An automatic control method and device for unmanned crane hoisting roller matching

Abstract

The present invention relates to an automatic control method and device for unmanned crane hoisting roll matching, and belongs to the technical field of metallurgical automatic control methods and devices. The technical solution of the present invention is: the ET200 remote station exchanges data with the unmanned crane system through a serial network, collects sensor signals installed on the matching roll frame, and feeds back the real-time position signal of the matching roll to the unmanned crane control system in real time to correct the deviation value of the unmanned crane. The beneficial effect of the present invention is: through the reasonable layout and planning of the matching roll position during unmanned crane hoisting, the unmanned crane system is successfully applied to the control field of the matching roll system in the grinding roll room, which expands the optimization of the efficiency of the unmanned crane collaboration, reduces the matching roll time, reduces the error rate, and improves the production efficiency.

Description

Technical Field

[0001] The invention relates to an automatic control method and device for unmanned crane hoisting roller matching, belonging to the technical field of metallurgical automatic control methods and devices. Background Art

[0002] As the production pace gets faster and faster, the advanced process technology and unmanned crane technology are becoming more and more mature. Inside the hot rolling roll room, the grinder needs to remove and align the rolls before and after grinding each time. Since the operation process of roll aligning has very high requirements for precision, the existing process still has many problems and defects:

[0003] First point: The traditional roll matching process requires that the lower roll of the roll be placed on the roll seat first, and the operating side and the transmission side of the roll must be stacked in the specified area, which consumes a lot of time.

[0004] Second point: In the traditional roll matching process, the lower roll locating pin needs to be accurately inserted into the locating hole of the upper roll, so the precision requirement is very high and the lifting takes a lot of time. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic control method and device for the roll matching of unmanned crane hoisting mill rolls. By reasonably arranging and planning the roll matching positions during unmanned crane hoisting, the unmanned crane system is successfully applied to the control field of the roll matching system in the grinding roll shop, expanding the efficiency optimization of the unmanned crane collaboration, reducing the roll matching time, lowering the error rate, and improving production efficiency, effectively solving the above-mentioned problems existing in the background technology.

[0006] The technical solution of the present invention is: an automatic control method for roller matching by unmanned crane hoisting, comprising the following steps:

[0007] (1) An ET200 remote station is set up around the roll stand to collect sensor signals installed on the roll stand through the wireless data transmission module, thereby collecting the actual position of the rolls, performing interlocking actions on the roll matching actions, and providing auxiliary data support for the next step of the roll matching actions;

[0008] (2) The ET200 remote station exchanges data with the unmanned vehicle control system through the wireless data transmission module, sending information on whether the X-axis and Y-axis positions of the rolls are in place;

[0009] (3) Roller matching deceleration position control: During the roll matching process of the unmanned vehicle, when the hoisted roll reaches above the matching position, the unmanned vehicle performs a descending operation. When it reaches the deceleration position of the matching roll frame, the unmanned vehicle receives the deceleration position sensor signal and performs a deceleration operation;

[0010] (4) Y-axis in-position control: When the roller reaches the matching roller position, the unmanned crane slows down. When the shaft head on the roller drive side reaches the top plate of the matching roller frame, the travel switch is triggered. After the signal is in place, the unmanned crane confirms the signal and continues to descend to the specified position.

[0011] It also includes data signal feedback of the roll matching position and detection point. During the roll matching process, the roll is detected when it reaches the roll frame area, and a signal is sent to the unmanned driving system that it has reached the specified position. The unmanned driving system will slow down or proceed to the next operation.

[0012] It also includes data signal safety protection for the roll matching position and detection points. In order to prevent position deviation during the roll matching process, according to the roll matching process, each step of the action must reach the specified position before the next lifting action can be carried out.

[0013] An automatic control device for lifting rolls by an unmanned crane comprises a roll body positioning stop column and an upper roll anti-falling unit, a bearing seat base buffer pad unit, a basic base unit, a lower roll body positioning unit, a lower roll drive side head frame and a roll body auxiliary positioning unit, a roll drive side positioning unit and a detection limit switch, wherein the basic base unit matches the size of the roll, and the bearing seat base buffer pad unit is arranged between the roll bearing seat and the basic base unit; the roll body positioning stop column and the upper roll anti-falling unit are four long columns installed on the basic base unit; the lower roll body positioning unit is four short columns slightly lower than the roll body, which are arranged on the basic base unit and are used to slowly guide the roll neck into the groove; the lower roll drive side head frame and the roll body auxiliary positioning unit It is a V-shaped positioning frame, which is arranged between the two long columns on the roller transmission side corresponding to the roller body positioning stop column and the upper roller anti-reversal unit; the roller transmission side positioning unit includes a lower roller drive shaft centering top plate and an upper roller drive shaft centering top plate, and the lower roller drive shaft centering top plate and the upper roller drive shaft centering top plate are column baffles, which are provided with retractable positioning plates, and the column baffles are placed front and rear at the end of the basic base unit corresponding to the roller transmission side, and the columns are connected by cross beams for staggered placement of the upper and lower rollers; the detection limit switch includes a proximity switch and a travel switch, each of which has two, the proximity switch is arranged at the top of the roller body positioning stop column and the upper roller anti-reversal unit, and the two travel switches are respectively arranged on the lower roller drive shaft centering top plate and the upper roller drive shaft centering top plate.

[0014] It also includes roller body auxiliary anti-sway columns, which are four and are arranged on the inner sides of the roller body positioning stop column and the upper roller anti-falling unit.

[0015] The beneficial effects of the present invention are as follows: by reasonably arranging and planning the positions of the matching rollers during unmanned crane lifting, the unmanned crane system is successfully applied to the control field of the matching roller system in the grinding roller room, thereby expanding the efficiency optimization of the unmanned crane collaboration, reducing the matching roller time, reducing the error rate, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a work flow chart of the present invention;

[0017] Figure 2 It is a front view of the present invention;

[0018] Figure 3 It is a left side view of the present invention;

[0019] Figure 4 is a top view of the present invention;

[0020] Figure 5 It is a front view of the present invention in a roller state;

[0021] Figure 6 It is a left side view of the present invention in a roller state;

[0022] Figure 7 It is a top view of the present invention in a roller state;

[0023] In the figure: the roller body positioning stop column and the upper roller body anti-reversal unit 1, the bearing seat base buffer pad unit 2, the basic base unit 3, the lower roller body positioning unit 4, the lower roller drive side head frame and roller body auxiliary positioning unit 5, the lower roller drive shaft centering top plate 6, the upper roller drive shaft centering top plate 7, the roller body auxiliary anti-sway column 8, the proximity switch 9, and the travel switch 10. DETAILED DESCRIPTION

[0024] 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.

[0025] An automatic control method for roller matching by unmanned crane hoisting includes the following steps:

[0026] (1) An ET200 remote station is set up around the roll stand to collect sensor signals installed on the roll stand through the wireless data transmission module, thereby collecting the actual position of the rolls, performing interlocking actions on the roll matching actions, and providing auxiliary data support for the next step of the roll matching actions;

[0027] (2) The ET200 remote station exchanges data with the unmanned vehicle control system through the wireless data transmission module, sending information on whether the X-axis and Y-axis positions of the rolls are in place;

[0028] (3) Roller matching deceleration position control: During the roll matching process of the unmanned vehicle, when the hoisted roll reaches above the matching position, the unmanned vehicle performs a descending operation. When it reaches the deceleration position of the matching roll frame, the unmanned vehicle receives the deceleration position sensor signal and performs a deceleration operation;

[0029] (4) Y-axis in-position control: When the roller reaches the matching roller position, the unmanned crane slows down. When the shaft head on the roller drive side reaches the top plate of the matching roller frame, the travel switch is triggered. After the signal is in place, the unmanned crane confirms the signal and continues to descend to the specified position.

[0030] It also includes data signal feedback of the roll matching position and detection point. During the roll matching process, the roll is detected when it reaches the roll frame area, and a signal is sent to the unmanned driving system that it has reached the specified position. The unmanned driving system will slow down or proceed to the next operation.

[0031] It also includes data signal safety protection for the roll matching position and detection points. In order to prevent position deviation during the roll matching process, according to the roll matching process, each step of the action must reach the specified position before the next lifting action can be carried out.

[0032] An automatic control device for lifting rolls by an unmanned crane comprises a roll body positioning stop column and an upper roll roll anti-falling unit 1, a bearing seat base buffer pad unit 2, a basic base unit 3, a lower roll body positioning unit 4, a lower roll drive side head frame and a roll body auxiliary positioning unit 5, a roll drive side positioning unit and a detection limit switch, wherein the basic base unit 3 matches the size of the roll, and the bearing seat base buffer pad unit 2 is arranged between the roll bearing seat and the basic base unit 3; the roll body positioning stop column and the upper roll roll anti-falling unit 1 are four long columns installed on the basic base unit 3; the lower roll body positioning unit 4 is four short columns slightly lower than the roll body, which are arranged on the basic base unit 3 and are used to slowly guide the roll neck into the groove; the lower roll drive side head frame and the roll body auxiliary positioning unit 5 are A V-shaped positioning frame is arranged between two long columns on the roller transmission side corresponding to the roller body positioning stop column and the upper roller anti-falling unit 1; the roller transmission side positioning unit includes a lower roller drive shaft centering top plate 6 and an upper roller drive shaft centering top plate 7, and the lower roller drive shaft centering top plate 6 and the upper roller drive shaft centering top plate 7 are column baffles, which are provided with retractable positioning plates, and the column baffles are placed at the front and rear lengths of the ends of the basic base unit 3 corresponding to the roller transmission side, and the columns are connected by cross beams for staggered placement of the upper and lower rollers; the detection limit switch includes a proximity switch 9 and a travel switch 10, each of which has two, and the proximity switch 9 is arranged at the top of the roller body positioning stop column and the upper roller anti-falling unit 1, and the two travel switches 10 are respectively arranged on the lower roller drive shaft centering top plate 6 and the upper roller drive shaft centering top plate 7.

[0033] It also includes roller body auxiliary anti-sway columns 8, and there are four roller body auxiliary anti-sway columns 8, which are arranged on the inner side of the roller body positioning stop column and the upper roller anti-falling unit 1.

[0034] In practical applications, the specific process is as follows:

[0035] Step 101: grinding of the roller is completed on a grinding machine.

[0036] Step 102: The unmanned crane lifts the ground roll from the grinding machine to the roll stand for roll matching.

[0037] Step 103: Determine whether the roller being hoisted is an upper roller according to the work order of the unmanned vehicle system, and confirm whether the roller is an upper roller. If the roller is an upper roller, execute step 104; if the roller is a lower roller, execute step 114.

[0038] Step 104, continue to execute the action of placing the lower roller of the unmanned vehicle.

[0039] Step 105: determine whether the roller has reached the deceleration position according to the on-site proximity switch signal, and if the roller has reached the deceleration position, execute step 107. If the roller has not reached the deceleration position, execute step 106.

[0040] Step 106: The unmanned vehicle continues to perform the roller lowering action. After reaching the deceleration position, step 107 will be executed.

[0041] Step 107: The roller reaches the deceleration position, and the unmanned crane decelerates the roller release action.

[0042] Step 108, the roller continues to descend to the shaft head position on the transmission side of the lower roller.

[0043] Step 109, judging whether the shaft head on the driving side of the lower roller is in place according to the on-site travel switch signal, if it is in place, executing step 111, if not, executing step 110.

[0044] Step 110, the unmanned vehicle system determines that the Y-axis position is offset, and adjusts to execute step 111 after receiving the in-position signal of the on-site travel switch.

[0045] Step 111, lifting the rolling roller to the designated lowering position of the shaft head on the lower roller transmission side.

[0046] Step 112: The unmanned vehicle system continues to execute the action of placing the rollers onto the roller rack.

[0047] Step 113, the lower roller placing action is completed.

[0048] Step 114, continue to execute the action of placing the upper roller of the unmanned vehicle.

[0049] Step 115: determine whether the roller has reached the deceleration position according to the on-site proximity switch signal, and if the roller has reached the deceleration position, execute step 117. If the roller has not reached the deceleration position, execute step 116.

[0050] Step 116: The unmanned vehicle continues to perform the roller lowering action. After reaching the deceleration position, step 117 will be executed.

[0051] Step 117: The roller reaches the deceleration position, and the unmanned crane roll matching action slows down.

[0052] Step 118, the roller continues to descend to the shaft head position on the upper roller transmission side.

[0053] Step 119, judging whether the shaft head on the upper roller driving side is in place according to the on-site travel switch signal, if it is in place, executing step 121, if not, executing step 120.

[0054] Step 120, the unmanned vehicle system determines that the Y-axis position is offset, and adjusts to execute step 121 after receiving the in-position signal of the on-site travel switch.

[0055] Step 121, lifting the rolling roller to the designated lowering position of the shaft head on the upper roller transmission side.

[0056] Step 122: The unmanned driving system continues to perform the roll matching action to the roll matching position above the lower roller.

[0057] Step 123, the roller matching action is completed.

[0058] The ET200 remote station mainly includes: a power module for powering the workstation; a digital input module for collecting switch signals of the on-site roll position; a 485 communication module for communication between the wireless transmission module and ET200; and a wireless data transmission module for data exchange between the ET200 remote station and the unmanned driving system.

[0059] like Figure 2 The basic base unit 3 is the basic base, which is enlarged according to the size of the roll so that the roll can be stacked on it. When the unmanned vehicle lifts the lower roll of the roll, it needs to be placed on the basic base unit 3 first. Since the roll bearing seat is the force-bearing unit of the roll touching the ground, a bearing seat base buffer pad unit 2 is added below it. The material is rubber material, and there are four of them, which respectively bear the two ends of the bearing seat. The size of the two at one end is slightly larger than the size of the bearing seat. The roll body positioning stop column and the upper roll anti-reversal unit 1 are used to assist the unmanned vehicle in controlling the swing value of the vehicle when it is moving on the X-axis when the unmanned vehicle is lifting the roll. When the roll is tilted when the unmanned vehicle places the roll downward, it helps guide the roll to the specified roll position. When the proximity switch 9 detects that the roll has dropped to this position during the roll matching process, the ET200 remote station receives an in-place signal, and the unmanned vehicle will slow down. When the shaft head on the roller transmission side reaches the limit switch 10, the Y-axis in-position signal will be triggered and fed back to the unmanned driving system through the ET200 remote station.

[0060] like Figure 3 When the roller is lifted downward by the crane, the transmission side faces the roller transmission side positioning unit, and the lower roller transmission shaft centering top plate 6 is used as the lower roller transmission side positioning point to correct the Y-axis deviation value when the roller is lifted by the unmanned crane. The lower roller body positioning unit 4 is used to correct the X-axis deviation value when the roller is lifted by the unmanned crane. The lower roller transmission side head frame and roller body auxiliary positioning unit 5 is used to assist the unmanned crane in correcting the X-axis deviation value when lifting the lower roller.

[0061] After the lower roll is lifted, since the bearing seat has its own roll aligning pins when the upper and lower rolls are aligned, in order to facilitate the unmanned crane to align the rolls and reduce the deviation of the unmanned crane lifting, the upper roll drive shaft is aligned with the top plate 7 as the upper roll drive side locating point to correct the Y-axis deviation value when the unmanned crane lifts the rolls.

[0062] like Figure 4 Roller shaking often occurs during the roll matching process. The auxiliary anti-sway column 8 of the roll body is used to detect whether the roll hoisted by the unmanned crane has reached the specified position and to locate the auxiliary guiding device.

[0063] like Figure 5 , is a roll matching effect diagram of the roll matching device with an automatic crane. The diagram shows an example of the roll matching device after the roll matching is completed at three different angles. Figure 5 correspond Figure 2 , Figure 3 , Figure 4 The device is in a state with rollers.

[0064] The present invention combines the requirements of the roll matching process and the accuracy requirements of the unmanned crane, designs a reasonable roll matching device structure and arranges the sensor position, so as to ensure that each detection signal is stable and reliable when the unmanned crane is lifting the rolls to match the rolling mill rolls, assists the unmanned crane to complete the roll matching operation smoothly, promotes the continuous upgrading of the application in the field of unmanned crane system technology, and successfully applies the unmanned crane system to the control field of the roll matching system in the grinding roll shop, expands the efficiency optimization of the unmanned crane collaboration, reduces the roll matching time, reduces the error rate, and improves the production efficiency.

[0065] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An automatic control device for roller matching by unmanned crane hoisting, characterized in that: The invention comprises a roller body positioning stop column and an upper roller body anti-falling unit (1), a bearing seat base buffer pad unit (2), a basic base unit (3), a lower roller body positioning unit (4), a lower roller drive side head frame and a roller body auxiliary positioning unit (5), a roller drive side positioning unit and a detection limit switch, wherein the basic base unit (3) matches the size of the roller, and the bearing seat base buffer pad unit (2) is arranged between the roller bearing seat and the basic base unit (3); the roller body positioning stop column and the upper roller body anti-falling unit (1) are four long columns, which are installed on the basic base unit (3); the lower roller body positioning unit (4) is four short columns slightly lower than the roller body, which are arranged on the basic base unit (3) and are used to slowly guide the roller neck into the groove; the lower roller drive side head frame and the roller body auxiliary positioning unit (5) are V-shaped positioning frames, which are arranged on the roller body. The roller body positioning stop column and the upper roller anti-falling unit (1) are located between two long columns on the roller drive side; the roller drive side positioning unit comprises a lower roller drive shaft centering top plate (6) and an upper roller drive shaft centering top plate (7), the lower roller drive shaft centering top plate (6) and the upper roller drive shaft centering top plate (7) are column stop plates, and a retractable positioning piece is provided on the column stop plates, and the column stop plates are placed at the ends of the basic base unit (3) corresponding to the roller drive side, and the columns are connected by a cross beam, which is used for the upper and lower rollers to misalign the top plates; the detection limit switch comprises a proximity switch (9) and a travel switch (10), and each has two of them, the proximity switch (9) is arranged at the top of the roller body positioning stop column and the upper roller anti-falling unit (1), and the two travel switches (10) are respectively arranged on the lower roller drive shaft centering top plate (6) and the upper roller drive shaft centering top plate (7).

2. The automatic control device for roller matching by unmanned crane hoisting according to claim 1 is characterized in that: It also comprises roller body auxiliary anti-sway columns (8), wherein four roller body auxiliary anti-sway columns (8) are arranged on the inner side of the roller body positioning stop column and the upper roller anti-falling unit (1).

3. An automatic control method for roller matching by unmanned crane hoisting, characterized in that: The use of the automatic control device for roller matching by unmanned crane hoisting according to claim 1 or 2 comprises the following steps: (1) An ET200 remote station is set up around the roll stand to collect sensor signals installed on the roll stand through the wireless data transmission module, thereby collecting the actual position of the rolls, performing interlocking actions on the roll matching actions, and providing auxiliary data support for the next step of the roll matching actions; (2) The ET200 remote station exchanges data with the unmanned vehicle control system through the wireless data transmission module, sending information on whether the X-axis and Y-axis positions of the rolls are in place; (3) Roller matching deceleration position control: During the roll matching process of the unmanned vehicle, when the hoisted roll reaches above the matching position, the unmanned vehicle performs a descending operation. When it reaches the deceleration position of the matching roll frame, the unmanned vehicle receives the deceleration position sensor signal and performs a deceleration operation; (4) Y-axis in-position control: When the roller reaches the matching roller position, the unmanned crane slows down. When the shaft head on the roller drive side reaches the top plate of the matching roller frame, the travel switch is triggered. After the signal is in place, the unmanned crane confirms the signal and continues to descend to the specified position.

4. The automatic control method for roller matching by unmanned crane hoisting according to claim 3 is characterized in that: It also includes data signal feedback of the roll matching position and detection point. During the roll matching process, the roll is detected when it reaches the roll frame area, and a signal is sent to the unmanned driving system that it has reached the specified position. The unmanned driving system will slow down or proceed to the next operation.

5. The automatic control method for roller matching by unmanned crane hoisting according to claim 3 is characterized in that: It also includes data signal safety protection for the roll matching position and detection points. In order to prevent position deviation during the roll matching process, according to the roll matching process, each step of the action must reach the specified position before the next lifting action can be carried out.

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