CN117066278A - Strip steel polishing and tension building control method and control system for offline quality inspection table of cold tandem mill - Google Patents
Strip steel polishing and tension building control method and control system for offline quality inspection table of cold tandem mill Download PDFInfo
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- CN117066278A CN117066278A CN202210507886.3A CN202210507886A CN117066278A CN 117066278 A CN117066278 A CN 117066278A CN 202210507886 A CN202210507886 A CN 202210507886A CN 117066278 A CN117066278 A CN 117066278A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 245
- 239000010959 steel Substances 0.000 title claims abstract description 245
- 238000007689 inspection Methods 0.000 title claims abstract description 111
- 238000005498 polishing Methods 0.000 title claims abstract description 94
- 238000000034 method Methods 0.000 title claims abstract description 76
- 238000005096 rolling process Methods 0.000 claims abstract description 64
- 238000004804 winding Methods 0.000 claims description 14
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- 238000004519 manufacturing process Methods 0.000 description 3
- YKCSYIYQRSVLAK-UHFFFAOYSA-N 3,5-dimethyl-2-phenylmorpholine Chemical compound CC1NC(C)COC1C1=CC=CC=C1 YKCSYIYQRSVLAK-UHFFFAOYSA-N 0.000 description 2
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- 238000003908 quality control method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
- B21B37/48—Tension control; Compression control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B39/14—Guiding, positioning or aligning work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B2015/0057—Coiling the rolled product
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Abstract
The invention discloses a strip steel polishing and tensioning control method for an off-line quality inspection table of a cold continuous rolling mill, which comprises an uncoiler, a quality inspection platform and a coiling machine, wherein a pinch roll of the uncoiler is arranged beside the uncoiler, and a strip threading pinch roll, a first clamping device, a small loop roll and a second clamping device are sequentially arranged at the position of the quality inspection platform along the conveying direction of the strip steel; the strip steel polishing and tension building control method for the offline quality inspection table of the cold continuous rolling mill comprises the following steps: (1) uncoiling; (2) automatic threading control; and (3) automatically establishing and controlling the tension of the strip steel. The equipment and the control method designed based on the invention can realize the functions of automatic threading, automatic tension establishment, automatic strip tension return and the like of the strip steel, can lighten the control load of manual threading and positioning, are beneficial to finding surface defects during manual polishing quality inspection in a flat state of the strip steel, are beneficial to automatic polishing in a tension state of the strip steel, and improve the polishing effect and coverage of the strip steel surface.
Description
Technical Field
The invention relates to a polishing and tension building control method, in particular to a polishing and tension building control method for strip steel.
Background
In recent years, with the increase of steel requirements and the improvement of the technological level, the rolling production speed of modern cold continuous rolling mills, especially five-frame cold continuous rolling mills, is also becoming higher, so that the rhythm of preparing steel coil finished products is also becoming faster, and the interval time between every two coil finished products is also becoming shorter. In such high-speed rolling, it is also required that quality inspection of the strip surface be efficient in order to meet the high-speed, efficient production of cold tandem rolling mills.
In order to perform the surface quality inspection of the strip, one of the prior art is to provide an inspection station at the outlet off-line location of the mill, as shown in fig. 1. Fig. 1 schematically shows a schematic view of a structure for inspecting the surface of a strip by providing an inspection station at an off-line position of the outlet of a rolling mill.
Referring to fig. 1, it can be seen that in the existing technical scheme, after a steel coil is unwound, a tape head of the steel coil to be inspected can be gradually unwound along a platform by driving an uncoiler drum, an uncoiler pinch roll and a tape threading pinch roll, so as to obtain an uncoiled and unwound steel coil, and the uncoiled and expanded steel coil is tiled on the inspection platform. The prior equipment configuration in fig. 1 has the advantage of simple configuration, but the steel coil head is in a free state, so that an operator can easily cause the strip to move when applying external force on the strip, and the operator has to press the strip with the help of legs and feet to avoid the strip from moving during polishing. Therefore, the technical scheme has larger operation load and lower polishing efficiency for operators, and has certain potential safety hazard.
In addition, practice shows that the defects on the surface of the strip steel are difficult to develop under the condition of lacking tension of strip steel stretching, so that the defect detection omission problem is easy to occur. Therefore, further tension inspection of the strip on an off-line inspection platform is a very necessary measure.
In order to realize the tension checking function of the checking platform, devices such as a pinch roll, a coiling machine winding drum, a belt coiling machine and the like are added at a checking outlet in the prior art, as shown in fig. 2. Fig. 2 schematically shows a conventional inspection platform apparatus for inspecting a belt tension, which winds a head of a coil of steel to be inspected around a reel of a coiler by a belt reel-up to establish tension in a strip steel between the reel of the belt reel-up and the reel of the coiler, and which is capable of fixing the head of the strip steel so that the head does not move and improving the surface effect of the strip steel under tension. However, the technical proposal adopts the belt winding-assisting equipment (namely the belt winding-assisting machine) which is easy to cause the deviation of strip steel and the problem of small staggered edge winding; in addition, by adopting the technical scheme, slipping is easy to occur between layers in the threading stage, so that the problem of band steel surface scratch is caused.
In summary, in view of the fact that the existing tension-free strip steel surface inspection platform and the existing tension strip steel surface inspection platform have an unsatisfactory polishing effect, quality defects such as a small staggered edge roll and interlayer scratch are easily generated, the existing tension-free strip steel surface inspection platform needs to be improved currently, and the defects existing in offline polishing of the existing inspection platform are overcome.
Therefore, in order to solve the defects existing in the prior art, the invention designs a novel strip steel polishing and tensioning control system of the offline quality inspection table of the cold continuous rolling mill, and designs a novel strip steel polishing and tensioning control method of the offline quality inspection table of the cold continuous rolling mill based on the novel strip steel polishing and tensioning control system.
Disclosure of Invention
The invention aims to provide a strip steel polishing and tensioning control method for an off-line quality inspection table of a cold continuous rolling mill, and the control method can realize the functions of automatically threading strip steel, automatically establishing tension and the like. The method not only can lighten the control load of manual threading and positioning, but also reduces the safety risk of human-machine combined intervention, is beneficial to finding surface defects during manual polishing quality inspection in a flat state of the strip steel, is beneficial to automatic polishing of a robot polishing head particularly in a tension state of the strip steel, and improves the polishing effect and coverage of the strip steel surface, thereby being convenient for finding and identifying the surface defects of the strip steel and having stable control effect.
In order to achieve the above purpose, the invention provides a strip steel polishing and tensioning control method of a cold continuous rolling mill off-line quality inspection table, which is characterized in that an uncoiler, a quality inspection platform and a coiling machine are arranged along the conveying direction of the strip steel, wherein a pinch roll of the uncoiler is further arranged beside the uncoiler, and a strip threading pinch roll, a first clamping device, a small loop roll and a second clamping device are sequentially arranged at the position of the quality inspection platform along the conveying direction of the strip steel; the strip steel polishing and tension building control method for the offline quality inspection table of the cold continuous rolling mill comprises the following steps:
(1) Uncoiling;
(2) Automatic threading control:
(2a) Controlling the threading pinch roll, the first clamping device and the second clamping device to be in an open position, and enabling the small looper roll to be in a position far away from the strip steel;
(2b) The uncoiler moves towards the first direction at a speed V1 and the pinch roll of the uncoiler moves at a speed V2 which is larger than V1;
(2c) When the strip head reaches the position of the strip threading pinch roll, the strip steel is conveyed towards the first direction by the common point motion of the uncoiler at a speed V1, the pinch roll of the uncoiler at a speed V2 larger than V1 and the strip threading pinch roll at a speed V3 larger than V2;
(2d) When the strip head passes through the second clamping device, the strip threading pinch roll, the uncoiler and the uncoiler pinch roll are stopped, and the second clamping device and the small loop roll are pressed down towards the strip steel;
(3) Automatic establishment and control of strip steel tension:
transmission equipment main speed of quality inspection platform is V set The pinch roll of the uncoiler and the pinch roll for threading are controlled to be V set The strip is transported in a common motion in a second direction opposite to the first direction, while the unwinder is at a set speed V POR ＝V set +V α The strip is conveyed by inching in a second direction opposite to the first direction, and the proportional-integral speed regulator is based on the set speed V of the uncoiler POR And measured velocity V POR_fb The uncoiler is controlled to make the rotating speed ring of the uncoiler in a saturated state, and the output torque reaches the rated torque T of the motor qNOM To produce maximum tension on the strip; wherein V is α For a given stacking velocity;
in the tension establishing process, a moment amplitude limiting upper limit set value T is sent to a current loop of a frequency converter of the uncoiler spc_Max And a torque limiting lower limit set value T spc_Min The method comprises the steps of carrying out a first treatment on the surface of the Wherein T is spc_Max ＝T q ，T spc_Min ＝-T q ，T q Representing a given value of motor torque of the uncoiler;
when the uncoiler measures the speed V POR_fb When the tension of the strip steel is 0, the tension of the strip steel is established, the first clamping device is pressed down towards the strip steel, the strip steel between the first clamping device and the second clamping device is tensioned and straightened, and the actions of the uncoiler, the pinch roll of the uncoiler and the pinch roll for threading the strip steel are stopped.
In the technical scheme, the quality inspection platform of the strip steel is further optimally designed in view of the problems of large operation load, low polishing efficiency, potential safety hazard, easiness in generating secondary defects and the like of the offline quality inspection platform of the conventional cold continuous rolling mill.
In the invention, an uncoiler, a quality inspection platform and a coiling machine are arranged along the conveying direction of strip steel, an uncoiler pinch roll is also arranged beside the uncoiler, and a strip threading pinch roll, a first clamping device, a small loop roll and a second clamping device are sequentially arranged at the position of the quality inspection platform along the conveying direction of the strip steel.
Based on the equipment design, the inventor designs the strip steel polishing and tension building control method of the offline quality inspection table of the cold continuous rolling mill, and the designed technical path of the strip steel polishing and tension building control method of the offline quality inspection table of the cold continuous rolling mill mainly comprises 3 stages, namely: an uncoiling control stage, an automatic threading control stage and an automatic strip steel tension establishment control stage.
The equipment and the control method designed by the invention can realize the functions of automatic threading, automatic tension establishment and the like of the strip steel, can lighten the control load of manual threading and positioning, reduce the safety risk of human-machine combined intervention, are beneficial to finding out surface defects during manual polishing quality inspection in a flat state of the strip steel, are beneficial to automatic polishing of a robot polishing head particularly in a tension state of the strip steel, and improve the polishing effect and coverage of the strip steel surface, thereby being convenient for finding out and identifying the surface defects of the strip steel.
Further, in the method for controlling the polishing and tensioning of the strip steel of the off-line quality inspection table of the cold continuous rolling mill, v2= 1.05V1 is performed in the step (2).
Further, in the method for controlling the polishing and tensioning of the strip steel of the off-line quality inspection table of the cold continuous rolling mill, v3= 1.1V1 is performed in the step (2).
Further, in the method for controlling the polishing and tensioning of the strip steel of the offline quality inspection table of the cold continuous rolling mill, in the step (3), V α The value range of the superposition speed is 0-10 mpm.
Further, in the method for controlling the polishing and tensioning of the strip steel of the off-line quality inspection table of the cold continuous rolling mill, in the step (3), the moment given value T of the motor of the uncoiler q The method is calculated according to the following formula:
wherein P is POR The rated power of the uncoiler motor is represented, and the unit parameter is kw; d represents the diameter of the steel coil to be inspected, and the unit parameter of the steel coil is mm; GR is a gear ratio; n is n POR The unit parameter is rpm, which is the actual rotation speed of the uncoiler winding drum; i POR The unit parameter of the rated current is A; m is M POR The unit parameter of the uncoiler moment required by the tension of the strip steel is Nm.
Further, in the strip steel polishing and tension building control method of the offline quality inspection table of the cold continuous rolling mill, the uncoiler moment M required by the strip steel tension building is realized POR The method is calculated according to the following formula:
wherein T represents a set value of the tension of the strip steel, which is obtained based on the thickness h and the width W of the strip steel, and the unit single quantity of the thickness h and the width W of the strip steel is mm.
Further, in the method for controlling the polishing and tensioning of the strip steel of the off-line quality inspection table of the cold continuous rolling mill, the method further comprises the following step (4) after the step (3): and controlling the band head of the band steel to return towards the second direction.
Accordingly, another object of the present invention is to provide a system for controlling the polishing and tensioning of a strip steel on an off-line quality inspection table of a cold continuous rolling mill, by which the above control method of the present invention can be effectively implemented, and the system is particularly suitable for quality inspection of a cold-rolled strip steel with extremely high surface requirements.
In order to achieve the above purpose, the invention provides a control system for polishing and tensioning a strip steel of an off-line quality inspection table of a cold continuous rolling mill, which implements the method provided by the invention, and comprises the following steps: the device comprises an uncoiler, a quality inspection platform and a coiling machine, wherein the uncoiler, the quality inspection platform and the coiling machine are arranged along the conveying direction of the strip steel, an uncoiler pinch roll is further arranged beside the uncoiler, and a strip threading pinch roll, a first clamping device, a small loop roll and a second clamping device are sequentially arranged at the position of the quality inspection platform along the conveying direction of the strip steel.
Further, in the cold continuous rolling mill off-line quality inspection table strip steel polishing and tensioning control system, the system also comprises a position detection device which detects whether the strip head reaches the position of the strip threading pinch roll.
Furthermore, in the strip steel polishing and tensioning control system of the offline quality inspection table of the cold continuous rolling mill, the system also comprises a position detection device comprising a positioning grating.
Compared with the prior art, the strip steel polishing and tension building control method for the offline quality inspection table of the cold continuous rolling mill has the following advantages:
in view of the problems of large operation load, low polishing efficiency, potential safety hazard, easiness in generating secondary defects and the like of the offline quality inspection platform of the conventional cold continuous rolling mill, the invention designs a novel system and a novel method for controlling strip steel polishing and tension building of the offline quality inspection platform of the cold continuous rolling mill.
The control system and the control method designed by the invention can realize the functions of automatic strip steel threading, automatic tension establishment, automatic strip tension return and the like, can lighten the control load of manual strip threading and positioning, reduce the safety risk of human-machine combined intervention, are beneficial to finding surface defects during manual polishing quality inspection in a strip steel leveling state, are beneficial to automatic polishing of a robot polishing head particularly in a strip steel tension state, and improve the polishing effect and coverage of the strip steel surface, thereby being convenient for finding and identifying the strip steel surface defects and having stable control effect.
1. Compared with the traditional complex modes of a winding drum, a belt winding assisting device and the like adopted in the prior art, the strip steel polishing and tensioning control system of the offline quality inspection table of the cold continuous rolling mill, which is designed by the invention, adopts a plane clamping device mode (namely, two plane clamping devices, namely, a first clamping device and a second clamping device are arranged), is easy to process and replace, therefore, the manufacturing cost is lower, the replacement is convenient, the strip steel polishing and tensioning control system can be reused, and the cost can be saved for enterprises.
2. The strip steel polishing and tensioning control method of the off-line quality inspection table of the cold continuous rolling mill is novel, and more efficient strip threading control is realized by adopting the method, so that the strip threading distance of the strip head of the steel coil is shorter than that of the strip head of the steel coil in a traditional winding drum mode, the strip steel inspection time can be shortened, and the high-speed rolling of the rolling mill is facilitated.
3. The invention adopts a more flexible strip steel tension control method, the tension established for the strip steel to be checked is stable and can be set, the tension is more matched with the strip steel specification, the strip steel to be checked is in a stretched state, a polishing plane is easy to establish, the manual polishing and wiping on the flat strip steel surface can be ensured, the polishing efficiency is improved, and defects are easy to find. Of course, when the mechanical arm is adopted for automatic polishing, the polishing head is more easily attached to the surface of the strip steel, the surface polishing quality can be improved, and the manual load is effectively reduced.
4. The control method for polishing and tensioning the strip steel of the off-line quality inspection table of the cold continuous rolling mill provided by the invention is capable of absorbing the correction control of the strip head distance, and can realize the automatic control of strip head threading and rolling of the strip steel to be inspected, so that the strip head positioning effect is high in stability.
5. The method for controlling the polishing and tensioning of the strip steel of the off-line quality inspection table of the cold continuous rolling mill can bring considerable benefits to enterprises, can provide a good plane straightening state for the steel coil to be inspected, improves polishing effect, and is easy to polish out and find hidden defects, so that batch defective steel coils are prevented from flowing out to a downstream unit or market, a foundation is laid for further improving the steel coil forming materials, and economic benefits brought by improvement of yield and shortening of inspection time are brought.
Drawings
Fig. 1 schematically shows a schematic view of a structure for inspecting the surface of a strip by providing an inspection station at an off-line position of the outlet of a rolling mill.
Fig. 2 schematically shows a schematic view of a conventional inspection platform device for belt tension inspection.
FIG. 3 is a schematic diagram of an apparatus for controlling the polishing and stretching of a strip steel in an off-line quality inspection station of a cold continuous rolling mill according to an embodiment of the invention.
FIG. 4 is a flowchart showing the steps of the method for controlling the polishing and tensioning of the strip steel of the off-line quality inspection table of the cold continuous rolling mill according to an embodiment of the invention.
FIG. 5 schematically shows an automatic threading control flow chart of the method for controlling the polishing and tensioning of the strip steel of the offline quality control table of the cold continuous rolling mill in one embodiment of the invention.
FIG. 6 schematically shows a flow chart of the automatic strip tension establishment control method for the off-line quality inspection table strip steel polishing and tension establishment of the cold continuous rolling mill according to one embodiment of the invention.
Detailed Description
The method for controlling the polishing and tension of the strip steel of the off-line quality inspection table of the cold continuous rolling mill is further explained and illustrated by combining specific embodiments, but the explanation and the illustration do not limit the technical scheme of the invention inappropriately.
Unlike the conventional strip steel tension inspection table designed in fig. 1 and 2, the inventor optimally designs and constructs a new strip steel polishing and tension control system of the offline quality inspection table of the cold continuous rolling mill, which can be used for implementing the strip steel polishing and tension control method of the offline quality inspection table of the cold continuous rolling mill designed in the invention.
FIG. 3 is a schematic diagram of an apparatus for controlling the polishing and stretching of a strip steel in an off-line quality inspection station of a cold continuous rolling mill according to an embodiment of the invention.
As shown in fig. 3, in this embodiment, the brand new control system for polishing and tensioning the strip steel of the offline quality inspection table of the cold continuous rolling mill designed by the inventor may specifically include: a coiler (not shown in fig. 3), an uncoiler 1, an uncoiler pinch roll 3, a quality inspection platform 4, a pinch roll 5 for threading, a first gripper 6, a small looper 7, a second gripper 8 and a detection device 9.
It should be noted that, although the coiler is not shown in fig. 3, the coiler and its installation position according to the present embodiment may be set with reference to the conventional embodiment shown in fig. 2.
In the invention, an uncoiler 1, a quality inspection platform 4 and a coiling machine are sequentially arranged along the conveying direction of the strip steel 2 to be inspected, and an uncoiler pinch roll 3 is correspondingly arranged beside the uncoiler 1 for driving the strip head of the strip steel 2 to be inspected to uncoil or coil. Wherein, on the quality inspection platform 4, the strip steel 2 to be inspected can be unfolded on the surface of the strip steel.
Correspondingly, as can be seen by further reference to fig. 3, at the position of the quality inspection platform 4, a pinch roll 5, a first gripper 6, a small looper 7 and a second gripper 8 are arranged in sequence along the conveying direction of the strip 2. Wherein the threading pinch roller 5 is used for pressing the strip 2 to be detected and driving forward (toward a first direction) or backward (toward a second direction opposite to the first direction); the first clamping device 6 is used for clamping the strip steel at the inlet; the small loop roller 7 is used for assisting in strip steel tensioning and establishing small loop release tension; the second clamping device 8 is used for clamping the strip steel at the outlet.
In addition, in the system designed by the invention, a position detection device 9 is also arranged, which can be specifically selected as a positioning grating for detecting whether the belt head reaches the position of the belt threading pinch roller.
The control system for polishing and tensioning the strip steel of the off-line quality inspection table of the cold continuous rolling mill designed based on the figure 3 can be used for implementing the control method for polishing and tensioning the strip steel of the off-line quality inspection table of the cold continuous rolling mill designed by the invention.
FIG. 4 is a flowchart showing the steps of the method for controlling the polishing and tensioning of the strip steel of the off-line quality inspection table of the cold continuous rolling mill according to an embodiment of the invention.
As shown in fig. 4, in this embodiment, the method for controlling the polishing and tensioning of the strip steel of the offline quality inspection table of the cold continuous rolling mill specifically includes the following steps:
(1) Uncoiling: and obtaining the specification and the coil diameter data of the strip steel coil of the upper uncoiler, and implementing uncoiling control.
In the present embodiment, the unwinding stage specifically includes the following three steps, and the working relationships of the steps are as follows:
1.1, acquiring thickness h and width W data of the strip steel 2 to be detected on the uncoiler 1, acquiring steel coil diameter data D of the strip steel 2 to be detected, and then executing the step 1.2.
1.2, based on the strip steel thickness h and the strip steel width W data, obtaining a strip steel tension set value T through a table look-up method according to a strip steel tension T setting table in the following table 1, judging whether the T value is reasonable, executing the step 1.3 if the strip steel tension set value T is judged to be reasonable, otherwise, outputting an alarm, and prompting an abnormal alarm of the tension set value.
Table 1.
Wherein, the unit parameter of the thickness h of the strip steel is mm; the unit parameter of the width W of the strip steel is mm; the unit parameter of the steel coil diameter data D is mm.
And 1.3, executing uncoiling control, controlling the uncoiler 1 to be uncoiled in place, pressing the uncoiler pinch roll 3 in place, and finishing the control after the completion.
(2) Automatic threading control: and (3) automatically setting the transmission matching speeds V, controlling the auxiliary equipment to act, and controlling the position of the head of the strip steel 2 to be inspected so as to realize automatic threading to the target position.
In the invention, the control flow of the automatic threading stage is specifically referred to fig. 5, and fig. 5 schematically shows the automatic threading control flow chart of the off-line quality inspection table strip steel polishing and tension building control method of the cold continuous rolling mill in one embodiment.
As can be seen from fig. 5, in the present embodiment, the automatic threading control stage mainly includes the following 7 steps, and the working relationships of the steps are as follows:
2.1, restoring each execution device to an initial position: the pinch rolls 5 are controlled to be opened in place, the first clamp 6 and the second clamp 8 are in the open position, and the small loopers 7 are in a position away from the strip 2.
2.2, judging whether the equipment arrives at the initial position, if so, if not, continuing to execute the step 2.1; if "Y" is reached, the next step 2.3 is performed.
2.3, executing an automatic threading process, wherein a winding drum M1 of the uncoiler 1 conveys the strip steel towards a first direction at a speed V1 and a pinch roll M2 of the uncoiler at a speed V2 which is larger than V1, namely, the strip steel is conveyed forwards; in this embodiment, v2= 1.05V1 is controlled.
2.4, judging whether the head of the strip steel 2 to be checked reaches the position of the strip threading pinch roll 5, if the head is N, and if the head does not reach the position of the strip threading pinch roll 5, continuing to execute the step 2.3; if "Y" it means that the position of the threading pinch roller 5 is reached, the next step 2.5 is performed.
2.5, continuously and automatically threading, controlling a winding drum M1 of the uncoiler 1 to convey the strip steel towards a first direction at a speed V1, controlling a pinch roll M2 of the uncoiler to convey the strip steel at a speed V2 larger than V1 and controlling a threading pinch roll M3 to convey the strip steel towards a first direction at a speed V3 larger than V2; in this embodiment, v3= 1.1V1 is controlled.
And 2.6, judging whether the strip head of the strip steel 2 to be inspected reaches the positioning grating of the position detection device 9, and shielding the position. If the position of the positioning grating is not reached, the step 2.5 is continuously executed; if "Y" is reached to the position of the positioning grating, the next step 2.7 is performed.
2.7, the threading pinch roll M3, the winding drum M1 of the uncoiler 1 and the uncoiler pinch roll M2 are stopped, the second clamp 8 and the small looper roll 7 are pressed down towards the strip steel, and the control flow is ended.
(3) Automatic establishment and control of strip steel tension: according to the strip steel thickness h, the strip steel width w and the steel coil diameter data D, the strip steel tension moment is automatically set, and variable strip steel tension automatic tension building control is implemented.
In the invention, the control flow for automatically establishing the strip steel tension is specifically referred to fig. 6, and fig. 6 schematically shows the control flow for automatically establishing the strip steel tension under one implementation mode of the strip steel polishing and tension establishing control method of the offline quality inspection table of the cold continuous rolling mill.
As can be seen from fig. 6, in the present embodiment, the automatic control stage for establishing the tension of the strip steel mainly includes the following 6 steps, and the working relationships of the steps are as follows:
3.1, table look-up is carried out according to the strip thickness h and the strip width W of the strip 2 to be checked to obtain a strip tension set value T, and the moment M required by the strip tension of the uncoiler to be established is calculated according to the diameter data D of the steel coil POR Calculating the moment set value T of the uncoiler motor q 。
Uncoiler moment M required for strip steel tension establishment POR The method is calculated according to the following formula:
moment given value T of uncoiler motor q The method is calculated according to the following formula:
wherein P is POR Indicating rated power of motor of uncoiler, its unit parameter is kwThe method comprises the steps of carrying out a first treatment on the surface of the D represents the diameter of the steel coil to be inspected, and the unit parameter of the steel coil is mm; GR is a gear ratio; n is n POR The unit parameter is rpm, which is the actual rotation speed of the uncoiler winding drum; i POR The unit parameter of the rated current is A; m is M POR The unit parameter of the uncoiler moment required by the tension of the strip steel is Nm.
3.2, designing the main speed of the transmission equipment of the quality inspection platform to be V set The pinch roll 3 and the threading pinch roll 5 of the uncoiler are controlled to be V set The strip is transported in a common motion in a second direction, opposite to the first direction, while the reels of the unwinder 1 are at a set speed V POR ＝V set +V α The belt steel 2 is conveyed in a second direction opposite to the first direction, and the integrated set speed value V is obtained POR To the frequency converter of the uncoiler to make the actual value V of the drum speed of the uncoiler 1 POR_fb And a set speed value V POR There is always a deviation between them. Wherein V is α For a given stacking speed, the value range can be controlled between 0 and 10mpm.
Correspondingly, the proportional-integral speed regulator can be based on the set speed V of the unwinder POR And measured velocity V POR_fb The uncoiler is controlled, the output of the speed ring is controlled to reach 100 percent, so that the saturated state of the rotating speed ring of the uncoiler is realized, and the output torque reaches the rated torque T of the motor qNOM To produce maximum tension on the strip.
3.3, executing the step of 'running a reel moment limiter', realizing variable control of strip steel tension established by an inspection table, and avoiding that all specifications of strip steel use 100% of rated moment T in the step of 3.2 qNOM Corresponding tension is established, so that the deformation or the abnormality of the strip steel is avoided.
In the tension establishing process, a moment amplitude limiting upper limit set value T is sent to a current loop of a frequency converter of the uncoiler spc_Max And a torque limiting lower limit set value T spc_Min Corresponding to the set value of the strip steel tension, namely T spc_Max And T spc_Min The value is sent to the current loop, the variable torque limiting control is carried out by the frequency converter, the tension established by the strip steel of the inspection table is indirectly controlled, and the calculation formula is as followsThe following steps:
T spc_Max ＝T q
T spc_Min ＝-T q
wherein T is q Representing the moment given value of the uncoiler motor.
3.4, judging the actual measurement speed V of the uncoiler POR_fb When the logic value is 'false', i.e. the measured speed of the uncoiler is not 0, jumping to step 3.2 to execute 'saturated running of the strip steel reverse speed controller'; when the logic value is "True", namely the actual measurement speed V of the coiling machine POR_fb 0, the next step 3.5 is performed.
3.5, controlling the first clamping device 6 to press down towards the strip steel to clamp the strip steel, so that the strip steel between the first clamping device 6 and the second clamping device 8 is tensioned and straightened, the strip steel is flat, and the polishing surface is convenient to check.
And 3.6, after the strip steel is tensioned, performing saturation stop of a strip steel reverse speed controller, stopping motor actions of the uncoiler, the pinch roll and the strip threading pinch roll, enabling the motor to be in a static state, cutting off strip steel directional force, providing a strip steel surface inspection safety environment, and finishing control after the execution is finished.
(4) And controlling the band head of the band steel to return towards the second direction.
In the present invention, after the end of the surface quality inspection of the strip, the strip head of the strip can be further controlled to return toward the second direction opposite to the first direction.
At this time, the first clamp 6 and the second clamp 8 are opened, and the small looper roll 7 is located at a position away from the strip steel; the uncoiler winding drum M1, the uncoiler pinch roll M2 and the strip threading pinch roll M3 jointly move to convey the strip steel towards the second direction, and the strip steel starts to be rewound on the uncoiler. And, the strip length correction may be performed to correct the strip head-to-uncoiler remaining length L to X mm when the strip head passes through the positioning grating (signal on→off).
Correspondingly, the strip steel is conveyed and retreated towards the second direction, when the calculated strip head residual length L of the strip steel is smaller than the set X1, the uncoiler winding drum M1, the uncoiler pinch roll M2 and the strip threading pinch roll M3 can be controlled to stop to perform group inching, the strip head of the strip steel 2 is stopped below the pinch roll M3, and the strip head return control is finished.
Examples
In order to better illustrate the specific application of the strip steel polishing and tension building control method of the offline quality inspection table of the cold continuous rolling mill, the invention is verified by a specific example.
In this example, the steel strip 2 to be inspected is designed to have a strip thickness h=0.7 mm, a strip width w=1200 mm, and a coil diameter d=1830 mm.
In the uncoiling stage of the step (1), data of the specification thickness h=0.7mm and the width W=1200mm of the uncoiler steel coil are obtained, the coil diameter data D=1830 mm of the steel coil is obtained, the set value of the strip steel tension is obtained through a table 1 table look-up method, the value of the T11 is judged to be reasonable, the coiling block of the uncoiler 1 is controlled to be expanded in place, and the pinch roll 3 of the uncoiler is pressed in place.
In the automatic threading control stage of the step (2), controlling the threading pinch roll, the first clamp and the second clamp to be in an open position, and the small looper roll to be in a position far away from the strip steel; the reel M1 of the unwinder 1 then feeds the strip forward in the first direction at a speed of 15mpm and the pinch roll M2 of the unwinder at a speed of 15.75 mpm.
When the head reaches the position of the threading pinch roll, automatic threading is continued, and the uncoiler is controlled to continue to convey the strip in the first direction at a speed of 15mpm, the uncoiler pinch roll M2 is controlled to continue to convey the strip at a speed of 15.75mpm, and the threading pinch roll M3 is controlled to continue to convey the strip at a speed of 16.5 mpm.
When the strip head of the steel strip passes through the second clamping device and reaches the aim that the positioning grating shields light, the strip threading pinch roll, the uncoiler and the uncoiler pinch roll are stopped, the second clamping device and the small loop roll are pressed down towards the steel strip, and the strip threading process is finished.
In the automatic strip steel tension establishment control stage of the step (3), according to the strip steel thickness h=0.7 mm/strip steel width w=1200 mm and the coil diameter D=1830 mm, a strip steel tension set value T can be obtained by table lookup, and the moment M required by the uncoiler strip steel tension establishment is automatically calculated by a program POR And calculating to obtain a given value T of the motor torque of the uncoiler q 。
Correspondingly, the main speed of the transmission equipment of the quality inspection platform is set as V set Control the unwinder pinch roll M2 and the threading pinch roll M3 to move the conveyor strip in a common point in a second direction opposite the first direction at a speed of 15mpm =15 mpm. At the same time, an additional superposition speed V is set α =5 mpm, the reel M1 of the unwinder is set at a speed V POR ＝V set +V α I.e. 20mpm, also jogs the conveyor belt in a second direction opposite to the first direction.
The set additional superposition velocity V α Will be sent to the frequency converter of the uncoiler to make the set speed V of the uncoiler winding drum POR And measured velocity V POR_fb There is always a deviation between them. Proportional-integral speed regulator is based on the set speed V of the unwinder POR And measured velocity V POR_fb The uncoiler is controlled, the output of a speed ring reaches 100%, the saturation state of the rotating speed ring of the uncoiler is realized, and the output torque reaches the rated torque T of a motor qNOM To produce maximum tension on the strip.
In the tension establishing process, a moment amplitude limiting upper limit set value T is sent to a current loop of a frequency converter of the uncoiler spc_Max And a torque limiting lower limit set value T spc_Min I.e. T spc_Max And T spc_Min The value is sent to the current loop, and the variable torque limiting control is carried out by the frequency converter to indirectly control the tension of the strip steel on the quality inspection platform.
When the uncoiler measures the speed V POR_fb When the tension of the strip steel is 0, the tension of the strip steel is established, the first clamping device is pressed down towards the strip steel, the strip steel between the first clamping device and the second clamping device is tensioned and straightened, the strip steel is smooth, and the polishing surface is convenient to check. After the strip steel is tensioned, the uncoiler, the pinch roll and the strip threading pinch roll are stopped, so that motors of all devices are in a static state, and the force in the strip steel direction is cut off, thereby providing a safety environment for strip steel surface inspection.
In this case, the inspection of the surface quality of the strip steel can be realized, and when the inspection of the surface quality of the strip steel is finished, the strip head return control can be further executed, wherein the strip head return control process is the same as that described above, and the description is omitted here.
From the above, it can be seen that, through the selection of the control logic and the parameters, the strip steel outer plate with the thickness h=0.7 mm, the width w=1200 mm and the width d=1830 mm to be tested can automatically complete the processes of threading, tension establishment and the like in the polishing and tensioning process of the off-line inspection table.
The technical scheme of the invention can lead the strip steel to be tested to be in a straight state, is convenient for the mechanical polishing head to be attached to the surface of the strip steel, is beneficial to the polishing head to reciprocally rub the surface of the strip steel, improves the quality of the polishing surface and is convenient for observing the surface defects of the strip steel. In addition, after polishing, the technical scheme designed by the invention can automatically finish strip steel unloading and automatic rolling to an uncoiler, and the whole process is automatically operated, so that the method has the characteristics of high operation efficiency, good polishing effect, safety and the like.
It should be noted that the combination of the technical features in the present invention is not limited to the combination described in the claims or the combination described in the specific embodiments, and all the technical features described in the present invention may be freely combined or combined in any manner unless contradiction occurs between them.
It should also be noted that the above-recited embodiments are merely specific examples of the present invention. It is apparent that the present invention is not limited to the above embodiments, and similar changes or modifications will be apparent to those skilled in the art from the present disclosure, and it is intended to be within the scope of the present invention.
Claims (10)
1. A strip steel polishing and tensioning control method for an off-line quality inspection table of a cold continuous rolling mill is characterized in that an uncoiler, a quality inspection platform and a coiling machine are arranged along the conveying direction of the strip steel, a pinch roll of the uncoiler is further arranged beside the uncoiler, and a strip threading pinch roll, a first clamping device, a small loop roll and a second clamping device are sequentially arranged at the position of the quality inspection platform along the conveying direction of the strip steel; the strip steel polishing and tension building control method for the offline quality inspection table of the cold continuous rolling mill comprises the following steps:
(1) Uncoiling;
(2) Automatic threading control:
(2a) Controlling the threading pinch roll, the first clamping device and the second clamping device to be in an open position, and enabling the small looper roll to be in a position far away from the strip steel;
(2b) The uncoiler moves towards the first direction at a speed V1 and the pinch roll of the uncoiler moves at a speed V2 which is larger than V1;
(2c) When the strip head reaches the position of the strip threading pinch roll, the strip steel is conveyed towards the first direction by the common point motion of the uncoiler at a speed V1, the pinch roll of the uncoiler at a speed V2 larger than V1 and the strip threading pinch roll at a speed V3 larger than V2;
(2d) When the strip head passes through the second clamping device, the strip threading pinch roll, the uncoiler and the uncoiler pinch roll are stopped, and the second clamping device and the small loop roll are pressed down towards the strip steel;
(3) Automatic establishment and control of strip steel tension:
transmission equipment main speed of quality inspection platform is V set The pinch roll of the uncoiler and the pinch roll for threading are controlled to be V set The strip is transported in a common motion in a second direction opposite to the first direction, while the unwinder is at a set speed V POR ＝V set +V α The strip is conveyed by inching in a second direction opposite to the first direction, and the proportional-integral speed regulator is based on the set speed V of the uncoiler POR And measured velocity V POR_fb The uncoiler is controlled to make the rotating speed ring of the uncoiler in a saturated state, and the output torque reaches the rated torque T of the motor qNOM To produce maximum tension on the strip; wherein V is α For a given stacking velocity;
in the tension establishing process, a moment amplitude limiting upper limit set value T is sent to a current loop of a frequency converter of the uncoiler spc_Max And a torque limiting lower limit set value T spc_Min The method comprises the steps of carrying out a first treatment on the surface of the Wherein T is spc_Max ＝T q ，T spc_Min ＝-T q ，T q Representing a given value of motor torque of the uncoiler;
when the uncoiler measures the speed V POR_fb When the tension of the strip steel is 0, the tension of the strip steel is established, the first clamping device is pressed down towards the strip steel, the strip steel between the first clamping device and the second clamping device is tensioned and straightened, and the uncoiler, the pinch roll of the uncoiler and the threading clamp are stoppedThe roller acts.
2. The method for controlling the polishing and tensioning of strip steel at an off-line quality inspection station of a cold continuous rolling mill according to claim 1, wherein v2= 1.05V1 is adopted in the step (2).
3. The method for controlling the polishing and tensioning of the strip steel at the off-line quality inspection station of the cold continuous rolling mill according to claim 1, wherein v3= 1.1V1 is adopted in the step (2).
4. The method for controlling the polishing and tensioning of the strip steel of the off-line quality inspection table of the cold continuous rolling mill according to claim 1, wherein in the step (3), V α The value range of the superposition speed is 0-10 mpm.
5. The method for controlling the polishing and tensioning of the strip steel of the off-line quality inspection table of the cold continuous rolling mill according to claim 1, wherein in the step (3), the moment given value T of the motor of the uncoiler q The method is calculated according to the following formula:
wherein P is POR Indicating rated power of a motor of the uncoiler; d represents the diameter of the steel coil to be inspected; GR is a gear ratio; n is n POR The actual rotation speed of the winding drum of the uncoiler; i POR Rated current for a motor of the uncoiler; m is M POR Representing the uncoiler moment required by the strip to build tension.
6. The method for controlling the polishing and tensioning of a strip steel on an off-line quality inspection table of a cold continuous rolling mill according to claim 5, wherein the uncoiler moment M required for the strip steel to build tension is provided POR The method is calculated according to the following formula:
where T represents a strip tension set point, which is obtained based on strip thickness h and width W.
7. The method for controlling the polishing and tensioning of the strip steel of the off-line quality inspection table of the cold continuous rolling mill according to claim 1, further comprising the following steps (4): and controlling the band head of the band steel to return towards the second direction.
8. A cold continuous rolling mill off-line quality inspection station strip steel polishing and tensioning control system, characterized in that the method of any one of claims 1-7 is implemented, and the cold continuous rolling mill off-line quality inspection station strip steel polishing and tensioning control system comprises: the device comprises an uncoiler, a quality inspection platform and a coiling machine, wherein the uncoiler, the quality inspection platform and the coiling machine are arranged along the conveying direction of the strip steel, an uncoiler pinch roll is further arranged beside the uncoiler, and a strip threading pinch roll, a first clamping device, a small loop roll and a second clamping device are sequentially arranged at the position of the quality inspection platform along the conveying direction of the strip steel.
9. The cold continuous mill off-line quality inspection stand strip steel grinding and tensioning control system of claim 8, further comprising a position detection device that detects whether the strip head has reached the position of the strip threading pinch roll.
10. The cold continuous mill off-line quality inspection station strip steel polishing and tensioning control system of claim 9, wherein the position detection device comprises a positioning grating.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210507886.3A CN117066278A (en) | 2022-05-10 | 2022-05-10 | Strip steel polishing and tension building control method and control system for offline quality inspection table of cold tandem mill |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210507886.3A CN117066278A (en) | 2022-05-10 | 2022-05-10 | Strip steel polishing and tension building control method and control system for offline quality inspection table of cold tandem mill |
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