CN108664048B - Slab deburring optimization control method based on momentum model - Google Patents

Slab deburring optimization control method based on momentum model Download PDF

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Publication number
CN108664048B
CN108664048B CN201810289271.1A CN201810289271A CN108664048B CN 108664048 B CN108664048 B CN 108664048B CN 201810289271 A CN201810289271 A CN 201810289271A CN 108664048 B CN108664048 B CN 108664048B
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deburring
slab
mode
plate blank
head
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CN108664048A (en
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谢清新
景峰
周良勇
毛卫山
马伟峻
陈功
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Baosteel Zhanjiang Iron and Steel Co Ltd
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Baosteel Zhanjiang Iron and Steel Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement

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Abstract

The invention discloses a slab deburring optimization control method based on a momentum model, which comprises the following steps: s1, when the flame cutting machine performs cutting by two or three, the information of the tensile strength sigma, the width W and the weight M of the cut plate blank at the current temperature is downloaded to a two-tangent control system; s2, calculating the movement speed V of the plate blank by the two tangent control system through a momentum model0The moving speed V of the slab0The slab generates momentum required for enabling burrs on the slab to fall off only in an impact mode; s3, determining the deburring mode of the plate blank by the two-tangent control system and sending the deburring mode to the deburring machine; s4, controlling the system by the two tangent lines to move the slab at the speed V0And controlling the rotating speed of the roller way, and performing the steps of removing the head, removing the tail or removing the head and the tail by the deburring machine in an impacting manner according to a deburring mode. The invention adopts the momentum-based deburring mode, simplifies the deburring process, improves the capacity of the deburring machine and reduces the maintenance cost and the energy consumption.

Description

Slab deburring optimization control method based on momentum model
Technical Field
The invention belongs to the technical field of metallurgy, and particularly relates to a production process for removing burrs at the head and the tail of a medium plate blank before rolling.
Background
When the plate blank is cut, burrs are formed on iron slag melted by a plate blank cutting seam, and the burrs are remained to cause the defect of pressing in of foreign matters on the surface of a steel plate during rolling. The deburring machine is an indispensable device for reducing burr residues and foreign matter pressing defects on the surface of the steel plate. The deburring machine is arranged in a secondary tangent area of a thick plate factory and is mainly used for removing burrs at the head part, the tail part or the head and the tail part of a plate blank cut by the hot cutting machine so as to reduce burr residues and reduce foreign matter pressing defects on the surface of a steel plate.
The deburring process of the deburring machine of GeGa company is excessively complicated to control, and meanwhile, the maintenance amount of equipment is large, so that the capacity of the deburring machine is limited, and high maintenance cost is required.
The general control flow of the deburring machine of GeGa company is shown in figure 1, when deburring is carried out on a plate blank, a two-cutting-line system issues a deburring mode to the deburring machine, the deburring machine requests control ownership of a deburring area roller way (only the roller way can be controlled to rotate forwards and backwards, and the speed of the roller way cannot be changed) after receiving the deburring mode, the deburring machine returns control ownership of the deburring area roller way after deburring is finished, and a deburring signal is sent to the deburring machine to finish deburring.
With the official production of the Zhanjiang steel thick plate factory, the improvement of the capacity becomes the target of the whole manual fighting of the thick plate factory, but because the deburring machine of the thick plate factory belongs to the moving equipment, the deburring machine is designed and put into use by GeGa company in 08 years, the deburring process flow of the deburring machine requires high control precision, for example, when the burrs of the head part of a plate blank are removed, the head part of the plate blank needs to be firstly conveyed to the position which exceeds 30cm of a deburring roller, the head part of the plate blank cannot exceed too much or too little, the precision of the deburring machine is controlled by a grating, then the swing arm is placed down, and the roller way runs while the swing arm is swung. In order to ensure that the swing arm cannot ride on a steel plate, a set of control method for protecting the swing arm is provided, so that the equipment has more gratings and is limited, and the maintenance amount of the deburring machine is increased. Meanwhile, the deburring process is roughly as follows: 1. swinging the swing arm to a safe position for standby; 2. conveying the slab to a certain fixed position and stopping; 3. swinging the swing arm to push the plate blank; 4. the roller way drives the plate blank to move, and burrs are removed through the swing arm and the roller way speed; 5. stopping the slab after deburring is finished, and swinging the swing arm to a safe position; 6. the plate blank is conveyed out of the roller way of the burr machine area by the roller way; the process flow is complicated, the slab stops and waits for the swing arm to be in place, the deburring efficiency is low, and the overall productivity of the two tangent lines is seriously reduced.
The above discussion is intended to introduce the reader to various aspects of art that may be related to various aspects of the present invention, which are described and/or claimed below, and is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present invention, and is therefore to be understood in this light, and not as an admission of prior art.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a slab deburring optimization control method based on a momentum model so as to solve the problems of low deburring working efficiency, high maintenance cost, high energy consumption and the like of the conventional deburring machine.
The purpose of the invention is realized by the following technical scheme:
the slab deburring optimization control method based on the momentum model comprises the following steps:
s1, when the flame cutting machine performs cutting by two or three, the information of the tensile strength sigma, the width W and the weight M of the cut plate blank at the current temperature is downloaded to a two-tangent control system;
s2, calculating the movement speed V of the plate blank by the two-tangent control system through a momentum model according to the input information of the tensile strength sigma, the width W and the weight M at the current temperature0The moving speed V of the slab0The slab generates momentum required for enabling burrs on the slab to fall off only in an impact mode;
s3, the two-tangent control system determines a deburring mode of the plate blank and sends the deburring mode to the deburring machine, wherein the deburring mode is a head removing mode, a tail removing mode or a head and tail removing mode;
s4, controlling the system by the two tangent lines to move the slab at the speed V0And controlling the rotating speed of the roller way, and enabling the deburring machine to perform the steps of removing the head, removing the tail or removing the head and the tail in an impacting manner according to a deburring mode, and returning the ownership of the roller way to the two-tangent control system after the steps are completed.
As a further improvement, in the step S2, the momentum model is calculated as follows:
according to knowledge of material mechanics, for a plastic material, when it is subjected to a shear force greater than its shear strength limit τbIt will break, the formula is as follows:
Figure BDA0001616933070000021
for plastic materials:
τb＝0.8σb
wherein tau isbTo the shear strength limit,. sigmabThe tensile strength at the current temperature;
Figure BDA0001616933070000022
according to the knowledge of material mechanics:
Aarea of shear＝W×h
Wherein A is the shear area; w is the width of the plate blank, and h is the thickness of the burr;
according to the theorem of momentum:
Ft＝Δp
wherein F is the impulse force applied to the object, t is the impact time, and Δ p is the changing momentum;
according to the mechanics knowledge, in order to remove the burr, the impulse force of the burr is larger than the allowable shearing stress, so that the following results are obtained:
Figure BDA0001616933070000031
with the slab as a reference, defined in terms of momentum:
Δp＝m×(Vt-V0)
wherein m is the mass of the object, VtAs post-impact velocity, V0Is the pre-impact velocity;
if the impact force can just break the burr to separate from the plate blank, the plate blank stops, and then V is formedt0; thus is provided with
Δp＝-mV0；
Wherein the impact time is very small and the roller table always has a linear velocity V0In operation, the slab then follows a V0Strike the blade to restStop, then resume to V0Is very short, it can be considered that during deburring, the slab moves at a constant speed, so that:
Figure BDA0001616933070000032
wherein WBurrs of a shipIs the width of the burr, V0The speed of the plate blank before impact;
the slab is used as a reference object, so that:
Figure BDA0001616933070000033
calculating the motion speed of the plate blank:
Figure BDA0001616933070000041
wherein σbThe tensile strength at the current temperature is W, and the width of the plate blank is W; h is the burr thickness, WBurrs of a shipIs the burr width.
As a further improvement, in the step S3, the two-tangent control system sets the deburring mode according to the number of the second blank of the mother blank, and sets the deburring mode for the first sub blank; if the second sub-blank is the third sub-blank, setting the mode as a head and tail burr removing mode, and if the second sub-blank is the second sub-blank, setting the mode as a head and head burr removing mode; and if all three are the third sub-blanks, setting the mode of removing the head burrs.
As a further improvement, in said step S4, the two-tangent control system moves at the slab movement speed V0And (3) controlling the rotating speed of the roller way, and when the head or the tail of the plate blank needing to remove burrs is about to move to the position of the deburring roller of the deburring machine, lifting the deburring roller, enabling the burrs on the plate blank to collide with the blade on the deburring roller, and enabling the burrs to fall off from the plate blank.
The invention provides a slab removing method based on a momentum modelThe burr optimization control method comprises the following steps: s1, when the flame cutting machine performs cutting by two or three, the information of the tensile strength sigma, the width W and the weight M of the cut plate blank at the current temperature is downloaded to a two-tangent control system; s2, calculating the movement speed V of the plate blank by the two-tangent control system through a momentum model according to the input information of the tensile strength sigma, the width W and the weight M at the current temperature0The moving speed V of the slab0The slab generates momentum required for enabling burrs on the slab to fall off only in an impact mode; s3, the two-tangent control system determines a deburring mode of the plate blank and sends the deburring mode to the deburring machine, wherein the deburring mode is a head removing mode, a tail removing mode or a head and tail removing mode; s4, controlling the system by the two tangent lines to move the slab at the speed V0And controlling the rotating speed of the roller way, and enabling the deburring machine to perform the steps of removing the head, removing the tail or removing the head and the tail in an impacting manner according to a deburring mode, and returning the ownership of the roller way to the two-tangent control system after the steps are completed. The invention has the following advantages:
1. the deburring method based on momentum is adopted, so that the deburring process is simplified, and the capacity of the deburring machine is improved;
2. the new deburring machine using the momentum model-based slab deburring optimization control method has small equipment maintenance amount, and reduces maintenance cost;
3. the slab deburring optimization control method based on the momentum model can calculate the deburring speed of the steel plate according to the weight and the width of the specific slab and the tensile strength information at the current temperature, strategically adjust the speed of a roller way and reduce energy consumption.
Drawings
The invention is further illustrated by means of the attached drawings, but the embodiments in the drawings do not constitute any limitation to the invention, and for a person skilled in the art, other drawings can be obtained on the basis of the following drawings without inventive effort.
Fig. 1 is an overall control flow of a deburring machine in the related art.
FIG. 2 is a schematic diagram of a system after a momentum model-based slab deburring optimization control method is modified.
Figure 3 is a simplified diagram of the transfer of a slab to a # 3 grating.
Fig. 4 is a diagrammatic view of a deburring roller lifting a burr of a nose.
Fig. 5 is a diagrammatic view of the deburring roller lifting to remove tail burrs.
FIG. 6 is a de-heading or a de-heading wake flow diagram.
Fig. 7 is a tail-burring flow diagram.
FIG. 8 is a table of tensile strength versus temperature for a steel grade.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and specific embodiments, and it is to be noted that the embodiments and features of the embodiments of the present application can be combined with each other without conflict.
The core of the invention is to provide a momentum model-based slab deburring optimization control method, which obtains the optimal motion speed suitable for the slab through momentum model operation, thereby achieving deburring and reducing energy consumption.
Referring to fig. 2 to 8, a slab deburring optimization control method based on a momentum model according to an embodiment of the present invention includes the following steps:
s1, when cutting is finished after the continuous casting mother blank is cut into two or three by a flame cutting machine, the information of the tensile strength sigma, the width W and the weight M of the cut plate blank at the current temperature is downloaded to a two-tangent control system;
s2, calculating the optimal plate blank movement speed V by the two tangent control system through a momentum model according to the input information of the tensile strength sigma, the width W and the weight M at the current temperature0The moving speed V of the slab0The slab generates momentum required for enabling burrs on the slab to fall off only in an impact mode;
s3, the two-tangent control system determines a deburring mode of the plate blank and sends the deburring mode to the deburring machine, wherein the deburring mode is a head removing mode, a tail removing mode or a head and tail removing mode;
s4 two tangent controlThe system uses the slab moving speed V0And controlling the rotating speed of the roller way, and enabling the deburring machine to perform the steps of removing the head, removing the tail or removing the head and the tail in an impacting manner according to a deburring mode, and returning the ownership of the roller way to the two-tangent control system after the steps are completed.
In a further preferred embodiment, in step S2, the momentum model is calculated as follows: according to knowledge of material mechanics, for a plastic material, when it is subjected to a shear force greater than its shear strength limit τbIt will break, the formula is as follows:
Figure BDA0001616933070000061
for plastic materials
τb＝0.8σb
Wherein tau isbTo the shear strength limit,. sigmabFor the tensile strength at the current temperature (inquiring a table of the tensile strength of different plate blanks stored in the two-line system along with the temperature, as shown in FIG. 8, to obtain an approximate value)
Figure BDA0001616933070000062
According to knowledge of material mechanics
AArea of shear＝W×h
Wherein A is the shear area; w is the width of the plate blank, and h is the thickness of the burr;
according to the theorem of momentum
Ft＝Δp
Wherein F is the impulse force applied to the object, t is the impact time, and Δ p is the changing momentum;
according to the mechanics knowledge, in order to remove the burr, the impulse force of the burr is larger than the allowable shearing stress, thereby obtaining
Figure BDA0001616933070000063
Definition according to momentum using slab as reference
Δp＝m×(Vt-V0)
Wherein m is the mass of the object; vtIs the post-impact velocity; v0Is the pre-impact velocity;
if the impact force can just break the burr to separate from the plate blank, the plate blank stops, and then V is formedt0; thus is provided with
Δp＝-mV0
Wherein the impact time is very small and the roller table always has a linear velocity V0In operation, the slab then follows a V0Striking the blade to a stop and then returning to V0Is very short in time, and can be considered as that the slab moves at a constant speed in the deburring process, so that
Figure BDA0001616933070000071
Wherein WBurrs of a shipIs the width of the burr, V0The speed of the plate blank before impact;
using the slab as a reference object, thereby obtaining
Figure BDA0001616933070000072
To obtain
Figure BDA0001616933070000073
Wherein σbThe tensile strength at the current temperature is W, and the width of the plate blank is W; h is the burr thickness (h is the burr thickness, which is about 0.002 m;) and W is the thickness of the burrBurrs of a shipThe burr width (the value is generally about 0.02m as seen from the site).
In a further preferred embodiment, after calculating the optimal control speed in step S3, the deburring mode is set based on the number of the second sub-blanks of the first sub-blank, and the tail deburring mode is set for the first sub-blank; if the second sub-blank is the second sub-blank and the third sub-blank is cut, the mode is set as a head and tail burr removing mode, and if the second sub-blank is the second sub-blank and the second sub-blank is cut, the mode is set as a head and tail burr removing mode; and if all three are the third sub-blanks, setting the mode of removing the head burrs.
As a further preferred embodiment, in step S4, the heading or heading and heading control step is as follows:
the main input and output equipment of the modified deburring machine is shown in fig. 2, wherein the gratings are a 1# grating, a 5# grating, a 2# grating and a 3# grating respectively according to the casting material flow direction; the deburring component is a deburring roller, and a row of deburring blades are arranged on the surface of the roller; the swing arm of the deburring machine is mainly used when the steel plate cannot be deburred in a main operation mode, and is not used under general conditions, and the system diagram does not show the deburring effect.
The L1 controls the two-tangent roller way where the deburring machine is located to run (rotate forwards, rotate backwards or stop), and the deburring machine is connected with the L1 through hard wiring. During deburring, if the deburring machine is to control the deburring machine zone roller table, roller table control is given to L1. If the burr is removed, the ownership of the roller way is returned to L1.
In the automatic mode, the overall process for de-burring is shown in FIG. 6 and the overall process for de-burring is shown in FIG. 7.
The concrete steps of removing the burrs at the head or the head and the tail of the plate blank are as follows:
STEP1, starting a deburring machine to remove the burr on the head or the burr on the head and the tail of the plate blank, wherein the deburring machine obtains the control ownership of a roller way.
STEP2, the roller bed rotates forward to prepare to convey the plate blank to the head at the 3# grating position, as shown in figure 3; the slab speed v at this time advances;
STEP3, the roller way stops, and the head of the plate blank is at the 3# raster position, as shown in figure 3;
STEP4, roller way reversal, ready to transport the slab back to the position of the head # 1 grating;
STEP5, the roller way is reversed, and the deburring roller is lifted up after the delay time t to prepare for deburring the head part of the plate blank, as shown in figure 4; at the moment, the plate blank retreats at the speed v, and after the time t, the deburring roller is lifted to prepare for removing burrs at the head part;
STEP6 stopping the roller way and lowering the deburring roller;
STEP7, stopping the roller way, and determining whether tail burrs need to be removed;
judging whether tail deburring is needed, entering the STEP of STEP8a when tail deburring is needed, or directly entering the STEP of STEP 8;
STEP8 a: at the moment, the deburring machine enters a step of removing burrs at the tail part after removing burrs at the head part, and controls a roller way to convey the plate blank to a 3# grating; the slab at this time advances at a speed V;
STEP8 b: the roller way rotates forwards, the plate blank moves forwards, and the deburring roller rises after the time delay tS, as shown in figure 5; when the tail of the plate blank passes through the 5# grating, the tS deburring roller is delayed to lift up, and the tail deburring action is finished;
STEP8 c: the roller way stops, and the burr roller descends; at this time, the step of removing the head and then removing the tail is completed;
STEP 8: under the mode of only removing burrs at the head part, the roller ways rotate forwards to convey the plate blank to the last group of output roller ways of the deburring machine;
STEP 9: the head or tail of the plate blank is removed, the ownership of the roller way is returned to L1, and simultaneously a deburring signal of the deburring machine which is completed is sent to L1 to prepare for deburring of the next plate blank;
the method for removing burrs at the tail part of the plate blank comprises the following steps:
STEP1, starting a deburring machine to remove burrs at the tail part of the plate blank, wherein the deburring machine obtains the control ownership of a roller way;
STEP2: a deburring machine controls a roller way to prepare for conveying the plate blank to a 3# grating; the slab at this time advances at a speed V;
STEP3: the roller way rotates forwards, the plate blank moves forwards, and the deburring roller rises after tS delay, as shown in figure 5;
STEP4: the roller way rotates forwards, and the burr roller descends;
STEP5: the roller way is stopped;
STEP6: and (5) stopping the roller way, uploading to finish tail deburring work, and handing over the ownership of the roller way to L1.
In the automatic mode, the control conditions and strategies in the steps of removing the head burrs or the head and tail burrs of the plate blank are as follows:
STEP1, starting the deburring machine to remove the head burr or the head and tail burr of the plate blank, and simultaneously satisfying the following three conditions:
firstly, receiving a command of removing burrs at the head or the head and the tail of the plate blank sent by L1;
the deburring machine is in an automatic mode;
the swing arm of the deburring machine is in a safe position;
at the moment, the deburring machine obtains the ownership of roller way control.
STEP2 forward rotation of the roller table ready to transport the slab to the head at the 3# raster position, as shown in fig. 3. STEP2 is initiated to satisfy the following three conditions simultaneously:
firstly, inputting a slab into a first group of roller way grating positions at a 1# grating position or a deburring machine;
the roller way is in an automatic mode;
STEP1 has been started;
fourthly, the plate blank advances at a speed V;
STEP3 the roller bed is stopped with the slab head in the 3# raster position, as shown in FIG. 3. STEP3 is initiated to satisfy the following five conditions simultaneously:
swing arms are in starting or ending positions;
STEP1 has been started;
STEP2 has been started;
fourthly, the 3# grating is shielded at the moment;
the 1# grating is not shielded;
STEP4 roller table inversion, ready to transport slab back to the head # 1 raster position. STEP4 is initiated to satisfy the following three conditions simultaneously:
firstly, STEP1 is started;
STEP3 has been started;
the 3# grating is shielded;
STEP5 the roller table is reversed and the deburring roller is lifted after a time delay tS to prepare for deburring the head of the slab, as shown in FIG. 4. STEP5 is initiated to satisfy the following three conditions simultaneously:
firstly, STEP1 is started;
STEP4 has been started;
thirdly, the moment that the No. 2 grating is not shielded;
fourthly, the 3# grating is not shielded;
at the moment, the plate blank retreats at the speed V, and after tS, the deburring roller is lifted to prepare for removing burrs at the head part;
STEP6 the roller table stops and the deburring roller descends. STEP6 is initiated to satisfy the following five conditions simultaneously:
firstly, STEP1 is started;
STEP5 has been started;
thirdly, when the No. 5 grating is not shielded;
fourthly, the No. 2 grating is not shielded;
the 3# grating is not shielded;
STEP7, roller table stop, confirm whether to remove the tail burr. STEP7 is initiated to satisfy the following four conditions simultaneously:
firstly, STEP1 is started;
STEP6 has been started;
the 2# grating is not shielded;
fourthly, the 3# grating is not shielded;
judging whether tail deburring is needed, entering the STEP of STEP8a when tail deburring is needed, or directly entering the STEP of STEP 8;
STEP8 a: at the moment, the deburring machine enters a step of removing burrs at the tail part after removing burrs at the head part, and controls a roller way to convey the plate blank to a 3# grating; the slab at this point advances at a speed v. STEP8a is initiated to satisfy the following six conditions simultaneously:
firstly, STEP1 is started;
STEP6 has been started;
the 2# grating is not shielded;
fourthly, the 3# grating is not shielded;
5# grating is not shielded;
sixthly, the head and tail removing mode is selected;
STEP8 b: the roller way rotates forward, the plate blank advances, and the deburring roller rises after tS delay, as shown in figure 5. STEP8b is initiated to satisfy the following four conditions simultaneously:
firstly, STEP1 is started;
STEP8a has been started;
the swing arm is at the initial or end position;
fourthly, when the No. 5 grating is not shielded;
when the tail of the plate blank passes through the 5# grating, the tS deburring roller is delayed to lift up, and the tail deburring action is finished;
STEP8 c: the roller way stops and the burr roller descends. STEP8c is initiated to satisfy the following four conditions simultaneously:
firstly, STEP1 is started;
STEP8b has been started;
thirdly, the moment that the 2# grating is not shielded;
fourthly, the 3# grating is shielded;
at this time, the step of removing the head and then removing the tail is completed;
STEP 8: and under the mode of only removing the burrs at the head part, the roller ways rotate forwards to convey the plate blank to the last group of output roller ways of the deburring machine. STEP8 is initiated to satisfy the following six conditions simultaneously:
firstly, STEP1 is started;
STEP7 has been started;
removing burrs of the head;
fourthly, the No. 2 grating is not shielded;
the 3# grating is not shielded;
sixthly, the No. 5 grating is not shielded;
STEP 9: de-heading or de-heading is complete and roller ownership is handed back to L1, while the deburring machine is signaled that deburring is complete to L1 in preparation for deburring the next slab. There are two cases of STEP9 initiation:
the first condition is as follows: removing only burrs of head
STEP9 is initiated to satisfy the following three conditions simultaneously:
firstly, shielding a 3# grating;
STEP8 has been started;
removing burrs of the head;
case two: deburring the head and tail
STEP9 is initiated to satisfy the following three conditions simultaneously:
firstly, shielding a 3# grating;
STEP8c has been started;
and removing burrs at the head and the tail.
In the automatic mode, the control conditions and strategies in each step of deburring the tail part of the plate blank are as follows:
STEP1, starting a deburring machine to remove the burrs on the tail part of the plate blank, and simultaneously satisfying the following three conditions:
firstly, receiving a command of deburring the tail part of the plate blank sent by L1;
the deburring machine is in an automatic mode;
the swing arm of the deburring machine is in a safe position;
at the moment, the deburring machine obtains the control ownership of the roller way;
STEP2: a deburring machine controls a roller way to prepare for conveying the plate blank to a 3# grating; the slab at this point advances at a speed V. STEP2 is initiated to satisfy the following three conditions simultaneously:
firstly, a slab is at the position of a No. 1 grating or at the position of a first group of input roller way gratings of a deburring machine;
the roller way is in an automatic mode;
STEP1 has been started;
STEP3: the roller way rotates forward, the plate blank advances, and the deburring roller rises after tS delay, as shown in figure 5. STEP3 is initiated to satisfy the following four conditions simultaneously:
firstly, STEP1 is started;
STEP2 has been started;
the swing arm is at the starting or ending position;
fourthly, when the No. 5 grating is not shielded;
STEP4: the roller way rotates forwards, and the burr roller descends. STEP4 is initiated to satisfy the following three conditions simultaneously:
firstly, STEP1 is started;
STEP3 has been started;
thirdly, the moment that the 2# grating is not shielded;
STEP5: the roller way is stopped. STEP5 is initiated to satisfy the following three conditions simultaneously:
firstly, STEP1 is started;
STEP4 has been started;
the 1# grating is not shielded;
fourthly, the No. 2 grating is not shielded;
the 3# grating is shielded;
STEP6: and (5) stopping the roller way, uploading to finish tail deburring work, and handing over the ownership of the roller way to L1. STEP6 is initiated to satisfy the following three conditions simultaneously:
firstly, STEP1 is started;
STEP5 has been started;
the 1# grating is not shielded;
fourthly, the No. 2 grating is not shielded;
the 3# grating is shielded;
the specific application examples of the invention applied to production are as follows:
the tensile strength of a certain steel 1 in a cold state is 700MPa, the weight of a sub-billet is 14t, the width of the sub-billet is 2.1m, the temperature is 400 ℃, the tensile strength is 380MPa, the thickness of burrs is 0.002m, the width of the burrs is 0.02m at the temperature through table lookup, and the optimal linear velocity of the roller table is 1.35m/s by inputting the parameters into a model.
The slab was the second piece of everything three, the two-line system was set to deburr head and tail, the deburring time was about 61.5s, the mode of the deburring machine previously designed by GeGa corporation took about 330 s.
The method mainly comprises the steps of obtaining the information (cold tensile strength, weight, width and the like) of the sub-blanks after the primary blanks are cut by the flame cutting machine from the L3 through the two-line cutting system, obtaining the tensile strength of the sub-blanks at the temperature through a table look-up mode according to the collected temperature information of the sub-blanks, substituting the acquired temperature information of the sub-blanks into a momentum model with other information, calculating the optimal roller table control speed, controlling the linear speed of the roller table to achieve the purpose of deburring and reducing energy consumption, and simultaneously issuing a deburring machine control system (head removal, tail removal or head and tail removal) in a deburring mode, wherein the deburring machine control system adopts a deburring mode based on momentum, so that the deburring time is shortened, and the capacity of the deburring machine is improved. On the other hand, the deburring control method based on momentum requires fewer components and parts, so that the maintenance amount is reduced, and the maintenance cost is reduced.
The slab deburring optimization control method based on the momentum model provided by the embodiment of the invention has the following advantages:
1. the deburring method based on momentum is adopted, so that the deburring process is simplified, and the capacity of the deburring machine is improved; for example, in the tail deburring mode, the method of the invention has four steps less than that of the mode of GeGa company.
2. The new deburring machine using the momentum model-based slab deburring optimization control method has small equipment maintenance amount, and reduces maintenance cost; the control method of the invention needs 9 fewer components than the GeGa company, wherein, 1 grating, 6 limit, one motor and one encoder are provided.
3. The slab deburring optimization control method based on the momentum model can calculate the deburring speed of the steel plate according to the weight and the width of the specific slab and the tensile strength information at the current temperature, strategically adjust the speed of a roller way and reduce energy consumption. The operation mode of setting the roller way speed on the premise of meeting the requirement of removing the steel grade with the maximum shearing force is more energy-saving.
In the description above, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore should not be construed as limiting the scope of the present invention.
In conclusion, although the present invention has been described with reference to the preferred embodiments, it should be noted that, although various changes and modifications may be made by those skilled in the art, they should be included in the scope of the present invention unless they depart from the scope of the present invention.

Claims (3)

1. A slab deburring optimization control method based on a momentum model is characterized by comprising the following steps: the method comprises the following steps:
s1, when the flame cutting machine performs cutting by two or three, the information of the tensile strength sigma, the width W and the weight M of the cut plate blank at the current temperature is downloaded to a two-tangent control system;
s2, calculating the movement speed V of the plate blank by the two-tangent control system through a momentum model according to the input information of the tensile strength sigma, the width W and the weight M at the current temperature0The moving speed V of the slab0The slab generates momentum required for enabling burrs on the slab to fall off only in an impact mode; the momentum model is calculated as follows:
according to knowledge of material mechanics, for a plastic material, when it is subjected to a shear force greater than its shear strength limit τbIt will break, the formula is as follows:
Figure FDA0002831682110000011
for plastic materials:
τb＝0.8σb
wherein tau isbTo the shear strength limit,. sigmabThe tensile strength at the current temperature;
Figure FDA0002831682110000012
according to the knowledge of material mechanics:
Aarea of shear＝W×h
Wherein A is the shear area; w is the width of the plate blank, and h is the thickness of the burr;
according to the theorem of momentum:
Ft＝Δp
wherein F is the impulse force applied to the object, t is the impact time, and Δ p is the changing momentum;
according to the mechanics knowledge, in order to remove the burr, the impulse force of the burr is larger than the allowable shearing stress, so that the following results are obtained:
Figure FDA0002831682110000013
with the slab as a reference, defined in terms of momentum:
Δp＝m×(Vt-V0)
wherein m is the mass of the object, VtAs post-impact velocity, V0As the velocity of the gas before the impact,
Figure FDA0002831682110000021
is the shear strength limit τbThe corresponding force of the time phase;
if the impact force can just break the burr to separate from the plate blank, the plate blank stops, and then V is formedt0; thus is provided with
Δp＝-mV0
Wherein the impact time is very small and the roller table always has a linear velocity V0In operation, the slab then follows a V0Striking the blade to a stop and then returning to V0Is very short, it can be considered that during deburring, the slab moves at a constant speed, so that:
Figure FDA0002831682110000022
wherein WBurrs of a shipIs the width of the burr, V0The speed of the plate blank before impact;
the slab is used as a reference object, so that:
Figure FDA0002831682110000023
calculating the motion speed of the plate blank:
Figure FDA0002831682110000024
wherein σbThe tensile strength at the current temperature is W, and the width of the plate blank is W; h is the burr thickness, WBurrs of a shipIs the burr width;
s3, the two-tangent control system determines a deburring mode of the plate blank and sends the deburring mode to the deburring machine, wherein the deburring mode is a head removing mode, a tail removing mode or a head and tail removing mode;
s4, controlling the system by the two tangent lines to move the slab at the speed V0And controlling the rotating speed of the roller way, and enabling the deburring machine to perform the steps of removing the head, removing the tail or removing the head and the tail in an impacting manner according to a deburring mode, and returning the ownership of the roller way to the two-tangent control system after the steps are completed.
2. The momentum model-based slab deburring optimization control method as claimed in claim 1, wherein: in step S3, the two-tangent control system sets the deburring mode according to the number of the second blank of which the blank is the mother blank, and sets the deburring mode if the blank is the first sub blank; if the second sub-blank is the third sub-blank, setting the mode as a head and tail burr removing mode, and if the second sub-blank is the second sub-blank, setting the mode as a head and head burr removing mode; and if all three are the third sub-blanks, setting the mode of removing the head burrs.
3. The momentum model-based slab deburring optimization control method as claimed in claim 1 or 2, wherein: in the step S4, the two-tangent control system controls the slab moving speed V0And (3) controlling the rotating speed of the roller way, and when the head or the tail of the plate blank needing to remove burrs is about to move to the position of the deburring roller of the deburring machine, lifting the deburring roller, enabling the burrs on the plate blank to collide with the blade on the deburring roller, and enabling the burrs to fall off from the plate blank.
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