CN110817530B

CN110817530B - Automatic and accurate coil unloading method for finished wire coil

Info

Publication number: CN110817530B
Application number: CN201911074456.1A
Authority: CN
Inventors: 贾为征; 马柯; 石磊磊; 刘国冰; 李�杰; 韩景辉; 李长龙; 王小川; 董润胜; 韩贵德; 章洪宾; 焦鸿宇
Original assignee: Beijing Shougang Automation Information Technology Co Ltd
Current assignee: Beijing Shougang Automation Information Technology Co Ltd
Priority date: 2019-11-06
Filing date: 2019-11-06
Publication date: 2021-01-05
Anticipated expiration: 2039-11-06
Also published as: CN110817530A

Abstract

An automatic and accurate coil unloading method for finished wire coils belongs to the technical field of automatic control. The coil discharging process of the finished wire coil is manual or semi-automatic, and the stacking position of the semi-automatic coil discharged finished coil is not ideal. According to the invention, the width of the coil is automatically calculated by a machine in the coil unloading process, and the stacking position of the next coil is automatically calculated, so that unattended and accurate coil unloading is realized, the production efficiency is greatly improved, and the production cost is reduced; the finished product rolls are accurately stacked, and the intervals among the rolls are uniform and regular.

Description

Automatic and accurate coil unloading method for finished wire coil

Technical Field

The coil discharging process of the finished coil of the wire rod is mostly manual or semi-automatic, and the stacking position of the semi-automatic coil discharged finished coil is not ideal. The invention aims to realize unattended full-automatic coil unloading, and automatic coil unloading position calculation is carried out according to different coil widths, so that the accurate stacking position of finished coils is ensured, and the coils are uniformly and tidily arranged at intervals and changed into a mode of

The method belongs to the technical field of automatic control, and provides a method for realizing unattended full-automatic accurate coil discharging.

Background

The width of each finished coil is greatly different due to factors such as different lengths of the wire rods, different specifications and the like in the packing process of the finished coils of the wire rods, 1-3 coils need to be stacked on a finished product table according to actual width or special requirements during coil unloading, and the stacking position of the finished coils is required to be accurate and the gaps are required to be uniform, so that coil unloading of most production lines is manual coil unloading or semi-automatic coil unloading through manual operation.

Disclosure of Invention

The method provides a full-automatic coil unloading function of the finished coil of the wire rod, and the function can be utilized to realize unattended coil unloading procedure, accurate positioning and stacking and uniform and regular gaps of the finished coil of the wire rod. The full-automatic coil stripping process comprises the following steps:

step one, after the coil unloading position detects that the finished coils are on the hook, an automatic coil unloading process is triggered. Firstly, the coil stripping trolley starts to run to a zero position at a waiting position, simultaneously executes falling operation until the lower position and the zero position are simultaneously detected in place, then carries out zero position calibration on a trolley stroke encoder, and executes trolley lifting action.

And step two, delaying for 2 seconds after the trolley is lifted to the highest position, enabling the trolley to start to move forwards, adding a first grating detector (CMD1) at a position 1.2 meters away from the zero point, enabling the head part detected by the first grating detector to start to calculate the width of the roll, obtaining a width result after the first grating detector is detected, and enabling the trolley to continue to move forwards. While the empty hook is released allowing the next hook to proceed.

And step three, when the most front grating (CMD0) detects the roll, stopping the trolley, recording the distance data of the trolley converted by the encoder code value when the numerical value of the trolley encoder is not changed, judging whether the set value of the roll number is larger than the existing roll number, and if the set value is larger than the existing roll number, the roll unloading trolley starts to descend to the lower position and then returns to the waiting position or directly unloads the second roll.

And step four, if the second coil does not reach the coil stripping detection position, the coil stripping trolley waits at the waiting position, and if the second coil is already at the waiting position in the coil stripping process of the trolley, the coil stripping trolley directly reaches the zero position to execute the coil stripping circulation of the second coil.

And step five, the coil stripping distance of the second coil is obtained according to the distance and the width between the first coil and the zero point and the gap between the two coils, the coil number setting and the actual coil number are checked again after the second coil is stacked according to the calculated position, if the setting is still larger than the existing coil stripping number, the coil stripping is continuously executed until the set coil stripping number is reached, otherwise, the group of coil stripping circulation is completed, and the coil stripping trolley returns to the waiting position.

And step six, hanging away the finished coil of the finished product platform, and delaying to execute the next group of automatic coil unloading procedures after the finished product platform has no coil.

The core control of automatic coil stripping is as follows: the width of each coil is measured, accurate and uniform coil unloading is carried out according to the actual width and the gap setting between the coils, and meanwhile, the coil is circularly unloaded according to the setting of different coil numbers. The control is as follows:

1. and (3) positioning and calculating the head position of each roll:

L1＝L0-L1_W/2+ΔL；

l1 is the distance traveled by the first coil stripping car, L0 is the distance from the zero point to the CMD0 grating, L1_ W is the first coil width, and Δ L is the distance from the start stop to the final stop position of the stripping car;

L2＝L0-L1_W-Lm-L2_W/2+ΔL；

l2 is the distance traveled by the second roll stripper car, L2_ W is the second roll width, Lm is the gap distance between the rolls;

L3＝L0-L1_W-Lm-L2_W-Lm-L3_W/2+ΔL；

l3 is the distance the third coil stripper car travels.

2. And (3) calculating the volume width:

LX_W＝(CNT1-CNT0)/k；

LX _ W is the width of each volume (X ═ 1, 2, 3), CNT0 is the code value when the raster CMD1 detects, CNT1 is the code value when the raster CMD1 detects, and k is the code value and the distance conversion coefficient.

The invention realizes the unattended full-automatic coil unloading, obviously improves the production rhythm of a production line and has wide popularization value.

Drawings

FIG. 1 is a flow chart of a fully automatic coil stripping process.

Detailed Description

The method is mainly implemented from the following aspects:

1. in order to realize accurate position measurement of the coil stripping trolley, an encoder is added to a motor of the coil stripping trolley, and calibration is carried out at a zero position each time;

2. the grating CMD1 is added at 1.2 m, the speed of the coil unloading trolley at the position is accelerated, the coil unloading trolley runs at a constant speed, and the measured width of each coil is more accurate;

3. adding a raster CMD0, and determining the coil unloading position of the first coil;

4. and carrying out accurate position control according to the coil width and the gap distance, and carrying out circular coil unloading control according to the number of coils.

Claims

1. The utility model provides a be used for automatic accurate coil stripping method of wire rod finished product book which characterized in that:

step one, after detecting that a finished coil is on a hook, a coil unloading process is triggered; firstly, the coil stripping trolley starts to run to a zero position at a waiting position, and simultaneously executes falling operation until the lower position and the zero position are simultaneously detected in place, at the moment, zero position calibration is carried out on a trolley stroke encoder, and trolley lifting action is executed;

delaying for 2 seconds after the trolley is lifted to the highest position, enabling the trolley to start to move forwards, adding a first grating detector at a position 1.2 meters away from the zero point, enabling the head to start to calculate the width of the roll through detection of the first grating detector, obtaining a width result after the first grating detector is detected, and enabling the trolley to continue to move forwards; simultaneously, the empty hook is released, and the next hook is allowed to advance;

step three, when the most front grating detects the coil, the trolley stops running, when the numerical value of the trolley encoder is not changed any more, the distance data of the trolley converted by the code value of the encoder is recorded, meanwhile, the serial number of the coil is added with 1, and the trolley starts to descend to the lower position and then returns to the waiting position or directly performs second coil unloading;

step four, if the second coil does not reach the coil stripping detection position, the coil stripping trolley waits at the waiting position, and if the second coil is already at the waiting position in the coil stripping process, the coil stripping trolley directly reaches a zero position to execute coil stripping circulation of the second coil;

step five, the coil stripping distance of the second coil is obtained according to the distance and the width of the first coil from the zero point and the gap between the two coils, the coil number is set to be judged, and if the coil number is set to be 3, the coil number is added by 1; if the number of unloaded coils is set to 2, the number of coils is cleared and a new cycle is executed.

2. The method for the automatic and precise coil-unloading of the finished coil of wire according to claim 1, characterized in that: the position calculation of the head:

l1 ═ L0+ Δ L; l1 is the head position of the first roll, L0 is the distance from the zero point to the forefront grating, and Delta L is the distance from the start stop to the final stop position of the coil stripping trolley;

L2＝L1-L1_W-Lm+ΔL；

l2 is the second roll head position, L1_ W is the first roll width, Lm is the gap distance between rolls;

l3 ═ L2-L2_ W-Lm + Δ L; l3 for third roll head position; l2_ W is the second roll width.

3. The method for the automatic and precise coil-unloading of the finished coil of wire according to claim 1, characterized in that: calculation of the roll width:

LX_W＝(CNT1-CNT0)/k；

LX _ W is the width of each volume (X ═ 1, 2, 3), CNT0 is the code value at the time of detection by the first grating detector, CNT1 is the code value at the time of detection by the first grating detector, and k is the code value and the distance conversion coefficient.