CN114700389A - Strip steel coiling equipment and steel coil unloading control method and device - Google Patents
Strip steel coiling equipment and steel coil unloading control method and device Download PDFInfo
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- CN114700389A CN114700389A CN202210400108.4A CN202210400108A CN114700389A CN 114700389 A CN114700389 A CN 114700389A CN 202210400108 A CN202210400108 A CN 202210400108A CN 114700389 A CN114700389 A CN 114700389A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 163
- 239000010959 steel Substances 0.000 title claims abstract description 163
- 238000000034 method Methods 0.000 title claims abstract description 74
- 238000005096 rolling process Methods 0.000 claims abstract description 54
- 230000005540 biological transmission Effects 0.000 claims abstract description 49
- 230000008569 process Effects 0.000 claims abstract description 42
- 238000012544 monitoring process Methods 0.000 claims description 14
- 238000011144 upstream manufacturing Methods 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 description 14
- 238000003825 pressing Methods 0.000 description 13
- 238000004519 manufacturing process Methods 0.000 description 11
- 238000004804 winding Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 241001061132 Eutaeniophorus sp. 033-Miya Species 0.000 description 3
- 238000010008 shearing Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
- B21C47/02—Winding-up or coiling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
- B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
- B21C47/24—Transferring coils to or from winding apparatus or to or from operative position therein; Preventing uncoiling during transfer
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- 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 embodiment of the invention provides strip steel coiling equipment, a steel coil unloading control method and a steel coil unloading control device. The transfer speed of the target strip steel is obtained, and whether the coil stripping trolley is controlled to move or not is judged based on the transfer speed. If the target strip steel is monitored to be positioned at a first preset position of the rolling unit and the transmission speed is within a first speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine; if the target strip steel is monitored to be located at a second preset position of the rolling unit and the transmission speed is within a second speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine; and if the target strip steel is monitored to be positioned at a third preset position of the rolling unit and the transmission speed is within a third speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine. Thereby when guaranteeing that the coil stripping dolly can not contact with the coil of strip, make the coil stripping dolly be close to the coiling machine in advance, effectively shortened the time of coil stripping process.
Description
Technical Field
The invention relates to the technical field of automatic control, in particular to strip steel coiling equipment, a steel coil unloading control method and a steel coil unloading control device.
Background
In China, with the continuous maturity of the control process of a strip steel production line and the continuous improvement of the maintenance quality of equipment, the coil unloading time of a coiling machine gradually becomes a main factor for restricting the improvement of the production line. In the fast-paced rolling production process, if coil stripping is not timely or fault treatment in the coil stripping process is not timely, the recoiling machine is probably not capable of timely meeting the steel feeding condition, production accidents such as rolling stop and steel piling are caused, and the production is not influenced a little.
During the coiling process of the coiler, the decoiling car will move to the rolling centre line position below the coiler waiting and the decoiling car lift cylinder is fully retracted with the decoiling car in the lowest position. When the coiling machine executes strip tail control, all the wrapper rollers can be pressed against the strip steel until the tail fixing action is finished. After the primary tail fixing is finished, the recoiling machine starts to execute a coil unloading process, when the coil assisting roller is judged to be opened to the maximum position, the coil unloading trolley can execute a lifting command to prevent the coil unloading trolley from mechanically interfering with the coil assisting roller in the lifting process, and then the mandrel continues to rotate to execute a secondary tail fixing action.
Therefore, the coil stripping time of the coil stripping process is long, and the control process needs to be changed in order to shorten the coil stripping time of the coiler.
Disclosure of Invention
The embodiment of the invention provides strip steel coiling equipment, a steel coil uncoiling control method and a steel coil uncoiling control device, and solves the technical problem of long coil uncoiling time in the prior art.
In a first aspect, the present invention provides a steel coil uncoiling control method, which is applied to a strip steel coiling apparatus, wherein the strip steel coiling apparatus is arranged at the downstream of a rolling mill group, and comprises a coiling machine and an uncoiling trolley; the method comprises the following steps: acquiring the transmission speed of the target strip steel; judging whether to control the coil stripping trolley to move or not based on the transmission speed; if the target strip steel is monitored to be located at a first preset position of the rolling unit and the transmission speed is within a first speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine; if the target strip steel is monitored to be located at a second preset position of the rolling unit and the transmission speed is within a second speed range, controlling the coil stripping trolley to move the first target distance to the coiling machine; if the target strip steel is monitored to be located at a third preset position of the rolling unit and the transmission speed is within a third speed range, controlling the coil stripping trolley to move the first target distance to the coiling machine; wherein a lower limit value of the first speed range is greater than an upper limit value of the second speed range, and a lower limit value of the second speed range is greater than an upper limit value of the third speed range; the first preset position is located at the upstream of the second preset position, and the second preset position is located at the upstream of the third preset position.
Preferably, the first target distance is determined based on a preset safety distance and a target steel coil diameter; and the target steel coil diameter is determined based on the expansion distance of a mandrel of the coiling machine and the roll gap value of the wrapper roll.
Preferably, the method further comprises: monitoring the target steel coil diameter in the process of coiling the strip steel by the coiling machine; and if the coil diameter of the target steel coil is larger than the target coil diameter, controlling the coil stripping trolley to be far away from the coiling machine.
Preferably, the controlling the discharge car to move the first target distance to the coiler includes: controlling the moving speed of the coil stripping trolley based on the distance between the coil stripping trolley and the coiling machine; the smaller the distance between the coil stripping trolley and the coiling machine is, the slower the moving speed of the coil stripping trolley is controlled.
Preferably, the controlling the moving speed of the coil stripping trolley based on the distance between the coil stripping trolley and the coiling machine comprises: controlling the coil stripping trolley to move from an initial position to the coiling machine based on a first speed threshold value; when the moving distance of the coil stripping trolley is equal to a second target distance, controlling the coil stripping trolley to move towards the coiling machine based on a second speed threshold value until the moving distance of the coil stripping trolley is equal to the first target distance; wherein the first speed threshold is greater than the second speed threshold; the first target distance is greater than the second target distance.
Preferably, the method further comprises: monitoring the pressure value of a hydraulic cylinder of the coil stripping trolley in the process that the coil stripping trolley moves to the coiling machine; and if the pressure value of the hydraulic cylinder is detected to exceed a preset safe pressure threshold value, controlling the coil stripping trolley to stop moving.
In a second aspect, the invention provides a steel coil uncoiling control device, which is applied to a strip steel coiling device, wherein the strip steel coiling device is arranged at the downstream of a rolling mill unit and comprises a coiling machine and an uncoiling trolley; the device comprises:
the data acquisition unit is used for acquiring the transmission speed of the target strip steel;
the triggering judgment unit is used for judging whether to control the coil stripping trolley to move or not based on the transmission speed;
the first control unit is used for monitoring that the target strip steel is located at a first preset position of the rolling unit and controlling the coil stripping trolley to move a first target distance to the coiling machine when the transmission speed is within a first speed range;
the second control unit is used for controlling the coil stripping trolley to move the first target distance to the coiling machine when the target strip steel is monitored to be located at a second preset position of the rolling unit and the transmission speed is within a second speed range;
the third control unit is used for controlling the coil stripping trolley to move the first target distance to the coiling machine when the target strip steel is monitored to be located at a third preset position of the rolling mill group and the transmission speed is within a third speed range;
wherein a lower limit value of the first speed range is greater than an upper limit value of the second speed range, and a lower limit value of the second speed range is greater than an upper limit value of the third speed range; the first preset position is located at the upstream of the second preset position, and the second preset position is located at the upstream of the third preset position.
Preferably, the apparatus further comprises:
and the first safety protection unit is used for monitoring the target steel coil diameter in the process of coiling the strip steel by the coiling machine, and controlling the coil unloading trolley to be far away from the coiling machine when monitoring that the target steel coil diameter is larger than the target coil diameter.
Preferably, the apparatus further comprises:
and the second safety protection unit is used for monitoring the pressure value of a hydraulic cylinder of the coil stripping trolley in the process that the coil stripping trolley moves towards the coiling machine, and controlling the coil stripping trolley to stop moving when the pressure value of the hydraulic cylinder is detected to exceed a preset safety pressure threshold value.
In a third aspect, the invention provides strip steel coiling equipment according to an embodiment of the invention, which comprises a coil unloading trolley, a coiling machine and a main controller; the main controller is electrically connected with the coiling machine and the hydraulic cylinder of the coil stripping trolley; the main controller includes: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing any of the embodiments of the first aspect when executing the program.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
firstly, the transmission speed of the target strip steel is obtained, and then whether the coil stripping trolley is controlled to move or not is judged based on the transmission speed.
If the target strip steel is monitored to be located at a first preset position of the rolling unit and the transmission speed is within a first speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine; if the target strip steel is monitored to be located at a second preset position of the rolling unit and the transmission speed is within a second speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine; and if the target strip steel is monitored to be positioned at a third preset position of the rolling unit and the transmission speed is within a third speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine.
Thereby when guaranteeing that the coil stripping dolly can not contact with the coil of strip, make the coil stripping dolly be close to the coiling machine in advance, effectively shortened the time of coil stripping process.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic view of the relative position of a strip coiling apparatus and a rolling mill train in an embodiment of the present invention;
FIG. 2 is a flowchart of a steel coil unloading control method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing the relative position relationship between the coil stripping trolley and the coiler in the embodiment of the present invention;
fig. 4 is a flowchart of a steel coil discharging control method according to an embodiment of the present invention;
FIG. 5 is a schematic view showing the structure of a steel coil unloading control device according to an embodiment of the present invention;
FIG. 6 is a schematic view showing the structure of a main controller of a strip coiling apparatus according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides strip steel coiling equipment, a steel coil uncoiling control method and a steel coil uncoiling control device, and solves the technical problem of long coil uncoiling time in the prior art.
In order to solve the technical problems, the embodiment of the invention provides the following general ideas:
and acquiring the transmission speed of the target strip steel, and judging whether to control the coil stripping trolley to move or not based on the transmission speed.
If the target strip steel is monitored to be located at a first preset position of the rolling unit and the transmission speed of the target strip steel is within a first speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine; if the target strip steel is monitored to be located at a second preset position of the rolling unit and the transmission speed of the target strip steel is within a second speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine; and if the target strip steel is monitored to be positioned at a third preset position of the rolling unit and the transmission speed of the target strip steel is within a third speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine.
Based on the technical scheme, the embodiment of the invention can ensure that the coil stripping trolley can not contact with the steel coil, and meanwhile, the coil stripping trolley is enabled to approach the coiling machine in advance, thereby effectively shortening the time in the coil stripping process and improving the working efficiency of the coiling equipment.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
First, it is stated that the term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein.
In a first aspect, the present invention provides a method for controlling coil unwinding of a steel coil, which can be applied to a strip steel coiling apparatus. Specifically, as shown in fig. 1, a strip coiling apparatus 100 may be disposed downstream of the rolling mill train 200, and may include a coiler 101 and an uncoiler trolley 102.
In the specific implementation process, the strip steel coiling equipment may further include a coiling assistant roller 103, and the coiling assistant roller 103 is used for pressing the strip steel on a mandrel sleeve of the coiling machine in the process of coiling the strip steel by the coiling machine 101, so that a steel coil is more compact. However, during the coil-unloading process, a certain distance (i.e. the wrapper roller is at the maximum roll gap position) needs to be kept between the wrapper roller 103 and the coiling machine 101 so as to facilitate the coil-unloading trolley 102 to load the coil.
In order to avoid the damage to the coil stripping trolley 102 and/or the coil auxiliary roller 103 caused by the mechanical interference between the coil stripping trolley 102 and the coil auxiliary roller 103, when the coil stripping process is executed, the coil stripping trolley 102 is controlled to ascend only when the coil auxiliary roller 103 is located at the maximum roll gap position, so that the coil stripping process takes longer time, and the working efficiency of the strip steel coiling equipment is low.
In order to improve the working efficiency of the reeling equipment and shorten the time cost in the coil unloading process, please refer to fig. 2, the coil unloading control method provided by the embodiment of the present invention may include the following steps:
step S201: and acquiring the transmission speed of the target strip steel.
Specifically, the transport speed of the target strip on the rolling line may be obtained, for example, the transport speed of the target strip may be obtained at an exit position of the rolling mill train.
In the specific implementation process, the transmission speed of the target strip steel can be determined based on the rotating speed of the conveying roller, and the transmission speed of the target strip steel can also be directly obtained by using a velocimeter.
Step S202: and judging whether to control the coil stripping trolley to move or not based on the transmission speed.
Specifically, whether to control the coil stripping trolley to move can be judged based on the transmission speed of the target strip steel and the relative position of the target strip steel and the rolling mill group.
In the specific implementation process, a preset position can be determined on the target strip steel, and then the relative position of the target strip steel and the rolling mill set can be determined according to the preset position. Specifically, the target strip may be a strip being coiled or about to be coiled by the coiler, and the predetermined position on the target strip may be a strip tail or a strip shear point in a headless rolling mode.
The rolling mill train may be a roughing mill train or a finishing mill train. The rolling mill group can comprise a plurality of racks which are arranged in sequence, the target strip steel enters the rolling mill group from the most upstream rack for rolling, and leaves the rolling mill group from the most downstream rack for rolling through the rolling of the plurality of racks.
Specifically, the following steps S203a to S203c may be correspondingly performed according to the transport speed of the target strip steel and the relative position with the mill train:
step S203 a: and if the target strip steel is monitored to be positioned at a first preset position of the rolling unit and the transmission speed is within a first speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine.
Step S203 b: and if the target strip steel is monitored to be positioned at a second preset position of the rolling unit and the transmission speed is within a second speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine.
Step S203 c: and if the target strip steel is monitored to be positioned at a third preset position of the rolling unit and the transmission speed is within a third speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine.
The lower limit value of the first speed range is greater than the upper limit value of the second speed range, and the lower limit value of the second speed range is greater than the upper limit value of the third speed range; the first preset position is located at the upstream of the second preset position, and the second preset position is located at the upstream of the third preset position.
In a specific implementation process, a distance between the first preset position and the second preset position may be equal to a distance between the second preset position and the third preset position. For example, if the mill train comprises 5 stands in total, F1, F2, F3, F4 and F5, the first preset position of the mill train may be the F1 stand, the second preset position of the mill train may be the F3 stand and the third preset position of the mill train may be the F5 stand.
In a specific implementation, the first speed range, the second speed range and the third speed range can be set according to actual conditions. For example, the first speed range may be greater than 9 meters/second; the second speed range may be greater than 6 meters/second and less than or equal to 9 meters/second; the third speed range may be less than or equal to 6 meters per second.
It should be noted that, when the target strip steel is a single billet, and the tail of the target strip steel or the shearing point in the endless rolling mode reaches the last stand of the finishing mill group, the lifting command of the coil stripping trolley is directly triggered, and the coil stripping trolley is directly controlled to move to the recoiling machine without considering the current transmission speed of the target strip steel. Therefore, when the target strip steel transmission speed is failed to obtain, the coil stripping trolley can timely perform lifting.
In a specific implementation process, the first target distance may be determined based on a preset safety distance and a target steel coil diameter. The target coil diameter of the steel coil can be determined based on the mandrel expansion distance of the coiling machine and the roll gap value of the wrapper roll.
Specifically, the first target distance may be determined according to the coil diameter of the target steel coil, the distance from the mandrel of the recoiling machine to the lowest position of the coil stripping trolley, and a preset safety distance between the coil stripping trolley and the target steel coil.
The distance from the mandrel of the coiling machine to the lowest position of the coil stripping trolley can be determined by the mechanical structure of the coiling equipment, and the value is a fixed value. The preset safe distance between the coil stripping trolley and the target steel coil can be set according to the actual production condition, for example, the preset safe distance can be set to be 40 mm.
The target steel coil diameter can be changed according to rolling rules and actual production conditions, so that the target steel coil diameter is prevented from deviating in the actual production process, and the movement control of the coil stripping trolley is inaccurate. When the wrapper roller does not perform the tape tail pressing, the target coil diameter may be calculated using the target coil diameter; after the wrapper roller executes the tape tail pressing, the actual roll gap value of the wrapper roller can be obtained by using the wrapper roller executing the tape tail pressing, and the target steel coil diameter can be calculated by combining the mandrel expansion distance of the coiler.
For example, the target coil diameter can be calculated by the following formula, or can be obtained by the geometric relationship shown in fig. 3:
Dact＝2Droll gap+2DExpansion of
Wherein D isactThe coil diameter of the target steel coil is obtained; dRoll gapThe roll gap value of the belt tail pressed against the wrapper roll; dExpansion ofIs the distance the coiler mandrel expands.
After the target steel coil diameter is determined, the first target distance may be calculated based on the following formula, or may be obtained from the geometric relationship shown in fig. 3:
Lref＝Lfix―Lsf―Dact/2
wherein L isrefIs a first target distance; l isfixThe distance from the mandrel of the coiling machine to the lowest position of the coil stripping trolley is defined; l issfPresetting a safety distance; dactIs the target coil diameter of the steel coil.
Specifically, the moving speed of the coil stripping trolley can be controlled based on the distance between the coil stripping trolley and the coiling machine; wherein, the smaller the distance between the coil stripping trolley and the coiling machine is, the slower the moving speed of the coil stripping trolley is controlled. Therefore, the time consumed by moving the coil stripping trolley to the coiling machine can be shortened as much as possible, the time of the coil stripping process is further shortened, and the coil stripping efficiency of the coiling equipment is improved.
In a specific implementation process, the coil stripping trolley can be controlled to move from the initial position to the coiling machine based on the first speed threshold, and when the moving distance of the coil stripping trolley is equal to the second target distance, the coil stripping trolley is controlled to move to the coiling machine based on the second speed threshold until the moving distance of the coil stripping trolley is equal to the first target distance.
Wherein the first speed threshold is greater than the second speed threshold; the first target distance is greater than the second target distance. The second target distance may be set based on the first target distance, specifically, the second target distance may be obtained by multiplying a target ratio by the first target distance, for example, if the first target distance is 40mm and the target ratio is 80%, the second target distance is 32 mm; it is also possible to derive from the difference between the first target distance and a distance constant value, for example, if the first target distance is 30mm and the distance constant value is 20mm, the second target distance is 10 mm.
For example, the discharge car can be controlled to move at a speed of 100mm/s to the coiler at its initial position. After the coil stripping trolley moves 10mm to reach the second target distance, the coil stripping trolley is controlled to continue moving at the speed of 20mm/s until the total moving distance of the coil stripping trolley is equal to the first target distance.
In order to avoid the problem that the roll gap value of the coil aid roll and/or the expansion distance deviation of the mandrel of the coiling machine are large, the calculation of the coil diameter of the target steel coil is inaccurate, and further the coil discharge trolley is controlled to move towards the coiling machine by mistake, so that the coil discharge trolley collides with the target steel coil or the coil aid roll. The target steel coil diameter can be monitored in the process of coiling the strip steel by the coiling machine; and if the monitored coil diameter of the target steel coil is larger than the target coil diameter, controlling the coil stripping trolley to be far away from the coiling machine.
Specifically, when the target coil diameter exceeds the target coil diameter, the coil stripping trolley is controlled to be away from the coiler at a preset speed along with the increase of the target coil diameter, for example, the coil stripping trolley can be controlled to be away from the coiler at a preset speed of 20mm/s, so that the coil stripping trolley cannot collide with the target coil. In the specific implementation process, along with the increase of the coil diameter of the target steel coil, the gap for keeping the first target distance between the coil unloading trolley and the periphery of the target steel coil can be controlled.
The target coil diameter can be set according to rolling regulations.
In the process that the coil stripping trolley is close to the coiling machine, in order to prevent the signal failure or abnormity of the moving position of the coil stripping trolley, the coil stripping trolley continuously moves towards the coiling machine, and therefore the coil stripping trolley collides with a target steel coil. And the pressure value of the hydraulic cylinder of the coil stripping trolley can be monitored in the process that the coil stripping trolley moves to the coiling machine, and the coil stripping trolley is controlled to stop moving if the pressure value of the hydraulic cylinder is detected to exceed a preset safe pressure threshold value.
In a specific implementation process, the preset safe pressure threshold may be set based on an actual application scenario, generally, in a process that the coil stripping trolley moves towards the coiling machine, the pressure of the hydraulic cylinder of the coil stripping trolley is far less than the pressure of the hydraulic cylinder when the coil stripping trolley bears the target steel coil, and therefore the preset safe pressure threshold may be greater than the pressure value of the hydraulic cylinder corresponding to the coil stripping trolley when the coil stripping trolley bears the target steel coil. For example, the preset safe pressure threshold may be set to 50 kN.
In addition, in the process of opening the auxiliary winding roller in advance to enable the coil stripping trolley to be close to the coiling machine, the coiling accident caused by the falling of the tail of the target steel coil is prevented. Before the recoiling machine executes the tail fixing action once, the coil unloading trolley is controlled to move a first target distance to the recoiling machine, so that the coil unloading trolley can be utilized to block the tail of the target steel coil from directly dropping in a certain degree, and the tail of the target steel coil is prevented from dropping. The specific implementation mode is as follows:
in the first embodiment, for the coiling machine provided with three auxiliary winding rollers, all the auxiliary winding rollers are normally used in the head control stage of the coiling machine, and after the head control is finished, the No. 2 auxiliary winding roller which has mechanical interference with the coil stripping trolley is directly opened to the maximum roll gap position and is opened to the maximum position, so that conditions are provided for the coil stripping trolley to perform lifting action.
When the coiler starts the tail pressing control of the strip tail, the No. 2 auxiliary winding roller is kept at the maximum roll gap position and does not participate in the tail pressing action any more, and the coil stripping trolley moves to the coiler for a first target distance. And other auxiliary winding rollers normally execute tail pressing control until primary tail fixing and secondary tail fixing actions of the steel coil are finished.
And in the second embodiment, aiming at the coiling machine provided with four wrapper rollers, all the wrapper rollers are normally used in the head control stage of the coiling machine, after the head control is finished, the No. 2 wrapper roller and the No. 3 wrapper roller which have mechanical interference with the coil stripping trolley are directly opened to the maximum roll gap position, and the two wrapper rollers are both opened to the maximum position, so that conditions are provided for the coil stripping trolley to execute the lifting action.
When the coiling machine starts the tail pressing control of the strip tail, the No. 2 and No. 3 auxiliary coiling rollers are kept at the maximum roll gap position and do not participate in the tail pressing action any more, and the coil stripping trolley moves towards the coiling machine by a first target distance. And other auxiliary winding rollers normally execute tail pressing control until primary tail fixing and secondary tail fixing actions of the steel coil are finished.
For a better understanding of the embodiment of the invention, a multi-mode continuous hot-rolled thin strip production line equipped with four-reel coilers is followed, when the line is in endless mode for rolling strips of thickness 1.2mm, typically at mill exit strip speeds of around 8 m/s. After the coiler finishes threading the wrapper roll and finishes head control, the No. 1 and No. 2 wrapper rolls are opened to a waiting position so as to execute tail pressing control, primary tail fixing and secondary tail fixing of the tail part of the target steel coil; the No. 3 and No. 4 wrapper rollers are directly opened to the position of the maximum roll gap after the head control is finished, and do not participate in tail pressing control, primary tail fixing and secondary tail fixing of the target strip steel.
Referring to fig. 4, when the shearing point of the endless rolled strip reaches the F3 rolling mill or the shearing point reaches the last stand of the finish rolling mill, it is first determined whether the wrapper rollers No. 2 and No. 3 are in the fully opened position, after the wrapper rollers No. 2 and No. 3 are in the fully opened position, the unwinding trolley is triggered to perform automatic position lifting control, the unwinding trolley performs lifting at a speed of 100mm/s, and until the lifting distance reaches 20mm, the speed is switched to 20mm/s and the strip is continuously lifted by 20 mm.
When the No. 1 and No. 2 auxiliary winding rollers of the winding machine perform tail pressing action, comparing the target steel coil diameter with the target steel coil diameter, and when the target steel coil diameter is smaller than or equal to the target steel coil diameter, calculating to obtain a first target distance based on the target steel coil diameter; and when the diameter of the target steel coil is larger than that of the target steel coil, correcting and calculating the first target distance based on the diameter of the target steel coil so as to ensure that a preset safety distance of 40mm exists between the coil unloading trolley and the target steel coil.
In the whole control process of executing the automatic lifting position, the pressure of the lifting cylinder of the coil stripping trolley is uninterruptedly monitored, and when the pressure value is greater than or equal to a preset safety pressure threshold value of 50KN, the lifting of the position of the coil stripping trolley is immediately stopped and the pressure control is switched to prevent the mechanical equipment and the target steel coil from being damaged.
And after the recoiling machine finishes the primary tail fixing action, the coil unloading trolley carries out the low-speed lifting action again from the first target distance until the real coil touching force is detected, the pressure control is switched to keep the contact state of the current coil unloading trolley and the target steel coil, and the recoiling machine is triggered to carry out the secondary tail fixing action and the subsequent automatic coil unloading process.
In a second aspect, the present invention provides a steel coil unwinding control device, which is applied to a strip steel winding device disposed downstream of a rolling mill unit, and includes a winding machine and an unwinding trolley.
Referring to fig. 5, the apparatus may include:
and the data acquisition unit 501 is used for acquiring the transmission speed of the target strip steel.
And the triggering judgment unit 502 is used for judging whether to control the movement of the coil stripping trolley based on the transmission speed.
The first control unit 503 is configured to control the coil stripping trolley to move a first target distance to the coiler when the target strip steel is monitored to be located at a first preset position of the mill train and the transmission speed is within a first speed range.
And the second control unit 504 is configured to control the coil stripping trolley to move the first target distance to the coiler when it is monitored that the target strip steel is located at a second preset position of the mill train and the transmission speed is within a second speed range.
And a third control unit 505, configured to control the coil stripping trolley to move the first target distance to the coiler when it is monitored that the target strip steel is located at a third preset position of the rolling mill group and the transmission speed is within a third speed range.
The lower limit value of the first speed range is greater than the upper limit value of the second speed range, and the lower limit value of the second speed range is greater than the upper limit value of the third speed range; the first preset position is located at the upstream of the second preset position, and the second preset position is located at the upstream of the third preset position.
As an optional implementation, the apparatus may further include:
and the first safety protection unit is used for monitoring the diameter of the target steel coil in the process of coiling the strip steel by the coiling machine and controlling the coil stripping trolley to be far away from the coiling machine when the diameter of the target steel coil is monitored to be larger than the diameter of the target steel coil.
As an optional implementation, the apparatus may further include:
and the second safety protection unit is used for monitoring the pressure value of the hydraulic cylinder of the coil stripping trolley in the process that the coil stripping trolley moves to the coiling machine, and controlling the coil stripping trolley to stop moving when the pressure value of the hydraulic cylinder is detected to exceed a preset safety pressure threshold value.
Since the steel coil uncoiling control device described in this embodiment is an electronic device used for implementing the steel coil uncoiling control method in the embodiment of the present invention, based on the steel coil uncoiling control method for controlling the rolling process described in the embodiment of the present invention, a person skilled in the art can understand the specific implementation manner of the electronic device of this embodiment and various variations thereof, and therefore, how to implement the method in the embodiment of the present invention by the electronic device is not described in detail herein. As long as those skilled in the art implement the electronic equipment used in the method for controlling coil release in the embodiment of the present invention, the electronic equipment is within the scope of the present invention.
In a third aspect, based on the same inventive concept, the embodiment of the present invention provides a strip steel coiling apparatus, including a coil unloading trolley, a coiling machine and a main controller; wherein, the main controller is electrically connected with the coiling machine and the hydraulic cylinder of the coil stripping trolley. The main controller may include: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing any of the embodiments of the first aspect when executing the program.
Referring to fig. 6, a master controller according to an embodiment of the present invention includes: a memory 601, a processor 602, and code stored on the memory and executable on the processor 602, the processor 602 implementing any one of the foregoing steel coil unwinding control methods when executing the code.
Where in fig. 6 a bus architecture (represented by bus 600) is shown, bus 600 may include any number of interconnected buses and bridges, and bus 600 links together various circuits including one or more processors, represented by processor 602, and memory, represented by memory 601. The bus 600 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 605 provides an interface between the bus 600 and the receiver 603 and transmitter 604. The receiver 603 and the transmitter 604 may be the same element, i.e. a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 602 is responsible for managing the bus 600 and general processing, and the memory 601 may be used for storing data used by the processor 602 in performing operations.
The technical scheme in the embodiment of the invention at least has the following technical effects or advantages:
the method can effectively shorten the coil stripping time of the coiling machine, so that the coiling machine can finish the recovery action of preparing steel feeding in advance, and further improve the working efficiency of coiling equipment. And when the coil stripping is abnormal, the fault handling time of production and equipment operation and maintenance is prolonged.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the invention may take the form of a computer product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer instructions. These computer instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A steel coil unloading control method is characterized by being applied to strip steel coiling equipment, wherein the strip steel coiling equipment is arranged at the downstream of a rolling mill unit and comprises a coiling machine and an unloading trolley; the method comprises the following steps:
acquiring the transmission speed of the target strip steel;
judging whether to control the coil stripping trolley to move or not based on the transmission speed;
if the target strip steel is monitored to be located at a first preset position of the rolling unit and the transmission speed is within a first speed range, controlling the coil stripping trolley to move a first target distance to the coiling machine;
if the target strip steel is monitored to be located at a second preset position of the rolling unit and the transmission speed is within a second speed range, controlling the coil stripping trolley to move the first target distance to the coiling machine;
if the target strip steel is monitored to be located at a third preset position of the rolling unit and the transmission speed is within a third speed range, controlling the coil stripping trolley to move the first target distance to the coiling machine;
wherein a lower limit value of the first speed range is greater than an upper limit value of the second speed range, and a lower limit value of the second speed range is greater than an upper limit value of the third speed range; the first preset position is located at the upstream of the second preset position, and the second preset position is located at the upstream of the third preset position.
2. The method of claim 1, wherein the first target distance is determined based on a preset safety distance and a target steel coil diameter; and the target steel coil diameter is determined based on the mandrel expansion distance of the coiling machine and the roll gap value of the wrapper roll.
3. The method of claim 2, wherein the method further comprises:
monitoring the target steel coil diameter in the process of coiling the strip steel by the coiling machine;
and if the coil diameter of the target steel coil is larger than the target coil diameter, controlling the coil stripping trolley to be far away from the coiling machine.
4. The method of claim 1, wherein said controlling said unwind car to move said first target distance toward said coiler comprises:
controlling the moving speed of the coil stripping trolley based on the distance between the coil stripping trolley and the coiling machine;
the smaller the distance between the coil stripping trolley and the coiling machine is, the slower the moving speed of the coil stripping trolley is controlled.
5. The method of claim 4, wherein said controlling the speed of movement of said unwind trolley based on the distance between said unwind trolley and said coiler comprises:
controlling the coil stripping trolley to move from an initial position to the coiling machine based on a first speed threshold value;
when the moving distance of the coil stripping trolley is equal to a second target distance, controlling the coil stripping trolley to move towards the coiling machine based on a second speed threshold value until the moving distance of the coil stripping trolley is equal to the first target distance;
wherein the first speed threshold is greater than the second speed threshold; the first target distance is greater than the second target distance.
6. The method of any one of claims 1-5, wherein the method further comprises:
monitoring the pressure value of a hydraulic cylinder of the coil stripping trolley in the process that the coil stripping trolley moves to the coiling machine;
and if the pressure value of the hydraulic cylinder is detected to exceed a preset safe pressure threshold value, controlling the coil stripping trolley to stop moving.
7. A coil stripping control device for a steel coil is characterized by being applied to strip steel coiling equipment, wherein the strip steel coiling equipment is arranged at the downstream of a rolling mill set and comprises a coiling machine and a coil stripping trolley; the device comprises:
the data acquisition unit is used for acquiring the transmission speed of the target strip steel;
the triggering judgment unit is used for judging whether to control the coil stripping trolley to move or not based on the transmission speed;
the first control unit is used for monitoring that the target strip steel is located at a first preset position of the rolling unit and controlling the coil stripping trolley to move a first target distance to the coiling machine when the transmission speed is within a first speed range;
the second control unit is used for controlling the coil stripping trolley to move the first target distance to the coiling machine when the target strip steel is monitored to be located at a second preset position of the rolling unit and the transmission speed is within a second speed range;
the third control unit is used for controlling the coil stripping trolley to move the first target distance to the coiling machine when the target strip steel is monitored to be positioned at a third preset position of the rolling unit and the transmission speed is within a third speed range;
wherein a lower limit value of the first speed range is greater than an upper limit value of the second speed range, and a lower limit value of the second speed range is greater than an upper limit value of the third speed range; the first preset position is located at the upstream of the second preset position, and the second preset position is located at the upstream of the third preset position.
8. The apparatus of claim 7, wherein the apparatus further comprises:
and the first safety protection unit is used for monitoring the target steel coil diameter in the process of coiling the strip steel by the coiling machine, and controlling the coil unloading trolley to be far away from the coiling machine when monitoring that the target steel coil diameter is larger than the target coil diameter.
9. The apparatus of claim 7, wherein the apparatus further comprises:
and the second safety protection unit is used for monitoring the pressure value of a hydraulic cylinder of the coil stripping trolley in the process that the coil stripping trolley moves towards the coiling machine, and controlling the coil stripping trolley to stop moving when the pressure value of the hydraulic cylinder is detected to exceed a preset safety pressure threshold value.
10. A strip steel coiling device is characterized by comprising a coil unloading trolley, a coiling machine and a main controller; the main controller is electrically connected with the coiling machine and the hydraulic cylinder of the coil stripping trolley; the main controller includes: memory, processor and computer program stored on the memory and executable on the processor, which when executed by the processor implements the method of any of claims 1-6.
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| CN202210400108.4A CN114700389A (en) | 2022-04-15 | 2022-04-15 | Strip steel coiling equipment and steel coil unloading control method and device |
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