CN111589876A - Hot-rolled seamless steel tube on-line cooling process tracking control system and method - Google Patents
Hot-rolled seamless steel tube on-line cooling process tracking control system and method Download PDFInfo
- Publication number
- CN111589876A CN111589876A CN202010357772.6A CN202010357772A CN111589876A CN 111589876 A CN111589876 A CN 111589876A CN 202010357772 A CN202010357772 A CN 202010357772A CN 111589876 A CN111589876 A CN 111589876A
- Authority
- CN
- China
- Prior art keywords
- steel pipe
- interval time
- roller way
- module
- preset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 287
- 239000010959 steel Substances 0.000 title claims abstract description 287
- 238000001816 cooling Methods 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 94
- 238000012545 processing Methods 0.000 claims abstract description 58
- 238000004422 calculation algorithm Methods 0.000 claims abstract description 34
- 238000005507 spraying Methods 0.000 claims description 31
- 238000001514 detection method Methods 0.000 claims description 23
- 238000004891 communication Methods 0.000 claims description 19
- 238000012544 monitoring process Methods 0.000 claims description 17
- 238000007599 discharging Methods 0.000 claims description 12
- 238000005096 rolling process Methods 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 10
- 238000012937 correction Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 6
- 239000007921 spray Substances 0.000 claims description 4
- 230000002159 abnormal effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 20
- 238000010924 continuous production Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 4
- 230000033764 rhythmic process Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 101100347655 Saccharomyces cerevisiae (strain ATCC 204508 / S288c) NAB3 gene Proteins 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/005—Control of time interval or spacing between workpieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/78—Control of tube rolling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B43/00—Cooling beds, whether stationary or moving; Means specially associated with cooling beds, e.g. for braking work or for transferring it to or from the bed
- B21B43/04—Cooling beds comprising rolls or worms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B2201/00—Special rolling modes
- B21B2201/06—Thermomechanical rolling
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control Of Heat Treatment Processes (AREA)
Abstract
The invention discloses a tracking control method and a tracking control system for an online cooling process of a hot-rolled seamless steel tube, which relate to the technical field of hot-rolled seamless steel tube production and mainly aim to track and calculate the position of the steel tube in real time through acquired steel tube speed data and running time and realize the control of the continuous cooling process by comparing calculated interval time with a preset interval time threshold value, thereby ensuring the stability of the continuous production of the hot-rolled seamless steel tube and improving the production efficiency of the hot-rolled seamless steel tube. The method comprises the following steps: processing the acquired steel pipe position data and speed data by using a preset interval time processing algorithm to obtain interval time between two steel pipes, and comparing the interval time with a preset safe interval time threshold; and if the interval time is less than a preset safe interval time threshold value, controlling the steel pipe to stop moving or swing back and forth. The invention is suitable for the tracking control of the online cooling process of the hot-rolled seamless steel pipe.
Description
Technical Field
The invention relates to the technical field of hot-rolled seamless steel pipe production, in particular to a tracking control system and a tracking control method for an online cooling process of a hot-rolled seamless steel pipe.
Background
The on-line cooling is an important support for realizing the production of the low-cost high-quality hot-rolled seamless steel tube. In the process of the online cooling process of the hot-rolled seamless steel pipe, the steel pipe needs to undergo a plurality of complex processes of conveying between an original roller way and a cooling roller way, online cooling, conveying between the original roller way and a cooling bed, number spraying and the like, and the hot-rolled seamless steel pipe production line has high requirements on production rhythm. The real-time position tracking and safety interlocking control of the steel pipe in the online cooling process are realized, and the method has great significance for the stability of continuous production of the online cooling process of the hot-rolled seamless steel pipe under fast rhythm and changeable flows.
The development of the tracking control method for the online cooling process of the hot-rolled seamless steel tube can realize the tracking and safety interlocking control of the real-time position of the steel tube in the online cooling process, ensure the stability of the continuous production of the online cooling process of the hot-rolled seamless steel tube under fast rhythm and changeable flows, and further improve the production efficiency of the hot-rolled seamless steel tube. The invention provides a tracking control method for an online cooling process of a hot-rolled seamless steel pipe, and solves the technical problem in the production field of hot-rolled seamless steel pipes.
Disclosure of Invention
In view of the above, the present invention provides a tracking control system and method for an online cooling process of a hot-rolled seamless steel tube, and mainly aims to track and calculate a position of the steel tube in real time through an obtained speed and an obtained running time of the steel tube, and to realize accurate control of a continuous cooling process by comparing a calculated interval time with a preset interval time threshold, so as to ensure stability of continuous production of the hot-rolled seamless steel tube and improve production efficiency of the hot-rolled seamless steel tube.
According to one aspect of the invention, the invention provides a tracking control method for the online cooling process of a hot-rolled seamless steel pipe, which comprises the following steps:
processing the acquired steel pipe position data and speed data by using a preset interval time processing algorithm to obtain interval time between two steel pipes, and comparing the interval time with a preset safe interval time threshold;
and if the interval time is less than a preset safe interval time threshold value, controlling the steel pipe to stop moving or swing back and forth.
Further, the method further comprises:
and if the interval time is greater than or equal to a preset safe interval time threshold value, controlling the steel pipe to move.
Further, the method further comprises:
receiving and analyzing the steel pipe position signal to obtain position correction data;
and correcting the position data by using the position correction data.
According to another aspect of the present invention, there is provided a tracking control system for an online cooling process of a hot-rolled seamless steel pipe, comprising: the online cooling device and a tracking control device connected with the online cooling device;
the online cooling device is used for online cooling of the hot-rolled seamless steel pipe;
the tracking control device is used for tracking and controlling the on-line cooling process of the hot-rolled seamless steel pipe.
Further, the tracking control apparatus includes: the system comprises a communication module, a position detection module, a position tracking module, a number spraying module and a monitoring terminal;
the communication module is respectively connected with the position detection module, the position tracking module, the number spraying module and the monitoring terminal module, is used for receiving steel pipe plan information sent by the monitoring terminal and sending the steel pipe plan information to the number spraying module, and is also used for receiving position data sent by the position detection module and the position tracking module and uploading the position data to the monitoring terminal;
the position detection module is connected with the position tracking module and used for sending the detected steel pipe position data to the position tracking module;
the position tracking module is respectively connected with the communication module and the position detection module and is used for calculating the moving speed and position of the steel pipe and the interval time between the steel pipes by using a preset algorithm and receiving and correcting the position of the steel pipe by using the steel pipe position data sent by the position detection module;
the number spraying module is connected with the communication module and used for receiving and spraying the steel pipe with the identification by using the steel pipe plan information sent by the communication module;
and the monitoring terminal is connected with the communication module and is used for simulating and displaying the motion state of the steel pipe in real time on a steel pipe state interface according to the received steel pipe position data.
Further, the in-line cooling apparatus includes: the device comprises a straight roller way, a feeding rotary device, an inclined roller way, an online cooling device, a discharging rotary device and a cooling bed;
the straight roller way is connected with the feeding slewing device and used for conveying the steel pipe to the feeding slewing device;
the feeding rotary device is respectively connected with the straight roller way and the inclined roller way and is used for overturning the steel pipe on the straight roller way to the inclined roller way;
the inclined roller way is respectively connected with the feeding rotary device, the online cooling device and the discharging rotary device and is used for conveying the steel pipe overturned by the feeding rotary device to the discharging rotary device after being cooled by the online cooling device;
two sides of the online cooling device are respectively connected with the inclined roller way and are used for cooling the steel pipe conveyed by the inclined roller way;
the blanking slewing device is respectively connected with the inclined roller way and the cooling bed and is used for overturning the steel pipe conveyed by the inclined roller way to the cooling bed;
the cooling bed is connected with the blanking slewing device and used for cooling the steel pipe overturned by the blanking slewing device.
Further, the location tracking module includes: the device comprises a speed processing unit, a position processing unit, an interval time processing unit and a tracking reset unit;
the speed processing unit is used for processing the received roller way rotating speed by using a preset speed processing algorithm to obtain the moving speed of the steel pipe on the straight roller way or the inclined roller way;
the position processing unit is used for processing the steel pipe moving speed and the obtained steel pipe moving time by using a preset position processing algorithm to obtain the position of the steel pipe;
the interval time processing unit is used for processing the moving speed of the steel pipe by using a preset interval time processing algorithm to obtain the interval time between the current steel pipe and the front support steel pipe, comparing the interval time with a preset safe interval time threshold value and determining the specific operation mode of the current steel pipe;
and the tracking reset unit is used for resetting the tracking information when receiving a manual intervention instruction or rolling line quick stop abnormal alarm information.
Further, the position detection module includes: cold and hot metal detectors and pyrometers;
the cold and hot metal detectors are respectively arranged at the starting position of the straight roller way, the joint of the straight roller way and the feeding rotary device and the joint of the cooling bed and the number spraying module and are used for detecting and feeding back steel pipe position signals;
the pyrometers are respectively arranged at the joints of the two sides of the online cooling device and the inclined roller ways and are used for detecting and feeding back steel pipe position signals.
Further, the number spraying module comprises: and the steel pipe number spraying machine is arranged at the discharging outlet of the cooling bed and is used for carrying out identification spraying on the on-line cooling steel pipe.
The invention provides a tracking control method and a system for an online cooling process of a hot-rolled seamless steel pipe, compared with the prior art which has no tracking control method for the online cooling process of the hot-rolled seamless steel pipe, so that the tracking and safety interlocking control of the real-time position of the steel pipe cannot be carried out in the online cooling process, the stability of continuous production of the online cooling process of the hot-rolled seamless steel pipe cannot be ensured under fast rhythm and variable flows, and the efficiency of the hot-rolled seamless steel pipe is lower; and if the interval time is less than a preset safe interval time threshold value, controlling the steel pipe to stop moving or swing back and forth. Therefore, the position of the steel pipe can be tracked and calculated in real time through the acquired speed and the acquired running time of the steel pipe, and the control of the continuous cooling process is realized by comparing the calculated interval time with the preset interval time threshold, so that the stability of continuous production of the hot-rolled seamless steel pipe is ensured, and the production efficiency of the hot-rolled seamless steel pipe is improved.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart of a tracking control method for an online cooling process of a hot-rolled seamless steel tube according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram illustrating a tracking control system for an online cooling process of a hot-rolled seamless steel tube according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing a part of the entity structure of a tracking control system for the on-line cooling process of a hot-rolled seamless steel tube according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a location tracking module according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a position detection module according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As described in the background art, currently, there is no tracking control method for the online cooling process of the hot-rolled seamless steel tube, which results in that the tracking and safety interlock control of the real-time position of the steel tube cannot be performed in the online cooling process, and the stability of the continuous production of the online cooling process of the hot-rolled seamless steel tube cannot be ensured under fast-paced and variable flows, thereby causing the low production efficiency of the hot-rolled seamless steel tube. Therefore, the new tracking control method for the online cooling process of the hot-rolled seamless steel tube is an urgent technical problem to be solved in the technical field of hot-rolled seamless steel tube production.
In order to solve the above problem, an embodiment of the present invention provides a tracking control method for an online cooling process of a hot-rolled seamless steel pipe, as shown in fig. 1, the method includes:
101. and processing the acquired steel pipe position data and speed data by using a preset interval time processing algorithm to obtain the interval time between the two steel pipes, and comparing the interval time with a preset safe interval time threshold.
The steel pipe position data may be obtained through a preset position processing algorithm, and the position processing algorithm may include:
s＝∫v·dt；
wherein s is the distance between the steel pipe and the starting point of the preset position, v is the moving speed of the steel pipe, and t is the running time of the steel pipe. The preset position starting point may be a position of the steel pipe receiving the position detection signal, for example, after the steel pipe enters the straight roller way, when the head of the steel pipe triggers the preset cold and hot metal detector HMD0, the position may be set as the position starting point, and time is recorded, so that the difference between the real-time of the movement of the steel pipe and the recorded time is the movement time of the steel pipe.
The steel pipe speed data can be obtained through a preset speed processing algorithm and the roller way rotating speed, and the roller way rotating speed can be obtained through a photoelectric encoder arranged on the roller way.
The safety interval time may be a set safety interval time threshold, or may be a preset safety interval time algorithm, for example, the safety interval time algorithm may include:
wherein t' can be safe interval time, delta t can be turning time of the rotating device, L can be length of a feeding area, and v can be moving speed of the steel pipe. The interval time may be obtained by a preset interval time algorithm, and the preset interval time algorithm may include:
t can be interval time, delta t can be turnover time of the rotary device, l can be the distance between the front steel pipe and the rear steel pipe, and v can be the moving speed of the steel pipes. Specifically, the acquired steel pipe position data and speed data can be processed by using a preset interval time processing algorithm to obtain the interval time between the current steel pipe and the front support steel pipe, and the interval time is compared with a preset safe interval time threshold value to determine the specific operation mode of the current steel pipe.
It should be noted that, in the embodiment of the present invention, the interval time between two adjacent steel pipes is calculated and compared with the preset threshold, so that the interval distance between the steel pipes can be ensured, and the danger caused by too small distance between the steel pipes in the continuous production process is prevented.
102. And if the interval time is less than a preset safe interval time threshold value, controlling the steel pipe to stop moving or swing back and forth.
In an actual application scene, if the steel pipe is in the feeding area, the steel pipe can be lifted through the feeding rotating device, so that the steel pipe is controlled to stop moving, and in addition, if the steel pipe is in the inclined roller way, the steel pipe can be controlled to swing back and forth through the swinging of the inclined roller way, so that the steel pipe is controlled to stop moving continuously. The process of controlling the steel pipe to stop moving may specifically include: judging the position of the steel pipe according to the received steel pipe position signal, if the steel pipe is positioned on a straight roller way, lifting the steel pipe through a feeding rotary device, wherein the lifting duration can be the difference between the utilization safety interval time and the interval time; if the steel pipe is positioned on the inclined roller way in front of the online cooling device, the rotation of the inclined roller way can be stopped, and the inclined roller way is controlled to move forwards or backwards to control the steel pipe to stop moving. It should be noted that, in the embodiment of the present invention, when the interval time is less than the safety interval time, the steel pipe is in the online cooling device area, and when the steel pipe is in the feeding area, the moving speed of the steel pipe can be adjusted by slowing down the rotation speed of the roller way, so as to prevent the steel pipe from waiting in the online cooling device, which results in an excessively long cooling time, and thus, the quality of the steel pipe is not affected.
Further, in order to better describe the process of the tracking control method for the on-line cooling process of the hot-rolled seamless steel tube, as a refinement and an extension of the above embodiment, the embodiment of the present invention provides several alternative embodiments, but is not limited thereto, and specifically as follows:
in an alternative embodiment of the invention, the method further comprises: and if the interval time is greater than or equal to a preset safe interval time threshold value, controlling the steel pipe to move.
Wherein, the concrete process of controlling the movement of the steel pipe may include: and controlling the lifted feeding rotary device to overturn the steel pipe to the inclined roller way, or stopping the inclined roller way from swinging, and starting the inclined roller way to rotate, so that the steel pipe continues to move. Specifically, when it is detected that the interval time is greater than or equal to a preset safe interval time threshold, the steel pipe may be controlled to continue moving.
In another alternative embodiment of the present invention, the method further comprises: receiving and analyzing the steel pipe position signal to obtain position correction data; and correcting the position data by using the position correction data.
The steel pipe position signal can be obtained by recognition of a preset position tracking module, and can be a signal sent out when a preset cold and hot metal detector detects the position of the head of the steel pipe. And receiving and analyzing the signal to obtain steel pipe position correction data, wherein the position data can be corrected through the position correction data because the steel pipe position data obtained through calculation has errors, so that more accurate steel pipe position data can be obtained, and the steel pipe position data can be subsequently utilized to carry out interval processing.
In yet another alternative embodiment of the present invention, the acquiring steel pipe speed data includes: processing the acquired roller way rotation speed data by using a preset speed processing algorithm to obtain steel pipe speed data, wherein the preset speed processing algorithm comprises the following steps:
wherein alpha is a speed calculation compensation value, n is a roller way rotation speed, R is a steel pipe outer diameter, R is a roller way minimum position diameter, beta is a roller way inclination angle, and gamma is a V-shaped roller way included angle.
For the embodiment of the invention, the moving speed of the roller way can be specifically obtained through a photoelectric encoder arranged on the roller way, the encoder can be used for converting angular displacement or linear displacement into an electric signal so as to obtain the moving speed of the roller way, and the moving speeds of the steel pipe on the straight roller way and the inclined roller way can be correspondingly obtained through the moving speed of the roller way and the speed processing algorithm.
It should be noted that the moving speed data of the steel pipe is obtained through the algorithm, so that the moving speed data can be used for subsequent calculation to obtain the corresponding interval time, and further the tracking control of the online cooling process of the hot-rolled seamless steel pipe is realized.
In yet another alternative embodiment of the present invention, the method may further comprise: and establishing a tracking queue, wherein the tracking queue comprises a steel pipe rolling batch number and tracking initial time.
The steel pipe rolling batch number can be used for post-stage steel pipe spraying number, and the tracking initial time can be used for calculating the moving time of the steel pipe. The tracking queue can be established for the monitoring terminal, represents the moving sequence and the moving state of different steel pipes, and can realize the operations of increasing, deleting, modifying and checking the information of the steel pipes. It should be noted that, for the embodiment of the present invention, the whole rolling production line may be divided into four areas, namely, a feeding area, a cooling area, a blanking area, and a number spraying area, and since the whole rolling production line performs the production processing of a plurality of steel pipes at the same time, a tracking queue may be established for each area, and when a steel pipe enters another area from one area, the corresponding tracking queue may perform the deleting and adding operations, respectively.
It should be noted that, for the embodiment of the present invention, the steel rolling production line is divided into 4 areas, and the tracking queue is established at the same time, so that a plurality of steel pipes can be ensured to be processed simultaneously on line, the production efficiency of the steel pipes is improved to the maximum, and the production cost is saved.
In an optional embodiment of the present invention, in an actual application scenario, a specific process of the embodiment of the present invention may be as follows:
taking the tracking of the online cooling process of the Q345B steel pipe with the rolling lot number of 112663 and the specification of 426 multiplied by 30mm as an example, the set roller way speeds of the steel pipe on a straight roller way and an inclined roller way can be 1.50m/s and 1.20m/s respectively, and the tracking process is carried out according to the following steps:
(1) after the steel pipe is sized, when the head of the steel pipe triggers a preset cold and hot metal detector HMD0, a steel pipe position tracking function is started, and a tracking system is started according to a received current steel pipe rolling batch number 112663 and tracking triggering time 13: 00, setting the tracking number of the steel pipe to be 112663-x, wherein x can represent that the current steel pipe is the x-th steel pipe of the batch, firstly establishing a steel pipe tracking queue in a loading area, executing corresponding adding, deleting and modifying operations, and displaying on a monitoring terminal; after the steel pipe tracking function is started, the running period of a PLC (programmable logic controller) of the tracking system is used for calculating the position of the steel pipe and calculating the safety interval time in real time;
(2) conveying the steel pipe to a stop position of a feeding area through a rolling line straight roller way, stopping the roller way when a preset cold and hot metal detector HMD1 is triggered, calculating the interval time of the current steel pipe and a front support steel pipe by 15s, and comparing the interval time with a preset safe interval time threshold value of 20s, wherein the waiting time is 20-15 to 5s because the interval time is less than the safe interval time threshold value; and (3) suspending the steel pipe to move by vertically lifting the steel pipe through a feeding rotary device until 5s later, and turning the steel pipe to an inclined roller way through a feeding area.
(3) And when the steel pipe swinging waiting time is over, the current steel pipe enters a cooling area, and the current steel pipe tracking information moves to the cooling area.
(4) After the steel pipe is cooled according to a set rule, the tail of the steel pipe leaves cold and is subjected to high-temperature timing, the steel pipe enters a blanking area, current steel pipe tracking information moves to the blanking area, and if blanking conditions are met, the steel pipe is turned to a straight roller way through a blanking turning device; if the blanking condition is not met, the steel pipe is lifted to be in a 12-point direction vertical state by the blanking slewing device, and when the blanking condition is met, the steel pipe is turned to a straight roller way.
(5) After the steel pipe is turned over to the cooling bed, the steel pipe enters the spraying area, the current steel pipe tracking information is moved to the spraying area, when the steel pipe reaches the HMD2, the number spraying system carries out identification spraying on the steel pipe according to the tracking queue information, the communication module uploads the cooling actual result of the current steel pipe, and the post number spraying area deletes the current steel pipe information and updates the steel pipe tracking queue.
According to the circulation of the steps, the tracking of the continuous production process of the hot-rolled seamless steel pipe can be realized, and the system is well applied to a PQF460 hot-rolled seamless steel pipe production line at present.
Further, as a specific implementation of fig. 1, an embodiment of the present invention provides a tracking control system for an online cooling process of a hot-rolled seamless steel pipe, as shown in fig. 2, the system includes: a conveying cooling device 22 and a tracking control device 21.
The conveying cooling device 22 can be used for cooling the steel pipe on line;
the tracking control device 21 can be used for tracking and controlling the steel pipe on-line cooling process.
The tracking control device 21 may include: the system comprises a communication module 211, a position detection module 212, a position tracking module 213, a spray number module 214 and a monitoring terminal 215.
The communication module 211 may be connected to the position detection module, the position tracking module, the number spraying module and the monitoring terminal module, respectively, and is configured to receive steel pipe plan information sent by the monitoring terminal and send the information to the number spraying module, and also configured to receive position data sent by the position detection module and the position tracking module and upload the data to the monitoring terminal;
the position detection module 212 may be connected to the position tracking module, and configured to send the detected steel pipe position data to the position tracking module;
the position tracking module 213 may be connected to the communication module and the position detection module, respectively, and configured to calculate a moving speed, a position, and an interval time between steel pipes by using a preset algorithm, and receive and correct a position of the steel pipe by using steel pipe position data sent by the position detection module;
the spray number module 214 can be connected with the communication module and receives and utilizes the steel pipe plan information sent by the communication module to carry out identification spraying on the steel pipe;
the monitoring terminal 215 may be connected to the communication module, and configured to simulate and display a motion state of the steel pipe in real time on a steel pipe state interface according to the received steel pipe position data.
Further, as shown in fig. 3, the conveyance cooling device 22 includes: a straight roller way 221, a feeding rotary device 222, an inclined roller way 223, an online cooling device 224, a discharging rotary device 225 and a cooling bed 226.
The straight roller way 221 can be connected with the feeding rotary device 222 and used for conveying the steel pipe to the feeding rotary device 222;
the feeding rotary device 222 can be connected with the straight roller way 221 and the inclined roller way 223 respectively, and is used for turning the steel pipe on the straight roller way 221 to the inclined roller way 223;
the inclined roller way 223 can be respectively connected with the feeding rotary device 222, the on-line cooling device 224 and the discharging rotary device 225, and is used for cooling the steel pipe turned over by the feeding rotary device 222 by the on-line cooling device 224 and then conveying the steel pipe to the discharging rotary device 225;
both sides of the on-line cooling device 224 can be respectively connected with the inclined roller way 223, and are used for cooling the steel pipe conveyed by the inclined roller way 223;
the blanking slewing device 225 can be respectively connected with the inclined roller way 223 and the cooling bed 226, and is used for turning the steel pipe conveyed by the inclined roller way 223 to the cooling bed 226;
the cooling bed 226 may be connected to the feeding slewing device 225, and is used for cooling the steel pipe turned over by the feeding slewing device 225.
Further, as shown in fig. 4, the position tracking module 223 includes: a speed processing unit 2131, a position processing unit 2132, an interval time processing unit 2133, and a tracking reset unit 2134;
the speed processing unit 2131 may be configured to process the received rotation speed of the roller way by using a preset speed processing algorithm, so as to obtain a moving speed of the steel pipe on the straight roller way 221 or the inclined roller way 223;
the position processing unit 2132 may be configured to process the steel pipe moving speed and the obtained steel pipe moving time by using a preset position processing algorithm, so as to obtain a steel pipe position;
the interval time processing unit 2133 may be configured to process the moving speed of the steel pipe by using a preset interval time processing algorithm to obtain an interval time between two steel pipes, and compare the interval time with a preset safe interval time threshold to determine whether the steel pipe continues to move;
the tracking resetting unit 2134 may be configured to reset the tracking information when receiving a manual intervention instruction or rolling line quick-stop abnormal alarm information.
Further, as shown in fig. 5, the position detection module 212 includes: a cold and hot metal detector 2121 and a pyrometer 2122;
the cold and hot metal detector 2121 is respectively arranged at the starting position of the straight roller way 221, the joint of the straight roller way 221 and the feeding rotary device 222 and the joint of the cooling bed 226 and the number spraying module 214, and can be used for detecting and feeding back a steel pipe position signal;
the pyrometers 2122 are respectively installed at the joints of the two sides of the on-line cooling device 224 and the inclined roller tracks 223 and can be used for detecting and feeding back steel pipe position signals.
The spray number module 214 includes: and the steel pipe number spraying machine 2141 is arranged at the discharging outlet of the cooling bed 226 and can be used for carrying out identification spraying on the on-line cooling steel pipe.
It should be noted that other corresponding descriptions of the functional modules involved in the tracking control device for the online cooling process of the hot-rolled seamless steel tube according to the embodiment of the present invention may refer to the corresponding descriptions of the method shown in fig. 1, and are not described herein again.
According to the technical scheme, the acquired steel pipe position data and speed data can be processed by utilizing a preset interval time processing algorithm to obtain the interval time between two adjacent steel pipes, and the interval time is compared with a preset safe interval time threshold; and if the interval time is less than a preset safe interval time threshold value, controlling the steel pipe to stop moving. Therefore, the position of the steel pipe can be tracked and calculated in real time through the acquired speed and the acquired running time of the steel pipe, and the control of the continuous cooling process is realized by comparing the calculated interval time with the preset interval time threshold, so that the stability of continuous production of the hot-rolled seamless steel pipe is ensured, and the production efficiency of the hot-rolled seamless steel pipe is improved.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
It will be appreciated that the relevant features of the method and apparatus described above are referred to one another. In addition, "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent merits of the embodiments.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the system described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in accordance with embodiments of the present invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. A tracking control method for an online cooling process of a hot-rolled seamless steel pipe is characterized by comprising the following steps:
processing the acquired steel pipe position data and speed data by using a preset interval time processing algorithm to obtain interval time between two steel pipes, and comparing the interval time with a preset safe interval time threshold;
and if the interval time is less than a preset safe interval time threshold value, controlling the steel pipe to stop moving or swing back and forth.
2. The method according to claim 1, wherein after the acquired steel pipe position data and speed data are processed by a preset interval time processing algorithm to obtain an interval time between two steel pipes and the interval time is compared with a preset safe interval time threshold, the method further comprises:
and if the interval time is greater than or equal to a preset safe interval time threshold value, controlling the steel pipe to move.
3. The method according to claim 2, wherein before the processing the acquired position data and speed data of the steel pipe by using a preset interval time processing algorithm to obtain an interval time between two steel pipes and comparing the interval time with a preset safe interval time threshold, the method further comprises:
receiving and analyzing the steel pipe position signal to obtain position correction data;
and correcting the position data by using the position correction data.
4. The method of claim 3, wherein said obtaining steel pipe velocity data comprises:
processing the acquired roller way rotation speed data by using a preset speed processing algorithm to obtain steel pipe speed data, wherein the preset speed processing algorithm comprises the following steps:
wherein v is1The moving speed v of the steel pipe on a straight roller way2The moving speed of the steel pipe on the inclined roller way is shown as α, the speed compensation value is shown as n, the roller way rotating speed is shown as n, the outer diameter of the steel pipe is shown as R, the minimum diameter of the roller way is shown as R, the inclination angle of the roller way is shown as β, and the included angle of the V-shaped roller way is shown as gamma.
5. The tracking control system for the online cooling process of the hot-rolled seamless steel pipe is characterized by comprising the following components: the conveying cooling device and the tracking control device are connected with the conveying cooling device;
the conveying and cooling device is used for cooling the steel pipe on line;
and the tracking control device is used for tracking and controlling the steel pipe on-line cooling process.
6. The system according to claim 5, wherein the tracking control means comprises: the system comprises a communication module, a position detection module, a position tracking module, a number spraying module and a monitoring terminal;
the communication module is respectively connected with the position detection module, the position tracking module, the number spraying module and the monitoring terminal module, is used for receiving steel pipe plan information sent by the monitoring terminal and sending the steel pipe plan information to the number spraying module, and is also used for receiving position data sent by the position detection module and the position tracking module and uploading the position data to the monitoring terminal;
the position detection module is connected with the position tracking module and used for sending the detected steel pipe position data to the position tracking module;
the position tracking module is respectively connected with the communication module and the position detection module and is used for calculating the moving speed and position of the steel pipe and the interval time between the steel pipes by using a preset algorithm and receiving and correcting the position of the steel pipe by using the steel pipe position data sent by the position detection module;
the number spraying module is connected with the communication module and used for receiving and spraying the steel pipe with the identification by using the steel pipe plan information sent by the communication module;
and the monitoring terminal is connected with the communication module and is used for simulating and displaying the motion state of the steel pipe in real time on a steel pipe state interface according to the received steel pipe position data.
7. The system of claim 6, wherein the transport cooling device comprises: the device comprises a straight roller way, a feeding rotary device, an inclined roller way, an online cooling device, a discharging rotary device and a cooling bed;
the straight roller way is connected with the feeding slewing device and used for conveying the steel pipe to the feeding slewing device;
the feeding rotary device is respectively connected with the straight roller way and the inclined roller way and is used for overturning the steel pipe on the straight roller way to the inclined roller way;
the inclined roller way is respectively connected with the feeding rotary device, the online cooling device and the discharging rotary device and is used for conveying the steel pipe overturned by the feeding rotary device to the discharging rotary device after being cooled by the online cooling device;
the online cooling device is arranged at the inclined roller way and is used for cooling the steel pipe conveyed by the inclined roller way;
the blanking slewing device is respectively connected with the inclined roller way and the cooling bed and is used for overturning the steel pipe conveyed by the inclined roller way to the cooling bed;
the cooling bed is connected with the blanking slewing device and used for cooling the steel pipe overturned by the blanking slewing device.
8. The system of claim 7, wherein the location tracking module comprises: the device comprises a speed processing unit, a position processing unit, an interval time processing unit and a tracking reset unit;
the speed processing unit is used for processing the received roller way rotating speed by using a preset speed processing algorithm to obtain the moving speed of the steel pipe on the straight roller way or the inclined roller way;
the position processing unit is used for processing the steel pipe moving speed and the obtained steel pipe moving time by using a preset position processing algorithm to obtain the position of the steel pipe;
the interval time processing unit is used for processing the moving speed of the steel pipe by using a preset interval time processing algorithm to obtain the interval time between the current steel pipe and the front support steel pipe, comparing the interval time with a preset safe interval time threshold value and determining the specific operation mode of the current steel pipe;
and the tracking reset unit is used for resetting the tracking information when receiving a manual intervention instruction or rolling line quick stop abnormal alarm information.
9. The system of claim 8, wherein the location detection module comprises: cold and hot metal detectors and pyrometers;
the cold and hot metal detectors are respectively arranged at the starting position of the straight roller way, the joint of the straight roller way and the feeding rotary device and the joint of the cooling bed and the number spraying module and are used for detecting and feeding back steel pipe position signals;
the pyrometers are respectively arranged at the joints of the two sides of the online cooling device and the inclined roller ways and are used for detecting and feeding back steel pipe position signals.
10. The system of claim 9, wherein the spray number module comprises: and the steel pipe number spraying machine is arranged at the discharging outlet of the cooling bed and is used for carrying out identification spraying on the on-line cooling steel pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010357772.6A CN111589876A (en) | 2020-04-29 | 2020-04-29 | Hot-rolled seamless steel tube on-line cooling process tracking control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010357772.6A CN111589876A (en) | 2020-04-29 | 2020-04-29 | Hot-rolled seamless steel tube on-line cooling process tracking control system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111589876A true CN111589876A (en) | 2020-08-28 |
Family
ID=72182261
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010357772.6A Pending CN111589876A (en) | 2020-04-29 | 2020-04-29 | Hot-rolled seamless steel tube on-line cooling process tracking control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111589876A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305150A (en) * | 2021-06-07 | 2021-08-27 | 东北轻合金有限责任公司 | Online automatic blanking method for metal pipes |
| CN114700377A (en) * | 2022-03-28 | 2022-07-05 | 北京京诚瑞达电气工程技术有限公司 | Method and system for controlling end-off rolling |
| CN116727462A (en) * | 2023-08-15 | 2023-09-12 | 江苏宏宝优特管业制造有限公司 | Cooling control method and system for hot-rolled seamless steel tube |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004202573A (en) * | 2002-10-29 | 2004-07-22 | Jfe Steel Kk | Manufacturing method and apparatus for seamless steel pipe |
| CN101157096A (en) * | 2007-11-16 | 2008-04-09 | 天津钢管集团股份有限公司 | Technique of controlling and cooling hot-rolled seamless tube online |
| CN101751021A (en) * | 2008-12-19 | 2010-06-23 | 鞍钢集团工程技术有限公司 | Seamless steel tube production process information tracking method |
| JP2013013936A (en) * | 2011-06-07 | 2013-01-24 | Nippon Steel & Sumitomo Metal Corp | Cooling appararus and cooling method of hot-rolled steel sheet |
| CN107971351A (en) * | 2016-10-25 | 2018-05-01 | 宝山钢铁股份有限公司 | Process units and production method for steel pipe on-line cooling |
| CN107971344A (en) * | 2016-10-25 | 2018-05-01 | 宝山钢铁股份有限公司 | The Basic automation control system and control method of steel pipe on-line cooling |
| CN212633847U (en) * | 2020-04-29 | 2021-03-02 | 东北大学 | Hot-rolled seamless steel tube on-line cooling process tracking control system |
-
2020
- 2020-04-29 CN CN202010357772.6A patent/CN111589876A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004202573A (en) * | 2002-10-29 | 2004-07-22 | Jfe Steel Kk | Manufacturing method and apparatus for seamless steel pipe |
| CN101157096A (en) * | 2007-11-16 | 2008-04-09 | 天津钢管集团股份有限公司 | Technique of controlling and cooling hot-rolled seamless tube online |
| CN101751021A (en) * | 2008-12-19 | 2010-06-23 | 鞍钢集团工程技术有限公司 | Seamless steel tube production process information tracking method |
| JP2013013936A (en) * | 2011-06-07 | 2013-01-24 | Nippon Steel & Sumitomo Metal Corp | Cooling appararus and cooling method of hot-rolled steel sheet |
| CN107971351A (en) * | 2016-10-25 | 2018-05-01 | 宝山钢铁股份有限公司 | Process units and production method for steel pipe on-line cooling |
| CN107971344A (en) * | 2016-10-25 | 2018-05-01 | 宝山钢铁股份有限公司 | The Basic automation control system and control method of steel pipe on-line cooling |
| CN212633847U (en) * | 2020-04-29 | 2021-03-02 | 东北大学 | Hot-rolled seamless steel tube on-line cooling process tracking control system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305150A (en) * | 2021-06-07 | 2021-08-27 | 东北轻合金有限责任公司 | Online automatic blanking method for metal pipes |
| CN113305150B (en) * | 2021-06-07 | 2023-06-02 | 东北轻合金有限责任公司 | Online automatic blanking method for metal pipe |
| CN114700377A (en) * | 2022-03-28 | 2022-07-05 | 北京京诚瑞达电气工程技术有限公司 | Method and system for controlling end-off rolling |
| CN114700377B (en) * | 2022-03-28 | 2023-10-17 | 北京京诚瑞达电气工程技术有限公司 | Method and system for controlling head-removing rolling |
| CN116727462A (en) * | 2023-08-15 | 2023-09-12 | 江苏宏宝优特管业制造有限公司 | Cooling control method and system for hot-rolled seamless steel tube |
| CN116727462B (en) * | 2023-08-15 | 2023-12-05 | 江苏宏宝优特管业制造有限公司 | Cooling control method and system for hot-rolled seamless steel tube |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111589876A (en) | Hot-rolled seamless steel tube on-line cooling process tracking control system and method | |
| CN212633847U (en) | Hot-rolled seamless steel tube on-line cooling process tracking control system | |
| CN103985253B (en) | The system and method for exception parking in the crossing of a kind of quick discovery signals lamp control | |
| CN105752655A (en) | Correction device and method for cargoes in cross-belt sorting trolley | |
| CN112941299A (en) | Automatic feeding and tapping control system of slab heating furnace based on machine vision | |
| CN107971351A (en) | Process units and production method for steel pipe on-line cooling | |
| CN105928950A (en) | Bearing detection device based on machine vision | |
| CN107621259A (en) | A kind of floading condition calibration system and method for immersed tube tunnel final joint | |
| CN114774617A (en) | Ladle bottom argon blowing control method, device, equipment and medium | |
| CN106607474A (en) | Swing control method for steel plate in front of straightening machine | |
| CN106629428B (en) | By stages control method, system and the arm support equipment of a kind of boom system | |
| CN106903174A (en) | A kind of method of base head temperature drop in the middle of reduction | |
| CN102297893A (en) | On-line surface detection apparatus and method for continuous casting billet | |
| CN104176485B (en) | Roll transporter and transfer method | |
| CN105618596B (en) | A kind of continuous annealing furnace Thin Strip Steel sutures the control method and equipment of centering | |
| CN206318303U (en) | A kind of transfer robot | |
| CN107971353A (en) | The roller-way control method of steel pipe on-line cooling | |
| CN209085578U (en) | A kind of Soft Roll ion battery size detection and spray code spraying apparatus | |
| CN112361985B (en) | Machine vision-based blank curvature detection method | |
| CN112284316A (en) | Method and device for measuring length of steel pipe | |
| CN111589878A (en) | Online cooling axial homogenization control method and system for hot-rolled seamless steel tube | |
| CN202438554U (en) | Controlled rolling and controlled cooling system for large-diameter thick-walled seamless steel pipe | |
| CN206998097U (en) | A kind of bonding machine | |
| CN104249081B (en) | The control method of air-cooled blower fan and device | |
| JP2001340945A (en) | Marking device for round billet and method for stop position control of round billet |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |