KR101915395B1 - Stripper car and controlling method therefor - Google Patents

Abstract

The present invention relates to a stripper car, stably transferring a coil by precise lifting control in the process of transferring the coil wound on a mandrel to a transfer table. The stripper car includes a transfer unit, a mounting roller unit, a lifting unit, a position detection unit, and a proportional electromagnetic valve. The transfer unit is disposed in the lower end of a main body to transfer the main body to the transfer table. The mounting roller unit is rotationally coupled to the upper end portion of the main body and allowing the coil wound on the mandrel to be mounted on the mounting roller. The lifting unit lifts the mounting roller unit between a contact position where the coil is mounted on and comes in contact with the mounting roller unit and a standby position where the coil is spaced from the mounting roller unit. The position detection unit detects a movement distance of the lifting unit lifted between the contact position and the standby position. The proportional electromagnetic valve operates the lifting unit based on a current value when the preset current value is input and outputs a movement speed of the lifting unit.

Description

STRIPPER CAR AND CONTROLLING METHOD THEREFOR [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a stripper car and a control method thereof, and more particularly, to a stripper car capable of stably transferring a coil by precise lifting control in a process of transferring a coil wound on a mandrel .

Generally, in a rolling process, a strip passing through an end stand is sequentially wound on a mandrel through a cooling traveling band, a front pinch roll stand, and a rear pinch roll stand, and is wound in a coil form, The coil is transported by the stripper car as it is transported.

Here, the coil is transported while being mounted on the stripper car. In the course of mounting the coil on the stripper car, collision between the coil and the stripper car may occur.

If a shock is applied to the coil and the stripper car due to the collision between the coil and the stripper car, the coil and the stripper car may be damaged. As a result, the coil can be delivered as a defective product, And frequent maintenance can cause economic loss and lowering of process efficiency.

Korean Patent Publication No. 10-2003-0049986

In order to solve the above-described problems, the present invention provides a stripper car and a method of controlling the same, wherein a lifting portion for lifting and lowering a seating roller portion on which a coil is seated is stepped up and down, And a control method of the stripper car.

Another object of the present invention is to provide a stripper car capable of precisely controlling a lifting portion by driving a lifting portion according to an output value inputted by inputting a predetermined current value through a proportional electromagnetic valve, and a control method thereof.

The present invention has been made in view of the above problems, and it is an object of the present invention to provide an apparatus and method for controlling the same.

According to an aspect of the present invention, there is provided a stripper car comprising: a conveying unit provided at a lower end of a main body for conveying the main body along a conveying path; A seating roller part rotatably coupled to an upper end of the main body and on which the coil wound on the mandrel is seated; A lifting unit for lifting the seating roller unit between a contact position where the coil is seated and contacted with the seating roller unit and a standby position where the coil is separated from the seating roller unit; A position detecting unit for detecting a moving distance of the lifting unit between the contact position and the standby position; And a proportional electronic value for driving the lifting unit based on the current value when a predetermined current value is input, and outputting the moving speed of the lifting unit.

The stripper car may include a PLC control unit for calculating a speed output value of the lifting unit output from the proportional electromagnetic valve as a distance conversion value of the lifting unit and controlling lifting and lowering of the lifting unit based on the calculated distance conversion value .

The PLC control unit may include an output conversion unit for calculating the distance conversion value based on an integrator for converting the speed output value into a moving distance of the lifting unit when the speed output value is input.

The output conversion unit may calculate a proportional gain value (182) to the speed output value input to the integrator to adjust the moving distance of the lifting unit.

The output conversion unit may calculate the distance conversion value when a driving condition for driving the lifting unit is selected within a moving distance converted from the integrator while the main body is stopped.

The stripper car may control driving of the lifting unit based on the distance conversion value calculated by the output conversion unit when at least one of the amplifier state, the power supply state, and the neutral state of the position detection unit is determined to be in an abnormal state And an automatic switching unit.

Wherein the stripper car compares a distance detection value of the lifting unit detected through the position detection unit with the distance conversion value calculated from the output conversion unit and compares the distance detection value and the distance conversion value with a predetermined error And an alarm unit for outputting a warning signal when the range value is exceeded.

Wherein the stripper car compares a distance detection value of the lifting unit detected through the position detection unit with the distance conversion value calculated from the output conversion unit and compares the distance detection value and the distance conversion value with a predetermined error If the range value is exceeded, the emergency control for controlling the driving of the lifting unit can be performed at a predetermined position.

When the mandrel is rotated, the lifting unit descends to the standby position to wait the seating roller unit when the mandrel is wound while rotating the mandrel. When the rotation of the mandrel stops, the lifting unit The seat roller portion can be raised from the standby position to the contact position.

Wherein the lifting portion is configured such that, when the coil reaches a stopping point where the main body is temporarily stopped during the process of conveyance in a state in which the coil is seated on the seating roller portion, The seat roller portion can be raised to the raised position.

The lifting unit may lower the seating roller unit to a seating position, at which the coil is seated on the conveyance belt, in the raised position when the main body reaches the conveyance belt.

According to another aspect of the present invention, there is provided a method of controlling a stripper car, including: inputting a predetermined current value to a proportional electromagnetic valve for driving a lifting unit for moving a mounting roller unit; Inputting the speed output value to an integrator for converting the speed output value into a moving distance of the lifting unit when the speed output value of the lifting unit output from the proportional electron is inputted; Calculating a proportional gain value to the speed output value input to the integrator to adjust a moving distance of the lifting unit; And calculating a distance conversion value of the lifting unit when a driving condition for driving the lifting unit is selected within a moving distance converted from the integrator in a state where the main body for feeding the coil wound on the mandrel is stopped, do.

The method of controlling a stripper car according to claim 1, wherein, if at least one of an amplifier state, a power supply state, and a neutral state of the position detector for detecting a moving distance of the lifting unit is determined to be in an abnormal state, And controlling the driving.

The control method of the stripper car may further include the step of comparing the distance detection value of the lifting unit detected through the position detection unit for detecting the movement distance of the lifting unit with the distance conversion value and comparing the distance detection value and the distance conversion value And outputting a warning signal when the predetermined error range value is exceeded.

The control method of the stripper car may further include the step of comparing the distance detection value of the lifting unit detected through the position detection unit for detecting the movement distance of the lifting unit with the distance conversion value and comparing the distance detection value and the distance conversion value And emergency-controlling the driving of the lifting unit at a predetermined position if the predetermined error range value is exceeded.

Lowering the seating roller portion to a standby position where the seating roller portion is spaced apart from the coil so as to wait for the seating roller portion on which the coil is seated when the mandrel is wound while rotating the mandrel; And lifting the seating roller portion to a contact position where the coil is seated on the seating roller portion at the standby position when the rotation of the mandrel stops.

The control method for a stripper car according to claim 1, wherein, in a state where the coil is seated on the seating roller portion, when the main body reaches a stopping point where the main body And raising the seat roller portion to a raised position, which is a position where the seat roller portion is raised a predetermined distance from the conveyance.

The control method of the stripper car may include a step of lowering the seating roller unit to a seating position where the lifting unit is seated in the conveyance table at the raised position when the main body reaches the conveyance table .

The stripper car according to the embodiment of the present invention and the control method thereof can drive the lifting unit by inputting a predetermined current value into the proportional electromagnetic valve and converting the speed of the lifting unit output from the proportional electromagnetic valve into the moving distance of the lifting unit, The moving distance of the lifting unit can be detected, and the moving distance of the lifting unit can be precisely adjusted.

In addition, since the abnormal state of the position detecting unit can be confirmed immediately, the maintenance of the stripper car is easy, the process can be smoothly performed, and the process efficiency can be increased.

In addition, the coil can be supported through the lifting portion that is stepped up and down, thereby preventing a collision between the coil and the stripper car.

Thus, the quality of the coil can be ensured, the life of the coil and the stripper car can be prolonged, and the economical efficiency can be improved.

In addition, there is an effect that a phenomenon that the coil collides with the conveyance belt and collapses in the stripper car in the course of feeding the coil through the stripper car is prevented.

The effects of the present invention are not limited to those mentioned above, and other solutions not mentioned can be understood by those skilled in the art from the following description.

1 is a view schematically showing a process of winding a coil in a mandrel in a rolling process,
2 is a view schematically showing a stripper car according to an embodiment of the present invention,
3 is a view illustrating a process of calculating a distance converted value of a lifting unit of a stripper car according to an embodiment of the present invention,
FIGS. 4 and 5 are views showing the lifting portion of the stripper car according to the embodiment of the present invention,
FIG. 6 is a flowchart sequentially illustrating a method of controlling a stripper car according to an embodiment of the present invention,
FIG. 7 is a flowchart sequentially illustrating a driving process of a lifting unit of a stripper car according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals refer to the same or similar elements, and redundant description thereof will be omitted. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. It is to be noted that the accompanying drawings are only for the purpose of facilitating understanding of the present invention and should not be construed as limiting the scope of the present invention.

FIG. 2 is a view schematically showing a stripper car according to an embodiment of the present invention, FIG. 3 is a view showing a process of calculating a distance converted value of a lifting unit of a stripper car according to an embodiment of the present invention, and FIGS. 4 and 5 Is a view showing that the lifting portion of the stripper car according to the embodiment of the present invention is stepped up and down.

2 to 5, a stripper car 1000 according to an embodiment of the present invention includes a conveying unit 120, a seating roller unit 130, a lifting unit 140, a position detecting unit 150, A proportional electronic switch 160, a PLC control unit 170, an output conversion unit 180, an automatic switching unit 190, and a warning unit 200.

The transfer unit 120 is provided at the lower end of the main body 110 to transfer the main body 110 to the transfer table 60.

The coil 1 wound around the mandrel 10 is finally seated in the conveying table 60. The coil 1 wound around the mandrel 10 is conveyed in a state of being mounted on the main body 110, (60). Here, the coil 1 wound around the mandrel 10 may be a hot-rolled coil.

In this embodiment, the transfer unit 120 can be a wheel, and is provided on both the front and rear sides of the main body 110, so that the main body 110 can be moved from the position where the coil 1 is wound up to the position of the transfer table 60 .

The seat roller unit 130 is rotatably coupled to the upper end of the main body 110, and the coil 1 wound around the mandrel 10 is seated.

The seating roller portion 130 supports a coil 1 which is rotatably engaged with the plate 111 of the upper end portion of the main body 110 and is seated.

The lifting unit 140 is disposed at a contact position P1 at which the coil 1 is seated and contacted with the seating roller unit 130 and at a standby position P2 The seat roller unit 130 is moved up and down.

Here, the lifting portion 140 can be a hydraulic cylinder, and the cylinder head portion is coupled to the plate 111 and the cylinder load portion moves up and down in the chamber, 111 and elevating and lowering the seat roller unit 130.

4, when the mandrel 10 rotates, the lifting unit 140 rotates the seat roller unit 130 to the standby position P2 to wait the seating roller unit 130 when the coil 1 is wound. Descend.

When the rotation of the mandrel 10 is stopped, the seating roller portion 130 is raised from the standby position P2 to the contact position P1 to seat the coil 1 on the seating roller portion 130. [

5, the lifting unit 140 reaches a stopping point where the main body 110 is paused during the process of moving the main body 110 to the conveyance belt 60 in a state where the coil 1 is seated on the seating roller unit 130 The seat roller unit 130 is raised to the raised position P3 where the seat roller unit 130 is raised from the conveyor belt 60 by a predetermined distance at the contact position P1.

Thereafter, the lifting portion 140 is lifted up to the seating roller portion 130 (see FIG. 1) so that the main body 110 reaches the conveying belt 60, Is lowered from the raised position P3 to the seating position P4. Thus, the coil 1 can be finally placed on the conveying table 60. [

The position detecting unit 150 detects the moving distance of the lifting unit 140 that is lifted and lowered between the contact position P1 and the standby position P2.

Specifically, the position detecting section 150 includes a sprocket 151, a bearing block 152, and a sensor 153. The sprocket 151 is gear-engaged with the rack gear 112 installed in the lifting direction of the lifting part 140. The bearing block 152 supports a center shaft extending to the rotational axis of the sprocket 151, The moving distance of the lifting unit 140 is sensed.

The proportional electromagnetic valve 160 drives the lifting unit 140 and outputs the moving speed of the lifting unit 140 based on the current value when a predetermined current value is input.

For example, the proportional solenoid valve 160 can drive the lifting unit 140 through the spool of the solenoid valve. When a predetermined current value is input to the proportional solenoid valve 160, the solenoid valve spool As the spool of the solenoid valve is operated, the lifting unit 140 is driven to lift the seat roller unit 130 between the contact position P1 and the standby position P2.

At this time, the predetermined current value may be 4 to 20 mA, and the predetermined current value may be input to the proportional electromagnetic valve 160, but a predetermined voltage value may be input, and the predetermined voltage value may be 0 to 10 vdc.

The PLC control unit 170 calculates the speed output value of the lifting unit 140 output from the proportional electromagnetic valve 160 as the distance conversion value of the lifting unit 140 and outputs the speed conversion value of the lifting unit 140 Thereby controlling the lifting and lowering drive.

The speed output value output from the proportional electromagnetic valve 160 may be converted into the moving distance of the lifting unit 140. The PLC control unit 170 converts the speed output value of the lifting unit 140 into the moving distance of the lifting unit 140, 140 can be controlled.

In this embodiment, the PLC control unit 170 includes an output conversion unit 180 (hereinafter, referred to as an output conversion unit) 180 for calculating a distance conversion value based on an integrator 181 for converting a speed output value into a movement distance of the lifting unit 140, ).

Here, the output conversion unit 180 calculates a proportional gain value 182 to the speed output value input to the integrator 181 to adjust the moving distance of the lifting unit 140.

The lifting unit 140 can raise and lower the seating roller unit 130 within a predetermined moving distance. In the process of lifting the seating roller unit 130, the lifting unit 140 moves the pre- Deviation of distance may occur.

As described above, the proportional gain value 182 is calculated to the speed output value input to the integrator 181 in order to correct the deviation of the pre-designed movement distance and the actual movement distance.

That is, the moving distance of the lifting unit 140 can be precisely adjusted by inputting the speed output value to the integrator 181 and calculating the proportional gain value 182 to the speed output value input to the integrator 181, It is possible to correct the designed moving distance and the moving distance deviation of the lifting unit 140.

In this embodiment, when the driving condition for driving the lifting unit 140 is selected within the moving distance converted from the integrator 181 in the state where the main body 110 is stopped, the output converting unit 180 outputs the distance conversion value .

For example, the lifting unit 140 is lifted within a range of 0 to 1350 mm during a lifting operation in a state where the main body 110 is stopped from advancing. Similarly, the lifting unit 140 is stopped when the main body 110 is stopped , The output conversion unit 180 calculates the distance conversion value finally when the driving condition is selected.

The movement distance of the lifting unit 140 designed in advance and the movement distance of the lifting unit 140 driven by the proportional electron 160 are calculated and compared.

First, the specification and performance of the lifting unit 140 are verified.

The lifting portion 140 may have a basic specification of, for example, 224 mm * 140 mm * 1350 mm. The lifting pressure may be 15.7 to 66.0 Ton / Cyl (4.9 to 20.6 MPa) The cylinder head portion may be 94 to 283 L / min, the cylinder load portion may be 34 to 102 L / min, and the pipe flow rate may be the cylinder head portion of 14 m / s, The cylinder load can be 0.79 m / s. Based on such a specification, the driving speed of the lifting unit 140 can be two stages maximum 150 mm / s and one stage maximum 50 mm / s.

Here, if the inner diameter of the cylinder head is 224 mm and the supply oil pressure is 210 kg, the pressure of the lifting part 140 can be calculated by Equation (1).

The content of the lifting unit 140 can be calculated through Equation (2), and the flow rate corresponding to the speed output of the proportional electromagnetic valve 160 can be calculated through Equation (3).

Since the specification and the performance of the lifting unit 140 are verified in this way, the discharge amount of the lifting unit 140 can be an output value of the proportional electromagnetic valve 160, The movement distance and speed of the lifting unit 140 designed in advance and the moving distance and speed of the lifting unit 140 driven by the proportional electromagnetic field 160 may be identical to each other.

Therefore, when the predetermined current value is input, the moving distance of the lifting unit 140 driven by the proportional electromagnetic valve 160 integrates the speed during the operating time, so that the lifting unit 140 is rotated at a speed of 150 mm / s for 9 seconds If the moving is integrated, the moving distance may be calculated to be 1350 mm. Here, there may be a deviation between the moving distance designed according to the driving of the lifting unit 140 and the moving distance of the lifting unit 140 driven by the proportional electron 160 It is necessary to calculate the moving distance of the lifting unit 140 and correct the deviation of the moving distance.

For example, if the moving time is 2.3 seconds in the acceleration rising period of the lifting unit 140, and the conversion speed per hour is 180 m / h when the moving speed is 50ms / s, the moving distance of the lifting unit 140 Can be calculated as 36 mm.

In the case where the moving time is 7.8 seconds in the constant velocity section of the lifting section 140, the moving distance of the lifting section 140 is set to 1267 mm in Equation (5) if the moving speed is 150 mm / s and the conversion rate per hour is 540 m / Can be calculated.

If the lifetime of the lifting unit 140 is 2.1 seconds when the lifting unit 140 reaches a rise stopping point and the lifting speed is 180 m / h when the lifting speed is 50 mm / s, Can be calculated as 30 mm.

That is, when the moving distance and time calculated through Equations 4 to 6 are summed up, the sum of the moving distances becomes 1333 mm, the sum of the times becomes 12.2 s, and the moving distance of the lifting unit 140 The time may be 1350 mm and 9 s, respectively, and the movement distance and time of the lifting unit 140 driven by the proportional electromagnetic valve 160 may vary from time to time. This is proportional to the speed output value input to the integrator 181 A certain deviation can be corrected while the moving distance is adjusted by calculating the moving distance 182.

The distance conversion value thus calculated may be a position detection value of the lifting unit 140 and the distance conversion value is transmitted to the automatic switching unit 190 and the warning unit 200.

When at least one of the amplifier state, the power supply state, and the neutral state of the position detector 150 is determined to be in an abnormal state, the automatic switching unit 190 switches the lifting unit 150 based on the distance conversion value calculated by the output conversion unit 180, (140).

The warning unit 200 compares the distance detection value of the lifting unit 140 detected through the position detection unit 150 with the distance conversion value calculated from the output conversion unit 180 and compares the distance detection value and the distance conversion value And outputs a warning signal when the value exceeds a predetermined error range value.

Specifically, the actual moving distance detection value of the lifting unit 140 is compared with the distance conversion value calculated from the output conversion unit 180. If the comparison value of the distance detection value and the distance conversion value exceeds a predetermined error range value Detects that the position detector 150 is in an abnormal state, and outputs a warning signal.

At this time, the warning unit 200 transmits a warning signal to the HMI (Human Machine Interface), and can notify the state of the position detection unit 150 visually or audibly through the HMI.

In the present embodiment, the distance detection value detected through the position detection unit 150 is compared with the distance conversion value calculated from the output conversion unit 180, and when the comparison value of the distance detection value and the distance conversion value is smaller than a predetermined error range value The emergency control for controlling the driving of the lifting unit 140 at a predetermined position can be performed.

When the emergency control is executed, each position where the lifting unit 140 is operated, for example, a standby position where the lifting unit 140 waits, a position where the lifting unit 140 starts to descend, A low speed detection position of the lifting unit 140 and a contact position at which the coil 1 contacts the seating roller unit 130. Even if the position detection unit 150 is in an abnormal state, The driving of the lifting unit 140 can be controlled.

Hereinafter, the overall operation of the stripper car 1000 will be described with reference to the drawings.

When the predetermined current value is inputted to the proportional electromagnetic valve 160, the proportional electromagnetic valve 160 drives the lifting part 140 based on the current and the proportional electromagnetic valve 160 outputs the moving speed of the lifting part 140 accordingly . The velocity output value of the lifting unit 140 is input to the integrator 181 of the output conversion unit 180 and is input to the integrator 181 for converting the velocity into a moving distance, 182) to precisely adjust the movement distance. At this time, since the lifting unit 140 is driven only when the main body 110 is stopped, the output conversion unit 180 finally calculates the distance conversion value when the driving condition of the lifting unit 140 is selected.

The distance conversion value thus calculated is transmitted to the automatic switching unit 190 and the warning unit 200.

The automatic switch 190 switches the distance conversion value calculated by the output conversion unit 180 when the sensor amplifier of the position detector 150 is in an abnormal state, the sensor power supply is abnormal, And controls the driving of the lifting unit 140 via the proportional electromagnetic valve 160.

The warning unit 200 compares the position detection value detected through the position detection unit 150 with the distance conversion value calculated by the output conversion unit 180. If the comparison value of the position detection value and the distance conversion value is in advance And outputs a warning signal when the predetermined error range value is exceeded. Thus, the operator can immediately check the status of the position detector 150.

If the comparison value between the position detection value and the distance conversion value exceeds a predetermined error range value, the emergency control is executed. Even if the position detection unit 150 is in an abnormal state, the lifting unit 140 140 can be controlled.

The lifting unit 140 rotates the seat roller unit 130 in order to prevent collision between the coil 1 and the seating roller unit 130 when the mandrel 10 is rotated and the coil 1 is wound, To the position P2, and the resting roller portion 130 waits at the standby position P2.

The outer diameter of the coil 1 wound on the mandrel 10 is different from that of the mandrel 10 and may collide with the seating roller portion 130 while the coil 1 is wound around the mandrel 10. The lifting part 140 is moved to the standby position P2 to prevent the coil 1 and the seating roller part 130 from colliding with each other while the coil 1 is wound around the mandrel 10 ).

When the rotation of the mandrel 10 is stopped, the lifting part 140 moves from the standby position P2 to the contacting position P1 to seat the coil 1 on the seating roller part 130 So that the coil 1 can be seated on the seating roller portion 130. [

The winding of the coil 1 is completed in the mandrel 10 and the coil 1 is seated on the seating roller portion 130 in a state where the free end 1a of the coil 1 is curved, The seat roller portion 130 is raised from the standby position P2 to the contact position P1 to seat the coil 1 on the seat roller portion 130. [ Accordingly, the coil 1 can be seated on the seating roller portion 130.

Thereafter, when the coil 1 is seated on the seating roller unit 130, the main body 110 moves to the conveying platform 60 and finally places the coil 1 on the conveying platform 60.

5, when the main body 110 reaches the stop point to prevent the coil 1 from colliding with the feed belt 60 in the course of seating the coil 1 on the feed belt 60, The control unit 140 raises the seat roller unit 130 from the contact position P1 to the raised position P3.

When the seating roller 130 is located at a position lower than the height of the conveyance belt 60 in the process of conveying the coil 1 mounted on the seating roller 130 to the conveyance belt 60, The seating roller portion 130 may collide with the conveyance table 60 and the coil 1 and the main body 110 may be damaged by an impact. The coil 1 must be transferred to the conveying platform 60 after raising the seating roller 130 to the raised position P3 which is higher than the height of the conveying platform 60. [

When the main body 110 reaches the conveying platform 60, the lifting part 140 is seated on the conveying platform 60. When the main body 110 reaches the conveying platform 60, The seat roller unit 130 is lowered from the raised position P3 to the seating position P4 to seat the coil 1 seated on the roller unit 130 on the conveyance belt 60, (60).

When the coil 1 is finally placed on the conveying table 60, the distance conversion value of the lifting unit 140 is initialized. When the coil 1 is wound on the mandrel 10 again, the above process is repeated The coil 1 wound around the mandrel 10 can be transferred to the transfer table 60. [

As a result, a predetermined current value is input to the proportional electromagnetic valve 160, and the speed of the lifting unit 140 output from the proportional electromagnetic valve 160 is converted into the moving distance of the lifting unit 140 so that the lifting unit 140 The moving distance of the lifting unit 140 can be detected and the moving distance of the lifting unit 140 can be precisely adjusted even when the position detecting unit 150 is in an abnormal state.

By checking the abnormal state of the position detector 150 immediately, the maintenance of the stripper car 1000 is easy, the process can be smoothly proceeded, and the process efficiency can be increased.

The coil 1 is supported stepwise through the lifting part 140 in the course of the coil 110 wound around the mandrel 10 being conveyed to the conveyance platform 60 by the main body 110, It is possible to prevent the collision of the stripper car 1000, thereby preventing damage to the coil or the stripper car 1000, extending the service life of the coil and the stripper car 1000, .

FIG. 6 is a flowchart sequentially illustrating a method of controlling a stripper car according to an embodiment of the present invention, and FIG. 7 is a flowchart sequentially illustrating a driving process of a lifting unit of a stripper car according to an embodiment of the present invention.

6 and 7, a method of controlling a stripper car according to an embodiment of the present invention includes a step S602 of inputting a predetermined current value to a proportional electromagnetic valve, a step S604 of inputting a velocity output value to an integrator A step (S606) of calculating a proportional gain value (182) to the speed output value, and a step (S608) of calculating a distance converted value of the lifting unit.

The step S602 of inputting the predetermined current value to the proportional electromagnetic valve inputs a predetermined current value to the proportional electromagnetic valve 160 for driving the lifting unit 140 for moving the seat roller unit 130 up and down.

The proportional electromagnetic valve 160 drives the lifting unit 140 based on the input current value and outputs the moving speed of the lifting unit 140 when a predetermined current value is input.

The step S604 of inputting the speed output value to the integrator inputs the speed output value to the integrator 181 for converting the speed output value into the moving distance of the lifting unit 140 when the speed output value outputted from the proportional electromagnetic valve 160 is input .

Here, if the speed output value is input to the integrator 181, the speed of the lifting unit 140 can be converted into the moving distance.

The step S606 of calculating the proportional gain value 182 to the speed output value computes a proportional gain value 182 to the speed output value input to the integrator 181 in order to adjust the moving distance of the lifting unit 140. [

That is, the moving distance of the lifting unit 140 can be precisely adjusted by inputting the speed output value to the integrator 181 and calculating the proportional gain value 182 to the speed output value input to the integrator 181, The deviation of the designed moving distance and the moving distance of the lifting unit 140 can be corrected.

The step S608 of calculating the distance-converted value of the lifting portion is a step of calculating the distance-converted value of the lifting portion in a state in which the main body 110 for transporting the coil 1 wound around the mandrel 10 is stopped, (140) is selected, the distance-converted value of the lifting unit (140) is calculated.

For example, the lifting unit 140 is lifted within a range of 0 to 1350 mm during a lifting operation in a state where the main body 110 is stopped from advancing. Similarly, the lifting unit 140 is stopped when the main body 110 is stopped When the driving condition is selected, the output converting unit 180 for calculating the distance of the lifting unit 140 finally determines the distance of the lifting unit 140 The converted value can be calculated.

The step of controlling the driving of the lifting unit based on the distance conversion value may include determining at least one of the amplifier state, the power supply state, and the neutral state of the position detector 150 for detecting the moving distance of the lifting unit 140 to be abnormal And controls the driving of the lifting unit 140 based on the distance conversion value.

The driving of the lifting unit 140 may be controlled by the automatic switching unit 190.

The step of outputting the warning signal may include comparing the distance detection value of the lifting unit 140 detected through the position detection unit 150 for detecting the movement distance of the lifting unit 140 with the distance conversion value, And outputs a warning signal when the comparison value of the converted value exceeds a predetermined error range value.

Specifically, when the actual moving distance detection value of the lifting unit 140 is compared with the distance conversion value and the comparison value between the distance detection value and the distance conversion value exceeds a predetermined error range value, the position detection unit 150 is in an abnormal state And the warning unit 200 outputs a warning signal.

At this time, the warning unit 200 transmits a warning signal to the HMI (Human Machine Interface), and can notify the state of the position detection unit 150 visually or audibly through the HMI.

The step of emergency controlling the driving of the lifting unit 140 may include comparing the distance detection value of the lifting unit 140 detected through the position detecting unit 150 for detecting the moving distance of the lifting unit 140 with the distance conversion value, And the distance-converted value exceeds a predetermined error range value, the driving of the lifting unit 140 is controlled at a predetermined position.

When the emergency control is executed, each position where the lifting unit 140 is operated, for example, a standby position where the lifting unit 140 waits, a position where the lifting unit 140 starts to descend, A low speed detection position of the lifting unit 140 and a contact position at which the coil 1 contacts the seating roller unit 130. Even if the position detection unit 150 is in an abnormal state, The driving of the lifting unit 140 can be controlled.

Step S702 of lowering the seating roller unit to the standby position is performed by moving the lifting unit 140 to wait the seating roller unit 130 on which the coil 1 is seated when the mandrel 10 is rotated and the coil 1 is wound, Causes the seat roller portion 130 to descend to the standby position P2 where the seat roller portion 130 is spaced apart from the coil 1. [

When the rotation of the mandrel 10 is stopped, the lifting unit 140 moves the coil 1 from the standby position P2 to the seating roller unit 130 (S704) of raising the seating roller unit from the standby position to the contacting position, The seat roller portion 130 is raised to the contact position P1 in which the seat roller portion 130 is seated.

The step S706 of raising the seat roller unit from the contact position to the ascending position may be performed in a state where the coil 1 is seated on the seat roller unit 130 and reaches the stop point where the main body 110 is temporarily stopped The lifting unit 140 raises the seating roller unit 130 to the raised position P3 where the seating roller unit 130 is raised from the conveyor belt 60 by a predetermined distance at the contact position P1.

The step S708 of lowering the seating roller portion from the raised position to the seating position causes the coil 1 to move from the raised position P3 to the conveyor stand The seat roller unit 130 is lowered to the seating position P4 that is seated on the seatback unit 60.

When the coil 1 is wound while the mandrel 10 is rotated, the coil 1 and the seating roller unit 130 are lifted by the lifting unit 140, The lifting portion 140 descends the seating roller portion 130 to the standby position P2 and the seating roller portion 130 waits at the standby position P2 so that the lifting portion 140 of the mandrel 10 The lifting portion 140 raises the seating roller portion 130 from the standby position P2 to the contacting position P1 in order to seat the coil 1 on the seating roller portion 130, The coil 1 can be seated on the roller portion 130. [

Thereafter, when the coil 1 is placed on the seating roller unit 130, the main body 110 moves to the conveyance platform 60 to finally place the coil 1 on the conveyance platform 60, and the conveyance platform 60 When the main body 110 reaches the stop point in order to prevent the coil 1 and the conveyance belt 60 from colliding with each other in the process of seating the coil 1 in the contact position P1, The main body 110 continues to move to the conveyance platform 60 while the seating roller unit 130 is raised at the raised position P3 and the main body 110 is conveyed The lifting portion 140 is moved from the raised position P3 to the seating position P4 to seat the coil 1 seated on the seating roller portion 130 on the conveying belt 60. [ Thereby lowering the part 130.

This allows the coil 1 wound around the mandrel 10 to be supported stepwise through the lifting part 140 in the process of being transported to the conveying platform 60 by the main body 110, It is possible to prevent the coil and the stripper car 1000 from being damaged, to prolong the service life of the coil and the stripper car 1000, and to improve the economical efficiency .

When the coil 1 is finally placed on the conveying table 60, the distance conversion value of the lifting unit 140 is initialized. When the coil 1 is wound on the mandrel 10 again, the above process is repeated The coil 1 wound around the mandrel 10 can be transferred to the transfer table 60. [

The embodiments and the accompanying drawings described in the present specification are merely illustrative of some of the technical ideas included in the present invention. Therefore, it is to be understood that the embodiments disclosed herein are not for purposes of limiting the technical idea of the present invention, but are intended to be illustrative, and thus the scope of the technical idea of the present invention is not limited by these embodiments. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents. It should be interpreted.

1: Coil
10: Mandrel 20: End stand
30: Cooling zone 40: Front pinch roll stand
50: Rear pinch roll stand 60: Feed belt
1000: Stripper Car
110: main body 120:
130: seat roller section 140: lifting section
150: position detecting unit 160: proportional electronic
170: PLC control unit 180: output conversion unit
190: automatic switching section 200: warning section

Claims (18)

A transfer unit provided at a lower end of the main body to transfer the main body along the transfer;
A seating roller part rotatably coupled to an upper end of the main body and on which the coil wound on the mandrel is seated;
A lifting unit for lifting the seating roller unit between a contact position where the coil is seated and contacted with the seating roller unit and a standby position where the coil is separated from the seating roller unit;
A position detecting unit for detecting a moving distance of the lifting unit between the contact position and the standby position;
A proportional electromagnetic valve for driving the lifting unit based on the current value when a predetermined current value is inputted and outputting the moving speed of the lifting unit; And
A PLC controller for calculating a speed output value of the lifting unit output from the proportional electromagnetic valve as a distance conversion value of the lifting unit and controlling lifting / lowering of the lifting unit based on the calculated distance conversion value;
And the stripper car. delete The method according to claim 1,
The PLC control unit,
An output conversion unit for calculating the distance conversion value based on an integrator for converting the speed output value into a moving distance of the lifting unit when the speed output value is input;
And the stripper car. The method of claim 3,
Wherein the output conversion unit comprises:
And calculates a proportional gain value to the speed output value input to the integrator in order to adjust the moving distance of the lifting portion. 5. The method of claim 4,
Wherein the output conversion unit comprises:
And calculates the distance conversion value when the driving condition is selected so that the lifting unit is driven within a moving distance converted from the integrator while the main body is stopped. 6. The method of claim 5,
The stripper car includes:
An automatic switching unit that controls driving of the lifting unit based on the distance conversion value calculated by the output conversion unit when at least one of the amplifier state, power supply state, and neutral state of the position detection unit is determined to be in an abnormal state;
And the stripper car. 6. The method of claim 5,
The stripper car includes:
When the distance detection value of the lifting unit detected through the position detection unit is compared with the distance conversion value calculated from the output conversion unit and the comparison value of the distance detection value and the distance conversion value exceeds a predetermined error range value An alarm unit for outputting a warning signal;
And the stripper car. 6. The method of claim 5,
The stripper car includes:
When the distance detection value of the lifting unit detected through the position detection unit is compared with the distance conversion value calculated from the output conversion unit and the comparison value of the distance detection value and the distance conversion value exceeds a predetermined error range value And emergency control for controlling the driving of the lifting unit at a predetermined position is performed. The method according to claim 1,
The lifting unit includes:
When the mandrel is rotated and the coil is wound, the holding roller portion is lowered to the standby position for waiting,
And wherein when the rotation of the mandrel is stopped, the seat roller portion is raised from the standby position to the contact position so as to seat the coil on the seat roller portion. 10. The method of claim 9,
The lifting unit includes:
When the coil reaches the stopping point where it is temporarily stopped during the process of moving the main body in the state that the coil is seated on the seating roller portion,
And the seat roller portion is raised to a raised position in which the seating roller is raised at a predetermined interval from the conveyance at the contact position. 11. The method of claim 10,
The lifting unit includes:
Wherein when the main body reaches the conveyance belt, the positioning roller unit is lowered to a seating position in which the coil is seated on the conveyance belt at the raised position. Inputting a predetermined current value to the proportional electromagnetic valve for driving the lifting unit for moving the seat roller unit up and down;
Inputting the speed output value to an integrator for converting the speed output value into a moving distance of the lifting unit when the speed output value of the lifting unit output from the proportional electron is inputted;
Calculating a proportional gain value to the speed output value input to the integrator to adjust a moving distance of the lifting unit; And
Calculating a distance conversion value of the lifting unit when a driving condition for driving the lifting unit is selected within a moving distance converted from the integrator in a state where the main body for moving the coil wound around the mandrel is stopped;
And controlling the driving of the stripper car. 13. The method of claim 12,
A method of controlling a stripper car,
Controlling driving of the lifting unit based on the distance conversion value when at least one of the amplifier state, the power supply state, and the neutral state of the position detector for detecting the moving distance of the lifting unit is in an abnormal state;
And controlling the driving of the stripper car. 13. The method of claim 12,
A method of controlling a stripper car,
A distance detection value of the lifting unit detected through a position detection unit for detecting a moving distance of the lifting unit is compared with the distance conversion value, and when the comparison value of the distance detection value and the distance conversion value exceeds a predetermined error range value Outputting a warning signal when the warning is issued;
And controlling the driving of the stripper car. 13. The method of claim 12,
A method of controlling a stripper car,
A distance detection value of the lifting unit detected through a position detection unit for detecting a moving distance of the lifting unit is compared with the distance conversion value, and when the comparison value of the distance detection value and the distance conversion value exceeds a predetermined error range value Emergency control of driving the lifting unit at a predetermined position;
And controlling the driving of the stripper car. 13. The method of claim 12,
Lowering the seating roller portion to a standby position where the seating roller portion is spaced apart from the coil so as to wait for the seating roller portion on which the coil is seated when the mandrel is wound while rotating the mandrel; And
When the rotation of the mandrel stops, the lifting unit lifts the seating roller unit from the standby position to a contact position where the coil is seated on the seating roller unit;
And controlling the driving of the stripper car. 17. The method of claim 16,
A method of controlling a stripper car,
When the coil reaches the stopping point where it is temporarily stopped during the process of moving the main body in the state that the coil is seated on the seating roller portion,
The lifting portion raising the seating roller portion to a raised position where the seating roller portion is raised at a predetermined interval from the conveyance at the contact position;
And controlling the driving of the stripper car. 18. The method of claim 17,
A method of controlling a stripper car,
When the main body reaches the conveyance platform, the lifting portion descends the seating roller portion to a seating position in which the coil is seated in the conveyance belt at the raised position;
And controlling the driving of the stripper car.

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