CN109759458A - A kind of wide system and method for rolled piece survey for manipulator of rolling mill - Google Patents
A kind of wide system and method for rolled piece survey for manipulator of rolling mill Download PDFInfo
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- CN109759458A CN109759458A CN201811592021.1A CN201811592021A CN109759458A CN 109759458 A CN109759458 A CN 109759458A CN 201811592021 A CN201811592021 A CN 201811592021A CN 109759458 A CN109759458 A CN 109759458A
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- push top
- rolled piece
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- manipulator
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Abstract
The invention discloses a kind of rolled pieces for manipulator of rolling mill to survey wide system and method, which includes laser range finder, laser alignment plate and plc data acquisition system, and the laser range finder is separately mounted to the two sides of manipulator；The laser alignment point is mounted on push top above and is located at push top longitudinal center position；The plc data acquisition system is used to acquire the calculating of data and teletransmission；The present invention can effectively avoid influence of the manipulator strenuous vibration to measuring device precision, greatly improves the stability that manipulator of rolling mill surveys wide system, reduces the spoilage of equipment.
Description
Technical field
This disclosure relates to wide (in) heavy plate mill manipulator surveys wide-range, and in particular to a kind of rolled piece is on manipulator to middle process
In rolled piece survey wide system and survey wide method.
Background technique
Wide (in) for heavy plate mill during steel plate rolling, the general rolled piece that passes through carries out width in the process on manipulator in
Calculating.Manipulator of rolling mill directly affects the techniques such as quality, the template of rolled plate to the real-time online measuring data of rolled piece width
It is required that control.
The survey width of manipulator of rolling mill mostly uses manipulator pusher hydraulic cylinder inbuilt displacement sensor at present, or in synchronous drive shaft
The mode for installing pulse coder additional, since in the operation of rolling, production on-site environment is severe, equipment hits vibration greatly, inbuilt displacement
It is easy to appear messy code fluctuations for sensor or pulse coder, and are contacted firmly with side guide using machinery, it is easy to damage, make
At production accident, the control of product quality is influenced, also increases cost of equipment maintenance simultaneously.
In conclusion at present for since equipment is hit, detection device caused by vibration is damaged or measurement is inclined in the operation of rolling
The problem of difference, still shortage effective solution scheme.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, present disclose provides a kind of rolled pieces rolls during on manipulator in
Part surveys wide system and surveys wide method, can effectively avoid influence of the manipulator strenuous vibration to measuring device precision, greatly improves milling train
Manipulator surveys the stability of wide system, reduces the spoilage of equipment.
Technical solution used by the disclosure is:
A kind of rolled piece for manipulator of rolling mill surveys wide system, the system include the laser range finder that manipulator two sides are set,
Be arranged in fore side push top on laser alignment plate, be arranged in transmission side push top on laser alignment plate and plc data acquisition system
System；Laser range finder obtains fore side push top and transmission side push top displacement data by measuring the displacement data of laser alignment plate,
And the displacement data measured is transmitted to plc data acquisition system, the plc data acquisition system is according to the fore side received
Push top and transmission side push top displacement data, calculate rolled piece width.
Further, the laser range finder laser alignment plate ipsilateral with it is oppositely arranged, and laser range finder and swash
The center of optical registration plate is located in same horizontal line.
Further, the laser alignment plate is welded on the middle position of push top guide plate.
Further, the plc data acquisition system includes PLC controller, communication module and human-computer interaction interface, described
The displacement and transmission side push top displacement that PLC controller compares fore side push top are with the presence or absence of deviation, and if it exists, then pass through people
The prompt alarm of machine interactive interface；If it does not exist, it according to the fore side push top and transmission side push top displacement data received, calculates
Rolled piece width, and shown on human-computer interaction interface.
A kind of wide method of rolled piece survey for manipulator of rolling mill, this method is based on the rolled piece as described above for being used for manipulator of rolling mill
Survey what wide system was realized, method includes the following steps:
Calibrate the homing position of laser range finder；
Measure the displacement data of fore side push top and transmission side push top；Wherein, displacement data includes the push top of primary drive side
Position, initial operation side push top position, transmission side push top position and fore side push top position when embracing rolled piece when embracing rolled piece；
According to the displacement data of fore side push top or the displacement data of transmission side push top, rolled piece width is calculated.
Further, the method that the displacement data according to fore side push top calculates rolled piece width are as follows:
The push top positional value of calculating operation side and the push top positional value of fore side, fore side push top thickness when embracing rolled piece
Difference obtains the displacement of fore side push top；
Manipulator maximum opening degree width and two times of values of fore side push top displacement are made the difference, rolled piece width is obtained.
Further, the method that the displacement data according to transmission side push top calculates rolled piece width are as follows:
Push top positional value, the transmission side of the push top positional value and transmission side when embracing rolled piece that calculate transmission side are had a haircut thickness
Difference obtains the displacement of transmission side push top；
Manipulator maximum opening degree width and two times of values of transmission side push top displacement are made the difference, rolled piece width is obtained.
A kind of wide method of rolled piece survey for manipulator of rolling mill, this method is based on the rolled piece as described above for being used for manipulator of rolling mill
Survey what wide system was realized, method includes the following steps:
Calibrate the homing position of laser range finder；
Measure the displacement data of fore side push top and transmission side push top；Wherein, displacement data includes the push top of primary drive side
Position, initial operation side push top position, transmission side push top position and fore side push top position when embracing rolled piece when embracing rolled piece；
Compare the displacement of fore side push top and the displacement of transmission side push top with the presence or absence of error, and if it exists, then prompt
Alarm；If it does not exist, according to the displacement data of the displacement data of fore side push top and transmission side push top, rolled piece width is calculated；
Further, the calculation method of the rolled piece width are as follows:
The push top positional value of calculating operation side and the push top positional value of fore side, fore side push top thickness when embracing rolled piece
Difference obtains the displacement of fore side push top；
Push top positional value, the transmission side of the push top positional value and transmission side when embracing rolled piece that calculate transmission side are had a haircut thickness
Difference obtains the displacement of transmission side push top；
Displacement by manipulator maximum opening degree width respectively with the displacement of fore side push top, transmission side push top makes the difference,
Obtain rolled piece width.
Through the above technical solutions, the beneficial effect of the disclosure is:
(1) disclosure obtains the physical location of push top, root by the position that laser range finder measures laser alignment plate indirectly
The width for calculating rolled piece relative to the characteristic equidistantly moved is synchronized according to the push top of manipulator two sides, ensure that manipulator surveys the steady of wide data
Qualitative, accuracy ensure that product quality precision；
(2) laser range finder of the disclosure is consistent with the alignment sheets level height in push top, and with side guide equipment
Connection contact is not generated, it is independently installed, it is possible to prevente effectively from since equipment hits detection device caused by vibration in the operation of rolling
Damage or measured deviation, reduce equipment failure rate, reduce maintenance of equipment expense.
Detailed description of the invention
The Figure of description for constituting a part of this disclosure is used to provide further understanding of the disclosure, and the disclosure is shown
Meaning property embodiment and its explanation do not constitute the improper restriction to the disclosure for explaining the application.
Fig. 1 is the field application schematic diagram that rolled piece surveys wide system；
Fig. 2 is the composition figure that rolled piece surveys wide system；
Fig. 3 is the flow chart that rolled piece surveys wide method；
Wherein: 1, laser range finder；2, laser alignment plate；3, it has a haircut；4, rolled piece；5, rolling line center line；L is that manipulator is maximum
Opening degree width；W is rolled piece width；LDS is primary drive side push top position；LOS is initial operation side push top position；LDS1 is
Transmission side push top position when embracing rolled piece；LOS1 is fore side push top position when embracing rolled piece；HDS is transmission side push top thickness；
HOS is fore side push top thickness.
Specific embodiment
The disclosure is described further with embodiment with reference to the accompanying drawing.
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the disclosure.Unless another
It indicates, all technical and scientific terms that the disclosure uses have logical with disclosure person of an ordinary skill in the technical field
The identical meanings understood.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
One or more embodiments provide a kind of wide system of rolled piece survey for manipulator of rolling mill, as shown in Figure 1, the milling train pushes away
Bed includes side guide, the rolled piece being arranged on side guide and the fore side of side guide and pushing away for transmission side is arranged in
Head, as shown in Fig. 2, the system includes the laser alignment plate being arranged in each push top, the laser for being arranged in side guide two sides
Rangefinder and plc data acquisition system, the laser alignment plate are oppositely arranged with laser range finder, and the center of the two is located at together
On one horizontal line, the laser range finder is connect with plc data acquisition system, is pushed away respectively to two by two laser range finders
Embrace steel displacement of the head when embracing steel measures, and the displacement measured is transmitted to control system, is adopted by plc data
Collecting system calculates the developed width of rolled piece, wherein described armful of steel displacement refer to manipulator push top from manipulator maximum opening degree to
Hold absolute displacement values when rolled piece tightly.
In the present embodiment, the plc data acquisition system includes PLC controller and communication module, and PLC controller receives
The measurement data that two laser range finders are sent calculates rolled piece width, and measurement result is sent to milling train by communication module
Control system is controlled for width.
It further includes human-computer interaction interface that the rolled piece that the present embodiment proposes, which surveys wide system, and the human-computer interaction interface and PLC are controlled
Device connection, the human-computer interaction interface, the rolled piece width data being calculated for showing PLC controller, when PLC controller connects
Receive the measurement of two laser range finders data it is unequal when, prompt alarm is carried out by human-computer interaction interface, prompts that there are manipulators
The asynchronous failure of two sides push top.
In the present embodiment, the laser alignment plate in the push top is welded on the middle position of push top guide plate, is used for laser
The laser aiming of rangefinder is proofreaded, and laser range finder measures push top embracing when embracing steel by the displacement of the measurement alignment point
Steel displacement, and send measurement data to PLC controller, PLC controller is wide according to the measurement data calculating rolled piece received
Degree, and measurement result is sent to by mill control system by communication module, the width for rolled piece controls.The laser alignment plate
The steel plate of 10cm square can be used.
In the present embodiment, the laser range finder is mounted on the outside of manipulator two sides push top guide plate, sets with side guide
It is standby to be contacted without any connection, it is independently installed, for measuring the physical location of manipulator two sides push top.
In the present embodiment, the PLC controller and laser range finder both can be using communication interfaces or using hard
The connection of line analog quantity.
In the present embodiment, according to manipulator of rolling mill centering principle, the push top of manipulator two sides is equally spaced in rolling line center line
Two sides drive two sides push top open and close movement simultaneously by synchronization mechanism, therefore the moving distance of two sides push top is equal.It is based on
This principle, the disclosure have both the detection function whether push top of manipulator two sides synchronizes, and when manipulator push top occurs asynchronous, two sides are swashed
There is deviation in ligh-ranging data, can prompt the asynchronous failure of alarm manipulator two sides push top.
The rolled piece for manipulator of rolling mill that the present embodiment proposes surveys wide system, is synchronized according to the push top of manipulator two sides relatively equidistant
Mobile characteristic is detected using the displacement that laser range finder has a haircut when embracing steel to manipulator two sides, by PLC controller
The developed width for calculating rolled piece is effectively prevented being hit as equipment caused by vibration and detects failure, it is wide to ensure that manipulator is surveyed
Stability, the accuracy of data, and then ensure that product quality precision, equipment failure rate is reduced, equipment maintenance cost is reduced
With.
One or more embodiments also provide a kind of wide method of rolled piece survey for manipulator of rolling mill, and this method is based on institute as above
The rolled piece for manipulator of rolling mill stated surveys what wide system was realized.As shown in figure 3, method includes the following steps:
S101 obtains the push top displacement data of the push top displacement data and manipulator transmission side of manipulator fore side.
The homing position for calibrating laser range finder, the laser range finder by being located at manipulator fore side pass through measurement laser pair
Position on schedule obtains the push top displacement data of manipulator fore side indirectly, and is transferred to plc data acquisition system；It is pushed away by being located at
The push top displacement data of the laser range finder measurement manipulator transmission side of bed transmission side, and it is transferred to plc data acquisition system；Its
In, transmission side push top position when displacement data includes primary drive side push top position, initial operation side push top position, embraces rolled piece
With fore side push top position when embracing rolled piece.
S102 calculates rolled piece according to the push top displacement data of manipulator fore side or the push top displacement data of manipulator transmission side
Width.
In the step 102, according to the method for the push top displacement data calculating rolled piece width of manipulator fore side are as follows:
W=L- (LOS-LOS1-HOS) * 2
Wherein, L is manipulator maximum opening degree width；W is rolled piece width；LOS is the push top position of fore side；LOS1 is to embrace
Firmly when rolled piece fore side push top position；HOS is fore side push top thickness.
In the step 102, according to the method for the push top displacement data calculating rolled piece width of manipulator transmission side are as follows:
W=L- (LDS-LDS1-HDS) * 2
Wherein, L is manipulator maximum opening degree width；W is rolled piece width；LDS is the push top position of transmission side；LDS1 is to embrace
Firmly when rolled piece transmission side push top position；HDS is transmission side push top thickness.
S103 shows rolled piece width data by human-computer interaction interface.
One or more embodiments also provide a kind of wide method of rolled piece survey for manipulator of rolling mill, and this method is based on institute as above
The rolled piece for manipulator of rolling mill stated surveys what wide system was realized.As shown in figure 3, method includes the following steps:
S201 obtains the push top displacement data of the push top displacement data and manipulator transmission side of manipulator fore side.
The homing position for calibrating laser range finder, the laser range finder by being located at manipulator fore side pass through measurement laser pair
Position on schedule obtains the push top displacement data of manipulator fore side indirectly, and is transferred to plc data acquisition system；It is pushed away by being located at
The push top displacement data of the laser range finder measurement manipulator transmission side of bed transmission side, and it is transferred to plc data acquisition system；Its
In, transmission side push top position when displacement data includes primary drive side push top position, initial operation side push top position, embraces rolled piece
With fore side push top position when embracing rolled piece.
S202, the push top displacement data of the push top displacement data and manipulator transmission side that judge manipulator fore side is with the presence or absence of inclined
Difference；If it exists, then 203 are entered step；Deviation if it does not exist then enters step 204.
S203 shows prompt messages by human-computer interaction interface.
S204 calculates rolled piece according to the push top displacement data of manipulator fore side or the push top displacement data of manipulator transmission side
Width.
In the step 204, according to manipulator fore side push top displacement data or manipulator transmission side push top displacement data,
The method for calculating rolled piece width are as follows:
W=L- (LDS-LDS1-HDS)-(LOS-LOS1-HOS)
Wherein, L is manipulator maximum opening degree width；W is rolled piece width；LDS is transmission side push top position；LOS is operation
Side push top position；LDS1 is transmission side push top position when embracing rolled piece；LOS1 is fore side push top position when embracing rolled piece；HDS
For transmission side push top thickness；HOS is fore side push top thickness.
The rolled piece for manipulator of rolling mill that the present embodiment proposes surveys wide method, is synchronized according to the push top of manipulator two sides relatively equidistant
Mobile characteristic is detected using the displacement that laser range finder has a haircut when embracing steel to manipulator two sides, can use side
Laser ranging data calculates the developed width of rolled piece, and the practical width of rolled piece can also be calculated using two sides laser ranging data
Degree, can effectively avoid influence of the manipulator strenuous vibration to measuring device precision, greatly improves manipulator of rolling mill and survey wide stability, drop
The spoilage of low equipment.
Although above-mentioned be described in conjunction with specific embodiment of the attached drawing to the disclosure, model not is protected to the disclosure
The limitation enclosed, those skilled in the art should understand that, on the basis of the technical solution of the disclosure, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within the protection scope of the disclosure.
Claims (9)
1. a kind of rolled piece for manipulator of rolling mill surveys wide system, characterized in that the system includes the laser that manipulator two sides are arranged in
Rangefinder, the laser alignment plate being arranged in fore side push top, the laser alignment plate and plc data being arranged in transmission side push top
Acquisition system；Laser range finder obtains fore side push top and transmission side push top displacement by measuring the displacement data of laser alignment plate
Data, and the displacement data measured is transmitted to plc data acquisition system, the plc data acquisition system is according to receiving
Fore side push top and transmission side push top displacement data, calculate rolled piece width.
2. the rolled piece according to claim 1 for manipulator of rolling mill surveys wide system, characterized in that the laser range finder with
Its ipsilateral laser alignment plate is oppositely arranged, and the center of laser range finder and laser alignment plate is located in same horizontal line.
3. the rolled piece according to claim 1 for manipulator of rolling mill surveys wide system, characterized in that the laser alignment plate weldering
It connects in the middle position of push top guide plate.
4. the rolled piece according to claim 1 for manipulator of rolling mill surveys wide system, characterized in that the plc data acquisition
System includes PLC controller, communication module and human-computer interaction interface, and the PLC controller compares the displacement of fore side push top
And transmission side has a haircut displacement with the presence or absence of deviation, and if it exists, then passes through human-computer interaction interface and prompts to alarm；If it does not exist, root
According to the fore side push top and transmission side push top displacement data received, rolled piece width is calculated, and show on human-computer interaction interface
Show.
5. a kind of rolled piece for manipulator of rolling mill surveys wide method, this method is based on such as use of any of claims 1-4
Survey what wide system was realized in the rolled piece of manipulator of rolling mill, characterized in that method includes the following steps:
Calibrate the homing position of laser range finder；
Measure the displacement data of fore side push top and transmission side push top；Wherein, displacement data include primary drive side push top position,
Initial operation side push top position, transmission side push top position and fore side push top position when embracing rolled piece when embracing rolled piece；
According to the displacement data of fore side push top or the displacement data of transmission side push top, rolled piece width is calculated.
6. the rolled piece according to claim 5 for manipulator of rolling mill surveys wide method, characterized in that described to be pushed away according to fore side
The method that the displacement data of head calculates rolled piece width are as follows:
The difference of the push top positional value of calculating operation side and the push top positional value of fore side, fore side push top thickness when embracing rolled piece
Value obtains the displacement of fore side push top；
Manipulator maximum opening degree width and two times of values of fore side push top displacement are made the difference, rolled piece width is obtained.
7. the rolled piece according to claim 5 for manipulator of rolling mill surveys wide method, characterized in that described to be pushed away according to transmission side
The method that the displacement data of head calculates rolled piece width are as follows:
Calculate the difference of the push top positional value and the push top positional value of transmission side, transmission side push top thickness when embracing rolled piece of transmission side
Value obtains the displacement of transmission side push top；
Manipulator maximum opening degree width and two times of values of transmission side push top displacement are made the difference, rolled piece width is obtained.
8. a kind of rolled piece for manipulator of rolling mill surveys wide method, this method is based on use according to any one of claims 1 to 5
Survey what wide system was realized in the rolled piece of manipulator of rolling mill, characterized in that method includes the following steps:
Calibrate the homing position of laser range finder；
Measure the displacement data of fore side push top and transmission side push top；Wherein, displacement data include primary drive side push top position,
Initial operation side push top position, transmission side push top position and fore side push top position when embracing rolled piece when embracing rolled piece；
Compare the displacement of fore side push top and the displacement of transmission side push top with the presence or absence of error, and if it exists, then prompt to alarm；
If it does not exist, according to the displacement data of the displacement data of fore side push top and transmission side push top, rolled piece width is calculated.
9. the rolled piece according to claim 8 for manipulator of rolling mill surveys wide method, characterized in that the meter of the rolled piece width
Calculation method are as follows:
The difference of the push top positional value of calculating operation side and the push top positional value of fore side, fore side push top thickness when embracing rolled piece
Value obtains the displacement of fore side push top；
Calculate the difference of the push top positional value and the push top positional value of transmission side, transmission side push top thickness when embracing rolled piece of transmission side
Value obtains the displacement of transmission side push top；
Displacement by manipulator maximum opening degree width respectively with the displacement of fore side push top, transmission side push top makes the difference, and obtains
Rolled piece width.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811592021.1A CN109759458B (en) | 2018-12-25 | 2018-12-25 | Rolled piece width measuring system and method for rolling mill push bench |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811592021.1A CN109759458B (en) | 2018-12-25 | 2018-12-25 | Rolled piece width measuring system and method for rolling mill push bench |
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| CN112264982A (en) * | 2020-09-24 | 2021-01-26 | 彩虹集团有限公司 | Automatic length measuring and scribing device and method for plate blank |
| CN112747679A (en) * | 2020-12-23 | 2021-05-04 | 河南中原光电测控技术有限公司 | Width measuring device, width measuring method, and computer-readable medium storing width measuring program |
| CN113275392A (en) * | 2020-02-20 | 2021-08-20 | 宝山钢铁股份有限公司 | Full-automatic calibration method for opening degree of side guide plate of heavy and medium plate mill |
| CN113275390A (en) * | 2021-04-19 | 2021-08-20 | 晟通科技集团有限公司 | Aluminum strip blank width measuring system and method, electronic device and storage medium |
| CN113732079A (en) * | 2021-07-27 | 2021-12-03 | 石钢京诚装备技术有限公司 | Cogging mill push machine calibration method |
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| CN113732079B (en) * | 2021-07-27 | 2023-10-27 | 石钢京诚装备技术有限公司 | Calibrating method for pushing bed of cogging mill |
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