CN105964705A - Feed-in synchronization mechanism for large cold rolling pipe mills and synchronization method thereof - Google Patents
Feed-in synchronization mechanism for large cold rolling pipe mills and synchronization method thereof Download PDFInfo
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- CN105964705A CN105964705A CN201610537503.1A CN201610537503A CN105964705A CN 105964705 A CN105964705 A CN 105964705A CN 201610537503 A CN201610537503 A CN 201610537503A CN 105964705 A CN105964705 A CN 105964705A
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 title abstract description 15
- 238000005097 cold rolling Methods 0.000 title abstract description 6
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 230000009467 reduction Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000000295 complement effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000009785 tube rolling Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B39/02—Feeding or supporting work; Braking or tensioning arrangements, e.g. threading arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/78—Control of tube rolling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Metal Rolling (AREA)
Abstract
The invention relates to the field of metallurgical equipment, in particular to a feed-in synchronization mechanism for large cold rolling pipe mills, especially for large two-roller or multi-roller cold rolling pipe mills and a synchronization method thereof. The feed-in synchronization mechanism at least comprises servo motors, worm and gear mechanisms, screws, a feeding trolley and coders and is characterized in that the servo motors provide power for the two worm and gear mechanisms inside a transmission box, worms are connected to the two screws through worm gears, the two screws jointly drive the feeding trolley to move, the coders feed back the actual positions of the two screws, and a CPU controls the two screws to move synchronously through actual data. The feed-in synchronization mechanism is suitable for the large two-roller cold rolling pipe mills and the multi-roller cold rolling pipe mills, the requirements of a feed-in system for synchronism, stability and reliability can be met, the maintenance time can be shortened, and the product quality can be guaranteed.
Description
Technical field
The present invention relates to cold pilger mill, specifically introduce feeding lazy-tongs and the synchronous method of a kind of Large Scale Cold pipe mill, this mechanism can be substantially reduced the fault rate of feeding system, improves Product Precision.
Background technology
In recent years, owing to the fields such as domestic and international nuclear power fuel conveying, oil drilling, bearing manufacturing, oil gas transmission, space flight and aviation and war industry need substantial amounts of heavy caliber cold rolling seamless steel, thus the demand of Large Scale Cold pipe mill is increased by market the most year by year.According to relevant statistics, demand about 600 multiple stage of the annual cold pilger mill of China, but a lot of big specification cold pilger mill feed mechanism continues to use old-fashioned synchronous mechanism, and feeding box is bulky, and structure is complicated, and production efficiency is low, and maintenance difficulty is very big；Another part cold pilger mill uses common electric machine cooperative mechanical system to realize feed mechanism and synchronizes, but it is low to be sent into precision, and fault rate is high, affects product quality.Therefore, for Large Scale Cold pipe mill, a kind of can guarantee that feed mechanism stable, in high precision, the system of failure rate is low the most extremely important.
Summary of the invention
It is an object of the invention to provide the feeding lazy-tongs of a kind of Large Scale Cold pipe mill, it is desirable to there is the mechanical transmission mechanism of precision, coordinate perfect electrical control and detecting system, it is achieved feed mechanism synchronizes, reduce fault rate, reduce maintenance cost, improve equipment precision.
For achieving the above object, the invention discloses following technical scheme:
A kind of feeding lazy-tongs of Large Scale Cold pipe mill, including mainframe running part and feeding sync section:
It is sent into sync section to be made up of two groups of symmetrical frame for movements: two set turbine and worms, power transmission shaft, feeding box, two Precision Lead-Screws, feeding trolley, feeding lathe bed, two encoders and cpu central processing unit, two servo motor output shaft and two set turbine and worms are connected by shaft coupling, worm screw connects worm gear drive, turbine drives power transmission shaft to be connected by shaft coupling and leading screw, two leading screws drive feeding trolley to move back and forth along leading screw axis direction by nut, the end of every leading screw is respectively mounted encoder, the leading screw absolute position data of Real-time Collection is fed back to cpu central processing unit by encoder, cpu central processing unit carries out computing, two leading screws are driven to be synchronized with the movement in the axial direction by calculating control servomotor in real time, synchronize to drive feeding trolley to run；
Mainframe running part is provided with encoder, and encoder connects feeding sync section cpu central processing unit.
Further, also including HMI man machine interface, cpu central processing unit combines the error range value set in HMI man machine interface and calculates, and then controls servomotor.
Further, described cpu central processing unit utilizes PID regulator to control from the output of axle servomotor.
Further, described mainframe running part includes mair motor, reduction box and crankcase: the first gear that mair motor is connected in reduction box by power transmission shaft, first gear connects the second gear by power transmission shaft, second gear driven output shaft, one end of output shaft connects encoder, the other end of output shaft connects the bent axle in crankcase, one end of bent axle connects connecting rod, connecting rod connects main frame and moves back and forth, bent axle rotates a circle, main frame reciprocally swinging is once, actual speed and the position of mainframe are fed back to cpu central processing unit by encoder, the other end of bent axle connects balance weight by gear wheel, the gravity that weights balance bent axle produces.
nullThe invention also discloses the feeding lazy-tongs synchronous method of a kind of Large Scale Cold pipe mill，The mainframe physical location that described CPU returns according to mainframe encoder feedback sends movement instruction to spindle servo electric machine，Spindle servo electric machine drives guide screw movement when mainframe runs to non-rolling zone，Feed is set by the setting window on HMI，The actual value of main shaft leading screw encoder collection each leading screw feed feeds back to CPU,CPU uses position synchronization control theoretical，Using the actual value of main shaft leading screw encoder as from the given bid value of axle servomotor，Control to export from the position of axle servomotor by the PID regulator in position control ring，And the position deviation of two leading screws is compared according to the value of feedback from axial filament thick stick encoder，Position deviation value complement is repaid in PID regulator，Ensure the synchronicity of two leading screws.
Further, when described CPU central control unit control servomotor calculates, CPU passes through master-slave control method, a piece leading screw is considered as main shaft, the electronic cam curve motion that CPU sets followed the tracks of by the servomotor connecting main shaft, it is sent into according to the feed set when main frame runs to non-rolling region, another root leading screw is considered as from axle, connect and follow the tracks of motion of main shaft from the servomotor of axle, by main shaft and the leading screw physical location from shaft encoder feedback, CPU real-time operation also controls to export from axle servomotor, it is ensured that synchronize from axle and main shaft tight positional.
Further, the angle that leading screw rotates is converted into axis shift value by described encoder, and its computing formula is as follows:
S=QZP/360
In formula, S is straight-line displacement value, and Q is the leading screw rotation angle value that encoder is measured, and Z is the head number of leading screw, and P is the pitch of leading screw.
Compared with prior art, the feeding lazy-tongs of a kind of Large Scale Cold pipe mill disclosed by the invention and synchronous method thereof, have the advantages that
Simplify the structure of machine driven system, reduce the volume of feeding box, achieved the precise synchronization of feeding system by lead screw position detecting system and electric control system.After this feeding synchronization system comes into operation, greatly reduce the fault rate of equipment, improve Product Precision.
Accompanying drawing explanation
Fig. 1 is the structural representation of Large Scale Cold tube rolling machine host frame running part；
Fig. 2 is to be sent into lazy-tongs structural representation；
Fig. 3 is to be sent into lazy-tongs electrical control flow chart.
Wherein:
1. mair motor, 2. power transmission shaft, 3. the first gear, 4. reduction box, 5. power transmission shaft, 6. the second gear, 7. output shaft, 8. encoder, 9. bent axle, 10. crankcase, 11. connecting rods, 12. gear wheels, 13. balance weights, 14. spindle servo electric machines, 15. worm screws, 16. turbines, 17. feeding boxes, 18. power transmission shafts, 19. leading screws, 20. feeding lathe beds, 21. feeding trolleys, 22. encoders, 23. encoders, 24. from axle servomotor.
Detailed description of the invention
Below in conjunction with embodiment and referring to the drawings the invention will be further described.
Refer to Fig. 1.
A kind of feeding lazy-tongs of Large Scale Cold pipe mill, including mainframe running part and feeding sync section:
nullIt is sent into sync section to be made up of two groups of symmetrical frame for movements: two set turbine and worms、Power transmission shaft 5、Feeding box 17、Two Precision Lead-Screws 19、Feeding trolley 20、Two encoders 22、23 and CPU central authorities process，Two servo motor output shaft and two set turbine and worms are connected by shaft coupling，Worm screw 15 connects turbine 16 transmission，Turbine 16 drives power transmission shaft 18 to be connected by shaft coupling and leading screw 19，Two leading screws 19 drive feeding trolley 21 to move back and forth along leading screw axis direction by nut，The end of every leading screw 19 is respectively mounted encoder 22、23，The leading screw absolute position data of Real-time Collection is fed back to cpu central processing unit by encoder，Cpu central processing unit carries out computing，Two leading screws are driven to be synchronized with the movement in the axial direction by calculating control servomotor in real time，Synchronize to drive feeding trolley 21 to run；No matter leading screw be in accomplished continuously or intermittently duty time, two leading screws strictly keep synchronous operation, common drive feeding trolley 21 runs, and such feeding trolley 21 would not produce distortion, jam phenomenon between two leading screws, it is ensured that the reliability of feeding system and feeding precision.
Mainframe running part is provided with encoder 8, and encoder 8 connects feeding sync section cpu central processing unit.
For improving control accuracy, these lazy-tongs also include HMI man machine interface, and cpu central processing unit combines the error range value set in HMI man machine interface and calculates, and then control servomotor.
In the present embodiment, cpu central processing unit utilizes PID regulator to control from axle servomotor and exports.
As shown in Figure 2, the mainframe running part of the present invention includes mair motor 1, reduction box 4 and crankcase 10: the first gear 3 that mair motor 1 is connected in reduction box 4 by power transmission shaft 2, first gear 3 connects the second gear 6 by power transmission shaft 5, second gear 6 drives output shaft 7, one end of output shaft 7 connects encoder 8, the other end of output shaft 7 connects the bent axle 9 in crankcase 10, one end of bent axle 9 connects connecting rod 11, connecting rod 11 connects main frame and moves back and forth, bent axle 9 rotates a circle, main frame reciprocally swinging is once, actual speed and the position of mainframe are fed back to cpu central processing unit by encoder 8, the other end of bent axle 9 connects balance weight 13 by gear wheel 12, the gravity that balance weight 13 balance crankshaft produces.
nullAs shown in Figure 3，The feeding lazy-tongs synchronous method of a kind of high large-scale cold pilger mill disclosed by the invention，Cpu central processing unit sends movement instruction to spindle servo electric machine 14 according to the mainframe physical location that mainframe encoder 8 feeds back to，Spindle servo electric machine 14 drives leading screw 19 to move when mainframe runs to non-rolling zone，Feed is set by the setting window on HMI，Main shaft leading screw encoder 22 gathers the actual value of each leading screw feed and feeds back to cpu central processing unit,Cpu central processing unit uses position synchronization control theoretical，Using the actual value of main shaft leading screw encoder 22 as from the given bid value of axle servomotor 24，Control to export from the position of axle servomotor 24 by the PID regulator in position control ring，And the position deviation of two leading screws is compared according to the value of feedback from axial filament thick stick encoder 23，Position deviation value complement is repaid in PID regulator，Ensure the synchronicity of two leading screws.
It is characteristic of the invention that servomotor instead of common electric machine as power source, servomotor response speed height, output accuracy height.Machine driven system has selected turbine worm mechanism, and this mechanism is arranged in feeding box, and its rotary inertia is little, can realize large speed ratio transmission on the premise of taking less space.Two leading screws have been respectively mounted encoder, real-time lead screw position value S (millimeter) is fed back to CPU by encoder, when cpu central processing unit control servomotor calculates, cpu central processing unit passes through master-slave control method, a piece leading screw is considered as main shaft, the electronic cam curve motion that cpu central processing unit sets followed the tracks of by the servomotor connecting main shaft, it is sent into according to the feed set when main frame runs to non-rolling region, another root leading screw is considered as from axle, connect and follow the tracks of motion of main shaft from the servomotor of axle, by main shaft and the leading screw physical location from shaft encoder feedback, cpu central processing unit real-time operation also controls to export from axle servomotor, ensure to synchronize from axle and main shaft tight positional.
The angle that leading screw rotates is converted into axis shift value by encoder, and its computing formula is as follows:
S=QZP/360
In formula, S is straight-line displacement value, and Q is the leading screw rotation angle value that encoder is measured, and Z is the head number of leading screw, and P is the pitch of leading screw.Encoder can calculate from axial filament thick stick straight-line displacement value, is controlled from axle servomotor by the calculating of CPU.
The above is only the preferred embodiment of the present invention, is not intended to limit；Should be understood that, although the present invention being described in detail with reference to the various embodiments described above, it will be understood by those within the art that, the technical scheme described in the various embodiments described above still can be modified by it, or the most some or all of technical characteristic is carried out equivalent；And these amendments and replacement, do not make the essence of corresponding technical scheme depart from the scope of various embodiments of the present invention technical scheme.
Claims (7)
1. the feeding lazy-tongs of a Large Scale Cold pipe mill, it is characterised in that include mainframe
Running part and feeding sync section:
It is sent into sync section to be made up of two groups of symmetrical frame for movements: two set turbine and worm, transmissions
Axle, feeding box, two Precision Lead-Screws, feeding trolley, feeding lathe bed, two encoders and
Cpu central processing unit, two servo motor output shaft and two set turbine and worms are by shaft coupling even
Connecing, worm screw connects worm gear drive, and turbine drives power transmission shaft to be connected by shaft coupling and leading screw, and two
Root leading screw drives feeding trolley to move back and forth along leading screw axis direction by nut, every leading screw
End is respectively mounted encoder, and the leading screw absolute position data of Real-time Collection is fed back to by encoder
Cpu central processing unit, cpu central processing unit carries out computing, controls servo by calculating in real time
Two leading screws of driven by motor are synchronized with the movement in the axial direction, synchronize to drive feeding trolley to run；
Mainframe running part is provided with encoder, and encoder connects in feeding sync section CPU
Central processor.
The feeding lazy-tongs of a kind of Large Scale Cold pipe mill the most according to claim 1, its
Being characterised by, also including HMI man machine interface, cpu central processing unit combines HMI man machine interface
The error range value of upper setting calculates, and then controls servomotor.
The feeding lazy-tongs of a kind of Large Scale Cold pipe mill the most according to claim 1, its
Being characterised by, it is defeated from axle servomotor that described cpu central processing unit utilizes PID regulator to control
Go out.
The feeding lazy-tongs of a kind of Large Scale Cold pipe mill the most according to claim 1, its
Being characterised by, described mainframe running part includes mair motor, reduction box and crankcase: main electricity
The first gear that machine is connected in reduction box by power transmission shaft, the first gear is connected by power transmission shaft
Second gear, the second gear driven output shaft, one end of output shaft connects encoder, output shaft
The other end connect the bent axle in crankcase, one end of bent axle connects connecting rod, and connecting rod connects main frame
Frame moves back and forth, and bent axle rotates a circle, and once, encoder will be main for main frame reciprocally swinging
The actual speed of frame and position feed back to cpu central processing unit, and the other end of bent axle is by big
Gear connects balance weight, the gravity that weights balance bent axle produces.
5. the feeding lazy-tongs synchronous method of a Large Scale Cold pipe mill, it is characterised in that institute
State the mainframe physical location that cpu central processing unit returns according to mainframe encoder feedback to send
Movement instruction is to spindle servo electric machine, and spindle servo electric machine is when mainframe runs to non-rolling zone
Driving guide screw movement, feed is set by the setting window on HMI, main shaft leading screw encoder
The actual value gathering each leading screw feed feeds back to CPU, CPU use position synchronization control reason
Opinion, using the actual value of main shaft leading screw encoder as from the given bid value of axle servomotor, logical
Cross the PID regulator in position control ring to control to export from the position of axle servomotor, and according to
The position deviation of two leading screws is compared, by position deviation value from the value of feedback of axial filament thick stick encoder
Compensate in PID regulator, it is ensured that the synchronicity of two leading screws.
The feeding lazy-tongs of a kind of Large Scale Cold pipe mill the most according to claim 5 are same
One step process, it is characterised in that when described cpu central processing unit control servomotor calculates,
Cpu central processing unit passes through master-slave control method, and a leading screw is considered as main shaft, connects main shaft
Servomotor follow the tracks of cpu central processing unit set electronic cam curve motion, main frame transport
Row is sent into during non-rolling region according to the feed set, and is considered as from axle by another root leading screw,
Connect and follow the tracks of motion of main shaft from the servomotor of axle, by main shaft and the silk from shaft encoder feedback
Thick stick physical location, cpu central processing unit real-time operation also controls to export from axle servomotor, protects
Demonstrate,prove and synchronize from axle and main shaft tight positional.
The feeding lazy-tongs of a kind of Large Scale Cold pipe mill the most according to claim 6 are same
One step process, it is characterised in that the angle that leading screw rotates is converted into axis shift by described encoder
Value, its computing formula is as follows:
S=QZP/360
In formula, S is straight-line displacement value, and Q is the leading screw rotation angle value that encoder is measured, Z
Being the head number of leading screw, P is the pitch of leading screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610537503.1A CN105964705A (en) | 2016-07-08 | 2016-07-08 | Feed-in synchronization mechanism for large cold rolling pipe mills and synchronization method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610537503.1A CN105964705A (en) | 2016-07-08 | 2016-07-08 | Feed-in synchronization mechanism for large cold rolling pipe mills and synchronization method thereof |
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| CN105964705A true CN105964705A (en) | 2016-09-28 |
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| CN201610537503.1A Pending CN105964705A (en) | 2016-07-08 | 2016-07-08 | Feed-in synchronization mechanism for large cold rolling pipe mills and synchronization method thereof |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500089A (en) * | 2019-01-02 | 2019-03-22 | 张家港逸臣钢管有限公司 | A kind of adjustable pipe mill |
| CN112327954A (en) * | 2020-11-14 | 2021-02-05 | 大连理工大学 | High-precision positioning method of linear motor controlled by asymmetric S-shaped speed curve |
| CN113703390A (en) * | 2021-09-03 | 2021-11-26 | 扬州大祺自动化技术有限公司 | Method for realizing synchronous operation of multiple press machines based on programmable electronic cam controller and pre-adjusting type synchronous operation method |
| CN114406005A (en) * | 2022-04-01 | 2022-04-29 | 承德建龙特殊钢有限公司 | Seamless steel pipe tracking production system one by one |
| CN114488956A (en) * | 2022-01-25 | 2022-05-13 | 湖南大麓科技有限公司 | Servo control system of accurate positioning roller device |
| CN115167280A (en) * | 2022-08-15 | 2022-10-11 | 新代科技(苏州)有限公司 | Coupling error protection and compensation method |
| CN116421319A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Man-machine interaction device and method of vascular intervention surgical robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109500089A (en) * | 2019-01-02 | 2019-03-22 | 张家港逸臣钢管有限公司 | A kind of adjustable pipe mill |
| CN112327954A (en) * | 2020-11-14 | 2021-02-05 | 大连理工大学 | High-precision positioning method of linear motor controlled by asymmetric S-shaped speed curve |
| CN112327954B (en) * | 2020-11-14 | 2021-11-26 | 大连理工大学 | High-precision positioning method for linear motor controlled by asymmetric S-shaped speed curve |
| CN113703390A (en) * | 2021-09-03 | 2021-11-26 | 扬州大祺自动化技术有限公司 | Method for realizing synchronous operation of multiple press machines based on programmable electronic cam controller and pre-adjusting type synchronous operation method |
| CN114488956A (en) * | 2022-01-25 | 2022-05-13 | 湖南大麓科技有限公司 | Servo control system of accurate positioning roller device |
| CN114406005A (en) * | 2022-04-01 | 2022-04-29 | 承德建龙特殊钢有限公司 | Seamless steel pipe tracking production system one by one |
| CN115167280A (en) * | 2022-08-15 | 2022-10-11 | 新代科技(苏州)有限公司 | Coupling error protection and compensation method |
| CN116421319A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Man-machine interaction device and method of vascular intervention surgical robot |
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Application publication date: 20160928 |