A paper sleeve automatic installation system and control method thereof

Abstract

The present application provides a paper sleeve automatic installation system and a control method thereof, the system comprising a roll unloading vehicle for carrying paper sleeves; a driving mechanism arranged on the roll unloading vehicle; a height adjustment mechanism arranged on the roll unloading vehicle; a distance measuring mechanism arranged on the side of the roll unloading vehicle close to the coiling machine core shaft; a grating arranged on the side of the extension direction of the coiling machine core shaft; a controller electrically connected to the driving mechanism, the distance measuring mechanism, the height adjustment mechanism and the grating respectively; the controller is used to indicate that the height of the paper sleeve axis from the ground is consistent with the height of the coiling machine core shaft from the ground, indicating that before the proximal end of the paper sleeve reaches the coiling machine core shaft, the axis of the paper sleeve coincides with the coiling machine core shaft, and when the distal end of the paper sleeve reaches the coiling machine core shaft, the paper sleeve is adapted to the coiling machine core shaft. The present application greatly improves the efficiency of installing paper sleeves and greatly reduces the difficulty of work and the danger of operation through the above system and its control method.

Description

Technical Field

[0001] The present application relates to the technical field of steel rolling automation control, and in particular to an automatic paper sleeve installation system and a control method thereof. Background Art

[0002] With the rapid development of my country's economy, the demand for galvanized or annealed plates has increased dramatically, both in the home appliance industry and the automobile manufacturing industry, and the quality requirements for plate products are getting higher and higher. At present, the thickness specification of the plate is 0.2mm-2.0mm, and the surface quality can meet customer requirements. However, during the coiling process, thin strip steel is very prone to inner circle collapse, resulting in the inability to carry out packaging in the subsequent process. This requires thin strip steel to add a paper sleeve inside the steel coil to avoid the problem of inner circle collapse or deformation of the steel coil due to the thin strip steel.

[0003] At present, the main way to put paper sleeves is manual operation. The operator manually operates the unloading trolley to put the paper sleeve on the winder. The paper sleeve is placed on the unloading trolley through a mechanical device. The operator raises the saddle of the trolley through the operating button and observes whether the height of the paper sleeve is consistent with the height of the winder through human eyes. If not, the height of the paper sleeve is controlled by the operating button. Generally, experienced operators need to repeat the operation 4-5 times to adjust the height of the paper sleeve and the winder. After adjusting the height, the operator controls the trolley to move the paper sleeve toward the winder and put the paper sleeve on the winder.

[0004] As the sleeve moves toward the coiler with the unloading trolley, the center of the paper sleeve needs to coincide with the center of the coiler so that the strip can be rolled on the paper sleeve. If the centers of the two do not coincide, the strip and the edge of the paper sleeve will be offset, and the edge of the paper sleeve will not coincide with the edge of the strip, that is, the roll is skewed. The current practice is to mark the position on the core shaft of the coiler. During the movement of the paper sleeve, the operator observes with his eyes whether the paper sleeve reaches the marked position. Since the operator is a certain distance away from the coiler and the observation angle is also limited, the operator needs to observe and adjust the position of the paper sleeve on the coiler many times before the paper sleeve can be placed in the center of the coiler core shaft. However, since the operator needs to be close to the coiler when observing the position, there is a safety risk of mechanical injury. At the same time, relying on manual observation also reduces work efficiency and increases production costs. Summary of the invention

[0005] The present application provides a paper sleeve automatic installation system and a control method thereof to solve the current problems of low efficiency, great difficulty and high risk in the installation of paper sleeves.

[0006] The first aspect of the present application provides a paper sleeve automatic installation system, the system comprising:

[0007] Unloading car for carrying paper sleeves;

[0008] A driving mechanism provided on the coil unloading vehicle, used for driving the coil unloading vehicle to move along the extension direction of the coiler core shaft;

[0009] A height adjustment mechanism is provided on the unloading vehicle, and is used to adjust the height of the axis of the paper sleeve from the ground;

[0010] A distance measuring mechanism is arranged on the side of the unloading coil car close to the coiler mandrel, and the distance measuring mechanism is used to obtain the distance value between the unloading coil car and the positioning point on the coiler mandrel side;

[0011] A grating arranged on one side of the winding machine core shaft extending direction is used to detect the grating signal when the near end and the far end of the paper sleeve reach the position of the grating when the unloading vehicle moves toward the winding machine core shaft;

[0012] A controller electrically connected to the driving mechanism, the distance measuring mechanism, the height adjustment mechanism and the grating, respectively, the controller being configured to: generate a first control instruction based on input paper sleeve parameters and send it to the height adjustment mechanism, the first control instruction being used to instruct to adjust the height of the paper sleeve axis from the ground to be consistent with the height of the winder core shaft from the ground; generate a second control instruction for controlling the driving mechanism based on the grating signal fed back by the grating and the distance value fed back by the distance measuring mechanism, the second control instruction being used to instruct that before the proximal end of the paper sleeve reaches the winder core shaft, the axis of the paper sleeve coincides with the winder core shaft, and when the distal end of the paper sleeve reaches the winder core shaft, the paper sleeve fits with the winder core shaft.

[0013] Preferably, the height adjustment mechanism is configured as follows:

[0014] When the paper sleeve axis and the winder core shaft are at the same height from the ground, generating first feedback information and sending it to the controller;

[0015] The controller is further configured to generate a first driving instruction for starting the grating and the distance measuring mechanism according to the first feedback information and send the first driving instruction to the grating and the distance measuring mechanism.

[0016] Preferably, the bottom of the coil unloading vehicle has a track along the extension direction of the coiler mandrel;

[0017] The grating is configured as:

[0018] Turning on according to the first driving instruction, emitting a grating signal in a vertical downward direction, wherein the grating signal includes a coverage area;

[0019] When the near end of the paper sleeve enters the grating signal coverage area, the first grating information is sent to the controller, and when the far end of the paper sleeve leaves the grating signal coverage area, the second grating information is sent to the controller;

[0020] The controller is further configured to calculate the size information of the paper sleeve along the extension direction of the winding machine core shaft according to the first grating information and the second grating information.

[0021] The distance measuring mechanism comprises:

[0022] A reflective plate disposed vertically below the coiler mandrel;

[0023] A laser rangefinder disposed on a side of the unloading vehicle close to the reflective plate;

[0024] The laser rangefinder is configured as:

[0025] Turning on according to the first driving instruction, emitting a laser signal in a direction perpendicular to the reflector;

[0026] The distance value between the unloading vehicle and the positioning point on the core shaft side of the coiler is calculated based on the laser signal reflected by the reflective plate, and the distance information is generated and sent to the controller.

[0027] Preferably, the controller is further configured to:

[0028] Calculate a horizontal displacement value according to the distance information and the size information;

[0029] A second control instruction for instructing to adjust the length of the horizontal displacement value of the drive mechanism along the extension direction of the coiling machine core shaft is generated and sent to the drive mechanism.

[0030] Preferably, the height adjustment mechanism adjusts the height of the paper sleeve axis from the ground multiple times according to the first control instruction to achieve that the height of the paper sleeve axis from the ground is consistent with the height of the winder core shaft from the ground.

[0031] Preferably, when the height of the axis of the paper sleeve from the ground is consistent with the height of the winder core shaft from the ground, the height of the axis of the paper sleeve from the ground is a change value within a preset error range.

[0032] In a second aspect, the present application provides a method for controlling automatic installation of a paper sleeve, the method comprising:

[0033] responding to sleeve parameters input by a user;

[0034] Generate a first control instruction for instructing to adjust the height of the paper sleeve axis from the ground to be consistent with the height of the winder core shaft from the ground;

[0035] Acquire the dimension information of the paper sleeve along the extension direction of the winding machine core shaft;

[0036] Obtaining the distance value between the unloading vehicle and the positioning point on the core shaft side of the coiler and generating distance information;

[0037] A second control instruction for instructing adjustment of the drive mechanism is generated based on the size information and the distance information, the second control instruction being used to indicate that before the proximal end of the paper sleeve reaches the winder core shaft, the axis of the paper sleeve coincides with the winder core shaft, and when the distal end of the paper sleeve reaches the winder core shaft, the paper sleeve is adapted to the winder core shaft.

[0038] Preferably, the step of obtaining the dimension information of the paper sleeve along the extension direction of the winding machine core shaft comprises:

[0039] When the paper sleeve axis and the winder core shaft are at the same height from the ground, generating first feedback information;

[0040] generating a first driving instruction for starting the grating and the distance measuring mechanism according to the first feedback information;

[0041] Turning on the grating and emitting a grating signal in a vertical downward direction according to the first driving instruction;

[0042] When the near end of the paper sleeve enters the grating signal coverage area, first grating information is generated;

[0043] When the far end of the paper sleeve leaves the coverage area of ​​the grating signal, generating second grating information;

[0044] The size information of the paper sleeve along the extension direction of the winding machine core shaft is calculated based on the first grating information and the second grating information.

[0045] Preferably, the step of obtaining the distance value between the unloading vehicle and the positioning point on the coiler mandrel side and generating distance information comprises:

[0046] Turning on the laser rangefinder according to the first driving instruction and emitting a laser signal in a direction perpendicular to the reflector;

[0047] The distance value between the unloading vehicle and the positioning point on the core shaft side of the coiler is calculated based on the laser signal reflected by the reflective plate and the distance information is generated.

[0048] The present application provides a paper sleeve automatic installation system and a control method thereof, the system comprising a coil unloading vehicle for carrying the paper sleeve; a driving mechanism arranged on the coil unloading vehicle, for driving the coil unloading vehicle to move along the extension direction of the coiler core shaft; a height adjustment mechanism arranged on the coil unloading vehicle, for adjusting the height of the paper sleeve axis from the ground; a distance measuring mechanism arranged on the coil unloading vehicle on the side close to the coiler core shaft, the distance measuring mechanism being used to obtain the distance value between the coil unloading vehicle and the positioning point on the coiler core shaft side; a grating arranged on the side in the extension direction of the coiler core shaft, for detecting the light when the proximal and distal ends of the paper sleeve reach the position of the grating when the coil unloading vehicle moves toward the coiler core shaft. grating signal; a controller electrically connected to the driving mechanism, the distance measuring mechanism, the height adjustment mechanism and the grating respectively, the controller being configured to: generate a first control instruction and send it to the height adjustment mechanism according to the input paper sleeve parameters, the first control instruction is used to indicate that the height of the paper sleeve axis from the ground is adjusted to be consistent with the height of the winder core shaft from the ground; generate a second control instruction for controlling the driving mechanism according to the grating signal fed back by the grating and the distance value fed back by the distance measuring mechanism, the second control instruction is used to indicate that before the near end of the paper sleeve reaches the winder core shaft, the axis of the paper sleeve coincides with the winder core shaft, and when the far end of the paper sleeve reaches the winder core shaft, the paper sleeve is adapted to the winder core shaft. The present application greatly improves the efficiency of installing paper sleeves and greatly reduces the difficulty of work and the danger of operation through the above system and its control method. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0050] Figure 1 A specific flow chart of an automatic paper sleeve installation system for this application;

[0051] Figure 2 This is a working diagram of the height adjustment mechanism of the system described in this application;

[0052] Figure 3 This is a flowchart of the first step of the distance measurement mechanism of the system described in this application;

[0053] Figure 4 This is a flowchart of the second step of the distance measuring mechanism of the system described in this application;

[0054] Figure 5 A specific flow chart of a paper sleeve automatic installation control method for this application;

[0055] Figure 6A specific flow chart of obtaining size information of a paper sleeve automatic installation control method for this application;

[0056] Figure 7 This application provides a specific flow chart of a method for automatically installing and controlling a paper sleeve to obtain distance information. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0058] Figure 1 This is a specific flow chart of an automatic paper sleeve installation system for this application.

[0059] Figure 2 This is a working diagram of the height adjustment mechanism of the system described in this application.

[0060] Figure 3 This is a flowchart of the first step of the distance measurement mechanism of the system described in this application.

[0061] Figure 4 This is a flowchart of the second step of the distance measurement mechanism of the system described in this application.

[0062] Depend on Figure 1 , Figure 2 , Figure 3 and Figure 4 It can be seen that this embodiment provides a paper sleeve automatic installation system, the system comprising:

[0063] A roll unloading vehicle 1 for carrying paper sleeves 2.

[0064] Specifically, in the present embodiment, the unloading vehicle 1 has a plurality of wheels at the bottom. Considering that the transported paper sleeve 2 has a moderate mass, it is only necessary to use a vehicle with wheels for transportation. It should be noted that the unloading vehicle 1 described in the present application can be changed according to different needs. For example, if it is necessary to carry objects of large mass, it is only necessary to convert the original wheels at the bottom of the unloading vehicle 1 into other transmission structures that can carry a larger mass, such as tracks. Therefore, the specific structure of the unloading vehicle 1 is not excessively limited.

[0065] The system further comprises a driving mechanism 3 disposed on the coil unloading vehicle 1, for driving the coil unloading vehicle 1 to move along the extending direction of the coiler core shaft 6.

[0066] Specifically, in the present embodiment, the coil unloading vehicle 1 adjusts its position in the horizontal direction through the driving mechanism 3 disposed thereon; it should be noted that the driving mechanism 3 may be of various types and is not excessively limited herein.

[0067] The system further comprises a height adjustment mechanism 8 arranged on the unloading vehicle 1, for adjusting the height of the axis of the paper sleeve 2 from the ground.

[0068] Specifically, in this embodiment, the coil unloading vehicle 1 is adjusted to move in the vertical direction by a height adjustment mechanism 8 disposed thereon, and the height adjustment mechanism 8 is a lift.

[0069] The system further comprises a distance measuring mechanism 5 arranged on a side of the coil unloading vehicle 1 close to the coiler mandrel 6 , and the distance measuring mechanism 5 is used to obtain the distance value between the coil unloading vehicle 1 and a positioning point on the side of the coiler mandrel 6 .

[0070] Specifically, in the present embodiment, the distance measuring mechanism 5 is mainly used to detect the distance in the horizontal direction between the unloading vehicle 1 and the winding machine core shaft 6; wherein, the distance measuring mechanism 5 may be a sonar system or a laser transmission system, that is, any device that can complete automatic distance measurement may be the distance measuring mechanism 5 described in the present embodiment.

[0071] The system further comprises a grating 4 arranged on one side of the extension direction of the winding machine core shaft 6, for detecting grating signals when the near end and the far end of the paper sleeve 2 reach the position of the grating 4 when the unloading vehicle 1 moves toward the winding machine core shaft 6.

[0072] Specifically, in this embodiment, the grating 4 can emit a grating signal, and the size of the paper sleeve 2 can be measured by the grating signal.

[0073] The system also includes a controller 7 electrically connected to the driving mechanism 3, the distance measuring mechanism 5, the height adjustment mechanism 8 and the grating 4, respectively, and the controller 7 is configured to: generate a first control instruction based on the input paper sleeve 2 parameters and send it to the height adjustment mechanism 8, the first control instruction is used to indicate the adjustment of the height of the axis of the paper sleeve 2 from the ground to be consistent with the height of the winder core shaft 6 from the ground; generate a second control instruction for controlling the driving mechanism 3 based on the grating signal feedback from the grating 4 and the distance value feedback from the distance measuring mechanism 5, the second control instruction is used to indicate that before the near end of the paper sleeve 2 reaches the winder core shaft 6, the axis of the paper sleeve 2 coincides with the winder core shaft 6, and when the far end of the paper sleeve 2 reaches the winder core shaft 6, the paper sleeve 2 is adapted to the winder core shaft 6.

[0074] Specifically, in the present embodiment, the controller 7 is electrically connected to the driving mechanism 3, the ranging mechanism 5, the height adjustment mechanism 8 and the grating 4 respectively; it should be noted that there are many ways of electrical connection, such as communication connection and WIFI connection, therefore, there are no excessive restrictions on the specific way of the electrical connection.

[0075] Furthermore, in some embodiments, the height adjustment mechanism 8 is configured as follows:

[0076] When the axis of the paper sleeve 2 and the winder core shaft 6 are at the same height from the ground, first feedback information is generated and sent to the controller 7 .

[0077] Specifically, in this embodiment, the connection relationship between the height adjustment mechanism 8 and the controller 7 also exists that when the height adjustment mechanism 8 reaches the height required by the first control instruction, the height adjustment mechanism 8 will also feedback the working status at this time to the controller 7 by sending a first feedback message.

[0078] The controller 7 is further configured to generate a first driving instruction for turning on the grating 4 and the distance measuring mechanism 5 according to the first feedback information and send the first driving instruction to the grating 4 and the distance measuring mechanism 5 .

[0079] Specifically, in this embodiment, when the controller 7 obtains the first feedback information, it means that the height adjustment mechanism 8 has completed the height adjustment, and the controller 7 can adjust the horizontal position.

[0080] Furthermore, in some embodiments, the bottom of the coil unloading vehicle 1 has a track along the extension direction of the coiler core shaft 6 .

[0081] Taking into account the problem that the coil unloading car 1 may be bumpy and unable to move in a straight line, a track is set on the coil unloading car 1 along the extension direction of the coiler core shaft 6 to ensure that the coil unloading car 1 can run in a straight line regardless of the degree of bumpiness. This embodiment greatly improves the stability of the system.

[0082] The grating 4 is configured as follows:

[0083] Turning on according to the first driving instruction, emitting a grating signal in a vertical downward direction, wherein the grating signal includes a coverage area;

[0084] When the near end of the paper sleeve 2 enters the grating signal coverage area, the first grating information is sent to the controller 7, and when the far end of the paper sleeve 2 leaves the grating signal coverage area, the second grating information is sent to the controller 7;

[0085] The controller 7 is further configured to calculate the size information of the paper sleeve 2 along the extension direction of the winding machine core shaft 6 according to the first grating information and the second grating information.

[0086] Specifically, in the present embodiment, the above-mentioned embodiment is a specific step for the grating 4 to obtain the size information. When the grating 4 obtains the above-mentioned first driving instruction, it starts to emit a grating signal. When the near end of the paper sleeve 2 enters the coverage range of the grating signal and when the far end of the paper sleeve 2 leaves the coverage range of the grating signal, the grating information is sent to the controller 7. The controller 7 calculates the size information of the paper sleeve 2 along the extension direction of the winder core shaft 6 based on the two previous and subsequent grating signals. The size information eliminates the problem that the paper sleeve 2 cannot be accurately placed at the positioning point due to the size problem of the paper sleeve 2 itself.

[0087] Furthermore, in some embodiments, the distance measuring mechanism 5 includes:

[0088] A reflective plate 52 is arranged vertically below the winding machine core shaft 6 .

[0089] Specifically, in this embodiment, the reflective plate 52 can be made of many materials, such as coating a layer of laser reflective film on a conventional mirror, as long as it can reflect the laser signal. Therefore, there are not too many restrictions on the specific material of the reflective plate 52.

[0090] The distance measuring mechanism 5 further includes a laser distance measuring device 51 disposed on a side of the unloading vehicle 1 close to the reflective plate 52;

[0091] The laser range finder 51 is configured as follows:

[0092] Turning on according to the first driving instruction, emitting a laser signal in a direction perpendicular to the reflector 52;

[0093] The distance value between the unloading vehicle and the positioning point on the side of the coiler mandrel 6 is calculated based on the laser signal reflected by the reflective plate 52 , and the distance information is generated and sent to the controller 7 .

[0094] Specifically, in this embodiment, the above embodiment is the specific steps for obtaining the distance information between the unloading vehicle 1 and the positioning point on the side of the winding machine core shaft 6. When the laser rangefinder 51 obtains the first driving instruction, it starts to emit a laser signal. The laser signal returns to the laser rangefinder 51 on the reflective plate 52. The laser rangefinder 51 calculates the distance value between the unloading vehicle 1 and the positioning point on the side of the winding machine core shaft 6 according to the reflected laser signal and generates distance information to send to the controller 7.

[0095] Furthermore, the controller 7 is also configured to calculate a horizontal displacement value according to the distance information and the size information.

[0096] Specifically, in this embodiment, the controller 7 integrates the distance information and the size information and calculates a horizontal displacement value. According to the horizontal displacement value, the driving mechanism 3 can place the paper sleeve 2 at a positioning point.

[0097] The controller 7 is further configured to generate a second control instruction for instructing the drive mechanism 3 to adjust the length of the horizontal displacement value along the extension direction of the coiling machine core shaft and send the second control instruction to the drive mechanism 3 .

[0098] Specifically, the controller 7 combines the horizontal displacement value with the control instruction into a second control instruction and sends it to the driving mechanism 3. The driving mechanism 3 moves the horizontal displacement value length along the extension direction of the winding machine core shaft 6 according to the second control instruction to achieve the installation of the paper sleeve 2 at the positioning point.

[0099] Furthermore, in some embodiments, the height adjustment mechanism 8 adjusts the height of the axis of the paper sleeve 2 from the ground multiple times according to the first control instruction until the height of the axis of the paper sleeve 2 from the ground is consistent with the height of the winder core shaft 6 from the ground.

[0100] Specifically, in the present embodiment, considering that the unloading roll vehicle 1 will cause certain bumps in the ascending paper sleeve 2 during the ascending process, and the bumps may cause instability of the ascending paper sleeve 2, in the present embodiment, the unloading roll vehicle 1 is ascended multiple times to reduce the degree of bumps and avoid the occurrence of the above problem.

[0101] Further, in some embodiments, when the height of the axis of the paper sleeve 2 from the ground is consistent with the height of the winder core shaft 6 from the ground, the height of the axis of the paper sleeve 2 from the ground is a change value within a preset error range.

[0102] Specifically, in this embodiment, the height of the axis of the paper sleeve 2 from the ground is a variation value within an error range, that is, as long as the height of the axis of the paper sleeve 2 from the ground satisfies the interval range of the variation value.

[0103] Figure 5 This is a specific flow chart of a paper sleeve automatic installation control method for this application.

[0104] Depend on Figure 5 It can be seen that the present application also provides a paper sleeve automatic installation control method, the control method comprising:

[0105] S100, responding to sleeve parameters input by a user.

[0106] Specifically, in this embodiment, since the paper sleeve 2 has different sizes, the user needs to input different parameters of the paper sleeve 2 in order to accurately perform the subsequent steps.

[0107] S200, generating a first control instruction for instructing to adjust the height of the axis of the paper sleeve 2 from the ground to be consistent with the height of the winder core shaft 6 from the ground.

[0108] Specifically, in this embodiment, the height of the axis of the paper sleeve 2 from the ground must be adjusted to be consistent with the height of the winder core shaft 6 from the ground. This embodiment first adjusts the heights to be consistent, and then only the position in the horizontal direction needs to be adjusted to directly install the paper sleeve 2 on the fixed point of the winder core shaft 6.

[0109] S300, obtaining the dimension information of the paper sleeve 2 along the extension direction of the winding machine core shaft 6;

[0110] S400, obtaining the distance value between the unloading vehicle 1 and the positioning point on the side of the coiler mandrel 6 and generating distance information;

[0111] S500, a second control instruction for instructing adjustment of the driving mechanism 3 is generated based on the size information and the distance information, wherein the second control instruction is used to indicate that before the proximal end of the paper sleeve 2 reaches the winder core shaft 6, the axis of the paper sleeve 2 coincides with the winder core shaft 6, and when the distal end of the paper sleeve 2 reaches the winder core shaft 6, the paper sleeve 2 is adapted to the winder core shaft 6.

[0112] Specifically, in this embodiment, the paper sleeve 2 is automatically installed on the positioning point of the winding machine core shaft 6 through the height adjustment mechanism 8 and the driving mechanism 3 under the calculation and control of the controller 7, which greatly improves the work efficiency and installation accuracy, and greatly reduces the work difficulty, installation cost and operation risk.

[0113] Figure 6 This application provides a specific flow chart of a paper sleeve automatic installation control method for obtaining size information.

[0114] Depend on Figure 2 It can be seen that, further, the acquisition of the size information of the paper sleeve 2 along the extension direction of the winding machine core shaft 6 includes:

[0115] S301, when the axis of the paper sleeve 2 and the winder core shaft 6 are at the same height from the ground, first feedback information is generated.

[0116] Specifically, in this embodiment, when the axis of the paper sleeve 2 and the winder core shaft 6 are at the same height from the ground, it is necessary to start obtaining the size information of the paper sleeve 2 along the extension direction of the winder core shaft 6. The specific control process is that the height adjustment mechanism 8 generates the first feedback information and feeds it back to the controller 7.

[0117] S302: Generate a first driving instruction for turning on the grating 4 and the distance measuring mechanism 5 according to the first feedback information.

[0118] Specifically, in this embodiment, after the controller 7 obtains the first feedback information fed back by the height adjustment mechanism 8 , it sends a first driving instruction for starting the distance measuring mechanism 5 to the distance measuring mechanism 5 .

[0119] S303: Turn on the grating 4 according to the first driving instruction and emit a grating signal in a vertically downward direction.

[0120] Specifically, in this embodiment, when the distance measuring mechanism obtains the first driving instruction, it starts to emit a grating signal downward; it should be noted that the grating signal will have a signal change after contacting the paper sleeve 2, so this point can be used to measure the size of the paper sleeve 2.

[0121] S304, when the near end of the paper sleeve 2 enters the grating signal coverage area, first grating information is generated.

[0122] Specifically, when the near end of the paper sleeve 2 enters the coverage area of ​​the grating signal, the grating signal changes from 0 to 1.

[0123] S305 , when the far end of the paper sleeve 2 leaves the coverage area of ​​the grating signal, second grating information is generated.

[0124] Specifically, when the far end of the paper sleeve 2 leaves the coverage area of ​​the grating signal, the grating signal will change from 1 to 0; the response information can be generated by the vertical change of the grating signal and sent to the controller 7 to calculate the size information of the paper sleeve 2.

[0125] S306, calculating and obtaining the size information of the paper sleeve 2 along the extension direction of the winding machine core shaft 6 according to the first grating information and the second grating information.

[0126] Figure 7 This application provides a specific flow chart of a method for automatically installing and controlling a paper sleeve to obtain distance information.

[0127] Depend on Figure 7 It can be seen that, further, the obtaining of the distance value between the unloading vehicle 1 and the positioning point on the side of the coiler mandrel 6 and the generation of distance information includes:

[0128] S401, turning on the laser rangefinder 51 according to the first driving instruction and emitting a laser signal in a direction perpendicular to the reflector.

[0129] Specifically, in this embodiment, when the distance measuring mechanism 5 obtains the first driving instruction, the laser rangefinder 51 in the distance measuring mechanism 5 emits a laser signal in a direction perpendicular to the reflective plate 52, and the reflective plate 52 reflects back the corresponding laser signal.

[0130] S402, calculating the distance between the unloading vehicle 1 and the positioning point on the side of the coiler mandrel 6 according to the laser signal reflected by the reflective plate and generating distance information.

[0131] Specifically, the laser rangefinder 51 calculates the distance value between the unloading vehicle 1 and the positioning point on the side of the coiler mandrel 6 according to the time it takes for the reflector 52 to reflect the laser signal, and then converts the distance value into distance information and sends it to the controller 7.

Claims

1. A paper sleeve automatic installation system, characterized in that: The system comprises: Unloading car for carrying paper sleeves; A driving mechanism provided on the coil unloading vehicle, used for driving the coil unloading vehicle to move along the extension direction of the coiler core shaft; A height adjustment mechanism is provided on the unloading vehicle, and is used to adjust the height of the axis of the paper sleeve from the ground; A distance measuring mechanism is arranged on the side of the unloading coil car close to the coiler mandrel, and the distance measuring mechanism is used to obtain the distance value between the unloading coil car and the positioning point on the coiler mandrel side; A grating arranged on one side of the winding machine core shaft extending direction is used to detect the grating signal when the near end and the far end of the paper sleeve reach the position of the grating when the unloading vehicle moves toward the winding machine core shaft; A controller electrically connected to the driving mechanism, the distance measuring mechanism, the height adjustment mechanism and the grating, respectively, the controller being configured to: generate a first control instruction according to the input paper sleeve parameters and send it to the height adjustment mechanism, the first control instruction being used to instruct to adjust the height of the paper sleeve axis from the ground to be consistent with the height of the winder core shaft from the ground; The height adjustment mechanism adjusts the height of the paper sleeve axis from the ground multiple times according to the first control instruction until the height of the paper sleeve axis from the ground is consistent with the height of the winder core shaft from the ground; The height adjustment mechanism is configured as follows: When the paper sleeve axis and the winder core shaft are at the same height from the ground, generating first feedback information and sending it to the controller; The controller is further configured to generate a first driving instruction for starting the grating and the distance measuring mechanism according to the first feedback information and send the first driving instruction to the grating and the distance measuring mechanism; According to the grating signal fed back by the grating and the distance value fed back by the distance measuring mechanism, a second control instruction for controlling the driving mechanism is generated, wherein the second control instruction is used to instruct that before the near end of the paper sleeve reaches the winding machine core shaft, the axis of the paper sleeve coincides with the winding machine core shaft, and when the far end of the paper sleeve reaches the winding machine core shaft, the paper sleeve is adapted to the winding machine core shaft; The bottom of the coil unloading car has a track along the extension direction of the coiler mandrel; The grating is configured as: Turning on according to the first driving instruction, emitting a grating signal in a vertical downward direction, wherein the grating signal includes a coverage area; When the near end of the paper sleeve enters the grating signal coverage area, the first grating information is sent to the controller, and when the far end of the paper sleeve leaves the grating signal coverage area, the second grating information is sent to the controller; The controller is further configured to calculate the size information of the paper sleeve along the extension direction of the winding machine core shaft according to the first grating information and the second grating information.

2. The paper sleeve automatic installation system according to claim 1, characterized in that: The distance measuring mechanism comprises: A reflective plate disposed vertically below the coiler mandrel; A laser rangefinder disposed on a side of the unloading vehicle close to the reflective plate; The laser rangefinder is configured as: Turning on according to the first driving instruction, emitting a laser signal in a direction perpendicular to the reflector; The distance value between the unloading vehicle and the positioning point on the core shaft side of the coiler is calculated based on the laser signal reflected by the reflective plate, and the distance information is generated and sent to the controller.

3. The paper sleeve automatic installation system according to claim 2, characterized in that: The controller is also configured to: Calculate a horizontal displacement value according to the distance information and the size information; A second control instruction for instructing to adjust the length of the horizontal displacement value of the drive mechanism along the extension direction of the coiling machine core shaft is generated and sent to the drive mechanism.

4. The paper sleeve automatic installation system according to claim 1, characterized in that: When the height of the axis of the paper sleeve from the ground is consistent with the height of the winding machine core shaft from the ground, the height of the axis of the paper sleeve from the ground is a change value within a preset error range.

5. A paper sleeve automatic installation control method, the control method is applicable to the paper sleeve automatic installation system according to any one of claims 1 to 4, characterized in that: The control method comprises: responding to sleeve parameters input by a user; Generate a first control instruction for instructing to adjust the height of the paper sleeve axis from the ground to be consistent with the height of the winder core shaft from the ground; Acquire the dimension information of the paper sleeve along the extension direction of the winding machine core shaft; Obtaining the distance value between the unloading vehicle and the positioning point on the core shaft side of the coiler and generating distance information; Generate a second control instruction for instructing to adjust the driving mechanism according to the size information and the distance information, wherein the second control instruction is used to instruct that before the proximal end of the paper sleeve reaches the winding machine core shaft, the axis of the paper sleeve coincides with the winding machine core shaft, and when the distal end of the paper sleeve reaches the winding machine core shaft, the paper sleeve is adapted to the winding machine core shaft; The obtaining of the size information of the paper sleeve along the extension direction of the winding machine core shaft comprises: When the paper sleeve axis and the winder core shaft are at the same height from the ground, generating first feedback information; generating a first driving instruction for starting the grating and the distance measuring mechanism according to the first feedback information; Turning on the grating and emitting a grating signal in a vertical downward direction according to the first driving instruction; When the near end of the paper sleeve enters the grating signal coverage area, first grating information is generated; When the far end of the paper sleeve leaves the coverage area of ​​the grating signal, generating second grating information; The size information of the paper sleeve along the extension direction of the winding machine core shaft is calculated based on the first grating information and the second grating information.

6. A paper sleeve automatic installation control method according to claim 5, characterized in that: The obtaining of the distance value between the unloading vehicle and the positioning point on the coiler mandrel side and generating distance information comprises: According to the first driving instruction, the laser rangefinder is turned on and a laser signal is emitted in a direction perpendicular to the reflector; The distance value between the unloading vehicle and the positioning point on the core shaft side of the coiler is calculated based on the laser signal reflected by the reflective plate and the distance information is generated.

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