Roller equipment control method, device, equipment and medium

Abstract

The present application is applicable to the field of mechanical control technology and provides a roller equipment control method, apparatus, device, and medium. The method includes: determining that an operating signal from a roller group feeding a workpiece into the roller equipment and an impact signal from a sensor disposed in a first roller are received, then: sending a first signal; the first signal is used to control the second roller to raise to a set height; and / or sending a second signal; the second signal is used to control the third roller to rotate in the opposite direction of the workpiece's forward direction. The present application controls the second or third roller in the roller group to perform a reverse and / or lift action in response to a workpiece impact by responding to the first or second signal of the impact signal, thereby avoiding the problem of the workpiece being stuck in the roller group or escaping from the limit position along the gaps between the rollers in the roller group, which may occur when the workpiece impacts the roller group.

Description

Technical Field

[0001] The present application belongs to the field of mechanical control technology, and in particular relates to roller equipment control methods, devices, equipment and media. Background Art

[0002] Roller equipment refers to equipment in fields such as machining and manufacturing that includes a roller assembly. This mechanism uses a number of rollers mounted on a fixed support at regular intervals to transport workpieces. The fixed support can be part of the roller equipment or a separate structure. Typically, the fixed support is composed of several straight or curved segments, arranged as needed.

[0003] In actual application, when the roller group mechanism is conveying the workpiece, it is limited by the shape structure of the workpiece itself and the arrangement spacing of the rollers in the roller group mechanism, and there is a problem and risk of the workpiece getting stuck between adjacent rollers.

[0004] In order to solve the above problem, in the prior art, after determining the stuck position, the stuck workpiece is usually removed and reset by manual operation (or an external device independent of the roller device, such as a robotic arm).

[0005] Although this solution and other prior art solutions can solve the problem of workpiece jamming, it is obvious that these solutions inevitably limit production efficiency.

[0006] Furthermore, for roller-type equipment with a relatively complex internal environment, the problem of reduced production efficiency due to workpiece jamming is particularly prominent, which may lead to production stagnation for a long period of time.

[0007] Therefore, how to provide a roller equipment control method that can solve the problem of workpiece jamming has become a technical problem that urgently needs to be solved in the industry. Summary of the Invention

[0008] The embodiments of the present application provide a roller equipment control method, device, equipment and medium, which can solve the problem of reduced production efficiency caused by workpiece jamming.

[0009] In a first aspect, an embodiment of the present application provides a roller device control method, comprising:

[0010] It is determined that the operation signal of the roller group of the workpiece feeding roller device and the impact signal sent by the sensor set in the first roller are received, then:

[0011] Sending a first signal; the first signal is used to control the second roller to rise to a set height; and / or,

[0012] Sending a second signal; the second signal is used to control the third roller to rotate in the opposite direction of the workpiece forward direction;

[0013] The first roller, the second roller and the third roller are all rollers in the roller group;

[0014] The roller group is a clamping roller group, including an upper roller group and a lower roller group; the workpiece is restricted from moving between the upper roller group and the lower roller group; at least part of the second rollers belong to the upper roller group; the third roller is any roller or any multiple rollers in the lower roller group that carry the workpiece; or

[0015] The roller group is a bottom roller group; the workpiece moves on the bottom roller group; the second roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece; the third roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece.

[0016] The above method controls the second roller or the third roller in the roller group to perform reversal and / or lifting actions in response to the impact of the workpiece by the first signal or the second signal corresponding to the impact signal, thereby avoiding the problem of the workpiece being stuck in the roller group or escaping from the limit (i.e., the position or movement route that the workpiece should be in during the process flow) when the workpiece hits the roller group.

[0017] In particular, for some specific roller equipment, such as roller quenching machines, roller bottom heat treatment furnaces, etc., the above problems may further cause equipment damage, and the time cost of stopping production, handling problems, and resuming production of similar equipment is high. When the above method is applied to such roller equipment, it can avoid a series of problems caused by workpiece collision and separation from the limit from the source, thereby improving production efficiency.

[0018] In a possible implementation of the first aspect, the sensor is a force sensor; the impact signal is a signal emitted by the force sensor that is greater than an impact threshold;

[0019] The impact threshold is positively correlated with the mass of the workpiece; the impact threshold is positively correlated with the speed of the workpiece;

[0020] The impact threshold is positively correlated with the distance of the sensor relative to the central axis of the first roller; or,

[0021] The impact threshold is positively correlated with the sensor projection distance, where the sensor projection distance refers to the projection of a line segment from the sensor to the center axis of the first roller on the plane where the roller group is located.

[0022] The above method accurately sets the impact threshold based on the consideration of the angle between the installation position of the force sensor and the direction of the impact force caused by the rotation of the roller and the direction of the sensor relative to the center axis of the roller. This allows the roller in any rotation state to relatively accurately identify the impact signal, reducing the problem of missed / false detection of impacts.

[0023] In a possible implementation of the first aspect, the step of sending the first signal includes:

[0024] Determine the impact point height according to the impact signal; the impact point height refers to the height of the impact point relative to the plane where the roller group is located;

[0025] determining a roller raising position of the second roller according to the height of the impact point;

[0026] The first signal is sent to the second roller; the first signal is used to control the second roller to be lifted to the roller-lifting position.

[0027] The above method sets the roller lifting position under the premise of considering the height of the impact point, thereby providing a basis for controlling roller equipment with a small roller movable space, and can lift the workpiece more carefully to avoid the problem of equipment damage caused by the roller lifting action.

[0028] In a possible implementation of the first aspect, after the step of sending the first signal to the second roller, the method further includes:

[0029] If the judgment is known:

[0030] The time for which the second roller is lifted is greater than a set first time threshold; or

[0031] receiving a passing signal indicating that the projection of the workpiece on the plane of the roller assembly has passed over the first roller;

[0032] Then a third signal is sent; the third signal is used to control the second roller to move to the position where the second roller is located when the collision signal is received.

[0033] The above method uses the first time threshold or a passing signal to determine that the workpiece has passed the impact point, and resets the second roller to facilitate the entry and movement of the subsequent workpiece.

[0034] In a possible implementation of the first aspect, the step of sending the second signal to control the third roller to rotate in the opposite direction of the workpiece forward direction includes:

[0035] Sending a second signal including a reverse rotation speed; the second signal is used to control the third roller to rotate in the reverse direction of the workpiece forward direction at the reverse rotation speed;

[0036] The reverse rotation speed is positively correlated with the length of the workpiece in the workpiece advancing direction, or negatively correlated with the mass of the workpiece.

[0037] The above method utilizes the correlation between the reverse rotation speed and the mass or length of the workpiece, and can adapt to workpieces of various sizes and weights, and has wider applicability.

[0038] In a possible implementation of the first aspect, after the step of sending the second signal including the reverse rotation speed, the step further includes:

[0039] If it is determined that the time for the third roller to rotate in the reverse direction along the forward direction of the workpiece is greater than a set second time threshold, a fourth signal is sent; the fourth signal is used to control the third roller to rotate along the forward direction of the workpiece.

[0040] The above method uses the second time threshold to determine that the workpiece has left the impact point, and adjusts the rotation speed of the third roller back to facilitate the entry and movement of the subsequent workpiece.

[0041] In a possible implementation of the first aspect, the method further includes:

[0042] When it is determined that the operation signal of the roller group of the workpiece feeding roller device is received and the number of times the impact signal emitted by the sensor arranged in the first roller is received is greater than the set error threshold, an error signal is generated and sent to the setting terminal.

[0043] The above method provides an error reporting mechanism when the first signal and the second signal control fail, thereby avoiding production stagnation caused by repeated lifting / rolling back of the roller group.

[0044] In a second aspect, an embodiment of the present application provides a roller equipment control device, comprising:

[0045] an impact control module, configured to determine an operation signal received from a roller group of a workpiece feeding roller device and an impact signal from a sensor disposed in the first roller;

[0046] A first signal module is configured to send a first signal; the first signal is configured to control the second roller to be raised to a set height; and / or,

[0047] A second signal module is used to send a second signal; the second signal is used to control the third roller to rotate in the opposite direction of the workpiece forward direction;

[0048] The first roller, the second roller and the third roller are all rollers in the roller group;

[0049] The roller group is a clamping roller group, including an upper roller group and a lower roller group; the workpiece is restricted from moving between the upper roller group and the lower roller group; at least part of the second rollers belong to the upper roller group; the third roller is any roller or any multiple rollers in the lower roller group that carry the workpiece; or

[0050] The roller group is a bottom roller group; the workpiece moves on the bottom roller group; the second roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece; the third roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece.

[0051] In a third aspect, an embodiment of the present application provides a terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the roller device control method described in any one of the first aspects above is implemented.

[0052] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the roller device control method described in any one of the first aspects above is implemented.

[0053] In a fifth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a terminal device, the terminal device executes the roller device control method described in any one of the first aspects above.

[0054] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0056] Figure 1 1 is a flow chart of a roller device control method provided in an embodiment of the present application;

[0057] Figure 2 Schematic diagram of the structure of the roller device control device provided in an embodiment of the present application;

[0058] Figure 3 This is a schematic diagram of the structure of the terminal device provided in an embodiment of the present application;

[0059] Figure 4 This is a first schematic diagram of a preset roller group transmission configuration provided in an embodiment of the present application;

[0060] Figure 5 This is a second schematic diagram of a preset roller group transmission configuration provided in an embodiment of the present application;

[0061] Figure 6 is a first schematic diagram of the second position provided in an embodiment of the present application;

[0062] Figure 7 This is a second schematic diagram of a second position provided in an embodiment of the present application;

[0063] Figure 8 is a schematic diagram of a nip roller assembly provided in an embodiment of the present application;

[0064] Figure 9 It is a schematic diagram of the second position of the clamping roller group provided in an embodiment of the present application.

[0065] Reference numerals:

[0066] Impact control module 201;

[0067] First signal module 202;

[0068] Second signal module 203;

[0069] Terminal device 30;

[0070] Processor 301;

[0071] Memory 302;

[0072] Computer program 303. DETAILED DESCRIPTION

[0073] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0074] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0075] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0076] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0077] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0078] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0079] The embodiment of the present invention provides a roller device control method, such as Figure 1 Shown, including:

[0080] Step 102 , determining that an operation signal of a roller group for feeding a workpiece into a roller-type device and an impact signal from a sensor disposed in a first roller are received, then executing step 104 and / or step 106 ;

[0081] Step 104: Send a first signal; the first signal is used to control the second roller to be raised to a set height;

[0082] Step 106: Send a second signal; the second signal is used to control the third roller to rotate in the opposite direction of the workpiece's forward direction;

[0083] The first roller, the second roller and the third roller are all rollers in the roller group;

[0084] The roller group is a clamping roller group, including an upper roller group and a lower roller group; the workpiece is restricted from moving between the upper roller group and the lower roller group; at least part of the second rollers belong to the upper roller group; the third roller is any roller or any multiple rollers in the lower roller group that carry the workpiece; or

[0085] The roller group is a bottom roller group; the workpiece moves on the bottom roller group; the second roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece; the third roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece.

[0086] In this embodiment, a typical example of roller-type equipment is a roller-hearth heat treatment furnace, and another typical example of roller-type equipment is a quenching machine. In both of these examples, the rollers within the heat treatment equipment often operate in a complex environment. If a workpiece becomes lodged in the gap between the rollers, this can cause irreversible changes in the thermal environment within the equipment. In this case, the equipment must be shut down for maintenance, significantly impacting production efficiency.

[0087] Therefore, it can be understood that in addition to the problems mentioned in the background technology, for some exemplary solutions of this embodiment, namely, the control of roller hearth heat treatment furnaces in the field of steel plate heat treatment, there are also the following situations.

[0088] To achieve steel plates with excellent comprehensive properties such as strength and toughness, steel mills often use heat treatment processes. Heat treatment processes are generally divided into quenching, normalizing, tempering, annealing, and quenching and tempering. These processes require the use of roller-hearth heat treatment furnaces. During operation, due to the weight of the steel plates (and also due to the inherent buckling of the steel plates), steel plates can sometimes become lodged in the furnace, causing the furnace to be unable to continue production and forcing it to be shut down for treatment. Due to the high thermal insulation properties of the hot furnace, the cooling time is also long (usually about a week), seriously affecting production lines. This also shortens the life of the furnace and causes significant losses to manufacturers. The harsh and intense working environment for steel plate processing also poses a safety hazard to company personnel.

[0089] In addition, there are the following situations for quenching machine control.

[0090] To improve the overall performance of steel plates, steel mills typically quench them, requiring a quenching machine. Steel mills typically use roller quenching machines for this purpose. These machines consist of a frame, two rows of upper and lower rollers, water pipes and nozzles, and a transmission mechanism. The most critical aspect is the angle of the water pipes and nozzles, ensuring uniform water flow and pressure across the steel plate. This ensures the desired microstructure achieved after quenching. However, uneven cooling and deformation of the steel plate often cause the steel plate to collide with the nozzles and pipes. These nozzles are highly precise, patented, and non-standard products. Damage to these nozzles requires on-site reinstallation by technicians from the quenching machine manufacturer, resulting in significant production downtime and component replacement costs.

[0091] As an example but not a limitation, the workpiece in this embodiment may be a metal plate (steel coil, etc.).

[0092] The present embodiment will be described in more detail below by taking the roller-type equipment as a roller hearth heat treatment furnace and the workpiece as a steel plate as an example.

[0093] Normally, steel plates are in the form of steel coils during transportation. After transportation, the steel plates made in the form of steel coils cannot be guaranteed to be strictly flat, and there may be a "buckling" problem, that is, the problem of one end of the steel plate being bent. When a roller-hearth heat treatment furnace transports steel plates with "buckling" problems into the furnace space through a roller group, the steel plates may be inserted into the roller table due to the "buckling" direction of the steel plates pointing to the gap between the rollers, thereby causing damage to the heating mechanism or other mechanisms of the heat treatment furnace.

[0094] It is worth noting that even steel plates that do not have the "buckle" problem, or steel plates with a relatively mild "buckle" problem may still have the above-mentioned problem. The reason is that the temperature inside the roller hearth heat treatment furnace is high, and the structural strength of the steel plate is weakened under high temperature. Under the action of the steel plate's own weight, its flatness may still be reduced, causing or aggravating the "buckle" problem, resulting in the steel plate being inserted into the roller.

[0095] Therefore, a preferred application scenario of this embodiment is roller equipment in the heat treatment process of steel plates or other metal plates, such as a roller hearth heat treatment furnace.

[0096] In this scenario, based on steps 102, 104 and 106 of this embodiment, a more specific implementation description will be provided below.

[0097] Since steel plates generally begin to deform due to their own weight above 500°C (it is worth noting that 500°C here is an example rather than a limiting empirical data. In actual applications, this temperature threshold can be specifically determined based on the metal type, roller equipment parameters and other relevant factors), in a preferred embodiment, steps 102, 104, 106 or the methods given in other embodiments are only applied to roller equipment with an internal temperature greater than 500°C.

[0098] In an optional embodiment, the roller device applying steps 102, 104, 106 or the method provided in other embodiments includes a roller device body, a roller group, a rotation mechanism, and an impact detection mechanism;

[0099] The roller equipment body includes a feed port and a discharge port; the roller group is arranged in the roller equipment body, and one end of the roller group is connected to the feed port, and the other end is connected to the discharge port;

[0100] The collision detection mechanism includes a sensor and a signal processing unit; one or more sensors are arranged on a roller in the roller group, and the sensor is in communication with the signal processing unit; the signal processing unit is capable of receiving the collision signal sent by the sensor and also capable of sending a roller group control signal to the rotation mechanism to control the rotation direction of the roller in the roller group;

[0101] The rotating mechanism is connected to the rollers in the roller group through transmission. The rollers in the roller group can be driven by the rotating mechanism:

[0102] Rotate in a first manner; or,

[0103] rotate in a second manner; or,

[0104] Keep it in a non-rotating state;

[0105] The rollers rotating in the first manner can move the workpiece disposed on the roller set in the feeding direction; the rollers rotating in the second manner can move the workpiece disposed on the roller set in the opposite direction of the feeding direction; the feeding direction refers to the direction from the feeding port to the discharging port;

[0106] The rotating mechanism can control the roller group to rotate in the second manner or maintain a non-rotating state under the control of the roller group control signal.

[0107] The roller device further includes a translation mechanism; the translation mechanism is connected to the rollers in the roller group, and the rollers can be driven by the translation mechanism:

[0108] moving between a predetermined first position and a predetermined second position; and,

[0109] Stay at the first position or the second position.

[0110] In a preferred embodiment, the translation mechanism is a mechanical electric lifting mechanism with a maximum stroke of one third of the radius of the rollers in the roller set.

[0111] The set of rollers in the first position constitutes a preset roller group conveying configuration; the roller group conveying configuration is used to feed the workpiece into the roller device and move the workpiece within the roller device via a set path.

[0112] Figure 4 An optional preset roller group transmission configuration is shown;

[0113] Figure 5 Another optional preset roller group transmission configuration is shown;

[0114] It is worth mentioning that Figure 4 and Figure 5 All of them are schematic diagrams for illustrating the conveying form of the roller group, in which the size of the roller cross-section circle and the spacing between the rollers may be different from the actual proportions. At the same time, the setting of the conveying form of the roller group is based on the function of the workpiece and the roller equipment. Therefore, although this embodiment does not limit its form, in some optional implementations, for a specific roller equipment, its roller group conveying form should be fixed or one or more.

[0115] The roller in the second position is out of the conveying form of the roller group; in a preferred embodiment, for the same roller, the projection vector of the second position relative to the first position in the vertical direction is opposite to the direction of gravity.

[0116] Figure 6 Shows a corresponding Figure 4 Schematic diagram of the second position of the roller group conveying form. In the figure, assuming that the conveying direction of the workpiece is from right to left, the roller in the second position can prevent the workpiece from falling into the gap of the roller group shown.

[0117] Figure 7 Shows a corresponding Figure 5 Schematic diagram of the second position of the roller group conveying form. In the figure, assuming that the conveying direction of the workpiece is from right to left, the roller in the second position can prevent the workpiece from falling into the gap of the roller group shown.

[0118] It is worth further explaining that the maximum stroke of the translation mechanism limits the maximum distance of the second position relative to the first position (for the same roller); limited by the internal space of the roller device, the maximum stroke can also protect other mechanisms inside the roller device, that is, within the maximum stroke range, the lifted roller will not collide with other mechanisms inside the roller device.

[0119] In some optional embodiments, the maximum stroke of the translation mechanism is a set value used to protect other equipment inside the roller device, and its value is not necessarily consistent with the physical limit of the stroke of the translation mechanism limited by its mechanical structure, that is, the maximum stroke is less than or equal to the physical limit of the stroke of the translation mechanism limited by its mechanical structure.

[0120] Furthermore, the implementation of step 102 of this embodiment relies on sensors installed in the rollers. Therefore, in the roller group of the roller-type equipment to which the method of this embodiment is actually applied, sensors are installed on designated rollers. In a preferred embodiment, a sensor is installed on each roller in the roller group.

[0121] The sensor may be:

[0122] force sensor; or,

[0123] Vibration sensor; or,

[0124] High-precision displacement sensor (such as capacitive high-precision displacement sensor, inductive high-precision displacement sensor or photoelectric high-precision displacement sensor, etc.); or,

[0125] Other sensors capable of detecting impacts.

[0126] As an example but not a limitation, the impact signal in this embodiment may be a pressure signal greater than a threshold value given by the pressure sensor, or a pressure signal in a non-vertical direction given by the pressure sensor.

[0127] In this embodiment, the first roller can be understood as the roller that is impacted, and there is usually only one of them. In some optional embodiments, if multiple rollers are impacted at the same time and send impact signals to the execution body of this embodiment, the roller closest to the entry side of the multiple rollers is used as the first roller, and the steps of this embodiment are executed;

[0128] Secondary rollers can be understood as rollers that are raised to allow the workpiece to pass over potential jams, falls, or collisions. The number of secondary rollers can be set based on the shape and weight of the workpiece and the desired roller transport configuration. For example, for thin steel plates, two adjacent rollers on the side of the first roller closest to the workpiece entrance can be raised to serve as secondary rollers.

[0129] The third roller can be understood as a roller that rolls back to allow the workpiece to escape from a position where it may get stuck / fall into / impact. The number of the third roller can be set according to the connection method between the rotating mechanism and the roller group (that is, only the roller connected to the mechanical structure that rotates in the opposite direction of the rotating mechanism is allowed to rotate in the opposite direction, and the other rollers cannot serve as the third roller). When the third roller is in the reverse state, the other rollers should stop rotating.

[0130] In an optional embodiment, all rollers in the roller group are capable of rotating in the opposite direction. In step 106, all rollers on the side of the first roller close to the workpiece entry side rotate in the opposite direction.

[0131] In a preferred embodiment, all rollers in the roller group can rotate in the opposite direction. In step 106, all rollers on the side of the first roller close to the workpiece entry rotate in the opposite direction, and all rollers on the side of the first roller and the side away from the workpiece entry stop rotating.

[0132] In a more preferred embodiment, all rollers in the roller group can rotate in the reverse direction. In step 106, a set number of retract rollers on the side of the first roller close to the workpiece entry all rotate in the reverse direction, and the non-retract rollers all stop rotating. The set number is related to the roller size, roller spacing and workpiece size, and can ensure that the rollers supporting the workpiece all rotate in the reverse direction during the retraction of the workpiece.

[0133] Furthermore, at least part of the above description of this embodiment is based on the bottom roller group, and the situation of the clamping roller group will be supplemented below.

[0134] Figure 8 A schematic diagram of a feasible structure of a clamping roller group is shown;

[0135] When the clamping roller group performs step 102, step 104 and step 106, the control of the lower roller group can refer to the relevant description of the bottom roller group mentioned above.

[0136] At the same time, since the existence of the upper roller group may restrict the movement of the lower roller group, at least a part of the upper roller group should be lifted to the second position to provide space for the movement of the second roller in the lower roller group.

[0137] Figure 9 A schematic diagram of a feasible second position of the rollers in the upper roller group when the clamping roller group executes the method of this embodiment is shown.

[0138] It is worth noting that although Figures 4 to 9 Only the structure related to the roller group is shown in the figure, but there may still be other mechanisms in the roller equipment that may affect the movement of the rollers in the roller group that are not shown in the figure. For example, for a quenching machine, the quenching nozzle is a mechanism that may affect the movement of the rollers in the roller group.

[0139] In this example, the quenching nozzle (or other mechanisms within the roller-type equipment) affects the movement of the rollers in the roller group on the one hand, and on the other hand, these mechanisms themselves are also at risk of being hit by workpieces extending from the roller gap, causing damage. Therefore, regardless of either of the above two aspects, the translation mechanism should be connected to these occupying mechanisms (i.e., mechanisms within the roller-type equipment that partially overlap with the space occupied by the rollers or workpieces in the roller group), and be able to control these occupying mechanisms to move to specified positions that do not affect the movement of the rollers and workpieces in the roller group.

[0140] In addition, in the case of the clamping roller group, the first roller may belong to the upper roller group or the lower roller group. For the case where the first roller belongs to the lower roller group, the above description can be referred to. For the case where the first roller belongs to the upper roller group, the gap between the rollers where the workpiece may be stuck should also be the gap in the upper roller group. Then, the action of lifting the second roller in the lower roller group in step 104 is not conducive to the workpiece escaping and passing the impact position. Therefore, in this case, after step 102, step 104 should be executed only for the second roller in the upper roller group.

[0141] Furthermore, in this case, simple rolling back may not help the workpiece to pass the impact position, so the timing for the second roller in the upper roller group to fall back to the first position should be after the workpiece passes the impact position.

[0142] The beneficial effects of this embodiment are:

[0143] By means of the first signal or the second signal corresponding to the impact signal, the second roller or the third roller in the roller group is controlled to perform a reversal and / or lifting action in response to the impact of the workpiece, thereby avoiding the problem of the workpiece being stuck in the roller group or escaping from the limit (i.e., the position or movement route that the workpiece should be in during the process flow) when the workpiece impacts the roller group.

[0144] In particular, for some specific roller equipment, such as roller quenching machines, roller bottom heat treatment furnaces, etc., the above problems may further cause equipment damage, and the time cost of stopping production, handling problems, and resuming production of similar equipment is high. When the above method is applied to such roller equipment, it can avoid a series of problems caused by workpiece collision and separation from the limit from the source, thereby improving production efficiency.

[0145] According to the above embodiment, in this embodiment:

[0146] The sensor is a force sensor; the impact signal is a signal emitted by the force sensor that is greater than an impact threshold;

[0147] The impact threshold is positively correlated with the mass of the workpiece; the impact threshold is positively correlated with the speed of the workpiece;

[0148] The impact threshold is positively correlated with the distance of the sensor relative to the central axis of the first roller; or,

[0149] The impact threshold is positively correlated with the sensor projection distance, where the sensor projection distance refers to the projection of a line segment from the sensor to the center axis of the first roller on the plane where the roller group is located.

[0150] In an optional implementation of this embodiment, the impact threshold is a quantity related to the magnitude of the impact force of the workpiece, the mechanical relationship between the sensor and the first roller, and the rotation angle of the first roller when it is impacted; wherein:

[0151] The greater the workpiece's impact force, the higher the impact threshold can be set to, to better eliminate false detections and vibrations caused by the workpiece's normal passage through the rollers. Specifically, the magnitude of the workpiece's impact force is related to the workpiece's mass, speed, and shape. The greater the workpiece's mass, the greater the impact force; the faster the workpiece's speed, the greater the impact force. In particular, workpiece speed is positively correlated with the preset roller assembly rotational speed. The relationship between workpiece shape and the impact force is primarily reflected by the workpiece's impact surface. The angular relationship of the impact surface relative to the first roller determines the direction of the impact force, which can further affect sensor readings when other conditions are the same. In particular, for workpieces like steel plates, the impact surface is very small and can be understood as the impact point / impact line. However, due to "buckling" or other factors, the structural angles near the impact point / impact line may vary, and sensor readings may also vary when other conditions are the same. Therefore, the relationship between workpiece shape and impact force can also be reflected by the structure or other forms near the impact surface. Given that the workpiece, roller equipment, and their operating parameters are all determined, the magnitude (range) of the workpiece's impact force is also determined. Therefore, the impact threshold can be set before the roller equipment is operational.

[0152] The mechanical relationship between the sensor and the first roller can also affect the setting of the impact threshold. This influence mainly depends on the relative position and connection relationship between the sensor and the first roller.

[0153] In a preferred embodiment, the rollers in the roller assembly are cylindrical hollow rollers; the sensor is disposed on the inner wall of the hollow roller. In this embodiment, the mechanical relationship between the sensor and the first roller is relatively simple: the workpiece impacting the first roller generates an impact force, which is directly transmitted to the sensor via the roller's cylindrical outer shell. This direct mechanical relationship can be understood as the impact force itself directly affecting the sensor, eliminating the need to consider additional factors when setting the impact threshold.

[0154] In addition, in some optional embodiments, the sensor is installed in the roller group through some mechanical structure. In this case, the influence of the mechanical structure on the impact force transmission size and the impact force angle should be considered to correct the impact threshold.

[0155] The rotation angle of the first roller when it is impacted may have a significant impact on the component of the impact force within the effective angle range. For example, the impact force component in the direction of gravity may be caused by the mass of the workpiece itself, the impact caused by the workpiece bouncing and then falling, or other situations. These situations usually do not cause the workpiece to be stuck in the gap between the rollers. Therefore, the setting of the impact threshold also needs to consider the effective direction of the impact force;

[0156] In an optional embodiment, the effective direction of the impact force can be defined as the workpiece forward direction, or the effective direction range can be defined as a pitch angle range based on the workpiece forward direction. The impact threshold is set based on the component of the actual impact force in the effective direction or at any angle within the effective direction range. This solution can be implemented in at least two ways:

[0157] First, after the sensor returns the impact force signal, the processor calculates the component of the impact force signal at any angle in the valid direction or within the valid direction range based on the magnitude of the impact force signal and the rotation angle of the line connecting the sensor and the roller center axis (i.e., the rotation angle of the first roller when it is impacted), and compares the component with the impact threshold to generate or not generate the impact signal;

[0158] The second method is to set different impact thresholds based on the rotation angle of the line connecting the sensor to the roller's central axis (i.e., the rotation angle of the first roller when it is impacted). After the processor receives the impact force signal returned by the sensor, it directly compares it with the impact threshold at that angle and then issues or does not issue an impact signal.

[0159] In addition, in some optional implementations, the two factors of the mechanical relationship of the sensor relative to the first roller and the rotation angle of the first roller when it is impacted can be comprehensively considered to reduce the steps required for calculation. In addition to the pre-set parameters, other calculation processes can be completed by an optional execution entity of this embodiment, namely the processor.

[0160] Furthermore, for the same roller equipment, the impact thresholds for different workpieces entering may be different. This step can be either a pre-operation setting of the equipment for the impact threshold for a specific workpiece, or a pre-operation selection of the equipment for the impact thresholds corresponding to multiple pre-set workpieces.

[0161] In addition, for some roller group shapes, the impact thresholds of rollers at different positions may also be different. Such differences can also be achieved through settings or selections before the equipment is put into operation.

[0162] Based on the above example where the sensor is directly mounted on the inner wall of the hollow roller and the workpiece is a thin steel plate, an optional impact force threshold formula is: Ft = V*M*C*R;

[0163] The symbols are explained as follows

[0164] Ft: impact force;

[0165] V: running speed of steel plate;

[0166] M: Mass of steel plate, M = length (l) * width (b) * thickness (d) * 7.85 (steel plate density);

[0167] R: The distance between the impact point (line) and the center of the furnace roller;

[0168] C: Correction coefficient.

[0169] Total formula: Ft = V*l*b*d*C*R.

[0170] The beneficial effects of this embodiment are:

[0171] Taking into account the angle between the force sensor installation position and the direction of the impact force caused by the roller rotation and the direction of the sensor relative to the roller's center axis, the impact threshold is precisely set so that the roller in any rotation state can relatively accurately identify the impact signal, reducing the problem of missed / false detection of impact.

[0172] According to any of the above embodiments, in this embodiment:

[0173] The step of sending the first signal comprises:

[0174] Determine the impact point height according to the impact signal; the impact point height refers to the height of the impact point relative to the plane where the roller group is located;

[0175] determining a roller raising position of the second roller according to the height of the impact point;

[0176] The first signal is sent to the second roller; the first signal is used to control the second roller to be lifted to the roller-lifting position.

[0177] In this embodiment, the impact signal is a signal sent by the processor, which contains the impact point height information; in an optional embodiment, the acquisition of the impact point height information is achieved based on multiple sensors arranged in a ring on the inner wall of the roller, that is, the processor obtains the impact point position by calculating the distribution of the return signals of the multiple sensors arranged in a ring; since the roller is not a rigid body under ideal conditions, the slight deformation when it is impacted will differ in size and time at the impact point and other positions outside the impact point, so it is possible to obtain the impact point position by calculating the distribution of the return signals of the multiple sensors arranged in a ring.

[0178] Furthermore, the multiple sensors arranged in a ring shape on the inner wall of the roller can also facilitate the comparison of the impact threshold mentioned in the previous embodiment. That is, after the processor reads the return signals of multiple sensors, it can more accurately calculate the actual situation of the impact, and select a sensor signal with a more suitable angle to compare with the impact threshold, thereby eliminating the calculation process of the relationship between angle and mechanics.

[0179] As an example and not a limitation, the steps for setting the roller lift position are:

[0180] determining the roller lifting position according to the impact point height, the distance between the second roller and the first roller, and the size of the workpiece; or,

[0181] The roller lifting position is set according to the impact point height and workpiece type with reference to an empirical formula. In an optional embodiment, the height difference between the roller lifting position and the position of the front roller is three times the impact point height.

[0182] It is worth noting that the roller lifting position is directly related to the position of the second roller relative to the first roller, and the roller lifting positions, or lifting heights, of different second rollers may be different.

[0183] In addition, the roller raising position is also related to the positions of other mechanisms within the roller-type device. Although the above description mentioned a solution based on limiting the maximum stroke of the translation mechanism to prevent the raised second roller from colliding with other mechanisms, this embodiment still further protects other mechanisms based on the roller raising position.

[0184] It can be understood that the scheme of protecting other mechanisms based on the limitation of the maximum stroke of the translation mechanism and the scheme of protecting other mechanisms based on the roller lifting position can both be applied independently or simultaneously as double insurance.

[0185] The beneficial effects of this embodiment are:

[0186] Under the premise of considering the height of the impact point, the roller lifting position is set, which provides a basis for the control of roller equipment with a small roller movable space. The workpiece can be lifted more carefully to avoid the problem of equipment damage caused by the roller lifting action.

[0187] According to any of the above embodiments, in this embodiment:

[0188] After the step of sending the first signal to the second roller, the method further includes:

[0189] If the judgment is known:

[0190] The time for which the second roller is lifted is greater than a set first time threshold; or

[0191] receiving a passing signal indicating that the projection of the workpiece on the plane of the roller assembly has passed over the first roller;

[0192] Then a third signal is sent; the third signal is used to control the second roller to move to the position where the second roller is located when the collision signal is received.

[0193] In this embodiment, the passing signal can be provided by a visual sensor arranged inside the roller equipment. An optional execution body of this embodiment, the processor, after receiving the visual signal returned by the visual sensor, determines whether the projection of the workpiece on the plane of the roller group passes through the first roller based on the visual signal, and issues or does not issue a passing signal.

[0194] In an optional embodiment, the first time threshold T=4R / V; wherein R is the radius of the roller, and V is the speed at which the workpiece advances;

[0195] The beneficial effects of this embodiment are:

[0196] The first time threshold or the passing signal is used to determine that the workpiece has passed the impact point, and the second roller is reset to facilitate entry and movement of the subsequent workpiece.

[0197] According to any of the above embodiments, in this embodiment:

[0198] The step of sending the second signal to control the third roller to rotate in the opposite direction along the advancing direction of the workpiece includes:

[0199] Sending a second signal including a reverse rotation speed; the second signal is used to control the third roller to rotate in the reverse direction of the workpiece forward direction at the reverse rotation speed;

[0200] The reverse rotation speed is positively correlated with the length of the workpiece in the workpiece advancing direction, or negatively correlated with the mass of the workpiece.

[0201] In a preferred implementation of this embodiment, the reverse rotation speed should be set within the range of 33% to 67% of the original speed, and the larger the size of the workpiece in the forward direction, the faster the reverse speed; the smaller the size of the workpiece in the direction of gravity, the faster the reverse speed.

[0202] The beneficial effects of this embodiment are:

[0203] By utilizing the correlation between the reverse rotation speed and the mass or length of the workpiece, it can adapt to workpieces of various sizes and weights and has a wider applicability.

[0204] According to any of the above embodiments, in this embodiment:

[0205] After the step of sending the second signal including the reverse speed, the method further includes:

[0206] If it is determined that the time for the third roller to rotate in the reverse direction along the forward direction of the workpiece is greater than a set second time threshold, a fourth signal is sent; the fourth signal is used to control the third roller to rotate along the forward direction of the workpiece.

[0207] In this embodiment, the second time threshold may be set based on the size (circumference) and rotation speed of the roller, or according to the advancing speed of the workpiece.

[0208] The beneficial effects of this embodiment are:

[0209] The second time threshold is used to determine that the workpiece has left the impact point, and the rotation speed of the third roller is adjusted back to facilitate the entry and movement of the subsequent workpiece.

[0210] According to any of the above embodiments, in this embodiment:

[0211] Also includes:

[0212] When it is determined that the operation signal of the roller group of the workpiece feeding roller device is received and the number of times the impact signal emitted by the sensor arranged in the first roller is received is greater than the set error threshold, an error signal is generated and sent to the setting terminal.

[0213] As an example and not a limitation, in the case of receiving collision signals multiple times mentioned in this embodiment, the rollback operations corresponding to different collision signals may be different, such as the first rollback, the second lift rollback, the third lift more rollback, the fourth error, etc.

[0214] The beneficial effects of this embodiment are:

[0215] An error reporting mechanism is provided when the first signal and the second signal control fail, to avoid production stagnation caused by repeated lifting / rolling back of the roller group.

[0216] According to any of the above embodiments, the following will provide an optional implementation method description in a specific case, taking a roller hearth heat treatment furnace (such as a roller hearth tempering furnace, a roller hearth normalizing furnace, a roller hearth annealing furnace, etc.) as an example of roller equipment and a steel plate as an example of a workpiece.

[0217] The purpose of this implementation is to effectively prevent the steel plate from being inserted into the roller table, eliminate the negative effects caused by the steel plate being inserted into the furnace, and ensure the normal production of the production line.

[0218] Specifically, steel plates generally begin to deform due to their own weight above 500°C. Pressure sensors are installed in the furnace rollers of furnaces above 500°C, and electric lifting mechanisms are installed at both ends of the furnace rollers (the maximum stroke is 1 / 3 of the furnace roller radius).

[0219] The main operation room is equipped with a control system, which is equipped with a database, information receiving system, data calculation and processing system, command system, alarm system, etc.

[0220] From the perspective of functional implementation:

[0221] 1. During normal production, the steel plate will not collide with the furnace roller and will move forward regularly. The furnace roller will not be collided by the steel plate and the impact force will be zero. The control system will process the stop state.

[0222] 2. When the steel plate hits the furnace roller due to deformation (strong display), the system will alarm and all furnaces will immediately rotate in the opposite direction, starting from the furnace roller with the strong display to the second roller in the opposite direction of the steel plate. At the same time, the second and third rollers in the opposite direction of the steel plate will automatically rise to the specified height at the same time.

[0223] 3. After the furnace rollers are automatically raised, they resume forward operation.

[0224] 4. After the steel plate passes the first impact of the furnace roller, the raised furnace roller immediately falls to its original height.

[0225] 5. The steel plate continues to move forward and may continue to collide with the furnace roller, repeating the previous operation process.

[0226] Furthermore, the following are explanations of relevant issues in the function implementation process.

[0227] 1. The main reason for the steel plate buckling is that the raw steel plate entering the furnace buckles down, and the steel plate buckles down due to its own weight at high temperature.

[0228] 2. There is a process for the steel plate to buckle down. It will first hit the upper part of the furnace roller, and then hit the middle part of the furnace roller. The impact force will become greater. If it exceeds the middle part, it will be inserted into the furnace roller, causing an accident.

[0229] 3. The impact force is related to the degree of the steel plate buckle and the specifications of the steel plate. The degree of the buckle determines the lifting height of the subsequent furnace roller.

[0230] According to any of the above embodiments, the following provides an optional implementation description in a specific case, taking a roller-bottom steel plate quenching machine as an example of roller equipment and a steel plate as an example of a workpiece.

[0231] The purpose of this implementation is to intelligently avoid collisions and protect important components of the quenching machine, such as the nozzle and spray beam.

[0232] In specific implementation, the system has an automatic lifting mechanism for the spray beam with a maximum stroke of 800mm; pressure sensors are installed on the rollers, and the upper roller table has an automatic lifting device with a maximum lifting stroke of 1000mm.

[0233] The quenching machine operating room is equipped with a control system: it contains a database (production steel plate specifications, steel types and processes; water volume, water pressure, roll gap of the quenching machine; quenching temperature and process of the steel plate, but no angle of the spray beam), an information receiving system (all real-time data of the quenching process, all real-time data of the production line, fault information, etc.), a data processing system (analyzes and judges the information and forms conclusions), a command system (issues instructions to the corresponding system according to the conclusions), an alarm system (sends signals for abnormal quenching machine pressure), etc.

[0234] From the perspective of functional implementation:

[0235] 1. During normal production, the steel plate will not collide with the quenching machine roller, and will move forward regularly. The quenching machine roller will not be impacted by the steel plate, and the impact force is zero. The control system will process the stop state.

[0236] 2. When the steel plate hits the quenching machine roller due to deformation (strong display), the system will alarm. The upper roller of the quenching machine will immediately rise to the maximum height, and the spray beam will immediately drop to the lowest height. At the same time, the lower roller will run in the reverse direction.

[0237] 3. After the deformed steel plate is manually processed, the system automatically detects the relevant parameters of the quenching machine (water volume, water pressure, angle of the spray beam) and compares them with the shutdown state. Normal production will be resumed after everything is normal.

[0238] Furthermore, the following are explanations of relevant issues in the function implementation process.

[0239] 1. The main reason for the buckling of steel plates is that the raw steel plates coming out of the quenching furnace buckle themselves, and the steel plates buckle unevenly due to rapid cooling at high temperatures.

[0240] 2. Generally, the quenching machine and the quenching furnace are tightly connected. When an accident occurs in the quenching machine, the system will automatically instruct the quenching furnace to stop feeding steel, and the steel plate in the furnace will swing according to the process requirements.

[0241] 3. The water pipe of the quenching machine is connected to the spray beam with a bellows.

[0242] 4. The lowering and restoration of the spray beam and the lifting of the upper roller of the quenching machine are all composed of a gear rack mechanism driven by the motor (it can also be replaced with other mechanisms as long as it can ensure fast movement).

[0243] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0244] Corresponding to the roller device control method described in the above embodiment, Figure 2A structural block diagram of a roller equipment control device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0245] Reference Figure 2 , the device comprises:

[0246] The collision control module 201 is used to determine the operation signal of the roller group of the roller device for feeding the workpiece into the roller device and the collision signal sent by the sensor provided in the first roller;

[0247] The first signal module 202 is configured to send a first signal; the first signal is configured to control the second roller to be raised to a set height; and / or,

[0248] The second signal module 203 is used to send a second signal; the second signal is used to control the third roller to rotate in the opposite direction of the workpiece advance direction;

[0249] The first roller, the second roller and the third roller are all rollers in the roller group;

[0250] The roller group is a clamping roller group, including an upper roller group and a lower roller group; the workpiece is restricted from moving between the upper roller group and the lower roller group; at least part of the second rollers belong to the upper roller group; the third roller is any roller or any multiple rollers in the lower roller group that carry the workpiece; or

[0251] The roller group is a bottom roller group; the workpiece moves on the bottom roller group; the second roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece; the third roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece.

[0252] Further:

[0253] The sensor is a force sensor; the impact signal is a signal emitted by the force sensor that is greater than an impact threshold;

[0254] The impact threshold is positively correlated with the mass of the workpiece; the impact threshold is positively correlated with the speed of the workpiece;

[0255] The impact threshold is positively correlated with the distance of the sensor relative to the central axis of the first roller; or,

[0256] The impact threshold is positively correlated with the sensor projection distance, where the sensor projection distance refers to the projection of a line segment from the sensor to the center axis of the first roller on the plane where the roller group is located.

[0257] The first signal module 202 includes:

[0258] An impact point height unit, configured to determine the impact point height according to the impact signal; the impact point height refers to the height of the impact point relative to the plane where the roller group is located;

[0259] a roller lift position unit, configured to determine a roller lift position of the second roller according to a height of the impact point;

[0260] The first signal sending unit is used to send the first signal to the second roller; the first signal is used to control the second roller to be lifted to the roller-lifting position.

[0261] The first reply unit is used to determine if:

[0262] The time for which the second roller is lifted is greater than a set first time threshold; or

[0263] receiving a passing signal indicating that the projection of the workpiece on the plane of the roller assembly has passed over the first roller;

[0264] Then a third signal is sent; the third signal is used to control the second roller to move to the position where the second roller is located when the collision signal is received.

[0265] The second signal module 203 includes:

[0266] a reverse speed unit, configured to send a second signal including a reverse speed; wherein the second signal is configured to control the third roller to rotate in the reverse direction of the workpiece advance direction at the reverse speed;

[0267] The reverse rotation speed is positively correlated with the length of the workpiece in the workpiece advancing direction, or negatively correlated with the mass of the workpiece.

[0268] The second reply unit is used to send a fourth signal when determining that the time for the third roller to rotate in the reverse direction of the workpiece is greater than a set second time threshold; the fourth signal is used to control the third roller to rotate in the direction of the workpiece.

[0269] The device further comprises:

[0270] The error reporting module is used to determine that when the operation signal of the roller group for feeding the workpiece into the roller device is received and the number of times the impact signal emitted by the sensor arranged in the first roller is received is greater than the set error reporting threshold, an error reporting signal is generated and sent to the set terminal.

[0271] The beneficial effects of this embodiment are:

[0272] By means of the first signal or the second signal corresponding to the impact signal, the second roller or the third roller in the roller group is controlled to perform a reversal and / or lifting action in response to the impact of the workpiece, thereby avoiding the problem of the workpiece being stuck in the roller group or escaping from the limit (i.e., the position or movement route that the workpiece should be in during the process flow) when the workpiece impacts the roller group.

[0273] In particular, for some specific roller equipment, such as roller quenching machines, roller bottom heat treatment furnaces, etc., the above problems may further cause equipment damage, and the time cost of stopping production, handling problems, and resuming production of similar equipment is high. When the above method is applied to such roller equipment, it can avoid a series of problems caused by workpiece collision and separation from the limit from the source, thereby improving production efficiency.

[0274] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of this application. Their specific functions and technical effects can be found in the method embodiment section and will not be repeated here.

[0275] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0276] The embodiment of the present application also provides a terminal device 30, such as Figure 3 As shown, the terminal device 30 includes: at least one processor 301, a memory 302, and a computer program 303 stored in the memory 302 and executable on the at least one processor 301. When the processor 301 executes the computer program 303, the steps in any of the above-mentioned method embodiments are implemented.

[0277] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0278] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps in the above-mentioned various method embodiments when executing the computer program product.

[0279] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the process of the above-mentioned method embodiment by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file, or some intermediate form. The computer-readable medium can at least include: any entity or device capable of carrying computer program code to the camera / terminal device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, mobile hard drive, magnetic disk, or optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals or telecommunication signals.

[0280] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0281] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0282] In the embodiments provided in this application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0283] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0284] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A roller equipment control method, characterized in that: include: It is determined that the operation signal of the roller group of the workpiece feeding roller device and the impact signal sent by the sensor set in the first roller are received, then: Sending a first signal; the first signal is used to control the second roller to be raised to a set height; and / or, Sending a second signal; the second signal is used to control the third roller to rotate in the opposite direction of the workpiece forward direction; The first roller, the second roller, and the third roller are all rollers in the roller group; sending the first signal includes: determining the height of the impact point according to the impact signal; the impact point height refers to the height of the impact point relative to the plane where the roller group is located; determining the roller lifting position of the second roller according to the impact point height; sending the first signal to the second roller; the first signal is used to control the second roller to be lifted to the roller lifting position; The roller group is a clamping roller group, including an upper roller group and a lower roller group; the workpiece is restricted from moving between the upper roller group and the lower roller group; at least part of the second rollers belong to the upper roller group; the third roller is any roller or any multiple rollers in the lower roller group that carry the workpiece; or The roller group is a bottom roller group; the workpiece moves on the bottom roller group; the second roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece; the third roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece.

2. The roller equipment control method according to claim 1, wherein: The sensor is a force sensor; the impact signal is a signal emitted by the force sensor that is greater than an impact threshold; The impact threshold is positively correlated with the mass of the workpiece; the impact threshold is positively correlated with the speed of the workpiece; The impact threshold is positively correlated with the distance of the sensor relative to the central axis of the first roller; or, The impact threshold is positively correlated with the sensor projection distance, where the sensor projection distance refers to the projection of a line segment from the sensor to the center axis of the first roller on the plane where the roller group is located.

3. The roller equipment control method according to claim 1, wherein: After the step of sending the first signal to the second roller, the method further includes: If the judgment is known: The time for which the second roller is lifted is greater than a set first time threshold; or receiving a passing signal indicating that the projection of the workpiece on the plane of the roller assembly has passed over the first roller; Then a third signal is sent; the third signal is used to control the second roller to move to the position where the second roller is located when the collision signal is received.

4. The roller equipment control method according to claim 1 or 2, characterized in that: The step of sending the second signal to control the third roller to rotate in the opposite direction along the advancing direction of the workpiece includes: Sending a second signal including a reverse rotation speed; the second signal is used to control the third roller to rotate in the reverse direction of the workpiece forward direction at the reverse rotation speed; The reverse rotation speed is positively correlated with the length of the workpiece in the workpiece advancing direction, or negatively correlated with the mass of the workpiece.

5. The roller equipment control method according to claim 4, wherein: After the step of sending the second signal including the reverse speed, the method further includes: If it is determined that the time for the third roller to rotate in the reverse direction along the forward direction of the workpiece is greater than a set second time threshold, a fourth signal is sent; the fourth signal is used to control the third roller to rotate along the forward direction of the workpiece.

6. The roller equipment control method according to claim 1 or 2, characterized in that: Also includes: When it is determined that the operation signal of the roller group of the workpiece feeding roller device is received and the number of times the impact signal emitted by the sensor arranged in the first roller is received is greater than the set error threshold, an error signal is generated and sent to the setting terminal.

7. A roller equipment control device, characterized in that: include: an impact control module, configured to determine an operation signal received from a roller group of a workpiece feeding roller device and an impact signal from a sensor disposed in the first roller; A first signal module is configured to send a first signal, wherein the first signal is configured to control the second roller to be raised to a set height; and / or, A second signal module is used to send a second signal; the second signal is used to control the third roller to rotate in the opposite direction of the workpiece forward direction; The first roller, the second roller, and the third roller are all rollers in the roller group; the first signal module is used to determine the height of the impact point according to the impact signal; the impact point height refers to the height of the impact point relative to the plane where the roller group is located; the roller lifting position of the second roller is determined according to the impact point height; the first signal is sent to the second roller; the first signal is used to control the second roller to be lifted to the roller lifting position; The roller group is a clamping roller group, including an upper roller group and a lower roller group; the workpiece is restricted from moving between the upper roller group and the lower roller group; at least part of the second rollers belong to the upper roller group; the third roller is any roller or any multiple rollers in the lower roller group that carry the workpiece; or The roller group is a bottom roller group; The workpiece moves on the bottom roller group; the second roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece; the third roller is any roller or any multiple rollers in the bottom roller group that carry the workpiece.

8. A terminal device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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