EP2944398B1 - Dispositif et procédé pour l'alignement des rouleaux d'un segment de guidage d'une bramme - Google Patents

Dispositif et procédé pour l'alignement des rouleaux d'un segment de guidage d'une bramme 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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German (de)
English (en)
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EP2944398A1 (fr
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
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Danieli and C Officine Meccaniche SpA
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Classifications

    • 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.
  • 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. Système de mesure (1) pour mesurer la position de l'axe longitudinal des rouleaux d'un segment de rétention et de guidage, adapté pour retenir et guider un produit coulé sortant d'un cristalliseur dans un procédé de coulée continue, le système comprenant
    - un robot (2) ayant un bras (4) pourvu au niveau d'une de ses extrémités avec un réflecteur (5), ledit robot étant adapté pour déplacer le réflecteur (5) afin de le mettre successivement en contact avec une pluralité de points prédéterminés de chaque rouleau du segment de rétention et de guidage,
    - un dispositif de poursuite laser (3) adapté pour poursuivre ledit réflecteur (5) au moyen d'un faisceau laser et pour calculer la position dans l'espace de chacun desdits points de façon à déterminer la position de l'axe de chaque rouleau,
    - un moyen de traitement adapté pour traiter et communiquer des ordres de déplacement au robot (2) et, par conséquent, au réflecteur (5),
    - au moins une étiquette (7) fixée sur le segment (8) et contenant des informations pré-stockées sur le segment et/ou sur chaque rouleau à l'intérieur, lesdites informations comprenant lesdits points prédéterminés de chaque rouleau (9) et toute mesure préalable réalisée au niveau desdits points prédéterminés de chaque rouleau,
    - un dispositif de reconnaissance automatique du segment de rétention et de guidage, pourvu d'un lecteur (6) adapté pour lire lesdites informations sur le segment et/ou sur chaque rouleau et pour les transmettre au moyen de traitement, moyennant quoi ledit moyen de traitement communique des ordres de déplacement résultants au robot (2).
  2. Système selon la revendication 1, dans lequel ledit lecteur (6) est un lecteur RFID et ladite au moins une étiquette (7) est une étiquette RFID, ou dans lequel ledit lecteur (6) est un lecteur optique et ladite au moins une étiquette (7) est un code-barres.
  3. Système selon la revendication 1 ou 2, dans lequel ladite étiquette (7) est fixée sur une structure de base du segment et/ou sur chaque rouleau du segment.
  4. Système selon l'une quelconque des revendications précédentes, dans lequel lesdites informations comprennent en outre des modèles de CAO du segment (8) moyennant quoi le moyen de traitement du système de mesure peut dériver la position théorique de l'axe longitudinal de chaque rouleau (9) du segment (8).
  5. Système selon l'une quelconque des revendications précédentes, dans lequel le robot (2) est un robot anthropomorphique.
  6. Système selon l'une quelconque des revendications précédentes, dans lequel le réflecteur (5) est constitué d'une bille étalonnée unique.
  7. Système selon l'une quelconque des revendications précédentes, dans lequel des moyens d'entraînement sont prévus pour transmettre un mouvement de rotation à un rouleau pendant la mesure avec le réflecteur dessus, lesdits moyens d'entraînement étant raccordés au robot (2).
  8. Système selon l'une quelconque des revendications précédentes, dans lequel le robot (2) est installé sur une grue (10), adaptée pour déplacer le robot afin d'atteindre avec le réflecteur (5) tout point de tout rouleau du segment.
  9. Système selon l'une quelconque des revendications précédentes, dans lequel un commutateur de position est prévu entre l'extrémité du bras (4) et le réflecteur (5).
  10. Procédé d'alignement des axes longitudinaux des rouleaux d'un segment de rétention et de guidage, adapté pour retenir et guider un produit coulé sortant d'un cristalliseur dans un procédé de coulée continue, le procédé étant réalisé par un système de mesure selon la revendication 1 et comprenant les étapes suivantes :
    a) le positionnement du segment de rétention et de guidage (8) dans une zone de mesure ;
    b) la détermination, au moyen du robot (2) et du dispositif de poursuite laser (3), de la position dans l'espace du segment (8) ;
    c) la réalisation des mesures de la position dans l'espace, au moyen du robot (2) et du dispositif de poursuite laser (3), d'une pluralité de points prédéterminés de chaque rouleau ;
    d) le traitement des mesures réalisées à l'étape c) pour générer une liste de réglages mécaniques à réaliser sur chaque rouleau du segment pour aligner les axes des rouleaux du segment le long d'une surface prédéterminée ;
    e) la réalisation desdits réglages mécaniques,
    dans lequel est prévue, avant l'étape b), une reconnaissance, au moyen d'un dispositif de reconnaissance automatique, du segment de rétention et de guidage (8) qui permet, au moyen d'un lecteur (6), de lire des informations sur le segment et/ou sur chaque rouleau à partir d'au moins une étiquette (7) fixée sur le segment, et de transmettre les informations au moyen de traitement du système de mesure, lesdites informations comprenant lesdits points prédéterminés de chaque rouleau (9) sur lesquels il faut réaliser les mesures de l'étape c) et toute mesure préalable réalisée sur les rouleaux du même segment.
  11. Procédé selon la revendication 10, dans lequel lesdites informations comprennent la position théorique de chaque rouleau (9) du segment (8) à laquelle les rouleaux du segment sont alignés les uns avec les autres ; et dans lequel l'étape d) comprend les étapes de :
    - calcul de la position effective de l'axe longitudinal de chaque rouleau dans l'espace à l'aide des coordonnées mesurées à l'étape c), d'au moins trois points le long du périmètre circonférentiel de chacune d'au moins deux zones de chaque rouleau ;
    - comparaison de la position effective de l'axe longitudinal de chaque rouleau avec une position théorique respective de l'axe longitudinal ;
    - calcul du décalage à imposer aux supports (9') de chaque rouleau (9) de façon à en amener l'axe longitudinal à la position théorique respective.
  12. Procédé selon la revendication 11, dans lequel la position théorique de chaque rouleau (9) du segment (8) est dérivée de la lecture de modèles de CAO du segment (8) pré-stockés dans ladite étiquette (7), fixée sur le segment et/ou sur chaque rouleau du segment.
  13. Procédé selon la revendication 11, dans lequel à l'étape c), des mesures sont réalisées dans au moins trois points le long du périmètre circonférentiel de chacune de seulement deux zones de chaque rouleau.
  14. Procédé selon la revendication 11, dans lequel à l'étape c), des mesures sont réalisées dans au moins trois points le long du périmètre circonférentiel de chacune de trois zones de chaque rouleau : une première zone se trouvant au niveau d'une première extrémité du rouleau, une deuxième zone se trouvant au niveau d'une seconde extrémité du rouleau ; et une troisième zone se trouvant au niveau d'une zone milieu du rouleau.
  15. Procédé selon l'une quelconque des revendications 10 à 14, dans lequel lesdits réglages mécaniques comprennent au moins l'une des opérations suivantes :
    - l'ajout de cales entre au moins un support (9') d'au moins un rouleau (9) et la structure de base du segment ;
    - l'enlèvement de cales entre au moins un support (9') d'au moins un rouleau (9) et la structure de base du segment ;
    - le remplacement d'au moins un rouleau.
EP15164201.4A 2014-04-18 2015-04-20 Dispositif et procédé pour l'alignement des rouleaux d'un segment de guidage d'une bramme Active EP2944398B1 (fr)

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ITMI20140731 2014-04-18

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EP2944398B1 true EP2944398B1 (fr) 2019-01-30

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Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4714339B2 (en) * 1986-02-28 2000-05-23 Us Commerce Three and five axis laser tracking systems
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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