CN103861871A - Positioning method and system of transmission shaft of rolling mill - Google Patents
Positioning method and system of transmission shaft of rolling mill Download PDFInfo
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- CN103861871A CN103861871A CN201210535673.8A CN201210535673A CN103861871A CN 103861871 A CN103861871 A CN 103861871A CN 201210535673 A CN201210535673 A CN 201210535673A CN 103861871 A CN103861871 A CN 103861871A
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Abstract
The invention discloses a positioning method and system of the transmission shaft of a rolling mill. The transmission shaft is driven through a gearbox by a motor. The method comprises detecting the current angle of the rotor spindle of the motor; calculating an angle difference value according to a predetermined positioning angle and the current angle; according to the angle difference value, controlling the motor to work to enable the angle difference value to be less than a preset threshold value, and stopping the motor when the angle difference value is less than the preset threshold value. By calculating the angle difference in real time according to the predetermined positioning angel and the current angle and completing positioning when the angle difference is less than the preset threshold value, the positioning method of the transmission shaft of the rolling mill achieve controllable and automatic positioning of the transmission shaft of the rolling mill and is accurate in positioning and high in efficiency.
Description
Technical field
The present invention relates to iron and steel and manufacture field, particularly, relate to a kind of milling train power transmission shaft localization method and system.
Background technology
The working roll of milling train completes after the belt steel rolling of certain length, or strip surface quality is bad, and while damaging the reasons such as roll surface because of broken belt, all needs working roll to carry out roller replacing operation.For guaranteeing that new working roll homalocephalus can be properly inserted in the groove of final drive shaft, before extracting old working roll out, must position the spindle nose position of power transmission shaft.
In prior art, artificial mode is mostly taked in milling train power transmission shaft location.In the time of concrete operations, according to the particular location of upper and lower power transmission shaft groove, the working roll homalocephalus of wanting to pack into is manuallyd locate with special instrument.The observation of power transmission shaft groove location is adjusted to the homalocephalus position of upper working rolls and lower working rolls due to complete by operating personnel, thus there is problems and potential safety hazard, as low in efficiency, working strength large and poor stability etc.
For the above-mentioned problems in the prior art, there is no at present good solution.
Summary of the invention
The object of this invention is to provide a kind of milling train power transmission shaft localization method and system, milling train power transmission shaft is carried out to controlled or location automatically, thereby be convenient to the replacing of working roll.
To achieve these goals, according to an aspect of the present invention, provide a kind of milling train power transmission shaft localization method, wherein, described power transmission shaft is driven by gear-box by motor, and the method comprises: the current angle value that detects described rotor axis of electric; Calculate differential seat angle according to predetermined orientation angle and described current angle value; And according to described differential seat angle, control described motor operation, to make described differential seat angle be less than predetermined threshold, and described motor stops operating in the time that described differential seat angle is less than predetermined threshold.
Further, the method also comprises: the present speed value of described rotor axis of electric is set according to described differential seat angle, and wherein, described present speed value is proportional to described differential seat angle, and described in the time that described differential seat angle is less than described predetermined threshold, present speed value is zero.
Further, detect the current angle value of described rotor axis of electric with absolute value pulse coder.
Further, comprise according to motor operation described in described differential seat angle control: the present speed value that detects described rotor with delta pulse encoder; And according to the current umber of pulse of delta pulse encoder and described differential seat angle, computing reference umber of pulse, described differential seat angle is converted to the umber of pulse corresponding with described differential seat angle by wherein said incremental encoder; And calculate the deviation between current umber of pulse and the described reference pulse number of described delta pulse encoder, control described present speed value and be proportional to described deviation and be decreased to zero.
Further, wherein said differential seat angle is absolute value differential seat angle.
Further, wherein said absolute value differential seat angle is 3 degree.
According to another aspect of the present invention, provide a kind of milling train power transmission shaft navigation system, this system comprises: delta pulse encoder, is configured to detect the present speed value of described rotor axis of electric; Absolute value pulse coder, is configured to detect the current angle value of described rotor axis of electric; And drive controller, be configured to calculate differential seat angle and control described motor operation according to predetermined orientation angle and described current angle value, so that proper described differential seat angle is while being less than predetermined threshold, described present speed value is zero.
Pass through technique scheme, calculate in real time differential seat angle according to predetermined orientation angle and current angle value, in the time that this differential seat angle is less than predetermined threshold, can determines and locate, realize controlled and milling train power transmission shaft location automatically, and accurate positioning, efficiency are high.
Other features and advantages of the present invention are described in detail the specific embodiment part subsequently.
Accompanying drawing explanation
Accompanying drawing is to be used to provide a further understanding of the present invention, and forms a part for description, is used from explanation the present invention, but is not construed as limiting the invention with the specific embodiment one below.In the accompanying drawings:
Fig. 1 is according to milling train power transmission shaft localization method flow chart of the present invention;
Fig. 2 is according to milling train power transmission shaft navigation system schematic diagram of the present invention; And
Fig. 3 is according to milling train power transmission shaft navigation system illustrative diagram of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is elaborated.Should be understood that, the specific embodiment described herein only, for description and interpretation the present invention, is not limited to the present invention.
In prior art, the observation of power transmission shaft groove location is adjusted to the homalocephalus position of upper working rolls and lower working rolls due to complete by operating personnel, therefore there is following problem and hidden danger:
The experience and practical operation method and the environmental limitations that are subject to operating personnel, usually there will be larger position error when milling train power transmission shaft is positioned., the angular deflection error between transmission shaft head and working roll homalocephalus is larger.And larger position error will cause working roll cannot be inserted into smoothly in power transmission shaft groove, even cause working roll homalocephalus to be stuck in situation about cannot haul out in power transmission shaft groove.Like this, in practical operation, often needing to insert, extract out, adjust, insert back and forth again operation several times through working roll can complete, and even needs personnel to confirm to the upper and lower power transmission shaft place of milling train transmission side.Increase unit roll changing time and operating personnel's labour intensity.
In addition, also there is serious potential safety hazard in this locate mode of the prior art.For adjusting the position of working roll homalocephalus, need a special fork, the iron plate that this special fork is cut into working roll homalocephalus shape by steel pipe is welded, and does manual work very coarse.In addition roll changing carriage narrow space, frame region greasy dirt are heavier, and operating personnel, in the time adjusting upper working rolls and lower working rolls homalocephalus position, are very easily skidded, the danger such as jam, personnel are fallen, extruding, and operating personnel's personal safety is brought to great hidden danger.
Therefore, the requirement promoting in order to adapt to unit output, shortens each roll changing time, ensures operating personnel's personal safety simultaneously, eliminates safe hidden trouble and dangerous source point, in view of the actual conditions of equipment propose the present invention.
Fig. 1 is according to milling train power transmission shaft localization method flow chart of the present invention.As shown in Figure 1, according to a kind of milling train power transmission shaft localization method of the present invention, wherein, described power transmission shaft is driven by gear-box by motor, and the method can comprise: S101, detects the current angle value of described rotor axis of electric; S102, calculates differential seat angle according to predetermined orientation angle and described current angle value; And S103, according to described differential seat angle, control described motor operation, to make described differential seat angle be less than predetermined threshold, and described motor stops operating in the time that described differential seat angle is less than predetermined threshold.
Pass through technique scheme, calculate in real time differential seat angle according to predetermined orientation angle and current angle value, in the time that this differential seat angle is less than predetermined threshold, can determines and locate, realize controlled and milling train power transmission shaft location automatically, and accurate positioning, efficiency are high.
According to the technical requirement of work roll changing, in the time that the differential seat angle of orientation angle and current angle value is within the scope of ± 3 degree, just can carry out roller replacing operation.Therefore, the differential seat angle in method of the present invention can be ± 3 or less, to meet the technical requirement of work roll changing.
Preferably, differential seat angle can be got its absolute value, to reflect more intuitively the difference of current angle value and orientation angle, is convenient to program composition and understanding.In addition, because rotor axis of electric is connected by gear-box with milling train power transmission shaft, there is fixing gearratio.Therefore, the angle of milling train power transmission shaft and the angle of rotor axis of electric can be changed easily mutually.Those skilled in the art, according to the orientation angle of predetermined milling train power transmission shaft, can know the orientation angle of the rotor axis of electric corresponding with this orientation angle.
In the use of method, preferably, the speed that can make rotor axis of electric reduces and reduces with differential seat angle.,, in the time that differential seat angle is larger, rotor axis of electric adopts larger speed to reduce faster differential seat angle; And in the time that differential seat angle reduces to move closer to predetermined threshold, the speed that can make rotor axis of electric reduces so that control, to avoid toning thereupon gradually.In order to realize such effect, can adopt the linearity of umber of pulse/speed to insert function and obtain the method for velocity amplitude, adjust in real time the speed of rotor axis of electric according to differential seat angle.In one embodiment, first calculate deviation between the current angle value of rotor and position reference angle value (, differential seat angle), by this deviation is converted and obtains locating required umber of pulse, the direction of rotation of motor when this variation positive and negative determined transmission shaft head location.Then, utilize linear interpolation function generator, provide a locating speed gain coefficient K according to the size of umber of pulse absolute value, the locating speed of motor is multiplied by gain coefficient K and obtains locating speed reference value, and this velocity amplitude is reduced to zero along with the minimizing of umber of pulse deviation.Preferably, the method according to this invention can also comprise: the present speed value that described rotor axis of electric is set according to described differential seat angle, wherein, described present speed value is proportional to described differential seat angle, and described in the time that described differential seat angle is less than described predetermined threshold, present speed value is zero.When wherein differential seat angle is absolute value amount, according to this absolute value amount, present speed value is arranged, in the time that differential seat angle is real number value, can first get the absolute value of this real number value, then according to the absolute value amount obtaining, this current velocity amplitude is arranged.At this moment, the direction of motor rotation (or speed) can be decided by the symbol of real number.For example, if arithmetic number, motor positive direction is (as, rotation clockwise); If negative real number, motor is in the other direction (as, rotation counterclockwise).
In a kind of preferred embodiment, can detect with absolute value pulse coder the current angle value of rotor axis of electric, detect the present speed value of rotor axis of electric with delta pulse encoder; Pulse counter is counted the pulse of absolute value pulse coder and delta pulse encoder respectively; Control element obtains enumeration data from pulse counter, and according to the current umber of pulse of obtained delta pulse encoder, and the angle value of current rotor axis of electric and predetermined spindle nose location required motor armature spindle angle value, calculate spindle nose and locate required reference pulse number, described differential seat angle is converted to the umber of pulse corresponding with described differential seat angle by wherein said incremental encoder.In control element, can comprise control program, to calculate in real time the deviation (or deviation umber of pulse) between umber of pulse and this reference pulse number of current delta pulse encoder, control present speed and be proportional to described deviation and be decreased to zero along with the minimizing of this deviation.Wherein, the size of present speed can determine by the size of the umber of pulse of delta pulse encoder, and control element can be controlled described rotor axis of electric operation according to the umber of pulse of delta pulse encoder.In described deviation drops to predetermined scope time, can determine the location of milling train power transmission shaft is completed, can carry out next step operations such as roll change.It should be noted that, pulse counter can be independent element, also can with combine at control element.Control element as an example can comprise industrial control computer, logic programmable controller etc.
Fig. 2 is according to milling train power transmission shaft navigation system schematic diagram of the present invention.As shown in Figure 3, according to milling train power transmission shaft navigation system of the present invention, comprising: delta pulse encoder 201, is configured to detect the present speed value of described motor 200 armature spindles; Absolute value pulse coder 202, is configured to detect the current angle value of described motor 200 armature spindles; And drive controller 203, be configured to calculate differential seat angle and control described motor 200 and move according to predetermined orientation angle and described current angle value, wherein, in the time that described differential seat angle is less than predetermined threshold, described present speed value is zero.Wherein, drive controller 203 can have the function that receives feedback parameter, calculation of parameter and input transmission control signal.Drive controller 203 can be independent device, can be also the equipment of multiple installation compositions.
Fig. 3 is according to milling train power transmission shaft navigation system illustrative diagram of the present invention.As shown in Figure 3, in one embodiment, milling train power transmission shaft navigation system comprises: control box 301, controller 302, transmission cabinet 303, delta pulse encoder 201, absolute value pulse coder 202, motor 200, shaft coupling 304, gear-box 305, power transmission shaft 306 and working roll 307.In this system, send control instruction or procedure Selection instruction by control box 301, so that controller 302 enters the positioning states of milling train power transmission shaft, controller 302 uses localization method control transmission cabinet 303 according to the present invention to move to control motor 200.The running status of the delta pulse encoder 201 being connected with motor 200 and absolute value pulse coder 202 real time record motors 200, and pulse signal is sent to transmission cabinet 303.Transmission cabinet 303 is sent to controller 302 by the pulse signal receiving and realizes FEEDBACK CONTROL.Controller 302 is controlled motor 200 present speed values, and in the time that differential seat angle is less than predetermined threshold, present speed value is zero, completes the location of milling train power transmission shaft, and will locate carry out and settling signal on control box 301, show.
Below describe by reference to the accompanying drawings the preferred embodiment of the present invention in detail; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each concrete technical characterictic described in the above-mentioned specific embodiment, in reconcilable situation, can combine by any suitable mode, for fear of unnecessary repetition, the present invention is to the explanation no longer separately of various possible combinations.
In addition, between various embodiment of the present invention, also can be combined, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (7)
1. a milling train power transmission shaft localization method, wherein, described power transmission shaft is driven by gear-box by motor, and the method comprises:
Detect the current angle value of rotor axis of electric;
Calculate differential seat angle according to predetermined orientation angle and described current angle value; And
According to described differential seat angle, control described motor operation, to make described differential seat angle be less than predetermined threshold, and described motor stops operating in the time that described differential seat angle is less than predetermined threshold.
2. method according to claim 1, the described motor operation of described control comprises:
The present speed value of described rotor axis of electric is set according to described differential seat angle, and wherein, described present speed value is proportional to described differential seat angle.
3. method according to claim 1, wherein, detects the current angle value of described rotor axis of electric with absolute value pulse coder.
4. according to the method described in claim 1-3 any one claim, comprise according to motor operation described in described differential seat angle control:
Detect the present speed value of described rotor with delta pulse encoder; And
According to the current umber of pulse of described delta pulse encoder and described differential seat angle, computing reference umber of pulse, described differential seat angle is converted to the umber of pulse corresponding with described differential seat angle by wherein said incremental encoder; And
Calculate the deviation between current umber of pulse and the described reference pulse number of described delta pulse encoder, control described present speed value and be proportional to described deviation and be decreased to zero.
5. according to the method described in claim 1-3 any one claim, wherein said differential seat angle is absolute value differential seat angle.
6. method according to claim 6, wherein said absolute value differential seat angle is 3 degree.
7. a milling train power transmission shaft navigation system, this system comprises:
Delta pulse encoder, is configured to detect the present speed value of described rotor axis of electric;
Absolute value pulse coder, is configured to detect the current angle value of described rotor axis of electric; And
Drive controller, is configured to calculate differential seat angle and control described motor operation according to predetermined orientation angle and described current angle value, so that proper described differential seat angle is while being less than predetermined threshold, described present speed value is zero.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210535673.8A CN103861871B (en) | 2012-12-12 | 2012-12-12 | Milling train power transmission shaft localization method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210535673.8A CN103861871B (en) | 2012-12-12 | 2012-12-12 | Milling train power transmission shaft localization method and system |
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| Publication Number | Publication Date |
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| CN103861871A true CN103861871A (en) | 2014-06-18 |
| CN103861871B CN103861871B (en) | 2016-05-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210535673.8A Expired - Fee Related CN103861871B (en) | 2012-12-12 | 2012-12-12 | Milling train power transmission shaft localization method and system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104128368A (en) * | 2014-07-16 | 2014-11-05 | 镇江市宏业科技有限公司 | Aluminum foil mill stop locating device |
| CN104502186A (en) * | 2014-12-19 | 2015-04-08 | 深圳职业技术学院 | Electric-control drawing force detector |
| CN111299331A (en) * | 2020-03-02 | 2020-06-19 | 马鞍山钢铁股份有限公司 | Positioning control method for flat head of roller |
| CN111822510A (en) * | 2019-04-23 | 2020-10-27 | 合肥市百胜科技发展股份有限公司 | Positioning device for roller flat head |
| CN113145651A (en) * | 2021-04-02 | 2021-07-23 | 唐山钢铁集团有限责任公司 | Method for realizing second flow function based on cold continuous rolling mill TCS control system |
| CN115877872A (en) * | 2023-03-03 | 2023-03-31 | 中国人民解放军军事科学院国防科技创新研究院 | Antenna holder comprehensive control method and system based on unmanned aerial vehicle carrier |
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| CN2488617Y (en) * | 2001-04-24 | 2002-05-01 | 广东省韶关钢铁集团有限公司 | Roll changer for rolling mill |
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| CN201147769Y (en) * | 2008-01-07 | 2008-11-12 | 天津钢管集团股份有限公司 | Tandem mill swing arm center distance adjusting apparatus |
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Patent Citations (5)
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| WO2000029139A1 (en) * | 1998-11-13 | 2000-05-25 | Sms Demag Ag | Rolling stand with back up and working rolls |
| WO2002033347A2 (en) * | 2000-10-18 | 2002-04-25 | Prüftechnik Dieter Busch AG | Method for determining the orientation of a cylindrical body in relation to a reference direction |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104128368A (en) * | 2014-07-16 | 2014-11-05 | 镇江市宏业科技有限公司 | Aluminum foil mill stop locating device |
| CN104502186A (en) * | 2014-12-19 | 2015-04-08 | 深圳职业技术学院 | Electric-control drawing force detector |
| CN111822510A (en) * | 2019-04-23 | 2020-10-27 | 合肥市百胜科技发展股份有限公司 | Positioning device for roller flat head |
| CN111299331A (en) * | 2020-03-02 | 2020-06-19 | 马鞍山钢铁股份有限公司 | Positioning control method for flat head of roller |
| CN111299331B (en) * | 2020-03-02 | 2021-06-04 | 马鞍山钢铁股份有限公司 | Positioning control method for flat head of roller |
| CN113145651A (en) * | 2021-04-02 | 2021-07-23 | 唐山钢铁集团有限责任公司 | Method for realizing second flow function based on cold continuous rolling mill TCS control system |
| CN113145651B (en) * | 2021-04-02 | 2022-09-16 | 唐山钢铁集团有限责任公司 | Method for realizing second flow function based on cold continuous rolling mill TCS control system |
| CN115877872A (en) * | 2023-03-03 | 2023-03-31 | 中国人民解放军军事科学院国防科技创新研究院 | Antenna holder comprehensive control method and system based on unmanned aerial vehicle carrier |
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