EP2944398A1 - Vorrichtung und verfahren zum ausrichten von rollen von strangführungssegmenten - Google Patents

Vorrichtung und verfahren zum ausrichten von rollen von strangführungssegmenten Download PDF

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Publication number
EP2944398A1
EP2944398A1 EP15164201.4A EP15164201A EP2944398A1 EP 2944398 A1 EP2944398 A1 EP 2944398A1 EP 15164201 A EP15164201 A EP 15164201A EP 2944398 A1 EP2944398 A1 EP 2944398A1
Authority
EP
European Patent Office
Prior art keywords
roller
segment
robot
rollers
reflector
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP15164201.4A
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English (en)
French (fr)
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EP2944398B1 (de
Inventor
Andrea De Luca
Guido Carnelutti
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Danieli and C Officine Meccaniche SpA
Original Assignee
Danieli and C Officine Meccaniche SpA
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Publication of EP2944398A1 publication Critical patent/EP2944398A1/de
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B22—CASTING; POWDER METALLURGY
    • B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/16—Controlling or regulating processes or operations

Definitions

  • the present invention relates to a system and to a method for aligning rollers of segments belonging to the continuous casting of slabs.
  • the product exiting from a crystallizer needs to be contained and guided. This occurs initially by means of rollers at the foot of the mold in which the crystallizer is inserted, and then by means of a series of containment and guide segments or sectors, which accompany the product until it reaches the horizontal plane.
  • Each segment is generally formed by a plurality of rollers with which the product comes into contact, and which actually contain and guide the product.
  • the positioning of the rollers according to the strategies selected and especially the alignment thereof determine the quality that the cast product will have. If rollers are positioned with the axis thereof not parallel to the axes of the other rollers, that is the rollers are not aligned, or rollers have eccentricities or are bent, the cast product is not contained in a homogenous manner along the whole length of the casting curve and therefore the quality thereof is compromised.
  • the present invention proposes to achieve the objects discussed above by making a measurement system for measuring the position of the longitudinal axis of rollers of a containment and guide segment for aligning rollers of continuous casting segments which, according to claim 1, comprises
  • a second aspect of the present invention provides a method for aligning rollers of continuous casting segments which, according to claim 10, comprises the following steps:
  • the solution of the invention for aligning the rollers of continuous casting segments provides using a laser tracker and a robot, which is preferably but not necessarily anthropomorphous, which has the task of moving, in an automated manner, the reflector, tracked by the laser tracker, in various predetermined points of the rollers of the segment under examination.
  • the laser tracking system comprises a laser emitter, usually held stationary, and a movable reflector the position of which can be calculated.
  • the laser tracker it can be of any type.
  • a calibrated ball can be used as a reflector, which is rested on the part under examination, and any laser tracker, which calculates the position in space of the measurement point by means of a laser beam projected onto the reflector.
  • the measurement system object of the invention advantageously comprises an automatic recognition system for recognizing the segment, of the RFID type, of the optical type or other equivalent system.
  • the alignment system object of the present invention is a measurement system for measuring the position of the longitudinal axis of the rollers 9 of a containment and guide segment 8, which is used once segment 8 is removed from the casting line and is placed in a specific maintenance zone.
  • a containment and guide segment 8 generally comprises a base structure on which the cylindrical-shaped rollers 9 are arranged. Each roller 9 is supported at the ends by supports 9', whose position with respect to the base structure can be adjusted by adding or removing at least one thickness between support 9' itself and the base structure of segment 8.
  • Such a measurement system comprises, in a first embodiment thereof:
  • the accuracy in the measurements is given by the laser tracker 3 and the accuracy of the movement of robot 2 is not important.
  • the laser tracker 3 is capable of assessing coordinates of points in space. It measures the distance between itself and reflector 5, the Azimuth angle and the Zenith angle. Due to a PSD sensor and a camera, the laser tracker 3 tracks the reflector even if the emission of the laser beam is interrupted.
  • Reflector 5 can be, for example, in the shape of a calibrated ball in order to always guarantee the same distance - equal to the radius of the ball - between the measurement point - that is the middle of the ball - and the surface of the roller in contact with the ball.
  • a single reflector 5 is advantageously provided, preferably consisting of a single calibrated ball.
  • a position switch which operates in three orthogonal directions can be provided between the end of arm 4 and reflector 5. This configuration ensures the contact between reflector 5 and roller 9, allows reflector 5 to be gently rested on the rollers without any significant impact, and protects against any impacts.
  • extension 21 of the arm ( Fig. 5 ) between arm 4 and reflector 5, or between arm 4 and any position switch; the use of extension 21 allows to use robots having smaller size with respect to the ones that would be necessary in the absence thereof, thus allowing all points that may require verifying to be reached.
  • a device for automatically recognizing the containment and guide segment of the casting curve can be provided.
  • this recognition device is provided with an RFID reader 6 arranged in the maintenance zone, which automatically reads the information concerning the containment and guide segment 8 which is placed in said maintenance zone ( Fig. 1 ), and transmits it to processing means of the measurement system adapted to process and impart movement commands to robot 2 and, therefore, to reflector 5.
  • processing means of the measurement system adapted to process and impart movement commands to robot 2 and, therefore, to reflector 5.
  • Such information is stored in a tag or RFID tag 7 fixed on segment 8, for example on the base structure thereof, and comprises predetermined points of each roller 9 on which the measurements are to be performed and any data of any previous measurements carried out at said predetermined points of each roller.
  • Said information further comprises CAD models of segment 8 from which the processing means of the measurement system derive, in known manner, the theoretical position of the longitudinal axis of each roller 9 of the segment, that is the position of the longitudinal axis of each roller at which all rollers of the segment are aligned with one another.
  • the theoretical position of the longitudinal axis of each roller 9 of the segment is the position at which all the longitudinal axes of the rollers of the segment are lying on a curvilinear surface corresponding in shape to the shape of the casting curve.
  • the RFID reader 6 recognizes segment 8
  • the CAD model of the segment and all the previous measurements on the same segment are imported by the processing means of the measurement system.
  • tags or RFID tags can be provided on all rollers 9; it is therefore possible in this variant to know the previous inspections carried out on each roller and to apply preventive maintenance concepts.
  • the processing means load the information concerning each roller and in certain cases indicate the activities to be carried out without the need to take the measurement (for example, if the roller has already exceeded the maximum operating hours).
  • the automatic recognition device can be of the optical type or other equivalent type.
  • an optical reader reads the information concerning the containment and guide segment 8 that is placed in the maintenance zone, said information being stored in a tag in the form of a barcode or other equivalent code, fixed on the segment.
  • tag 7 in the form of an RFID tag or barcode, is fixed on the base structure of the segment and/or on each roller of the segment.
  • reader 6, of RFID type or of optical type, arranged in the maintenance zone, can be provided directly on robot 2.
  • said processing means are advantageously configured to perform a geometric and position comparison between the geometric and position information of the individual roller just measured and geometric and position information in the database.
  • a further advantage lies in the fact that it is possible to provide driving means for transmitting a rotational motion to roller 9 during the measurement with reflector 5 in contact therewith, said driving means being preferably connected to robot 2. Reflector 5 is therefore held in contact with roller 9, which is put into rotation; thereby, it is possible to appreciate any eccentricities of the roller.
  • robot 2 is installed on a jib crane 10 ( Fig. 3 ), adapted to move robot 2 in order to reach any point of any roller 9 of segment 8 ( Fig. 4 ).
  • the jib crane 10 can be moved from a middle position, depicted by a solid line, to the side positions 10', 10", indicated with dotted lines.
  • a respective area of action 11, 11', 11" of robot 2 corresponds to each of the three positions of the jib crane. It can be seen that these three areas of action 11, 11', 11" covers all the rollers 9 of segment 8.
  • the additional advantage of this second embodiment is that it allows the use of a smaller robot 2, thus reducing weight and costs of the robot.
  • the accuracy of the movement of the jib crane 10 is not important because the accuracy in the measurements is given by the laser tracker.
  • a further advantage lies in the possibility of providing an extension of the arm between arm 4 of the robot and reflector 5, or between arm 4 and any position switch; the use of the extension also allows smaller cranes to be used with respect to the ones that would be necessary in the absence thereof, thus allowing all points which may require verifying, to be reached.
  • step b) there is provided a recognition, by means of the automatic recognition device, of the containment and guide segment 8 of the casting curve which allows the predetermined points of each roller on which to carry out the measurements of step c), to be loaded into the measurement system, thus automatically defining said predetermined points, and any previous measurements or inspections carried out on the same segment.
  • the system practically automatically knows the points of the rollers where the measurements are to be taken.
  • Such automatic recognition allows, by means of reader 6, information on the segment and/or on each roller to be read from at least one tag 7 fixed on the segment, and the information to be transmitted to the processing means of the measurement system, said information comprising said predetermined points of each roller 9 on which to carry out the measurements of step c), and said any previous measurements carried out on the rollers of the same segment.
  • Initial zero measurements are in practice carried out in step b), adapted to determine the exact position in space of the segment with respect to a reference system (x, y, z).
  • step c) for example, at least two zones of each roller, which preferably comprise the two ends, can be the subject of measurement. Furthermore, it is preferable to carry out the measurements on at least three points along the circumferential perimeter of each of said at least two zones. Even more preferably, at least three zones of each roller, which comprise the two ends and the middle zone of the roller, can be the subject of measurement. Therefore in this step c), measurements required to understand the position and the conditions of each roller are carried out.
  • step d) the processing comprises the steps of:
  • each roller 9 of segment 8 can be preferably derived from the CAD models of the segment, which are pre-stored in tag 7.
  • the mechanical adjustments can be mainly of three types:
  • step e) The mechanical adjustments carried out in step e) are therefore generally carried out with shims which are added to or removed from the supports 9' of the rollers 9 to vary the alignment thereof depending on the instructions obtained in step d).
  • step e) that is the actual alignment of the rollers of the containment and guide segment, which is carried out manually, a further inspection is carried out on the segment to verify the correctness of the operations carried out and to possibly further correct the position of the rollers.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
EP15164201.4A 2014-04-18 2015-04-20 Vorrichtung und verfahren zum ausrichten von rollen von strangführungssegmenten Active EP2944398B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITMI20140731 2014-04-18

Publications (2)

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EP2944398A1 true EP2944398A1 (de) 2015-11-18
EP2944398B1 EP2944398B1 (de) 2019-01-30

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4714339A (en) * 1986-02-28 1987-12-22 The United States Of America As Represented By The Secretary Of Commerce Three and five axis laser tracking systems
FR2644715A1 (fr) * 1989-03-23 1990-09-28 Siderurgie Fse Inst Rech Procede et dispositif pour l'alignement des organes d'une machine de coulee continue horizontale des metaux
DE102005037138A1 (de) * 2005-08-06 2007-02-08 Sms Demag Ag Verfahren und Vorrichtung zum präzisen Positionieren einer Anzahl zusammenwirkender Walz- oder Rollenelemente
KR20090057669A (ko) * 2007-12-03 2009-06-08 주식회사 포스코 레이저 센서를 이용한 연속주조설비 가이드 롤 정렬상태자동측정장치
DE102009060638A1 (de) * 2009-03-13 2010-09-16 Sms Siemag Aktiengesellschaft Werkstatteinrichtung eines Hütten- oder Walzwerks
AT509606A4 (de) * 2011-01-25 2011-10-15 Siemens Vai Metals Tech Gmbh Messtaster, verwendung des messtasters und verfahren zur photogrammetrischen vermessung eines durchmessers und einer lage einer zylindrischen rolle
EP2574412A1 (de) * 2011-09-30 2013-04-03 Siemens VAI Metals Technologies GmbH Messtaster, Messsystem, Verfahren zur laseroptischen Ermittelung der Höhenlage einer Strangführungsrolle, und Verwendung des Messsystems
KR20140019711A (ko) * 2012-08-07 2014-02-17 주식회사 포스코 연속주조장치의 세그먼트 롤 정렬 장치

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4714339A (en) * 1986-02-28 1987-12-22 The United States Of America As Represented By The Secretary Of Commerce Three and five axis laser tracking systems
US4714339B1 (en) * 1986-02-28 1997-03-18 Us Army Three and five axis laser tracking systems
US4714339B2 (en) * 1986-02-28 2000-05-23 Us Commerce Three and five axis laser tracking systems
FR2644715A1 (fr) * 1989-03-23 1990-09-28 Siderurgie Fse Inst Rech Procede et dispositif pour l'alignement des organes d'une machine de coulee continue horizontale des metaux
DE102005037138A1 (de) * 2005-08-06 2007-02-08 Sms Demag Ag Verfahren und Vorrichtung zum präzisen Positionieren einer Anzahl zusammenwirkender Walz- oder Rollenelemente
KR20090057669A (ko) * 2007-12-03 2009-06-08 주식회사 포스코 레이저 센서를 이용한 연속주조설비 가이드 롤 정렬상태자동측정장치
DE102009060638A1 (de) * 2009-03-13 2010-09-16 Sms Siemag Aktiengesellschaft Werkstatteinrichtung eines Hütten- oder Walzwerks
AT509606A4 (de) * 2011-01-25 2011-10-15 Siemens Vai Metals Tech Gmbh Messtaster, verwendung des messtasters und verfahren zur photogrammetrischen vermessung eines durchmessers und einer lage einer zylindrischen rolle
EP2574412A1 (de) * 2011-09-30 2013-04-03 Siemens VAI Metals Technologies GmbH Messtaster, Messsystem, Verfahren zur laseroptischen Ermittelung der Höhenlage einer Strangführungsrolle, und Verwendung des Messsystems
KR20140019711A (ko) * 2012-08-07 2014-02-17 주식회사 포스코 연속주조장치의 세그먼트 롤 정렬 장치

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
"Proc. of SPIE", vol. 6676, 2007, article JAMES H. BURGE, PENG SU, CHUNYU ZHAO, TOM ZOBRIST: "Use of a commercial laser tracker for optical alignment", XP002734373 *
J. WOLLNACK, P. STEPANEK: "Formkorrektur und Lageführung für eine flexible und automatisierte Grossbauteilmontage", WT WERKSTATTTECHNIK ONLINE, vol. 94, no. 9, 2004, XP002734374 *
LAU K ET AL: "ROBOT PERFORMANCE MEASUREMENTS USING AUTOMATIC LASER TRACKING TECHNIQUES", ROBOTICS AND COMPUTER INTEGRATED MANUFACTURING, ELSEVIER SCIENCE PUBLISHERS BV., BARKING, GB, vol. 2, no. 3/04, 1 January 1985 (1985-01-01), pages 227 - 236, XP002035850, ISSN: 0736-5845, DOI: 10.1016/0736-5845(85)90110-3 *

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