An automatic clamp device and control method for effectively protecting cold-rolled finished coils

Abstract

The present invention relates to an automatic clamp device and control method for effectively protecting cold-rolled finished coils, and belongs to the technical field of automatic clamp control devices and methods for unmanned overhead cranes. The technical solution of the present invention is: it includes two groups of clamping switches, a group of centering switches, an absolute value encoder, a group of load sensing switches and a group of bottom detection switches; when the automatic clamp descends to take and unwind, the bottom detection switch can be used to detect in real time whether there is an obstacle under the clamp, and the overhead crane will pause if an obstacle is detected; during the clamping process, the actual width value of the clamp is calculated in real time and compared with the width value of the current finished coil, so that a certain gap exists between the clamp arm and the finished coil after the clamping is completed; during the automatic control process, the clamp claw can be positioned in the center of the finished coil when taking the coil. The beneficial effects of the present invention are: preventing the coil from being smashed, and ensuring that a certain gap exists between the inner side guard plate of the clamp arm and the finished coil when the main hook is lifted to take the coil, thereby effectively avoiding scratching and smashing the coil during the taking and unwinding process.

Description

Technical Field

[0001] The invention relates to an automatic clamp device and a control method for effectively protecting a cold-rolled finished coil, belonging to the technical field of automatic clamp control devices and methods for unmanned overhead cranes. Background Art

[0002] In the cold rolling warehouse, the finished coils coming off the line are often wrapped with packing paper first, and then stacked in the warehouse by unmanned overhead crane or directly loaded for shipment. Such finished coils have high quality requirements, and damage to the outer packaging and the appearance of the finished coils is not allowed. At present, when unmanned overhead cranes are taking and placing coils, accidents such as smashing coils, scratching coils, and scratching packing tapes often occur, which threatens the safety of personnel in the warehouse area and also causes serious damage to the quality of the finished coils, directly affecting the benefits of the products.

[0003] The reasons for this can be divided into two categories: hardware and control. Hardware: The automatic clamp does not have a device to detect the presence of objects under the clamp in real time when it descends to take or unwind. For example, when the warehouse tracking is inaccurate, there is a roll on the saddle, but the actual system shows that there is no roll. At this time, the roll will be smashed when unwinding to this position. Control: At present, when the automatic clamp clamps the roll, it completely stops the clamping command by triggering the clamping switch on the clamp. Due to the limitations of the installation position of the clamping switch and the inertia of the clamp during operation, the clamp arm will clamp the finished roll too tightly. At this time, if the main hook is lifted, it will cause the packaging to be scratched or even the finished roll to be scratched. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic clamp device and a control method for effectively protecting cold-rolled finished coils. When the automatic clamp descends to take or unwind the coil, a bottom detection switch can be used to detect in real time whether there is an obstacle below the clamp. If an obstacle is detected, the overhead crane will pause. When the automatic clamp is clamping the coil, the actual width value of the clamp is calculated in real time and compared with the current width value of the finished coil. After the clamping is completed, a certain gap is maintained between the clamp arm and the finished coil to prevent the finished coil and the strapping tape from being scratched during the lifting process. During the automatic control process, the clamp claw can be positioned in the center of the finished coil when taking the coil to prevent the steel coil from being clamped during the clamping process, thereby avoiding a series of problems such as smashing, scratching and clamping during the taking and unwinding process, and effectively solving the above-mentioned problems existing in the background technology.

[0005] The technical solution of the present invention is: an automatic clamping device for effectively protecting cold-rolled finished coils, comprising a clamping switch, a centering switch, an absolute value encoder, a load sensing switch, a bottom detection switch, an upper crossbeam of a clamping arm device, an inner guard plate of the clamping arm and a clamping claw of the clamping arm, wherein the clamping switch has two groups, which are respectively installed on the left and right sides of the clamping arm, close to the position of the inner guard plate of the clamping arm, and each group of clamping switches is composed of a clamping switch receiving end and a clamping switch transmitting end, and the clamping switch receiving end and the clamping switch transmitting end are respectively installed at the corresponding positions on the inner side of the crossbeam of the clamping arm device and the clamping claw of the clamping arm; the centering switch comprises a centering The switch transmitting end and the centering switch receiving end are respectively installed at the opposite ends of the clamping claws of the clamping arms on both sides; the absolute value encoder is connected to the clamping arm motor through the connecting shaft, and the actual width of the clamping arm is calculated in real time by collecting the code value of the absolute value encoder; there are two load sensing switches, which are respectively installed on the upper surface of the clamping claws of the clamping arms on both sides, close to the center position of the clamping claws of the clamping arms, and a part of the load sensing switch protrudes from the upper surface of the clamping claws of the clamping arms, and the travel switch is triggered by a spring inside; there are two bottom detection switches, which are respectively installed at the bottom of the clamping claws of the clamping arms on both sides.

[0006] An automatic clamp control method for effectively protecting a cold-rolled finished coil comprises the following steps:

[0007] Step S001: The overhead crane arrives at the coil-taking position, and the main hook descends at full speed in the fourth gear to take up the coil;

[0008] Step S002: When the actual position of the main hook drops to a distance S above the reeling target position, the main hook starts to descend at the third gear speed;

[0009] Step S003: During the third-speed descending process, the detection switch at the bottom of the clamping claw of the clamping arm of the automatic clamping device is used to determine whether there is an obstacle below the clamping device. If there is an obstacle below, the system will report an error and all devices will be paused; if it is detected that there is no obstacle below, the next step will be executed;

[0010] Step S004: the centering switch detects the upper edge of the core of the finished roll, and the main hook begins to descend at a low speed in the second gear;

[0011] Step S005: starting from the time when the centering switch is triggered by the upper edge of the core of the finished roll, the main hook descends at a low speed for a set distance and then stops descending, so that the clamp arm and clamp claw are positioned at the center of the finished roll;

[0012] Step S006: The clamping arm performs a clamping action at high speed, collects the absolute encoder code value in real time and calculates the current width value of the clamping arm;

[0013] Step S007: When the current width of the clamp arm is Dist_1 away from the actual width of the finished roll, the clamp arm starts to close at a low speed;

[0014] Step S008: When the clamp arm closes at a low speed to a distance Dist_2 from the actual width of the finished roll, the clamp arm stops closing, and at this time, a fixed gap can be ensured between the inner guard plate of the clamp arm and the finished roll;

[0015] Step: S009: Determine whether the clamping switches on both sides are triggered. If not, the system reports an error and all devices will be paused; if triggered, continue to execute;

[0016] Step S010: the main hook starts to lift at a low speed;

[0017] Step S011: After lifting at a low speed for a set distance, determine whether the load sensing switch is triggered. If it is not triggered, the system will report an error and all devices will be suspended; if it is triggered, continue to execute;

[0018] Step S012: The main hook carries the finished roll and lifts it at high speed until it reaches the initialization height;

[0019] Step S013: The large and small carriages start to move toward the unwinding position until they are positioned at the unwinding position;

[0020] Step S014: the main hook is lowered and unwound at full speed in the fourth gear;

[0021] Step S015: When the actual position of the main hook drops to a distance S1 above the unwinding target position, the main hook starts to descend at a low speed in the first gear;

[0022] Step S016: During the low-speed unwinding process, the bottom detection switch at the bottom of the clamping claw of the clamping arm on the automatic clamping device is used to determine whether there is an obstacle below the clamping device. If there is an obstacle below, the system will report an error and all devices will be paused; if no obstacle is detected below, the next step will be executed;

[0023] Step S017: During the low-speed descent process, it is detected that the trigger signal of the load sensing switch on the clamping claws of the clamping arms on both sides disappears;

[0024] Step S018: starting from the moment when the trigger signal of the load sensing switch on the clamping claws of the clamping arms on both sides disappears, the main hook stops moving after continuing to descend at a low speed for a set distance;

[0025] Step S019: the clamping arm is opened to the maximum at high speed;

[0026] Step S020: The main hook starts to lift until it reaches the initialization height.

[0027] In the step S002, S is the distance, S=250mm+(PRODUCT_ODIA / 2), PRODUCT_ODIA is the outer diameter of the product to be rolled.

[0028] The beneficial effects of the present invention are as follows: when the automatic clamp descends to take or unwind, the bottom detection switch can be used to detect in real time whether there is an obstacle under the clamp, and if an obstacle is detected, the overhead crane will pause; when the automatic clamp is clamping the coil, the actual width value of the clamp is calculated in real time and compared with the width value of the current finished coil, so that a certain gap exists between the clamp arm and the finished coil after clamping is completed, thereby preventing the finished coil and the strapping tape from being scratched during the lifting process; during the automatic control process, the clamp claw can be positioned in the center of the finished coil when taking the coil, thereby preventing the steel coil from being clamped during the clamping process, and avoiding a series of problems such as smashing, scratching and clamping during the taking and unwinding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the structure of the present invention;

[0030] Figure 2 It is a work flow chart of the present invention;

[0031] In the figure: clamping switch receiving end 1, clamping switch transmitting end 2, centering switch transmitting end 3, centering switch receiving end 4, absolute value encoder 5, load sensing switch 6, bottom detection switch 7, upper crossbeam 8 of clamping arm device, inner side guard plate 9 of clamping arm and clamping claw 10 of clamping arm. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the invention implementation cases clearer, the technical solutions in the implementation cases of the present invention will be clearly and completely described below in conjunction with the drawings in the implementation cases. Obviously, the implementation cases described are only a small part of the implementation cases of the present invention, rather than all the implementation cases. Based on the implementation cases in the present invention, all other implementation cases obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0033] An automatic clamping device for effectively protecting cold-rolled finished coils comprises a clamping switch, a centering switch, an absolute encoder 5, a load sensing switch 6, a bottom detection switch 7, an upper crossbeam 8 of a clamping arm device, an inner guard plate 9 of a clamping arm, and a clamping arm clamp claw 10. The clamping switch has two groups, which are respectively installed on the left and right sides of the clamping arm, close to the inner guard plate 9 of the clamping arm. Each group of clamping switches consists of a clamping switch receiving end 1 and a clamping switch transmitting end 2. The clamping switch receiving end 1 and the clamping switch transmitting end 2 are respectively installed at the corresponding positions on the inner side of the crossbeam 8 of the clamping arm device and the clamping arm clamp claw 10; the centering switch comprises a centering switch transmitting end 3 and The centering switch receiving end 4, the centering switch transmitting end 3 and the centering switch receiving end 4 are respectively installed at the opposite ends of the clamping arm clamping claws 10 on both sides; the absolute value encoder 5 is connected to the clamping arm motor through the connecting shaft, and the actual width of the clamping arm is calculated in real time by collecting the code value of the absolute value encoder 5; there are two load sensing switches 6, which are respectively installed on the upper surfaces of the clamping arm clamping claws 10 on both sides, close to the center position of the clamping arm clamping claws 10, and the load sensing switch 6 protrudes from the upper surface of the clamping arm clamping claw 10, and the travel switch is triggered by a spring inside; there are two bottom detection switches 7, which are respectively installed at the bottom of the clamping arm clamping claws 10 on both sides.

[0034] An automatic clamp control method for effectively protecting a cold-rolled finished coil comprises the following steps:

[0035] Step S001: The overhead crane arrives at the coil-taking position, and the main hook descends at full speed in the fourth gear to take up the coil;

[0036] Step S002: When the actual position of the main hook drops to a distance S above the reeling target position, the main hook starts to descend at the third gear speed;

[0037] Step S003: During the third-speed descending process, the detection switch at the bottom of the clamping claw of the clamping arm of the automatic clamping device is used to determine whether there is an obstacle below the clamping device. If there is an obstacle below, the system will report an error and all devices will be paused; if it is detected that there is no obstacle below, the next step will be executed;

[0038] Step S004: the centering switch detects the upper edge of the core of the finished roll, and the main hook begins to descend at a low speed in the second gear;

[0039] Step S005: starting from the time when the centering switch is triggered by the upper edge of the core of the finished roll, the main hook descends at a low speed for a set distance and then stops descending, so that the clamp arm and clamp claw are positioned at the center of the finished roll;

[0040] Step S006: The clamping arm performs a clamping action at high speed, collects the absolute encoder code value in real time and calculates the current width value of the clamping arm;

[0041] Step S007: When the current width of the clamp arm is Dist_1 away from the actual width of the finished roll, the clamp arm starts to close at a low speed;

[0042] Step S008: When the clamp arm closes at a low speed to a distance Dist_2 from the actual width of the finished roll, the clamp arm stops closing, and at this time, a fixed gap can be ensured between the inner guard plate of the clamp arm and the finished roll;

[0043] Step: S009: Determine whether the clamping switches on both sides are triggered. If not, the system reports an error and all devices will be paused; if triggered, continue to execute;

[0044] Step S010: the main hook starts to lift at a low speed;

[0045] Step S011: After lifting at a low speed for a set distance, determine whether the load sensing switch is triggered. If it is not triggered, the system will report an error and all devices will be suspended; if it is triggered, continue to execute;

[0046] Step S012: The main hook carries the finished roll and lifts it at high speed until it reaches the initialization height;

[0047] Step S013: The large and small carriages start to move toward the unwinding position until they are positioned at the unwinding position;

[0048] Step S014: the main hook is lowered and unwound at full speed in the fourth gear;

[0049] Step S015: When the actual position of the main hook drops to a distance S1 above the unwinding target position, the main hook starts to descend at a low speed in the first gear;

[0050] Step S016: During the low-speed unwinding process, the bottom detection switch at the bottom of the clamping claw of the clamping arm on the automatic clamping device is used to determine whether there is an obstacle below the clamping device. If there is an obstacle below, the system will report an error and all devices will be paused; if no obstacle is detected below, the next step will be executed;

[0051] Step S017: During the low-speed descent process, it is detected that the trigger signal of the load sensing switch on the clamping claws of the clamping arms on both sides disappears;

[0052] Step S018: starting from the moment when the trigger signal of the load sensing switch on the clamping claws of the clamping arms on both sides disappears, the main hook stops moving after continuing to descend at a low speed for a set distance;

[0053] Step S019: the clamping arm is opened to the maximum at high speed;

[0054] Step S020: The main hook starts to lift until it reaches the initialization height.

[0055] In the step S002, S is the distance, S=250mm+(PRODUCT_ODIA / 2), PRODUCT_ODIA is the outer diameter of the product to be rolled.

Claims

1. A control method for an automatic clamping device for effectively protecting a cold-rolled finished coil, characterized in that: The automatic clamp device comprises a clamping switch, a centering switch, an absolute value encoder (5), a load sensing switch (6), a bottom detection switch (7), an upper crossbeam (8) of the clamping arm device, an inner side guard plate (9) of the clamping arm, and a clamping arm clamp claw (10). The clamping switch comprises two groups, which are respectively installed on the left and right sides of the clamping arm, close to the inner side guard plate (9) of the clamping arm. Each group of clamping switches comprises a clamping switch receiving end (1) and a clamping switch transmitting end (2). The clamping switch receiving end (1) and the clamping switch transmitting end (2) are respectively installed at corresponding positions on the inner side of the crossbeam (8) of the clamping arm device and the clamping arm clamp claw (10). The centering switch comprises a centering switch transmitting end (3) and a centering switch The receiving end (4), the centering switch transmitting end (3) and the centering switch receiving end (4) are respectively mounted at opposite ends of the clamping claws (10) of the clamping arms on both sides; the absolute value encoder (5) is connected to the clamping arm motor via a connecting shaft, and the actual width of the clamping arm is calculated in real time by collecting the code value of the absolute value encoder (5); there are two load sensing switches (6), which are respectively mounted on the upper surface of the clamping claws (10) of the clamping arms on both sides, close to the center position of the clamping claws (10) of the clamping arms; a portion of the load sensing switch (6) protrudes from the upper surface of the clamping claws (10) of the clamping arms, and a travel switch is triggered by a spring inside; there are two bottom detection switches (7), which are respectively mounted on the bottom of the clamping claws (10) of the clamping arms on both sides; The control method comprises the following steps: Step S001: The overhead crane arrives at the coil-taking position, and the main hook descends at full speed in the fourth gear to take up the coil; Step S002: When the actual position of the main hook drops to a distance S above the reeling target position, the main hook starts to descend at the third gear speed; Step S003: During the third-speed descending process, the bottom detection switch of the clamping arm and the clamping claw of the automatic clamping device is used to determine whether there is an obstacle below the clamping device. If there is an obstacle below, the system will report an error and all devices will be suspended; If no obstacle is detected below, proceed to the next step; Step S004: the centering switch detects the upper edge of the core of the finished roll, and the main hook begins to descend at a low speed in the second gear; Step S005: starting from the time when the centering switch is triggered by the upper edge of the core of the finished roll, the main hook descends at a low speed for a set distance and then stops descending, so that the clamp arm and clamp claw are positioned at the center of the finished roll; Step S006: The clamping arm performs a clamping action at high speed, collects the absolute encoder code value in real time and calculates the current width value of the clamping arm; Step S007: When the current width of the clamp arm is Dist_1 away from the actual width of the finished roll, the clamp arm starts to close at a low speed; Step S008: When the clamp arm closes at a low speed to a distance Dist_2 from the actual width of the finished roll, the clamp arm stops closing, and at this time, a fixed gap can be ensured between the inner guard plate of the clamp arm and the finished roll; Step: S009: Determine whether the clamping switches on both sides are triggered. If not, the system reports an error and all devices will be paused; if triggered, continue to execute; Step S010: the main hook starts to lift at a low speed; Step S011: After lifting at a low speed for a set distance, determine whether the load sensing switch is triggered. If it is not triggered, the system will report an error and all devices will be suspended; if it is triggered, continue to execute; Step S012: The main hook carries the finished roll and lifts it at high speed until it reaches the initialization height; Step S013: The large and small carriages start to move toward the unwinding position until they are positioned at the unwinding position; Step S014: the main hook is lowered and unwound at full speed in the fourth gear; Step S015: When the actual position of the main hook drops to a distance S1 above the unwinding target position, the main hook starts to descend at a low speed in the first gear; Step S016: During the low-speed unwinding process, the bottom detection switch at the bottom of the clamp claw of the clamp arm on the automatic clamp device is used to determine whether there is an obstacle below the clamp. If there is an obstacle below, the system will report an error and all devices will be suspended; If no obstacle is detected below, proceed to the next step; Step S017: During the low-speed descent process, it is detected that the trigger signal of the load sensing switch on the clamping claws of the clamping arms on both sides disappears; Step S018: starting from the moment when the trigger signal of the load sensing switch on the clamping claws of the clamping arms on both sides disappears, the main hook stops moving after continuing to descend at a low speed for a set distance; Step S019: the clamping arm is opened to the maximum at high speed; Step S020: The main hook starts to be lifted until it reaches the initialization height; In the step S002, S is the distance, S=250mm+(PRODUCT_ODIA / 2), PRODUCT_ODIA is the outer diameter of the product to be rolled.

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