horizontal chambers
    • C—CHEMISTRY; METALLURGY
    • C10—PETROLEUM, GAS OR COKE INDUSTRIES; TECHNICAL GASES CONTAINING CARBON MONOXIDE; FUELS; LUBRICANTS; PEAT
    • C10B—DESTRUCTIVE DISTILLATION OF CARBONACEOUS MATERIALS FOR PRODUCTION OF GAS, COKE, TAR, OR SIMILAR MATERIALS
    • C10B41/00—Safety devices, e.g. signalling or controlling devices for use in the discharge of coke

Definitions

  • the invention relates to a method and a device for positioning of operating units of a coal filling car at filling openings of a coke oven.
  • a rail-guided coal filling carriage on the furnace ceiling of a coke oven and for filling the furnace chambers at locations that are dictated by a machine control and filling openings are assigned in the furnace roof, and then at least one control unit of the coal filling is introduced by horizontal, two-axis positioning movements to the filling openings.
  • the operating unit can in particular be a filling telescope on the underside of a conveyor, a lid lifting device and / or a frame cleaning device for cleaning the filling hole surrounding the filling openings.
  • a charcoal filling car with a horizontally adjustable control unit in two axes comprising a conveyor with a filling telescope, a lid lifting device and a frame cleaning device in combination, is made of EP 1 293 552 B1 known.
  • the operating unit can be adapted to the actual position of the filling openings.
  • the position data of all Medlochrahmen are stored in the machine control.
  • the coal filling carriage moves into predetermined positions, which are assigned to the filling openings in the furnace roof. After positioning the coal filling carriage, the operating unit is moved in accordance with the coordinates stored in the machine control and positioned at the filling opening.
  • the coal filling truck moves on rails laid on the furnace roof of the coke oven.
  • the wheels of the coal filling wagon have flanges Guide on the rails.
  • the necessary clearance between the flanges and the rails and unavoidable wear on the flanges and rails have a detrimental effect on the positioning accuracy of the coal hopper.
  • the game between the flange of the wheels and the rails and other systemic position inaccuracies in the positioning of the coal hopper can add up so that between the operating unit, such as a filling telescope, and the Grelochrahmen a filling opening to be filled a lateral offset of a few centimeters can occur.
  • the deviations are determined by the driving movement of the filling carriage and change systematically with each new trip. They can not be eliminated by storing correction values in the machine control.
  • the invention has for its object to remedy this deficiency.
  • a method and a device are to be specified with which the described position deviations of the operating unit on the filling hole frame can be reliably detected and corrected.
  • the object is achieved by a method according to claim 1.
  • the coordinates of at least one marking attached to the furnace roof which has a fixed assignment to the center axis of a filling opening, are recorded in a measuring field predetermined by the measuring method and compared with reference values which are used for this marking in the Machine control are stored.
  • the deviations between the measured coordinates and the coordinates stored in the machine control are determined for both axial directions X, Y and taken into account in the adjusting movement of the operating unit.
  • the described marking detection at each filling hole determines the distance between the operating unit arranged on the carbon charging wagon and the center axis and the filling opening and adjusts the travel of the operating unit accordingly. This ensures that everyone Filling operation, the operating units of the filling carriage are optimally aligned at each filling hole.
  • the operating unit to be adjusted by the method according to the invention is expediently equipped with a chassis which allows horizontal, two-axis positioning movements.
  • values for the travel of the operating unit are assigned to the two axes and stored in the machine control, in order to position the operating unit from a reference position at the filling openings. From the stored values for the travel and with the correction values resulting from the mark detection, the actual travel is determined with regard to its orientation and length, and the operating unit is moved accordingly.
  • hydraulic adjustment devices are used for horizontal adjustment of an operating unit, which is movable along two mutually orthogonal axis, which are equipped with a path measuring system.
  • a device for digital image capture or a scanner is preferably used.
  • the measurement signal recorded with the optical measuring method is expediently compared with a signal stored as a reference. Measurement signals which deviate characteristically from the signal stored as a reference are not considered as false signals.
  • the markings can be attached to the Grezieren the Grezieren.
  • the position markers may be configured as two-dimensional shapes and consist, for example, of color markings or signs that are firmly connected to the filling hole frame. Furthermore, the position markers may have three-dimensional shapes and For example, be configured as a rib that stands out clearly from the ground.
  • the inventive method is used in particular for the exact positioning of filling telescopes, Deckelabhebevorraumen and frame cleaning devices at the filling openings of the coke oven.
  • the invention further relates to a device according to claim 9 for carrying out the method described.
  • the device comprises a guided on the furnace ceiling of a coke oven on rails coal filling wagon, which has a lower-side conveyor with a lowerable Greetrachen and a device for cleaning Grelochrahmen as operating units.
  • At least one operating unit has a chassis, which allows biaxial and controlled by a machine control actuating movements of the operating unit.
  • the carbon charging vehicle is equipped with an optical measuring system for detecting markings, the markings being attached to the furnace roof and filling openings being allocated.
  • the optical measuring system has a scanner or a device for digital image acquisition and comprises an evaluation unit connected to the machine control, which determines correction values for the setting movements of the operating unit from the position measured values of the marking relative to the measuring field predetermined by the optical measuring system and the correction values to the machine control transmitted.
  • the machine control controls the horizontal positioning movements of the operating unit taking into account the correction values.
  • the optical measuring system may be associated with a cleaning device for cleaning the marking to be detected and the marking environment, which preferably has a compressed air nozzle arrangement for blowing out the marking and the marking environment.
  • the Fig. 1 shows an operating unit 1 on the underside of a coal filling carriage, not shown, which is guided on the furnace roof of a coke oven on rails and for filling the furnace chambers at locations which are predetermined by a machine control 2 and filling openings 3 are assigned in the oven ceiling, is positioned.
  • the operating unit 1 in the exemplary embodiment is a filling telescope which is arranged below an outlet of a horizontal screw conveyor 4 and has an inlet funnel 5 and a telescopic base 6 which can be vertically lowered into filling openings in the furnace roof of the coke oven.
  • the filling telescope is to adjust to the respective position of the filling openings relative to the coal filling horizontally in two mutually orthogonal axes X, Y adjustable and has for this purpose a chassis 7, which allows horizontal, two-axis positioning movements.
  • the figure shows that the inlet funnel 5 of the filling telescope and a lifting device 8 connected to the filling telescope lower part 6 are fastened to a supporting frame 9, which is arranged linearly adjustable within a traveling frame 10 along a first axis X.
  • the traveling frame 10 is arranged horizontally movable on rails, which are fixed to the underside of the coal filling carriage, in a second axis Y.
  • hydraulic actuators 11 To the support frame 9 and the travel frame 10 hydraulic actuators 11 are connected, which are equipped with path measuring devices and their travel paths are controlled by the machine control 2.
  • the filling openings 3 are arranged in alignment in the furnace roof of a coke oven at equidistant intervals and in the direction of travel of the coal filling. From this ideal case, the real conditions on a coke oven deviate regularly. Especially with older coke ovens the positional deviations of the filling openings 3 in both directions X, Y are often more than ⁇ 50 mm. The position deviations can be compensated by means of the chassis 7, so that the filling telescope can always be lowered vertically and without tilting of the telescopic lower part 6 on the filling openings 3. This allows an emission-free and trouble-free filling process. The necessary horizontal travel paths are stored for each filling opening 3 in a memory of the machine control.
  • the described offset-free operation of the filling telescope or an operating unit 1 arranged on the coal filling carriage presupposes that the coal filling carriage assumes exactly one predetermined position after each journey, which is assigned to the filling opening 3.
  • the positioning accuracy of the coal hopper is regularly ⁇ 5 mm.
  • the game is in practice between 2 x 10 mm and 2 x 25 mm.
  • the deviations resulting from the travel movement of the coal filling carriage add up to several centimeters, which have a direct effect on the positioning accuracy of the operating unit 1.
  • the deviations are determined by the travel movement of the coal hopper and change with each positioning. They can not be taken into account in the values stored in the machine control for the actuating movement of the operating unit 1.
  • an optical measuring system 12 which has a scanner or a device for digital image capture.
  • markings 13 attached to the furnace roof, for example to the filling hole frame 14, which are assigned to the filling openings 3, are detected.
  • the optical measuring system 12 predefines a measuring field 15 and comprises an evaluation unit which is connected to the machine control and determines correction values for the adjusting movement of the operating unit 1 from the position measuring values relating to the marking 13 with respect to the measuring field 15 and these correction values to the machine control 2 transmitted.
  • the machine control 2 controls the horizontal movements of the operating unit 1 taking into account these correction values.
  • the Fig. 2 illustrates the evaluation process.
  • the coordinates X 1, Y 1 of the attached to the furnace ceiling for example at the charging hole frame 14, marker detected in a predetermined by the measurement method measuring field 15 13, and with reference values X 0, compared Y 0, the for this mark 13 are stored in the machine control 2.
  • the values also stored in the machine control 2 for the positioning movements of the operating unit 1 apply to the case where the coordinate measured values X 1 , Y 1 correspond to the reference values X 0 , Y 0 stored in the machine control 2. If, as in Fig.
  • the position X 1 , Y 1 of the measured mark 13 in the measuring field 15 deviates from the stored in the machine control 2 reference value X 0 , Y 0 , the deviations ⁇ x ⁇ y between the measured coordinates X 1 , Y 1 and in the machine control stored coordinates X 0 , Y 0 determined for both axial directions X, Y and the difference values .DELTA.x, .DELTA.y are taken into account as correction values in the adjusting movement of the operating unit 1.
  • the measuring signal recorded with the optical measuring method is compared with a signal stored as a reference value. Signals that deviate characteristically from the signal stored as a reference are not taken into account by a filter circuit as false signals.
  • the optical measuring system 12 is assigned a cleaning device 16 for cleaning the mark 13 to be detected and the marking environment. It has, for example, a nozzle arrangement 17 which can be acted upon with compressed air for blowing out the marking and the marking environment. Also conceivable is the use of brushes.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Materials Engineering (AREA)
  • Oil, Petroleum & Natural Gas (AREA)
  • Organic Chemistry (AREA)
  • Coke Industry (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Waste-Gas Treatment And Other Accessory Devices For Furnaces (AREA)

Description

Die Erfindung betrifft ein Verfahren sowie eine Vorrichtung zur Positionierung von Bedieneinheiten eines Kohlefüllwagens an Füllöffnungen eines Koksofens.The invention relates to a method and a device for positioning of operating units of a coal filling car at filling openings of a coke oven.

Es wird ein Verfahren vorausgesetzt, bei dem eine schienengeführter Kohlefüllwagen auf der Ofendecke eines Koksofens verfahren und zur Befüllung der Ofenkammern an Stellen, die durch eine Maschinensteuerung vorgegeben werden und Füllöffnungen in der Ofendecke zugeordnet sind, positioniert wird und bei dem anschließend mindestens eine Bedieneinheit des Kohlefüllwagens durch horizontale, zweiachsige Stellbewegungen an die Füllöffnungen herangeführt wird. Bei der Bedieneinheit kann es sich insbesondere um ein Füllteleskop an der Unterseite einer Fördereinrichtung, eine Deckelabhebevorrichtung und/oder eine Rahmenreinigungsvorrichtung zur Reinigung der die Füllöffnungen umgebenden Fülllochrahmen handeln.It is a method is required, in which a rail-guided coal filling carriage on the furnace ceiling of a coke oven and for filling the furnace chambers at locations that are dictated by a machine control and filling openings are assigned in the furnace roof, and then at least one control unit of the coal filling is introduced by horizontal, two-axis positioning movements to the filling openings. The operating unit can in particular be a filling telescope on the underside of a conveyor, a lid lifting device and / or a frame cleaning device for cleaning the filling hole surrounding the filling openings.

Ein Kohlefüllwagen mit einer in zwei Achsen horizontal verstellbaren Bedieneinheit, die eine Fördereinrichtung mit einem Füllteleskop, eine Deckelabhebevorrichtung sowie eine Rahmenreinigungsvorrichtung in Kombination umfasst, ist aus EP 1 293 552 B1 bekannt. Durch horizontale Stellbewegungen kann die Bedieneinheit an die tatsächliche Lage der Füllöffnungen angepasst werden. Die Positionsdaten aller Fülllochrahmen sind in der Maschinensteuerung gespeichert. Zum Beschicken der Ofenkammern des Koksofens fährt der Kohlefüllwagen in vorgegebene Positionen, die den Füllöffnungen in der Ofendecke zugeordnet sind. Nach der Positionierung des Kohlefüllwagens wird die Bedieneinheit entsprechend der in der Maschinensteuerung gespeicherten Koordinaten verfahren und an der Füllöffnung positioniert.A charcoal filling car with a horizontally adjustable control unit in two axes, comprising a conveyor with a filling telescope, a lid lifting device and a frame cleaning device in combination, is made of EP 1 293 552 B1 known. By horizontal positioning movements, the operating unit can be adapted to the actual position of the filling openings. The position data of all Fülllochrahmen are stored in the machine control. For loading the kiln chambers of the coke oven, the coal filling carriage moves into predetermined positions, which are assigned to the filling openings in the furnace roof. After positioning the coal filling carriage, the operating unit is moved in accordance with the coordinates stored in the machine control and positioned at the filling opening.

Der Kohlefüllwagen bewegt sich auf Schienen, die auf der Ofendecke des Koksofens verlegt sind. Die Räder des Kohlefüllwagens weisen Spurkränze zur Führung auf den Schienen auf. Das notwendige Spiel zwischen den Spurkränzen und den Schienen sowie ein unvermeidbarer Verschleiß an den Spurkränzen und Schienen wirken sich nachteilig auf die Positioniergenauigkeit des Kohlefüllwagens aus. Das Spiel zwischen dem Spurkranz der Räder und den Schienen sowie anderweitige systembedingte Positionsungenauigkeiten bei der Positionierung des Kohlefüllwagens können sich so addieren, dass zwischen der Bedieneinheit, beispielsweise einem Füllteleskop, und dem Fülllochrahmen einer zu befüllenden Füllöffnung ein Seitenversatz von einigen Zentimetern auftreten kann. Die Abweichungen werden durch die Fahrbewegung des Füllwagens bestimmt und verändern sich systembedingt bei jeder neuen Fahrt. Sie lassen sich nicht durch Speicherung von Korrekturwerten in der Maschinensteuerung eliminieren.The coal filling truck moves on rails laid on the furnace roof of the coke oven. The wheels of the coal filling wagon have flanges Guide on the rails. The necessary clearance between the flanges and the rails and unavoidable wear on the flanges and rails have a detrimental effect on the positioning accuracy of the coal hopper. The game between the flange of the wheels and the rails and other systemic position inaccuracies in the positioning of the coal hopper can add up so that between the operating unit, such as a filling telescope, and the Fülllochrahmen a filling opening to be filled a lateral offset of a few centimeters can occur. The deviations are determined by the driving movement of the filling carriage and change systematically with each new trip. They can not be eliminated by storing correction values in the machine control.

Der Erfindung liegt die Aufgabe zugrunde, diesen Mangel zu beheben. Es soll ein Verfahren sowie eine Vorrichtung angegeben werden, mit der die beschriebenen Positionsabweichungen der Bedieneinheit an den Fülllochrahmen betriebssicher erkennbar und korrigierbar sind.The invention has for its object to remedy this deficiency. A method and a device are to be specified with which the described position deviations of the operating unit on the filling hole frame can be reliably detected and corrected.

Die Aufgabe wird erfindungsgemäß durch ein Verfahren nach Anspruch 1 gelöst. Erfindungsgemäß wird nach jeder Positionierung des Kohlefüllwagens mit einem optischen Messverfahren die Koordinaten mindestens einer an der Ofendecke angebrachten Markierung, die eine feste Zuordnung zur Mittelachse einer Füllöffnung aufweist, in einem durch das Messverfahren vorgegebenen Messfeld erfasst und mit Referenzwerten verglichen, die für diese Markierung in der Maschinensteuerung hinterlegt sind. Die Abweichungen zwischen den gemessenen Koordinaten und den in der Maschinensteuerung hinterlegten Koordinaten werden für beide Achsrichtungen X, Y bestimmt sowie bei der Stellbewegung der Bedieneinheit berücksichtigt. Mit dem erfindungsgemäßen Verfahren wird durch die beschrieben Markierungserfassung an jedem Füllloch der Abstand zwischen der an dem Kohlefüllwagen angeordneten Bedieneinheit und der Mittelachse und der Füllöffnung ermittelt und wird der Stellweg der Bedieneinheit entsprechend angepasst. Dadurch ist sichergestellt, dass bei jedem Füllvorgang die Bedieneinheiten des Füllwagens an jedem Füllloch optimal ausgerichtet sind.The object is achieved by a method according to claim 1. According to the invention, after each positioning of the coal filling carriage with an optical measuring method, the coordinates of at least one marking attached to the furnace roof, which has a fixed assignment to the center axis of a filling opening, are recorded in a measuring field predetermined by the measuring method and compared with reference values which are used for this marking in the Machine control are stored. The deviations between the measured coordinates and the coordinates stored in the machine control are determined for both axial directions X, Y and taken into account in the adjusting movement of the operating unit. With the method according to the invention, the described marking detection at each filling hole determines the distance between the operating unit arranged on the carbon charging wagon and the center axis and the filling opening and adjusts the travel of the operating unit accordingly. This ensures that everyone Filling operation, the operating units of the filling carriage are optimally aligned at each filling hole.

Die nach dem erfindungsgemäßen Verfahren zu verstellende Bedieneinheit wird zweckmäßig mit einem Fahrwerk ausgerüstet, das horizontale, zweiachsige Stellbewegungen ermöglicht. Mit den in der Maschinensteuerung zu den Markierungen hinterlegten Referenzwerten werden Werte für den Stellweg der Bedieneinheit den beiden Achsen zugeordnet und in der Maschinensteuerung gespeichert, um die Bedieneinheit aus einer Referenzlage heraus an den Füllöffnungen zu positionieren. Aus den gespeicherten Werten für den Stellweg und mit den aus der Markierungserfassung resultierenden Korrekturwerten wird der tatsächliche Stellweg hinsichtlich seiner Ausrichtung und Länge festgelegt und die Bedieneinheit entsprechend verfahren.The operating unit to be adjusted by the method according to the invention is expediently equipped with a chassis which allows horizontal, two-axis positioning movements. With the reference values stored in the machine control for the markings, values for the travel of the operating unit are assigned to the two axes and stored in the machine control, in order to position the operating unit from a reference position at the filling openings. From the stored values for the travel and with the correction values resulting from the mark detection, the actual travel is determined with regard to its orientation and length, and the operating unit is moved accordingly.

Vorzugsweise werden zur Horizontalverstellung einer Bedieneinheit, die entlang zwei zueinander orthogonaler Achse verfahrbar ist, hydraulische Stelleinrichtungen verwendet, die mit einem Weg-Messsystem ausgestattet sind.Preferably, hydraulic adjustment devices are used for horizontal adjustment of an operating unit, which is movable along two mutually orthogonal axis, which are equipped with a path measuring system.

Für das optische Messsystem wird vorzugsweise ein Gerät zur digitalen Bilderfassung oder ein Scanner verwendet. Um zu vermeiden, dass Gegenstände, die zufällig im Messfeld liegen, Fehlmessungen auslösen, wird das mit dem optischem Messverfahren aufgenommene Messsignal zweckmäßig mit einem als Referenz hinterlegten Signal verglichen. Messsignale, die von dem als Referenz hinterlegten Signal charakteristisch abweichen, werden als Fehlsignale nicht berücksichtigt. Um die Betriebssicherheit weiterhin zu verbessern, kann es zweckmäßig sein, die Markierung mit Druckluft oder durch Bürsten zu reinigen, bevor das optische Messverfahren durchgeführt wird.For the optical measuring system, a device for digital image capture or a scanner is preferably used. In order to avoid that objects which happen to be in the measuring field trigger erroneous measurements, the measurement signal recorded with the optical measuring method is expediently compared with a signal stored as a reference. Measurement signals which deviate characteristically from the signal stored as a reference are not considered as false signals. In order to further improve the operational safety, it may be useful to clean the marking with compressed air or by brushing before the optical measuring method is performed.

Die Markierungen können an den Fülllochrahmen der Fülllöffnungen angebracht werden. Die Positionsmarkierungen können als zweidimensionale Formen ausgestaltet sein und beispielsweise aus Farbmarkierungen oder Schildern bestehen, die fest mit dem Fülllochrahmen verbunden werden. Des Weiteren können die Positionsmarkierungen dreidimensionale Formen aufweisen und beispielsweise als Rippe ausgestaltet werden, die sich deutlich von dem Untergrund abhebt.The markings can be attached to the Fülllochrahmen the Fülllöffnungen. The position markers may be configured as two-dimensional shapes and consist, for example, of color markings or signs that are firmly connected to the filling hole frame. Furthermore, the position markers may have three-dimensional shapes and For example, be configured as a rib that stands out clearly from the ground.

Das erfindungsgemäße Verfahren wird insbesondere zur exakten Positionierung von Füllteleskopen, Deckelabhebevorrichtungen und Rahmenreinigungsvorrichtungen an den Füllöffnungen des Koksofens genutzt.The inventive method is used in particular for the exact positioning of filling telescopes, Deckelabhebevorrichtungen and frame cleaning devices at the filling openings of the coke oven.

Gegenstand der Erfindung ist ferner eine Vorrichtung nach Anspruch 9 zur Durchführung des beschriebenen Verfahrens. Die Vorrichtung umfasst einen auf der Ofendecke eines Koksofens auf Schienen geführten Kohlefüllwagen, der eine unterseitige Fördereinrichtung mit einem absenkbaren Füllteleskop, eine Deckelabhebevorrichtung und eine Vorrichtung zur Reinigung von Fülllochrahmen als Bedieneinheiten aufweist. Mindestens eine Bedieneinheit weist ein Fahrwerk auf, welches zweiachsige und von einer Maschinensteuerung gesteuerte Stellbewegungen der Bedieneinheit ermöglicht. Der Kohlefüllwagen ist erfindungsgemäß mit einem optischen Messsystem zur Erfassung von Markierungen ausgestattet, wobei die Markierungen an der Ofendecke angebracht und Füllöffnungen zugeordnet sind. Das optische Messsystem weist einen Scanner oder ein Gerät zur digitalen Bilderfassung auf und umfasst eine mit der Maschinensteuerung verbundene Auswerteeinheit, welche aus den Positionsmesswerten der Markierung bezogen auf das von dem optischen Messsystem vorgegebene Messfeld Korrekturwerte für die Stellbewegungen der Bedieneinheit ermittelt und die Korrekturwerte an die Maschinensteuerung übermittelt. Die Maschinensteuerung steuert die horizontalen Stellbewegungen der Bedieneinheit unter Berücksichtigung der Korrekturwerte.The invention further relates to a device according to claim 9 for carrying out the method described. The device comprises a guided on the furnace ceiling of a coke oven on rails coal filling wagon, which has a lower-side conveyor with a lowerable Füllteleskop, a Deckelabhebevorrichtung and a device for cleaning Fülllochrahmen as operating units. At least one operating unit has a chassis, which allows biaxial and controlled by a machine control actuating movements of the operating unit. According to the invention, the carbon charging vehicle is equipped with an optical measuring system for detecting markings, the markings being attached to the furnace roof and filling openings being allocated. The optical measuring system has a scanner or a device for digital image acquisition and comprises an evaluation unit connected to the machine control, which determines correction values for the setting movements of the operating unit from the position measured values of the marking relative to the measuring field predetermined by the optical measuring system and the correction values to the machine control transmitted. The machine control controls the horizontal positioning movements of the operating unit taking into account the correction values.

Dem optischen Messsystem kann eine Reinigungsvorrichtung zur Säuberung der zu erfassenden Markierung und des Markierungsumfeldes zugeordnet sein, die vorzugsweise eine mit Druckluft beaufschlagte Düsenanordnung zum Freiblasen der Markierung und des Markierungsumfeldes aufweist.The optical measuring system may be associated with a cleaning device for cleaning the marking to be detected and the marking environment, which preferably has a compressed air nozzle arrangement for blowing out the marking and the marking environment.

Im Folgenden wird die Erfindung anhand einer lediglich ein Ausführungsbeispiel darstellenden Zeichnung erläutert. Es zeigen schematisch

Fig. 1
eine Vorrichtung zum Befüllen von Ofenkammern eines Koksofens,
Fig. 2
das Messfeld einer zur Steuerung der Fig. 1 dargestellten Vorrichtung verwendeten optischen Messsystems.
In the following the invention will be explained with reference to a drawing showing only one embodiment. It show schematically
Fig. 1
a device for filling furnace chambers of a coke oven,
Fig. 2
the measuring field one for controlling the Fig. 1 illustrated device used optical measuring system.

Die Fig. 1 zeigt eine Bedieneinheit 1 an der Unterseite eines nicht dargestellten Kohlefüllwagens, der auf der Ofendecke eines Koksofens auf Schienen geführt ist und zur Befüllung der Ofenkammern an Stellen, die durch eine Maschinensteuerung 2 vorgegeben werden und Füllöffnungen 3 in der Ofendecke zugeordnet sind, positioniert wird. Bei der Bedieneinheit 1 handelt es sich im Ausführungsbeispiel um ein Füllteleskop, welches unterhalb eines Auslasses einer Horizontalförderschnecke 4 angeordnet ist und einen Einlauftrichter 5 sowie ein in Füllöffnungen in der Ofendecke des Koksofens vertikal absenkbares Teleskopunterteil 6 aufweist. Das Füllteleskop ist zur Anpassung an die jeweilige Position der Füllöffnungen relativ zum Kohlefüllwagen horizontal in zwei zueinander orthogonalen Achsen X, Y verstellbar und weist zu diesem Zweck ein Fahrwerk 7 auf, das horizontale, zweiachsige Stellbewegungen ermöglicht. Der Figur entnimmt man, dass der Einlauftrichter 5 des Füllteleskops sowie eine mit dem Füllteleskopunterteil 6 verbundene Hubeinrichtung 8 an einem Tragrahmen 9 befestigt sind, der entlang einer ersten Achse X linear verstellbar innerhalb eines Fahrrahmens 10 angeordnet ist. Der Fahrrahmen 10 ist auf Schienen, die an der Unterseite des Kohlefüllwagens befestigt sind, in einer zweiten Achse Y horizontal verfahrbar angeordnet. An den Tragrahmen 9 und Fahrrahmen 10 sind hydraulische Stelleinrichtungen 11 angeschlossen, die mit Weg-Messeinrichtungen ausgestattet sind und deren Stellwege von der Maschinensteuerung 2 gesteuert werden.The Fig. 1 shows an operating unit 1 on the underside of a coal filling carriage, not shown, which is guided on the furnace roof of a coke oven on rails and for filling the furnace chambers at locations which are predetermined by a machine control 2 and filling openings 3 are assigned in the oven ceiling, is positioned. The operating unit 1 in the exemplary embodiment is a filling telescope which is arranged below an outlet of a horizontal screw conveyor 4 and has an inlet funnel 5 and a telescopic base 6 which can be vertically lowered into filling openings in the furnace roof of the coke oven. The filling telescope is to adjust to the respective position of the filling openings relative to the coal filling horizontally in two mutually orthogonal axes X, Y adjustable and has for this purpose a chassis 7, which allows horizontal, two-axis positioning movements. The figure shows that the inlet funnel 5 of the filling telescope and a lifting device 8 connected to the filling telescope lower part 6 are fastened to a supporting frame 9, which is arranged linearly adjustable within a traveling frame 10 along a first axis X. The traveling frame 10 is arranged horizontally movable on rails, which are fixed to the underside of the coal filling carriage, in a second axis Y. To the support frame 9 and the travel frame 10 hydraulic actuators 11 are connected, which are equipped with path measuring devices and their travel paths are controlled by the machine control 2.

Im Idealfall sind die Füllöffnungen 3 in der Ofendecke eines Koksofens in äquidistanten Abständen sowie in Fahrtrichtung des Kohlefüllwagen fluchtend angeordnet. Von diesem Idealfall weichen die realen Verhältnisse an einem Koksofen regelmäßig ab. Insbesondere bei älteren Koksöfen betragen die Lageabweichungen der Füllöffnungen 3 in beiden Richtungen X, Y häufig mehr als ±50 mm. Die Lageabweichungen können mittels des Fahrwerkes 7 ausgeglichen werden, so dass das Füllteleskop stets vertikal und ohne Schrägstellung des Teleskopunterteils 6 auf die Füllöffnungen 3 abgesenkt werden kann. Das erlaubt einen emissionsfreien und störungsfreien Füllvorgang. Die notwendigen horizontalen Stellwege sind für jede Füllöffnung 3 in einem Speicher der Maschinensteuerung hinterlegt. Der beschriebene versatzfreie Betrieb des Füllteleskops bzw. einer an dem Kohlefüllwagen angeordneten Bedieneinheit 1 setzt allerdings voraus, dass der Kohlefüllwagen nach jeder Fahrt exakt eine vorgegebene Position einnimmt, die der Füllöffnung 3 zugeordnet ist. Dies ist in der Praxis nicht möglich. So beträgt die Positioniergenauigkeit des Kohlefüllwagens in der Praxis regelmäßig ±5 mm. Ferner ist ein Spiel zwischen den Spurkränzen der Räder des Kohlefüllwagen und den Schienen zu berücksichtigen, welches sich verschleißbedingt im Laufe der Zeit ändert. Das Spiel beträgt in der Praxis zwischen 2 x 10 mm und 2 x 25 mm. In der Summe addieren sich die aus der Fahrbewegung des Kohlefüllwagens resultierenden Abweichungen auf mehrere Zentimeter, die sich auf die Positioniergenauigkeit der Bedieneinheit 1 unmittelbar auswirken. Die Abweichungen sind durch die Fahrbewegung des Kohlefüllwagens bestimmt und verändern sich bei jeder Positionierung. Sie können nicht in den in der Maschinensteuerung gespeicherten Werten für die Stellbewegung der Bedieneinheit 1 berücksichtigt werden.Ideally, the filling openings 3 are arranged in alignment in the furnace roof of a coke oven at equidistant intervals and in the direction of travel of the coal filling. From this ideal case, the real conditions on a coke oven deviate regularly. Especially with older coke ovens the positional deviations of the filling openings 3 in both directions X, Y are often more than ± 50 mm. The position deviations can be compensated by means of the chassis 7, so that the filling telescope can always be lowered vertically and without tilting of the telescopic lower part 6 on the filling openings 3. This allows an emission-free and trouble-free filling process. The necessary horizontal travel paths are stored for each filling opening 3 in a memory of the machine control. However, the described offset-free operation of the filling telescope or an operating unit 1 arranged on the coal filling carriage presupposes that the coal filling carriage assumes exactly one predetermined position after each journey, which is assigned to the filling opening 3. This is not possible in practice. In practice, the positioning accuracy of the coal hopper is regularly ± 5 mm. Furthermore, a clearance between the wheel flanges of the wheels of the carbon charging and the rails to be considered, which changes due to wear over time. The game is in practice between 2 x 10 mm and 2 x 25 mm. In total, the deviations resulting from the travel movement of the coal filling carriage add up to several centimeters, which have a direct effect on the positioning accuracy of the operating unit 1. The deviations are determined by the travel movement of the coal hopper and change with each positioning. They can not be taken into account in the values stored in the machine control for the actuating movement of the operating unit 1.

Zur Verbesserung der Positioniergenauigkeit ist der Kohlefüllwagen mit einem optischen Messsystem 12 ausgestattet, welches einen Scanner oder ein Gerät zur digitalen Bilderfassung aufweist. Mit dem optischen Messsystem 12 werden an der Ofendecke, z.B. an den Fülllochrahmen 14, angebrachte Markierungen 13 erfasst, die den Füllöffnungen 3 zugeordnet sind. Das optische Messsystem 12 gibt ein Messfeld 15 vor und umfasst eine Auswerteeinheit, die mit der Maschinensteuerung verbunden ist und aus den die Markierung 13 betreffenden Positions-Messwerten bezogen auf das Messfeld 15 Korrekturwerte für die Stellbewegung der Bedieneinheit 1 ermittelt und diese Korrekturwerte an die Maschinensteuerung 2 übermittelt. Die Maschinensteuerung 2 steuert die horizontalen Bewegungen der Bedieneinheit 1 unter Berücksichtigung dieser Korrekturwerte.To improve the positioning accuracy of the carbon charging is equipped with an optical measuring system 12, which has a scanner or a device for digital image capture. With the optical measuring system 12, markings 13 attached to the furnace roof, for example to the filling hole frame 14, which are assigned to the filling openings 3, are detected. The optical measuring system 12 predefines a measuring field 15 and comprises an evaluation unit which is connected to the machine control and determines correction values for the adjusting movement of the operating unit 1 from the position measuring values relating to the marking 13 with respect to the measuring field 15 and these correction values to the machine control 2 transmitted. The machine control 2 controls the horizontal movements of the operating unit 1 taking into account these correction values.

Die Fig. 2 veranschaulicht das Auswerteverfahren. Nach jeder Positionierung des Kohlefüllwagens werden mit einem optischen Messverfahren die Koordinaten X1, Y1 der an der Ofendecke, z.B. am Fülllochrahmen 14, angebrachten Markierung 13 in einem durch das Messverfahren vorgegebenen Messfeld 15 erfasst und mit Referenzwerten X0, Y0 verglichen, die für diese Markierung 13 in der Maschinensteuerung 2 hinterlegt sind. Die in der Maschinensteuerung 2 ebenfalls hinterlegten Werte für die Stellbewegungen der Bedieneinheit 1 gelten für den Fall, dass die Koordinatenmesswerte X1, Y1 den in der Maschinensteuerung 2 hinterlegten Referenzwerten X0, Y0 entsprechen. Wenn, wie in Fig. 2 dargestellt, die Lage X1, Y1 der gemessenen Markierung 13 im Messfeld 15 von dem in der Maschinensteuerung 2 hinterlegten Referenzwert X0, Y0 abweicht, werden die Abweichungen Δx Δy zwischen den gemessenen Koordinaten X1, Y1 und den in der Maschinensteuerung hinterlegten Koordinaten X0, Y0 für beide Achsrichtungen X, Y bestimmt und werden die Differenzwerte Δx, Δy als Korrekturwerte bei der Stellbewegung der Bedieneinheit 1 berücksichtigt.The Fig. 2 illustrates the evaluation process. After each positioning of the coal to be provided with an optical measuring method, the coordinates X 1, Y 1 of the attached to the furnace ceiling, for example at the charging hole frame 14, marker detected in a predetermined by the measurement method measuring field 15 13, and with reference values X 0, compared Y 0, the for this mark 13 are stored in the machine control 2. The values also stored in the machine control 2 for the positioning movements of the operating unit 1 apply to the case where the coordinate measured values X 1 , Y 1 correspond to the reference values X 0 , Y 0 stored in the machine control 2. If, as in Fig. 2 shown, the position X 1 , Y 1 of the measured mark 13 in the measuring field 15 deviates from the stored in the machine control 2 reference value X 0 , Y 0 , the deviations Δx Δy between the measured coordinates X 1 , Y 1 and in the machine control stored coordinates X 0 , Y 0 determined for both axial directions X, Y and the difference values .DELTA.x, .DELTA.y are taken into account as correction values in the adjusting movement of the operating unit 1.

Um zu vermeiden, dass von dem Messfeld 15 erfasste Fremdkörper zu Fehlmessungen führen, wird das mit dem optischen Messverfahren aufgenommene Messsignal mit einem als Referenzwert hinterlegten Signal verglichen. Signale, die von dem als Referenz hinterlegten Signal charakteristisch abweichen, werden durch eine Filterschaltung als Fehlsignale nicht berücksichtigt.In order to avoid that foreign objects detected by the measuring field 15 lead to erroneous measurements, the measuring signal recorded with the optical measuring method is compared with a signal stored as a reference value. Signals that deviate characteristically from the signal stored as a reference are not taken into account by a filter circuit as false signals.

Im Ausführungsbeispiel und gemäß einer bevorzugten Ausführung der Erfindung ist dem optischen Messsystem 12 eine Reinigungsvorrichtung 16 zur Säuberung der zu erfassenden Markierung 13 und des Markierungsumfeldes zugeordnet. Sie weist beispielsweise eine mit Druckluft beaufschlagbare Düsenanordnung 17 zum Freiblasen der Markierung und des Markierungsumfeldes auf. Denkbar ist auch die Verwendung von Bürsten.In the exemplary embodiment and according to a preferred embodiment of the invention, the optical measuring system 12 is assigned a cleaning device 16 for cleaning the mark 13 to be detected and the marking environment. It has, for example, a nozzle arrangement 17 which can be acted upon with compressed air for blowing out the marking and the marking environment. Also conceivable is the use of brushes.

Claims (13)

  1. A method for positioning of control units of a charging car on charging openings of a coke furnace,
    wherein a rail-guided charging car is moved on the furnace cover of a coke furnace, and positioned for charging the furnace chambers at locations prescribed by a machine controller and allocated to charging openings in the furnace cover, and
    wherein at least one control unit of the charging car is then moved up to the charging openings in horizontal, biaxial travel motions, characterized in that, after each time the charging car is positioned, an optical measuring procedure is used to acquire the coordinates of at least one marking applied to the furnace cover, which exhibits a fixed allocation to the central axis of a charging opening, in a measuring field prescribed by the measuring procedure, and compare them with reference values filed in the machine controller for this marking, and
    that the deviations between the measured coordinates and the coordinates filed in the machine controller are determined for both axial directions (X, Y) and also considered during the travel motion of the control unit.
  2. The method according to claim 1, characterized in that the control unit is equipped with a chassis, which enables horizontal, biaxial travel motions,
    that values for the travel of the control unit in both axes are allocated to the reference values filed for the markings and stored in the machine controller, so as to move the control unit from a reference position and position it on the charging openings, and
    that the control unit is moved based on corrected values and positioned on the charging openings, which result from the stored values for the travel and corrected values resulting from marking acquisition.
  3. The method according to claim 1 or 2, characterized in that the control unit can be moved along two mutually orthogonal axes, and that hydraulic control devices equipped with a displacement measuring system are used to horizontally adjust the control unit.
  4. The method according to one of claims 1 to 3, characterized in that marking acquisition is used for precisely positioning charging telescopes, cover lifting devices and frame cleaning devices on the charging openings of the coke furnace.
  5. The method according to one of claims 1 to 4, characterized in that a digital image acquisition device or scanner is used for the optical measuring procedure.
  6. The method according to one of claims 1 to 5, characterized in that the markings are applied to the charging hole frame of the charging openings.
  7. The method according to one of claims 1 to 6, characterized in that the measuring signal recorded with the optical measuring procedure is compared with a signal filed as a reference, and that measuring signals that characteristically deviate from the signal filed as a reference are not considered as error signals.
  8. The method according to one of claims 1 to 7, characterized in that the marking is cleaned with compressed air or brushes before the optical measuring procedure is performed.
  9. A device for implementing the method according to one of claims 1 to 8 with a charging car that is guided on rails on the furnace cover of a coke furnace, and exhibits a conveyor device on the lower side with a lowerable charging telescope, a cover lifting device and a device for cleaning charging hole frames as control units,
    wherein at least one control unit (1) exhibits a chassis (7), which enables horizontal, biaxial travel motions of the control unit (1) controlled by a machine controller (2), characterized in that the charging car is equipped with an optical measuring system (12) for the acquisition of markings (13),
    wherein the markings (13) are applied to the furnace cover and allocated to charging openings (3), and wherein the optical measuring system (12) prescribes a measuring field (15) and also encompasses an evaluation unit that is connected with the machine controller (2), ascertains values for the travel motions of the control unit (1) from the position measured values (X1, Y1) involving the markings (13) and relating to the measuring field (15), and transfers these values to the machine controller (2).
  10. The device according to claim 9, characterized in that the optical measuring system (12) exhibits a scanner or a device for digital image acquisition.
  11. The device according to claim 9 or 10, characterized in that the markings (13) are located on the charging hole frame (14).
  12. The device according to one of claims 9 to 11, characterized in that a cleaning device (16) for cleaning the marking (13) to be acquired and the marking environment is allocated to the optical measuring system (13).
  13. The device according to claim 12, characterized in that the cleaning device (16) exhibits a nozzle array (17) that can be pressurized to purging the marking (13) and marking environment.
EP09716110.3A 2008-02-28 2009-02-18 Method and device for the positioning of operating units of a coal filling cart at the filling openings of a coke oven Active EP2247691B1 (en)

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DE102008011552A DE102008011552B4 (en) 2008-02-28 2008-02-28 Method and device for positioning control units of a coal filling car at filling openings of a coke oven
PCT/EP2009/001122 WO2009106251A1 (en) 2008-02-28 2009-02-18 Method and device for the positioning of operating units of a coal filling cart at the filling openings of a coke oven

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EP2247691B1 true EP2247691B1 (en) 2016-07-20

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KR101550948B1 (en) 2015-09-07
TWI477733B (en) 2015-03-21
UA102842C2 (en) 2013-08-27
WO2009106251A1 (en) 2009-09-03
AU2009218757B2 (en) 2015-01-15
DE102008011552B4 (en) 2012-08-30
AU2009218757A1 (en) 2009-09-03
AR070712A1 (en) 2010-04-28
CO6331363A2 (en) 2011-10-20
RU2010139653A (en) 2012-04-10
MX2010009264A (en) 2010-12-20
RU2484120C2 (en) 2013-06-10
US20100314234A1 (en) 2010-12-16
EP2247691A1 (en) 2010-11-10
US8821694B2 (en) 2014-09-02
JP5438693B2 (en) 2014-03-12
CA2715692A1 (en) 2009-09-03
DE102008011552A1 (en) 2009-09-24
BRPI0907589A2 (en) 2016-07-12
CN101965390A (en) 2011-02-02
TW200940946A (en) 2009-10-01
CL2009000444A1 (en) 2010-05-07
KR20100127781A (en) 2010-12-06
JP2011513523A (en) 2011-04-28
CN101965390B (en) 2013-05-22

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