Roll changing pile drop detection system, method and roll changer trolley

Abstract

The application discloses a roll changing pile falling detection system and method and a roll changing trolley, and relates to the technical field of roll changing. The roll changing pile falling detection system comprises a measuring device and a detection terminal. The measuring device is used for outputting the pitch angle of the roll changing trolley and the first measuring distance between the roll changing trolley and the roll to be changed when the roll changing trolley performs the pile falling detection task of the roll to be changed. The detection terminal is used for outputting the pile falling detection result of the roll to be changed according to the pitch angle and the first measuring distance. Since the pitch angle of the roll changing trolley affects the distance measuring accuracy, the detection system corrects the first measuring distance according to the pitch angle, so that the interval distance between the roll changing trolley and the roll to be changed is determined more accurately, the measurement error caused by the wheel wear or horizontal position deviation of the roll changing trolley is eliminated, the pile falling state of the upper roll during the roll changing of the rolling mill can be detected with high accuracy, and the accuracy of the pile falling detection during the roll changing of the rolling mill is improved.

Description

Technical Field

[0001] This invention relates to the technical field of rolling mill roll changing, and more particularly to a roll changing detection system, method, and roll changing trolley. Background Technology

[0002] When the rolls of a hot rolling mill reach the end of their service life, they need to be replaced using a roll changing system. During automatic replacement, the upper roll must stably land on the lower roll's limiting device, and both rolls are simultaneously pulled out of the mill. This stable landing of the upper roll on the lower roll is called roll placement, and the roll placement status is detected using a roll changing roll placement detection system. Once the detection system accurately detects that the upper roll is in a stable placement state, the roll changing process will proceed to the step of pulling the roll out of the mill. The roll placement detection system is mounted on the roll changing trolley and can move back and forth with it. The roll changing roll placement detection device uses multiple laser rangefinders to measure the distance of the roll relative to a reference point. A reference point exists at the location of each laser rangefinder; the controller compares the measured distance with the theoretical distance to determine whether the roll placement action is complete. However, since the roller changing trolley cannot be guaranteed to be completely horizontal when it stops, the pitch angle of the roller changing trolley will affect the measurement distance of the pile dropping detection, thus making it impossible to accurately detect the pile dropping detection result of the upper roll, resulting in safety hazards in automatic roller changing.

[0003] Therefore, improving the accuracy of pile detection during roll changing in rolling mills is a technical problem that urgently needs to be solved. Summary of the Invention

[0004] The present invention provides a pile detection system, method and roll changing trolley for rolling mill roll changing, which improves the accuracy of pile detection during rolling mill roll changing.

[0005] The embodiments of the present invention provide the following solutions:

[0006] In a first aspect, embodiments of the present invention provide a roll-changing detection system for a rolling mill, the system comprising:

[0007] The measuring device is used to output the pitch angle of the roll changing trolley and the first measuring distance between the roll changing trolley and the roll to be replaced when the roll changing trolley is performing the task of detecting the drop of the roll to be replaced.

[0008] The detection terminal has its input end connected to the output end of the measuring device. The detection terminal is used to output the pile detection results of the roll to be replaced based on the pitch angle and the first measuring distance.

[0009] In one optional embodiment, the measuring device includes:

[0010] The calibration plate is used to move to a target position between the roll changing trolley and the stand for the roll to be changed when measuring the pitch angle, and to ensure that the parallelism between the calibration plate and the stand is less than a set threshold; and to move out of the target position when measuring the first measurement distance.

[0011] The distance measuring component is installed on the roll changing trolley. The distance measuring component is used to measure the second measuring distance between the roll changing trolley and the calibration plate when the calibration plate is in the target position; and to measure the first measuring distance between the roll changing trolley and the roll to be replaced when the calibration plate moves out of the target position.

[0012] The processing terminal is connected to the ranging component. The processing terminal is used to output the pitch angle based on the cosine angle of the calibrated distance and the second measured distance. The calibrated distance is the horizontal distance between the roller changing trolley and the calibration plate when the roller changing trolley is in the angle measurement position.

[0013] In one optional embodiment, the flatness of the calibration plate is less than or equal to 0.05 mm, the surface roughness of the calibration plate is less than or equal to 6.4 μm, and the set threshold is less than or equal to 3 mm.

[0014] In an optional embodiment, the measuring device further includes:

[0015] A drive assembly is connected to a calibration plate. The drive assembly is used to move the calibration plate to a target position when the roll changing trolley is in the angle measurement position; and to move the calibration plate out of the target position after the distance measuring assembly measures the second measurement distance.

[0016] In one alternative embodiment, the driving component includes:

[0017] The control valve is connected to the output of the processing terminal.

[0018] The telescopic rod has its rod chamber connected to the first output port of the control valve, and its rodless chamber connected to the second output port of the control valve.

[0019] The tilting arm has its first side hinged to the telescopic end of the telescopic rod, and its second side fixedly connected to the calibration plate.

[0020] The base is located on one side of the traction channel between the roll changing trolley and the roll to be changed. The base is hinged to the tilting arm and to the fixed end of the telescopic rod.

[0021] In an optional embodiment, the measuring device further includes:

[0022] A first position sensor is mounted on the drive assembly. The first position sensor is connected to the first input terminal of the processing terminal. The first position sensor is used to output a first position signal when the calibration board moves to the target position.

[0023] The second position sensor is mounted on the drive assembly and is connected to the second input terminal of the processing terminal. The first position sensor is used to output the second position signal when the calibration board moves out of the target position.

[0024] In an optional embodiment, the measuring device further includes:

[0025] The positioning terminal is used to output a stop signal to the detection terminal or processing terminal when the roller changing trolley travels to the angle measurement position;

[0026] The detection or processing terminal is also used to control the roller changing trolley to stop when a stop signal is received.

[0027] Secondly, embodiments of the present invention also provide a method for detecting the dropping of a roll during a rolling mill roll change, the method comprising:

[0028] When the roll changing trolley is performing the task of detecting the drop of the roll to be replaced, the pitch angle of the roll changing trolley and the first measurement distance between the roll changing trolley and the roll to be replaced are obtained.

[0029] Based on the pitch angle and the first measurement distance, the pile detection results of the roll to be replaced are output.

[0030] In one optional embodiment, obtaining the pitch angle of the roller-changing trolley includes:

[0031] In response to a stop signal when the roll changing trolley reaches a preset angle measurement position;

[0032] The preset calibration plate is moved to the target position according to the parking signal control. The target position is the preset position on the traction channel between the roll changing trolley and the roll to be changed.

[0033] When the calibration plate is in the target position, a distance measurement signal is output to the calibration plate to obtain the second measurement distance between the roller changing trolley and the calibration plate;

[0034] The pitch angle is obtained by taking the cosine angle of the calibration distance and the second measurement distance, where the calibration distance is the horizontal distance between the roller changing trolley and the calibration plate when the roller changing trolley is in the angle measurement position.

[0035] Thirdly, embodiments of the present invention also provide a roll changing trolley, which includes any of the rolling mill roll changing pile detection systems in the first aspect.

[0036] The rolling mill roll changing detection system, method, and roll changing trolley of the present invention have the following advantages compared with the prior art:

[0037] The mill roll changing pile detection system of the present invention includes a measuring device and a detection terminal. The input end of the detection terminal is connected to the output end of the measuring device. The measuring device is used to output the pitch angle of the roll changing trolley and the first measurement distance between the roll changing trolley and the roll to be changed when the roll changing trolley performs the pile detection task. The detection terminal is used to output the pile detection result of the roll to be changed based on the pitch angle and the first measurement distance. Since the pitch angle of the roll changing trolley affects the accuracy of the distance measurement, this detection system corrects the first measurement distance by adjusting the pitch angle, making the interval distance between the roll changing trolley and the roll to be changed more accurate. This eliminates the measurement error caused by wheel wear or horizontal position deviation of the roll changing trolley, and can achieve high-precision detection of the pile status of the upper roll during mill roll changing, thereby improving the accuracy of pile detection during mill roll changing. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a diagram showing the equipment distribution for performing a pile-drop detection task, provided in an embodiment of the present invention.

[0040] Figure 2 This is a schematic diagram of the upper and lower rollers during pile dropping provided in an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of the principle of pile detection provided in an embodiment of the present invention. Figure 1 ;

[0042] Figure 4 A schematic diagram of the principle of pile detection provided in an embodiment of the present invention. Figure 2 ;

[0043] Figure 5 A schematic diagram of the principle of pile detection provided in an embodiment of the present invention. Figure 3 ;

[0044] Figure 6 A schematic diagram of the principle of pile detection provided in an embodiment of the present invention. Figure 4 ;

[0045] Figure 7 A schematic diagram of the principle of pile detection provided in an embodiment of the present invention. Figure 5 ;

[0046] Figure 8 This is a schematic diagram of the signal flow for pile detection provided in an embodiment of the present invention;

[0047] Figure 9 This is a schematic diagram of the structure of the driving component provided in an embodiment of the present invention;

[0048] Figure 10 A flowchart of the pile detection method provided in an embodiment of the present invention;

[0049] Figure 11 A logical illustration of the pile detection method provided in the embodiments of the present invention. Figure 1 ;

[0050] Figure 12 A logical illustration of the pile detection method provided in the embodiments of the present invention. Figure 2 ;

[0051] Figure 13 Calculation and control of pile dropping detection provided in the embodiments of the present invention Figure 1 ;

[0052] Figure 14 Calculation and control of pile dropping detection provided in the embodiments of the present invention Figure 2 ;

[0053] Figure 15 Calculation and control of pile dropping detection provided in the embodiments of the present invention Figure 3 .

[0054] Explanation of reference numerals in the attached drawings: 1-Roll changing trolley; 2-Wheel; 3-Rail; 4-Moving cover plate; 5-Cover plate hydraulic mechanism; 6-Lower roll; 7-Upper roll; 8-Roll group; 9-Support roll; 10-Pin; 11-Pin hole; 12-Measuring device; 13-Calibration plate; 14-Archive; 15-Drive assembly; 16-Control valve; 17-Inlet pipe; 18-Outlet pipe; 19-Telescopic rod; 20-Base; 21-Tilting arm; 22-First position sensor; 23-Second position sensor. Detailed Implementation

[0055] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the protection scope of the embodiments of the present invention.

[0056] Please see Figure 1 , Figure 1 This is an equipment layout diagram for performing the rolling mill pile detection task. The pile detection task is performed by the roll changing trolley 1 based on the roll changing requirements. The roll changing trolley 1 is equipped with multiple wheels 2, which travel along a preset track 3. Under the track 3, there is a movable cover plate 4 and a cover plate hydraulic mechanism 5, which is used to adjust the height of the movable cover plate 4.

[0057] Please see Figure 2 , Figure 2 This is a schematic diagram of the upper and lower rolls during the pile-dropping process. Before performing the roll-changing task, a pile-dropping detection task is performed first. The roll-changing trolley 1 travels along track 3 towards the side of the roll to be replaced, i.e., direction A in the diagram. During the pile-dropping detection task, the roll is controlled to drop onto the pile. During the pile-dropping, the upper roll 7 stably lands on the lower roll 6. The upper roll 7 has a pin hole 11, and the lower roll 6 has a pin post 10. After the pile-dropping, the pin post 10 is assembled into the pin hole 11, making the upper roll 7 and the lower roll 6 a single integrated structure. The pile-dropping detection task is to check whether the upper roll 7 and the lower roll 6 are a single integrated structure. After the pile-dropping detection is successful, the roll-changing task is performed. During the roll-changing task, the roll-changing trolley 1 drags the roll to be replaced towards direction B to pull the roll to be replaced out of the mill's gate 14. It should be noted that the archway 14 includes an upper roll 7, a lower roll 6 and a support roll 9. The roll to be replaced includes the upper roll 7 and the lower roll 6. The roll changing trolley 1 pulls the roll to be replaced to the side-shifting platform as the roll group 8 to be processed.

[0058] Please see Figure 3 , Figure 3 Schematic diagram of the principle of pile detection Figure 1 During the pile-dropping process, measuring device 12 emits beams L1, L2, and L3 to measure distances. Beam L1 measures the distance between the upper roll 7 and the roll-changing trolley 1; beam L2 determines whether there is a gap between the upper roll 7 and the lower roll 6; and beam L3 measures the distance between the lower roll 6 and the roll-changing trolley 1 to determine whether the pile-dropping action has been completed. Please refer to [link / reference]. Figure 4 and Figure 5 , Figure 4 and Figure 5 The diagrams illustrate the principles of pile detection. Figure 2 and three In practical applications, the movable cover plate 4 may have a pitch angle in the horizontal direction, or the roller changing trolley 1 may have a pitch angle due to wheel wear. Consequently, the emitted beam of the measuring device 12, which performs distance measurement, also has the same pitch angle, leading to deviations in the distance measurement results. In the figure, beam L is the actual beam trajectory output by the measuring device 12, and L′ is the ideal distance measuring beam trajectory. An angle α exists between beams L and L′. Angle α may be a pitch angle or an elevation angle. As shown in the figure, due to the elevation angle of the movable cover plate 4, the elevation angle cannot be eliminated after the roller changing trolley 1 travels from position K1 to K2, making accurate distance measurement impossible and resulting in insufficient accuracy in pile detection. The following embodiments of the present invention will specifically illustrate how to implement the pile detection system proposed in this invention to ensure the detection stability of the pile changing device, improve roller changing efficiency, and guarantee the accuracy of pile detection during roller changing.

[0059] This invention provides a pile detection system for rolling mill roll changing, the system including a measuring device 12 and a detection terminal.

[0060] The measuring device 12 can be a combination of a level and a distance sensor. When the roll-changing trolley 1 stops at the angle measurement position for performing the pile-drop detection task, the measuring device 12 outputs the pitch angle of the roll-changing trolley 1 and the first measurement distance between the roll-changing trolley 1 and the roll to be replaced. The pitch angle characterizes the magnitude of the angle between the roll-changing trolley 1 and the horizontal direction. When the roll-changing trolley 1 stops at the angle measurement position, the pitch angle can be measured by the level installed on the roll-changing trolley 1. The angle measurement position can be any position after the roll-changing trolley 1 has traveled to the movable cover plate 4. For example, the angle measurement position can be the endpoint of the roll-changing task, with the pitch angle output by the level; or it can be a preset position before the endpoint, with the pitch angle obtained by measuring with the distance sensor and solving using trigonometric functions. The first measurement distance can be obtained using a laser-type distance sensor. For example, three laser rangefinders can be installed, each outputting a distance measurement signal to the upper roll 7, the roll gap position, and the lower roll 6, respectively, to measure the distance between these locations. The roll gap position can be set to 5-30mm above the lower roll 6. When a roll gap exists, the measured distance is greater than the distance between the upper roll 7 and the laser rangefinder; conversely, when there is no gap, the distance measured by the middle laser rangefinder is the distance between the upper roll 7 and the laser rangefinder. The first measurement distance characterizes the distance between the roll changing trolley 1 and the roll to be changed, measured by the measuring device 12, when a pitch angle exists. Figure 5 The distances measured by beams L1, L2, and L3 are used. It is understandable that, due to the beam deflection, the first measured distance cannot accurately represent the horizontal distance between the roll-changing trolley and the roll to be changed. It should be noted that the first measured distance includes the distances obtained from the three laser rangefinders, or it can include the distance measured by beam L2, as long as it is sufficient for pile detection.

[0061] The detection terminal can be a PLC (Programmable Logic Controller) or a control board equipped with a microcontroller, as long as it can perform data calculations. The input terminal of the detection terminal is connected to the output terminal of the measuring device 12. The measuring device 12 acquires the pitch angle and the first measuring distance and outputs them to the detection terminal. The detection terminal is used to output the pile-drop detection result of the roll to be replaced based on the pitch angle and the first measuring distance. The horizontal distance between the roll-changing carriage 1 and the roll to be replaced can accurately represent the pile-drop detection result. Therefore, the horizontal distance can be obtained by performing trigonometric function calculations on the pitch angle and the first measuring distance through the detection terminal. The pile-drop detection result is determined by comparing the horizontal distance with a preset distance. The preset distance is the distance between the roll-changing carriage 1 and the upper roll 7 when the roll-changing carriage 1 is in the angle measurement position.

[0062] For example, the measuring device 12 includes a calibration plate 13, a ranging component, and a processing terminal.

[0063] The calibration plate 13 can be a flat plate structure, capable of reflecting the ranging signal output by the ranging component. The calibration plate 13 is used to move to a target position between the roll changing trolley 1 and the archway 14 of the roll to be changed when measuring the pitch angle, ensuring its parallelism with the archway 14 is less than a set threshold; and to move out of the target position when measuring the first measuring distance. The target position can be set based on actual space, located between the roll changing trolley 1 and the archway 14; alternatively, a positioning mechanism can be set on the archway 14, and the calibration plate 13 can be installed via this mechanism, ensuring its parallelism with the archway 14 is less than a set threshold. Moving and removing the calibration plate 13 can be done by on-site personnel or by automated equipment, depending on usage requirements. To ensure the calibration plate 13 meets usage requirements, its flatness can be set to less than or equal to 0.05 mm, its surface roughness to less than or equal to 6.4 μm, and its threshold value to less than or equal to 3 mm.

[0064] The ranging component is mounted on the roll changing trolley 1. It measures the second distance between the roll changing trolley 1 and the calibration plate 13 when the calibration plate 13 is in the target position, and measures the first distance between the roll changing trolley 1 and the roll to be changed when the calibration plate 13 moves out of the target position. When the ranging component consists of multiple laser rangefinders, it can output ranging signals to the calibration plate 13 and the roll to be changed to measure the second and first distances respectively.

[0065] The processing terminal can also be a PLC or control board, as long as it can perform data calculations. The processing terminal is connected to the ranging component and is used to output the pitch angle based on the cosine angle of the calibrated distance and the second measured distance. The calibrated distance is the horizontal distance between the roller changing trolley 1 and the calibration plate 13 when the roller changing trolley 1 is in the angle measuring position. Please refer to [link / reference]. Figure 6 When the ranging assembly includes a first laser rangefinder, a second laser rangefinder, and a third laser rangefinder, beams L1, L2, and L3 are the actual output beams from the first, second, and third laser rangefinders to the calibration plate 13, respectively, to obtain the second measuring distance; L′1, L′2, and L′3 are the output beams when measuring the calibration distance, to obtain the calibration distance. When the calibration distance E is set to 2000mm, the pitch angles of each laser rangefinder are as follows:

[0066]

[0067] J1 is the second measurement distance measured by the first laser rangefinder; J2 is the second measurement distance measured by the second laser rangefinder; J3 is the second measurement distance measured by the third laser rangefinder.

[0068] In practical applications, the complex environment of the rolling mill location during pile dropping detection poses a significant safety hazard if the roll changing trolley is manually stopped at the angle measurement position. Therefore, in one specific embodiment, the measuring device also includes a positioning terminal.

[0069] The positioning terminal can be an encoder or a limit switch, as long as it can determine the travel position of the roll changing trolley 1. The positioning terminal outputs a stop signal to the detection terminal or processing terminal when the roll changing trolley 1 reaches the angle measurement position; the detection terminal or processing terminal also controls the roll changing trolley 1 to stop when it receives the stop signal. When the positioning terminal is an encoder, it is installed on the wheel 2 of the roll changing trolley 1. The encoder measures the travel distance of the roll changing trolley 1 to determine whether the roll changing trolley 1 has reached the angle measurement position. When the positioning terminal is a limit switch, it can be installed on the track 3 at the angle measurement position, located on the side close to the roll to be changed. When the roll changing trolley 1 reaches the angle measurement position, the wheel 2 comes into contact with the limit switch, triggering a stop signal. When the detection terminal or processing terminal receives the stop signal, it controls the roll changing trolley 1 to stop.

[0070] In practical applications, since the calibration plate 13 needs to move based on distance measurement requirements, manual movement of the calibration plate poses a safety hazard during roll changing scenarios. Therefore, in one specific embodiment, the measuring device 12 further includes a drive assembly 15.

[0071] Please see Figure 7 , Figure 7 Schematic diagram of the principle of pile detection Figure 5 The drive assembly 15 can be a linear drive mechanism or a flipping drive mechanism. To ensure reliable movement of the calibration plate 13, the verticality error of the drive assembly needs to be controlled within 3 / 1000mm; the horizontality error needs to be controlled within 5 / 1000mm. The drive assembly is connected to the calibration plate 13. The drive assembly is used to move the calibration plate 13 to the target position when the roll changing trolley 1 is in the angle measurement position; and to move the calibration plate 13 out of the target position after the distance measuring assembly measures the second measurement distance. Taking the drive assembly as a linear drive mechanism as an example, it can be installed on one side of the traction channel between the roll changing trolley 1 and the roll to be changed. When it is necessary to perform pitch angle measurement, the linear drive mechanism moves the calibration plate 13 onto the traction channel; after completing the pitch angle measurement, it is moved out of the traction channel to facilitate the laser rangefinder to perform distance measurement on the roll to be changed.

[0072] Please see Figure 8 , Figure 8This is a schematic diagram of the signal flow for pile dropping detection. When the detection terminal is configured as the main controller of the roll changing trolley 1, the signal flow for executing the pile dropping detection task is as follows: The roll changing trolley 1 is controlled to travel along track 3 towards the angle measurement position of the roll to be replaced. When the encoder determines that the roll has reached the angle measurement position, a stop signal is output to the main controller. The main controller controls the roll changing trolley 1 to stop at the angle measurement position and drives the component to move the calibration plate 13 to the preset target position. The measuring device 12 is controlled to measure the second measurement distance between the roll changing trolley 1 and the calibration plate 13. The processing terminal outputs the pitch angle based on the cosine angle of the calibration distance and the second measurement distance. The main controller outputs the pile dropping detection result based on the pitch angle and the first measurement distance.

[0073] For example, please refer to Figure 9 , Figure 9 This is a schematic diagram of the drive assembly. The drive assembly includes a control valve 16, a telescopic rod 19, a tilting arm 21, and a base 20. The control valve can be set as a solenoid valve or a relay, depending on the type of telescopic rod. When compressed air is used as the drive source, the control valve is a solenoid valve. The control valve 16 is connected to the air inlet pipe 17 and the air outlet pipe 18. The air inlet pipe 17 is connected to the compressed air storage tank, and the air outlet pipe 18 is connected to the telescopic rod. The controlled end of the control valve is connected to the output end of the processing terminal. The telescopic rod can be a hydraulic cylinder, a pneumatic cylinder, or a motor-driven linear telescoping device. Taking a pneumatic cylinder as an example, the rod-side chamber of the telescopic rod is connected to the first output port of the control valve, and the rodless chamber of the telescopic rod is connected to the second output port of the control valve. The first side of the tilting arm is hinged to the telescopic end of the telescopic rod, and the second side of the tilting arm is fixedly connected to the calibration plate 13. The base is located on one side of the traction channel between the roll changing trolley 1 and the roll to be changed. The base is hinged to the tilting arm and the fixed end of the telescopic rod. The calibration plate 13 can be moved to the target position and moved out of the target position by controlling the telescopic rod.

[0074] To further improve the reliability of calibration board movement control, the measuring device also includes a first position sensor 22 and a second position sensor 23.

[0075] The first position sensor 22 and the second position sensor 23 are both mounted on the drive assembly. The first position sensor and the second position sensor can be sensors such as proximity switches. The first position sensor is connected to the first input terminal of the processing terminal. The first position sensor is used to output a first position signal when the calibration plate 13 moves to the target position. The first position signal is used to determine that the calibration plate 13 has moved to the target position. The second position sensor is connected to the second input terminal of the processing terminal. The first position sensor is used to output a second position signal when the calibration plate 13 moves out of the target position. The second position signal is used to determine that the calibration plate 13 has moved out of the target position.

[0076] Based on the same inventive concept as the detection system, this invention also provides a method for detecting pile dropping during rolling mill roll changing. Please refer to [link to relevant documentation]. Figure 10 , Figure 10 This is a flowchart of the pile-drop detection method. The pile-drop detection method can be implemented on the main controller of the roll-changing trolley, or on other control terminals that perform roll-changing actions, as long as they can run the detection method. The detection method specifically includes:

[0077] S11. When the roll changing trolley is performing the task of detecting the drop of the roll to be replaced, obtain the pitch angle of the roll changing trolley and the first measurement distance between the roll changing trolley and the roll to be replaced.

[0078] Specifically, the pitch angle can be measured by a level. When the roll changing trolley stops at the angle measurement position, it outputs a signal to the level. The level measures the horizontal state of the roll changing trolley and outputs the pitch angle. The first measurement distance can be measured by a laser rangefinder. The distance between the rolls to be changed is measured at the angle measurement position, including the distance between the roll changing trolley and the upper roll, the roll gap position, and the lower roll.

[0079] For example, please refer to Figure 11 and Figure 12 To obtain the pitch angle of the roller changing trolley, including:

[0080] The first step is to respond to the stop signal when the roll changing trolley reaches the angle measurement position. When the roll changing trolley is moving, the encoder or limit switch can be used to detect whether the roll changing trolley has reached the angle measurement position, and a stop signal is output when the angle measurement position is determined.

[0081] The second step involves controlling the preset calibration plate to move to the target position based on the stop signal. The target position is a preset position on the traction channel between the roll changing trolley and the roll to be changed. Taking cylinder-driven calibration plate as an example, when the main controller receives the stop signal, it controls the roll changing trolley to stop at the angle measurement position; and controls the solenoid valve connected to the cylinder to engage, controlling the calibration plate to move to the target position.

[0082] The third step involves outputting a distance measurement signal to the calibration plate when it is in the target position, thereby obtaining the second measurement distance between the roll changing trolley and the calibration plate. This can be achieved by using a position sensor to determine whether the calibration plate is in the target position. When it is in the target position, the measuring device is controlled to output a distance measurement signal to the calibration plate, measuring the distance between the roll changing trolley and the calibration plate to obtain the second measurement distance.

[0083] The fourth step involves obtaining the pitch angle based on the cosine angle of the calibration distance and the second measured distance. The calibration distance is the horizontal distance between the roller-changing trolley and the calibration plate when the roller-changing trolley is at the angle measurement position. Trigonometric functions are then used to solve for the pitch angle of the roller-changing trolley on the movable cover plate. After obtaining the pitch angle and the first measured distance, the process proceeds to step S12.

[0084] S12. Based on the pitch angle and the first measurement distance, output the pile detection results of the roll to be replaced.

[0085] Specifically, the first measured distance represents the distance between the roll changing trolley and the roll to be replaced, as measured by the measuring device when there is a pitch angle; it is not the horizontal distance between the roll changing trolley and the roll to be replaced. The horizontal distance can be obtained by solving trigonometric functions using the pitch angle and the first measured distance. Taking the pile detection using three laser rangefinders as an example, the formula is:

[0086] S a =A / Cosα1;S b =B / Cosα2;S c =C / Cosα3. Calculate the horizontal distance S between the roll changing trolley and the upper roll. a (Or corrected measurement value), the horizontal distance S between the roll changing trolley and the roll gap position. b The horizontal distance S between the roll changing trolley and the lower roll c Where A is the first measured distance between the roll changing trolley and the upper roll; B is the first measured distance between the roll changing trolley and the roll gap position; and C is the first measured distance between the roll changing trolley and the lower roll. The horizontal distance is compared with the preset value for executing the roll changing action to determine whether the roll-down action of the roll to be changed has been completed. After the roll-down action detection is completed, and it is confirmed that the roll to be changed has been successfully downed, the calibration plate is retracted, and the roll changing trolley continues to move forward to perform the roll changing task.

[0087] Please see Figure 13-15 The rolling mill roll changing detection method of this invention implements the above scheme through multiple components such as comparators, pulse generators, and registers. The calibration start command is triggered based on multiple conditions. After the calibration start command is triggered, the calibration plate is moved to the target position. Three laser rangefinders measure distances based on the calibration plate and calculate the cosine angle of each optical path. The cosine angle is used as the pitch angle, and the roll changing detection is performed based on the pitch angle and the first measurement distance. It can be understood that... Figure 15 Only the distance correction calculation for one laser rangefinder is shown; the distance corrections for the other two laser rangefinders are the same and will not be described in detail here.

[0088] Based on the same inventive concept as the detection method, this embodiment of the invention also provides a roll changing trolley, which includes any detection system in the roll changing pile detection system of the rolling mill.

[0089] The technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0090] 1. The roll-changing detection system for rolling mill roll changing includes a measuring device and a detection terminal. The input end of the detection terminal is connected to the output end of the measuring device. The measuring device outputs the pitch angle of the roll-changing trolley and the first measurement distance between the roll-changing trolley and the roll to be changed when the roll-changing trolley performs the roll-changing detection task. The detection terminal outputs the roll-changing detection result based on the pitch angle and the first measurement distance. Since the pitch angle of the roll-changing trolley affects the accuracy of the distance measurement, this detection system corrects the first measurement distance by adjusting the pitch angle, making the interval distance between the roll-changing trolley and the roll to be changed more accurate. This eliminates measurement errors caused by wheel wear or horizontal position deviation of the roll-changing trolley, enabling high-precision detection of the roll-changing status during rolling mill roll changing, thereby improving the accuracy of roll-changing detection.

[0091] 2. A vehicle that uses a calibration plate and drive assembly to implement the pitch angle can perform a calibration measurement on the rolling mill roll changing pile detection. This can effectively eliminate distance measurement errors in the pile detection process. It has the advantages of simple structure and convenient operation, and is well applicable to automatic roll changing processes.

[0092] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0093] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (modules, systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0094] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0095] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0096] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0097] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A roll-changing detection system for detecting the dropping of rolls, characterized in that, The system includes: A measuring device is used to output the pitch angle of the roll changing trolley and the first measuring distance between the roll changing trolley and the roll to be replaced when the roll changing trolley is performing the task of detecting the pile of the roll to be replaced. The detection terminal has its input end connected to the output end of the measuring device. The detection terminal is used to output the pile detection result of the roll to be replaced based on the pitch angle and the first measuring distance. The measuring device includes: A calibration plate is used to move to a target position between the roll changing trolley and the archway of the roll to be changed when measuring the pitch angle, and the parallelism between the calibration plate and the archway is less than a set threshold; and to move out of the target position when measuring the first measuring distance. A ranging component is installed on the roll changing trolley. The ranging component is used to measure a second measuring distance between the roll changing trolley and the calibration plate when the calibration plate is in the target position; and to measure a first measuring distance between the roll changing trolley and the roll to be replaced when the calibration plate moves out of the target position. A processing terminal is connected to the ranging component. The processing terminal is used to output the pitch angle based on the cosine angle of the calibrated distance and the second measured distance, wherein the calibrated distance is the horizontal distance between the roller changing trolley and the calibration plate when the roller changing trolley is at a preset angle measurement position. The measuring device further includes: A drive assembly connected to the calibration plate, the drive assembly being configured to move the calibration plate to the target position when the roll changing trolley is in the angle measuring position; and to move the calibration plate out of the target position after the ranging assembly measures the second measuring distance; The driving component includes: A control valve, wherein the controlled end of the control valve is connected to the output end of the processing terminal; The telescopic rod has a rod-side chamber connected to the first output port of the control valve, and a rodless chamber connected to the second output port of the control valve. A flipping arm, wherein a first side of the flipping arm is hinged to the telescopic end of the telescopic rod, and a second side of the flipping arm is fixedly connected to the calibration plate; The base is located on one side of the traction channel between the roll changing trolley and the roll to be changed. The base is hinged to the tilting arm and to the fixed end of the telescopic rod.

2. The rolling mill roll changing pile detection system according to claim 1, characterized in that, The flatness of the calibration plate is less than or equal to 0.05 mm, the surface roughness of the calibration plate is less than or equal to 6.4 μm, and the set threshold is less than or equal to 3 mm.

3. The rolling mill roll changing pile detection system according to claim 1, characterized in that, The measuring device further includes: A first position sensor is mounted on the drive assembly. The first position sensor is connected to the first input terminal of the processing terminal. The first position sensor is used to output a first position signal when the calibration plate moves to the target position. A second position sensor is mounted on the drive assembly and connected to the second input terminal of the processing terminal. The first position sensor is used to output a second position signal when the calibration plate moves out of the target position.

4. The rolling mill roll changing pile detection system according to claim 1, characterized in that, The measuring device further includes: A positioning terminal is used to output a stop signal to the detection terminal or the processing terminal when the roller changing trolley travels to the angle measurement position; The detection terminal or the processing terminal is also used to control the roller changing trolley to stop moving when the stop signal is received.

5. A method for detecting the dropping of a roll during a rolling mill roll change, characterized in that, The method includes: When the roll changing trolley performs the task of detecting the drop of the roll to be replaced, the pitch angle of the roll changing trolley and the first measurement distance between the roll changing trolley and the roll to be replaced are obtained. Based on the pitch angle and the first measurement distance, the pile detection result of the roll to be replaced is output; The process of obtaining the pitch angle of the roller changing trolley includes: In response to a stop signal received when the roller changing trolley reaches a preset angle measurement position; The preset calibration plate is moved to the target position according to the parking signal, wherein the target position is a preset position on the traction channel between the roll changing trolley and the roll to be changed; When the calibration plate is in the target position, a distance measuring signal is output to the calibration plate to obtain the second measuring distance between the roller changing trolley and the calibration plate; The pitch angle is obtained based on the cosine angle of the calibration distance and the second measurement distance, wherein the calibration distance is the horizontal distance between the roller changing trolley and the calibration plate at the angle measurement position.

6. A roller changing trolley, characterized in that, The roll changing trolley includes the roll dropping detection system for rolling mills as described in any one of claims 1-4.

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