CN107321802B - The method that a kind of fashioned iron blooming mill manipulator flipper guide position automatically corrects - Google Patents
The method that a kind of fashioned iron blooming mill manipulator flipper guide position automatically corrects Download PDFInfo
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- CN107321802B CN107321802B CN201710622777.5A CN201710622777A CN107321802B CN 107321802 B CN107321802 B CN 107321802B CN 201710622777 A CN201710622777 A CN 201710622777A CN 107321802 B CN107321802 B CN 107321802B
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- flipper guide
- correction
- manipulator
- transmission side
- position correction
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- 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
- B21B39/14—Guiding, positioning or aligning work
Abstract
The invention discloses the methods that a kind of fashioned iron blooming mill manipulator flipper guide position automatically corrects, it includes two control units, i.e. the fashioned iron blooming mill manipulator transmission side flipper guide position correction control unit that functional block BCWJC01~BCWJC17 is constituted that fashioned iron blooming mill manipulator flipper guide position correction, which controls program,；The fashioned iron blooming mill manipulator fore side flipper guide position correction control unit that functional block BCWJC08~BCWJC34 is constituted；It shortens the time of fashioned iron blooming mill front and back manipulator flipper guide position correction and facilitates the position correction of manipulator two sides flipper guide, the position correction of manipulator two sides flipper guide can be automatically performed in a short period of time.
Description
Technical field
The invention belongs to electrical drive control system technical field more particularly to a kind of fashioned iron blooming mill manipulator flipper guide positions certainly
The method of dynamic correction.
Background technique
For big H profile steel blooming mill, it is both needed to one manipulator of setting on the work roll table before and after it, exists for realizing rolled piece
Movement between different roll pass helps rolled piece to bite and align to rolled piece during the rolling process etc..Before blooming mill
Manipulator is made of the flipper guide of two pieces of separate transmissions of transmission side and fore side afterwards, and each manipulator flipper guide is then by flipper guide sheet
Body, flipper guide push-pull rod (rack gear including being mounted on push-pull rod lower part), push-pull rod rack wheel, pushes away flipper guide sliding rail
Pull rod bearing wheels and pressing wheel, flipper guide transmission speed reducer, flipper guide drive motor and motor encoder etc. are formed, and are opened
Manipulator layout drawing and manipulator flipper guide structural schematic diagram are distinguished shown in following Fig. 1 and Fig. 2 before and after base machine.In manipulator flipper guide work
During work, flipper guide drive motor drives flipper guide push-pull rod rack gear by speed reducer and rack wheel, realizes
Flipper guide is closed (i.e. flipper guide, which advances, moves) and is opened (i.e. flipper guide, which retreats, moves) and operates.Since manipulator two sides flipper guide exists
It needs to shift rolled piece by closed procedure, clamped and aligned in the course of work, such manipulator two sides flipper guide exists
It is inevitable during closed procedure to collide with rolled piece.Just because of this working method of blooming mill manipulator flipper guide and frequency
Numerous closed procedure, so that manipulator flipper guide push-pull rod driving rack and its transmission gear occur unidirectionally (even if flipper guide is closed
Mobile direction) abrasion quickening, after the use by certain time, between flipper guide push-pull rod driving rack and transmission gear
Necessarily there is interval in engagement.In view of manipulator flipper guide during blooming mill rolls per pass all by the extruding by rolled piece, this
Sample, when rolled piece leaves blooming mill and rolling groove next to blooming mill by manipulator flipper guide transverse shift, manipulator two sides side
Guide plate necessarily has side to carry out opening operation, and executes its push-pull rod driving rack of the flipper guide of opening operation and transmission gear
Steering opening direction will tightly be engaged by closing direction tightly to engage, still, due to there is interval between rack and pinion, in rack gear and tooth
Wheel engagement will will appear that of short duration gear rotates backward (i.e. super opening direction rotate) during turning to and rack gear is motionless shows
As thus leading to the flipper guide physical location detected value, (by flipper guide drive motor encoder interface unit, (such as Siemens is compiled
Code device interface unit AK41 etc.) provide) it is less than its actual position value.Since fashioned iron blooming mill needs to carry out multi-pass to steel billet
Flat/vertical transformation rolling, the steel billet before and after the blooming mill on work roll table need according to different passages by manipulator flipper guide into
Row lateral shuttle displacement, in this way, fashioned iron blooming mill manipulator two sides flipper guide uses one in push-pull rod driving rack and transmission gear
It is inevitable after fixing time to will appear the phenomenon that physical location detected value is less than its actual position value.In view of pushing away in actual operation
The abrasion of bed flipper guide push-pull rod driving rack and gear is difficult to avoid that and expense that spare part is frequently replaced is higher, so, it is
Extend their service life and prevent manipulator flipper guide from occurring positioning is overproof, and plant maintenance personnel need periodically to manipulator
Flipper guide physical location detected value is corrected, and as the abrasion of manipulator flipper guide push-pull rod driving rack and gear increases
Need to be gradually shortened the manipulator flipper guide position correction period.
Currently, being corrected for the physical location of manipulator flipper guide before and after fashioned iron blooming mill, due to flipper guide physical location school
Timing needs for manipulator two sides flipper guide to be moved to manipulator transmission side maximum machine stop position, so, before position correction,
Plant maintenance personnel must be first released from the protection interlocking of manipulator two sides flipper guide maximum functional position, and then, operative employee will push away first
Bed transmission side flipper guide is manually operated to manipulator transmission side maximum machine stop position, after this, then is manually operated manipulator
Fore side flipper guide is mobile to manipulator transmission side, until the flipper guide presses against manipulator transmission side flipper guide.Plant maintenance
When personnel on site confirms that manipulator two sides flipper guide is in respective maximum machine stop position, then respectively to manipulator two sides flipper guide
Drive motor encoder position detection value is modified, after the amendment of manipulator two sides flipper guide position detection value, then it is extensive
Multiple manipulator two sides flipper guide maximum functional position protection interlocking, so far manipulator two sides flipper guide position detection correction finish.Thus may be used
Know, before and after fashioned iron blooming mill the position correction of manipulator two sides flipper guide not only to spend longer time (about 90 minutes) and
And more people is also needed to participate in complete.So the position correction of manipulator two sides flipper guide is typically only capable to overhaul in everyday devices
Period just can be carried out.
Summary of the invention
Technical problem to be solved by the invention is to provide manipulator flipper guide position schools before and after a kind of shortening fashioned iron blooming mill
What the fashioned iron blooming mill manipulator flipper guide position of positive time and the position correction for facilitating manipulator two sides flipper guide automatically corrected
Method.
In order to solve the above-mentioned technical problem, the technical scheme adopted by the invention is that: a kind of fashioned iron blooming mill manipulator side is led
The method that Board position automatically corrects,
Fashioned iron blooming mill manipulator flipper guide position correction controls program and is all made of flipper guide push-and-pull to two pieces of flipper guides of manipulator
The correction position that the maximum travel position of bar free end is detected as flipper guide physical location；Correction is in transmission side flipper guide
Manipulator fore side flipper guide position correction operation just can be carried out under the premise of position, so, by transmission side flipper guide position correction
One of the entry condition for examining as fore side flipper guide position correction operation of detection switch；For the ease of being led to manipulator two sides
The control of plate, two flipper guide of regulation manipulator moves towards in manipulator flipper guide control program --- movement i.e. close to each other
Mobile for the forward direction of each flipper guide, flipper guide its positional value when forward direction is mobile will be gradually increased, in this way, manipulator transmission side side is led
The maximum travel position of plate push-pull rod free end will have a minimum position value, and manipulator fore side flipper guide push-pull rod free end
Maximum travel position will have maximum position value；
It includes two control units, i.e. functional block BCWJC01 that fashioned iron blooming mill manipulator flipper guide position correction, which controls program,
The fashioned iron blooming mill manipulator transmission side flipper guide position correction control unit that~BCWJC07, BCWJC09~BCWJC13 is constituted；Function
It can block BCWJC08, BCWJC14~BCWJC34 composition fashioned iron blooming mill manipulator fore side flipper guide position correction control unit；
In view of manipulator two sides flipper guide correction position be arranged at the maximum travel position of manipulator push-pull rod free end with
And the effective travel of manipulator two sides flipper guide is larger, to shorten the manipulator position correction time and preventing in the correction course of position
Hard impacts occur for the mechanical stop block of manipulator push-pull rod free end and push-pull rod travel terminus, in manipulator two sides flipper guide position
Flipper guide position correction speed switching control subelement is respectively provided in Corrective control unit；Functional block BCWJC01 and
BCWJC02 constitutes manipulator transmission side flipper guide position correction speed switching control subelement, in the control subelement, by manipulator
Mechanical stop block 250 millimeter of position of the transmission side flipper guide push-pull rod free end away from its position terminal is as position correction speed
Switching point, during manipulator transmission side flipper guide position correction, when transmission side flipper guide push-pull rod free end is away from terminal machinery
When the spacing of scotch is greater than 250 millimeters, which is set as high speed for transmission side flipper guide position correction speed, makes
It is mobile that transmission side flipper guide quickly corrects position towards it；When transmission side flipper guide push-pull rod free end is away from terminal machinery scotch
When spacing is less than or equal to 250 millimeters, which is set as low speed for transmission side flipper guide position correction speed, makes to pass
Dynamic side flipper guide low speed corrects position close to it；Functional block BCWJC18 and BCWJC19 constitute manipulator fore side flipper guide position school
Positive speed switching control subelement, the control subelement use and transmission side flipper guide position correction speed switching control subelement
Identical control mode.
In view of manipulator two sides flipper guide is all made of the mode that terminal machinery scotch is pressed against in flipper guide push-pull rod free end
Realize that position correction is pushing away to accurately determine the pressing state of flipper guide push-pull rod free end Yu its terminal machinery scotch
The state judgement subelement that flipper guide is in correction position is provided in the flipper guide position correction control unit of bed two sides；Function
Block BCWJC05~BCWJC07, BCWJC09 and BCWJC10 constitute manipulator transmission side flipper guide and sentence in the state of correction position
Stator unit, in the subelement, when the entry condition of transmission side flipper guide position correction operation has met, transmission side flipper guide
Transmission device is without failure in the correction course of position and transmission side flipper guide does not occur its biography before reaching correction position
When the case where dynamic motor continues 2.5 seconds in current limit, wherein entry condition be all heat inspection inspections in blooming mill region lose,
Transmission side flipper guide transmission device is ready and transmission side flipper guide position correction operational order issues, functional block BCWJC07's
Output end Q will be ' 1 ' state, in this way, when the duration that transmission side flipper guide is in correction position reaches 2 seconds and in this time
When transmission side flipper guide drive motor electric current reaches clipping state of value later, the output end Q of subelement functional block BCWJC10
' 1 ' state will be become by ' 0 ' state, and thus determine that transmission side flipper guide be in correction position；Functional block BCWJC22~BCWJC24,
BCWJC26 and BCWJC27 constitutes the state judgement subelement that manipulator fore side flipper guide is in correction position, in the subelement
In, when the entry condition of fore side flipper guide position correction operation has met, fore side flipper guide transmission device is in position correction
Without failure in the process and fore side flipper guide, which does not occur its drive motor before reaching correction position, to be continued at 2.5 seconds
When the case where current limit, wherein entry condition is all heat inspection inspection mistakes in blooming mill region, fore side flipper guide transmission dress
Set ready, transmission side flipper guide correction position detecting switch examine and fore side flipper guide position correction operational order issue,
The output end Q of functional block BCWJC24 will be ' 1 ' state, in this way, when the duration that fore side flipper guide is in correction position reaches
2 seconds and when fore side flipper guide drive motor electric current reaches clipping state of value after this time, the subelement functional block
The output end Q of BCWJC27 will become ' 1 ' state by ' 0 ' state, and thus decision side flipper guide has been in correction position.
It is all that position detecting switch inspection is corrected by flipper guide in view of the judgement that manipulator two sides flipper guide is in correction position
It obtains and flipper guide drive motor electric current is in clipping state of value to determine, so, in order to avoid flipper guide driven motor
Machine is in clipping state of value for a long time in the correction course of position, sentences in the state that the two sides flipper guide of manipulator is in correction position
The time that flipper guide drive motor is continuously in current limit during position correction is limited to 2.5 in stator unit
Within second, during flipper guide position correction, reach this when the duration that flipper guide drive motor is in current limit
When the time, flipper guide position correction controls program for automatic final position correct operation, and this requires flipper guide position correction controls
Processing procedure sequence should calculate immediately when confirming that flipper guide has been in correction position and store flipper guide correction positional value --- and it is i.e. corresponding
Deviation --- i.e. flipper guide position between the terminal location value and flipper guide physical location detected value of flipper guide push-pull rod free end
Correcting action value；For this purpose, being provided with flipper guide position correction value meter in the flipper guide position correction control unit of manipulator two sides
Calculation and storing sub-units；Functional block BCWJC11~BCWJC13 constitutes manipulator transmission side flipper guide position correction value and calculates and store
Subelement, the subelement calculate transmission side flipper guide by functional block BCWJC12 in real time and correct positional value and the inspection of its physical location
Deviation between measured value, when transmission side flipper guide is in correction position, the deviation is exactly its position correction deviation, and is led to
" digital change-over switch " functional block BCWJC13 is crossed to realize the storage of transmission side flipper guide position correction deviation；Work as transmission side
Flipper guide be in correction position state determine subelement determine the flipper guide be in correction position when, the flipper guide position
The output end QP of functional block BCWJC11 will export ' 1 ' arteries and veins of a cycle period width in correction value and storing sub-units
Punching, the transmission side flipper guide position correction deviation for thus being stored " digital change-over switch " functional block BCWJC13 become to work as
The flipper guide position correction of driving front side operates new transmission side flipper guide position correction deviation obtained；Functional block
BCWJC28~BCWJC30 constitutes the calculating of manipulator fore side flipper guide position correction value and storing sub-units, the subelement and manipulator
The calculating of transmission side flipper guide position correction value is identical as the control thought of storing sub-units, when fore side flipper guide is in correction bit
When the state set determines that subelement determines the flipper guide and has been in correction position, which calculates and storage
The output end QP of functional block BCWJC28 will export ' 1 ' pulse of a cycle period width in subelement, thus make " number turn
Change switch " the fore side flipper guide position correction deviation that is stored of functional block BCWJC30 becomes current operation side flipper guide position
Set correct operation new fore side flipper guide position correction deviation obtained.
A technical solution in above-mentioned technical proposal has the following advantages that or beneficial effect, before shortening fashioned iron blooming mill
The time of manipulator flipper guide position correction and facilitate the position correction of manipulator two sides flipper guide afterwards, it can be in a short period of time
It is automatically performed the position correction of manipulator two sides flipper guide.
Detailed description of the invention
Fig. 1 is manipulator layout drawing before and after H profile steel blooming mill；
Fig. 2 is H profile steel blooming mill manipulator flipper guide structural schematic diagram；
Fig. 3 is the structure chart that fashioned iron blooming mill manipulator flipper guide position automatically corrects control program；
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
In figure 3 above, NSW is " digital change-over switch " functional block, as I=' 1 ', Y=X2, and as I=' 0 ', Y=
X1；RSR is " reset terminal R preferential rest-set flip-flop " functional block, and when it is ' 0 ' that S, which is ' 1 ', R, Q is that ' 1 ', QN is ' 0 ', when S is
When ' 1 ', R are ' 1 ', Q is that ' 0 ', QN is ' 1 ', and when it is ' 0 ' that S, which is ' 0 ', R, it is ' 1 ' when S is ' 0 ', R that Q and QN, which keep ortho states,
When, Q is that ' 0 ' QN is ' 1 '；ETE is " front and back edge is set " functional block, and when input terminal I becomes ' 1 ' by ' 0 ', the end QP only exports length
For the direct impulse of 1 cycle period, the end QP remains ' 0 ' state under remaining state.When input terminal I becomes ' 0 ' by ' 1 ', QN
Only output length is the direct impulse of 1 cycle period at end, and the end QN remains ' 0 ' state under remaining state；LVM is " two-way number
It is worth overproof detection " functional block, as X >=M+HY, QU is ' 1 ', and as M-HY < X < M+HY, QU keeps ortho states, as X≤M-
When HY, QU is ' 0 '；NCM is " numerical value compares " functional block, and as X1 > X2, QU is ' 1 ', and as X1=X2, QE is ' 1 ', works as X1
When < X2, QL is ' 1 '；SUB is " subtracter " functional block；ADD is " adder " functional block；AVA is " absolute value " functional block；
PDE is " forward position delay " functional block；OR is disjunction gate；AND is " with door ".The automatic school in fashioned iron blooming mill manipulator flipper guide position
The design and control thought of positive control program are as follows:
(1) transmission mechanism of the usual fashioned iron blooming mill front and back two pieces of flipper guides of manipulator of is arranged at the transmission of front and back manipulator
Side, as shown in figure 1 above.It is free end that the push-pull rod of two pieces of flipper guides of manipulator, which only has the end close to drive motor side, and
Another end is then connected with flipper guide ontology and is in the lower section of blooming mill work roll table.In the push-and-pull of two pieces of flipper guides of manipulator
The maximum travel position of bar free end is provided with mechanical stop block.Based on this, for the ease of two pieces of flipper guide push-pull rods of manipulator
Correction position detection, the fashioned iron blooming mill manipulator flipper guide position correction control program side is all made of to two pieces of flipper guides of manipulator
The correction position that the maximum travel position of guide plate push-pull rod free end is detected as flipper guide physical location.In this way, must pass
Manipulator fore side flipper guide position correction operation just can be carried out under the premise of dynamic side flipper guide is in correction position, so, it will pass
One of the entry condition for examining as fore side flipper guide position correction operation of dynamic side flipper guide position correction detection switch.For
Convenient for the control to two flipper guide of manipulator, regulation manipulator two flipper guide is moved towards in manipulator flipper guide control program
(movement i.e. close to each other) is that the forward direction of each flipper guide is mobile, and flipper guide its positional value when forward direction is mobile will be gradually increased.
In this way, the maximum travel position of manipulator transmission side flipper guide push-pull rod free end will have a minimum position value, and manipulator fore side
The maximum travel position of flipper guide push-pull rod free end will have maximum position value.Manipulator side before and after Ma Gang great H profile steel blooming mill
The range of guide plate is 2900 millimeters.
(2) is in the control program structure diagram,
SCAL.DS.--- transmission side flipper guide corrects positional value；
SCAL.NS.--- fore side flipper guide corrects positional value；
Sact.AK.DS--- the transmission side flipper guide physical location detected value of transmission side flipper guide gearing encoder interface output；
Sact.AK.NS--- the fore side flipper guide physical location detected value of fore side flipper guide gearing encoder interface output；
ΔSCAL.DS.--- the flipper guide physical location detected value of transmission side flipper guide gearing encoder interface output and transmission
The physical location deviation of side flipper guide, abbreviation transmission side flipper guide position correction deviation；
ΔSCAL.NS.--- the flipper guide physical location detected value of fore side flipper guide gearing encoder interface output and operation
The physical location deviation of side flipper guide, abbreviation fore side flipper guide position correction deviation；
--- transmission side flipper guide position correction speed setting value；
--- fore side flipper guide position correction speed setting value；
nN--- flipper guide drive motor normal speed.
(3) fashioned iron blooming mill manipulator flipper guide position correction control program is mainly made of two control units, i.e.,
Functional block BCWJC01~BCWJC07, BCWJC09~BCWJC13 constitute the transmission side flipper guide position correction of fashioned iron blooming mill manipulator
Control unit；Functional block BCWJC08, BCWJC14~BCWJC34 constitutes the fore side flipper guide position correction of fashioned iron blooming mill manipulator
Control unit.
(4) is arranged at the range position of manipulator push-pull rod free end in view of the correction position of manipulator two sides flipper guide
It sets and the effective travel of manipulator two sides flipper guide is larger (about 2900 millimeters), to shorten the manipulator position correction time and preventing
Hard impacts occur for the mechanical stop block of manipulator push-pull rod free end and push-pull rod travel terminus in the correction course of position, are pushing away
Flipper guide position correction speed switching control subelement is respectively provided in the flipper guide position correction control unit of bed two sides.Function
Block BCWJC01 and BCWJC02 constitute manipulator transmission side flipper guide position correction speed switching control subelement, single in control
In member, 250 millimeters of mechanical stop block of position using manipulator transmission side flipper guide push-pull rod free end away from its position terminal as
Position correction speed switching point, during manipulator transmission side flipper guide position correction, when transmission side flipper guide push-pull rod is free
When the spacing away from terminal machinery scotch being held to be greater than 250 millimeters, the control subelement is by transmission side flipper guide position correction speed
It is set as high speed (such as -60%nN), so that transmission side flipper guide is quickly corrected position towards it mobile；When transmission side flipper guide push-pull rod
When spacing of the free end away from terminal machinery scotch is less than or equal to 250 millimeters, the control subelement is by transmission side flipper guide position
It sets correction rate and is set as low speed (such as -10%nN), so that transmission side flipper guide low speed is corrected position close to it.Functional block
BCWJC18 and BCWJC19 constitutes manipulator fore side flipper guide position correction speed switching control subelement, which adopts
With control mode identical with transmission side flipper guide position correction speed switching control subelement.
(5) is pressed against terminal machinery scotch in view of manipulator two sides flipper guide is all made of flipper guide push-pull rod free end
Mode realizes position correction, in order to accurately determine the pressing state of flipper guide push-pull rod free end Yu its terminal machinery scotch,
The state judgement subelement that flipper guide is in correction position is provided in the flipper guide position correction control unit of manipulator two sides.
Functional block BCWJC05~BCWJC07, BCWJC09 and BCWJC10 constitute the shape that manipulator transmission side flipper guide is in correction position
State determines subelement, in the subelement, when the entry condition of transmission side flipper guide position correction operation has met (i.e. blooming mill
All heat inspection inspections in region are lost, transmission side flipper guide transmission device is ready and transmission side flipper guide position correction operational order is sent out
Out), transmission side flipper guide transmission device is without failure in the correction course of position and transmission side flipper guide is reaching correction
When not occurring the case where its drive motor continues to be in current limit in 2.5 seconds before position, the output end of functional block BCWJC07
Q will be ' 1 ' state, in this way, correcting duration of position when transmission side flipper guide is in and reaching 2 seconds and in this time after passes
When dynamic side flipper guide drive motor electric current reaches clipping state of value, the output end Q of subelement functional block BCWJC10 will be by
' 0 ' state becomes ' 1 ' state, thus determines that transmission side flipper guide has been in correction position.Functional block BCWJC22~BCWJC24,
BCWJC26 and BCWJC27 constitutes the state judgement subelement that manipulator fore side flipper guide is in correction position, in the subelement
In, when the entry condition of fore side flipper guide position correction operation has met (the i.e. all heat inspection inspection mistakes in blooming mill region, fore side
Flipper guide transmission device is ready, transmission side flipper guide correction position detecting switch examine and fore side flipper guide position correction grasp
Make instruction issue), fore side flipper guide transmission device is without failure in the correction course of position and fore side flipper guide exists
Reach before correction position when not occurring the case where its drive motor continues 2.5 seconds in current limit, functional block BCWJC24
Output end Q will be ' 1 ' state, in this way, when the duration that fore side flipper guide is in correction position reaches 2 seconds and at this moment
Between after fore side flipper guide drive motor electric current when reaching clipping state of value, the output of subelement functional block BCWJC27
End Q will become ' 1 ' state by ' 0 ' state, and thus decision side flipper guide has been in correction position.
(6) judgement that is in correction position in view of manipulator two sides flipper guide is all to correct position detection by flipper guide to open
Pass examine and flipper guide drive motor electric current be in clipping state of value to determine, so, in order to avoid flipper guide be driven
Motor is in clipping state of value for a long time in the correction course of position, is in the shape of correction position in the two sides flipper guide of manipulator
State determines to limit the time that flipper guide drive motor during position correction is continuously in current limit in subelement
Within 2.5 seconds, during flipper guide position correction, reached when the duration that flipper guide drive motor is in current limit
When to this time, flipper guide position correction controls program for automatic final position correct operation, and this requires flipper guide position schools
Positive control program should calculate immediately when confirming that flipper guide has been in correction position and store flipper guide correction positional value (i.e. accordingly
The terminal location value of flipper guide push-pull rod free end) and flipper guide physical location detected value between deviation (i.e. flipper guide position school
Positively biased difference).For this purpose, being provided with the calculating of flipper guide position correction value in the flipper guide position correction control unit of manipulator two sides
With storing sub-units.Functional block BCWJC11~BCWJC13 constitutes manipulator transmission side flipper guide position correction value and calculates and storage
Unit, the subelement calculate transmission side flipper guide by functional block BCWJC12 in real time and correct positional value and its practical position detection
Deviation between value, when transmission side flipper guide is in correction position, the deviation is exactly its position correction deviation, and is passed through
" digital change-over switch " functional block BCWJC13 realizes the storage of transmission side flipper guide position correction deviation.When transmission side side
Guide plate be in correction position state determine subelement determine the flipper guide be in correction position when, the flipper guide position school
Positive value calculates ' 1 ' pulse that a cycle period width will be exported with the output end QP of functional block BCWJC11 in storing sub-units,
Thus the transmission side flipper guide position correction deviation for being stored " digital change-over switch " functional block BCWJC13 becomes to work as forward pass
Dynamic side flipper guide position correction operates new transmission side flipper guide position correction deviation obtained.Functional block BCWJC28~
BCWJC30 constitutes the calculating of manipulator fore side flipper guide position correction value and storing sub-units, the subelement and manipulator transmission side side
The calculating of guide plate position correction value is identical as the control thought of storing sub-units, when fore side flipper guide is in the state of correction position
Determine subelement determine the flipper guide be in correction position when, the flipper guide position correction value calculate with storing sub-units in
The output end QP of functional block BCWJC28 will export ' 1 ' pulse of a cycle period width, thus make " digital change-over switch " function
The fore side flipper guide position correction deviation that energy block BCWJC30 is stored becomes current operation side flipper guide position correction operation
New fore side flipper guide position correction deviation obtained.
After above-mentioned scheme, time of manipulator flipper guide position correction and conveniently is shortened before and after fashioned iron blooming mill
The position correction of manipulator two sides flipper guide can be automatically performed the position correction of manipulator two sides flipper guide in a short period of time.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention implements not by aforesaid way
Limitation, as long as the improvement for the various unsubstantialities that the inventive concept and technical scheme of the present invention carry out is used, or without changing
It is within the scope of the present invention into the conception and technical scheme of the invention are directly applied to other occasions.
Claims (3)
1. the method that a kind of fashioned iron blooming mill manipulator flipper guide position automatically corrects, which is characterized in that
Fashioned iron blooming mill manipulator flipper guide position correction controls program and is all made of flipper guide push-pull rod certainly to two pieces of flipper guides of manipulator
The correction position detected by the maximum travel position held as flipper guide physical location；Correction position is in transmission side flipper guide
Under the premise of manipulator fore side flipper guide position correction operation just can be carried out, so, by transmission side flipper guide position correction detection
One of the entry condition for examining as fore side flipper guide position correction operation of switch；For the ease of to two flipper guide of manipulator
Control, two flipper guide of regulation manipulator moves towards in manipulator flipper guide control program --- and movement i.e. close to each other is each
The forward direction of flipper guide is mobile, and flipper guide its positional value when forward direction is mobile will be gradually increased, in this way, manipulator transmission side flipper guide pushes away
The maximum travel position of pull rod free end will have a minimum position value, and the maximum of manipulator fore side flipper guide push-pull rod free end
Travel position will have maximum position value；
Fashioned iron blooming mill manipulator flipper guide position correction control program include two control units, i.e. functional block BCWJC01~
The fashioned iron blooming mill manipulator transmission side flipper guide position correction control unit that BCWJC07, BCWJC09~BCWJC13 are constituted；Function
The fashioned iron blooming mill manipulator fore side flipper guide position correction control unit that block BCWJC08, BCWJC14~BCWJC34 are constituted；
The maximum travel position of manipulator push-pull rod free end is arranged in view of the correction position of manipulator two sides flipper guide and is pushed away
The effective travel of bed two sides flipper guide is larger, to shorten the manipulator position correction time and preventing the manipulator in the correction course of position
Hard impacts occur for the mechanical stop block of push-pull rod free end and push-pull rod travel terminus, in the flipper guide position correction of manipulator two sides
Flipper guide position correction speed switching control subelement is respectively provided in control unit；Functional block BCWJC01 and BCWJC02 structure
At manipulator transmission side flipper guide position correction speed switching control subelement, in the control subelement, by manipulator transmission side side
Mechanical stop block 250 millimeter of position of the guide plate push-pull rod free end away from its position terminal as position correction speed switching point,
During manipulator transmission side flipper guide position correction, when transmission side flipper guide push-pull rod free end is away from terminal machinery scotch
When spacing is greater than 250 millimeters, which is set as high speed for transmission side flipper guide position correction speed, makes transmission side side
It is mobile that guide plate quickly corrects position towards it；When transmission side flipper guide push-pull rod free end is less than away from the spacing of terminal machinery scotch
Or when being equal to 250 millimeters, which is set as low speed for transmission side flipper guide position correction speed, leads transmission side side
Plate low speed corrects position close to it；Functional block BCWJC18 and BCWJC19 constitute manipulator fore side flipper guide position correction speed and cut
Control subelement is changed, which uses control identical with transmission side flipper guide position correction speed switching control subelement
Mode processed.
2. the method that fashioned iron blooming mill manipulator flipper guide as described in claim 1 position automatically corrects, which is characterized in that consider
The mode for being all made of flipper guide push-pull rod free end pressing terminal machinery scotch to manipulator two sides flipper guide realizes position correction,
In order to accurately determine the pressing state of flipper guide push-pull rod free end Yu its terminal machinery scotch, in manipulator two sides flipper guide position
It sets and is provided with the state judgement subelement that flipper guide is in correction position in Corrective control unit；Functional block BCWJC05~
BCWJC07, BCWJC09 and BCWJC10 constitute the state judgement subelement that manipulator transmission side flipper guide is in correction position,
In the subelement, when the entry condition of transmission side flipper guide position correction operation has met, transmission side flipper guide transmission device exists
Without failure and transmission side flipper guide does not occur its drive motor and holds before reaching correction position during position correction
When the case where being in current limit in continuous 2.5 seconds, wherein entry condition is that all heat inspection inspections in blooming mill region are lost, transmission side side is led
Plate transmission device is ready and transmission side flipper guide position correction operational order issues, and the output end Q of functional block BCWJC07 will be
' 1 ' state, in this way, when the duration that transmission side flipper guide is in correction position reaches 2 seconds and transmission side after in this time
When flipper guide drive motor electric current reaches clipping state of value, the output end Q of subelement functional block BCWJC10 will be by ' 0 ' state
Become ' 1 ' state, thus determines that transmission side flipper guide has been in correction position；Functional block BCWJC22~BCWJC24, BCWJC26 with
And BCWJC27 constitutes manipulator fore side flipper guide and determines that subelement works as operation in the subelement in the state of correction position
The entry condition of side flipper guide position correction operation has met, fore side flipper guide transmission device does not go out in the correction course of position
Existing failure and fore side flipper guide do not occur its drive motor before reaching correction position and continue 2.5 seconds in current limit
When the case where value, wherein entry condition is that all heat inspection inspections in blooming mill region are lost, fore side flipper guide transmission device is ready, transmission
Side flipper guide correction position detecting switch examine and fore side flipper guide position correction operational order issue, functional block
The output end Q of BCWJC24 will be ' 1 ' state, in this way, when the duration that fore side flipper guide is in correction position reaches 2 seconds simultaneously
And when fore side flipper guide drive motor electric current reaches clipping state of value after this time, the subelement functional block
The output end Q of BCWJC27 will become ' 1 ' state by ' 0 ' state, and thus decision side flipper guide has been in correction position.
3. the method that fashioned iron blooming mill manipulator flipper guide as claimed in claim 2 position automatically corrects, which is characterized in that in view of
Manipulator two sides flipper guide be in correction position judgement be all by flipper guide correct position detecting switch examine and flipper guide
Drive motor electric current is in clipping state of value to determine, so, in order to avoid flipper guide drive motor is in position correction
It is in clipping state of value for a long time in the process, determines in subelement in the state that the two sides flipper guide of manipulator is in correction position
The time that flipper guide drive motor is continuously in current limit during position correction was limited within 2.5 seconds, in side
During guide plate position correction, when the duration that flipper guide drive motor is in current limit reaching this time, side is led
For Board position Corrective control program by automatic final position correct operation, this requires flipper guide position correction control programs to confirm
Flipper guide should calculate immediately when being in correction position and store flipper guide correction positional value --- i.e. corresponding flipper guide push-pull rod
Deviation --- i.e. flipper guide position correction deviation between the terminal location value and flipper guide physical location detected value of free end；For
This, flipper guide position correction value is provided in the flipper guide position correction control unit of manipulator two sides and is calculated and storage son list
Member；Functional block BCWJC11~BCWJC13 constitutes the calculating of manipulator transmission side flipper guide position correction value and storing sub-units, the son
Unit calculates the deviation between transmission side flipper guide correction positional value and its practical position detection value by functional block BCWJC12 in real time
Value, when transmission side flipper guide is in correction position, the deviation is exactly its position correction deviation, and by the way that " number conversion is opened
Closing " functional block BCWJC13 realizes the storage of transmission side flipper guide position correction deviation；When transmission side flipper guide is in correction
When the state of position determines that subelement determines the flipper guide and has been in correction position, which calculates and deposits
The output end QP of functional block BCWJC11 will export ' 1 ' pulse of a cycle period width in storage subelement, thus make " number
The transmission side flipper guide position correction deviation that change-over switch " functional block BCWJC13 is stored becomes contemporary transmissions side flipper guide
Position correction operates new transmission side flipper guide position correction deviation obtained；Functional block BCWJC28~BCWJC30 is constituted
Manipulator fore side flipper guide position correction value calculates and storing sub-units, the subelement and the flipper guide position correction of manipulator transmission side
Value calculating is identical as the control thought of storing sub-units, when the state that fore side flipper guide is in correction position determines that subelement is sentenced
Make the flipper guide be in correction position when, the flipper guide position correction value calculate with storing sub-units in functional block
The output end QP of BCWJC28 will export ' 1 ' pulse of a cycle period width, thus make " digital change-over switch " functional block
The fore side flipper guide position correction deviation that BCWJC30 is stored becomes current operation side flipper guide position correction operation and is obtained
The new fore side flipper guide position correction deviation obtained.
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| CN111330980B (en) * | 2020-03-02 | 2022-01-25 | 马鞍山钢铁股份有限公司 | Non-band-type brake position maintaining control method for cogging mill pusher |
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| JPH04147711A (en) * | 1990-10-11 | 1992-05-21 | Nippon Steel Corp | Method for controlling position of side guide |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04147711A (en) * | 1990-10-11 | 1992-05-21 | Nippon Steel Corp | Method for controlling position of side guide |
| JPH09239425A (en) * | 1996-03-08 | 1997-09-16 | Nippon Steel Corp | Guide device for universal rolling mill |
| CN201300149Y (en) * | 2008-12-08 | 2009-09-02 | 中色科技股份有限公司 | Device for automatically guiding warped strip |
| CN102039320A (en) * | 2010-09-30 | 2011-05-04 | 马鞍山钢铁股份有限公司 | Adjustable profile steel production line guide device |
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