CN117340012A - Control method for avoiding inclination in transportation process of threaded steel roller way - Google Patents
Control method for avoiding inclination in transportation process of threaded steel roller way Download PDFInfo
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- CN117340012A CN117340012A CN202311406416.9A CN202311406416A CN117340012A CN 117340012 A CN117340012 A CN 117340012A CN 202311406416 A CN202311406416 A CN 202311406416A CN 117340012 A CN117340012 A CN 117340012A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 231
- 239000010959 steel Substances 0.000 title claims abstract description 231
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000004519 manufacturing process Methods 0.000 claims abstract description 39
- 238000005096 rolling process Methods 0.000 claims description 8
- 239000002436 steel type Substances 0.000 claims description 7
- 230000001934 delay Effects 0.000 claims description 2
- 238000010008 shearing Methods 0.000 abstract description 7
- 238000013178 mathematical model Methods 0.000 abstract description 3
- 238000005299 abrasion Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
-
- 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
-
- 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
- B21B15/0007—Cutting or shearing the product
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
- B21B38/06—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product for measuring tension or compression
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Metal Rolling (AREA)
Abstract
The invention discloses a control method for avoiding inclination in the transportation process of threaded steel roller tracks, which is characterized in that different attributes influencing the service life of a blade are set for threaded steel of different specifications, then the multiplying power relation among different attributes is calculated according to historical data, so that the total steel passing amount of one attribute is calculated as a reference value, the threaded steel of all the attributes is converted into the attribute corresponding to the reference value in production, and then the total steel passing amount and the reference value are calculated to determine the period for replacing the blade. By means of establishing a mathematical model, a relatively accurate blade replacement period is predicted, quality in the production process of deformed steel bars is improved, inclined and subsequent series of quality problems caused by uneven shearing end surfaces due to excessive use of blades are avoided, and the competitiveness of enterprises is improved.
Description
Technical Field
The invention relates to a control method, in particular to a control method for avoiding inclination in the transportation process of a threaded steel roller way, and belongs to the technical field of steel rolling.
Background
The newly built steel plant has the following characteristics of high yield and operation of finishing double cooling beds. Therefore, corresponding to the length of a roller way conveying line, the abrasion of a roller way is unavoidable in the roller way conveying process, and the roller way abrasion is generally uneven due to the influences of equipment installation precision and the like, so that in the collision plate alignment process, if the residence time is too long, the screw thread steel can incline to one side under the action of roller way friction force, and the screw thread steel can cause bending or loose bundling when the steel is separated from a subsequent chain and the bundling is carried out by a bundling machine. In addition, the shearing flatness of the end part of the deformed steel bar is also an important influencing factor, along with the abrasion of the cold shearing blade, the shearing section is gradually uneven, even the defects such as a triangular head elbow and the like appear, the deformed steel bar cannot be aligned through a straight collision plate, and the deformed steel bar has defects to incline. Therefore, controlling the standard of the steel passing amount of the cold shear blade and avoiding the tilting of the deformed steel bar caused by the idle running of the roller way are two methods for ensuring the flatness in the deformed steel bar transportation process.
For the excessive steel quantity of the blade, the influence of different specifications on the steel grade is large, and one production line usually needs to produce a plurality of specifications, wherein the excessive steel quantity beside a large specification is smaller than that beside a small specification, the diameter of the large specification is large, and the shearing force is large. The amount of steel passing may be defined herein as the tonnage of deformed steel produced from the time of use on-line to the time of small batches of shear irregularities or bends. The difficulty here is how to accurately predict the offline time of the blade under the condition of the order quantity (various specifications), so that replacement is performed in advance, and inclination caused by uneven end surfaces of the deformed steel bars is avoided. For example, the single-sided steel passing amount of the blade is approximately 3w ton, the daily output of one production line is 4500-5000 ton, and then the steel passing amount of 3w ton is found for a period of approximately 1 week. The screw thread steel has low temperature and high performance strength, and has great influence on the service life of the blade and shortened service life. Therefore, determining the influence factors of the steel types on the service life of the blade is a key for accurately predicting the next blade replacement time.
Disclosure of Invention
The invention aims to provide a control method for avoiding inclination in the transportation process of a deformed steel bar roller way, and solves the technical problem of deformed steel bar inclination in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
a control method for avoiding inclination in the transportation process of a threaded steel roller way comprises the following steps:
s1, determining the number n of specifications of deformed steel bars produced by a deformed steel bar production line, and then determining the number m of steel types of the deformed steel bars of each specification, wherein n x m types of different attributes of the deformed steel bar production line affect the service life of a blade;
s2, counting total yield of deformed steel bars with different attributes in the period from the time of insert loading to offline of the deformed steel bar production line, and making a corresponding steel passing amount table;
s3, setting different attributes affecting the service life of the blade as A 1 、A 2 、···，A n*m For a group of the steel passing amount tables, attribute A 1 The corresponding steel passing amount is S 1 Attribute A 2 The corresponding steel passing amount is S 2 Property A n*m The corresponding steel passing amount is S n*m The total steel passing amount corresponding to all the attributes is S all The column equation is as follows:
S 1 *A 1 +S 2 *A 2 +···+S n*m *A n*m =S all ；
s4, selecting enough groups of steel-passing table data, and concatenating the equations to obtain a polynomial concatenated equation;
s5, solving the obtained continuous equation of the polynomial to obtain A 2 =P 1 *A 1 ，A 3 =P 2 *A 2 ，···，A n*m =P n*m-1 *A n*m-1 ；
S6, setting attribute A 1 Assuming, as a reference attribute, the steel grade of all rolling attributes A1 during the period from the insert on-line to the insert off-line of the deformed steel bar production line, the steps ofS5 substituting the result into the equation of the step S3 can obtain the whole rolling attribute A 1 Total steel passing S of steel grade all1 Will all roll properties A 1 Total steel passing S of steel grade all1 Setting as a steel passing amount reference D;
s7, converting all the attributes into attributes A according to the steel passing amount reference D 1 The replacement time can be reversely pushed according to the steel passing amount of the specification.
Further, in the step S1, the performance requirements of different steel grades under the same specification are the same, and the different steel grades are regarded as the same steel grade, and the number of final total attributes is reduced by combining the different steel grades.
Further, in the step S3, if the steel passing amount of the corresponding attribute in the steel passing amount table is 0, that is, the threaded steel of the corresponding attribute is not produced during the period from the on-line to the off-line of the corresponding insert, the corresponding attribute is omitted from the equation.
Further, the step S7 specifically includes:
in the actual production process, the sequence of the deformed steel bars with different attributes and corresponding specifications is not the same;
taking the online moment of a blade of a deformed steel bar production line as a starting moment t 0 For the first production specification of screw-thread steel, the property is B 1 Attribute B 1 Corresponding attribute A 1 、A 2 、···，A n*m One of them, can obtain B 1 =Q 1 *A 1 Let the current steel passing amount of the screw steel of the first production specification be M 1 Judgment B 1 *M 1 = Q 1 *A 1 *M 1 If the steel quantity reference D is larger than or equal to the steel quantity reference D, replacing the blade if the steel quantity reference D is larger than or equal to the steel quantity reference D, and otherwise, performing the next step;
when attribute B 1 Is provided with attribute B 1 The steel passing amount of (C) is N 1 At this time, a screw-thread steel of the second specification is produced, which is given the attribute B 2 Attribute B 2 Corresponding attribute A 1 、A 2 、···，A n*m One of them, can obtain B 2 =Q 2 *A 1 Let the current steel passing amount of the screw steel of the second production specification be M 2 Judgment B 1 *N 1 +B 2 *M 2 = Q 1 *A 1 *N 1 + Q 2 *A 1 *M 2 If the steel quantity reference D is larger than or equal to the steel quantity reference D, replacing the blade if the steel quantity reference D is larger than or equal to the steel quantity reference D, and otherwise, performing the next step;
when attribute B 2 Is provided with attribute B 2 The steel passing amount of (C) is N 2 At this time, a third specification of deformed steel bar is produced, and its attribute is B 3 Attribute B 3 Corresponding attribute A 1 、A 2 、···，A n*m One of them, can obtain B 3 =Q 3 *A 1 Let the current steel passing amount of the screw steel of the second production specification be M 3 Judgment B 1 *N 1 +B 2 *N 2 +B 3 *M 3 = Q 1 *A 1 *N 1 + Q 2 *A 1 *N 2 + Q 3 *A 1 *M 3 If the steel quantity reference D is larger than or equal to the steel quantity reference D, replacing the blade if the steel quantity reference D is larger than or equal to the steel quantity reference D, and otherwise, performing the next step;
and so on until the currently produced deformed steel bars with different properties are converted into the properties A 1 And the sum of the excess steel is larger than or equal to the steel quantity standard D, so that the blade replacement is completed.
Further, a pressure sensor is arranged on the roller way alignment collision plate, and a current signal of the pressure sensor is linked with a control system of the roller way.
Further, when the pressure sensor detects that the threaded steel impacts the impact plate, the pressure sensor sends a current signal to a control system of the roller way, and the roller way control system delays for a time t m And then controlling the roller way of the deformed steel bar alignment area to stop working.
Further, the time t m 600ms.
Compared with the prior art, the invention has the following advantages and effects: according to the invention, by means of establishing a mathematical model, a relatively accurate blade replacement period is predicted, the quality in the production process of the screw-thread steel is improved, the problems of inclination and a subsequent series of quality caused by uneven shearing end surfaces due to excessive use of the blade are avoided, and the competitiveness of enterprises is improved; by means of automation, the inclination problem of the deformed steel bar is controlled in the roller transportation process.
Drawings
FIG. 1 is a schematic representation of an over-steel table of an embodiment of a control method of the present invention for avoiding tilting during transportation of a threaded steel roller.
Fig. 2 is a schematic view of an alignment bump plate structure of an embodiment of a control method of preventing tilting during transportation of a threaded steel roller path according to the present invention.
Detailed Description
In order to explain in detail the technical solutions adopted by the present invention to achieve the predetermined technical purposes, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that technical means or technical features in the embodiments of the present invention may be replaced without inventive effort, and the present invention will be described in detail below with reference to the accompanying drawings in combination with the embodiments.
The invention discloses a control method for avoiding inclination in the transportation process of a threaded steel roller, which comprises the following steps:
s1, determining the number n of specifications of deformed steel bars produced by a deformed steel bar production line, and then determining the number m of steel types of deformed steel bars of each specification, wherein n x m types of different attributes of the deformed steel bar production line affect the service life of the blade.
In step S1, different steel grades under the same specification have the same performance requirement, and if the performance requirements of some steel grades are the same, the different steel grades are combined to reduce the number of final total attributes.
S2, counting total yield of the deformed steel bars with different attributes in the period from the online to the offline of the cutter blade of the deformed steel bar production line, and making a corresponding steel passing amount table.
S3, setting different attributes affecting the service life of the blade as A 1 、A 2 、···，A n*m For a group of the steel passing amount tables, attribute A 1 The corresponding steel passing amount is S 1 Attribute A 2 Corresponding crossThe steel amount is S 2 Property A n*m The corresponding steel passing amount is S n*m The total steel passing amount corresponding to all the attributes is S all The column equation is as follows:
S 1 *A 1 +S 2 *A 2 +···+S n*m *A n*m =S all 。
in step S3, if the steel passing amount of the corresponding attribute in the steel passing amount table is 0, that is, the deformed steel bar of the corresponding attribute is not produced during the period from the on-line to the off-line of the corresponding insert, the corresponding attribute is omitted from the equation.
S4, selecting enough groups of steel-passing table data, and performing continuous column on the equations to obtain a continuous column equation of the polynomial.
S5, solving the obtained continuous equation of the polynomial to obtain A 2 =P 1 *A 1 ，A 3 =P 2 *A 2 ，···，A n*m =P n*m-1 *A n*m-1 。
S6, setting attribute A 1 Assuming the steel grade of all rolling attributes A1 during the period from the insert on the screw steel production line to the insert off the screw steel production line as the reference attribute, substituting the result of the step S5 into the equation of the step S3 can obtain all the rolling attributes A 1 Total steel passing S of steel grade all1 Will all roll properties A 1 Total steel passing S of steel grade all1 And determining the steel passing amount as a reference D.
S7, converting all the attributes into attributes A according to the steel passing amount reference D 1 The replacement time can be reversely pushed according to the steel passing amount of the specification.
The step S7 specifically comprises the following steps:
in the actual production process, the sequence of the deformed steel bars with different attributes and corresponding specifications is not the same.
Taking the online moment of a blade of a deformed steel bar production line as a starting moment t 0 For the first production specification of screw-thread steel, the property is B 1 Attribute B 1 Corresponding attribute A 1 、A 2 、···，A n*m One of them, can obtain B 1 =Q 1 *A 1 Let the current steel passing amount of the screw steel of the first production specification be M 1 JudgingB 1 *M 1 = Q 1 *A 1 *M 1 And if the steel quantity reference D is larger than or equal to the steel quantity reference D, replacing the blade if the steel quantity reference D is larger than or equal to the steel quantity reference D, and otherwise, carrying out the next step.
When attribute B 1 Is provided with attribute B 1 The steel passing amount of (C) is N 1 At this time, a screw-thread steel of the second specification is produced, which is given the attribute B 2 Attribute B 2 Corresponding attribute A 1 、A 2 、···，A n*m One of them, can obtain B 2 =Q 2 *A 1 Let the current steel passing amount of the screw steel of the second production specification be M 2 Judgment B 1 *N 1 +B 2 *M 2 = Q 1 *A 1 *N 1 + Q 2 *A 1 *M 2 And if the steel quantity reference D is larger than or equal to the steel quantity reference D, replacing the blade if the steel quantity reference D is larger than or equal to the steel quantity reference D, and otherwise, carrying out the next step.
When attribute B 2 Is provided with attribute B 2 The steel passing amount of (C) is N 2 At this time, a third specification of deformed steel bar is produced, and its attribute is B 3 Attribute B 3 Corresponding attribute A 1 、A 2 、···，A n*m One of them, can obtain B 3 =Q 3 *A 1 Let the current steel passing amount of the screw steel of the second production specification be M 3 Judgment B 1 *N 1 +B 2 *N 2 +B 3 *M 3 = Q 1 *A 1 *N 1 + Q 2 *A 1 *N 2 + Q 3 *A 1 *M 3 And if the steel quantity reference D is larger than or equal to the steel quantity reference D, replacing the blade if the steel quantity reference D is larger than or equal to the steel quantity reference D, and otherwise, carrying out the next step.
And so on until the currently produced deformed steel bars with different properties are converted into the properties A 1 And the sum of the excess steel is larger than or equal to the steel quantity standard D, so that the blade replacement is completed.
As shown in fig. 2, a pressure sensor is installed on the roller alignment striking plate, and a current signal of the pressure sensor is linked with a control system of the roller.
When the pressure sensor detects that the screw steel impacts the impact plate, the pressure sensor sends out currentControl system of signal to roller way, roller way control system delay time t m And then controlling the roller way of the deformed steel bar alignment area to stop working. Time t m Preferably 600ms, the screw-thread steel may be partially retracted under the influence of elasticity after being collided, and if the pressure signal is stopped immediately, the end part may be uneven, the original effect of the collision plate is lost, and therefore, a certain delay is required.
According to the invention, by means of establishing a mathematical model, a relatively accurate blade replacement period is predicted, the quality in the production process of the screw-thread steel is improved, the problems of inclination and a subsequent series of quality caused by uneven shearing end surfaces due to excessive use of the blade are avoided, and the competitiveness of enterprises is improved; by means of automation, the inclination problem of the deformed steel bar is controlled in the roller transportation process.
The invention is further illustrated by the following specific examples.
The screw-thread steel wire is produced in 16 and 18 specifications, and each specification is rolled into four steel types of HRB400 and HRB400E, HRB and E, B B, wherein the performance requirements of the HRB400 and the HRB400E are the same, and therefore the same steel type can be considered for the current measurement. Because, for this production line, there are 6 different attributes that affect blade life for two gauges, three types of steel.
Shown in fig. 1 is a table of the excess steel of various gauge deformed steel rolled during the insert up-to-down line.
6 are respectively set as A 1 、A 2 、A 3 、A 4 、A 5 、A 6 . Respectively corresponding to 16-specification HRB400 (E), 16-specification HRB500E, 16-specification B500B, 18-specification HRB400 (E), 18-specification HRB500E and 18-specification B500B.
The column equation is as follows
（1）11500 A 1 +500 A 2 +14000 A 4 +800 A 6 =26800
（2）12000 A 1 +800 A 3 +13500 A 4 +500 A 5 =28800
（3）13000 A 1 +500 A 2 +1000 A 3 +11000 A 4 +500 A 5 =26000
（4）13000 A 1 +2000 A 3 +9000 A 4 +1000 A 5 =25000
…
By calculation, result A is calculated 2 =1.85A 1 ,A 3 =2.6A 1 ,A 4 =1.1A 1 ,A5=2.2A 1 ,A6=3.05A 1 。
If all rolling A 1 If the steel is of the corresponding steel type, the final steel passing amount can reach about 30000. 30000 was taken as the steel passing amount reference D.
Based on the value D, all specifications are converted into A 1 The replacement time can be reversely pushed according to the steel passing amount of the specification.
The present invention is not limited to the preferred embodiments, but is capable of modification and variation in detail, and other embodiments, such as those described above, of making various modifications and equivalents will fall within the spirit and scope of the present invention.
Claims (7)
1. A control method for avoiding inclination in the transportation process of a threaded steel roller way is characterized by comprising the following steps:
s1, determining the number n of specifications of deformed steel bars produced by a deformed steel bar production line, and then determining the number m of steel types of the deformed steel bars of each specification, wherein n x m types of different attributes of the deformed steel bar production line affect the service life of a blade;
s2, counting total yield of deformed steel bars with different attributes in the period from the time of insert loading to offline of the deformed steel bar production line, and making a corresponding steel passing amount table;
s3, setting different attributes affecting the service life of the blade as A 1 、A 2 、···，A n*m For a group of the steel passing amount tables, attribute A 1 The corresponding steel passing amount is S 1 Attribute A 2 The corresponding steel passing amount is S 2 Property A n*m The corresponding steel passing amount is S n*m The total steel passing amount corresponding to all the attributes is S all The column equation is as follows:
S 1 *A 1 +S 2 *A 2 +···+S n*m *A n*m =S all ；
s4, selecting enough groups of steel-passing table data, and concatenating the equations to obtain a polynomial concatenated equation;
s5, solving the obtained continuous equation of the polynomial to obtain A 2 =P 1 *A 1 ，A 3 =P 2 *A 2 ，···，A n*m =P n*m-1 *A n*m-1 ；
S6, setting attribute A 1 Assuming the steel grade of all rolling attributes A1 during the period from the insert on the screw steel production line to the insert off the screw steel production line as the reference attribute, substituting the result of the step S5 into the equation of the step S3 can obtain all the rolling attributes A 1 Total steel passing S of steel grade all1 Will all roll properties A 1 Total steel passing S of steel grade all1 Setting as a steel passing amount reference D;
s7, converting all the attributes into attributes A according to the steel passing amount reference D 1 The replacement time can be reversely pushed according to the steel passing amount of the specification.
2. A control method for avoiding tilting during transportation of a threaded steel roller as claimed in claim 1, wherein: in the step S1, the performance requirements of different steel grades under the same specification are the same, and the different steel grades are regarded as the same steel grade, and the different steel grades are combined to reduce the number of final total attributes.
3. A control method for avoiding tilting during transportation of a threaded steel roller as claimed in claim 1, wherein: in the step S3, if the steel passing amount of the corresponding attribute in the steel passing amount table is 0, that is, the threaded steel of the corresponding attribute is not produced during the period from the on-line to the off-line of the corresponding blade, the corresponding attribute is omitted from the equation.
4. A control method for avoiding tilting during transportation of a threaded steel roller as claimed in claim 1, wherein: the step S7 specifically includes:
in the actual production process, the sequence of the deformed steel bars with different attributes and corresponding specifications is not the same;
taking the online moment of a blade of a deformed steel bar production line as a starting moment t 0 For the first production specification of screw-thread steel, the property is B 1 Attribute B 1 Corresponding attribute A 1 、A 2 、···，A n*m One of them, can obtain B 1 =Q 1 *A 1 Let the current steel passing amount of the screw steel of the first production specification be M 1 Judgment B 1 *M 1 = Q 1 *A 1 *M 1 If the steel quantity reference D is larger than or equal to the steel quantity reference D, replacing the blade if the steel quantity reference D is larger than or equal to the steel quantity reference D, and otherwise, performing the next step;
when attribute B 1 Is provided with attribute B 1 The steel passing amount of (C) is N 1 At this time, a screw-thread steel of the second specification is produced, which is given the attribute B 2 Attribute B 2 Corresponding attribute A 1 、A 2 、···，A n*m One of them, can obtain B 2 =Q 2 *A 1 Let the current steel passing amount of the screw steel of the second production specification be M 2 Judgment B 1 *N 1 +B 2 *M 2 = Q 1 *A 1 *N 1 + Q 2 *A 1 *M 2 If the steel quantity reference D is larger than or equal to the steel quantity reference D, replacing the blade if the steel quantity reference D is larger than or equal to the steel quantity reference D, and otherwise, performing the next step;
when attribute B 2 Is provided with attribute B 2 The steel passing amount of (C) is N 2 At this time, a third specification of deformed steel bar is produced, and its attribute is B 3 Attribute B 3 Corresponding attribute A 1 、A 2 、···，A n*m One of them, can obtain B 3 =Q 3 *A 1 Let the current steel passing amount of the screw steel of the second production specification be M 3 Judgment B 1 *N 1 +B 2 *N 2 +B 3 *M 3 = Q 1 *A 1 *N 1 + Q 2 *A 1 *N 2 + Q 3 *A 1 *M 3 If the steel quantity reference D is larger than or equal to the steel quantity reference D, replacing the blade if the steel quantity reference D is larger than or equal to the steel quantity reference D, and otherwise, performing the next step;
and so on until the currently produced deformed steel bars with different properties are converted into the properties A 1 And the sum of the excess steel is larger than or equal to the steel quantity standard D, so that the blade replacement is completed.
5. A control method for avoiding tilting during transportation of a threaded steel roller as claimed in claim 1, wherein: and installing a pressure sensor on the roller way alignment collision plate, and linking a current signal of the pressure sensor with a control system of the roller way.
6. The control method for avoiding tilting during transportation of a threaded steel roller as claimed in claim 5, wherein: when the pressure sensor detects that the threaded steel impacts the impact plate, the pressure sensor sends a current signal to a control system of the roller way, and the roller way control system delays for a time t m And then controlling the roller way of the deformed steel bar alignment area to stop working.
7. A control method for avoiding tilting during transportation of a threaded steel roller as defined in claim 6, wherein: said time t m 600ms.
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| CN202311406416.9A CN117340012A (en) | 2023-10-27 | 2023-10-27 | Control method for avoiding inclination in transportation process of threaded steel roller way |
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| CN202311406416.9A CN117340012A (en) | 2023-10-27 | 2023-10-27 | Control method for avoiding inclination in transportation process of threaded steel roller way |
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