CN112455841B - 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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- CN112455841B CN112455841B CN202011354441.3A CN202011354441A CN112455841B CN 112455841 B CN112455841 B CN 112455841B CN 202011354441 A CN202011354441 A CN 202011354441A CN 112455841 B CN112455841 B CN 112455841B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 104
- 239000010959 steel Substances 0.000 title claims abstract description 104
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000005259 measurement Methods 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims description 8
- 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
- 230000008569 process Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000001914 filtration Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000035772 mutation Effects 0.000 description 2
- 241000951498 Brachypteraciidae Species 0.000 description 1
- 238000003723 Smelting Methods 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
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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 a target position through real-time distance data acquired by a distance measurement sensor and the geometric relation between the distance measurement sensor and an adjusting station, so that the belt head rotates to the bottom of the steel coil, the reliability of automatic disassembly of the subsequent steel coil is ensured, the intelligent level of a hot rolling production line is improved, and the occurrence of safety accidents is avoided.
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 strip head on an outer ring of a steel coil.
Background
Before the steel coil is disassembled to form the binding belt, the position of the outer ring belt head of the steel coil needs to be positioned below the whole steel coil in order to ensure production safety, so that when the steel coil is disassembled to form the binding belt, the belt head is pressed at the bottom of the steel coil under the action of the dead weight of the steel coil, and the belt head is prevented from being sprung out to hurt operators. At present, in order to press the belt head below the steel coil before the belt is detached, the ground roller is controlled to rotate in a manual mode, operators are required 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 shortcomings of the prior art, the present invention aims to provide a method and a device for adjusting the position of the outer ring head of a steel coil, so as to improve the automation degree of the adjustment of the outer ring head of the steel coil and avoid the occurrence of safety accidents in the unbinding process.
To achieve the above object and other related objects, the present invention provides the following technical solutions:
a method for adjusting the position of a steel coil outer ring belt head, comprising the following steps:
placing a steel coil to be adjusted on a supporting roller set, so that the supporting roller set supports the steel coil on an adjusting station, and each supporting roller of the supporting roller set is positioned at two sides of a supporting center of the adjusting station;
A ranging sensor is arranged beside the adjusting station;
acquiring real-time distance data of the outer wall of the steel coil in a measuring area from a distance measuring sensor through the distance measuring sensor;
Judging whether a head is arranged in a preset attention area according to the real-time distance data, wherein the measurement area covers the preset attention area;
If so, calculating the rotating 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, and controlling each supporting roller to rotate by the rotating arc length so as to enable 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;
and if not, controlling the support rollers to rotate until the belt head exists in the preset attention area according to the real-time distance data, and then 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 installation position data of the distance measuring sensor, and controlling each support roller to rotate according to the rotation arc length so as to enable the belt head to rotate to the target position.
Optionally, the method for judging whether the preset attention area has the tape head according to the real-time distance data includes:
Calculating the difference value of the real-time distance data of each acquisition point in a preset attention area, comparing whether the difference value exceeds a preset threshold value, if so, judging that the belt head is in the preset attention area, otherwise, judging that the belt head is not in the preset attention area.
Optionally, the method for judging whether the preset attention area has a tape head according to the real-time distance data further includes:
establishing a first plane rectangular coordinate system, wherein the ranging sensor is positioned in the first plane rectangular coordinate system, the first plane rectangular coordinate system takes the vertical radial direction of the steel coil as a transverse axis and takes the horizontal direction from the ranging 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 transverse axis direction of the measurement area, 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.
Optionally, before calculating the difference, filtering is performed to exclude the abrupt change points of the interference in the first reference area and the second reference area.
Optionally, the method for calculating the rotation arc length of the steel coil rotating 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 comprises the following steps:
defining the position of the distance measuring sensor as a point D, defining the position of the belt head as a point C, defining the lowest point of the steel coil as a point B, defining the intersection point of the horizontal line passing through the point D and the vertical line passing through the point B as a point A, defining the horizontal distance between the distance measuring sensor and the supporting 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;
A linear distance DC between the distance measuring sensor and the tape 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 are obtained according to the real-time distance data,
Establishing LeftMostZ, leftMostX and the relational expression of < CDA:
according to the cosine theorem, establishing a relational expression of AC, DC, constant AD and CDA;
according to the cosine theorem and the relationship between the < CAD > and the < CAB >, establishing a relational expression of the AC, the DC, the constant AD and the < CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, constant AB and CAB, and calculating the value of BC;
and controlling the rotation of the support roller by using the BC value to be approximately the rotation arc length.
Optionally, the method for adjusting the position of the outer ring belt head of the steel coil further comprises:
Setting a plurality of distance measuring sensors, and arranging the distance measuring sensors along a direction parallel to the axial direction of the steel coil;
When at least a preset number of ranging sensors judge that the belt head is in the corresponding preset attention area, confirming that the belt head is in the preset attention area;
and determining the current position of the belt 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 outer ring belt head of the steel coil, which comprises:
The supporting roller set comprises supporting rollers distributed on two sides of a supporting center of the adjusting station, and the supporting roller set is used for supporting the steel coil on the adjusting station and adjusting the position of a belt head of an outer ring of the steel coil through rotation;
a driving motor for driving the support roller to rotate;
the distance measuring sensor is arranged at the side of the adjusting station and is used for collecting real-time distance data between the distance measuring sensor and the outer wall of the steel coil in the measuring area; and
The processor is respectively connected with the ranging sensor and the driving motor, and comprises a head-carrying or not calculation module, a rotating arc length calculation module and a control module, wherein the head-carrying or not calculation module is used for judging whether a head is carried in a preset attention area according to the real-time distance data, and the measurement area covers the preset attention area; the rotating arc length calculation module is used for calculating the rotating arc length corresponding to the rotation of the band head from the current position to the target position according to the real-time distance data and the mounting position data of the ranging sensor when the band head calculation module judges that the band head exists in the preset attention area, wherein the mounting position data of the ranging sensor is the geometric position relation data between the ranging sensor and the supporting center of the adjusting station; the control module is configured to drive each of the backup rollers to rotate according to the arc length of rotation.
Optionally, a plurality of distance measuring sensors are arranged beside the adjustment station, and when a plurality of distance measuring sensors are arranged beside the adjustment station, the distance measuring sensors are arranged along a direction parallel to the axial direction of the steel coil;
The headless computing module is configured to: when at least a preset number of ranging sensors judge that the belt head is in the corresponding preset attention area, confirming that the belt head is in the preset attention area; the rotating arc length calculation module is configured to determine a current position of the tape head according to an average value of real-time distance data detected by a plurality of the distance measurement sensors.
Optionally, the headless computing 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 belt head is in the preset attention area, otherwise, if the difference value does not exceed the preset threshold value, judging that the belt head is not in the preset attention area.
Optionally, the headless computing module is further configured to:
Establishing a second plane rectangular coordinate system, wherein the ranging sensor is positioned in the second plane rectangular coordinate system, the second plane rectangular coordinate system takes the vertical radial direction of the steel coil as a transverse axis and takes the horizontal direction from the ranging 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 transverse axis direction of the measurement area, 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.
Optionally, the rotational arc length calculation module is configured to:
The position of the distance measuring sensor is defined as a point D, the position of the belt head is defined as a point C, the lowest point of the steel coil is defined as a point B, the intersection point of a horizontal line passing through the point D and a vertical line passing through the point B is defined as a point A, the horizontal distance between the distance measuring sensor and the supporting center of the supporting roller set is defined as a constant AD, and the distance between the lowest point B of the steel coil and the intersection point A is defined as a constant AB;
Acquiring a linear distance DC between a ranging sensor and a 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 real-time distance data;
establishing LeftMostZ, leftMostX and the relational expression of < CDA:
according to the cosine theorem, establishing a relational expression of AC, DC, constant AD and CDA;
according to the cosine theorem and the relationship between the < CAD > and the < CAB >, establishing a relational expression of the AC, the DC, the constant AD and the < CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, constant AB and CAB, and calculating the value of BC;
and controlling the rotation of the support roller by using the BC value to be approximately the rotation arc length.
Optionally, a conveying mechanism for conveying the steel coil on the adjustment station to the next station is arranged below the adjustment station.
Optionally, the conveying mechanism includes conveying support piece, is used for jacking conveying mechanism and the mobile mechanism who is used for removing the conveying support piece after the jacking of conveying support piece, wherein, when adjusting the tape head position of coil of strip, conveying support piece is in under the adjustment station.
Optionally, the conveying support piece is provided with an arc support surface matched with the outer contour of the steel coil.
Optionally, the ranging 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 reliability of automatic disassembly of the belt of the follow-up steel coil is ensured, the intelligent level of the hot rolling production line is improved, and the occurrence of safety accidents is avoided.
Drawings
FIG. 1 is a diagram showing the positional relationship between a coil and a distance measuring sensor when the device for adjusting the position of the outer ring belt head of the coil is used;
Fig. 2 is a schematic structural view of the device for adjusting the position of the outer ring belt head of the steel coil;
Fig. 3 is an edge contour line (without a head) formed correspondingly according to distance data collected by a distance measurement sensor in a first plane rectangular coordinate system;
fig. 4 is an edge contour line (with a head) correspondingly formed according to distance data collected by a distance measurement sensor in a second plane rectangular coordinate system;
reference numerals illustrate:
steel coil 1, support roller 2, support center 201, conveying support 3, belt head 4, distance measuring sensor 5, edge contour 6.
Detailed Description
Further advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure of the present invention, which is described by the following specific examples.
Referring to fig. 1 to 4 in combination, a method for adjusting the position of a steel coil outer ring belt head includes:
placing the steel coil 1 to be adjusted on a supporting roller set, so that the supporting roller set supports the steel coil 1 on an adjusting station, and each supporting roller 2 of the supporting roller set is positioned at two sides of a supporting center 201 of the adjusting station;
A distance measuring sensor 5 is arranged at one side (the right side in the drawing) of the adjusting station, 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 are collected through the distance measuring sensor 5;
judging whether a belt 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 so, 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 mounting position data of the ranging sensor 5, and controlling each supporting roller 2 to rotate by the rotation arc length to enable the belt head 4 to rotate from the current position to the target position, wherein the mounting position data of the ranging sensor 5 is the geometric position relation data between the ranging sensor 5 and the supporting center 201 of the adjusting station;
if not, the supporting rollers 2 are controlled to rotate until the belt head 4 in the preset attention area M0 can be judged according to the real-time distance data, then the rotation arc length of the belt 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 distance measuring sensor 5, and the supporting rollers 2 are controlled to rotate at the rotation arc length, so that the belt head 4 rotates to the target position.
The distance measuring sensors of the present invention and the following embodiments are all diffusion type distance measuring sensors that measure signals from a single emission point to all positions of the outer wall of the steel coil, so that the laser sensor is divided into a plurality of collection points in the measurement range, the target position of the laser sensor is the bottom position of the steel coil 1, and in the practical implementation process, the distance measuring sensor 5 may be a laser sensor or an ultrasonic sensor.
According to the invention, the real-time distance data acquired by the distance measuring sensor and the geometric relation between the distance measuring sensor and the adjusting station are used for calculating the rotation arc length required by the rotation of the strip head of the outer ring of the steel coil from the current position to the target position, so that the strip head rotates to the bottom of the steel coil, the reliability of automatic disassembly of the strip of the subsequent steel coil is ensured, the intelligent level of a hot rolling production line is improved, the occurrence of safety accidents is avoided, and the mode of judging whether the strip head exists in the preset attention area is adopted firstly, all the distance data on the surface of the outer ring of the steel coil is not needed, a large number of distance measuring sensors are not needed, the operation amount is greatly reduced, and the strip head is beneficial to being adjusted to the target position more quickly.
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 includes:
calculating the difference value of the real-time distance data of each acquisition point in the preset attention area M0, comparing whether the difference value exceeds a preset threshold value, if the difference value exceeds the preset threshold value, judging that the belt head 4 is in the preset attention area M0, otherwise, judging that the belt head 4 is not in the preset attention area M0.
Specifically, in some embodiments, the method for determining whether the tape head 4 is in the preset attention area M0 according to the real-time distance data further includes:
Establishing a first plane rectangular coordinate system, wherein the distance measuring sensor 5 is positioned in the first plane rectangular coordinate system, the first plane 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 first plane rectangular coordinate system according to real-time acquisition data;
Sequentially and continuously dividing a first reference area M1, the preset attention area M0 and a second reference area M2 in the transverse axis direction of the measurement area, so that the first reference area M1, the preset attention area M0 and the second reference area M2 respectively correspond to different numerical value areas of the transverse axis;
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.
The method of calculating the difference value of 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 judge whether the tape head 4 exists in the preset attention area, which is beneficial to more accurately judging whether the tape head 4 exists or not because the surface of the steel coil 1 with the tape head 4 is not smooth and the data state in the preset attention area M0 is unstable due to factors such as the state of the ranging sensor 5 and the like, and the surfaces of the steel coil 1 corresponding to the first reference area M1 and the second reference area M2 are smooth and have higher stability of the data state.
In the actual implementation process, the width of the transverse axis of the preset attention area M0 may be only 1-3cm, and the width of the transverse axes of the first reference area M1 and the second reference area M2 may also be 1-3cm.
In some embodiments, before calculating the difference value, filtering is performed to exclude the mutation points interfering in the first reference area M1 and the second reference area M2, so as to avoid the interference of the mutation points, and further determine whether the band head 4 exists in the preset attention area more accurately.
In some embodiments, the method of calculating the rotational arc length of the steel coil 1 rotated from the current position to the target position according to the real-time distance data and the installation position data of the ranging 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 the horizontal line passing through the point D and the vertical line passing through the point B as a point A, wherein the horizontal distance of the distance measuring sensor 5 from the supporting center 201 is defined as a constant AD, and the distance between the lowest point B of the steel coil 1 and the intersection point A is defined as a constant AB;
a linear distance DC of the distance measuring sensor 5 from the tape 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 are acquired based on the real-time distance data,
Establishing LeftMostZ, leftMostX and the relational expression of < CDA:
according to the cosine theorem, establishing a relational expression of AC, DC, constant AD and CDA;
according to the cosine theorem and the relationship between the < CAD > and the < CAB >, establishing a relational expression of the AC, the DC, the constant AD and the < CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, constant AB and CAB, and calculating the value of BC;
the rotation of the support roller 2 is controlled by the BC value being approximately the rotation arc length.
In some embodiments, the method for adjusting the position of the outer ring belt head of the steel coil further comprises:
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 ranging 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;
According to the average value of the real-time distance data detected by the plurality of distance measuring sensors 5, the current position of the belt head 4 is determined, and the calculation result is more accurate.
In the figure, 5 ranging 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 possibly has praying, the plurality of distance sensors are arranged, and whether the belt head 4 is in a preset attention area or not is judged according to the data of the plurality of distance sensors, and the mode of determining the current position of the belt head 4 is beneficial to more accurately conveying the belt head 4 to a target position.
Correspondingly, the invention also provides a device for adjusting the position of the outer ring belt head 4 of the steel coil 1, which comprises:
the support roller set comprises support rollers 2 distributed on two sides of a support center 201 of the adjustment station, and is used for supporting the steel coil 1 on the adjustment station and adjusting the position of a belt head 4 of the outer ring of the steel coil 1 through rotation;
a driving motor for driving the support roller 2 to rotate;
The distance measuring sensor 5 is arranged beside the adjusting station, and the distance measuring sensor 5 is used for collecting 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 ranging sensor 5 and the driving motor, and comprises a head-on-off calculation module, a rotating arc length calculation module and a control module, wherein the head-on-off calculation module is used for judging whether a head 4 exists in a preset attention area according to the real-time distance data, and the measurement area M covers the preset attention area M0; the rotating arc length calculating module is configured to calculate, when the head-on-off calculating module determines that the head 4 is located in the preset attention area, a rotating arc length corresponding to the rotation of the head 4 from the current position to the target position according to the real-time distance data and the installation position data of the ranging sensor 5, where the installation position data of the ranging sensor 5 is geometric position relationship data between the ranging sensor 5 and the support center 201 of the adjustment 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 the ranging sensors 5 are disposed beside the adjustment station, and when a plurality of the ranging sensors 5 are disposed beside the adjustment station, each of the ranging sensors 5 is arranged in a direction parallel to the axial direction of the steel coil 1;
The headless computing module is configured to: when at least a preset number of ranging 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 again; the rotational arc length calculation module is configured to determine the current position of the tape head 4 based on an average of real-time distance data detected by a plurality of the distance measurement sensors 5.
In some embodiments, the headless 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, judging that the belt head 4 is in the preset attention area M0, otherwise, if the difference value does not exceed the preset threshold value, judging that the belt head 4 is not in the preset attention area M0.
In some embodiments, the headless computing module is further configured to:
Establishing a second plane rectangular coordinate system, wherein the ranging sensor 5 is positioned in the second plane rectangular coordinate system, the second plane rectangular coordinate system takes the vertical radial direction of the steel coil 1 as a transverse axis and takes the horizontal direction from the ranging sensor 5 to the steel coil 1 as a longitudinal axis;
Sequentially and continuously dividing a first reference area M1, the preset attention area M0 and a second reference area M2 in the transverse axis direction of the measurement area, so that the first reference area M1, the preset attention area M0 and the second reference area M2 respectively correspond to different numerical value areas of the transverse axis;
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.
In some embodiments, the headless computing module is further configured to: before the difference is calculated, filtering processing is carried out to eliminate the abrupt points of interference in the first reference area M1 and the second reference area 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 the horizontal line passing through the point D and the vertical line passing through the point B as a point A, wherein the horizontal distance between the distance measuring sensor 5 and the supporting center 201 of the supporting roller set is defined as a constant AD, and the distance between the lowest point B of the steel coil 1 and the intersection point A is defined 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 LeftMostZ, leftMostX and the relational expression of < CDA:
according to the cosine theorem, establishing a relational expression of AC, DC, constant AD and CDA;
according to the cosine theorem and the relationship between the < CAD > and the < CAB >, establishing a relational expression of the AC, the DC, the constant AD and the < CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, constant AB and CAB, and calculating the value of BC;
the rotation of the support roller 2 is controlled by the BC value being approximately 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 comprises a conveying support 3, a lifting conveying mechanism for lifting the conveying support 3, and a moving mechanism for moving the lifted conveying support 3, wherein the conveying support 3 is located right below the adjusting station when the position of the head 4 of the steel coil 1 is adjusted. In the practical implementation process, the moving mechanism and the lifting conveying mechanism can adopt existing structures, and the details are not described here.
In some embodiments, the conveying support 3 has a circular arc supporting surface matching the outer contour of the steel coil 1, and the circular arc supporting surface is set such that the range of the target position becomes large, as long as the tape head can be pressed between the steel coil and the circular arc supporting surface after adjusting the tape head position.
Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
Claims (10)
1. A method for adjusting the position of a strip head of an outer ring of a steel coil, comprising the following steps:
placing a steel coil to be adjusted on a supporting roller set, so that the supporting roller set supports the steel coil on an adjusting station, and each supporting roller of the supporting roller set is positioned at two sides of a supporting center of the adjusting station;
A ranging sensor is arranged beside the adjusting station;
acquiring real-time distance data of the outer wall of the steel coil in a measuring area from a distance measuring sensor through the distance measuring sensor;
Judging whether a head is arranged in a preset attention area according to the real-time distance data, wherein the measurement area covers the preset attention area;
If so, calculating the rotating 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, and controlling each supporting roller to rotate by the rotating arc length so as to enable 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;
and if not, controlling the support rollers to rotate until the belt head exists in the preset attention area according to the real-time distance data, and then 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 installation position data of the distance measuring sensor, and controlling each support roller to rotate according to the rotation arc length so as to enable the belt head to rotate to the target position.
2. The method for adjusting the position of the outer ring belt head of the steel coil according to claim 1, wherein: the method for judging whether the tape head exists in the preset attention area according to the real-time distance data comprises the following steps:
Calculating the difference value of the real-time distance data of each acquisition point in a preset attention area, comparing whether the difference value exceeds a preset threshold value, if so, judging that the belt head is in the preset attention area, otherwise, judging that the belt head is not in the preset attention area.
3. The method for adjusting the position of the outer ring belt head of the steel coil according to 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 first plane rectangular coordinate system, wherein the ranging sensor is positioned in the first plane rectangular coordinate system, the first plane rectangular coordinate system takes the vertical radial direction of the steel coil as a transverse axis and takes the horizontal direction from the ranging 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 transverse axis direction of the measurement area, 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.
4. The method for adjusting the position of the outer ring belt head of the steel coil according to claim 1, wherein: the method for calculating the rotating arc length of the steel coil rotating 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 comprises the following steps:
defining the position of the distance measuring sensor as a point D, defining the position of the belt head as a point C, defining the lowest point of the steel coil as a point B, defining the intersection point of the horizontal line passing through the point D and the vertical line passing through the point B as a point A, defining the horizontal distance between the distance measuring sensor and the supporting 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;
A linear distance DC between the distance measuring sensor and the tape 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 are obtained according to the real-time distance data,
Establishing LeftMostZ, leftMostX and the relational expression of < CDA:
according to the cosine theorem, establishing a relational expression of AC, DC, constant AD and CDA;
according to the cosine theorem and the relationship between the < CAD > and the < CAB >, establishing a relational expression of the AC, the DC, the constant AD and the < CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, constant AB and CAB, and calculating the value of BC;
and controlling the rotation of the support roller by using the BC value to be approximately the rotation arc length.
5. The method for adjusting the position of the outer ring head of the steel coil according to claim 1, further comprising:
Setting a plurality of distance measuring sensors, and arranging the distance measuring sensors along a direction parallel to the axial direction of the steel coil;
When at least a preset number of ranging sensors judge that the belt head is in the corresponding preset attention area, confirming that the belt head is in the preset attention area;
and determining the current position of the belt head according to the average value of the real-time distance data detected by the plurality of distance measuring sensors.
6. A device for adjusting the position of a strip head of an outer ring of a steel coil, comprising:
The supporting roller set comprises supporting rollers distributed on two sides of a supporting center of the adjusting station, and the supporting roller set is used for supporting the steel coil on the adjusting station and adjusting the position of a belt head of an outer ring of the steel coil through rotation;
a driving motor for driving the support roller to rotate;
The distance measuring sensor is arranged at the side of the adjusting station and is used for collecting real-time distance data between the distance measuring sensor and the outer wall of the steel coil in the measuring area; the processor is respectively connected with the ranging sensor and the driving motor, and comprises a head-on-off calculation module, a rotating arc length calculation module and a control module, wherein the head-on-off calculation module is used for judging whether a head is in a preset attention area according to the real-time distance data, and the measurement area covers the preset attention area; the rotating arc length calculation module is used for calculating the rotating arc length corresponding to the rotation of the band head from the current position to the target position according to the real-time distance data and the mounting position data of the ranging sensor when the band head calculation module judges that the band head exists in the preset attention area, wherein the mounting position data of the ranging sensor is the geometric position relation data between the ranging sensor and the supporting center of the adjusting station; the control module is configured to drive each of the backup rollers to rotate according to the arc length of rotation.
7. The device for adjusting the position of the outer ring head 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 distributed along the direction parallel to the axial direction of the steel coil;
The headless computing module is configured to: when at least a preset number of ranging sensors judge that the belt head is in the corresponding preset attention area, confirming that the belt head is in the preset attention area; the rotating arc length calculation module is configured to determine a current position of the tape head according to an average value of real-time distance data detected by a plurality of the distance measurement sensors.
8. The apparatus for adjusting the position of the outer ring head of the steel coil of claim 6, wherein the head-on/off 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 belt head is in the preset attention area, otherwise, if the difference value does not exceed the preset threshold value, judging that the belt head is not in the preset attention area.
9. The apparatus for adjusting the position of the outer ring belt head of the steel coil according to claim 8, wherein the belt head presence/absence calculation module is further configured to:
Establishing a second plane rectangular coordinate system, wherein the ranging sensor is positioned in the second plane rectangular coordinate system, the second plane rectangular coordinate system takes the vertical radial direction of the steel coil as a transverse axis and takes the horizontal direction from the ranging 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 transverse axis direction of the measurement area, 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.
10. The apparatus for adjusting the position of the outer ring head of the steel coil of claim 6, wherein the rotating arc length calculation module is configured to:
The position of the distance measuring sensor is defined as a point D, the position of the belt head is defined as a point C, the lowest point of the steel coil is defined as a point B, the intersection point of a horizontal line passing through the point D and a vertical line passing through the point B is defined as a point A, the horizontal distance between the distance measuring sensor and the supporting center of the supporting roller set is defined as a constant AD, and the distance between the lowest point B of the steel coil and the intersection point A is defined as a constant AB;
Acquiring a linear distance DC between a ranging sensor and a 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 real-time distance data;
establishing LeftMostZ, leftMostX and the relational expression of < CDA:
according to the cosine theorem, establishing a relational expression of AC, DC, constant AD and CDA;
according to the cosine theorem and the relationship between the < CAD > and the < CAB >, establishing a relational expression of the AC, the DC, the constant AD and the < CAB:
according to the cosine theorem, establishing a relational expression of AC, BC, constant AB and CAB, and calculating the value of BC;
and controlling the rotation of the support roller by using the BC value to be approximately the rotation arc length.
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| CN111693002A (en) * | 2020-05-27 | 2020-09-22 | 宝钢工程技术集团有限公司 | Method for detecting position of strip head of steel coil |
| CN113426847B (en) * | 2021-07-09 | 2022-07-01 | 上海大学 | Steel coil tail press-mounting device and method |
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