A method for controlling the anti-slip cylinder of a coil transport trolley

Abstract

The present invention belongs to the field of anti-slip cylinder control, and in particular relates to a method for controlling a coil transport trolley against slipping cylinders. The specific steps are as follows: Step 1: a position sensor on the coil transport trolley measures the height of the coil transport trolley as an actual measurement value t; Step 2: calculating the actual lifting height of the coil transport trolley: l is the length of the support rod of the coil transport trolley, m is the distance between the fixed axis and the movable axis at the bottom of the coil transport trolley, u is the distance between the front and rear wheels of the coil transport trolley, h is the actual lifting height of the coil transport trolley, m=u–t, h=SQR(l²–m²); Step 3: by comparing the actual lifting height h of the coil transport trolley with a set value, controlling the hydraulic cylinder body to eliminate the difference in real time, keeping the difference between the two as 0, so that the coil transport trolley does not slip; the method achieves the purpose of controlling the coil transport trolley by comparing the actual value of the lifting height of the coil transport trolley with the set value, and adjusting the height of the hydraulic cylinder body in real time, thereby ensuring that the trolley does not slip in the process of transporting coils.

Description

Technical Field

[0001] The invention belongs to the field of anti-slip cylinder control, and in particular relates to a method for controlling an anti-slip cylinder of a coil transport trolley. Background Art

[0002] The EPS line of the hot rolling mill is a pickling-free production line, in which the coil transport trolley of the feeding unit is a key equipment. The lifting height of the coil transport trolley is fixed. Because the hydraulic cylinder of the trolley cannot maintain, it slides down 3-6mm during the coil transport process. When it reaches the designated coil drop position, it no longer meets the requirements and requires human intervention. The steel coil is lifted again in manual mode to ensure that the steel coil can fall to the designated position, which increases the workload of the operator and reduces work efficiency. If the few millimeters of cylinder slippage gap is not found, the steel coil on the coil transport trolley will fall due to insufficient lifting height when it is about to reach the designated saddle, causing a coil drop accident, damaging surrounding equipment, and affecting production. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a method for controlling the cylinder of a coil transport trolley to prevent it from slipping. By comparing the actual value of the lifting height of the coil transport trolley with the set value, the height of the hydraulic cylinder body is adjusted in real time to achieve the purpose of controlling the coil transport trolley, thereby ensuring that the trolley does not slip out of the cylinder during the coil transport process.

[0004] In order to achieve the above object, the present invention adopts the following technical scheme:

[0005] A method for controlling a coil transport trolley anti-slip cylinder, the specific steps are as follows:

[0006] Step 1: The position sensor on the coil transport trolley measures the height of the coil transport trolley and feeds back the measured data in real time as the actual measurement value t, where t is the distance between the fixed axis of the coil transport trolley and the rear wheel;

[0007] Step 2: Calculate the actual lifting height of the coil transport trolley:

[0008] l is the length of the support rod of the coil transport trolley, m is the distance between the fixed axis and the movable axis at the bottom of the coil transport trolley, that is, the difference between the distance between the front and rear wheels of the coil transport trolley and the measured value t of the position sensor; u is the distance between the front and rear wheels of the coil transport trolley, h is the actual lifting height of the coil transport trolley, m = u – t, h = SQR (l² – m²);

[0009] a is half of the saddle width, alpha is the angle between the saddle and the horizontal direction, r is the radius of the steel coil, h1 is the radius r multiplied by the cosine of beta, h2 is the radius r multiplied by the sine of beta multiplied by the sine of alpha, h3 is half of the saddle width multiplied by the tangent of alpha, y is the sum of h1 and h2, s is the difference between h3 and y, and hc is the distance from the highest point of the saddle to the trolley track; h1, h2, h3, y and s all change with different steel coil radii;

[0010] Step 3: By comparing the actual lifting height h of the coil transport trolley with the set value, the hydraulic cylinder is controlled to eliminate the difference in real time, keeping the difference between the two at 0, so that the coil transport trolley does not slip out of the cylinder; if there is any inconsistency, the PLC controller controls the hydraulic cylinder to move until the difference between the lifting height value of the coil transport trolley and the set value is 0.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] By measuring the distance between the fixed axis and the rear wheel of the coil transport trolley, the actual lifting height of the coil transport trolley is calculated. By comparing the given value with the actual lifting height value of the coil transport trolley and adopting a control method with zero static difference, the lifting height of the trolley can always be maintained at a stable height, which not only improves the control accuracy of the equipment, but also improves the stability of equipment operation and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is the relevant parameter diagram between the saddle and the steel coil;

[0014] Figure 2 This is a diagram of related parameters between the position sensor and the coil transport trolley. DETAILED DESCRIPTION

[0015] The present invention will be further described below in conjunction with the accompanying drawings.

[0016] like Figure 1-2 , a coil transport trolley anti-slip cylinder control method, the specific steps are as follows:

[0017] Step 1: The position sensor on the coil transport trolley measures the height of the coil transport trolley and feeds back the measured data in real time as the actual measurement value;

[0018] Step 2: Calculate the actual lifting height of the coil transport trolley:

[0019] l is the length of the support rod of the coil transport trolley, m is the distance between the fixed axis and the movable axis at the bottom of the coil transport trolley, that is, the difference between the distance between the front and rear wheels of the coil transport trolley and the measured value t of the position sensor; u is the distance between the front and rear wheels of the coil transport trolley, and h is the actual lifting height of the coil transport trolley: m = u – t, h = SQR (l² – m²);

[0020] a is half of the saddle width, alpha is the angle between the saddle and the horizontal direction, r is the radius of the steel coil, h1 is the radius r multiplied by the cosine of beta, h2 is the radius r multiplied by the sine of beta multiplied by the sine of alpha, h3 is half of the saddle width multiplied by the tangent of alpha, y is the sum of h1 and h2, s is the difference between h3 and y, and hc is the distance from the highest point of the saddle to the trolley track; h1, h2, h3, y and s all change with different steel coil radii;

[0021] Step 3: By comparing the actual lifting height h of the coil transport trolley with the set value, the hydraulic cylinder is controlled to eliminate the difference in real time, keeping the difference between the two at 0, so that the coil transport trolley does not slip out of the cylinder; if there is any inconsistency, the PLC controller controls the hydraulic cylinder to move until the difference between the lifting height value of the coil transport trolley and the set value is 0.

[0022] Before implementing this method, the failure rate of the coil transport trolley was an average of 1.5 failures per month, with each failure lasting an average of 16 minutes. This method can monitor the working status of the coil transport trolley's hydraulic cylinder in real time, effectively avoiding accidents where the coil transport trolley may drop steel coils.

Claims

1. A method for controlling a roll transport trolley anti-slip cylinder, characterized in that: The specific steps are as follows: Step 1: The position sensor on the coil transport trolley measures the height of the coil transport trolley and feeds back the measured data in real time as the actual measurement value t, where t is the distance between the fixed axis of the coil transport trolley and the rear wheel; Step 2: Calculate the actual lifting height of the coil transport trolley: l is the length of the support rod of the coil transport trolley, m is the distance between the fixed axis and the movable axis at the bottom of the coil transport trolley, that is, the difference between the distance between the front and rear wheels of the coil transport trolley and the measured value t of the position sensor; u is the distance between the front and rear wheels of the coil transport trolley, h is the actual lifting height of the coil transport trolley, m = u – t, h = SQR (l² – m²); a is half of the saddle width, alpha is the angle between the saddle and the horizontal direction, r is the radius of the steel coil, h1 is the radius r multiplied by the cosine of beta, h2 is the radius r multiplied by the sine of beta multiplied by the sine of alpha, h3 is half of the saddle width multiplied by the tangent of alpha, y is the sum of h1 and h2, s is the difference between h3 and y, and hc is the distance from the highest point of the saddle to the trolley track; h1, h2, h3, y and s all change with different steel coil radii; Step 3: By comparing the actual lifting height h of the coil transport trolley with the set value, the hydraulic cylinder is controlled to eliminate the difference in real time, keeping the difference between the two at 0, so that the coil transport trolley does not slip out of the cylinder; if there is any inconsistency, the PLC controller controls the hydraulic cylinder to move until the difference between the lifting height value of the coil transport trolley and the set value is 0.

Images