EP3083104B1 - Open or closed-loop control device for a supporting-roller frame of a continuous casting machine - Google Patents
Open or closed-loop control device for a supporting-roller frame of a continuous casting machine Download PDFInfo
- Publication number
- EP3083104B1 EP3083104B1 EP14816163.1A EP14816163A EP3083104B1 EP 3083104 B1 EP3083104 B1 EP 3083104B1 EP 14816163 A EP14816163 A EP 14816163A EP 3083104 B1 EP3083104 B1 EP 3083104B1
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- EP
- European Patent Office
- Prior art keywords
- roller segment
- bus
- hydraulic cylinder
- continuous casting
- axis controller
- Prior art date
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Images
Classifications
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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
- B22D11/12—Accessories for subsequent treating or working cast stock in situ
- B22D11/128—Accessories for subsequent treating or working cast stock in situ for removing
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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
- B22D11/16—Controlling or regulating processes or operations
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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
- B22D11/16—Controlling or regulating processes or operations
- B22D11/20—Controlling or regulating processes or operations for removing cast stock
- B22D11/208—Controlling or regulating processes or operations for removing cast stock for aligning the guide rolls
Definitions
- the present invention relates to a control and / or regulating device for a support roller stand of a continuous casting machine and a method for exchanging a roller segment in a support roller stand of a continuous casting machine.
- the invention relates to a control and / or regulating device for a supporting roller frame of a continuous casting machine, the supporting roller frame consisting of a plurality of successive roller segments, each of which can be adjusted against one another in a controlled manner by means of a lower frame supporting the supporting rollers and an opposite upper frame by means of at least one hydraulic cylinder, each roller segment is connected to a separate axis controller, which has a bus interface and a network connection.
- the support roller stand (also referred to in this document as strand guide) of the continuous casting machine consists of several successive roller segments (also called strand guide segments), each of which has a subframe carrying the support rollers and an opposing upper frame can be adjusted with respect to one another by means of hydraulic cylinders arranged in pairs.
- each roller segment is assigned a separate axis controller on the stationary hall frame.
- the position signals of the hydraulic cylinders are first routed to a terminal box on the upper frame of the roller segment, then a cable package is routed from the terminal box to the separate axis controller on the stationary hall frame, and finally the signals from all axis controllers are routed via a fieldbus to a PLC in a control room.
- a valve stand is arranged on the stationary hall frame.
- the object of the invention is to overcome the disadvantages of the prior art and to further simplify the wiring of the control and / or regulating device. Furthermore
- the transmitted signals should be protected against interference from electromagnetic interference as best as possible.
- Another object of the invention is to provide a robust and time-saving method for changing a roller segment in a support roller stand of a continuous casting machine.
- each hydraulic cylinder has a position transmitter with a bus interface, so that the analog or digital position signals can already be transmitted by the position transmitter as bus signals.
- a bus network e.g. a CAN or Profibus network
- Any transmission errors can be recognized automatically or even corrected automatically.
- a fast part which is listed as a bus network
- a slow part which is designed as a star-shaped network (LAN)
- LAN star-shaped network
- changed setpoints for position control of the hydraulic cylinders are specified by the common controller to the separate axis controllers via a separate star-shaped network (e.g. an Ethernet network). Furthermore, the separation of the network into two parts also allows the control of the hydraulic cylinders to be maintained if the network communication between the common controller and the separate axis controllers should fail.
- a separate star-shaped network e.g. an Ethernet network
- a separate bus network is formed between the separate axis controller and at least the bus interfaces of the position sensors. Control systems with several bus interfaces are known to the person skilled in the art.
- the control or regulating device according to the invention is suitable both for continuous casting machines for flat products (for example with a slab cross section) and for continuous casting machines for long products (for example with billet, bloom block or pre-profile cross section).
- the roller segments of a support roller stand of a continuous casting machine for flat products (the roller segments are also referred to as strand guide segments) each have (typically four) hydraulic cylinders arranged in pairs, so that an upper frame can be adjusted in relation to the lower frame by the hydraulic cylinders arranged in pairs.
- roller segments of a support roller frame of a continuous casting machine for long products each often have only one or two hydraulic cylinders lying opposite one another, although an upper frame can nevertheless be regulated in relation to the lower frame by the hydraulic cylinder or the hydraulic cylinders opposite .
- each hydraulic cylinder is connected to a valve (for example a switching, control or servo valve), the valve being arranged on the roller segment, in particular on the hydraulic cylinder, and the valve with the hydraulic cylinder is connected via, preferably short, tubing or piping.
- a valve for example a switching, control or servo valve
- each hydraulic cylinder has one or two pressure transmitters for measuring a hydraulic pressure each, the pressure transmitter being connected to a bus interface.
- the pressure transmitter is connected to the bus interface of the position transmitter, or the pressure transmitter itself has a separate bus interface. The pressure transmitter is thus directly or indirectly integrated into the bus network.
- the separate axis controller is arranged on the technological support structure, preferably directly next to the roller segment.
- the technological support structure is to be understood to mean the support structure of the continuous casting machine (and not the hall in which the continuous casting machine is arranged), which, for example, consists of concrete, steel or the like.
- the bus interface or the network connection has a gas supply for instrument air or nitrogen, as a result of which the bus interface or the network connection can be kept at an increased pressure level with respect to the environment . This prevents the ingress of foreign bodies or particles or moisture.
- the continuous casting machine has a common valve position for a plurality of roller segments on the intermediate stage, the hydraulic supply being hydraulically connected to the common valve position and the common valve position to the valves on the roller segment.
- the connection between the common valve position and the valves on the roller segment is preferably via quick-release couplings.
- a separate valve stand is arranged on the technological support structure for each roller segment, the hydraulic supply being hydraulically connected to the separate valve stand and the separate valve stand being connected to the valves on the roller segment.
- the connection between the valve position and the valves on the roller segment is preferably made via releasable quick-release couplings.
- the common or separate valve position enables or disconnects the hydraulic supply to one or more roller segments. This means that changing a roll segment can be done safely.
- each separate axis controller and each hydraulic cylinder have two or more than two bus interfaces, the separate axis controller and the position sensors forming two or more independent bus networks.
- each bus interface of a hydraulic cylinder has a permanent memory for axis-specific data such as calibration data, operating hours etc. Consequently A new roller segment can be pre-calibrated outside the continuous casting machine, the calibration data stored in the permanent memory, and after the installation of the roller segment, the calibration data can be automatically read into the separate axis controller.
- valves on the roller segment A simple control of the valves on the roller segment is feasible if the valves have a bus interface, the bus interface of the separate axis controller forming a bus network with the bus interfaces of the valves and the position transmitter. This means that the valves are also integrated into the bus network.
- each valve has a bus interface.
- the (typically four) valves on the roller segment can have a common bus interface, the common bus interface being connected to the valves in an analog or digital manner.
- each hydraulic cylinder has a bus interface with a permanent memory that contains at least calibration data for the hydraulic cylinder.
- the calibration data of the hydraulic cylinders of the new roller segment are read from the permanent memories into the separate axis controller, whereby the separate axis controller outputs a command value signal to a valve on the new roller segment, taking into account the calibration data, so that the actual value of the hydraulic cylinder corresponds to the target value as far as possible.
- the setpoint or actual value is typically a position (for position control) or a pressure (for force control). It does not matter whether the permanent memory is connected to the bus interface of the position transmitter or the pressure transmitter. It is only important that the permanent, ie non-volatile, memory is assigned to a hydraulic cylinder on the roller segment.
- the new roller segment is precalibrated outside the continuous casting installation and the calibration data are stored in the permanent memory before installation.
- the Figure 1 shows a continuous casting machine 1 for the production of steel slabs S in a perspective view.
- the liquid steel is fed to the mold 14 of the continuous casting machine 1 via a ladle turret 100 and a casting distributor.
- a partially solidified strand S forms in the mold 14 and is supported, guided and further cooled in the subsequent support roller stand 2 or the strand guide.
- the strand guide 2 has a plurality of strand guide or roller segments 3a to 3l.
- the continuous casting machine 1 is located in a hall, which is supported against the foundation via a hall frame with a plurality of I-beams 111.
- the continuous casting machine 1 itself is supported on a technological support structure 11.
- a cold extrusion carriage 105 can also be moved on the casting platform and can transport a cold extrusion (not shown here) from the horizontal outlet area of the continuous casting machine 1 back to the mold 14.
- each roller segment 3 is assigned a separate axis controller 10, which is arranged on the technological support structure 11.
- the axis controller 10 is arranged directly next to the strand guide segment 3. All control and regulating functions for the strand guide segment 3 can thus be carried out by the assigned separate axis controller 10.
- Each axis controller 10 is connected at least to the position sensors 8a ... 8d of the hydraulic cylinders 7a ... 7d on the roller segment 3 via a bus network 20.
- All axis controllers 10a ... 10l are connected to the common control 13 of the continuous casting machine 1 via a star-shaped network (LAN).
- the hydraulic supply 23 with the common valve position 18 for the roller segments 3 is arranged on an intermediate stage 24 of the continuous casting machine 1.
- the roller segments 3 are supplied hydraulically from the common valve position 18.
- the Fig. 4 shows a roller segment 3 from the Fig 1-2 closer.
- Each roller segment 3 has an upper frame 6 and a lower frame 5, each with a plurality of support rollers 4.
- the upper frame 6 can be adjusted in relation to the opposite lower frame 5 by means of four hydraulic cylinders 7.
- the strand, not shown here, is cooled by a plurality of spray nozzles 120 distributed over the width.
- position control the actual position of a hydraulic cylinder 7 is measured via a position transmitter 8, here a magnetostrictive position transmitter, and the measured value is fed to the axis controller 10 via a CAN bus network.
- the protective cap of a position transmitter 8 has been shown removed.
- the axis controller 10 compares the actual value of the position of the position transmitter with a target value and determines the control error e between the target and the actual value. Based on the control error e and with the aid of a control law, the controller stored in the axis controller 10 determines a manipulated variable that is transmitted to a hydraulic valve 16 that is fluidically connected to the hydraulic cylinder 7. The actual value is thus brought up to the target value of the position.
- the axis controller 10, the position sensors 8 and the valves 16 (here switching, proportional or servo valves) of the hydraulic cylinders 7 form a bus network out. The wiring effort is greatly reduced by a bus network, since the bus interfaces 9 of the devices involved are connected to one another in series.
- the valves 16 assigned to the hydraulic cylinders 7 are also arranged on the roller segment 3.
- the Fig. 5 shows a hydraulic cylinder 7 of the roller segment 3 Fig. 4 more accurate. From this it can be seen that the position transmitter 8 has two bus interfaces 9 for communication with the axis controller 10 and a magnet 26 encloses a linkage 32 in the interior of the protective housing without contact. The position of the hydraulic cylinder 7 can be determined without contact by the position transmitter 8. In comparison to the prior art, there is no contact between the position transmitter and the hydraulic fluid.
- Fig. 6 the network configuration of the control and / or regulating device according to the invention is shown.
- the axis controller 10, the position sensors 8a ... 8d, the valves 16a ... 16 and a separate valve stand 17 for the roller stand 3 form a closed bus network 20.
- the separate axis controllers 10a ... 101 form a star-shaped network 20 with the common control 13 of the continuous casting machine 1.
- the separate axis controllers 10a ... 101 (only two axis controllers 10a, 10b are shown in simplified form) are connected to the common controller 13 via a router or switch 27.
- the Fig. 7 shows a hydraulic cylinder 7 of a roller segment 3 in more detail.
- the hydraulic cylinder 7 also has two pressure transmitters 22, each with a bus interface 9.
- the axis controller (not shown) can also perform pressure or force control for the hydraulic cylinders 7 of the roller segment 3, it being possible to draw conclusions about the force relationships in the hydraulic cylinder 7 from the measured pressures and the known areas of the piston of the hydraulic cylinder 3.
- the position measuring system is usually installed directly in the cylinder, where it is exposed to the hydraulic fluid and thus to unfavorable environmental conditions (high pressures, high temperatures and chemical influences from the hot hydraulic fluid). This increases the requirements for the position measuring system regarding robustness.
- the position measuring system is difficult to access due to the installation of the position measuring system in the hydraulic cylinder; this therefore has a negative impact on ease of maintenance.
- analog position measuring systems or measuring systems with a digital interface (SSI, Gray Code ...) are usually used for position measuring systems according to the prior art. These position measuring systems are not able to store data / information in the position measuring system (e.g. calibration data).
- Calibration data can therefore not be saved directly on the component itself, but must be made available, for example, via a database system of the common control (the so-called control system). If a segment is exchanged, the calibration data must be manually assigned to the hydraulic cylinder. This is complex and can lead to problems and incorrect calibration data, since the component is not permanently connected to its calibration data. In addition, each sensor must be individually wired and connected to the control device (axis controller), which leads to high cabling costs. If pressure sensors are also used, the wiring effort increases further (2 pressure sensors per cylinder). Sensors with the interfaces mentioned do not have the option of error detection or correction, as is possible with bus-compatible sensors.
- analog sensors (4-20 mA, 0-20 mA, 0- 10 V) are usually used for pressure sensors according to the prior art.
- the cabling effort increases as previously mentioned. With the increased number of clamping points, the susceptibility to errors due to mechanical loosening of the connection or corrosion increases. The length of the cabling also increases the litter path for any electromagnetic interference sources that can negatively affect the transmission.
- the position measuring system 8 is installed easily accessible outside the cylinder chamber of the hydraulic cylinder 3 (and thus also outside the hot hydraulic fluid).
- the path measuring system 8 need only be a little robust; it is also easily accessible.
- the position measuring system 8 with an integrated non-volatile memory (for example for calibration data) and a bus interface 9 is bus-capable and can transmit data bidirectionally via a bus (for example CAN or professional bus).
- the hydraulic cylinder 3 has two pressure sensors 22 with a bus interface 9, so that the pressure signals for both chamber pressures of the hydraulic cylinder 3 (and thus the force ratios) can be transmitted to the axis controller 10 with the least wiring effort.
- the Fig. 3 shows a variant Fig. 7 . Since the pressure sensors 22 of the Fig. 7 with bus interfaces 9 are still relatively expensive, the applicant searched and found an alternative solution. Since the bus-capable displacement measuring systems 8 of the hydraulic cylinder 3 have two analog inputs, conventional pressure transducers 22 with an analog interface can be connected to the bus-capable displacement measuring system 8 and the signals for position and chamber pressures can be transmitted via the bus. This means that inexpensive analog pressure transducers can be used, although the cabling effort and the littering distance are nonetheless be minimized. Since the hydraulic cylinder typically exerts a relatively high clamping force during operation, the displacement measuring system 8 can also have only one analog input. In this case too, the axis controller 10 can carry out a pressure or force control of the hydraulic cylinder 3.
- the Fig. 8 shows a first variant of the control and / or regulating device according to the invention for a support roller stand of a continuous casting machine.
- the support roller frame comprises several successive roller segments 3.
- a single roller segment 3 is shown schematically in a top view.
- Each roller segment 3 has a subframe 5 carrying support rollers 4 and an opposing upper frame 6, the upper frame 6 being adjustable in relation to the lower frame 6 by means of four hydraulic cylinders 7a ... 7d arranged in pairs (see also the illustration of a roller segment 3 in FIG Fig. 4 ).
- each hydraulic cylinder 7a ... 7d has a position transmitter 8a ... 8d with a bus interface 9a ... 9d (here a CAN interface).
- the position sensors 8a ... 8d form a bus network 20 with the bus interface 9e of the axis controller 10, which is assigned to the roller segment 3.
- This embodiment optimizes the wiring of the position sensors to the axis controller.
- the continuous casting machine 1 itself has a common control 13 in the form of a PC. All axis controller 10 (in the Fig. 8 only one is shown for reasons of clarity; but see the Fig 1-2 ) of the roller segments 3 are connected to the common controller 13 via a star-shaped LAN network. Specifically, the axis controller 10 and the common controller 13 are each connected to a router or switch 27 via network cables 31.
- the solution according to the invention separates the bus networks for the roller segments 3 from one another.
- the common controller 13 in turn forms a separate LAN network 21 with the axis controllers 10.
- An advantage of the star-shaped LAN network is that a failure of a network cable 31 between an axis controller 10 and the common controller 13 is only a single roller segment concerns; the other segments continue to work undisturbed. However, even in this case, the affected segment can continue to maintain emergency operation, since only the communication between the common controller 13 and the axis controller 10, but not the communication from the axis controller 10 with the position sensors 8a ... 8d, is affected.
- the Fig. 9 shows a second variant of the control and / or regulating device according to the invention.
- the hydraulic cylinders 7a ... 7d of the roller segment 3 are also part of the bus network 20.
- All axis controllers 10 are connected to the common control 13 as in FIG Fig. 8 by means of a star-shaped network 21.
- Each roller segment 3 is also assigned a separate valve stand 17 on the technological support structure 11 of the continuous casting machine 1.
- the valves of the separate valve position 17 are also controlled by the axis controller 10 via the bus network 20.
- the separate valve position 17 switches the pump pressure P of a hydraulic supply, not shown, which is usually located in a supply room within the technical area. Support structure 11 or in the basement, through to the valves 16a ... 16d on the roller segment 3. Before a segment change, the valve position 17 is switched off so that the valves 16a ... 16d are depressurized, ie the tank pressure T is present. Then hydraulic lines, not shown, are separated between the valve stand 17 and the valves 16a ... 16d, preferably via quick-release couplings. Finally, the bus cable 30 is also separated between the axis controller 10 and the roller segment 3. Both Fig 8-10 have the open ends of the bus network 20 terminating resistors 15 to prevent unwanted reflections. The quality of the data transmission via the bus network 20 is thus improved.
- the Fig 10 shows a third variant of the control and / or regulating device according to the invention.
- the valves 16a ... 16d on the roller segment 3 and the valves 17 on the separate valve stand 17 connected in an analog manner to the separate axis controller 10.
- cables are led from the valves 16a ... 16d on the roller segment 3 and the valves on the separate valve stand 17 to a connector 40 (here a so-called Harting connector), and from the connector 40 to an analog input 35 on the axis controller 10 .
- the bus cable 30 shown here in thick, which connects the position sensors 8a ... 8d to the axis controller 10, is detachably connected to the separate axis controller 10 by the plug connector 40.
- An advantage of this embodiment is that when the roller segment 3 is replaced, only the plug 40 has to be disconnected in order to electrically separate the roller segment 3 from the axis controller 10. It would also be possible to digitally connect the valves 16a ... 16d and the valves on the separate valve stand 17 to the axis controller 10. In this case, the analog input 35 would be a digital input. Further electrical connections, for example for electrical supply, can be connected via the connector 40.
- the procedure is as follows: First, the bus network 20 between the separate axis controller 10, which is assigned to the roller segment 3, and the roller segment 3 and the hydraulic connections between the valve stand 17 and the roller segment 3 are separated. The easiest way to do this is to unplug a single connector 40 (see Fig 10 ).
- the roller segment 3 is then removed from the support roller frame 2 of the continuous casting machine 1. This is usually done by a crane, which the roller segment 3 on rails 115 (see Fig 1-2 ) extends from the support roller frame 2.
- the extended roller segment is typically repaired next to the continuous casting machine 1. An already repaired roller segment is referred to as a new roller segment 3 '.
- strand guide rollers 4 or spray nozzles 120 may be exchanged. At least when replacing strand guide rollers 4, it is necessary to recalibrate the roller segment 3. For this purpose, a between the upper and the lower frame 6, 5 of the roller segment 3 A section of strand with a defined thickness is inserted and the upper frame 6 is moved against the lower frame 5 by means of the four hydraulic cylinders 7 as far as it will go.
- the position values of the individual position sensors 8a ... 8d of the hydraulic cylinders 7a ... 7d are read out and stored as calibration data in a non-volatile memory 19 of the respective bus interfaces 9a ... 9d of the position sensors.
- the bus network 20 between the separate axis controller 10, which is now assigned to the new roller segment 3', and the new roller segment 3 'and the hydraulic connections between the valve position 17 and the new role segment 3 'reconnected After installing the new roller segment 3 'in the support roller frame 2 of the continuous casting machine 1, the bus network 20 between the separate axis controller 10, which is now assigned to the new roller segment 3', and the new roller segment 3 'and the hydraulic connections between the valve position 17 and the new role segment 3 'reconnected.
- the separate axis controller 10 is controlled by the common controller 13, the separate axis controller 10, taking into account the calibration data, outputs a manipulated variable signal to a valve 16 on the new roller segment 3 ', so that the actual position of a position transmitter 16a ... 16d of the hydraulic cylinder 7a ... 7d corresponds as exactly as possible to the target position.
- the invention has been illustrated and described in detail by the preferred exemplary embodiments for continuous slab casting machines, the invention is not restricted by the disclosed examples and other variations can be derived therefrom by a person skilled in the art without departing from the scope of protection of the invention.
- the invention can also be used in continuous casting machines for long products, for example billet, bloom or blooms.
- the invention also applies to continuous casting machines for Long products simplifies cabling and reduces the time required to replace a segment of the strand guide.
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Description
Die vorliegende Erfindung betrifft eine Steuer- und/oder Regeleinrichtung für ein Stützrollengerüst einer Stranggießmaschine und ein Verfahren zum Auswechseln eines Rollensegments in einem Stützrollengerüst einer Stranggießmaschine.The present invention relates to a control and / or regulating device for a support roller stand of a continuous casting machine and a method for exchanging a roller segment in a support roller stand of a continuous casting machine.
Konkret betrifft die Erfindung eine Steuer- und/oder Regeleinrichtung für ein Stützrollengerüst einer Stranggießmaschine, wobei das Stützrollengerüst aus mehreren aufeinanderfolgenden Rollensegmenten besteht, die jeweils über einen die Stützrollen tragenden Unterrahmen und einen gegenüberliegenden Oberrahmen mittels zumindest eines Hydraulikzylinders gegeneinander geregelt anstellbar sind, wobei jedes Rollensegment mit einem separaten Achsenregler verbunden ist, der eine Busschnittstelle und einen Netzwerkanschluss aufweist.Specifically, the invention relates to a control and / or regulating device for a supporting roller frame of a continuous casting machine, the supporting roller frame consisting of a plurality of successive roller segments, each of which can be adjusted against one another in a controlled manner by means of a lower frame supporting the supporting rollers and an opposite upper frame by means of at least one hydraulic cylinder, each roller segment is connected to a separate axis controller, which has a bus interface and a network connection.
Außerdem betrifft die Erfindung ein Verfahren zum Auswechseln eines Rollensegments in einem Stützrollengerüst einer Stranggießmaschine, aufweisend die Verfahrensschritte:
- Ausbau des Rollensegments aus dem Stützrollengerüst der Stranggießmaschine; und
- Einbau eines neuen Rollensegments in das Stützrollengerüst der Stranggießmaschine.
- Removal of the roller segment from the support roller frame of the continuous casting machine; and
- Installation of a new roller segment in the support roller frame of the continuous casting machine.
Aus der
Nachteilig an der vorgeschlagenen Lösung ist,
- a) dass die Positionssignale über eine relativ große Entfernung vom Klemmkasten zum Achsenregler auf dem ortsfesten Hallengerüst geführt werden, wodurch die Signale durch elektromagnetische Felder (z.B. von einer elektromagnetischen Bremse) verfälscht werden können; und
- b) dass hydraulische Leitungen vom weit entfernten Ventilstand auf dem ortsfesten Hallengerüst zum Rollensegment geführt werden müssen, wodurch die max. erzielbare Dynamik der hydraulischen Ansteuerung aufgrund der langen Leitungen stark eingeschränkt wird. Weiters neigt das Hydrauliksystem zum Schwingen, wodurch die Genauigkeit der Positionsregelung der Hydraulikzylinder leidet.
- a) that the position signals are carried over a relatively large distance from the terminal box to the axis controller on the stationary hall scaffolding, as a result of which the signals can be falsified by electromagnetic fields (eg from an electromagnetic brake); and
- b) that hydraulic lines must be routed from the distant valve position on the stationary hall frame to the roller segment, which means that the max. Achievable dynamics of the hydraulic control is severely restricted due to the long lines. Furthermore, the hydraulic system tends to vibrate, which affects the accuracy of the position control of the hydraulic cylinders.
Wie die Verkabelung und die Verschlauchung der Steuer- und/oder Regeleinrichtung weiter vereinfacht werden kann, ohne dass die vorgenannten Nachteile auftreten, geht aus der Schrift nicht hervor.The document does not show how the wiring and tubing of the control and / or regulating device can be further simplified without the aforementioned disadvantages occurring.
Die Aufgabe der Erfindung ist es, die Nachteile des Stands der Technik zu überwinden und die Verkabelung der Steuer- und/oder Regeleinrichtung weiter zu vereinfachen. Außerdem sollen die übermittelten Signale bestmöglich gegen eine Beeinflussung durch elektromagnetische Störungen abgesichert werden. Eine weitere Aufgabe der Erfindung besteht darin, ein robustes und zeitsparendes Verfahren für den Wechsel eines Rollensegments in einem Stützrollengerüst einer Stranggießmaschine darzustellen.The object of the invention is to overcome the disadvantages of the prior art and to further simplify the wiring of the control and / or regulating device. Furthermore The transmitted signals should be protected against interference from electromagnetic interference as best as possible. Another object of the invention is to provide a robust and time-saving method for changing a roller segment in a support roller stand of a continuous casting machine.
Diese Aufgabe löst die eingangs genannte Steuer- und/oder Regeleinrichtung dadurch,
- dass jeder Hydraulikzylinder einen Positionsgeber mit einer Busschnittstelle aufweist;
- dass die Busschnittstelle des Achsenreglers mit den Busschnittstellen der Positionsgeber (8a...8d) ein Busnetzwerk ausbilden;
- dass die Stranggießmaschine eine gemeinsame Steuerung mit einem Netzwerkanschluss aufweist, wobei die gemeinsame Steuerung und die separaten Achsenregler ein sternförmiges Netzwerk ausbilden; und
- dass das Busnetzwerk und das sternförmige Netzwerk zwei separate Netze darstellen, und das Busnetzwerk als Linienbus-Netzwerk, wie ein CAN- oder Profibus, und das sternförmige Netzwerk als LAN ausgebildet sind.
- that each hydraulic cylinder has a position transmitter with a bus interface;
- that the bus interface of the axis controller form a bus network with the bus interfaces of the position sensors (8a ... 8d);
- that the continuous casting machine has a common control with a network connection, the common control and the separate axis controllers forming a star-shaped network; and
- that the bus network and the star-shaped network represent two separate networks, and the bus network is designed as a line bus network, such as a CAN or Profibus, and the star-shaped network as a LAN.
Erfindungsgemäß weist jeder Hydraulikzylinder einen Positionsgeber mit einer Busschnittstelle auf, sodass die analogen oder digitalen Positionssignale vom Positionsgeber bereits als Bussignale übertragen werden können. Da die Kommunikation in einem Busnetzwerk (z.B. ein CAN- oder Profibusnetzwerk) durch fehlererkennende oder fehlerkorrigierende Codes erfolgen kann, erübrigt bzw. reduziert sich eine aufwändige Abschirmung der Leitungen. Etwaige Übertragungsfehler können automatisch erkannt oder sogar automatisch korrigiert werden. Durch die Trennung der Netzwerksarchitektur in einem schnellen, als Busnetzwerk aufgeführten, Teil und einen langsamen, als sternförmiges Netzwerk (LAN) ausgeführten, Teil, werden Signale mit hoher Dynamik nur mehr von den Positionsgebern zum jeweiligen Achsenregler übertragen. Langsame Signale, z.B. geänderte Sollwerte für die Positionsregelung der Hydraulikzylinder, werden von der gemeinsamen Steuerung an die separaten Achsenregler über ein separates sternförmiges Netzwerk (z.B. ein Ethernet Netzwerk) vorgegeben. Weiters erlaubt die Trennung des Netzwerks in zwei Teile auch eine Aufrechterhaltung der Regelung der Hydraulikzylinder, wenn die Netzwerkkommunikation zwischen der gemeinsamen Steuerung und den separaten Achsenreglern einmal ausfallen sollte.According to the invention, each hydraulic cylinder has a position transmitter with a bus interface, so that the analog or digital position signals can already be transmitted by the position transmitter as bus signals. Since communication in a bus network (e.g. a CAN or Profibus network) can take place using error-recognizing or error-correcting codes, time-consuming shielding of the lines is unnecessary or reduced. Any transmission errors can be recognized automatically or even corrected automatically. By separating the network architecture into a fast part, which is listed as a bus network, and a slow part, which is designed as a star-shaped network (LAN), signals with high dynamics are only transmitted from the position sensors to the respective axis controller. Slow signals, e.g. changed setpoints for position control of the hydraulic cylinders, are specified by the common controller to the separate axis controllers via a separate star-shaped network (e.g. an Ethernet network). Furthermore, the separation of the network into two parts also allows the control of the hydraulic cylinders to be maintained if the network communication between the common controller and the separate axis controllers should fail.
Obwohl das Netzwerk zwischen der gemeinsamen Steuerung und den separaten Achsenreglern auch als Busnetzwerk ausgebildet werden könnte, ist daran nachteilig, dass bei einer Unterbrechung die Kommunikation zwischen einem Netzwerksteil oberhalb des Orts der Unterbrechung und einem Netzwerksteil unterhalb des Orts der Unterbrechung nicht mehr möglich ist. Erfindungsgemäß wird ein Busnetzwerk zwischen dem separaten Achsenregler und zumindest den Busschnittstellen der Positionsgeber ein separates Busnetzwerk ausbildet. Steuerungen mit mehreren Busschnittstellen sind dem Fachmann bekannt.Although the network between the common controller and the separate axis controllers could also be designed as a bus network, the disadvantage of this is that in the event of an interruption, communication between a network part above the location of the interruption and a network part below the location of the interruption is no longer possible. According to the invention, a separate bus network is formed between the separate axis controller and at least the bus interfaces of the position sensors. Control systems with several bus interfaces are known to the person skilled in the art.
Die erfindungsgemäße Steuer- oder Regeleinrichtung ist sowohl für Stranggießmaschinen für Flachprodukte (z.B. mit Brammenquerschnitt) als auch für Stranggießmaschinen für Langprodukte (z.B. mit Knüppel-, Vorblock- oder Vorprofilquerschnitt) geeignet. Die Rollensegmente eines Stützrollengerüsts einer Stranggießmaschine für Flachprodukte (die Rollensegmente werden auch als Strangführungssegmente bezeichnet) weisen jeweils (typischerweise vier) paarweise angeordnete Hydraulikzylinder auf, sodass ein Oberrahmen gegenüber dem Unterrahmen durch die paarweise angeordnete Hydraulikzylinder geregelt angestellt werden kann. Hingegen weisen die Rollensegmente eines Stützrollengerüsts einer Stranggießmaschine für Langprodukte (die Rollensegmente werden auch als Auszieheinheiten bezeichnet) jeweils oft nur einen einzigen oder zwei gegenüberliegende Hydraulikzylinder auf, wobei aber dennoch ein Oberrahmen gegenüber dem Unterrahmen durch den Hydraulikzylinder bzw. die gegenüberliegenden Hydraulikzylinder geregelt angestellt werden kann.The control or regulating device according to the invention is suitable both for continuous casting machines for flat products (for example with a slab cross section) and for continuous casting machines for long products (for example with billet, bloom block or pre-profile cross section). The roller segments of a support roller stand of a continuous casting machine for flat products (the roller segments are also referred to as strand guide segments) each have (typically four) hydraulic cylinders arranged in pairs, so that an upper frame can be adjusted in relation to the lower frame by the hydraulic cylinders arranged in pairs. On the other hand, the roller segments of a support roller frame of a continuous casting machine for long products (the roller segments are also referred to as pull-out units) each often have only one or two hydraulic cylinders lying opposite one another, although an upper frame can nevertheless be regulated in relation to the lower frame by the hydraulic cylinder or the hydraulic cylinders opposite .
Die Bewegung der Hydraulikzylinder weist eine hohe Dynamik auf, wenn jeder Hydraulikzylinder mit einem Ventil (z.B. ein Schalt-, Regel- oder Servoventil) verbunden ist, wobei das Ventil auf dem Rollensegment, insbesondere auf dem Hydraulikzylinder, angeordnet ist und das Ventil mit dem Hydraulikzylinder über eine , vorzugsweise kurze, Verschlauchung oder Verrohrung verbunden ist.The movement of the hydraulic cylinders is highly dynamic if each hydraulic cylinder is connected to a valve (for example a switching, control or servo valve), the valve being arranged on the roller segment, in particular on the hydraulic cylinder, and the valve with the hydraulic cylinder is connected via, preferably short, tubing or piping.
Da Druckgeber zumeist äußerst störungsempfindlich sind, ist es vorteilhaft, wenn jeder Hydraulikzylinder einen oder zwei Druckgeber zur Messung je eines hydraulischen Drucks aufweist, wobei der Druckgeber mit einer Busschnittstelle verbunden ist. Bei dieser Ausführungsform ist entweder der Druckgeber mit der Busschnittstelle des Positionsgebers verbunden, oder der Druckgeber selbst weist eine separate Busschnittstelle auf. Somit ist der Druckgeber direkt oder indirekt in das Busnetzwerk eingebunden.Since pressure transmitters are usually extremely sensitive to faults, it is advantageous if each hydraulic cylinder has one or two pressure transmitters for measuring a hydraulic pressure each, the pressure transmitter being connected to a bus interface. In this embodiment, either the pressure transmitter is connected to the bus interface of the position transmitter, or the pressure transmitter itself has a separate bus interface. The pressure transmitter is thus directly or indirectly integrated into the bus network.
Um die Leitungslänge zwischen dem Rollensegment und dem Achsenregler kurz zu halten und den Achsenregler vor rauen Umwelteinflüssen auf dem Segment zu schützen, ist es vorteilhaft, wenn der separate Achsenregler, vorzugsweise unmittelbar, neben dem Rollensegment auf der technologischen Stützkonstruktion angeordnet ist. Unter der technologischen Stützkonstruktion soll in dieser Anmeldung die Stützkonstruktion der Stranggießmaschine (und nicht der Halle, in der die Stranggießmaschine angeordnet ist) verstanden werden, die bspw. aus Beton, Stahl oder Ähnlichem besteht.In order to keep the line length between the roller segment and the axis controller short and to protect the axis controller from harsh environmental influences on the segment, it is advantageous if the separate axis controller is arranged on the technological support structure, preferably directly next to the roller segment. In this application, the technological support structure is to be understood to mean the support structure of the continuous casting machine (and not the hall in which the continuous casting machine is arranged), which, for example, consists of concrete, steel or the like.
Um eine Busschnittstelle oder einen Netzwerkanschluss vor Staub, Feuchtigkeit etc. schützen zu können, ist es vorteilhaft, wenn die Busschnittstelle oder der Netzwerkanschluss eine Gaszuführung für Instrumentenluft oder Stickstoff aufweist, wodurch die Busschnittstelle oder der Netzwerkanschluss gegenüber der Umgebung auf einem erhöhten Druckniveau gehalten werden kann. Dadurch wird das Eindringen von Fremdkörpern bzw. Partikeln oder Feuchtigkeit verhindert.In order to be able to protect a bus interface or a network connection from dust, moisture, etc., it is advantageous if the bus interface or the network connection has a gas supply for instrument air or nitrogen, as a result of which the bus interface or the network connection can be kept at an increased pressure level with respect to the environment . This prevents the ingress of foreign bodies or particles or moisture.
Um die Leitungs- oder Schlauchlänge zwischen der Hydraulikversorgung und dem Rollengerüst kurz zu halten, ist es sinnvoll, die Hydraulikversorgung der Stranggießmaschine auf einer Zwischenbühne (und nicht so wie im Stand der Technik üblich im Keller) der Stranggießmaschine anzuordnen.In order to keep the line or hose length between the hydraulic supply and the roller stand short, it makes sense to arrange the hydraulic supply of the continuous casting machine on an intermediate stage (and not, as is customary in the prior art, in the basement) of the continuous casting machine.
Bei der letztgenannten Ausführungsform ist es zweckmäßig, wenn die Stranggießmaschine einen gemeinsamen Ventilstand für mehrere Rollensegmente auf der Zwischenbühne aufweist, wobei die Hydraulikversorgung mit dem gemeinsamen Ventilstand und der gemeinsame Ventilstand mit den Ventilen auf dem Rollensegment hydraulisch verbunden ist. Die Verbindung zwischen dem gemeinsamen Ventilstand und den Ventilen auf dem Rollensegment erfolgt vorzugsweise über lösbare Schnellkupplungen.In the latter embodiment, it is expedient if the continuous casting machine has a common valve position for a plurality of roller segments on the intermediate stage, the hydraulic supply being hydraulically connected to the common valve position and the common valve position to the valves on the roller segment. The connection between the common valve position and the valves on the roller segment is preferably via quick-release couplings.
Alternativ dazu ist für jedes Rollensegment ein separater Ventilstand auf der technologischen Stützkonstruktion angeordnet, wobei die Hydraulikversorgung mit dem separaten Ventilstand und der separate Ventilstand mit den Ventilen auf dem Rollensegment hydraulisch verbunden sind. Die Verbindung zwischen dem Ventilstand und den Ventilen auf dem Rollensegment erfolgt vorzugsweise über lösbare Schnellkupplungen.Alternatively, a separate valve stand is arranged on the technological support structure for each roller segment, the hydraulic supply being hydraulically connected to the separate valve stand and the separate valve stand being connected to the valves on the roller segment. The connection between the valve position and the valves on the roller segment is preferably made via releasable quick-release couplings.
Der gemeinsame oder separate Ventilstand gibt die Hydraulikversorgung eines oder mehrerer Rollensegmente frei oder trennt sie. Dadurch kann der Wechsel eines Rollensegments gefahrlos erfolgen.The common or separate valve position enables or disconnects the hydraulic supply to one or more roller segments. This means that changing a roll segment can be done safely.
Die Ausfallssicherheit der Buskommunikation kann erhöht werden, wenn jeder separate Achsenregler und jeder Hydraulikzylinder zwei oder mehr als zwei Busschnittstellen aufweisen, wobei der separate Achsenregler und die Positionsgeber zwei oder mehr als zwei unabhängige Busnetzwerke ausbilden.The reliability of the bus communication can be increased if each separate axis controller and each hydraulic cylinder have two or more than two bus interfaces, the separate axis controller and the position sensors forming two or more independent bus networks.
Für einen raschen Ein- und Ausbau eines Rollensegments ist es vorteilhaft, wenn jede Busschnittstelle eines Hydraulikzylinders einen permanenten Speicher für achsenspezifische Daten, wie Kalibrierdaten, Betriebsstunden etc., aufweist. Somit kann ein neues Rollensegment außerhalb der Stranggießmaschine vorkalibriert werden, die Kalibrierdaten auf den permanenten Speicher abgelegt, und nach dem Einbau des Rollensegments die Kalibrierdaten automatisch in den separaten Achsenregler eingelesen werden.For rapid installation and removal of a roller segment, it is advantageous if each bus interface of a hydraulic cylinder has a permanent memory for axis-specific data such as calibration data, operating hours etc. Consequently A new roller segment can be pre-calibrated outside the continuous casting machine, the calibration data stored in the permanent memory, and after the installation of the roller segment, the calibration data can be automatically read into the separate axis controller.
Eine einfache Ansteuerung der Ventile auf dem Rollensegment ist machbar, wenn die Ventile eine Busschnittstelle aufweisen, wobei die Busschnittstelle des separaten Achsenreglers mit den Busschnittstellen der Ventile und der Positionsgeber ein Busnetzwerk ausbilden. Somit werden auch die Ventile in das Busnetzwerk eingebunden.A simple control of the valves on the roller segment is feasible if the valves have a bus interface, the bus interface of the separate axis controller forming a bus network with the bus interfaces of the valves and the position transmitter. This means that the valves are also integrated into the bus network.
Bei der letztgenannten Ausführungsform ist es vorteilhaft, wenn jedes Ventil eine Busschnittstelle aufweist. Alternativ dazu können die (typischerweise vier) Ventile auf dem Rollensegment eine gemeinsame Busschnittstelle aufweisen, wobei die gemeinsame Busschnittstelle mit den Ventilen analog oder digital verbunden ist.In the latter embodiment, it is advantageous if each valve has a bus interface. Alternatively, the (typically four) valves on the roller segment can have a common bus interface, the common bus interface being connected to the valves in an analog or digital manner.
Insbesondere bei einem Stützrollengerüst einer Stranggießanlage für Flachprodukte oder einem Stützrollengerüst einer Stranggießanlage für relativ breite Langprodukte (z.B. großformatige Vorblöcke) ist es aufgrund der großen Strangbreite vorteilhaft, wenn der Unterrahmen gegenüber dem Oberrahmen durch paarweise angeordnete Hydraulikzylinder geregelt anstellbar ist.Particularly in the case of a support roller stand of a continuous casting plant for flat products or a support roller stand of a continuous casting plant for relatively wide long products (e.g. large-sized blooms), it is advantageous due to the large strand width if the lower frame can be adjusted in relation to the upper frame by means of hydraulic cylinders arranged in pairs.
Die erfindungsgemäße Aufgabe wird auch durch ein Verfahren zum Auswechseln eines Rollensegments in einem Stützrollengerüst einer Stranggießmaschine gelöst, das folgende Verfahrensschritte aufweist:
- Trennen eines Busnetzwerks zwischen dem separaten Achsenregler und dem Rollensegment und Trennen von Hydraulikverbindungen zwischen dem Ventilstand und dem Rollensegment;
- Ausbau des Rollensegments aus dem Stützrollengerüst der Stranggießmaschine;
- Einbau eines neuen Rollensegments in das Stützrollengerüst der Stranggießmaschine, wobei das neue Rollensegments über einen Unterrahmen und einen gegenüberliegenden Oberrahmen mittels zumindest eines Hydraulikzylinders gegeneinander geregelt anstellbar ist, und jeder Hydraulikzylinder einen Positionsgeber (8a...8d) oder einen Druckgeber (22) mit einer Busschnittstelle mit einem permanenten Speicher aufweist, der zumindest Kalibrierdaten für den Hydraulikzylinder enthält;
- Verbinden des Busnetzwerks zwischen dem separaten Achsenregler und dem neuen Rollensegment und Verbinden der Hydraulikverbindungen zwischen dem Ventilstand und dem neuen Rollensegment;
- Auslesen der Kalibrierdaten der Hydraulikzylinder des neuen Rollensegments aus den permanenten Speichern in den separaten Achsenregler;
- Ansteuern des separaten Achsenreglers durch die gemeinsame Steuerung, wobei der separate Achsenregler unter Berücksichtigung der Kalibrierdaten ein Stellgrößensignal an ein Ventil auf dem neuen Rollensegment ausgibt, sodass der Ist-Wert des Hydraulikzylinders dem Soll-Wert möglichst entspricht.
- Separating a bus network between the separate axis controller and the roller segment and separating hydraulic connections between the valve stand and the roller segment;
- Removal of the roller segment from the support roller frame of the continuous casting machine;
- Installation of a new roller segment in the support roller frame of the continuous casting machine, the new roller segment being adjustable against one another by means of at least one hydraulic cylinder via a lower frame and an opposite upper frame, and each hydraulic cylinder having a position sensor (8a ... 8d) or a pressure sensor (22) with a Bus interface with a permanent memory that contains at least calibration data for the hydraulic cylinder;
- Connecting the bus network between the separate axis controller and the new roller segment and connecting the hydraulic connections between the valve stand and the new roller segment;
- Reading out the calibration data of the hydraulic cylinders of the new roller segment from the permanent memories in the separate axis controller;
- Activation of the separate axis controller by the common control, the separate axis controller, taking into account the calibration data, outputs a manipulated variable signal to a valve on the new roller segment so that the actual value of the hydraulic cylinder corresponds as closely as possible to the target value.
Vor dem Ausbau des Rollensegments werden die Busverbindungen zwischen dem separaten Achsenregler und dem Rollensegment getrennt. Außerdem werden die Hydraulikverbindungen zwischen dem Ventilstand und dem Rollensegment getrennt. Anschließend wird das Rollensegment, typischerweise über Schienen, aus dem Stützrollengerüst ausgebaut. Im Anschluss daran wird ein neues Rollensegment in das Stützrollengerüst eingebaut, wobei auch das neue Rollensegment über einen Unterrahmen und einen gegenüberliegenden Oberrahmen mittels zumindest eines Hydraulikzylinders gegeneinander geregelt anstellbar ist. Außerdem weist jeder Hydraulikzylinder eine Busschnittstelle mit einem permanenten Speicher auf, der zumindest Kalibrierdaten für den Hydraulikzylinder enthält. Nach dem Einbau des Rollensegments werden das Busnetzwerk zwischen dem separaten Achsenregler und dem neuen Rollensegment und die Hydraulikverbindungen zwischen dem Ventilstand und dem neuen Rollensegment wieder verbunden. Nach dem Verbinden des Busnetzwerks werden die Kalibrierdaten der Hydraulikzylinder des neuen Rollensegments aus den permanenten Speichern in den separaten Achsenregler eingelesen, wobei der separate Achsenregler unter Berücksichtigung der Kalibrierdaten je ein Stellgrößensignal an ein Ventil auf dem neuen Rollensegment ausgibt, sodass der Ist-Wert des Hydraulikzylinders dem Soll-Wert möglichst entspricht. Unter dem Soll- bzw. Ist-Wert ist typischerweise eine Position (bei einer Positionsregelung) oder ein Druck (bei einer Kraftregelung) gemeint. Dabei kommt es nicht darauf an, ob der permanente Speicher mit der Busschnittstelle des Positionsgebers oder des Druckgebers verbunden ist. Wichtig ist lediglich, dass der permanente, d.h. nicht flüchtige, Speicher einem Hydraulikzylinder auf dem Rollensegment zugeordnet ist.Before the roll segment is removed, the bus connections between the separate axis controller and the roll segment are disconnected. In addition, the hydraulic connections between the valve position and the roller segment are separated. The roller segment is then removed from the support roller frame, typically via rails. A new roller segment is then installed in the support roller frame, the new roller segment also being adjustable against one another by means of at least one hydraulic cylinder via a lower frame and an opposite upper frame. In addition, each hydraulic cylinder has a bus interface with a permanent memory that contains at least calibration data for the hydraulic cylinder. After installing the roller segment, the bus network between the separate axis controller and the new roller segment and the hydraulic connections between the valve position and the new roller segment reconnected. After connecting the bus network, the calibration data of the hydraulic cylinders of the new roller segment are read from the permanent memories into the separate axis controller, whereby the separate axis controller outputs a command value signal to a valve on the new roller segment, taking into account the calibration data, so that the actual value of the hydraulic cylinder corresponds to the target value as far as possible. The setpoint or actual value is typically a position (for position control) or a pressure (for force control). It does not matter whether the permanent memory is connected to the bus interface of the position transmitter or the pressure transmitter. It is only important that the permanent, ie non-volatile, memory is assigned to a hydraulic cylinder on the roller segment.
Beim erfindungsgemäßen Verfahren ist es zweckmäßig, wenn vor dem Einbau das neue Rollensegment außerhalb der Stranggießanlage vorkalibriert wird und die Kalibrierdaten in den permanenten Speicher abgelegt werden.In the method according to the invention, it is expedient if the new roller segment is precalibrated outside the continuous casting installation and the calibration data are stored in the permanent memory before installation.
Weitere Vorteile und Merkmale der vorliegenden Erfindung ergeben sich aus der nachfolgenden Beschreibung nicht einschränkender Ausführungsbeispiele, wobei die folgenden Figuren zeigen:
-
Fig 1 : eine schematische Darstellung einer Stranggießmaschine zur Herstellung von Brammen in Oberflurbauweise -
Fig 2 : ein Detail ausFig 1 -
Fig 4 : eine perspektivische Darstellung eines Strangführungssegments -
Fig 5 : ein Detail ausFig 4 -
Fig 6 : eine schematische Darstellung der erfindungsgemäßen Steuer- und/oder Regeleinrichtung -
Fig 7 : eine teilweise geschnittene Darstellung eines Hydraulikzylinders eines Strangführungssegments -
Fig 3 : eine Variante zuFig 7 -
Fig 8 ,9 und10 : drei Varianten der Bus- und Netzwerkverkabelung der erfindungsgemäßen Steuer- oder Regeleinrichtung
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Fig. 1 : a schematic representation of a continuous casting machine for the production of slabs in above-ground construction -
Fig. 2 : a detail fromFig. 1 -
Fig. 4 : a perspective view of a strand guide segment -
Fig. 5 : a detail fromFig. 4 -
Fig. 6 : A schematic representation of the control and / or regulating device according to the invention -
Fig. 7 : a partially sectioned illustration of a hydraulic cylinder of a strand guide segment -
Fig. 3 : a variant tooFig. 7 -
Fig. 8 ,9 and10th : three variants of the bus and network cabling of the control or regulating device according to the invention
Die
Die
Die
Die
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Die
Beim Stand der Technik wird das Wegmesssystem üblicherweise direkt in den Zylinder eingebaut, wo es dem Hydraulikfluid und damit ungünstigen Umgebungsbedingungen (hohe Drücke, hohe Temperaturen und chemische Einflüsse durch das heiße Hydraulikfluid) ausgesetzt ist. Dadurch erhöhen sich die Anforderungen an das Wegmesssystem betreffend Robustheit. Durch den Einbau des Wegmesssystems in den Hydraulikzylinder ist das Wegmesssystem schwer zugänglich; dies wirkt sich deshalb negativ auf die Instandhaltungsfreundlichkeit aus.
Außerdem werden für Wegmesssyteme nach dem Stand der Technik üblicherweise Analogwegmesssysteme oder Messsysteme mit Digitalschnittstelle (SSI, Gray Code...) verwendet. Diese Wegmesssysteme sind nicht fähig Daten/Informationen im Wegmesssystem zu speichern (z.B. Kalibrierdaten). Kalibrierdaten können daher nicht direkt am Bauteil selbst gespeichert werden, sondern müssen bspw. über ein Datenbanksystem der gemeinsamen Steuerung (dem sog. Leitsystem) zur Verfügung gestellt werden. Wird ein Segment ausgetauscht, müssen die Kalibrierdaten manuell dem Hydraulikzylinder zugeordnet werden. Dies ist aufwändig und kann zu Problemen und falschen Kalibrierdaten führen, da das Bauteil nicht fix mit seinen Kalibrierdaten verbunden ist. Darüber hinaus muss jeder Sensor einzeln verkabelt und mit der Steuereinrichtung (Achsregler) verbunden werden, was zu einem hohen Verkabelungsaufwand führt. Werden auch Drucksensoren verwendet erhöht sich der Verkabelungsaufwand weiter (2 Drucksensoren pro Zylinder). Sensoren mit den genannten Schnittstellen verfügen auch nicht über die Möglichkeit der Fehlererkennung bzw. -korrektur, wie dies bei busfähigen Sensoren möglich ist.
Schließlich werden für Drucksensoren nach dem Stand der Technik üblicherweise analoge Sensoren (4-20 mA, 0 -20 mA, 0- 10 V) verwendet. Der Verkabelungsaufwand steigt dadurch wie zuvor erwähnt. Mit der erhöhten Anzahl der Klemmstellen steigt auch die Fehleranfälligkeit durch mechanisches Lösen der Verbindung oder Korrosion. Mit der Länge der Verkabelung erhöht sich auch die Einstreustrecke für etwaige elektromagnetische Störquellen, welche die Übertragung negativ beeinflussen können.In the prior art, the position measuring system is usually installed directly in the cylinder, where it is exposed to the hydraulic fluid and thus to unfavorable environmental conditions (high pressures, high temperatures and chemical influences from the hot hydraulic fluid). This increases the requirements for the position measuring system regarding robustness. The position measuring system is difficult to access due to the installation of the position measuring system in the hydraulic cylinder; this therefore has a negative impact on ease of maintenance.
In addition, analog position measuring systems or measuring systems with a digital interface (SSI, Gray Code ...) are usually used for position measuring systems according to the prior art. These position measuring systems are not able to store data / information in the position measuring system (e.g. calibration data). Calibration data can therefore not be saved directly on the component itself, but must be made available, for example, via a database system of the common control (the so-called control system). If a segment is exchanged, the calibration data must be manually assigned to the hydraulic cylinder. This is complex and can lead to problems and incorrect calibration data, since the component is not permanently connected to its calibration data. In addition, each sensor must be individually wired and connected to the control device (axis controller), which leads to high cabling costs. If pressure sensors are also used, the wiring effort increases further (2 pressure sensors per cylinder). Sensors with the interfaces mentioned do not have the option of error detection or correction, as is possible with bus-compatible sensors.
Finally, analog sensors (4-20 mA, 0-20 mA, 0- 10 V) are usually used for pressure sensors according to the prior art. The cabling effort increases as previously mentioned. With the increased number of clamping points, the susceptibility to errors due to mechanical loosening of the connection or corrosion increases. The length of the cabling also increases the litter path for any electromagnetic interference sources that can negatively affect the transmission.
Gemäß
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Bei einem Wechsel eines Rollensegments 3 der Strangführung 2 wird wie folgt vorgegangen: Zuerst wird das Busnetzwerk 20 zwischen dem separaten Achsenregler 10, der dem Rollensegment 3 zugeordnet ist, und dem Rollensegment 3 sowie die Hydraulikverbindungen zwischen dem Ventilstand 17 und dem Rollensegment 3 getrennt. Am bequemsten erfolgt dies durch das Abstecken eines einzigen Steckverbinders 40 (siehe
Obwohl die Erfindung im Detail durch die bevorzugten Ausführungsbeispiele für Brammen-Stranggießmaschinen näher illustriert und beschrieben wurde, so ist die Erfindung nicht durch die offenbarten Beispiele eingeschränkt und andere Variationen können vom Fachmann hieraus abgeleitet werden, ohne den Schutzumfang der Erfindung zu verlassen. Insbesondere kann die Erfindung auch bei Stranggießmaschinen für Langprodukte, z.B. Knüppel-, Vorblock- oder Vorprofilsträngen, angewendet werden. Ebenso wie bei Brammen-Stranggießmaschinen wird durch die Erfindung auch bei Stranggießmaschinen für Langprodukte die Verkabelung vereinfacht und die Zeit für das Auswechseln eines Segments der Strangführung verringert.Although the invention has been illustrated and described in detail by the preferred exemplary embodiments for continuous slab casting machines, the invention is not restricted by the disclosed examples and other variations can be derived therefrom by a person skilled in the art without departing from the scope of protection of the invention. In particular, the invention can also be used in continuous casting machines for long products, for example billet, bloom or blooms. As with continuous slab casting machines, the invention also applies to continuous casting machines for Long products simplifies cabling and reduces the time required to replace a segment of the strand guide.
- 11
- StranggießmaschineContinuous casting machine
- 22nd
- StützrollengerüstSupport roller frame
- 3, 3a...313, 3a ... 31
- RollensegmentRole segment
- 3'3 '
- neues Rollensegmentnew role segment
- 44th
- StützrolleSupport roller
- 55
- UnterrahmenSubframe
- 66
- OberrahmenTop frame
- 7, 7a...7d7, 7a ... 7d
- HydraulikzylinderHydraulic cylinder
- 8, 8a...8d8, 8a ... 8d
- PositionsgeberPosition transmitter
- 9, 9a...9e9, 9a ... 9e
- BusschnittstelleBus interface
- 10, 10a...10l10, 10a ... 10l
- separater Achsenreglerseparate axis controller
- 1111
- technologische Stützkonstruktiontechnological support structure
- 1212
- NetzwerkanschlussNetwork connection
- 1313
- gemeinsame Steuerungcommon control
- 1414
- KokilleMold
- 1515
- AbschlusswiderstandTerminating resistor
- 16, 16a...16d16, 16a ... 16d
- VentilValve
- 1717th
- separater Ventilstandseparate valve position
- 1818th
- VentilstandValve position
- 1919th
- permanenter Speicherpermanent storage
- 2020th
- BusnetzwerkBus network
- 2121st
- sternförmiges Netzwerkstar-shaped network
- 2222
- DruckgeberThruster
- 2323
- HydraulikversorgungHydraulic supply
- 2424th
- ZwischenbühneIntermediate stage
- 2525th
- Hydraulik SchnellkupplungHydraulic quick coupling
- 2626
- Magnetmagnet
- 2727th
- Router oder SwitchRouter or switch
- 2828
- WartungsrechnerMaintenance calculator
- 3030th
- BuskabelBus cable
- 3131
- NetzwerkkabelNetwork cable
- 3232
- GestängeLinkage
- 3535
- Analoge EingangAnalog input
- 4040
- SteckverbindungConnector
- 100100
- PfannendrehturmPan turret
- 105105
- KaltstrangwagenCold-drawn train
- 111111
- Trägercarrier
- 115115
- Schienenrails
- 120120
- SpritzdüseSpray nozzle
- PP
- PumpendruckPump pressure
- RR
- GießrichtungPouring direction
- SS
- Strangstrand
- TT
- TankdruckTank pressure
Claims (15)
- Open or closed-loop control device for a supporting roller frame (2) of a continuous casting machine (1), wherein the supporting roller frame (2) consists of a number of consecutive roller segments (3, 3a...3f) which are each adjustable in a controlled manner relative to one another by way of a base frame (5) supporting the supporting rollers (4) and an opposing top frame (6) by means of at least one hydraulic cylinder (7a...7d), wherein each roller segment (3, 3a...31) is connected to a separate axis controller (10, 10a...101 which has a bus interface (9e) and a network connection (12, 12a...12g), characterised in that
each hydraulic cylinder (7a...7d) has a position sensor (8a...8d) with a bus interface (9a...9d);
the bus interface (9e) of the axis controller (10, 10a...10l with the bus interfaces (9a...9d) of the position sensor (8a...8d) form a bus network (20);
the continuous casting machine (1) has a shared controller (13) with a network connection (12), wherein the shared controller (13) and the separate axis controller (10, 10a...10l form a star-shaped network (21); and
the bus network (20) and the star-shaped network (21) represent two separate networks and the bus network (20) as a line bus network such as a CAN or Profibus and the star-shaped network (21) are embodied as a LAN. - Device according to claim 1, characterised in that each hydraulic cylinder (7a...7d) is connected to a valve (16), wherein the valve (16) is arranged on the roller segment (3, 3a...3f), in particular on the hydraulic cylinder (7a...7d), and the valve (16) is connected to the hydraulic cylinder (7a...7d) by way of a preferably short piping or a pipeline.
- Device according to one of the preceding claims, characterised in that each hydraulic cylinder (7a...7d) has one or two pressure sensors (22) for measuring in each case a hydraulic pressure, wherein the pressure sensor (22) is connected to a bus interface (9, 9a...9e).
- Device according to one of the preceding claims, characterised in that the separate axis controller (10, 10a...10l is preferably arranged directly adjacent to the roller segment (3, 3a...3f) on the technological support structure (11) .
- Device according to one of the preceding claims, characterised in that the continuous casting machine (1) has a hydraulic supply (23) on an intermediate platform (24) of the continuous casting machine (1).
- Device according to claim 5, characterised in that the continuous casting machine (1) has a valve stand (18) on the intermediate platform (24), wherein the hydraulic supply (23) is connected hydraulically to the valve stand (18), and the valve stand (18) to the valves (16) on the roller segment (3, 3a...3f), preferably by way of detachable quick couplings (25).
- Device according to claim 6, characterised in that for each roller segment (3, 3a...3f) a separate valve stand (17) is arranged on the technological support structure (11), wherein the hydraulic supply (23) is connected hydraulically to the separate valve stand (17), and the separate valve stand (17) to the valves (16) on the roller segment.
- Device according to one of the preceding claims, characterised in that each separate axis controller (10, 10a...10l and each hydraulic cylinder (7, 7a...7d) have a number of bus interfaces, wherein the separate axis controller (10, 10a...10l with the position sensors form a number of independent bus networks (20).
- Device according to one of the preceding claims, characterised in that each bus interface of a hydraulic cylinder has a permanent memory (19) for axis-specific data, such as calibration data, operating hours etc.
- Device according to one of the preceding claims, characterised in that the valves (16) on the roller segment (3, 3a...3f) have a bus interface (9), wherein the bus interface (9) of the separate axis controller (10) with the bus interface or interfaces (9) of the valves (16) forms a bus network (20).
- Device according to claim 10, characterised in that each valve (16) has a bus interface (9).
- Device according to one of the preceding claims, characterised in that the base frame (5) is adjustable in a controlled manner relative to the top frame (6) by means of hydraulic cylinders (7a...7d) arranged in pairs.
- Method for exchanging a roller segment (3, 3a...3f) in a supporting roller frame (2) of a continuous casting machine (1), having the method steps:- separating a bus network between the separate axis controller (10, 10a...10l and the roller segment (3, 3a...3f) and separating hydraulic connections between the valve stand (17, 18) and the roller segment (3, 3a...3f);- removing the roller segment (3, 3a...3f) from the supporting roller frame (2) of the continuous casting machine (1);- installing a new roller segment (3') into the supporting roller frame (2) of the continuous casting machine (1), wherein the new roller segment (3') is adjustable in a controlled manner relative to one another by way of a base frame (5) and an opposing top frame (6) by means of at least one hydraulic cylinder (7a...7d), and each hydraulic cylinder (7a...7d) has a position sensor (8a...8d) or a pressure sensor (22) with a bus interface (9a...9d) with a permanent memory (20), which contains at least calibration data for the hydraulic cylinder (7a...7d);- connecting the bus network between the separate axis controller (10, 10a...10l and the new roller segment (3') and connecting the hydraulic connections between the valve stand (17, 18) and the new roller segment (3');- reading the calibration data of the hydraulic cylinder (7a...7d) of the new roller segment (3') out from the permanent memories (19) into the separate axis controller (10, 10a...10l;- activating the separate axis controller (10, 10a...10l by means of the shared controller (13), wherein by taking the calibration data into account the separate axis controller (10, 10a...10l outputs in each case an actuating variable signal to a valve (16) on the new roller segment (3'), so that the actual value of the hydraulic cylinder (7, 7a...7d) corresponds to the target value as much as possible.
- Method according to claim 13, characterised in that before installation the new roller segment (3') is precalibrated outside of the continuous casting system (1) and the calibration data is stored in the permanent memory.
- Method according to claim 13 or 14, characterised in that the base frame (5) is adjusted in a controlled manner relative to the top frame (6) by means of hydraulic cylinders (7a...7d) arranged in pairs.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA50835/2013A AT515260B1 (en) | 2013-12-17 | 2013-12-17 | Control or regulating device for a support roll stand of a continuous casting machine |
PCT/EP2014/076946 WO2015091080A1 (en) | 2013-12-17 | 2014-12-09 | Open or closed-loop control device for a supporting-roller frame of a continuous casting machine |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3083104A1 EP3083104A1 (en) | 2016-10-26 |
EP3083104B1 true EP3083104B1 (en) | 2020-06-17 |
Family
ID=52144649
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14816163.1A Active EP3083104B1 (en) | 2013-12-17 | 2014-12-09 | Open or closed-loop control device for a supporting-roller frame of a continuous casting machine |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3083104B1 (en) |
CN (1) | CN106061652B (en) |
AT (1) | AT515260B1 (en) |
WO (1) | WO2015091080A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
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AT516440B1 (en) * | 2014-10-28 | 2017-03-15 | Primetals Technologies Austria GmbH | Strand guide segment, strand guiding system and method of configuring such a strand guiding system |
DE102017219740A1 (en) * | 2017-11-07 | 2019-05-09 | Sms Group Gmbh | Strand guide segment and continuous casting plant |
CN112974746B (en) * | 2019-12-13 | 2022-11-29 | 宝武装备智能科技有限公司 | Clamping hydraulic assembly structure for continuous casting machine crystallizer vibration frame |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19836843A1 (en) * | 1998-08-14 | 2000-02-17 | Schloemann Siemag Ag | Apparatus for hydraulic setting of the rolls of billet guide segments of a continuous casting installation comprises switching valves connecting the hydraulic cylinder units to pressure sources and sinks |
TWI253360B (en) * | 2001-12-18 | 2006-04-21 | Sms Demag Ag | Feed opening adjustment of segments for continuous casting systems |
DE10222147A1 (en) * | 2002-05-17 | 2003-12-04 | Siemens Ag | Process for the transmission of data telegrams and automation components |
DE10319863B4 (en) * | 2003-05-03 | 2021-07-01 | Sms Group Gmbh | Support roller frame for billet, bloom, block, pre-section, thin and slab continuous casting machines, for casting liquid metals, in particular liquid steel materials |
DE102004054296B4 (en) * | 2004-11-09 | 2021-11-11 | Sms Group Gmbh | Control and / or regulating device for a support roller frame of a continuous casting device for metals, in particular for steel materials |
DE102004058355A1 (en) * | 2004-12-03 | 2006-06-14 | Sms Demag Ag | Continuous casting machine with a continuous casting mold for the casting of liquid metals, in particular of steel materials |
DE102004058356A1 (en) * | 2004-12-03 | 2006-06-14 | Sms Demag Ag | Control and / or regulating device for a continuous casting mold carrying a lifting table of a continuous casting apparatus for liquid metals, in particular for liquid steel material |
CN103203440B (en) * | 2013-03-28 | 2015-11-25 | 中国重型机械研究院股份公司 | Continuous casting machine fan-shaped segment imports and exports the on-line monitoring system of roll gap |
-
2013
- 2013-12-17 AT ATA50835/2013A patent/AT515260B1/en active
-
2014
- 2014-12-09 WO PCT/EP2014/076946 patent/WO2015091080A1/en active Application Filing
- 2014-12-09 CN CN201480069397.8A patent/CN106061652B/en active Active
- 2014-12-09 EP EP14816163.1A patent/EP3083104B1/en active Active
Non-Patent Citations (1)
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Also Published As
Publication number | Publication date |
---|---|
CN106061652B (en) | 2019-05-17 |
AT515260B1 (en) | 2017-12-15 |
AT515260A1 (en) | 2015-07-15 |
CN106061652A (en) | 2016-10-26 |
WO2015091080A1 (en) | 2015-06-25 |
EP3083104A1 (en) | 2016-10-26 |
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