CN113479593A - Tray tracking device and method for tray type hot rolled steel coil conveying line - Google Patents

Tray tracking device and method for tray type hot rolled steel coil conveying line Download PDF

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Publication number
CN113479593A
CN113479593A CN202110639115.5A CN202110639115A CN113479593A CN 113479593 A CN113479593 A CN 113479593A CN 202110639115 A CN202110639115 A CN 202110639115A CN 113479593 A CN113479593 A CN 113479593A
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Prior art keywords
tray
tracking
instrument
roller
tracking device
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CN202110639115.5A
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CN113479593B (en
Inventor
王潇潇
郭强
宗胜悦
凌智
张飞
裴红平
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USTB Design and Research Institute Co Ltd
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USTB Design and Research Institute Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B65G39/02—Adaptations of individual rollers and supports therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B65G39/10—Arrangements of rollers
    • B65G39/12—Arrangements of rollers mounted on framework
    • B65G39/18—Arrangements of rollers mounted on framework for guiding loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The invention provides a tray tracking device and method for a tray type hot rolled steel coil conveying line, and belongs to the technical field of metallurgy automation. The device is installed in tray transportation setting, including instrument and instrument positioner to tray support frame bottom surface is as the surface of being inducted of tray, and the switching value signal feedback of using the instrument is as tracking means's tray and detects the signal. The tray detection signal is fed back to the PLC controller in real time for logic processing. The tracking device provided by the invention can obtain a high-reliability tray tracking signal, and the debugging method is simple and time-saving. On the basis, by adopting the tracking method provided by the invention, a plurality of tracking areas are divided on the conveying line, and the tracking program is executed on the tray tracking signal and other related signals by the PLC, so that the tray tracking of the tray type hot rolled steel coil conveying line can be realized.

Description

Tray tracking device and method for tray type hot rolled steel coil conveying line
Technical Field
The invention relates to the technical field of metallurgy automation, in particular to a tray tracking device and method for a tray type hot rolled steel coil conveying line.
Background
The tray type hot rolled steel coil conveying line is equipment which takes trays as steel coil carriers and drives rollers to rotate through a motor to convey the trays, so that steel coils are conveyed from a hot rolled coiling area to a finished product warehouse along a roller way.
In the production process of the tray type hot rolled steel coil conveying line, a control system needs to monitor the positions of all trays, namely, tray tracking is carried out. Generally, in the field of metallurgy automation technology, the material tracking method can adopt a continuous type or a regional type. And continuous tracking is realized by calculating the position of the material in a reference coordinate system through the velocity feedback integral of the material. The tray type hot rolled steel coil conveying line has the defects that the accurate tray speed feedback is difficult to obtain due to the fact that a roller way of the tray type hot rolled steel coil conveying line has no encoder, the tray runs and slips, and the like, the distance of the roller way of the conveying line is long, and the accumulated error caused by continuous tracking is large. And (4) regional tracking, which is realized by dividing a plurality of tracking areas, setting an instrument to detect the material and taking an instrument feedback signal to perform logic processing. The tray type hot rolled steel coil conveying line is characterized in that the roller way of the tray type hot rolled steel coil conveying line is sectionally controlled by taking the roller way group as a unit, and the regional tracking mode is matched with the equipment control mode of the roller way of the conveying line.
However, in production, the regional tracking method has a problem that the reliability of the instrument feedback signal cannot be guaranteed. The existing tray detection method is that a proximity switch is arranged beside a tray running path to serve as an instrument to sense the side surface of a tray, so that the installation position of an instrument sensing surface is required to be accurately set. Because the running track of the tray has a certain free offset in the direction of the roller axle, the reference position for installing the instrument is difficult to determine, a large amount of instrument debugging time is often consumed, and the effect is not ideal. The reason is that the pallet moves randomly in the direction of the roller axle when running, and the distance between the side surface of the pallet and the meter changes randomly when the pallet passes through the meter. This often results in a situation where the meter is bumped by the tray or the meter is too far from the tray during production, which can lead to a failure in the sensing.
In order to solve the problems, an optimized scheme is adopted, and a diffuse reflection photoelectric switch with a long detection distance is adopted to replace a proximity switch. However, the feedback signal of the instrument is influenced by the reflection effect of the tray on the light source of the instrument, the intensity of the light source of the instrument is required to be adjusted frequently for ensuring the stability of the signal, and the workload of maintenance personnel is increased. And the price of the instrument is higher, so that the equipment cost is obviously increased.
Therefore, how to adopt reliable tray tracking device to tray formula hot rolling coil of strip transportation line under the prerequisite that does not increase equipment cost and maintenance work volume remarkably, realize tray tracking through reasonable tracking method is the technical problem that industry technical staff urgently waited to solve.
Disclosure of Invention
The invention aims to solve the technical problem of providing a tray tracking device and a tray tracking method for a tray type hot rolled steel coil conveying line.
The tray tracking device is arranged on tray transportation equipment, the tray transportation equipment comprises a tray and a transportation roller way, the tray comprises a tray frame and a support frame, the tray frame is fixed on the support frame, a steel coil is arranged on the tray frame, the transportation roller way is formed by uninterruptedly mutually connecting a plurality of roller way groups with the same length, each roller way group comprises a plurality of rollers, 1 motor drives the rollers in the group to rotate, the tray is transported through the rotation of the rollers, the rollers comprise wheel shafts and the rollers, two ends of each wheel shaft are respectively provided with the rollers, the bottom surfaces of two sides of the support frame are contacted with the rollers, the device specifically comprises an instrument and an instrument positioning device, the instrument is arranged below the horizontal plane of the bottom surface of the support frame when the tray runs through the instrument positioning device, the instrument positioning device can adjust the positions of the instrument in the directions of an X axis, a Y axis and a Z axis, wherein the X axis is the running direction of the tray, the Y axis is the axial direction of the wheel axle, and the Z axis is the direction vertical to the ground.
Wherein, the number of the roller way groups is not less than 15, the number of the rollers in each roller way group is not less than 7, and the roller groups are distributed at equal intervals; the included angle between the running direction of the tray and the axial direction of the wheel shaft is 90 degrees.
The instrument positioning device can adjust the position of the instrument in the X-axis, Y-axis and Z-axis directions. The instrument positioning device comprises a first cross fixing clamp, a second cross fixing clamp, a base, an instrument support and an X-axis positioning pin, wherein the first cross fixing clamp and the second cross fixing clamp are identical in structure and are provided with two pin holes, the included angles of the two pin holes are 90 degrees, the two pin holes can be locked through bolts respectively, the base comprises a base body and a Z-axis positioning pin, the Z-axis positioning pin is vertically installed on the base body, and the base body can be fixed on an equipment base through the bolts. The upper part of the Z-axis positioning pin penetrates through one pin hole of the first cross fixing clamp, one end of the X-axis positioning pin penetrates through the other pin hole of the first cross fixing clamp, the other end of the X-axis positioning pin penetrates through one pin hole of the second cross fixing clamp, and the other pin hole of the second cross fixing clamp penetrates through the Y-axis positioning pin to form a spatial structure of an X axis, a Y axis and a Z axis; the instrument support comprises a support body and a Y-axis positioning pin, the support body is connected with the Y-axis positioning pin, a pin hole is formed in the support body, the Y-axis positioning pin is parallel to a wheel shaft and used for adjusting the position of the instrument in the Y-axis direction, and the X-axis positioning pin is parallel to a running path of the tray and used for adjusting the position of the instrument in the X-axis direction. The Z-axis positioning pin is a cylindrical pin and is used for adjusting the position of the instrument in the Z-axis direction and is vertical to the base body.
And cylindrical pins are fixed in the pin holes of the first cross fixing clamp and the second cross fixing clamp.
The instrument is proximity switch, and the instrument includes instrument response face, instrument cable end and hexagon nut, and the instrument response faces upwards, and instrument cable end is downward, and is perpendicular with ground, and the instrument passes through the pinhole and inserts, locks through two hexagon nuts.
In the device, a cylinder space with an instrument sensing surface as a bottom and an instrument detection distance S as a height is used as an effective detection area of the tracking device; the bottom surface of the tray supporting frame, which is contacted with the roller of the conveying roller way, is taken as the sensed surface of the tray in the running process of the tray; the switching value signal feedback of the instrument is used as a tray detection signal of the tracking device, when the sensed surface of the tray enters an effective detection area, the instrument senses the tray, and the tray detection signal is 1; when the sensed surface of the tray leaves the effective detection area, the instrument cannot sense the tray, and the tray detection signal is 0.
The method for applying the tray tracking device specifically comprises the following steps: firstly, according to the material flow direction, a tracking area TZ is set in turn in each roller way groupiBoundary position and roller way group TBiAre consistent in boundary position, and each tracking area is provided with a set of tray tracking device TPiTray tracking device TPiThe roller bed group is arranged between two adjacent rollers at the tail end on the same side of the roller bed group; then, debugging the tray tracking device; finally, the tray tracking device is put into use, when the tray moves into or out of the upper part of the instrument of the tray tracking device, the corresponding value of the tray detection signal is 1 or 0, and the tray detection signals of the K tray tracking devices are fed back to the PLC in real time;
wherein, i is a serial number, i is 1, 2, 3,. K, and K is the number of roller bed groups;
LPipresentation tray tracking means TPiCenter line of the instrument sensing surface of (1), LBi-1Represents a roller way group TBiAnd TBi-1Boundary line of (D)1Represents LPiAnd LBi-1Distance in the X axis, D1Satisfy LT＜D1＜LP+DΔ1，LTIs the length of the roller bed set, LPIs the length of the bottom surface of the tray support frame DΔ1Is the central line of the instrument induction surface of the tray tracking device and the roller way group TBiAnd TBi-1Allowable position error of the boundary line of (2) on the X-axis, DΔ1The value of (d) is in the range of 0 to 100 mm.
The debugging of the tray tracking device specifically comprises the following steps:
s1: two ends of a channel steel are lapped on two rollers adjacent to the tracking device to serve as position references, and the width of the channel steel is smaller than or equal to the width of the sensed surface of the tray;
s2: the position of the instrument support is adjusted along the X-axis direction, the Y-axis direction and the Z-axis direction respectively, so that the instrument sensing surface is positioned below the channel steel;
s3: adjusting the position of the instrument to ensure that the distance S between the instrument sensing surface and the bottom surface of the channel steel1Not exceeding the detection distance S, S of the instrument1Taking 5-10 mm;
s4: electrifying the instrument, wherein the tray detection signal is 1, otherwise, detecting the self state and circuit of the instrument or adjusting the position of the instrument until the tray detection signal is 1;
s5: and locking parts of the instrument positioning device to fix the instrument.
In a PLC controller, a pallet flag variable PF is defined for each tracking areaiWhen the tray completely enters the tracking zone TZiWhile, PFiIs 1, otherwise PFiIs 0; in the running process of the tray, the tray mark variables of the tracking areas sequentially generate and disappear along with the running sequence of the tray, and the PLC updates the tray mark variables of the tracking areas in real time, so that the tracking of the tray is realized;
the method for updating the tracking area tray mark variable by the PLC controller comprises the following steps: tracking means TPiIf the tray detection signal of (2) is changed from 0 to 1, the roller group TB is receivediPositive rotation signal of (2), tracking zone TZiPallet sign variable PFiAssignment 1, upstream neighbor tracking zone TZi-1Pallet sign variable PFi-1Assigning 0; the PLC controller sequentially executes the above-described tracking logic for each tracking area at a fixed scanning period.
The scanning period is consistent with the control period of the roller way group controlled by the PLC controller, so that the tracking result can be directly used for equipment control, and the scanning period is generally 10-100 ms. The control period maximum depends on the control accuracy requirements. For example: the tray transportation speed is 0.5m/s, and the position control precision can be ensured to reach 0.05m by a 100ms control period. The minimum value of the control period depends on the load of the PLC, and if the control period is too short, the PLC can have overtime shutdown faults. In conclusion, the control period is required to meet the requirement of equipment control precision, and the PLC load is not too high.
The PLC controller is used for verifying and interlocking the tracking result, and specifically comprises the following steps: tracking means TPiWhen the tray detection signal of (2) is changed from 1 to 0, the roller group TB is startediWhen the integral value is larger than a set value IsetThen, if the tracking zone TZiPallet sign variable PFiIf the value is still 1, the tracking zone TZ is judgediTracking fault, giving alarm prompt through monitoring picture, and roller way group TBiStopping and locking the motor; after confirming the failure by monitoring the picture, the PFiValue assignment 0, roller set TBiThe motor is unlocked, and the PLC executes the tracking check and the interlocking logic to each tracking area in a fixed scanning period;
wherein, the value I is setsetIs calculated by formula Iset＝(D2-LP) Alpha and alpha are fault-tolerant coefficients, 1.1-1.2 are taken, and the distance of the center line of the instrument sensing surface of the adjacent tracking device on the X axis is determined as D during debugging2，D2＝LT+DΔ2，LTIs the length of the roller bed group DΔ2For the permissible position error of the centre line of the instrument-sensing surface of the adjacent tracking means in the X-axis, DΔ2Value of D of adjacent tracking deviceΔ1Sum of values, DΔ2The range of values is: -200 mm.
The technical scheme of the invention has the following beneficial effects:
among the above-mentioned scheme to tray support frame bottom surface is as the face of being responded to of tray, has effectively utilized the running roller to the bearing effect of tray support frame, makes the interval of the face of being responded to of instrument response face and tray not change in production, can ensure that instrument and tray break away from the contact, and the tray can be sensed by the tray all the time when passing through the instrument. Therefore, the technical scheme can not only prevent the instrument from being damaged by the tray, but also eliminate the induction failure fault caused by the fact that the induced surface of the tray is too far away from the instrument. Meanwhile, the debugging method of the device only needs one channel steel as a reference object, has simple steps and easy operation, and can save a large amount of debugging working hours.
On the basis, the invention provides a tray tracking method, which sequentially generates tray detection signals in each tracking area according to a tray logistics time sequence to realize tray tracking, can check a tracking result by adopting the roller speed, timely judges a tracking fault, locks equipment and prompts an operator to process. Because the tracking areas correspond to the roller way groups one by one, the obtained tray tracking result can be directly automatically controlled by the roller way groups of the conveying line. In conclusion, the tracking device and the tracking method provided by the invention greatly improve the production stability of the tray type hot rolled steel coil conveying line and greatly reduce the maintenance workload.
Drawings
Fig. 1 is a schematic structural view of a pallet transport apparatus in a pallet tracking device of a pallet-type hot-rolled steel coil transport line according to the present invention;
FIG. 2 is a schematic structural diagram of an instrument and an instrument positioning device in the tray tracking device of the tray type hot rolled steel coil conveying line according to the present invention;
FIG. 3 is a schematic structural view of a tracking device for completing instrument installation of the tray tracking device of the tray type hot rolled steel coil transportation line according to the present invention;
FIG. 4 is a schematic view showing the detection principle of the tracking device of the tray type hot rolled steel coil transportation line according to the present invention;
FIG. 5 is a schematic diagram of a method for debugging a tracking device of the tray type hot rolled steel coil transportation line according to the present invention;
fig. 6 is a schematic view of the arrangement of a tracking device of the tray tracking method of the tray type hot rolled steel coil transportation line according to the present invention;
fig. 7 is a control flowchart of the pallet tracking method of the pallet type hot rolled steel coil transportation line according to the present invention.
Wherein: 1-a coil support; 2-a support frame; 3-steel coil; 4-a wheel axle; 5-rolling; 6-a sensed surface; 7-channel steel; 10-a meter; 20-instrument positioning means; 11-instrument sensing surface; 12-instrument cable end; 13-hexagonal nut; 14-an active detection zone; 31-a first cross fixation clamp; 32-second cross fixation clamp; 41-a base; 42-a base body; a 43-Z axis locating pin; 51-a meter support; 52-the stent body; a 53-Y axis locating pin; 54-pin holes; 61-X axis locating pins; 101-tracking area one; 102-tracking area two; 111-tracking means one; 112-tracking means two; 122-boundary line; 131-the 6 th roller I; 132-the 6 th roller II; 141-7 th roller I; 142-7 th second roller.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides a tray tracking device and method for a tray type hot rolled steel coil conveying line.
As shown in figure 1, the device is arranged on tray transportation equipment, the tray transportation equipment comprises a tray and transportation roller ways, the tray comprises a tray frame 1 and a support frame 2, the tray frame 1 is fixed on the support frame 2, a steel coil 3 is arranged on the tray frame 1, the transportation roller ways are formed by uninterruptedly mutually connecting a plurality of roller way groups with the same length, each roller way group comprises a plurality of rollers, the rollers in the group are driven by 1 motor to rotate, the tray is transported through the rotation of the rollers, the rollers comprise wheel shafts 4 and rollers 5, the two ends of the wheel shafts 4 are respectively provided with the rollers 5, the bottom surfaces of the two sides of the support frame 2 are contacted with the rollers 5, concretely, the device comprises an instrument and an instrument positioning device, the instrument is arranged below the horizontal plane where the bottom surface of the support frame 2 is located when the tray runs through the instrument positioning device, the instrument positioning device can adjust the position of the instrument in the X-axis direction, the Y-axis direction and the Z-axis direction, wherein, the X-axis is the running direction of the pallet, the Y-axis is the axial direction of the wheel axle 4, and the Z-axis is the direction vertical to the ground.
Wherein, the number of the roller way groups is not less than 15, and the number of the rollers in each roller way group is not less than 7; the included angle between the running direction of the pallet and the axial direction of the wheel shaft 4 is 90 degrees.
As shown in fig. 2, the instrument positioning device 20 includes a first cross fixing clamp 31, a second cross fixing clamp 32, a base 41, an instrument support 51 and an X-axis positioning pin 61, the first cross fixing clamp 31 and the second cross fixing clamp 32 have the same structure and both have two pin holes, an included angle between the two pin holes is 90 ° and can be locked by bolts respectively, the base 41 includes a base body 42 and a Z-axis positioning pin 43, the Z-axis positioning pin 43 is vertically installed on the base body 42, the upper portion of the Z-axis positioning pin 43 passes through one pin hole of the first cross fixing clamp 31, one end of the X-axis positioning pin 61 passes through the other pin hole of the first cross fixing clamp 31, the other end passes through one pin hole of the second cross fixing clamp 32, and the other pin hole of the second cross fixing clamp 32 passes through the Y-axis positioning pin 53, so as to form a spatial structure of an X axis, a Y axis and a Z axis; the instrument support 51 comprises a support body 52 and a Y-axis positioning pin 53, the support body 52 is connected with the Y-axis positioning pin 53, a pin hole 54 is formed in the support body 52, the Y-axis positioning pin 53 is parallel to the wheel shaft 4, and the X-axis positioning pin 61 is parallel to the tray running path.
Cylindrical pins are fixed in pin holes of the first cross fixing clamp 31 and the second cross fixing clamp 32.
The instrument 10 is a proximity switch, the instrument 10 comprises an instrument sensing surface 11, an instrument cable end 12 and hexagonal nuts 13, the instrument sensing surface 11 faces upwards, the instrument cable end 12 faces downwards and is perpendicular to the ground, and the instrument is inserted through the pin hole 54 and locked through the two hexagonal nuts 13.
As shown in fig. 3, in the device, a cylinder space with a meter sensing surface 11 as a bottom and a meter detection distance S as a height is used as an effective detection area 14 of the tracking device; in a specific design, S is 10 mm. In the running process of the tray, the bottom surface of the tray support frame 2, which is in contact with the roller 5 of the transportation roller way, is taken as the sensed surface 6 of the tray; the switching value signal feedback of the instrument is used as a tray detection signal of the tracking device, when the sensed surface 6 of the tray enters the effective detection area 14, the instrument senses the tray, and the tray detection signal is 1; when the sensed surface 6 of the tray leaves the effective detection area 14, the instrument cannot sense the tray, and the tray detection signal is 0.
As shown in fig. 7, the application method of the apparatus specifically includes: firstly, according to the material flow direction, a tracking area TZ is set in turn in each roller way groupiBoundary position and roller way group TBiAre consistent in boundary position, and each tracking area is provided with a set of tray tracking device TPiTray tracking device TPiIs arranged between two adjacent rollers 5 at the tail end on the same side of the roller way group; then, debugging the tray tracking device; finally, the tray tracking device is put into use, when the tray moves into or out of the upper part of the instrument of the tray tracking device, the corresponding value of the tray detection signal is 1 or 0, and the tray detection signals of the K tray tracking devices are fed back to the PLC in real time;
wherein, i is a serial number, i is 1, 2, 3,. K, and K is the number of roller bed groups;
LPiindicating trayTracking means TPiCenter line of the instrument sensing surface of (1), LBi-1Represents a roller way group TBiAnd TBi-1Boundary line of (D)1Represents LPiAnd LBi-1Distance in the X axis, D1Satisfy LT＜D1＜LP+DΔ1，LTIs the length of the roller bed set, LPIs the length of the bottom surface of the tray support frame DΔ1Is the central line of the instrument induction surface of the tray tracking device and the roller way group TBiAnd TBi-1Allowable position error of the boundary line of (2) on the X-axis, DΔ1The range of the value is 0 to 100 mm.
As shown in fig. 5, the debugging of the tray tracking apparatus specifically includes the following steps:
s1: two ends of a channel steel 7 are lapped on two rollers 5 adjacent to the tracking device to be used as position reference objects, and the width of the channel steel 7 is smaller than or equal to that of the sensed surface 6 of the tray;
s2: the position of the instrument support 51 is adjusted along the X-axis direction, the Y-axis direction and the Z-axis direction respectively, so that the instrument sensing surface 11 is positioned below the channel steel 7;
s3: adjusting the position of the instrument to ensure that the distance S between the instrument sensing surface 11 and the bottom surface of the channel steel 71Not exceeding the detection distance S, S of the instrument1Taking 5-10 mm;
s4: electrifying the instrument, wherein the tray detection signal is 1, otherwise, detecting the self state and circuit of the instrument or adjusting the position of the instrument until the tray detection signal is 1;
s5: and locking parts of the instrument positioning device to fix the instrument.
In a PLC controller, a pallet flag variable PF is defined for each tracking areaiWhen the tray completely enters the tracking zone TZiWhile, PFiIs 1, otherwise PFiIs 0; in the running process of the tray, the tray mark variables of the tracking areas sequentially generate and disappear along with the running sequence of the tray, and the PLC updates the tray mark variables of the tracking areas in real time, so that the tracking of the tray is realized;
the method for updating the tracking area tray mark variable by the PLC controller comprises the following steps: tracking means TPiTray (2)When the detection signal is changed from 0 to 1, if the roller table group TB is receivediPositive rotation signal of (2), tracking zone TZiPallet sign variable PFiAssignment 1, upstream neighbor tracking zone TZi-1Pallet sign variable PFi-1Assigning 0; the PLC controller sequentially executes the above-described tracking logic for each tracking area at a fixed scanning period. The scanning period is consistent with the control period of the roller way group controlled by the PLC controller, so that the tracking result can be directly used for equipment control, and the scanning period is generally 10-100 ms. The control period maximum depends on the control accuracy requirements. For example: the tray transportation speed is 0.5m/s, and the position control precision can be ensured to reach 0.05m by a 100ms control period. The minimum value of the control period depends on the load of the PLC, and if the control period is too short, the PLC can have overtime shutdown faults. In conclusion, the control period is required to meet the requirement of equipment control precision, and the PLC load is not too high.
The PLC controller is used for verifying and interlocking the tracking result, and specifically comprises the following steps: tracking means TPiWhen the tray detection signal of (2) is changed from 1 to 0, the roller group TB is startediWhen the integral value is larger than a set value IsetThen, if the tracking zone TZiPallet sign variable PFiIf the value is still 1, the tracking zone TZ is judgediTracking fault, giving alarm prompt through monitoring picture, and roller way group TBiStopping and locking the motor; after confirming the failure by monitoring the picture, the PFiAssigning 0, unlocking a TBi motor of the roller way group, and executing the tracking check sum interlocking logic on each tracking area by the PLC according to a fixed scanning period;
wherein, the value I is setsetIs calculated by formula Iset＝(D2-LP) Alpha and alpha are fault-tolerant coefficients, 1.1-1.2 are taken, and the distance of the center line of the instrument sensing surface of the adjacent tracking device on the X axis is determined as D during debugging2，D2＝LT+DΔ2，LTIs the length of the roller bed group DΔ2For the permissible position error of the centre line of the instrument-sensing surface of the adjacent tracking means in the X-axis, DΔ2Value of D of adjacent tracking deviceΔ1Sum of values, DΔ2The value range is-200 to 200 mm.
In the implementation, the tracking device can adjust the position of the instrument from three directions of an X axis, a Y axis and a Z axis, so that the sensing surface of the instrument is positioned below the traveling path of the tray. When the instrument senses the tray, the tray detects a signal of 1. When the instrument does not sense the tray, the tray detection signal is 0. The tray detection signal is fed back to the PLC in real time. The device makes the instrument response face be outside tray orbit, and makes the tray of process instrument be in the effective detection zone of instrument all the time by the response face, has improved instrument detected signal's reliability. The device has simple debugging steps and can save a large amount of debugging time.
In specific implementation, tracking areas are sequentially arranged on the roller ways of the conveying line according to the logistics direction. Tracking zone TZiBoundary position and roller way group TBiThe boundary positions of (2) are consistent. Each tracking area is provided with 1 set of tracking device provided by the invention, and TP is usediAnd (4) showing. The tracking device is arranged between two adjacent rollers at the tail end on the same side of the roller way group. When the tray moves in or out of the upper part of the meter of the tracking device, the corresponding value of the tray detection signal is 1 or 0. And the tray detection signals of the K tracking devices are fed back to the PLC in real time. Specifically, as shown in fig. 6, the two adjacent tracking areas are a first tracking area 101 and a second tracking area 102. Each roller table group comprises 7 pairs of rollers 5. The tracking device I111 is arranged between the 6 th roller wheel I131 and the 7 th roller wheel I141 on the same side of the roller way group; the second tracking device 112 is installed between the 6 th second roller 132 and the 7 th second roller 142 on the same side of the roller bed group.
i is serial number, i ═ 1, 2, 3. In this example, K is 70.
LPiPresentation tray tracking means TPiCenter line of the instrument sensing surface of (1), LBi-1Represents a roller way group TBiAnd TBi-1The boundary line 122. D1Represents LPiAnd LBi-1Distance in the X axis, D1Should satisfy LT＜D1＜LP+DΔ1。LTIs the length of the roller bed set, LPThe length of the bottom surface of the tray support frame is D in this embodimentΔ1Is 0 to 100 mm.
In the PLC controller, 1 "tray flag" variable PF is defined for each tracking areaiWhen the tray completely enters the tracking zone TZiWhile, PFiIs 1, otherwise PFiIs 0. In the process of driving the tray, the variable of the 'tray mark' of each tracking area is generated and disappears in turn along with the sequence of the driving of the tray. And the PLC updates the 'tray mark' variable of each tracking area in real time, so that the tray tracking is realized.
The method for updating the variable of the tray mark in the tracking area by the PLC controller comprises the following steps: tracking means TPiWhen the tray detection signal is changed from 0 to 1, if the roller group TP is receivediPositive rotation signal of (2), tracking zone TZiIs a "pallet flag" variable PFiAssignment 1, upstream neighbor tracking zone TZi-1Is a "pallet flag" variable PFi-1A value of 0 is assigned. The PLC controller sequentially executes the above-described tracking logic for each tracking area at a fixed scanning period.
The method for the PLC to check and interlock the tracking result comprises the following steps: tracking means TPiWhen the tray detection signal of (2) is changed from 1 to 0, the roller group TB is startediIs integrated. When the integral value is larger than the set value IsetThen, if the tracking zone TZiIs a "pallet flag" variable PFiIf the value is still 1, the tracking zone TZ is judgediTracking fault, giving alarm prompt through monitoring picture, and roller way group TBiThe motor stops rotating and is locked. After confirming the failure by monitoring the picture, the PFiValue assignment 0, roller set TBiAnd unlocking the motor. The PLC controller performs the above-described tracking checksum interlock logic for each tracking region at a fixed scan period.
Set value IsetIs calculated by formula Iset＝(D2-LP) α, α is a fault tolerance coefficient, and in the present embodiment, α is 1.2. The distance of the center line of the instrument sensing surface of the adjacent tracking device on the X axis is D2，D2＝LT+DΔ2，LTThe length of the roller bed group is D in this embodimentΔ2Is-200 to 200 mm.
In this embodiment, S7-400 is adoptedThe timing interrupt OB35 of the PLC controller logically processes the detection signals of all tracking areas and sets the cyclic scanning period T of the timing interrupt OB35scan100 ms. Specifically, as shown in fig. 7, the PLC controller control flow of the "tray flag" variable update, verification and linkage of the tracking method of the present embodiment is as follows:
(1) a timed interrupt OB35 is initiated.
(2) Waiting for the timer interrupt OB35 starts the present cycle scan.
(3) Let i equal 1.
(4) Get tracking means TPiValue VT of the detection signal in the present scanning periodiWith the value VL of a scanning period on the signaliMaking a comparison if VLiValue 0, VTiValue 1, and roller table TBiForward rotation, then tracking zone TZiIs a "pallet flag" variable PFiAssignment 1, tracking zone TZi-1Is a "pallet flag" variable PFi-1Assigning 0;
(5) if VLiValue 0, VTiIf the value is 0, the roller bed group TB is startediIs integrated. When the integral value is larger than the set value IsetThen, if the variable PF of "tray flagiIf the value is still 1, the PLC judges the tracking fault and sets the roller way group TBiParking and locking, and providing tracking zone TZ by monitoring pictureiAnd tracking fault alarm prompt. I isset＝(D2-LP)·α，α＝1.2。
(6) If the monitoring picture prompts the tracking zone TZiTracking fault, then confirming fault release by monitoring picture, and making "tray mark" variable PFiValue assignment 0, roller TBiAnd (4) unlocking.
(7) Recording and tracking device TPiThe value of the detected signal of (2) is used for the next scanning period, namely: let VLi＝VTi。
(8) If i is K, returning to the step (2); and if i is less than K, making i equal to i +1, and returning to the step (4).
According to the tracking method provided by the embodiment, the transportation roller way is divided into a plurality of mutually connected tracking areas, 1 tray tracking device is installed in each tracking area for tray detection, and tray detection signals of the tracking devices are fed back to the PLC in real time. In the production process, the PLC carries out logic processing on tray detection signals of all tracking devices of the transport line according to a fixed scanning period, tray tracking results are obtained by taking a tracking area as a unit, and a program is convenient to control by taking a roller way group as a unit. The PLC can also feed back an integral check tracking result through the speed of the roller way, find out tracking errors in time and lock corresponding regional equipment to prompt an operator to process.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (10)

1. The utility model provides a tray tracking means of tray formula hot rolling coil of strip transportation line, install in tray transportation equipment, tray transportation equipment includes tray and transportation roll table, the tray includes that support frame (1) and support frame (2), support frame (1) are fixed on support frame (2), coil of strip (3) are arranged in on support frame (1), the transportation roll table links up each other uninterruptedly by the same roll table group of a plurality of length and forms, every roll table group contains a plurality of rollers, it is rotatory to organize interior roller by 1 motor drive, carry the tray through the rotation of roller, the roller comprises shaft (4) and running roller (5), running roller (5) are installed respectively at shaft (4) both ends, support frame (2) both sides bottom surface and running roller (5) contact, a serial communication port: the device includes instrument and instrument positioner, and the instrument passes through instrument positioner to be installed in the below of support frame (2) bottom surface place horizontal plane when the tray traveles, and instrument positioner can adjust the instrument in X axle, Y axle and Z epaxial position, and wherein, the X axle is the tray direction of traveling, and the Y axle is shaft (4) axial, and the Z axle is perpendicular ground direction.
2. The tray tracking device of the tray-type hot-rolled steel coil conveying line according to claim 1, characterized in that: the number of the roller way groups is not less than 15, and the number of the rollers in each roller way group is not less than 7; the included angle between the running direction of the tray and the axial direction of the wheel shaft (4) is 90 degrees.
3. The tray tracking device of the tray-type hot-rolled steel coil conveying line according to claim 1, characterized in that: the instrument positioning device comprises a first cross fixing clamp (31), a second cross fixing clamp (32), a base (41), an instrument support (51) and an X-axis positioning pin (61), the first cross fixing clamp (31) and the second cross fixing clamp (32) are identical in structure and are respectively provided with two pin holes, the included angle of the two pin holes is 90 degrees and can be respectively locked through bolts, the base (41) comprises a base body (42) and a Z-axis positioning pin (43), the Z-axis positioning pin (43) is vertically arranged on the base body (42), the upper part of the Z-axis positioning pin (43) penetrates through one pin hole of the first cross fixing clamp (31), one end of the X-axis positioning pin (61) penetrates through the other pin hole of the first cross fixing clamp (31), the other end of the X-axis positioning pin penetrates through one pin hole of the second cross fixing clamp (32), and the Y-axis positioning pin (53) penetrates through the other pin hole of the second cross fixing clamp (32), forming a spatial structure of an X axis, a Y axis and a Z axis; the instrument support (51) comprises a support body (52) and a Y-axis positioning pin (53), the support body (52) is connected with the Y-axis positioning pin (53), a pin hole (54) is formed in the support body (52), the Y-axis positioning pin (53) is parallel to the wheel shaft (4), and the X-axis positioning pin (61) is parallel to a tray running path.
4. The tray tracking device of the tray-type hot-rolled steel coil conveying line according to claim 3, characterized in that: cylindrical pins are fixed in pin holes of the first cross fixing clamp (31) and the second cross fixing clamp (32).
5. The tray tracking device of the tray-type hot-rolled steel coil conveying line according to claim 3, characterized in that: the instrument is proximity switch, and the instrument includes instrument response face (11), instrument cable end (12) and hexagon nut (13), and instrument response face (11) is upwards, and instrument cable end (12) are downward, and is perpendicular with ground, and the instrument passes through pinhole (54) and inserts, locks through two hexagon nut (13).
6. The tray tracking device of the tray-type hot-rolled steel coil conveying line according to claim 5, characterized in that: in the device, a cylinder space with an instrument sensing surface (11) as a bottom and an instrument detection distance S as a height is used as an effective detection area (14) of the tracking device; the bottom surface of the tray supporting frame (2) which is contacted with the roller (5) of the transportation roller way is taken as the sensed surface (6) of the tray in the running process of the tray; the switching value signal feedback of the instrument is used as a tray detection signal of the tracking device, when the sensed surface (6) of the tray enters an effective detection area (14), the instrument senses the tray, and the tray detection signal is 1; when the sensed surface (6) of the tray leaves the effective detection area (14), the instrument cannot sense the tray, and the tray detection signal is 0.
7. Method for applying the pallet tracking device of the pallet-type hot-rolled steel coil transport line according to claim 1, characterized in that: firstly, according to the material flow direction, a tracking area TZ is set in turn in each roller way groupiBoundary position and roller way group TBiAre consistent in boundary position, and each tracking area is provided with a set of tray tracking device TPiTray tracking device TPiIs arranged between two adjacent rollers (5) at the tail end on the same side of the roller way group; then, debugging the tray tracking device; finally, the tray tracking device is put into use, when the tray moves into or out of the upper part of the instrument of the tray tracking device, the corresponding value of the tray detection signal is 1 or 0, and the tray detection signals of the K tray tracking devices are fed back to the PLC in real time;
wherein, i is a serial number, i is 1, 2, 3,. K, and K is the number of roller bed groups;
LPipresentation tray tracking means TPiCenter line of the instrument sensing surface of (1), LBi-1Represents a roller way group TBiAnd TBi-1Boundary line of (D)1Represents LPiAnd LBi-1Distance in the X axis, D1Satisfy LT＜D1＜LP+DΔ1，LTIs the length of the roller bed set, LPIs the length of the bottom surface of the tray support frame DΔ1Is the central line of the instrument induction surface of the tray tracking device and the roller way group TBiAnd TBi-1Is on the X-axisUpper allowable position error, DΔ1The range of the value is 0 to 100 mm.
8. The pallet tracking method of the pallet-type hot-rolled steel coil transportation line according to claim 7, characterized in that: the debugging of the tray tracking device specifically comprises the following steps:
s1: two ends of a channel steel (7) are lapped on two rollers (5) adjacent to the tracking device to be used as position reference objects, and the width of the channel steel (7) is less than or equal to that of the sensed surface (6) of the tray;
s2: the position of the instrument support (51) is adjusted along the X-axis direction, the Y-axis direction and the Z-axis direction respectively, so that the instrument sensing surface (11) is positioned below the channel steel (7);
s3: the position of the instrument is adjusted to ensure that the distance S between the instrument sensing surface (11) and the bottom surface of the channel steel (7)1Not exceeding the detection distance S, S of the instrument1Taking 5-10 mm;
s4: electrifying the instrument, wherein the tray detection signal is 1, otherwise, detecting the self state and circuit of the instrument or adjusting the position of the instrument until the tray detection signal is 1;
s5: and locking parts of the instrument positioning device to fix the instrument.
9. The pallet tracking method of the pallet-type hot-rolled steel coil transportation line according to claim 7, characterized in that: in a PLC controller, a pallet flag variable PF is defined for each tracking areaiWhen the tray completely enters the tracking zone TZiWhile, PFiIs 1, otherwise PFiIs 0; in the running process of the tray, the tray mark variables of the tracking areas sequentially generate and disappear along with the running sequence of the tray, and the PLC updates the tray mark variables of the tracking areas in real time, so that the tracking of the tray is realized;
the method for updating the tracking area tray mark variable by the PLC controller comprises the following steps: tracking means TPiIf the tray detection signal of (2) is changed from 0 to 1, the roller group TB is receivediPositive rotation signal of (2), tracking zone TZiPallet sign variable PFiAssignment 1, upstream neighbor tracking zone TZi-1Tray signVariable PFi-1Assigning 0; the PLC controller sequentially executes the above-described tracking logic for each tracking area at a fixed scanning period.
10. The pallet tracking method of the pallet-type hot-rolled steel coil transportation line according to claim 9, characterized in that: the PLC controller is used for verifying and interlocking the tracking result, and specifically comprises the following steps: tracking means TPiWhen the tray detection signal of (2) is changed from 1 to 0, the roller group TB is startediWhen the integral value is larger than a set value IsetThen, if the tracking zone TZiPallet sign variable PFiIf the value is still 1, the tracking zone TZ is judgediTracking fault, giving alarm prompt through monitoring picture, and roller way group TBiStopping and locking the motor; after confirming the failure by monitoring the picture, the PFiValue assignment 0, roller set TBiThe motor is unlocked, and the PLC executes the tracking check and the interlocking logic to each tracking area in a fixed scanning period;
wherein, the value I is setsetIs calculated by formula Iset＝(D2-LP) Alpha and alpha are fault-tolerant coefficients, 1.1-1.2 are taken, and the distance of the center line of the instrument sensing surface of the adjacent tracking device on the X axis is determined as D during debugging2，D2＝LT+DΔ2，LTIs the length of the roller bed group DΔ2For the permissible position error of the centre line of the instrument-sensing surface of the adjacent tracking means in the X-axis, DΔ2Value of D of adjacent tracking deviceΔ1Sum of values, DΔ2The value range is-200 to 200 mm.
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