CN112455841A - Method and device for adjusting position of outer ring belt head of steel coil - Google Patents
Method and device for adjusting position of outer ring belt head of steel coil Download PDFInfo
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- CN112455841A CN112455841A CN202011354441.3A CN202011354441A CN112455841A CN 112455841 A CN112455841 A CN 112455841A CN 202011354441 A CN202011354441 A CN 202011354441A CN 112455841 A CN112455841 A CN 112455841A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 95
- 239000010959 steel Substances 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000009434 installation Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000005098 hot rolling Methods 0.000 abstract description 3
- 230000007246 mechanism Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 3
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- 230000000694 effects Effects 0.000 description 2
- 241000951498 Brachypteraciidae Species 0.000 description 1
- 238000003723 Smelting Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
Abstract
The invention discloses a method and a device for adjusting the position of a steel coil outer ring belt head, which calculate the rotation arc length required by the rotation of the steel coil outer ring belt head from the current position to the target position through the real-time distance data acquired by a distance measuring sensor and the geometric relation between the distance measuring sensor and an adjusting station, thereby enabling the belt head to rotate to the bottom of a steel coil, ensuring the reliability of the automatic belt stripping and bundling of the subsequent steel coil, improving the intelligent level of a hot rolling production line and avoiding the occurrence of safety accidents.
Description
Technical Field
The invention relates to the steel smelting industry, in particular to a method and a device for adjusting the position of a belt head of an outer ring of a steel coil.
Background
Before the strapping is torn open to the coil of strip, in order to guarantee production safety, need be in the below of whole coil of strip with the position of coil of strip outer lane bandeau to when making the coil of strip tear the strapping, the bandeau is pressed in the coil of strip bottom under the dead weight effect of coil of strip, in order to avoid the bandeau bullet to open, injures operating personnel. At present, in order to press the belt head below a steel coil before the belt is disassembled, the ground rollers are controlled to rotate in a manual mode, an operator needs to be configured independently, the labor load is large, and the production efficiency is not high enough.
Disclosure of Invention
In view of the above-mentioned deficiencies of the prior art, an object of the present invention is to provide a method and an apparatus for adjusting the position of the tape head on the outer ring of the steel coil, so as to improve the automation degree of adjusting the position of the tape head on the outer ring of the steel coil and avoid safety accidents during the unbinding process.
In order to achieve the above objects and other related objects, the technical solution of the present invention is as follows:
a method for adjusting the position of a belt head on the outer ring of a steel coil comprises the following steps:
placing a steel coil to be adjusted on a supporting roller group, enabling the supporting roller group to support the steel coil on an adjusting station, and enabling each supporting roller of the supporting roller group to be positioned on two sides of a supporting center of the adjusting station;
a distance measuring sensor is arranged beside the adjusting station;
acquiring real-time distance data of the outer wall of the steel coil in the measuring area from the distance measuring sensor through the distance measuring sensor;
judging whether a tape head exists in a preset attention area or not according to the real-time distance data, wherein the measurement area covers the preset attention area;
if so, calculating the rotation arc length of the belt head from the current position to the target position according to the real-time distance data and the mounting position data of the distance measuring sensor, controlling each supporting roller to rotate by the rotation arc length, and enabling the belt head to rotate from the current position to the target position, wherein the mounting position data of the distance measuring sensor is the geometric position relation data between the distance measuring sensor and the supporting center of the adjusting station;
if not, the support rollers are controlled to rotate until the belt head in the preset attention area can be judged according to the real-time distance data, then the rotation arc length of the belt head from the current position to the target position is calculated according to the real-time distance data and the installation position data of the ranging sensor, and each support roller is controlled to rotate with the rotation arc length, so that the belt head rotates to the target position.
Optionally, the method for judging whether a tape head exists in the preset attention area according to the real-time distance data includes:
calculating a difference value of real-time distance data of each acquisition point in a preset attention area, comparing whether the difference value exceeds a preset threshold value, if the difference value exceeds the preset threshold value, judging that the tape head is positioned in the preset attention area, otherwise, judging that the tape head is not positioned in the preset attention area if the difference value does not exceed the preset threshold value.
Optionally, the method for judging whether a tape head exists in the preset attention area according to the real-time distance data further includes:
establishing a planar rectangular coordinate system, wherein the distance measuring sensor is positioned in the planar rectangular coordinate system, the first planar rectangular coordinate system takes the vertical radial direction of the steel coil as a transverse axis, and the horizontal direction from the distance measuring sensor to the steel coil as a longitudinal axis;
continuously and sequentially dividing a first reference area, the preset attention area and a second reference area in the measuring area in the direction of a transverse axis, so that the first reference area, the preset attention area and the second reference area respectively correspond to different numerical value areas of the transverse axis;
and taking the difference between the real-time distance data corresponding to the first reference area and the real-time distance data of the second reference area as the difference value.
Optionally, before calculating the difference, filtering is performed to exclude the abrupt change point of the interference in the first reference region and the second reference region.
Optionally, the method for calculating the arc length of the steel coil rotating from the current position to the target position according to the real-time distance data and the mounting position data of the distance measuring sensor includes:
defining the position of the distance measuring sensor as a point D, the position of the belt head as a point C, the lowest point of the steel coil as a point B, and the intersection point of a horizontal line passing through the point D and a vertical line passing through the point B as a point A, then defining the horizontal distance between the distance measuring sensor and the support center as a constant AD, and defining the distance between the lowest point B of the steel coil and the intersection point A as a constant AB;
acquiring the linear distance DC between the distance measuring sensor and the belt head, the component leftMostZ of the linear distance DC in the horizontal direction and the component leftMostX of the linear distance DC in the vertical direction according to the real-time distance data,
establishing a relational expression of leftMostZ, leftMostX and & lt CDA:
establishing a relational expression of AC, DC, a constant AD and & lt CDA according to the cosine theorem;
establishing a relation formula of AC, DC, constant AD and constant CAB according to a cosine theorem and a relation between the CAD and CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, a constant AB and a & lt CAB, and calculating the numerical value of BC;
and controlling the rotation of the supporting roller by approximating the BC value as the rotation arc length.
Optionally, the method for adjusting the position of the tape head of the outer ring of the steel coil further includes:
arranging a plurality of distance measuring sensors in a direction parallel to the axial direction of the steel coil;
when at least a preset number of distance measuring sensors judge that the belt head is positioned in the corresponding preset attention area, confirming that the belt head is positioned in the preset attention area;
and determining the current position of the tape head according to the average value of the real-time distance data detected by the plurality of distance measuring sensors.
Correspondingly, the invention also provides a device for adjusting the position of the tape head of the outer ring of the steel coil, which comprises the following components:
the supporting roller group comprises supporting rollers which are distributed on two sides of a supporting center of the adjusting station, and the supporting roller group is used for supporting the steel coil on the adjusting station and adjusting the position of a belt head of the outer ring of the steel coil through rotation;
the driving motor is used for driving the supporting roller to rotate;
the distance measuring sensor is arranged beside the adjusting station and used for acquiring real-time distance data between the distance measuring sensor and the outer wall of the steel coil in a measuring area; and
the processor is respectively connected with the distance measuring sensor and the driving motor, and comprises a tape head or not calculating module, a rotating arc length calculating module and a control module, wherein the tape head or not calculating module is used for judging whether a tape head exists in a preset attention area or not according to the real-time distance data, and the measuring area covers the preset attention area; the rotating arc length calculating module is used for calculating the rotating arc length corresponding to the rotation of the belt head from the current position to the target position according to the real-time distance data and the mounting position data of the distance measuring sensor when the belt head existence calculating module judges that the belt head exists in the preset attention area, and the mounting position data of the distance measuring sensor is the geometric position relation data between the distance measuring sensor and the support center of the adjusting station; the control module is configured to drive each of the support rollers to rotate according to the arc length of rotation.
Optionally, a plurality of distance measuring sensors are arranged beside the adjusting station, and when a plurality of distance measuring sensors are arranged beside the adjusting station, the distance measuring sensors are arranged along a direction parallel to the axial direction of the steel coil;
the tape head presence calculation module is configured to: when at least a preset number of distance measuring sensors judge that the belt head is positioned in the corresponding preset attention area, confirming that the belt head is positioned in the preset attention area; the rotating arc length calculation module is configured to determine the current position of the tape head according to an average value of real-time distance data detected by the plurality of ranging sensors.
Optionally, the tape head presence calculation module is further configured to:
calculating a difference value of real-time distance data of each acquisition point in a preset attention area, comparing whether the difference value exceeds a preset threshold value, if the difference value is larger than a preset range, if the difference value exceeds the preset threshold value, judging that the tape head is positioned in the preset attention area, otherwise, judging that the tape head is not positioned in the preset attention area if the difference value does not exceed the preset threshold value.
Optionally, the tape head presence calculation module is further configured to:
establishing a planar rectangular coordinate system, wherein the distance measuring sensor is positioned in the planar rectangular coordinate system, the first planar rectangular coordinate system takes the vertical radial direction of the steel coil as a transverse axis, and the horizontal direction from the distance measuring sensor to the steel coil as a longitudinal axis;
continuously and sequentially dividing a first reference area, the preset attention area and a second reference area in the measuring area in the direction of a transverse axis, so that the first reference area, the preset attention area and the second reference area respectively correspond to different numerical value areas of the transverse axis;
and taking the difference between the real-time distance data corresponding to the first reference area and the real-time distance data of the second reference area as the difference value.
Optionally, the rotation arc length calculation module is configured to:
defining the position of the distance measuring sensor as a point D, the position of the belt head as a point C, the lowest point of the steel coil as a point B, and the intersection point of a horizontal line passing through the point D and a vertical line passing through the point B as a point A, then defining the horizontal distance between the distance measuring sensor and the support center of the support roller group as a constant AD, and defining the distance between the lowest point B of the steel coil and the intersection point A as a constant AB;
acquiring a linear distance DC between the ranging sensor and the belt head, a component leftMostZ of the linear distance DC in the horizontal direction and a component leftMostX of the linear distance DC in the vertical direction according to the real-time distance data;
establishing a relational expression of leftMostZ, leftMostX and & lt CDA:
establishing a relational expression of AC, DC, a constant AD and & lt CDA according to the cosine theorem;
establishing a relation formula of AC, DC, constant AD and constant CAB according to a cosine theorem and a relation between the CAD and CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, a constant AB and a & lt CAB, and calculating the numerical value of BC;
and controlling the rotation of the supporting roller by approximating the BC value as the rotation arc length.
Optionally, a conveying mechanism for conveying the steel coil on the adjusting station to the next station is arranged below the adjusting station.
Optionally, conveying mechanism is including carrying support piece, being used for the jacking carry support piece's jacking conveying mechanism and be used for removing the moving mechanism of carrying support piece after the jacking, wherein, when the tape head position of adjustment coil of strip, carry support piece to be in under the adjustment station.
Optionally, the conveying support member has a circular arc supporting surface matched with the outer contour of the steel coil.
Optionally, the distance measuring sensor is a laser sensor.
According to the invention, the rotation arc length required by the rotation of the outer ring belt head of the steel coil from the current position to the target position is calculated through the real-time distance data acquired by the distance measuring sensor and the geometric relation between the distance measuring sensor and the adjusting station, so that the belt head rotates to the bottom of the steel coil, the automatic belt stripping reliability of the subsequent steel coil is ensured, the intelligent level of a hot rolling production line is improved, and safety accidents are avoided.
Drawings
FIG. 1 is a diagram showing a positional relationship between a steel coil and a distance measuring sensor when the apparatus for adjusting the position of a tape head on the outer ring of the steel coil according to the present invention is in use;
FIG. 2 is a schematic structural diagram of the device for adjusting the position of the tape head on the outer ring of the steel coil according to the present invention;
FIG. 3 is a schematic diagram of an edge contour line (without a tape head) formed in a rectangular planar coordinate system according to distance data collected by a distance measuring sensor;
FIG. 4 is a schematic diagram of an edge contour line (with a head) formed in a rectangular planar coordinate system according to the distance data collected by the distance measuring sensor;
description of reference numerals:
the steel coil 1, the supporting roller 2, the supporting center 201, the conveying supporting piece 3, the belt head 4, the distance measuring sensor 5 and the edge contour line 6.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
Referring to fig. 1 to 4 in combination, a method for adjusting a position of a tape head of an outer ring of a steel coil includes:
placing a steel coil 1 to be adjusted on a supporting roller group, enabling the supporting roller group to support the steel coil 1 on an adjusting station, and enabling each supporting roller 2 of the supporting roller group to be positioned at two sides of a supporting center 201 of the adjusting station;
a distance measuring sensor 5 is arranged beside the first adjusting station (on the right side of the figure), and real-time distance data of the outer wall of the steel coil 1 in the measuring area M from the distance measuring sensor 5 is acquired through the distance measuring sensor 5;
judging whether a tape head 4 exists in a preset attention area M0 according to the real-time distance data, wherein the measurement area M covers the preset attention area M0;
if yes, calculating the rotation arc length of the belt head 4 from the current position to the target position according to the real-time distance data and the installation position data of the distance measuring sensor 5, controlling each supporting roller 2 to rotate by the rotation arc length, and enabling the belt head 4 to rotate from the current position to the target position, wherein the installation position data of the distance measuring sensor 5 is the geometric position relation data between the distance measuring sensor 5 and the supporting center 201 of the adjusting station;
if not, the support rollers 2 are controlled to rotate until the tape head 4 in the preset attention area M0 can be judged according to the real-time distance data, then the rotating arc length of the tape head 4 from the current position to the target position is calculated according to the real-time distance data and the installation position data of the ranging sensor 5, and each support roller 2 is controlled to rotate with the rotating arc length, so that the tape head 4 rotates to the target position.
The distance measuring sensor of the embodiments described herein and below is a diffusion distance measuring sensor that emits signals from a single emission point to the outer wall of the steel coil, so that the laser sensor has a plurality of collection points in the measurement range, the target position is the bottom position of the steel coil 1, and the distance measuring sensor 5 may be a laser sensor or an ultrasonic sensor in the actual implementation process.
According to the method, the rotating arc length required by the rotation of the tape head on the outer ring of the steel coil from the current position to the target position is calculated through the real-time distance data acquired by the distance measuring sensor and the geometric relation between the distance measuring sensor and the adjusting station, so that the tape head rotates to the bottom of the steel coil, the reliability of automatic tape unpacking of the subsequent steel coil is guaranteed, the intelligent level of a hot rolling production line is improved, and safety accidents are avoided.
In some embodiments, the method for determining whether the tape head 4 is located in the preset attention area M0 according to the real-time distance data includes:
calculating a difference value of real-time distance data of each acquisition point in a preset attention area M0, comparing whether the difference value exceeds a preset threshold value, if the difference value exceeds the preset threshold value, determining that the tape head 4 is in the preset attention area M0, otherwise, if the difference value does not exceed the preset threshold value, determining that the tape head 4 is not in the preset attention area M0.
Specifically, in some embodiments, the method for determining whether the tape head 4 exists in the preset attention area M0 according to the real-time distance data further includes:
establishing a planar rectangular coordinate system, wherein the distance measuring sensor 5 is positioned in the planar rectangular coordinate system, the first planar rectangular coordinate system takes the vertical radial direction of the steel coil 1 as a transverse axis X, takes the horizontal direction from the distance measuring sensor 5 to the steel coil 1 as a longitudinal axis Z, and forms an edge contour line 6 in the planar rectangular coordinate system according to real-time collected data;
a first reference region M1, the preset attention region M0 and a second reference region M2 are continuously and sequentially divided in the horizontal axis direction of the measurement region, so that the first reference region M1, the preset attention region M0 and the second reference region M2 respectively correspond to different numerical value regions of the horizontal axis;
and taking the difference between the real-time distance data corresponding to the first reference area M1 and the real-time distance data of the second reference area M2 as the difference value.
The method for calculating the difference between the collection points of the preset attention area M0 according to the data of the first reference area M1 and the second reference area M2 can more accurately determine whether the tape head 4 exists in the preset attention area, because the data state in the preset attention area M0 is unstable due to the uneven surface of the steel coil 1 with the tape head 4, the state of the distance measuring sensor 5 and other factors, while the surfaces of the steel coil 1 corresponding to the first reference area M1 and the second reference area M2 are smooth, the stability of the data state is higher, and therefore, it is beneficial to more accurately determine whether the tape head 4 exists.
In practical implementation, the width of the horizontal axis of the preset attention area M0 may be only 1-3cm, and the widths of the horizontal axes of the first reference area M1 and the second reference area M2 may also be 1-3 cm.
In some embodiments, before the difference is calculated, filtering is performed to exclude the abrupt change point of the internal interference in the first reference region M1 and the second reference region M2, so as to avoid the interference of the abrupt change point, and further more accurately determine whether the tape head 4 exists in the preset attention region.
In some embodiments, the method of calculating the rotation arc length of the steel coil 1 from the current position to the target position based on the real-time distance data and the installation position data of the distance measuring sensor 5 includes:
defining the position of the distance measuring sensor 5 as a point D, the position of the belt head 4 as a point C, the lowest point of the steel coil 1 as a point B, and the intersection point of a horizontal line passing through the point D and a vertical line passing through the point B as a point A, then defining the horizontal distance from the distance measuring sensor 5 to the supporting center 201 as a constant AD, and defining the distance from the lowest point B of the steel coil 1 to the intersection point A as a constant AB;
the linear distance DC between the distance measuring sensor 5 and the belt head 4, the component leftMostZ of the linear distance DC in the horizontal direction and the component leftMostX of the linear distance DC in the vertical direction are obtained according to the real-time distance data,
establishing a relational expression of leftMostZ, leftMostX and & lt CDA:
establishing a relational expression of AC, DC, a constant AD and & lt CDA according to the cosine theorem;
establishing a relation formula of AC, DC, constant AD and constant CAB according to a cosine theorem and a relation between the CAD and CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, a constant AB and a & lt CAB, and calculating the numerical value of BC;
and controlling the rotation of the supporting roller 2 by approximating the BC value as the rotation arc length.
In some embodiments, the method for adjusting the position of the tape head of the outer ring of the steel coil further includes:
arranging a plurality of distance measuring sensors 5, and arranging the distance measuring sensors 5 along a direction parallel to the axial direction of the steel coil 1;
when at least a preset number of distance measuring sensors determine that the tape head 4 is in the corresponding preset attention area M0, confirming that the tape head 4 is in the preset attention area M0;
and the current position of the tape head 4 is determined according to the average value of the real-time distance data detected by the plurality of distance measuring sensors 5, so that the calculation result is more accurate.
In the figure, 5 distance measuring sensors 5 are provided, and at this time, the preset number may be set to 3. Because the edge of the belt head 4 of the steel belt may be prayed for blessings, the mode of setting the plurality of distance sensors is used for judging whether the belt head 4 is in the preset attention area and determining the current position of the belt head 4 according to the data of the plurality of distance sensors, and the belt head 4 can be sent to a target position accurately.
Correspondingly, the invention also provides a device for adjusting the position of the tape head 4 on the outer ring of the steel coil 1, which comprises the following components:
the supporting roller set comprises supporting rollers 2 which are distributed on two sides of a supporting center 201 of the adjusting station, and is used for supporting the steel coil 1 on the adjusting station and adjusting the position of a belt head 4 of the outer ring of the steel coil 1 through rotation;
the driving motor is used for driving the supporting roller 2 to rotate;
the distance measuring sensor 5 is arranged beside the adjusting station, and the distance measuring sensor 5 is used for acquiring real-time distance data between the distance measuring sensor 5 and the outer wall of the steel coil 1 in the measuring area M; and
the processor is respectively connected with the distance measuring sensor 5 and the driving motor, and comprises a tape head-free calculating module, a rotating arc length calculating module and a control module, wherein the tape head-free calculating module is used for judging whether a tape head 4 exists in a preset attention area according to the real-time distance data, and the measuring area M covers the preset attention area M0; the rotating arc length calculating module is used for calculating the rotating arc length corresponding to the rotation of the tape head 4 from the current position to the target position according to the real-time distance data and the mounting position data of the distance measuring sensor 5 when the tape head existence calculating module judges that the tape head 4 exists in the preset attention area, wherein the mounting position data of the distance measuring sensor 5 is the geometric position relation data between the distance measuring sensor 5 and the support center 201 of the adjusting station; the control module is configured to drive each of the support rollers 2 to rotate according to the arc length of rotation.
In some embodiments, a plurality of distance measuring sensors 5 are arranged beside the adjusting station, and when a plurality of distance measuring sensors 5 are arranged beside the adjusting station, each distance measuring sensor 5 is arranged along a direction parallel to the axial direction of the steel coil 1;
the tape head presence calculation module is configured to: when at least a preset number of distance measuring sensors 5 determine that the tape head 4 is in the corresponding preset attention area M0, confirming that the tape head 4 is in the preset attention area M0; the rotating arc length calculation module is configured to determine the current position of the tape head 4 according to an average value of real-time distance data detected by the plurality of distance measuring sensors 5.
In some embodiments, the headed or untapped computing module is further configured to:
calculating a difference value of real-time distance data of each acquisition point in a preset attention area M0, comparing whether the difference value exceeds a preset threshold value, if the difference value is larger than a preset range, if the difference value exceeds the preset threshold value, determining that the tape head 4 is in the preset attention area M0, otherwise, determining that the tape head 4 is not in the preset attention area M0.
In some embodiments, the headed or untapped computing module is further configured to:
establishing a planar rectangular coordinate system, wherein the distance measuring sensor 5 is positioned in the planar rectangular coordinate system, the first planar rectangular coordinate system takes the vertical radial direction of the steel coil 1 as a transverse axis, and the horizontal direction from the distance measuring sensor 5 to the steel coil 1 as a longitudinal axis;
a first reference region M1, the preset attention region M0 and a second reference region M2 are continuously and sequentially divided in the horizontal axis direction of the measurement region, so that the first reference region M1, the preset attention region M0 and the second reference region M2 respectively correspond to different numerical value regions of the horizontal axis;
and taking the difference between the real-time distance data corresponding to the first reference area M1 and the real-time distance data of the second reference area M2 as the difference value.
In some embodiments, the headed or untapped computing module is further configured to: before the difference is calculated, filtering processing is carried out to eliminate the abrupt points of the interference in the first reference region M1 and the second reference region M2.
In some embodiments, the rotational arc length calculation module is configured to:
defining the position of the distance measuring sensor 5 as a point D, the position of the belt head 4 as a point C, the lowest point of the steel coil 1 as a point B, and the intersection point of a horizontal line passing through the point D and a vertical line passing through the point B as a point A, then defining the horizontal distance between the distance measuring sensor 5 and the support center 201 of the support roller group as a constant AD, and defining the distance between the lowest point B of the steel coil 1 and the intersection point A as a constant AB;
acquiring a linear distance DC between the ranging sensor 5 and the belt head 4, a component leftMostZ of the linear distance DC in the horizontal direction and a component leftMostX of the linear distance DC in the vertical direction according to the real-time distance data;
establishing a relational expression of leftMostZ, leftMostX and & lt CDA:
establishing a relational expression of AC, DC, a constant AD and & lt CDA according to the cosine theorem;
establishing a relation formula of AC, DC, constant AD and constant CAB according to a cosine theorem and a relation between the CAD and CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, a constant AB and a & lt CAB, and calculating the numerical value of BC;
and controlling the rotation of the supporting roller 2 by approximating the BC value as the rotation arc length.
In some embodiments, a conveying mechanism for conveying the steel coil 1 on the adjusting station to the next station is arranged below the adjusting station.
In some embodiments, the conveying mechanism includes a conveying support 3, a jacking conveying mechanism for jacking the conveying support 3, and a moving mechanism for moving the jacked conveying support 3, wherein when the position of the head 4 of the steel coil 1 is adjusted, the conveying support 3 is located right below the adjusting station. In the practical implementation process, the moving mechanism and the jacking conveying mechanism can adopt the existing structures, and the details are not described here.
In some embodiments, the conveying support 3 has a circular arc supporting surface matched with the outer contour of the steel coil 1, and the circular arc supporting surface is arranged to enlarge the range of the target position as long as the tape head can be pressed between the steel coil and the circular arc supporting surface after the tape head position is adjusted.
Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A method for adjusting the position of a belt head on an outer ring of a steel coil is characterized by comprising the following steps:
placing a steel coil to be adjusted on a supporting roller group, enabling the supporting roller group to support the steel coil on an adjusting station, and enabling each supporting roller of the supporting roller group to be positioned on two sides of a supporting center of the adjusting station;
a distance measuring sensor is arranged beside the adjusting station;
acquiring real-time distance data of the outer wall of the steel coil in the measuring area from the distance measuring sensor through the distance measuring sensor;
judging whether a tape head exists in a preset attention area or not according to the real-time distance data, wherein the measurement area covers the preset attention area;
if so, calculating the rotation arc length of the belt head from the current position to the target position according to the real-time distance data and the mounting position data of the distance measuring sensor, controlling each supporting roller to rotate by the rotation arc length, and enabling the belt head to rotate from the current position to the target position, wherein the mounting position data of the distance measuring sensor is the geometric position relation data between the distance measuring sensor and the supporting center of the adjusting station;
if not, the support rollers are controlled to rotate until the belt head in the preset attention area can be judged according to the real-time distance data, then the rotation arc length of the belt head from the current position to the target position is calculated according to the real-time distance data and the installation position data of the ranging sensor, and each support roller is controlled to rotate with the rotation arc length, so that the belt head rotates to the target position.
2. The method for adjusting the position of the tape head on the outer ring of the steel coil according to claim 1, wherein: the method for judging whether the tape head exists in the preset attention area or not according to the real-time distance data comprises the following steps:
calculating a difference value of real-time distance data of each acquisition point in a preset attention area, comparing whether the difference value exceeds a preset threshold value, if the difference value exceeds the preset threshold value, judging that the tape head is positioned in the preset attention area, otherwise, judging that the tape head is not positioned in the preset attention area if the difference value does not exceed the preset threshold value.
3. The method for adjusting the position of the tape head on the outer ring of the steel coil as claimed in claim 2, wherein: the method for judging whether the tape head exists in the preset attention area according to the real-time distance data further comprises the following steps:
establishing a planar rectangular coordinate system, wherein the distance measuring sensor is positioned in the planar rectangular coordinate system, the first planar rectangular coordinate system takes the vertical radial direction of the steel coil as a transverse axis, and the horizontal direction from the distance measuring sensor to the steel coil as a longitudinal axis;
continuously and sequentially dividing a first reference area, the preset attention area and a second reference area in the measuring area in the direction of a transverse axis, so that the first reference area, the preset attention area and the second reference area respectively correspond to different numerical value areas of the transverse axis;
and taking the difference between the real-time distance data corresponding to the first reference area and the real-time distance data of the second reference area as the difference value.
4. The method for adjusting the position of the tape head on the outer ring of the steel coil according to claim 1, wherein: the method for calculating the rotating arc length of the steel coil from the current position to the target position according to the real-time distance data and the mounting position data of the distance measuring sensor comprises the following steps:
defining the position of the distance measuring sensor as a point D, the position of the belt head as a point C, the lowest point of the steel coil as a point B, and the intersection point of a horizontal line passing through the point D and a vertical line passing through the point B as a point A, then defining the horizontal distance between the distance measuring sensor and the support center as a constant AD, and defining the distance between the lowest point B of the steel coil and the intersection point A as a constant AB;
acquiring the linear distance DC between the distance measuring sensor and the belt head, the component leftMostZ of the linear distance DC in the horizontal direction and the component leftMostX of the linear distance DC in the vertical direction according to the real-time distance data,
establishing a relational expression of leftMostZ, leftMostX and & lt CDA:
establishing a relational expression of AC, DC, a constant AD and & lt CDA according to the cosine theorem;
establishing a relation formula of AC, DC, constant AD and constant CAB according to a cosine theorem and a relation between the CAD and CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, a constant AB and a & lt CAB, and calculating the numerical value of BC;
and controlling the rotation of the supporting roller by approximating the BC value as the rotation arc length.
5. The method for adjusting the position of the tape head on the outer ring of the steel coil according to claim 1, further comprising:
arranging a plurality of distance measuring sensors in a direction parallel to the axial direction of the steel coil;
when at least a preset number of distance measuring sensors judge that the belt head is positioned in the corresponding preset attention area, confirming that the belt head is positioned in the preset attention area;
and determining the current position of the tape head according to the average value of the real-time distance data detected by the plurality of distance measuring sensors.
6. The utility model provides a device that is used for adjustment of coil of strip outer lane tape head position, its characterized in that includes:
the supporting roller group comprises supporting rollers which are distributed on two sides of a supporting center of the adjusting station, and the supporting roller group is used for supporting the steel coil on the adjusting station and adjusting the position of a belt head of the outer ring of the steel coil through rotation;
the driving motor is used for driving the supporting roller to rotate;
the distance measuring sensor is arranged beside the adjusting station and used for acquiring real-time distance data between the distance measuring sensor and the outer wall of the steel coil in a measuring area; the processor is respectively connected with the distance measuring sensor and the driving motor, and comprises a tape head-free calculating module, a rotating arc length calculating module and a control module, wherein the tape head-free calculating module is used for judging whether a tape head exists in a preset attention area according to the real-time distance data, and the measuring area covers the preset attention area; the rotating arc length calculating module is used for calculating the rotating arc length corresponding to the rotation of the belt head from the current position to the target position according to the real-time distance data and the mounting position data of the distance measuring sensor when the belt head existence calculating module judges that the belt head exists in the preset attention area, and the mounting position data of the distance measuring sensor is the geometric position relation data between the distance measuring sensor and the support center of the adjusting station; the control module is configured to drive each of the support rollers to rotate according to the arc length of rotation.
7. The device for adjusting the position of the tape head on the outer ring of the steel coil according to claim 6, wherein:
a plurality of distance measuring sensors are arranged beside the adjusting station, and when the plurality of distance measuring sensors are arranged beside the adjusting station, the distance measuring sensors are arranged along the direction parallel to the axial direction of the steel coil;
the tape head presence calculation module is configured to: when at least a preset number of distance measuring sensors judge that the belt head is positioned in the corresponding preset attention area, confirming that the belt head is positioned in the preset attention area; the rotating arc length calculation module is configured to determine the current position of the tape head according to an average value of real-time distance data detected by the plurality of ranging sensors.
8. The apparatus of claim 6, wherein the tape head presence/absence calculation module is further configured to:
calculating a difference value of real-time distance data of each acquisition point in a preset attention area, comparing whether the difference value exceeds a preset threshold value, if the difference value is larger than a preset range, if the difference value exceeds the preset threshold value, judging that the tape head is positioned in the preset attention area, otherwise, judging that the tape head is not positioned in the preset attention area if the difference value does not exceed the preset threshold value.
9. The apparatus of claim 8, wherein the tape head presence/absence calculation module is further configured to:
establishing a planar rectangular coordinate system, wherein the distance measuring sensor is positioned in the planar rectangular coordinate system, the first planar rectangular coordinate system takes the vertical radial direction of the steel coil as a transverse axis, and the horizontal direction from the distance measuring sensor to the steel coil as a longitudinal axis;
continuously and sequentially dividing a first reference area, the preset attention area and a second reference area in the measuring area in the direction of a transverse axis, so that the first reference area, the preset attention area and the second reference area respectively correspond to different numerical value areas of the transverse axis;
and taking the difference between the real-time distance data corresponding to the first reference area and the real-time distance data of the second reference area as the difference value.
10. The apparatus of claim 6, wherein the rotation arc length calculation module is configured to:
defining the position of the distance measuring sensor as a point D, the position of the belt head as a point C, the lowest point of the steel coil as a point B, and the intersection point of a horizontal line passing through the point D and a vertical line passing through the point B as a point A, then defining the horizontal distance between the distance measuring sensor and the support center of the support roller group as a constant AD, and defining the distance between the lowest point B of the steel coil and the intersection point A as a constant AB;
acquiring a linear distance DC between the ranging sensor and the belt head, a component leftMostZ of the linear distance DC in the horizontal direction and a component leftMostX of the linear distance DC in the vertical direction according to the real-time distance data;
establishing a relational expression of leftMostZ, leftMostX and & lt CDA:
establishing a relational expression of AC, DC, a constant AD and & lt CDA according to the cosine theorem;
establishing a relation formula of AC, DC, constant AD and constant CAB according to a cosine theorem and a relation between the CAD and CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, a constant AB and a & lt CAB, and calculating the numerical value of BC;
and controlling the rotation of the supporting roller by approximating the BC value as the rotation arc length.
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