Automatic avoiding method, device and equipment for rolling and medium

Abstract

The invention provides an automatic rolling avoiding method, device and equipment and a medium, and relates to the technical field of coating control, and the method comprises the steps that when a rolling avoiding instruction is received, a rolling mechanism is in a rolling state, a servo motor of a swing roller is controlled to stop running so that the swing roller can be maintained at the current position, and a hydraulic mechanism is controlled to drive a second shaft roller to be away from a first shaft roller so that the second shaft roller can be kept away from the first shaft roller; the coiled material passing through the space between the first shaft roller and the second shaft roller at the next moment is not rolled; when a rolling avoiding instruction is received, the rolling mechanism is in a non-rolling state, and the operation mode of a servo motor of the swing roller is controlled to be switched into a position control mode; position control parameters are generated based on the difference value between the real-time position of the swing roller and the configured target position; and controlling the swing roller to move to the target position based on the position control parameter. According to the method, the bad positions of the coiled material or other positions without rolling can be automatically avoided and then rapidly recovered to the stable operation state.

Description

Technical Field

[0001] The present application relates to the field of coating control technology, and in particular to a method, device, equipment and medium for automatic roller avoidance. Background Art

[0002] The existing roller press needs to be stopped and the coil is manually pulled when there are joints, poor coating, or missing coating on the material. The defective part passes through the roller press and then restarts. The coating roller and roll-to-roll integrated equipment will have a long period of empty foil before starting. If it is done in the traditional way, the roller press needs to be shielded, and the coated coil is stopped again after the roller press, and the roller press is re-prepared and restarted.

[0003] Since the original roller press solution cannot automatically handle abnormal material conditions, it leads to poor material conditions and the operation of the existing equipment's small integrated coating, roller pressing, and slitting machine during startup. It is impossible to switch the roller pressing function freely, resulting in the equipment having to be started and stopped repeatedly until the equipment operating conditions are met before it can be started normally, which seriously wastes time. Multiple starts and stops will also cause a high probability of foil breakage, etc., which consumes manpower and material resources. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method, device, equipment and medium for automatic roller pressure avoidance, which is used to solve the above-mentioned problems existing in the prior art, and can automatically avoid undesirable positions of the coil or other positions that do not require roller pressure and then quickly return to a stable operating state.

[0005] In a first aspect, a method for automatically avoiding rolling is provided, which is applied to an automatic avoiding rolling system including a swing roller mechanism and a rolling mechanism, wherein the swing roller mechanism includes a swing roller and a servo motor that controls the movement of the swing roller; a coil moves forward in a channel formed by the swing roller mechanism and the rolling mechanism; the rolling mechanism includes a first shaft roller and a second shaft roller connected to a hydraulic mechanism; the hydraulic mechanism is used to drive the second shaft roller to move up and down relative to the first shaft roller, so as to realize that the coil is rolled or not rolled when passing between the first shaft roller and the second shaft roller; the method may include:

[0006] When the rolling mechanism is in a rolling state when a rolling avoidance instruction is received, the servo motor of the swing roller is controlled to stop running so that the swing roller is maintained at a current position, and the hydraulic mechanism is controlled to drive the second shaft roller away from the first shaft roller so that the coil passing between the first shaft roller and the second shaft roller at the next moment is not rolled;

[0007] When the rolling mechanism is in a non-rolling state upon receiving a rolling avoidance instruction, the operation mode of the servo motor controlling the swing roller is switched to a position control mode; based on the difference between the real-time position of the swing roller and the configured target position, a position control parameter is generated; based on the position control parameter, the swing roller is controlled to move to the target position.

[0008] In an optional implementation, both the first roller and the second roller are driven by a variable frequency motor.

[0009] In an optional implementation, the method further includes:

[0010] Receive roller pressure recovery instructions;

[0011] Controlling the operation mode of the variable frequency motor to switch to a torque control mode;

[0012] Controlling the hydraulic mechanism to pressurize to a configured target pressure value, and controlling the swing roller to be at the target position;

[0013] generating a first control parameter based on the configured web moving speed;

[0014] Based on the first control parameter, the moving speed of the web is controlled.

[0015] In an optional implementation, before controlling the operation mode of the variable frequency motor to switch to the torque control mode, the method further includes:

[0016] Obtaining a first rotation speed of the variable frequency motor;

[0017] After controlling the operation mode of the variable frequency motor to switch to the torque control mode, the method further includes:

[0018] Obtaining a second rotation speed of the variable frequency motor;

[0019] If the absolute value of the difference between the first speed and the second speed is smaller than a configured speed threshold, the hydraulic mechanism is controlled to increase pressure to a configured target pressure value.

[0020] In an optional implementation, in the process of controlling the hydraulic mechanism to pressurize to a configured target pressure value, the method further includes:

[0021] Acquire a real-time pressure value between the first roller and the second roller;

[0022] If the difference between the target pressure value and the real-time pressure value is smaller than the configured pressure threshold, the operation mode of the variable frequency motor is controlled to switch to the speed control mode, and the servo motor is controlled to resume operation.

[0023] In an optional implementation, after controlling the servo motor to resume operation, the method further includes:

[0024] generating a second control parameter based on the configured web movement speed;

[0025] Based on the second control parameter, the moving speed of the web is controlled.

[0026] In an optional implementation, after controlling the moving speed of the coil based on the first control parameter, the method further includes:

[0027] generating a third control parameter according to a difference between the real-time position of the swing roller and the target position;

[0028] Based on the third control parameter, the moving speed of the web is controlled.

[0029] In a second aspect, a device for automatically avoiding rolling pressure is provided, which may include:

[0030] A receiving unit, used for receiving a roll pressure avoidance instruction;

[0031] a first control unit, configured to, when receiving a rolling avoidance instruction, place the rolling mechanism in a rolling state, control the servo motor of the swing roller to stop running so that the swing roller is maintained at a current position, and control the hydraulic mechanism to drive the second shaft roller away from the first shaft roller so that the coil passing between the first shaft roller and the second shaft roller at the next moment is not rolled;

[0032] The second control unit is used to control the operation mode of the servo motor of the swing roller to switch to the position control mode when the rolling mechanism is in a non-rolling state when a rolling avoidance instruction is received; generate a position control parameter based on the difference between the real-time position of the swing roller and the configured target position; and control the swing roller to move to the target position based on the position control parameter.

[0033] In a third aspect, an electronic device is provided, the electronic device comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0034] Memory, used to store computer programs;

[0035] The processor is used to implement any method step described in the first aspect when executing the program stored in the memory.

[0036] In a fourth aspect, a computer-readable storage medium is provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any method step described in the first aspect is implemented.

[0037] The present application realizes automatic switching of the state of the rolling mechanism, thereby achieving the effect of dynamically controlling whether to roll the coil. Under the condition of ensuring no speed reduction and no machine stop, through the cooperation of CCD sensor and manual button control, the roller jumps automatically to avoid the defective position of the product and the manual avoidance position, and enters the stable operation state more quickly.

[0038] The present application realizes roller pressure avoidance and roller pressure resetting control after avoidance when the roller pressure mechanism is in different states.

[0039] When the rolling mechanism is in the rolling state, the present application controls the swing roller position to remain stationary and releases pressure from the hydraulic mechanism, so that the defective positions of the coil (including but not limited to tape joints, empty foil, etc.) can pass through the roller press without being rolled. The whole process does not require deceleration and shutdown, which greatly reduces the inconvenience of stopping the machine and manually conveying the tape backwards when the rolling encounters problems such as defective materials, as well as the waste of materials, time and manpower, and more efficiently completes the rolling avoidance action of defective coils.

[0040] When the defective position passes through the roller pressing, the speed of the roller pressing mechanism is close to the belt conveying speed, the roller pressing mechanism is pressurized, and after the roller pressing mechanism is pressed, the swing roller mechanism swings slightly with the speed closed-loop PID until the speed of the roller pressing mechanism matches the belt conveying speed and then the swing roller mechanism tends to be stable. This solves the problem of the speed difference caused by the pressing moment of the roller pressing mechanism, which causes the coil to break easily and the coil to stick to the roller, and realizes the function of avoiding the defective points from passing through the roller pressing efficiently and conveniently.

[0041] In the present application, when the rolling mechanism is in a non-rolling state, the CCD detects a defective condition of the coil (for example, there is a tape joint point, empty foil, etc.). After startup, the swing roller will move to the center position during the system readiness process to prepare for pressurizing the rolling mechanism. After the starting conditions are met, the system starts running, which solves the problem of the waste of time and materials when the traditional rolling machine encounters a defective point and needs to be manually operated to pull the roll through the rolling mechanism and then restart the rolling.

[0042] At the same time, after the bad position passes through the roller, the speed of the roller mechanism is controlled to be close to the belt speed, the roller is pressed, and the roller mechanism is pressed together. The swing roller swings slightly with the speed closed loop PID until the speed of the roller mechanism matches the belt speed and the swing roller mechanism tends to be stable, which solves the problem of easy belt breakage and coil sticking to the roller caused by the speed difference caused by the roller mechanism pressing at the moment. The whole process does not require manual operation, and realizes the function of intelligently avoiding the roller mechanism at the bad position of the coil and re-pressurizing the coil without stopping or slowing down after starting. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A structural diagram of an automatic roller pressure avoidance system provided in an embodiment of the present application;

[0045] Figure 2 A flow chart of a method for automatic roller pressure avoidance provided in an embodiment of the present application;

[0046] Figure 3 A schematic diagram of the structure of an automatic roller pressure avoidance device provided in an embodiment of the present application;

[0047] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0048] In the figure, 1, hydraulic mechanism; 2, rotating shaft; 3, swing arm; 4, horizontal roller; 5, swing roller; 6, first shaft roller; 7, second shaft roller. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] The automatic roller avoidance method adopted in this application can be applied as follows Figure 1 In the automatic roller pressure avoidance system shown, the automatic roller pressure avoidance system comprises: a swing roller mechanism, a roller pressure mechanism and a hydraulic mechanism 1;

[0051] The swing roller mechanism is provided with a rotating shaft 2, a swing arm 3 that can swing around the rotating shaft, a servo motor, a horizontal roller 4 and a limit block; the axis of the swing arm 3 rotating shaft is fixedly connected to the servo motor; the horizontal roller 4 is fixedly provided at the lower end of the swing arm 3; the swing arm 3 and the horizontal roller 4 together form a swing roller 5; the servo motor is provided with an encoder, and the servo motor is used to drive the swing arm 3 to swing around the rotating shaft 2 by driving the output shaft of the servo motor to rotate, thereby changing the position of the horizontal roller 4 fixed at the lower end of the swing arm 3; the encoder can detect the rotation position of the servo motor in real time and convert it into a swing angle conversion value of the swing roller 5. The limit block is provided in the swing direction of the swing roller 5, and the limit block is used to limit the swing of the swing roller 5 in its swing direction to limit the swing angle of the swing roller 5.

[0052] The roller pressing mechanism is arranged in front of the swing roller mechanism along the coil transport direction; the roller pressing mechanism comprises a first shaft roller 6 and a second shaft roller 7 arranged up and down; the first shaft roller 6 and the second shaft roller 7 are both active rollers, and the active rollers are driven by the roller pressing motor to rotate to drive the coil to be transported forward between the first shaft roller 6 and the second shaft roller 7 along the coil transport direction;

[0053] The first roller 6 is fixed, and the second roller 7 can move up and down relative to the first roller 6 to change the working state of the rolling mechanism; the rolling mechanism includes a rolling state and a non-rolling state; when the rolling mechanism is in the rolling state, the coil passing between the first roller 6 and the second roller 7 will be rolled; when the rolling mechanism is in the non-rolling state, the coil passing between the first roller 6 and the second roller 7 will not be rolled. The first roller 6 and the second roller 7 are driven by a variable frequency motor controlled by a vector variable frequency; the variable frequency motor is used to control the rotation of the corresponding roller.

[0054] Hydraulic mechanism 1 is fixedly connected to the bottom of the second shaft roller 7. The hydraulic mechanism 1 is used to drive the second shaft roller 7 to move up and down. After the coil passes through the swing roller mechanism, it passes from left to right between the first shaft roller 6 and the second shaft roller 7. The second shaft roller 7 is controlled by the hydraulic mechanism 1 to move up and down synchronously, thereby controlling the working state of the roller press, and further realizing the rolling and loosening of the coil in the rolling mechanism.

[0055] In the embodiment of the present application, when the rolling mechanism is not affected by external force, that is, the hydraulic mechanism 1 does not apply pressure to the second roller 7, the rolling mechanism is in a non-rolling state. At this time, there is a gap between the first roller 6 and the second roller 7 that allows the coil to pass through without being rolled.

[0056] The preferred embodiments of the present application are described below in conjunction with the drawings in the specification. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present application, and are not used to limit the present application. In addition, the embodiments and features in the embodiments of the present application may be combined with each other if there is no conflict.

[0057] Figure 2 The following is a flow chart of a method for automatically avoiding rolling provided in an embodiment of the present application. Figure 2 As shown, the method may include:

[0058] Step S210: When a rolling avoidance instruction is received, the rolling mechanism is in a rolling state, the servo motor of the swing roller is controlled to stop running, and the hydraulic mechanism is controlled to drive the second shaft roller away from the first shaft roller.

[0059] In an embodiment of the present application, when the coil to be rolled has defects such as poor coating and / or coating omissions, a rolling avoidance instruction is generated; at this time, there is actually a coil being rolled in the coating system, that is, the rolling mechanism is in a rolling state at this time, so it is necessary to control the second shaft roller away from the second shaft roller, so that the coil will not be rolled when passing between the first shaft roller and the second shaft roller.

[0060] In the above-mentioned embodiment of the present application, the roller pressure avoidance instruction is automatically generated after the CCD detects a defect in the coil.

[0061] In an embodiment of the present application, when the rolling mechanism is in a rolling state when a rolling avoidance instruction is received, the pressure is released by controlling the hydraulic mechanism (that is, the pressure value of the hydraulic mechanism is reduced to 0), that is, the pressure applied by the hydraulic mechanism on the second roller is canceled. At this time, the second roller will move away from the first roller, so that the coil passing between the first roller and the second roller will not be rolled.

[0062] In an embodiment of the present application, when the rolling mechanism is in a rolling state upon receiving a rolling avoidance instruction, the servo motor of the swing roller must also be controlled to stop running. At this time, the swing roller is in a torque control mode (also called a torque control mode). When the swing roller stops in the torque control mode, it will remain in its original position unchanged.

[0063] In the embodiment of the present application, the rolling mechanism is controlled to switch from a rolling state to a non-rolling state so that the coil passing through the rolling mechanism is not rolled. When all the defects in the coil have passed through, the CCD will issue a rolling recovery instruction.

[0064] In the embodiment of the present application, when a rolling pressure recovery instruction is received, the rolling pressure mechanism needs to be controlled to recover to the rolling pressure state, that is, the rolling pressure is reset, and the specific steps include:

[0065] Obtaining a first speed of the variable frequency motor; controlling the operation mode of the variable frequency motor to switch from a speed control mode to a torque control mode, and obtaining a second speed of the variable frequency motor; when the absolute value of the difference between the first speed and the second speed is less than a configured speed threshold, controlling the hydraulic mechanism to pressurize;

[0066] In the process of controlling the hydraulic mechanism to apply pressure, a real-time pressure value between the first shaft roller and the second shaft roller is obtained;

[0067] If the difference between the target pressure value and the real-time pressure value is less than the configured pressure threshold, the operation mode of the variable frequency motor is controlled to switch from the torque control mode to the speed control mode, and the servo motor is controlled to resume operation at the same time; when the servo motor resumes operation, the configured web moving speed is obtained, and the second control parameter is calculated according to the configured web moving speed; based on the second control parameter, the moving speed of the web is controlled;

[0068] When the hydraulic mechanism is pressurized to the target pressure value and the swing roller is in the target position, a first control parameter is generated based on the configured coil moving speed; based on the first control parameter, the moving speed of the coil is controlled; at this time, the tension closed loop is synchronously started to complete the roller pressure reset.

[0069] In an embodiment of the present application, before the operating mode of the variable frequency motor is switched, the variable frequency motor is in a speed control mode; the actual operating speed of the variable frequency motor before being in the speed control mode, i.e., the first speed, is obtained, and the current speed of the variable frequency motor after switching to the torque control mode, i.e., the second speed, is obtained, and the second speed is controlled to be close to the first speed.

[0070] In one embodiment of the present application, the speed threshold can be set to 2; the speed threshold can be preset by the user according to actual conditions, or it can be determined by analyzing the actual operating conditions. The speed threshold in this embodiment of the present application is the optimal speed threshold obtained after countless experiments.

[0071] In one embodiment of the present application, the pressure threshold can be set to 20; the pressure threshold can be preset by the user according to actual conditions, or it can be determined by analyzing the actual operating conditions. The pressure threshold in this embodiment of the present application is the optimal pressure threshold obtained after countless experiments.

[0072] In an embodiment of the present application, the second control parameter is calculated according to the configured coil moving speed, including: the second control parameter = configured coil moving speed * speed reduction coefficient; wherein, the speed reduction coefficient = 0.85 + configured coil moving speed / 1000.0.

[0073] In an embodiment of the present application, a first control parameter is calculated based on the moving speed of the coil, including: the first control parameter = the configured moving speed of the coil; since the movement of the coil will cause the position of the swing roller to change, when the swing roller is in the target position (i.e., the stable operating position), it means that the moving speed of the coil passing through the front and rear mechanisms of the swing roller is the same at this time. At this time, the actual moving speed of the coil is made the same as the configured moving speed of the coil, so that the system can operate stably.

[0074] In the embodiment of the present application, after the roller pressure is reset, the movement speed of the coil during the operation of the system can be closed-loop controlled according to the swing roller mechanism, that is, a third control parameter is generated according to the difference between the real-time position and the target position of the swing roller; based on the third control parameter, the movement speed of the coil is controlled.

[0075] In this embodiment, the state of the rolling mechanism undergoes two changes. The first change is from the rolling state to the non-rolling state; the second change is from the non-rolling state to the rolling state, completing a rolling avoidance and rolling resetting. It is achieved that during the operation of the system, when a defective coil is detected, rolling avoidance can be performed without stopping or reducing the speed. When a defective coil is detected passing through the rolling mechanism, rolling is performed without stopping or reducing the speed, thereby achieving the operation effect of an intelligent rolling machine without human intervention.

[0076] For example, the configured coil moving speed V0 = 50m / min, the first speed W0 of the variable frequency motor = 460r / min, and the target pressure value P1 of the hydraulic mechanism = 45 tons;

[0077] When receiving the roller pressure avoidance instruction, the hydraulic pressure is released, the pressure value drops to 0, and the second roller and the first roller are loosened, the swing roller mechanism stops running, remains in place, and the running speed remains unchanged; the roller pressure avoidance is completed;

[0078] After receiving the roller pressure recovery instruction, the first speed W0 of the variable frequency motor in the current speed control mode is recorded, the operation mode of the variable frequency motor is changed to the torque control mode, and the second speed W1 of the variable frequency motor in the current torque control mode is controlled to about 460r / min. When |W1-W0|<2, the hydraulic mechanism starts pressurization;

[0079] When the pressure of the hydraulic mechanism reaches 25 tons (P0-P1<20), the operating mode of the variable frequency motor is changed to speed control mode, and the swing roller mechanism resumes operation. The second control parameter V2 is changed to 50*(0.85+50 / 1000)=45 (m / min), and the moving speed of the coil is controlled based on the second control parameter.

[0080] When the pressure of the hydraulic mechanism reaches 45 tons, the center position of the swing roller mechanism is stable, the position fluctuation value is within ±2%, and the first control parameter V1=V0=50m / min. The moving speed of the coil is controlled based on the first control parameter; the roller pressure is reset;

[0081] After the roller pressure is reset, the speed of the entire system operation is closed-loop controlled according to the swing roller mechanism.

[0082] Step S220: When the rolling mechanism is in a non-rolling state when a rolling avoidance instruction is received, the operation mode of the servo motor controlling the swing roller is switched to a position control mode; based on the difference between the real-time position of the swing roller and the configured target position, a position control parameter is generated; based on the position control parameter, the swing roller is controlled to move to the target position.

[0083] In another embodiment of the present application, a roller avoidance instruction is pre-configured in the automatic roller avoidance system. When the automatic roller avoidance system is turned on, it will automatically be in a roller avoidance state, that is, the roller mechanism is in a non-rolling state, thereby avoiding rolling the joint of the coil; specifically, the roller avoidance instruction may be generated after a certain component of the system is manually touched.

[0084] In another embodiment of the present application, before the system is started, if the CCD detects that the coil has a bad condition, the CCD will also generate a roller pressure avoidance instruction, thereby controlling the system to execute roller pressure avoidance.

[0085] In the above-mentioned embodiment of the present application, rolling is not required at the joint of the coils. At this time, since the previous coil has been rolled and the current coil has not yet started rolling, the rolling mechanism is in a non-rolling state. At this time, there is no need to control the movement of the second shaft roller, but only control other components.

[0086] In this embodiment of the present application, since the rolling mechanism is in a non-rolling state, it is only necessary to switch the operation mode of the servo motor that controls the swing roller to a position control mode and move the swing roller to a target position.

[0087] In the embodiment of the present application, the target position of the swing roller is the position where the swing roller is in a stable state.

[0088] In the above-mentioned embodiment of the present application, a position control parameter is generated based on the difference between the real-time position of the swing roller and the configured target position; based on the position control parameter, the swing roller is controlled to move to the target position.

[0089] In the above embodiment of the present application, the swing roller moves to a stable position, indicating that the system is in a stable operating state. At this time, a rolling pressure recovery instruction can be issued to change the state of the rolling mechanism to the rolling state, that is, to achieve rolling pressure reset. The specific steps include:

[0090] Obtaining a first speed of the variable frequency motor; controlling the operation mode of the variable frequency motor to switch from a speed control mode to a torque control mode, and obtaining a second speed of the variable frequency motor; when the absolute value of the difference between the first speed and the second speed is less than a configured speed threshold, controlling the hydraulic mechanism to pressurize;

[0091] In the process of controlling the hydraulic mechanism to apply pressure, a real-time pressure value between the first shaft roller and the second shaft roller is obtained;

[0092] If the difference between the target pressure value and the real-time pressure value is less than the configured pressure threshold, the operation mode of the variable frequency motor is controlled to switch from the torque control mode to the speed control mode, and the servo motor is controlled to resume operation at the same time; when the servo motor resumes operation, the configured web moving speed is obtained, and the second control parameter is calculated according to the configured web moving speed; based on the second control parameter, the moving speed of the web is controlled;

[0093] When the hydraulic mechanism is pressurized to the target pressure value and the swing roller is in the target position, a first control parameter is generated based on the configured coil moving speed; based on the first control parameter, the moving speed of the coil is controlled; at this time, the tension closed loop is synchronously started to complete the roller pressure reset.

[0094] In an embodiment of the present application, before the operating mode of the variable frequency motor is switched, the variable frequency motor is in a speed control mode; the actual operating speed of the variable frequency motor before being in the speed control mode, i.e., the first speed, is obtained, and the current speed of the variable frequency motor after switching to the torque control mode, i.e., the second speed, is obtained, and the second speed is controlled to be close to the first speed.

[0095] In one embodiment of the present application, the speed threshold can be set to 2; the speed threshold can be preset by the user according to actual conditions, or it can be determined by analyzing the actual operating conditions. The speed threshold in this embodiment of the present application is the optimal speed threshold obtained after countless experiments.

[0096] In one embodiment of the present application, the pressure threshold can be set to 20; the pressure threshold can be preset by the user according to actual conditions, or it can be determined by analyzing the actual operating conditions. The pressure threshold in this embodiment of the present application is the optimal pressure threshold obtained after countless experiments.

[0097] In an embodiment of the present application, the second control parameter is calculated according to the configured coil moving speed, including: the second control parameter = configured coil moving speed * speed reduction coefficient; wherein, the speed reduction coefficient = 0.85 + configured coil moving speed / 1000.0.

[0098] In an embodiment of the present application, a first control parameter is calculated based on the moving speed of the coil, including: the first control parameter = the configured moving speed of the coil; since the movement of the coil will cause the position of the swing roller to change, when the swing roller is in the target position (i.e., the stable operating position), it means that the moving speed of the coil passing through the front and rear mechanisms of the swing roller is the same at this time. At this time, the actual moving speed of the coil is made the same as the configured moving speed of the coil, so that the system can operate stably.

[0099] In the embodiment of the present application, after the roller pressure is reset, the movement speed of the coil during the operation of the system can be closed-loop controlled according to the swing roller mechanism, that is, a third control parameter is generated according to the difference between the real-time position and the target position of the swing roller; based on the third control parameter, the movement speed of the coil is controlled.

[0100] In this embodiment, the state of the rolling mechanism has undergone a transformation, that is, from the non-rolling state to the rolling state, completing a rolling avoidance and rolling reset; it is realized that when there is a defective coil (or when a small integrated line body needs to be started with an empty foil), the rolling mechanism can be directly started, allowing the defective position to pass through the rolling mechanism, and the pressing action of the rolling mechanism is realized without stopping the machine or reducing the speed, and the coil is rolled. The closed-loop control is used to make the tape speed of the rolling mechanism close to the tape speed. After pressurization, PID is used to synchronize the speed with the tape speed, so that the swing roller mechanism fluctuates less, avoiding the risk of large tension fluctuations and tape breakage caused by large fluctuations of the swing roller mechanism.

[0101] For example, the configured coil moving speed V0 = 50m / min, the target pressure value P1 = 45 tons;

[0102] When the rolling mechanism is in the non-rolling state, after receiving the rolling avoidance instruction, the rolling roller is shielded, the swing roller mechanism starts the position control mode, moves the swing roller to the center position, and the whole machine starts until the running speed reaches 50m / min, completing the rolling avoidance;

[0103] After receiving the roller pressure recovery instruction, the first speed W0 of the variable frequency motor in the current speed mode is recorded (taking 460r / min as an example), the operation mode of the variable frequency motor is changed to the torque control mode, and the second speed W1 of the variable frequency motor in the torque control mode is controlled at about 460r / min. When |W1-W0|<2, the hydraulic mechanism starts pressurization;

[0104] When the pressure of the hydraulic mechanism reaches 25 tons (P0-P1<20), the control mode of the frequency conversion motor is changed to the speed control mode, and the swing roller resumes operation, and the second control parameter V2 is changed to 50*(0.85+50 / 1000)=45(m / min);

[0105] When the pressure of the hydraulic mechanism reaches 45 tons, the swing roller runs stably, the position fluctuation value of the swing roller mechanism is within ±2%, the first control parameter V1 = V0 = 50m / min, and the roller pressure reset is completed;

[0106] After the roller pressure is reset, the speed of the entire system operation is closed-loop controlled according to the swing roller mechanism.

[0107] Corresponding to the above method, the embodiment of the present application also provides a device for automatically avoiding rolling pressure, such as Figure 3 As shown, the automatic roller avoidance device comprises:

[0108] A receiving unit 310 is used to receive a rolling avoidance instruction;

[0109] The first control unit 320 is used for, when receiving the rolling avoidance instruction, the rolling mechanism is in a rolling state, controlling the servo motor of the swing roller to stop running so that the swing roller is maintained at a current position, and controlling the hydraulic mechanism to drive the second shaft roller away from the first shaft roller so that the coil passing between the first shaft roller and the second shaft roller at the next moment is not rolled;

[0110] The second control unit 330 is used to control the rolling mechanism to be in a non-rolling state when a rolling avoidance instruction is received, and to switch the operating mode of the servo motor of the swing roller to a position control mode; to generate a position control parameter based on the difference between the real-time position of the swing roller and the configured target position; and to control the swing roller to move to the target position based on the position control parameter.

[0111] The functions of each functional unit of the automatic roller avoidance device provided in the above-mentioned embodiments of the present application can be achieved through the above-mentioned method steps. Therefore, the specific working process and beneficial effects of each unit in the automatic roller avoidance device provided in the embodiments of the present application will not be repeated here.

[0112] The present application also provides an electronic device, such as Figure 4 As shown, it includes a processor 410 , a communication interface 420 , a memory 430 and a communication bus 440 , wherein the processor 410 , the communication interface 420 , and the memory 430 communicate with each other via the communication bus 440 .

[0113] Memory 430, for storing computer programs;

[0114] The processor 410 is used to execute the program stored in the memory 430 to implement the following steps:

[0115] Receiving a roll avoidance instruction;

[0116] When a rolling avoidance instruction is received, the rolling mechanism is in a rolling state, the servo motor of the swing roller is controlled to stop running, so that the swing roller is maintained at the current position, and the hydraulic mechanism is controlled to drive the second shaft roller away from the first shaft roller, so that the coil passing between the first shaft roller and the second shaft roller at the next moment will not be rolled;

[0117] When a rolling avoidance instruction is received, the rolling mechanism is in a non-rolling state, and the operation mode of the servo motor controlling the swing roller is switched to a position control mode; based on the difference between the real-time position of the swing roller and the configured target position, a position control parameter is generated; based on the position control parameter, the swing roller is controlled to move to the target position.

[0118] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0119] The communication interface is used for communication between the above electronic device and other devices.

[0120] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0121] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0122] The implementation methods and beneficial effects of the components of the electronic device in the above embodiments to solve the problems can be seen in Figure 2 The various steps in the illustrated embodiment are implemented, therefore, the specific working process and beneficial effects of the electronic device provided by the embodiment of the present application are not repeated here.

[0123] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which instructions are stored. When the instructions are executed on a computer, the computer executes any one of the automatic roller avoidance methods in the above embodiments.

[0124] In another embodiment provided in the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any one of the automatic roller avoidance methods in the above embodiments.

[0125] Those skilled in the art will appreciate that the embodiments in the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt a complete hardware embodiment, a complete software embodiment, or a form of an embodiment combining software and hardware. Moreover, the present application may adopt a form of a computer program product implemented 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.

[0126] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0127] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0128] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0129] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present application.

[0130] Obviously, those skilled in the art can make various changes and modifications to the embodiments in the present application without departing from the spirit and scope of the embodiments in the present application. Thus, if these modifications and variations of the embodiments in the present application fall within the scope of the claims and their equivalents in the embodiments of the present application, the embodiments of the present application are also intended to include these modifications and variations.

Claims

1. A method for automatic roller avoidance, characterized in that: The invention is applied to an automatic rolling avoidance system including a swing roller mechanism and a rolling mechanism, wherein the swing roller mechanism includes a swing roller and a servo motor for controlling the movement of the swing roller; the coil moves forward in a channel formed by the swing roller mechanism and the rolling mechanism; the rolling mechanism includes a first shaft roller and a second shaft roller connected to a hydraulic mechanism; the hydraulic mechanism is used to drive the second shaft roller to move up and down relative to the first shaft roller, so as to realize that the coil is rolled or not rolled when passing between the first shaft roller and the second shaft roller; the method includes: When a rolling avoidance instruction is received, the rolling mechanism is in a rolling state, the servo motor of the swing roller is controlled to stop running so that the swing roller is maintained at a current position, and the hydraulic mechanism is controlled to drive the second shaft roller away from the first shaft roller so that the coil passing between the first shaft roller and the second shaft roller at the next moment is not rolled; When a rolling avoidance instruction is received, the rolling mechanism is in a non-rolling state, and the operation mode of the servo motor controlling the swing roller is switched to a position control mode; based on the difference between the real-time position of the swing roller and the configured target position, a position control parameter is generated; based on the position control parameter, the swing roller is controlled to move to the target position.

2. The method according to claim 1, characterized in that The first shaft roller and the second shaft roller are both driven by a variable frequency motor.

3. The method according to claim 2, characterized in that The method further comprises: Receive roller pressure recovery instructions; Controlling the operation mode of the variable frequency motor to switch to a torque control mode; Controlling the hydraulic mechanism to pressurize to a configured target pressure value, and controlling the swing roller to be at the target position; generating a first control parameter based on the configured web moving speed; Based on the first control parameter, the moving speed of the web is controlled.

4. The method according to claim 3, characterized in that Before controlling the operation mode of the variable frequency motor to switch to the torque control mode, the method further includes: Obtaining a first rotation speed of the variable frequency motor; After controlling the operation mode of the variable frequency motor to switch to the torque control mode, the method further includes: Acquire a second rotation speed of the variable frequency motor; If the absolute value of the difference between the first speed and the second speed is smaller than a configured speed threshold, the hydraulic mechanism is controlled to increase pressure to a configured target pressure value.

5. The method according to claim 3, characterized in that In the process of controlling the hydraulic mechanism to pressurize to a configured target pressure value, the method further includes: Acquire a real-time pressure value between the first roller and the second roller; If the difference between the target pressure value and the real-time pressure value is smaller than the configured pressure threshold, the operation mode of the variable frequency motor is controlled to switch to the speed control mode, and the servo motor is controlled to resume operation.

6. The method according to claim 5, characterized in that After controlling the servo motor to resume operation, the method further includes: generating a second control parameter based on the configured web movement speed; Based on the second control parameter, the moving speed of the web is controlled.

7. The method according to claim 3, characterized in that After controlling the moving speed of the coil based on the first control parameter, the method further includes: generating a third control parameter according to a difference between the real-time position of the swing roller and the target position; Based on the third control parameter, the moving speed of the web is controlled.

8. An automatic roller avoidance device, characterized in that: The device comprises: A receiving unit, used for receiving a roll pressure avoidance instruction; a first control unit, configured to, when receiving a rolling avoidance instruction, place the rolling mechanism in a rolling state, control the servo motor of the swing roller to stop running so that the swing roller is maintained at a current position, and control the hydraulic mechanism to drive the second shaft roller away from the first shaft roller so that the coil passing between the first shaft roller and the second shaft roller at the next moment is not rolled; The second control unit is used to control the operation mode of the servo motor of the swing roller to switch to the position control mode when the rolling mechanism is in a non-rolling state when a rolling avoidance instruction is received; generate a position control parameter based on the difference between the real-time position of the swing roller and the configured target position; and control the swing roller to move to the target position based on the position control parameter.

9. An electronic device, characterized in that: The electronic device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; Memory, used to store computer programs; A processor, for implementing any of the methods described in claims 1-7 when executing a program stored in a memory.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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