CN114700389B - Strip steel coiling equipment, steel coil uncoiling control method and device - Google Patents

Strip steel coiling equipment, steel coil uncoiling control method and device Download PDF

Info

Publication number
CN114700389B
CN114700389B CN202210400108.4A CN202210400108A CN114700389B CN 114700389 B CN114700389 B CN 114700389B CN 202210400108 A CN202210400108 A CN 202210400108A CN 114700389 B CN114700389 B CN 114700389B
Authority
CN
China
Prior art keywords
coil
target
coiling machine
trolley
stripping trolley
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202210400108.4A
Other languages
Chinese (zh)
Other versions
CN114700389A (en
Inventor
王彪
王海龙
李自强
李长龙
刘禹辉
张爽
都洪亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Shougang Automation Information Technology Co Ltd
Original Assignee
Beijing Shougang Automation Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Shougang Automation Information Technology Co Ltd filed Critical Beijing Shougang Automation Information Technology Co Ltd
Priority to CN202210400108.4A priority Critical patent/CN114700389B/en
Publication of CN114700389A publication Critical patent/CN114700389A/en
Application granted granted Critical
Publication of CN114700389B publication Critical patent/CN114700389B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • 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]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Winding, Rewinding, Material Storage Devices (AREA)

Abstract

The embodiment of the invention provides strip steel coiling equipment, a steel coil unloading control method and a device. The method comprises the steps of obtaining the transmission speed of 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 at a first preset position of the rolling mill set 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 at a second preset position of the rolling mill set 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 at a third preset position of the rolling mill set 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. Therefore, the coil stripping trolley is enabled to be close to the coiling machine in advance while the coil stripping trolley is prevented from contacting with the steel coil, and the time of the coil stripping process is effectively shortened.

Description

Strip steel coiling equipment, steel coil uncoiling control method and device
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 device.
Background
In China, with the continuous maturation of the control process of the strip steel production line and the continuous improvement of the equipment maintenance quality, the coil unloading time of the coiling machine gradually becomes a main factor for restricting the improvement of the yield of the production line. In the fast-paced rolling production process, if coil unloading is not timely or fault treatment in the coil unloading process is not timely, a coiling machine is likely to not timely have steel feeding conditions, production accidents such as stop rolling and even steel piling are caused, and the production is not affected little.
During coiling of the coiler, the coil stripper car will move to a position of the rolling centre line below the coiler waiting and the coil stripper car lifting cylinder is fully retracted leaving the coil stripper car in the lowermost position. When the coiling machine executes the tail control, all the auxiliary winding rollers can be pressed against the strip steel until the tail fixing action is completed. After the primary tail fixing is finished, the coiling machine starts to execute a coil unloading process, and when the coil-assisting roller is judged to be opened to the maximum position, the coil unloading trolley executes a lifting command so as to prevent mechanical interference with the coil-assisting roller in the lifting process of the coil unloading trolley, and then the mandrel continues to rotate so as to execute secondary tail fixing action.
Therefore, the coil discharging time of the current coil discharging process is long, and the control process needs to be changed in order to shorten the coil discharging time of the coiling machine.
Disclosure of Invention
The embodiment of the invention solves the technical problem of longer coil unloading time in the prior art by providing strip steel coiling equipment, a steel coil unloading control method and a device.
In a first aspect, the present invention provides a coil unloading control method applied to a strip steel coiling apparatus, where the strip steel coiling apparatus is disposed downstream of a rolling mill, and the strip steel coiling apparatus includes a coiler and a coil 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 at a first preset position of the rolling mill group 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 at a second preset position of the rolling mill set 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 detected to be at a third preset position of the rolling mill set and the transmission speed is in a third speed range, controlling the coil stripping trolley to move the first target distance to the coiling machine; wherein a lower limit of the first speed range is greater than an upper limit of the second speed range, and a lower limit of the second speed range is greater than an upper limit of the third speed range; the first preset position is upstream of the second preset position, and the second preset position is 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 coil diameter of the target steel coil is determined based on the expansion distance of the mandrel of the coiling machine and the roll gap value of the auxiliary roller.
Preferably, the method further comprises: monitoring the coil diameter of the target steel coil 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 unloading trolley to be far away from the coiling machine.
Preferably, said controlling said coil-stripping trolley to move said first target distance towards 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; 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.
Preferably, the controlling the moving speed of the coil stripping trolley based on the distance between the coil stripping trolley and the coiler comprises: controlling the coil-stripping trolley to move from an initial position to the coiling machine based on a first speed threshold; 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 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 towards the coiling machine; and if the pressure value of the hydraulic cylinder is detected to exceed the preset safety pressure threshold value, controlling the coil stripping trolley to stop moving.
In a second aspect, the present invention provides a coil unloading control device applied to a strip steel coiling apparatus, wherein the strip steel coiling apparatus is arranged at the downstream of a rolling mill, and the strip steel coiling apparatus comprises a coiling machine and a coil unloading trolley; the device comprises:
the data acquisition unit is used for acquiring the transmission speed of the target strip steel;
The triggering judging unit is used for judging whether the coil stripping trolley is controlled to move or not based on the transmission speed;
the first control unit is used for monitoring that the target strip steel is at a first preset position of the rolling mill group, and controlling the coil stripping trolley to move a first target distance to the coiling machine when the transmission speed is in 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 at a second preset position of the rolling mill group and the transmission speed is in 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 at a third preset position of the rolling mill set and the transmission speed is within a third speed range;
Wherein a lower limit of the first speed range is greater than an upper limit of the second speed range, and a lower limit of the second speed range is greater than an upper limit of the third speed range; the first preset position is upstream of the second preset position, and the second preset position is upstream of the third preset position.
Preferably, the apparatus further comprises:
The first safety protection unit is used for monitoring the coil diameter of the target steel coil 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 the coil diameter of the target steel coil is monitored to be larger than the coil diameter of the target steel coil.
Preferably, the apparatus further comprises:
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 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 the preset safety pressure threshold.
In a third aspect, the present invention provides a strip steel coiling apparatus including a coil stripping trolley, a coiler 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: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing any implementation of the first aspect when executing the program.
One or more technical solutions provided in the embodiments of the present invention at least have 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 is judged based on the transmission speed.
If the target strip steel is monitored to be at a first preset position of the rolling mill set 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 at a second preset position of the rolling mill set 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 at a third preset position of the rolling mill set 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.
Therefore, the coil stripping trolley is enabled to be close to the coiling machine in advance while the coil stripping trolley is prevented from contacting with the steel coil, and the time of the coil stripping process is effectively shortened.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the relative positional relationship between a strip coil takeout apparatus and a rolling mill train in accordance with an embodiment of the present invention;
Fig. 2 is a flowchart of a coil unloading control method in an embodiment of the present invention;
FIG. 3 is a schematic view showing the relative positional relationship between a coil-stripping trolley and a coiler in an embodiment of the present invention;
fig. 4 is a flowchart of a coil unloading control method according to an embodiment of the present invention;
Fig. 5 is a schematic diagram of a coil unloading control device according to an embodiment of the present invention;
Fig. 6 is a schematic diagram of the structure of the main controller of the strip coil takeout apparatus in the embodiment of the present invention.
Detailed Description
The embodiment of the invention solves the technical problem of longer coil unloading time in the prior art by providing strip steel coiling equipment, a steel coil unloading control method and a device.
The technical scheme provided by the embodiment of the invention aims to solve the technical problems, and the overall thought is as follows:
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 at a first preset position of the rolling mill group 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 at a second preset position of the rolling mill set 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 at a third preset position of the rolling mill set 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 coil stripping trolley can be close to the coiling machine in advance while the coil stripping trolley is prevented from contacting with the steel coil, so that the time in the coil stripping process is effectively shortened, and the working efficiency of the coiling equipment is improved.
In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
First, the term "and/or" appearing herein is merely an association relationship describing associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be capable of operation in sequences other than those illustrated or otherwise described.
In a first aspect, the present invention provides a coil unloading control method, which can be applied to a strip steel coiling apparatus. Specifically, referring to fig. 1, a strip coiling apparatus 100 may be disposed downstream of a rolling mill 200, and the strip coiling apparatus may include a coiler 101 and a coil-stripping trolley 102.
In a specific implementation process, the strip steel coiling device can further comprise a coil assisting roller 103, wherein the coil assisting 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 tightly compacted. During coil removal, however, a certain distance between the auxiliary roller 103 and the coiler 101 (i.e. the auxiliary roller is in the maximum roll gap position) is required in order for the coil removal trolley 102 to load the coil.
In order to avoid mechanical interference between the coil stripping trolley 102 and the coil assisting roller 103, the coil stripping trolley 102 and/or the coil assisting roller 103 are damaged, at present, when the coil stripping process is executed, the coil stripping trolley 102 is controlled to ascend only when the coil assisting roller 103 is 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 coiling device and shorten the time cost in the coil unloading process, referring to fig. 2, the coil unloading control method provided by the embodiment of the invention may include the following steps:
Step S201: and obtaining the transmission speed of the target strip steel.
In particular, the speed of transport of the target strip on the rolling line can be obtained, for example, at the exit position of the rolling train.
In the specific implementation process, the transmission speed of the target strip steel can be determined based on the rotation 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 determined based on the conveying speed of the target strip steel and the relative position with 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 group can be determined according to the preset position. Specifically, the target strip steel can be the strip steel which is being coiled or is to be coiled by a coiling machine, and the preset position on the target strip steel can be the strip steel tail or the strip steel shearing point in the endless rolling mode.
The rolling mill group can be a rough rolling mill group or a finishing mill group. The rolling mill set can comprise a plurality of racks which are arranged in sequence, target strip steel enters the rolling mill set from the most upstream rack for rolling, and the target strip steel leaves the rolling mill set 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 conveying speed of the target strip and the relative position with respect to the rolling mill train:
Step S203a: and if the target strip steel is monitored to be at a first preset position of the rolling mill set 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 S203b: and if the target strip steel is monitored to be at a second preset position of the rolling mill set 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 S203c: and if the target strip steel is monitored to be at a third preset position of the rolling mill set 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.
Wherein the lower limit of the first speed range is greater than the upper limit of the second speed range, and the lower limit of the second speed range is greater than the upper limit of the third speed range; the first preset position is upstream of the second preset position, and the second preset position is upstream of the third preset position.
In a specific implementation process, the distance between the first preset position and the second preset position may be equal to the distance between the second preset position and the third preset position. For example, if the rolling mill train includes 5 frames F1, F2, F3, F4, and F5, the first preset position of the rolling mill train may be the F1 frame, the second preset position of the rolling mill train may be the F3 frame, and the third preset position of the rolling mill train may be the F5 frame.
In the specific implementation process, the first speed range, the second speed range and the third speed range may be set according to practical situations. 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/second.
When the target strip steel is a single billet, the command of lifting the coil stripping trolley can be directly triggered when the tail part of the target strip steel or a shearing point in the endless rolling mode reaches the tail frame of the finishing mill group, and the current transmission speed of the target strip steel is not considered any more, so that the coil stripping trolley is directly controlled to move to the coiling machine. Therefore, when the target strip steel transmission speed fails to be obtained, the coil stripping trolley can also timely execute lifting.
In a specific implementation process, the first target distance may be determined based on a preset safety distance and a target coil diameter. The target coil diameter can be determined based on the expansion distance of the mandrel of the coiling machine and the roll gap value of the auxiliary roller.
Specifically, the first target distance can be determined according to the coil diameter of the target steel coil, the distance from the coiling machine mandrel to the lowest position of the coil stripping trolley and the preset safety distance between the coil stripping trolley and the target steel coil.
The distance from the coiling machine mandrel to the lowest position of the coil stripping trolley can be determined by the mechanical structure of coiling equipment, and the distance is a fixed value. The preset safety distance between the coil stripping trolley and the target steel coil can be set according to actual production conditions, for example, the preset safety distance can be set to be 40mm.
The coil diameter of the target steel coil can be changed according to the rolling regulations and actual production conditions, so that the deviation of the coil diameter of the target steel coil in the actual production process is avoided, and the inaccurate movement control of the coil unloading trolley is caused. When the auxiliary winding roller does not execute the belt tail pressing, the target winding diameter can be used for calculating the target steel coil winding diameter; after the auxiliary winding roller performs the strip tail pressing, the auxiliary winding roller for performing the strip tail pressing can be utilized to obtain the actual roll gap value of the auxiliary winding roller, and the target coil diameter can be calculated by combining the expansion distance of the mandrel of the coiling machine.
For example, the coil diameter of the target coil can be calculated by the following formula, or can be obtained by the geometric relationship shown in fig. 3:
Dact＝2D Roll gap +2D Expansion of
Wherein D act is the coil diameter of the target steel coil; d Roll gap is a roll gap value of the belt tail pressing against the auxiliary roll; d Expansion of is the distance the reel spindle expands.
After the coil diameter of the target steel coil is determined, the first target distance can be calculated based on the following formula, or obtained from the geometric relationship shown in fig. 3:
Lref＝Lfix―Lsf―Dact/2
wherein L ref is a first target distance; l fix is the distance from the coiling machine mandrel to the lowest position of the coil stripping trolley; l sf is a preset safety distance; d act is the coil diameter of the target steel coil.
Aiming at how to control the coil stripping trolley to move a first target distance to the coiling machine, 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 according to a product of the target proportion and the first target distance, for example, if the first target distance is 40mm and the target proportion is 80%, the second target distance is 32mm; it may also be obtained from the difference between the first target distance and the distance constant value, for example, if the first target distance is 30mm and the distance constant value is 20mm, the second target distance is 10mm.
For example, the coil-stripping trolley can be controlled to move towards the coiler at a speed of 100mm/s in the initial position. When the coil-stripping trolley moves 10mm to reach the second target distance, the coil-stripping trolley is controlled to move continuously 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 inaccurate calculation of the coil diameter of the target steel coil caused by larger deviation of the obtained roll gap value of the coil-supporting roller and/or the expansion distance of the mandrel of the coiling machine, the coil-unloading trolley is controlled to move to the coiling machine by mistake, and the coil-unloading trolley collides with the target steel coil or the coil-supporting roller. The coil diameter of the target steel coil can be monitored 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 unloading trolley to be far away from the coiling machine.
Specifically, when the coil diameter of the target coil exceeds the target coil diameter, the coil unloading trolley is controlled to be far away from the coiling machine at a preset speed along with the increase of the coil diameter of the target coil, for example, the coil unloading trolley can be controlled to be far away from the coiling machine at a preset speed of 20mm/s, so that the coil unloading trolley cannot collide with the target coil. In the specific implementation process, as the coil diameter of the target steel coil increases, the gap between the coil stripping trolley and the periphery of the target steel coil can be controlled to keep a first target distance.
The target coil diameter can be set according to a rolling schedule.
In the process that the coil stripping trolley approaches the coiling machine, in order to prevent the signal for detecting the moving position of the coil stripping trolley from being invalid or abnormal, the coil stripping trolley is enabled to continuously move towards the coiling machine, so that 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 towards the coiling machine, and if the pressure value of the hydraulic cylinder is detected to exceed the preset safety pressure threshold value, the coil stripping trolley is controlled to stop moving.
In a specific implementation process, the preset safety pressure threshold value can be set based on an actual application scene, and in general, in the process that the coil stripping trolley moves to the coiling machine, the pressure of a hydraulic cylinder of the coil stripping trolley is far smaller than the pressure of the hydraulic cylinder when the coil stripping trolley bears a target steel coil, so that the preset safety pressure threshold value can be larger than the corresponding pressure value of the hydraulic cylinder when the coil stripping trolley bears the target steel coil. For example, the preset safety pressure threshold may be set to 50kN.
In addition, in order to open the auxiliary winding roller in advance so as to prevent the winding accident caused by falling off of the tail of the target steel coil in the process that the coil unloading trolley approaches the winding machine. The coil stripping trolley can be controlled to move a first target distance to the coiling machine before the coiling machine executes one-time tail fixing action, so that the coil stripping trolley can be utilized to prevent the target coil tail from directly falling off to a certain extent, and further the falling off of the target coil tail can be prevented. The specific implementation mode is as follows:
in the first embodiment, for a coiling machine provided with three auxiliary winding rollers, all the auxiliary winding rollers are normally thrown in the head control stage of the coiling machine, after the head control is finished, the number 2 auxiliary winding roller which has mechanical interference with the coil stripping trolley is directly opened to the maximum roll gap position, and the auxiliary winding roller is opened to the maximum position, so that conditions are provided for the coil stripping trolley to execute lifting action.
When the coiling machine starts the tail pressing control of the belt tail, the No. 2 auxiliary winding roller is kept at the position of the maximum roll gap and does not participate in the tail pressing action, and the coil unloading trolley moves a first target distance to the coiling machine. And the other auxiliary winding rollers normally execute tail pressing control until the primary tail fixing and the secondary tail fixing actions of the steel coil are completed.
In the second embodiment, for the coiler provided with four auxiliary winding rollers, all the auxiliary winding rollers are normally thrown in the head control stage of the coiler, after the head control is finished, the auxiliary winding rollers No. 2 and No. 3 which have mechanical interference with the coil stripping trolley are directly opened to the maximum roll gap position, and the two auxiliary winding rollers are opened to the maximum position, so that conditions are provided for the coil stripping trolley to execute lifting action.
When the coiling machine starts the tail pressing control of the belt tail, the auxiliary winding rollers No. 2 and No. 3 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 a first target distance to the coiling machine. And the other auxiliary winding rollers normally execute tail pressing control until the primary tail fixing and the secondary tail fixing actions of the steel coil are completed.
For a better understanding of the embodiments of the present invention, a multi-mode continuous hot rolled sheet strip production line is next exemplified with a four-booster coiler, typically at a mill exit strip speed of around 8 meters/second when the line is in headless mode for rolling 1.2mm thick strip. After the winding machine finishes head control of the threading auxiliary winding roller, the auxiliary winding rollers No. 1 and No. 2 are opened to a waiting position so as to execute tail pressing control, primary tail fixing and secondary tail fixing of the tail of the target steel coil; the number 3 and the number 4 auxiliary winding rollers are directly opened to the maximum roll gap position after the head control is finished, and do not participate in the tail pressing control, the primary tail fixing and the secondary tail fixing of the target strip steel.
Referring to fig. 4, when the shearing point of the strip steel subjected to endless rolling reaches the F3 rolling mill or the shearing point reaches the finish rolling end stand, firstly, whether the number 2 auxiliary roll and the number 3 auxiliary roll are in the full open position is confirmed, after the number 2 auxiliary roll and the number 3 auxiliary roll are in the full open position, the coil stripping trolley is triggered to execute automatic position lifting control, the coil stripping trolley firstly executes lifting action at the speed of 100mm/s until the lifting distance reaches 20mm, and then the speed is switched to 20mm/s and the coil stripping trolley continues to lift for 20mm.
When the tail pressing action is executed by the auxiliary winding rollers of the coiling machines No.1 and No. 2, comparing the target coil diameter with the target coil diameter, and when the target coil diameter is smaller than or equal to the target coil diameter, calculating to obtain a first target distance based on the target coil diameter; when the coil diameter of the target steel coil is larger than the target coil diameter, correcting and calculating the first target distance based on the coil 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 continuously monitored, and when the pressure value is greater than or equal to a preset safety pressure threshold value of 50KN, the position of the coil stripping trolley is immediately stopped and is switched to pressure control, so that damage to mechanical equipment and target steel coils is prevented.
When the coiling machine executes the primary tail fixing action, the coil unloading trolley executes the low-speed lifting action again from the first target distance until the actual 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 coiling machine is triggered to execute the secondary tail fixing action and the subsequent automatic coil unloading flow.
In a second aspect, the present invention provides a coil unloading control device applied to a strip coiling apparatus, which is arranged downstream of a rolling mill, and comprises a coiling machine and an unloading trolley.
Referring to fig. 5, the apparatus may include:
a data acquisition unit 501 for acquiring the transmission speed of the target strip.
And a trigger judging unit 502 for judging whether to control the coil-stripping trolley to move based on the transmission speed.
And the first control unit 503 is configured to control the coil stripping trolley to move a first target distance towards the coiler when the target strip steel is detected to be at a first preset position of the rolling mill group and the transmission speed is within a first speed range.
And the second control unit 504 is used for controlling the coil stripping trolley to move a first target distance to the coiling machine when the target strip steel is monitored to be at a second preset position of the rolling mill group and the transmission speed is within a second speed range.
And the third control unit 505 is configured to control the coil stripping trolley to move a first target distance towards the coiler when it is detected that the target strip steel is at a third preset position of the rolling mill train and the transmission speed is within a third speed range.
Wherein the lower limit of the first speed range is greater than the upper limit of the second speed range, and the lower limit of the second speed range is greater than the upper limit of the third speed range; the first preset position is upstream of the second preset position, and the second preset position is upstream of the third preset position.
As an alternative embodiment, the apparatus may further include:
The first safety protection unit is used for monitoring the coil diameter of the target steel coil 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 the coil diameter of the target steel coil is monitored to be larger than the target coil diameter.
As an alternative embodiment, the apparatus may further include:
The second safety protection unit is used for monitoring the pressure value of the hydraulic cylinder of the coil stripping trolley in the process of moving the coil stripping trolley to the coiling machine, and controlling the coil stripping trolley to stop moving when detecting that the pressure value of the hydraulic cylinder exceeds a preset safety pressure threshold value.
Since the coil unloading control device described in this embodiment is an electronic device for implementing the coil unloading control method in this embodiment, based on the coil unloading control method for controlling the rolling process described in this embodiment, those skilled in the art can understand the specific implementation of the electronic device in this embodiment and various modifications thereof, so how to implement the method in this embodiment of the invention for this electronic device will not be described in detail herein. As long as the person skilled in the art implements the electronic equipment adopted by the coil unloading control method in the embodiment of the invention, the electronic equipment belongs to the scope of protection required by the invention.
In a third aspect, based on the same inventive concept, an embodiment of the present invention provides a strip steel coiling apparatus, including a coil stripping trolley, a coiler 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 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 main controller provided in an embodiment of the present invention includes: memory 601, processor 602, and code stored on the memory and executable on processor 602, processor 602 implements any of the embodiments of the coil-of-steel coil-stripping control methods described above when the code is executed.
Where in FIG. 6 a bus architecture (represented by bus 600), bus 600 may comprise any number of interconnected buses and bridges, with bus 600 linking together various circuits, including one or more processors, represented by processor 602, and memory, represented by memory 601. Bus 600 may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., as are well known in the art and, therefore, will not be described further herein. The bus interface 605 provides an interface between the bus 600 and the receiver 603 and the 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, while the memory 601 may be used to store data used by the processor 602 in performing operations.
The technical scheme provided by the embodiment of the invention at least has the following technical effects or advantages:
the coil unloading time of the coiling machine can be effectively shortened, the coiling machine can finish the recovery action of preparing for feeding steel in advance, and the working efficiency of coiling equipment is further improved. And when abnormal conditions occur in coil stripping, the fault handling time of production and equipment operation and maintenance is increased.
It will be appreciated by those skilled in the art that embodiments of the 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, and the like) having computer-usable code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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. It is therefore intended that the following claims be interpreted as including the 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 modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (9)

1. The 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 at a first preset position of the rolling mill group 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 at a second preset position of the rolling mill set 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 detected to be at a third preset position of the rolling mill set and the transmission speed is in a third speed range, controlling the coil stripping trolley to move the first target distance to the coiling machine;
Wherein a lower limit of the first speed range is greater than an upper limit of the second speed range, and a lower limit of the second speed range is greater than an upper limit of the third speed range; the first preset position is upstream of the second preset position, and the second preset position is upstream of the third preset position; the first target distance is determined based on a preset safety distance and a target steel coil diameter; the target steel coil diameter is determined based on the expansion distance of the mandrel of the coiling machine and the roll gap value of the auxiliary roller;
Normally feeding all the auxiliary winding rollers in the head control stage of the coiling machine, and opening the No. 2 auxiliary winding roller mechanically interfered with the coil stripping trolley to the maximum roll gap position after the head control is finished; when the coiling machine starts the tail pressing control of the strip tail, the No. 2 auxiliary roller is kept at the position of the maximum roll gap and does not participate in the tail pressing action, the coil unloading trolley moves the first target distance towards the coiling machine, and other auxiliary rollers normally execute the tail pressing control until the primary tail fixing and the secondary tail fixing actions of the steel coil are completed.
2. The method of claim 1, wherein the method further comprises:
Monitoring the coil diameter of the target steel coil 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 unloading trolley to be far away from the coiling machine.
3. The method of claim 1, wherein said controlling the coil-stripping trolley to move the first target distance toward the coiler comprises:
controlling the moving speed of the coil stripping trolley 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.
4. A method according to claim 3, wherein said controlling the movement speed of the coil-stripping trolley based on the distance between the coil-stripping trolley and the coiler comprises:
controlling the coil-stripping trolley to move from an initial position to the coiling machine based on a first speed threshold;
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 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.
5. The method of any one of claims 1-4, 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 towards the coiling machine;
And if the pressure value of the hydraulic cylinder is detected to exceed the preset safety pressure threshold value, controlling the coil stripping trolley to stop moving.
6. The coil unloading control device 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 device comprises:
the data acquisition unit is used for acquiring the transmission speed of the target strip steel;
The triggering judging unit is used for judging whether the coil stripping trolley is controlled to move or not based on the transmission speed;
the first control unit is used for monitoring that the target strip steel is at a first preset position of the rolling mill group, and controlling the coil stripping trolley to move a first target distance to the coiling machine when the transmission speed is in 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 at a second preset position of the rolling mill group and the transmission speed is in 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 at a third preset position of the rolling mill set and the transmission speed is within a third speed range;
Wherein a lower limit of the first speed range is greater than an upper limit of the second speed range, and a lower limit of the second speed range is greater than an upper limit of the third speed range; the first preset position is upstream of the second preset position, and the second preset position is upstream of the third preset position;
Normally feeding all the auxiliary winding rollers in the head control stage of the coiling machine, and opening the No. 2 auxiliary winding roller mechanically interfered with the coil stripping trolley to the maximum roll gap position after the head control is finished; when the coiling machine starts the tail pressing control of the strip tail, the No. 2 auxiliary roller is kept at the position of the maximum roll gap and does not participate in the tail pressing action, the coil unloading trolley moves the first target distance towards the coiling machine, and other auxiliary rollers normally execute the tail pressing control until the primary tail fixing and the secondary tail fixing actions of the steel coil are completed.
7. The apparatus of claim 6, wherein the apparatus further comprises:
The first safety protection unit is used for monitoring the coil diameter of the target steel coil 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 the coil diameter of the target steel coil is monitored to be larger than the coil diameter of the target steel coil.
8. The apparatus of claim 6, wherein the apparatus further comprises:
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 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 the preset safety pressure threshold.
9. The strip steel coiling equipment 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, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the method of any one of claims 1-5 when the program is executed.
CN202210400108.4A 2022-04-15 2022-04-15 Strip steel coiling equipment, steel coil uncoiling control method and device Active CN114700389B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210400108.4A CN114700389B (en) 2022-04-15 2022-04-15 Strip steel coiling equipment, steel coil uncoiling control method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210400108.4A CN114700389B (en) 2022-04-15 2022-04-15 Strip steel coiling equipment, steel coil uncoiling control method and device

Publications (2)

Publication Number Publication Date
CN114700389A CN114700389A (en) 2022-07-05
CN114700389B true CN114700389B (en) 2024-06-04

Family

ID=82174202

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210400108.4A Active CN114700389B (en) 2022-04-15 2022-04-15 Strip steel coiling equipment, steel coil uncoiling control method and device

Country Status (1)

Country Link
CN (1) CN114700389B (en)

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0061557A2 (en) * 1981-03-23 1982-10-06 VOEST-ALPINE Aktiengesellschaft Conveyor for metal sheet coils
JPH105864A (en) * 1996-06-14 1998-01-13 Meidensha Corp Coil drawing control method
JPH115117A (en) * 1997-06-16 1999-01-12 Sumitomo Metal Ind Ltd Coil car and operation method
KR100314840B1 (en) * 1997-06-17 2002-02-28 이구택 Automatic stop control method of tail end of strip of hot coiler
JP2002254110A (en) * 2001-02-27 2002-09-10 Toyoda Suchiirusentaa Kk Coil holding device and operating method for coil car
CN102125945A (en) * 2010-01-13 2011-07-20 宝山钢铁股份有限公司 Method for controlling coil stripping velocity of elevating mechanism of coil transfer car
CN202715655U (en) * 2012-05-30 2013-02-06 中冶南方工程技术有限公司 System for precisely determining coil diameter value of strip steel coiling machine
CN104607496A (en) * 2015-01-28 2015-05-13 山东钢铁股份有限公司 Coil discharging method of jaw type coiling machine
KR101915395B1 (en) * 2017-05-10 2018-11-05 주식회사 포스코 Stripper car and controlling method therefor
CN110064659A (en) * 2019-04-09 2019-07-30 鞍钢股份有限公司 Coil receiving control method for coil unloading trolley of hot rolling coiler
CN112605154A (en) * 2020-11-27 2021-04-06 北京首钢自动化信息技术有限公司 Coiling method of steel coil
CN113351683A (en) * 2021-07-20 2021-09-07 山信软件股份有限公司 Coil stripping trolley positioning method
CN113369302A (en) * 2021-06-09 2021-09-10 武汉钢铁有限公司 Medium carbon steel 65Mn and coiling control method and control system thereof
CN113926859A (en) * 2021-09-06 2022-01-14 武汉钢铁有限公司 Coiling machine control method, device, equipment and medium

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0061557A2 (en) * 1981-03-23 1982-10-06 VOEST-ALPINE Aktiengesellschaft Conveyor for metal sheet coils
JPH105864A (en) * 1996-06-14 1998-01-13 Meidensha Corp Coil drawing control method
JPH115117A (en) * 1997-06-16 1999-01-12 Sumitomo Metal Ind Ltd Coil car and operation method
KR100314840B1 (en) * 1997-06-17 2002-02-28 이구택 Automatic stop control method of tail end of strip of hot coiler
JP2002254110A (en) * 2001-02-27 2002-09-10 Toyoda Suchiirusentaa Kk Coil holding device and operating method for coil car
CN102125945A (en) * 2010-01-13 2011-07-20 宝山钢铁股份有限公司 Method for controlling coil stripping velocity of elevating mechanism of coil transfer car
CN202715655U (en) * 2012-05-30 2013-02-06 中冶南方工程技术有限公司 System for precisely determining coil diameter value of strip steel coiling machine
CN104607496A (en) * 2015-01-28 2015-05-13 山东钢铁股份有限公司 Coil discharging method of jaw type coiling machine
KR101915395B1 (en) * 2017-05-10 2018-11-05 주식회사 포스코 Stripper car and controlling method therefor
CN110064659A (en) * 2019-04-09 2019-07-30 鞍钢股份有限公司 Coil receiving control method for coil unloading trolley of hot rolling coiler
CN112605154A (en) * 2020-11-27 2021-04-06 北京首钢自动化信息技术有限公司 Coiling method of steel coil
CN113369302A (en) * 2021-06-09 2021-09-10 武汉钢铁有限公司 Medium carbon steel 65Mn and coiling control method and control system thereof
CN113351683A (en) * 2021-07-20 2021-09-07 山信软件股份有限公司 Coil stripping trolley positioning method
CN113926859A (en) * 2021-09-06 2022-01-14 武汉钢铁有限公司 Coiling machine control method, device, equipment and medium

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
新钢冷轧连退机组钢卷小车控制策略;邹勇齐;;自动化应用(08);第30-31页 *
酸洗机组卸卷控制系统;赵晓娟;;一重技术(04);第73-76页 *

Also Published As

Publication number Publication date
CN114700389A (en) 2022-07-05

Similar Documents

Publication Publication Date Title
CN105834224B (en) A kind of method for preventing hot rolling layer-cold roller way from chasing after steel
CN103223418B (en) Halting method for scrap steel of hot rolling coilers
CN107520278B (en) The control method of inner ring of steel coil core pulling when preventing coiling machine from unloading volume
CN111438193B (en) Control method and control system for preventing rear-end collision during rolling of rough rolling slab
CN101934293B (en) Method for solving problem of loop charging and drifting of production line of pickling-rolling coupled machine
CN102527739B (en) Time-optimization based automatic speed control equipment and method of reversible hot mill
CN106269994B (en) A kind of hot continuous rolling plate rolling side guide control method
CN106903167B (en) Method and device for controlling pinch roll
CN109590336B (en) Control system and method for steel billet spacing
CN112974534A (en) Tension control method and system for hot rolled strip steel coiler mandrel to strip steel head
CN114700389B (en) Strip steel coiling equipment, steel coil uncoiling control method and device
CN113020279A (en) Uncoiling leveling control method, device and system of leveling unit
CN109590337B (en) Control system and method for preventing steel scrap
CN102284504B (en) Control method of reconstruction of lost coiling tracking of hot rolling production line
CN112872094A (en) Control method and device for auxiliary winding roller of winding machine and storage medium
CN103203366A (en) Automatic centering and winding device and method for hot rolling coil separating line
CN107020299B (en) A kind of tail portion lamination identification monitoring method of hot rolling coiler
CN109500096B (en) Control method and control system for preventing special steel from being rolled into flat coil
CN204429898U (en) Cold rolling sour rolling mill coiling machine coil of strip is loosed core checkout gear
CN111867745A (en) Speed control device of lift pump
RU2620223C2 (en) Inlet section of continuous stan-tandem traveling line of cold roller or travel line connected with cold rolling stan-tandem installation
CN112872099B (en) Method and device for unloading steel coil
CN108927421B (en) Detection method and device for expansion and shrinkage of mandrel of recoiling machine set coiler
CN108787761B (en) Method for preventing strip drawing of continuous rolling mill
JP3072891B2 (en) Extraction abnormality treatment method in hot rolling winder

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant