A billet head-to-tail tracking system and method for optimized shearing

Abstract

This invention discloses an optimized billet head-to-tail tracking system and method for shearing, relating to the field of metallurgical automation control. The system includes a roughing mill, a finishing mill, and a flying shear. The roughing mill rolls steel plates into several intermediate billets. The flying shear is installed between the roughing and finishing mills to cut off the irregular heads and tails of the intermediate billets. The finishing mill performs finishing on the intermediate billets with their heads and tails removed. A machine vision positioning system is installed between the roughing mill and the flying shear. This system identifies the optimal shearing line positions of the intermediate billet's head and tail, as well as the real-time head and tail positions of the intermediate billet as it passes the flying shear. Based on the identification results, the flying shear's actions are controlled. According to the operating method of this invention, the speed at which the flying shear blade contacts the intermediate billet is consistent with the billet's movement speed, improving tracking accuracy, integration, and work efficiency, and solving the problem of execution lag in existing shearing systems.

Description

Technical Field

[0001] This invention belongs to the field of metallurgical automation control technology, and specifically relates to a billet head and tail tracking system and method for optimized shearing. Background Technology

[0002] In hot continuous rolling production, the intermediate billet rolled out by the roughing mill needs to have its irregular head and tail cut off by a flying shear before entering the finishing mill for rolling. If the length of the cut-off head and tail is too long, it will affect the yield. If the cut-off part is too short, it will affect the stability of the finishing mill rolling.

[0003] Currently available optimized shearing systems require the installation of a width measuring instrument and a laser velocimeter at the roughing mill exit, and a scanning thermal detector and a laser velocimeter at the flying shear inlet. This type of optimized shearing system consists of multiple devices working independently, resulting in low integration. If the preceding devices experience execution lag, it severely affects the working process of the following devices and the accuracy of measurement data, thereby reducing tracking accuracy. Furthermore, if one worker is monitoring several devices simultaneously, the work efficiency is very low.

[0004] To address the aforementioned issues, there is an urgent need for a highly integrated, high-precision optimized shearing billet head-to-tail tracking system. Summary of the Invention

[0005] To address the issues of low integration and low tracking accuracy in the existing billet optimization shearing system, the present invention provides the following technical solution:

[0006] An optimized shearing billet head-to-tail tracking system includes a roughing mill, a finishing mill, and a flying shear. The roughing mill is used to roll steel plates into several intermediate billets. The flying shear is installed between the roughing mill and the finishing mill to cut off the irregular heads and tails of the intermediate billets. The finishing mill is used to finish the intermediate billets with their heads and tails cut off. A machine vision positioning system is installed between the roughing mill and the flying shear. The machine vision positioning system identifies the optimal shearing line positions of the intermediate billet heads and tails and the real-time positions of the intermediate billets heads and tails when they pass through the flying shear, and controls the flying shear's actions based on the identification results.

[0007] Optionally, a conveying device is provided between the roughing mill and the finishing mill; the intermediate billet rolled out by the roughing mill can run on the conveying device, which is used to transport the intermediate billet cut by the flying shear to the entrance of the finishing mill.

[0008] Optionally, the machine vision positioning system includes several sets of machine vision equipment; the machine vision equipment is installed at the exit of the roughing mill and at the entrance and exit of the flying shear; the machine vision equipment at the exit of the roughing mill is used to identify the distance between the optimal shearing line and the end of the intermediate billet head and tail; the machine vision equipment at the entrance and exit of the flying shear is used to identify the real-time position of the head and tail of the intermediate billet in the flying shear area.

[0009] Optionally, the machine vision equipment includes an image acquisition device, an image processing system, and a control system; the image acquisition device is used to identify the target to be acquired, convert the target into an image signal, and transmit it to the image processing system; the image processing system is used to convert the image signal into a digital signal, and perform calculations on the digital signal to extract the features of the target; the control system is used to control the flying shear action according to the discrimination result.

[0010] Optionally, the flying shear includes upper and lower rollers; the rollers are equipped with shear blades, the rollers rotate in a circular motion, and the shear blades perform shearing motion as the rollers rotate. The flying shear can be automatically or manually adjusted by an adjustment device to make the shear blade side gap.

[0011] Optionally, the intermediate blank is sheared laterally by the flying shear; the speed at which the shear blade contacts the intermediate blank is the same as the speed at which the intermediate blank moves.

[0012] Optionally, the blades of the flying shear undergo planar translational motion; the blades of the flying shear are perpendicular to the surface of the intermediate blank.

[0013] The present invention also provides an optimized shearing method for tracking the head and tail of a billet, comprising the following steps:

[0014] (1) Install a machine vision device at the exit of the roughing mill to identify the optimal shear line positions of the head and tail of the intermediate billet, which are distances D1 and D2 from the head and tail ends of the intermediate billet, respectively. 2；

[0015] (2) Install three sets of machine vision equipment at a 5-meter interval between the entrance and exit of the flying shear to identify the real-time position of the head and tail of the intermediate billet in the flying shear area;

[0016] (3) Calculate the distance S1 that the flying shear head blade needs to travel when it moves to a position perpendicular to the intermediate blank and the distance S2 that the tail shear head blade needs to travel when it moves to a position perpendicular to the intermediate blank;

[0017] (4) When the machine vision device detects that the distance between the head end of the intermediate billet and the center line of the flying shear reaches 2S1-D1 or the distance between the tail end of the intermediate billet and the center line of the flying shear reaches 2S2+D2, the flying shear starts and corrects the acceleration of the shear blade according to the real-time speed of the intermediate billet, so that the speed of the shear blade when it contacts the intermediate billet is consistent with that of the intermediate billet.

[0018] Optionally, in step (3), the distance S2 that the tail-cutting blade needs to travel when it moves to be perpendicular to the intermediate blank is the distance that the tail-cutting blade needs to travel when it starts moving from the position where it stops after the flying shear head stops to be perpendicular to the intermediate blank.

[0019] The beneficial effects of the technical solution provided by the embodiments of the present invention are as follows:

[0020] By setting up a machine vision positioning system between the roughing mill and the flying shear, the image acquisition devices in multiple sets of machine vision equipment convert the captured target into image signals, which are then transmitted to a dedicated image processing system. The image processing system converts the image signals into digital signals, and performs various calculations on these signals to extract the target's features. The control system controls the flying shear's movement based on the judgment results. The flying shear removes the irregular head and tail of the intermediate billet, avoiding the tracking errors caused by acceleration and deceleration when calculating the head and tail positions of the intermediate billet through speed integration. This enhances the integration of the shearing system and improves tracking accuracy and work efficiency. Attached Figure Description

[0021] Figure 1 A top view schematic diagram of an optimized shearing billet head-to-tail tracking system provided in an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the structure of a flying shear for an optimized shearing billet head-to-tail tracking system provided in an embodiment of the present invention;

[0023] In the diagram: 1-Roughing mill; 2-Finishing mill; 3-Flying shear; 4-Steel plate; 5-Intermediate billet; 6-Conveying device; 7-Machine vision equipment; 8-Roller; 9-Shear blade. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0025] In the description of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and do not require the invention to be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on the invention. The terms "connected," "linked," and "set up" used in this invention should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a direct connection or an indirect connection through intermediate components; a wired connection, a radio connection, or a wireless communication signal connection. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances.

[0026] Figure 1 A top view schematic diagram of an optimized shearing billet head-to-tail tracking system provided in an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a flying shear for an optimized shearing billet head-to-tail tracking system provided in an embodiment of the present invention; Reference Figure 1 and Figure 2This invention provides an optimized billet head-to-tail tracking system, comprising a roughing mill 1, a finishing mill 2, and a flying shear 3. After multiple reversible rolling passes on the roughing mill 4, the steel plate 4 exits from the exit end of the roughing mill 1 as an intermediate billet 5. A conveying device 6 for transporting the intermediate billet 5 is provided between the roughing mill 1 and the finishing mill 2. The flying shear 3 is installed between the roughing mill 1 and the finishing mill 2. A machine vision positioning system is provided between the roughing mill 1 and the flying shear 3. The machine vision positioning system includes several sets of machine vision equipment 7, each comprising an image acquisition device, an image processing system, and a control system. This system replaces the human eye in measurement and judgment, identifying the optimal head and tail of the intermediate billet 5 through the image acquisition device. The position of the shearing line and the real-time position of the head and tail of the intermediate billet 5 when passing through the flying shear 3 are identified. The captured target is converted into an image signal and transmitted to the image processing system. The image processing system obtains the shape information of the captured target, converts it into a digital signal according to the pixel distribution, brightness, color and other information, and performs calculations on these signals to extract the target features. The control system controls the action of the flying shear 3 according to the discrimination result, so that the speed of the shearing blade 9 of the flying shear 3 when it contacts the intermediate billet 5 is consistent with the movement speed of the intermediate billet 5. The flying shear 3 cuts off the irregular head and tail of the intermediate billet 5. The intermediate billet 5 with the head and tail cut off is transported to the entrance of the finishing mill 2 by the conveying device 6. The finishing mill 2 performs further finishing on the intermediate billet 5.

[0027] In this embodiment, since a machine vision positioning system is installed between the roughing mill 1 and the flying shear 3, the integration is improved, and the irregular head and tail of the intermediate billet 5 can be removed. This avoids the tracking error caused by acceleration and deceleration when calculating the head and tail positions of the intermediate billet 5 by speed integration, thereby improving tracking accuracy and work efficiency.

[0028] As an optional embodiment, the conveying device 6 is arranged on the inlet and outlet sides of the flying shear 3. The conveying device 6 on the inlet side of the flying shear 3 transports the intermediate billet 5 rolled out by the roughing mill 1, and the conveying device 6 on the outlet side of the flying shear 3 transports the cut intermediate billet 5.

[0029] As an optional embodiment, machine vision devices 7 are installed at the exit of the roughing mill 1 and at the entrance and exit of the flying shear 3. The machine vision device 7 at the exit of the roughing mill 1 is used to identify the distance between the optimal shearing line of the intermediate billet 5 and the head and tail ends of the intermediate billet 5. The machine vision devices 7 at the entrance and exit of the flying shear 3 are used to identify the real-time position of the head and tail of the intermediate billet 5 in the flying shear 3 area. These machine vision devices 7 cooperate with each other to perform real-time tracking and positioning of the head and tail of the intermediate billet 5.

[0030] like Figure 2As shown, as an optional embodiment, the flying shear 3 includes upper and lower rollers 8, with shear blades 9 installed inside the rollers 8. The rollers 8 rotate in a circular motion, and the shear blades 9 rotate with the rollers 8 to perform shearing motion, cutting off excess blank material from the intermediate blank 5. The flying shear 3 can automatically or manually adjust the side gap of the shear blades 9 through an adjustment device to adapt to the shearing needs of blanks of different specifications. The upper and lower shear blades 9 should have an optimal shear blade gap. The roller-type flying shear 3 is used for shearing the head and tail of the steel plate 4, and can also be used for dynamic slitting of the steel plate 4.

[0031] As an optional embodiment, the speed of the blade 9 of the flying shear 3 when it contacts the intermediate blank 5 during the transverse shearing motion is the same as the speed of the intermediate blank 5. The horizontal speed of the blade 9 of the flying shear 3 before contacting the intermediate blank 5 is a variable speed motion. The actual speed of the blade 9 of the flying shear 3 during shearing is determined by the judgment result of the machine vision positioning system.

[0032] As an optional embodiment, the shear blade 9 of the flying shear 3 performs a planar translational motion, that is, the shear blade 9 of the flying shear 3 is perpendicular to the surface of the intermediate blank 5.

[0033] This invention also provides an optimized shearing method for tracking the head and tail of a billet, comprising the following steps:

[0034] (1) Install a machine vision device 7 at the outlet of roughing mill 1 to identify the optimal shear line positions of the head and tail of intermediate billet 5, which are D1 and D2 from the head and tail ends of intermediate billet 5, respectively.

[0035] (2) Install three sets of machine vision equipment 7 at a distance of 5 meters between the entrance and exit of the flying shear 3 to identify the real-time position of the head and tail of the intermediate billet 5 in the flying shear 3 area;

[0036] (3) Calculate the distance S1 that the cutting blade 9 of the flying shear 3 needs to travel when it moves to a position perpendicular to the intermediate blank 5 and the distance S2 that the cutting blade 9 needs to travel when it moves to a position perpendicular to the intermediate blank 5;

[0037] (4) When the machine vision device 7 detects that the distance between the head end of the intermediate billet 5 and the center line of the flying shear 3 reaches 2S1-D1 or the distance between the tail end of the intermediate billet 5 and the center line of the flying shear 3 reaches 2S2+D2, the flying shear 3 starts and corrects the acceleration of the shear blade 9 according to the real-time speed of the intermediate billet 5, so that the speed of the shear blade 9 when it contacts the intermediate billet 5 is consistent with that of the intermediate billet 5.

[0038] Specifically, in step (1), the optimal shearing line positions at the head and tail of the intermediate billet 5 are identified as follows: the steel plate is photographed using machine vision, and then image processing and analysis are performed. The optimal shearing line is the line connecting the two points parallel to the roller body on the operating side and the transmission side of the steel plate head (tail) and the parallelism of the edge lines on both sides, which meet the process requirements and are closest to the two points on the operating side and the transmission side. The distances between the optimal shearing lines at the head and tail and the head and tail are obtained by machine vision analysis. Alternatively, scale lines can be set on the edge of the roller within the field of view of the machine vision to assist in identifying the spacing.

[0039] In step (2), the specific arrangement of the three sets of machine vision equipment 7 can be as follows: the first set of equipment is set at a distance of 5 meters from the entrance, the third set of equipment is set at a distance of 5 meters from the exit, and the second set of equipment located in the middle can be set on the transmission side or operation side of the flying shear centerline.

[0040] In step (4), S1 can be calculated based on the angle difference between the waiting position of the flying shear head and the position when cutting the head, as well as the diameter of the flying shear; S2 can be calculated based on the angle difference between the waiting position of the flying shear tail and the position when cutting the head, as well as the diameter of the flying shear. S=n*πD / 360, where n is the angle difference.

[0041] In step (3), the distance S2 that the tail-cutting blade 9 needs to travel to be perpendicular to the intermediate blank 5 is the distance that the tail-cutting blade 9 needs to travel from the position where it stops after the flying shear 3 cuts the head to the position where it is perpendicular to the intermediate blank 5.

[0042] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or equivalent to the scope of this invention are included in this invention.

Claims

1. A billet head-to-tail tracking system for optimized shearing, comprising a roughing mill, a finishing mill, and a flying shear, characterized in that: The roughing mill is used to roll steel plates into several intermediate billets; The flying shear is installed between the roughing mill and the finishing mill to cut off the irregular head and tail of the intermediate billet; The finishing mill is used to finish the optimized intermediate billet, and a machine vision positioning system is provided between the roughing mill and the flying shear; The machine vision positioning system identifies the optimal shearing line positions of the intermediate billet head and tail, as well as the real-time positions of the head and tail of the intermediate billet when it passes through the flying shear, and controls the flying shear action based on the judgment results. A conveying device is also provided between the roughing mill and the finishing mill; The intermediate billet rolled out by the roughing mill can run on the conveying device, which is used to transport the intermediate billet cut by the flying shear to the entrance of the finishing mill; The machine vision positioning system includes several sets of machine vision equipment; The machine vision equipment is installed at the exit of the roughing mill and at the inlet and outlet of the flying shear; The machine vision equipment at the exit of the roughing mill is used to identify the distance between the optimal shear line and the ends of the intermediate billet head and tail. The machine vision equipment at the inlet and outlet of the flying shear is used to identify the real-time position of the head and tail of the intermediate billet in the flying shear area.

2. The optimized shearing billet head-tail tracking system according to claim 1, characterized in that, The machine vision equipment includes an image acquisition device, an image processing system, and a control system; The image capturing device is used to identify the target to be captured, convert the target to be captured into an image signal, and transmit it to the image processing system; The image processing system is used to convert the image signal into a digital signal and perform operations on the digital signal to extract the features of the target; The control system is used to control the flying shear action based on the discrimination result.

3. The optimized shearing billet head-tail tracking system according to claim 1, characterized in that, The flying shear includes two rollers, one upper and one lower. The roller is equipped with a shear blade. The roller rotates in a circular motion, and the shear blade performs a shearing motion as the roller rotates. The shear blade clearance can be automatically or manually adjusted by an adjustment device.

4. The optimized shearing billet head-tail tracking system according to claim 3, characterized in that, The intermediate blank in the transverse shearing motion of the flying shear; The speed at which the blade of the flying shear contacts the intermediate blank is the same as the speed at which the intermediate blank moves.

5. The optimized shearing billet head-tail tracking system according to claim 4, characterized in that, The blades of the flying shears undergo planar translational motion. The blade of the flying shear is perpendicular to the surface of the intermediate blank.

6. A method for optimizing billet head-to-tail tracking during shearing, applicable to the tracking system as described in any one of claims 1-5, characterized in that: Includes the following steps: (1) Install a machine vision device at the exit of the roughing mill to identify the optimal shear line positions of the head and tail of the intermediate billet, which are D1 and D2 distances from the head and tail of the intermediate billet, respectively. (2) Install three sets of machine vision equipment at a 5-meter interval between the entrance and exit of the flying shear to identify the real-time position of the head and tail of the intermediate billet in the flying shear area; (3) Calculate the distance S1 that the flying shear head blade needs to travel when it moves to a position perpendicular to the intermediate blank and the distance S2 that the tail shear head blade needs to travel when it moves to a position perpendicular to the intermediate blank; (4) When the machine vision device detects that the distance between the head end of the intermediate billet and the center line of the flying shear reaches 2S1-D1 or the distance between the tail end of the intermediate billet and the center line of the flying shear reaches 2S2+D2, the flying shear starts and corrects the acceleration of the shear blade according to the real-time speed of the intermediate billet, so that the speed of the shear blade when it contacts the intermediate billet is consistent with that of the intermediate billet.

7. The optimized shearing billet head-tail tracking method according to claim 6, characterized in that: In step (3), the distance S2 that the tail-cutting shear blade needs to travel to be perpendicular to the intermediate blank is the distance that the tail-cutting shear blade needs to travel from the position where it stops after the flying shear head stops to be perpendicular to the intermediate blank.

Images