CN103240285A - Method for achieving automatic clamping centering of hot rolling strip steel manipulator - Google Patents
Method for achieving automatic clamping centering of hot rolling strip steel manipulator Download PDFInfo
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- CN103240285A CN103240285A CN2013101823251A CN201310182325A CN103240285A CN 103240285 A CN103240285 A CN 103240285A CN 2013101823251 A CN2013101823251 A CN 2013101823251A CN 201310182325 A CN201310182325 A CN 201310182325A CN 103240285 A CN103240285 A CN 103240285A
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Abstract
The invention discloses a method for achieving automatic clamping centering of a hot rolling strip steel rough rolling manipulator. A manipulator automatic centering clamping function module and a manipulator automatic opening module are arranged for the hot rolling strip steel rough rolling manipulator. The method comprises the steps of presetting a manipulator opening value of a hot rolling strip steel rough rolling machine set in the manipulator automatic opening module; starting the manipulator automatic centering clamping function module, enabling the manipulator to reduce a running speed and keep a preset time period for clamping strip steel after the manipulator is contacted with the strip steel so as to achieve automatic clamping centering on the strip steel. Then the manipulator automatic opening module can be started, so that after the manipulator finishes a centering clamping function on the strip steel, the manipulator opening recovers to the preset opening value. According to the method, not only is equipment investment reduced, but also the centering deviation-rectifying goal of the manipulator on the strip steel is achieved, and accordingly advantages are created for guaranteeing straightness of the strip steel and improving strip steel side bends and plate shapes.
Description
Technical field
The present invention relates to the mill milling technical field, specifically, the present invention relates to a kind of method that realizes hot-strip manipulator automatic centering clamping.
Background technology
For hot-strip, the setting pattern of manipulator aperture is model automatic setting value when roughing, mainly comprises strip width+absolute spread+control surplus.Traditional roughing manipulator system does not have the pressure sensor configuration, thereby can't utilize the size of force value to judge that manipulator is to the clamp position of band steel; Yet, under the prerequisite that does not increase the pressure sensor configuration, can't realize that manipulator is to the clamping centering function of band steel.Therefore, when the hot-strip roughing, the deviation phenomenon of band steel appears through regular meeting at present.
Summary of the invention
In order to solve the problems of the technologies described above, the present invention provides a kind of method that realizes hot-strip roughing manipulator automatic centering clamping under the prerequisite that does not increase the pressure sensor configuration.Technical characterstic of the present invention is to move to realize that by setting program module and the operation by program module hot-strip roughing manipulator is to the automatic centering holding function of band steel.
According to an aspect of the present invention, provide a kind of method that realizes hot-strip roughing manipulator automatic centering clamping, described method comprises: step 1 preestablishes the manipulator opening value of hot-strip roughing unit; Step 2, manipulator cuts out with normal running speed; Step 3, manipulator reduce the speed of service after touching the band steel; Step 4 makes the manipulator maintenance to the clamp position predetermined time section of band steel, thereby finishes the centering clamping to the band steel.
According to one embodiment of present invention, the method of described realization hot-strip roughing manipulator automatic centering clamping also comprises: finish the centering clamping to the band steel in step 4 after, manipulator opens to predefined manipulator opening value with normal running speed, thereby the roughing unit of hot-strip is rolled the band steel.
According to one embodiment of present invention, the method of described realization hot-strip roughing manipulator automatic centering clamping also comprises: finish behind current band steel rolling at the roughing unit of hot-strip, manipulator cuts out with normal running speed and repeats step 3 to step 4.
According to one embodiment of present invention, the manipulator opening value can be to set according to width dimensions and the trimmed size of band steel.
According to one embodiment of present invention, the opening and closing of manipulator can be to finish by the hydraulic cylinder and the pinion and rack that are arranged on the manipulator.
According to a further aspect in the invention, a kind of method that realizes hot-strip roughing manipulator automatic centering clamping is provided, wherein, for hot-strip roughing manipulator arranges manipulator automatic centering holding function module and manipulator is opened module automatically, described method comprises the steps: to open the manipulator opening value that preestablishes hot-strip roughing unit in the module automatically at manipulator; Start manipulator automatic centering holding function module, make manipulator behind the contact zones steel, reduce the speed of service and clamping band steel predetermined time section, thereby realize the automatic centering clamping to the band steel.
According to another embodiment of the present invention, the method of described realization hot-strip roughing manipulator automatic centering clamping also comprises: start manipulator and open module automatically, make manipulator behind the centering holding function of finishing the band steel, make the manipulator aperture return to the manipulator opening value of predetermined set, thereby the roughing unit of hot-strip is rolled the band steel.
According to another embodiment of the present invention, the manipulator opening value can be to set according to width dimensions and the trimmed size of band steel.
According to another embodiment of the present invention, opening of manipulator can be that hydraulic cylinder and pinion and rack by being arranged on the manipulator finished.
According to the present invention, on the basis that keeps the original hardware configuration of roughing manipulator system, need not pressure sensor, by being set, manipulator automatic centering holding function module realizes that manipulator is to the automatic centering holding function of band steel, namely saved equipment investment, realized the centering correction purpose of manipulator to the band steel again, thereby for guaranteeing that strip profile and flatness, improvement band steel lateral bending and plate shape have been created advantage.
Description of drawings
Fig. 1 shows the FB(flow block) according to the method for the automatic clamping centering of realization hot-strip manipulator of the present invention.
Fig. 2 shows the schematic diagram of the roughing manipulator layout of hot-strip.
Fig. 3 shows according to utilizing of Comparative Examples of the present invention layout shown in Figure 2 and carries out the technological parameter of roughing when rolling.
Fig. 4 shows and utilizes layout shown in Figure 2 to carry out the technological parameter of roughing when rolling according to an embodiment of the invention.
The specific embodiment
The present invention is described in more detail below in conjunction with operation principle of the present invention, accompanying drawing and embodiment, makes technical characterstic of the present invention clearer, but the invention is not restricted to these descriptions.
Fig. 1 shows the flow chart according to the method for the automatic clamping centering of realization hot-strip manipulator of the present invention.Fig. 2 shows the schematic diagram of the roughing manipulator layout of hot-strip.
At first with reference to Fig. 2, usually, for hot-strip, before and after roughing mill, be furnished with manipulator 1 and 4 respectively, shown in figure 2 by an E1 vertical miller 2 and the roughing unit that R1 flat roll mill 3 is formed; Yet, the invention is not restricted to this, those skilled in the art can want rolling band steel to adopt suitable roughing unit to realize the roughing of hot-strip rolling according to reality.Because the roughing supplied materials of hot-strip is thicker, so be necessary to arrange respectively that in roughing unit front and back manipulator is to realize the automatic centering holding function to the band steel, to avoid sideslip and to realize being with the accurately rolling of steel.
As shown in Figure 2, in the roughing process of hot-strip, when the band steel is rolled through the roughing unit, need utilize the clamping of 1 pair of band of the preceding manipulator of machine steel, realize manipulator to the centering correction effect of band steel, thereby guarantee being with the effect of rolling of steel.Equally, carry out clamping by the rolling band steel of the 3 pairs of processes roughing of manipulator after behind the roughing unit machine being set, realize manipulator to the centering correction effect of band steel, thereby guarantee that the band steel successfully enters next process (for example, the roughing of following a time or finish rolling).
In traditional hot-strip technology, manipulator 1 before and after the roughing mill and 4 aperture are model automatic setting value, this model automatic setting value is strip width, absolute spread and control surplus sum, makes the band steel pass in and out milling train 2 and 3 under the restriction guiding of manipulator thereby make manipulator open predetermined opening degree according to this model automatic setting value.
The invention provides a kind of novel method that can set hot-strip roughing mill front and back manipulator aperture and realize that hot-strip roughing manipulator is to the automatic centering holding function of band steel.
For brevity, in the following description manipulator behind manipulator before the machine and the machine is referred to as manipulator, therefore, following description will be applicable to before the machine of hot-strip roughing mill manipulator behind the manipulator and machine.
At length explain method according to the automatic clamping centering of realization hot-strip manipulator of the present invention with reference to Fig. 1 below.
With reference to Fig. 1, may further comprise the steps according to the method for realization hot-strip roughing manipulator automatic centering clamping of the present invention: at first, preestablish the manipulator opening value (S1) of hot-strip roughing unit; Before band steel contact manipulator (that is, having finished after the roughing of last band steel), manipulator (for example, 0.2m/s) receives (also claiming " cutting out ") (S2) automatically inward with normal running speed; Manipulator speed of service behind the contact zones steel reduces (for example, be down to and be no more than 0.05m/s) (S3); Manipulator keeps the clamp position predetermined time section of band steel (for example, 200-300ms), thereby is finished being with the centering clamping (S4) of steel; After the roughing manipulator is finished the automatic centering holding function of being with steel, open module automatically by the roughing manipulator and make the roughing manipulator (for example, 0.4m/s) open to the opening value (S5) of predetermined set with normal running speed.
The method according to this invention when hot-strip is carried out roughing, realizes automatic centering clamping to the roughing manipulator by the step S2-S4 shown in Fig. 1, thereby realizes rolling to the band steel.Leave behind roughing unit and the machine behind the manipulator at current band steel, manipulator is namely received the arriving of waiting for next band steel inward with the normal speed of service, thereby repeats the step S2-S5 shown in Fig. 1, and is rolling to finish the roughing of next band steel.
According to the present invention, according to manipulator aperture separately behind manipulator and the machine before the width dimensions of band steel and the machine that trimmed size preestablishes the roughing unit, by being arranged on the opening and closing that hydraulic cylinder on the manipulator and pinion and rack are finished the manipulator aperture.
In addition, in order to realize the automatic clamping centering of hot-strip manipulator function, according to another embodiment of the present invention, can by manipulator is arranged control its program module and the operation by program module move to realize.Specifically, according to the present invention, program module to the setting of hot-strip roughing manipulator comprises: manipulator automatic centering holding function module, namely utilize the characteristics that the speed of service slows down behind the manipulator clamping band steel, by judging manipulator speed of service size and suitable time-delay, realize manipulator to the automatic centering holding function of band steel, wherein, manipulator automatic centering holding function is finished by the dialog box operation that is arranged on the monitored picture in the operation room; Manipulator is opened module automatically, after the roughing manipulator is finished the automatic centering holding function, make roughing manipulator aperture return to the model specification value, wherein, the opening, close by the hydraulic cylinder and the pinion and rack that are arranged on the manipulator and finish of roughing manipulator, the aperture of roughing manipulator is set according to width dimensions, the trimmed size of band steel.
Specifically, according to another embodiment of the present invention, for hot-strip roughing manipulator is provided with manipulator automatic centering holding function module and manipulator is opened module automatically, realize that the method for hot-strip roughing manipulator automatic centering clamping comprises the steps: to open the manipulator opening value that preestablishes hot-strip roughing unit in the module automatically at manipulator; Start manipulator automatic centering holding function module, make manipulator behind the contact zones steel, reduce the speed of service and clamping band steel predetermined time section, thereby realize the automatic centering clamping to the band steel.
According to current embodiment of the present invention, the method that realizes hot-strip roughing manipulator automatic centering clamping can also comprise: start manipulator and open module automatically, make manipulator behind the centering holding function of finishing the band steel, make the manipulator aperture return to the manipulator opening value of predetermined set, thereby the roughing unit of hot-strip is rolled the band steel.
Here, under instruction of the present invention, those skilled in the art can select suitable manipulator encoder to realize that manipulator automatic centering holding function module and manipulator open module automatically according to actual needs.Preferably, the present invention selects manipulator encoder ASM58N-F2AK1RHBN-1213 for use.
Therefore, according to the present invention, on the basis that keeps the original hardware configuration of roughing manipulator system, need not pressure sensor, by being set, manipulator automatic centering holding function module realizes that manipulator is to the automatic centering holding function of band steel, namely save equipment investment, realized the centering correction purpose of manipulator to the band steel again, thereby for guaranteeing that strip profile and flatness, improvement band steel lateral bending and plate shape have been created advantage.
Come to describe in further detail the method according to the automatic clamping centering of realization hot-strip manipulator of the present invention function below in conjunction with specific embodiments.
According to an example of the present invention embodiment, on the basis of existing roughing manipulator system hardware configuration, manipulator centering holding function module is set employing manipulator encoder ASM58N-F2AK1RHBN-1213 and manipulator is opened module automatically, and by being arranged on dialog box and the button on the monitored picture, by manually operating, realize that according to above-described method manipulator is to the automatic centering holding function of band steel; After clamping and the time-delay, the manipulator aperture returns to the model specification value.Like this, by the clamping of manipulator to the band steel, realize that manipulator is to the centering correction effect of band steel.Here, the major function of " manipulator centering holding function module " is to realize that manipulator to the clamping of band steel, opens to the model specification value then automatically, and " manipulator is opened module automatically " is mainly used to calculate the opening degree setting value of manipulator.
In current example embodiment, the normal closing velocity of manipulator is 0.2m/s, and normal opening speed is 0.4m/s, judges in the program module that the foundation of manipulator clamping band steel is reduced to below the 0.05m/s for the manipulator speed of service.For guaranteeing clamping centering effect, increase time-delay 250ms, manipulator opens to the model specification aperture afterwards.Can be according to the present invention manipulator to the centering clamping module of band steel and operation that manipulator is opened module automatically or holding function or according to the program module structured flowchart based on Fig. 1 of the present invention, work out various distinct programs and realize its function.Manipulator aperture model specification value is set according to the width difference of rolled band steel product.
Comparative Examples 1
Comparative Examples 1 is the course of work that does not start " manipulator centering holding function input " function.
Fig. 3 shows according to utilizing of Comparative Examples 1 layout shown in Figure 2 and carries out the technological parameter of roughing when rolling.With reference to dialog box form 1 shown in Figure 3, the manipulator opening degree is represented five passage manipulators setting apertures of roughing, the actual aperture of current expression current pass manipulator before the machine of 1-5 passage.
In this Comparative Examples, band steel supplied materials width is 1030mm, and the intermediate blank specification of roughing is 28.5 * 1040mm.
When the current pass of this Comparative Examples is the 1st passage, do not start following " manipulator centering function input " button.Manipulator setting aperture is 1105.3mm before the roughing mill, and actual aperture is 1105.7mm.At this moment, the band steel moves in the manipulator before machine, does not pass through the clamping of manipulator centering, directly enters roughing mill E1, R1 shown in Figure 2 and is rolled.
In Comparative Examples 1, owing to lack the clamping centering of manipulator, the band steel tilts when moving in manipulator easily, and it is not rolling along rolling centerline the band steel to occur, causes being with the steel lateral bending, and problems such as wedge shape is excessive, plate shape difference take place.
Fig. 4 shows according to utilizing of embodiment 1 layout shown in Figure 2 and carries out the technological parameter of roughing when rolling.With reference to dialog box form 2 shown in Figure 4, the manipulator opening degree is represented five passage manipulators setting apertures of roughing, the actual aperture of current expression current pass manipulator before the machine of 1-5 passage.
In this embodiment, band steel supplied materials width is 1030mm, and the intermediate blank specification of roughing is 28.5 * 1040mm.
When the current pass of present embodiment is the 1st passage, start following " manipulator centering function input " button.Manipulator setting aperture is 1105.3mm before the roughing mill, and when the band steel arrived the manipulator position, manipulator cut out automatically, it is minimum that current aperture reaches, and is 1044.3mm, behind the time-delay 250ms, manipulator is opened automatically and is returned to and sets aperture 1105.3mm, and the band steel continues operation, enters roughing mill E1, R1 and is rolled.
Here, it is pointed out that " manipulator centering holding function input " dialog box of mentioning in the above, is not that every steel capital will be clicked, and this function drops into always if no longer remove then to click the back, and manipulator is opened, closing motion is finished automatically by program.Click again, then this function cancellation.Simultaneously, because the variation of rolling conditions such as steel temperature, even steel grade, specification are constant, the model specification value of every steel all has small size variation.
Through facts have proved, after hot-strip adopts the method according to this invention, hauled oneself willingly into since the usefulness, stable smooth operation, safe and reliable, realized roughing manipulator automatic centering holding function, played the centering correction effect of manipulator to the band steel.
Therefore, the present invention is on the basis that keeps the original hardware configuration of roughing manipulator system, need not pressure sensor, by being set, manipulator automatic centering holding function module realizes that manipulator is to the automatic centering holding function of band steel, namely saved equipment investment, realized the centering correction purpose of manipulator to the band steel again, thereby for guaranteeing that strip profile and flatness, improvement band steel lateral bending and plate shape have been created advantage.
The present invention only exemplarily shows the centering holding function that is applicable to preceding manipulator first passage of roughing mill, and is suitable equally to manipulator behind the roughing mill and other each passage.In the scope that does not break away from design philosophy of the present invention, can carry out various changes and modifications, these variations all belong to protection scope of the present invention.
Claims (9)
1. a method that realizes hot-strip roughing manipulator automatic centering clamping is characterized in that described method comprises the steps:
Step 1 preestablishes the manipulator opening value of hot-strip roughing unit;
Step 2, manipulator cuts out with normal running speed;
Step 3, manipulator reduce the speed of service after touching the band steel;
Step 4 makes the manipulator maintenance to the clamp position predetermined time section of band steel, thereby finishes the centering clamping to the band steel.
2. the method for realization hot-strip roughing manipulator automatic centering clamping according to claim 1, it is characterized in that, described method also comprises: finish the centering clamping to the band steel in step 4 after, manipulator opens to predefined manipulator opening value with normal running speed, thereby the roughing unit of hot-strip is rolled the band steel.
3. the method for realization hot-strip roughing manipulator automatic centering clamping according to claim 2, it is characterized in that, described method also comprises: finish behind current band steel rolling at the roughing unit of hot-strip, manipulator cuts out with normal running speed and repeats step 3 to step 4.
4. the method for realization hot-strip roughing manipulator automatic centering clamping according to claim 1 is characterized in that, the manipulator opening value is to set according to the width dimensions of band steel and trimmed size.
5. the method for realization hot-strip roughing manipulator automatic centering clamping according to claim 1 is characterized in that the opening and closing of manipulator are to finish by the hydraulic cylinder and the pinion and rack that are arranged on the manipulator.
6. method that realizes hot-strip roughing manipulator automatic centering clamping is characterized in that manipulator automatic centering holding function module being set and manipulator is opened module automatically for hot-strip roughing manipulator, and described method comprises the steps:
Automatically open the manipulator opening value that preestablishes hot-strip roughing unit in the module at manipulator;
Start manipulator automatic centering holding function module, make manipulator behind the contact zones steel, reduce the speed of service and clamping band steel predetermined time section, thereby realize the automatic centering clamping to the band steel.
7. the method for realization hot-strip roughing manipulator automatic centering clamping according to claim 6, it is characterized in that, described method also comprises: start manipulator and open module automatically, make manipulator behind the centering holding function of finishing the band steel, make the manipulator aperture return to the manipulator opening value of predetermined set, thereby the roughing unit of hot-strip is rolled the band steel.
8. the method for realization hot-strip roughing manipulator automatic centering clamping according to claim 6 is characterized in that, the manipulator opening value is to set according to the width dimensions of band steel and trimmed size.
9. the method for realization hot-strip roughing manipulator automatic centering clamping according to claim 6 is characterized in that, opening of manipulator is that hydraulic cylinder and pinion and rack by being arranged on the manipulator finished.
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Cited By (6)
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| CN103894426A (en) * | 2014-03-26 | 2014-07-02 | 济钢集团有限公司 | Rolling mill manipulator capable of quickly realizing centricity adjustment and adjusting method thereof |
| CN107608304A (en) * | 2017-09-18 | 2018-01-19 | 北京首钢自动化信息技术有限公司 | A kind of automobile slab overturning machine claming controller and its method |
| CN109622633A (en) * | 2018-12-20 | 2019-04-16 | 柳州钢铁股份有限公司 | Rougher of hot strip mill and finish rolling centering match control method |
| CN109663819A (en) * | 2018-11-19 | 2019-04-23 | 包头钢铁（集团）有限责任公司 | A method of reducing thick steel plates length direction abnormity amount end to end |
| CN113732079A (en) * | 2021-07-27 | 2021-12-03 | 石钢京诚装备技术有限公司 | Cogging mill push machine calibration method |
| CN114401802A (en) * | 2019-09-19 | 2022-04-26 | Sms集团有限公司 | Intermediate stand guide at a vertical rolling stand of a rolling train and method for guiding a rolled material using an intermediate stand guide |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103894426A (en) * | 2014-03-26 | 2014-07-02 | 济钢集团有限公司 | Rolling mill manipulator capable of quickly realizing centricity adjustment and adjusting method thereof |
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| CN109622633B (en) * | 2018-12-20 | 2023-10-24 | 柳州钢铁股份有限公司 | Hot continuous rolling rough rolling and finish rolling centering matching control method |
| CN114401802A (en) * | 2019-09-19 | 2022-04-26 | Sms集团有限公司 | Intermediate stand guide at a vertical rolling stand of a rolling train and method for guiding a rolled material using an intermediate stand guide |
| CN114401802B (en) * | 2019-09-19 | 2024-02-02 | Sms集团有限公司 | Intermediate stand guide at a stand of a rolling mill train and method for guiding a rolled material with the intermediate stand guide |
| CN113732079A (en) * | 2021-07-27 | 2021-12-03 | 石钢京诚装备技术有限公司 | Cogging mill push machine calibration method |
| CN113732079B (en) * | 2021-07-27 | 2023-10-27 | 石钢京诚装备技术有限公司 | Calibrating method for pushing bed of cogging mill |
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Inventor after: Zhang Mingjin Inventor after: Li Kun Inventor after: Liang Jun Inventor after: Xie Jing Inventor after: Zou Zhongping Inventor after: Wang Zongbin Inventor after: Zhang Guinan Inventor after: Li Shan Inventor after: Liu Jimei Inventor after: Zhang Jijin Inventor after: Zheng Lei Inventor after: Li Chengfeng Inventor before: Zhang Mingjin Inventor before: Wang Zongbin Inventor before: Zhang Guinan Inventor before: Li Shan Inventor before: Liu Jimei Inventor before: Zou Zhongping Inventor before: Zhang Jijin Inventor before: Zheng Lei Inventor before: Xie Jing |
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Free format text: CORRECT: INVENTOR; FROM: ZHANG MINGJIN WANG ZONGBIN ZHANG GUINAN LI SHAN LIU JIMEI ZOU ZHONGPING ZHANG JIJIN ZHENG LEI XIE JING TO: ZHANG MINGJIN ZOU ZHONGPING WANG ZONGBIN ZHANG GUINAN LI SHAN LIU JIMEI ZHANG JIJIN ZHENG LEI LI CHENGFENG LI KUN LIANG JUN XIE JING |
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Effective date of registration: 20220623 Address after: 271104 Shuangquan Road, Gangcheng District, Jinan City, Shandong Province Patentee after: LAIGANG GROUP YINSHAN SHAPED STEEL Co.,Ltd. Address before: 271104 No.99, Fuqian street, Gangcheng District, Laiwu City, Shandong Province Patentee before: LAIWU STEEL Group Ltd. |