EP2944398B1 - 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
EP2944398B1
EP2944398B1 EP15164201.4A EP15164201A EP2944398B1 EP 2944398 B1 EP2944398 B1 EP 2944398B1 EP 15164201 A EP15164201 A EP 15164201A EP 2944398 B1 EP2944398 B1 EP 2944398B1
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EP
European Patent Office
Prior art keywords
roller
segment
robot
rollers
reflector
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EP15164201.4A
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English (en)
French (fr)
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EP2944398A1 (de
Inventor
Andrea De Luca
Guido Carnelutti
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Danieli and C Officine Meccaniche SpA
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Danieli and C Officine Meccaniche SpA
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B22CASTING; POWDER METALLURGY
    • B22DCASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00Continuous casting of metals, i.e. casting in indefinite lengths
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B22CASTING; POWDER METALLURGY
    • B22DCASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
    • B22D11/00Continuous casting of metals, i.e. casting in indefinite lengths
    • B22D11/16Controlling 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Claims (15)

  1. Messsystem (1) zum Messen der Position der Längsachse von Rollen eines Aufnahme- und Führungssegments, das geeignet ist, Gusserzeugnisse, die in einem Stranggussverfahren einen Kristallisator verlassen, aufzunehmen und zu führen, wobei das System aufweist:
    - einen Roboter (2) mit einem Arm (4), der an einer Seite mit einem Reflektor (5) versehen ist, wobei der Roboter geeignet ist, den Reflektor (5) so zu bewegen, dass dieser nacheinander mit einer Vielzahl von vorbestimmten Punkten einer jeden Rolle des Aufnahme- und Führungssegments in Kontakt gebracht werden kann,
    - einen Laser-Tracker (3), der geeignet ist, den Reflektor (5) mittels eines Laserstrahls zu verfolgen und die Position eines jeden Punkts im Raum zu berechnen, um die Position der Achse einer jeden Rolle zu bestimmen,
    - Verarbeitungsmittel zum Verarbeiten und Übermitteln von Verfahrbefehlen an den Roboter (2) und somit an den Reflektor (5);
    - zumindest ein Etikett (7), das am Segment (8) befestigt ist und vorab gespeicherte Informationen zu dem Segment und / oder dessen Rollen beinhaltet, wobei die Informationen die vorbestimmten Punkte einer jeden Rolle (9) und jegliche vorher durchgeführten Messungen an den vorbestimmten Punkten einer jeden Rolle beinhalten,
    - Vorrichtung zum automatischen Erfassen des Aufnahme- und Führungssegments, die mit einem Leser (6) versehen ist, der geeignet ist, die Informationen auf dem Segment und / oder dessen Rollen zu lesen und diese an die Verarbeitungsmittel zu übermitteln, wobei die Verarbeitungsmittel daraus folgend Verfahrbefehle an den Roboter (2) übermitteln.
  2. System gemäß Anspruch 1, wobei der Leser (6) ein RFID-Leser und das Etikett (7) ein RFID-Etikett ist, oder der Leser (6) ein optischer Leser und das Etikett (7) ein Barcode ist.
  3. System gemäß Anspruch 1 oder 2, wobei das Etikett (7) an einer Grundstruktur des Segments und / oder an jeder Rolle des Segments befestigt ist.
  4. System gemäß einem der vorigen Ansprüche, wobei die Informationen der weiteren CAD-Modelle des Segments (8) beinhalten, wobei die Verarbeitungsmittel des Messsystems die theoretische Position der Längsachse einer jeden Rolle (9) des Segments (8) erhalten können.
  5. System gemäß einem der vorigen Ansprüche, wobei der Roboter (2) von menschenähnlicher Gestalt ist.
  6. System gemäß einem der vorigen Ansprüche, wobei der Reflektor (5) aus einer einzelnen kalibrierten Kugel besteht.
  7. System gemäß einem der vorigen Ansprüche, wobei Antriebsmittel vorgesehen sind, um während der Messung eine rotatorische Bewegung an die Rolle mit dem darauf befindlichen Reflektor zu übertragen, wobei die Antriebsmittel mit dem Roboter (2) verbunden sind.
  8. System gemäß einem der vorigen Ansprüche, wobei der Roboter (2) auf einem Auslegerkran (10) montiert ist, der geeignet ist, den Roboter so zu bewegen, dass er mit dem Reflektor (5) jeden Punkt einer jeden Rolle des Segments erreicht.
  9. System gemäß einem der vorigen Ansprüche, wobei zwischen dem Ende des Arms (4) und dem Reflektor (5) ein Positionsschalter vorgesehen ist.
  10. Verfahren zum Ausrichten der Längsachsen von Rollen eines Aufnahme- und Führungssegments, das geeignet ist, Gusserzeugnisse, die in einem Stranggussverfahren einen Kristallisator verlassen, aufzunehmen und zu führen, wobei das Verfahren durch ein Messsystem gemäß Anspruch 1 durchgeführt wird und folgende Schritte aufweist:
    a) Positionieren des Aufnahme- und Führungssegments (8) in einer Messzone;
    b) Bestimmen der Position des Segments (8) im Raum mittels des Roboters (2) und des Laser-Trackers (3);
    c) Durchführen der Messungen der Position einer Vielzahl von vorgegebenen Punkten einer jeden Rolle im Raum mittels des Roboters (2) und des Laser-Trackers (3);
    d) Verarbeiten der in Schritt c) durchgeführten Messungen zum Erstellen einer Liste von mechanischen Justierungen, die an jeder Rolle des Segments durchzuführen sind, um die Achsen der Rollen des Segments entlang einer vorgegebenen Fläche auszurichten;
    e) Durchführen der mechanischen Justierungen,
    wobei vor Schritt b) mittels einer automatischen Erkennungsvorrichtung eine Erkennung des Aufnahme- und Führungssegments (8) vorgesehen ist, die mittels eines Lesers (6) erlaubt, dass Informationen zu dem Segment und / oder jeder Rolle von dem zumindest einen Etikett (7) gelesen werden können, das an dem Segment befestigt ist und dass die Informationen an die Verarbeitungsmittel des Messsystems übermittelt werden, wobei die Informationen die vorgegebenen Punkte einer jeden Rolle (9), an denen die Messungen aus Schritt c) durchgeführt werden sollen, und jegliche vorherige Messungen aufweisen, die an den Rollen desselben Segments durchgeführt wurden.
  11. Verfahren gemäß Anspruch 10, wobei die Informationen die theoretische Position einer jeden Rolle (9) des Segments (8) beinhalten, an der die Rollen des Segments miteinander ausgerichtet sind; und wobei Schritt d) die folgenden Schritte aufweist:
    - Berechnen der aktuellen Position der Längsachse einer jeden Rolle im Raum unter Verwendung der in Schritt c) gemessenen Koordinaten von zumindest drei Punkten entlang des umlaufenden Umfangs eines jeden von zumindest zwei Bereichen einer jeden Rolle;
    - Vergleichen der aktuellen Position der Längsachse einer jeden Rolle mit einer zugehörigen theoretischen Position der Längsachse;
    - Berechnen der nötigen Verschiebung des Trägers (9') einer jeden Rolle (9), um deren Längsachse in die zugehörige theoretische Position zu bringen.
  12. Verfahren gemäß Anspruch 11, wobei die theoretische Position einer jeden Rolle (9) des Segments (8) durch das Auslesen der CAD-Modelle des Segments (8), die auf dem Etikett (7) gespeichert sind, das an dem Segment und / oder an einer jeden Rolle des Segments befestigt ist.
  13. Verfahren gemäß Anspruch 11, wobei in Schritt c) Messungen an zumindest drei Punkten entlang des umlaufenden Umfangs eines jeden von lediglich zwei Bereichen einer jeden Rolle durchgeführt werden.
  14. Verfahren gemäß Anspruch 11, wobei in Schritt c) Messungen an zumindest drei Punkten entlang des umlaufenden Umfangs eines jeden von drei Bereichen einer jeden Rolle durchgeführt werden: ein erster Bereich an einem ersten Ende der Rolle, ein zweiter Bereich an einem zweiten Ende der Rolle und ein dritter Bereich im mittleren Bereich der Rolle.
  15. Verfahren gemäß einem der Ansprüche 10 bis 14, wobei die mechanischen Justierungen zumindest einen der folgenden Vorgänge aufweist:
    - Hinzufügen von Scheiben zwischen zumindest einem Träger (9') einer jeden Rolle (9) und der Grundstruktur des Segments;
    - Entfernen von Scheiben zwischen zumindest einem Träger (9') einer jeden Rolle (9) und der Grundstruktur des Segments;
    - Auswechseln zumindest einer Rolle.
EP15164201.4A 2014-04-18 2015-04-20 Vorrichtung und verfahren zum ausrichten von rollen von strangführungssegmenten Active EP2944398B1 (de)

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Family Cites Families (8)

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Publication number Priority date Publication date Assignee Title
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FR2644715B1 (fr) * 1989-03-23 1991-05-24 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
AT509606B1 (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
ES2476016T3 (es) * 2011-09-30 2014-07-11 Siemens Vai Metals Technologies Gmbh Palpador de medición, sistema de medición, procedimiento para establecer mediante óptica láser la posición en altura de un rodillo de guiado de barras, y utilización del sistema de medición
KR101411389B1 (ko) * 2012-08-07 2014-06-25 주식회사 포스코 연속주조장치의 세그먼트 롤 정렬 장치

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