Method of controlling pinch rolls at the exit of a stripping roller table

Abstract

Embodiments of the present application provide a control method for the exit pinch roll of the head roll table, and relate to the technical field of electrical automation control. The method aims to improve the problem that the pinch roll cannot be dynamically adjusted according to the size of the rolled piece, which leads to pinch failure. The method comprises the following steps: obtaining the no-load torque of the pinch roll; obtaining the preset torque of the pinch roll, the head position of the rolled piece, the target position of the rolled piece, the actual torque of the pinch roll, and the actual speed Vact of the pinch roll; controlling the upper roll to move close to the lower roll in stages according to the head position of the rolled piece, the target position of the rolled piece, the actual torque Tact of the pinch roll, and the no-load torque T0 of the pinch roll; and controlling the upper roll to move up and down relative to the lower roll according to the actual torque Tact of the pinch roll, the preset torque Tset of the pinch roll, the actual speed Vact of the pinch roll, and the entry speed V0 of the rolled piece into the roll. The upper roll is controlled to move down in stages; and the downstroke of the upper roll is continuously corrected until a preset condition is met, so that the pinch failure of the rolled piece caused by the size change of the rolled piece can be eliminated.

Description

Technical Field

[0001] This invention relates to the field of electrical automation control technology, and more specifically, to a control method for the exit pinch roll of a decoupling roller conveyor. Background Technology

[0002] In special steel production lines, a stripping roller table is often installed between the roughing mill and the intermediate mill to buffer the mismatch in rolling capacity between the two mills. A pinch roll is installed on the exit side of the stripping roller table (the inlet side of the intermediate mill) to assist the workpiece in biting into the intermediate mill, simultaneously achieving synchronization between the workpiece speed and the mill speed, thus reducing impact damage to the mill equipment.

[0003] The pinch rolls consist of an upper roll and a lower roll, with the lower roll in a fixed position. The upper roll is raised or lowered by a hydraulic cylinder, and the lowering position is adjustable according to the size of the workpiece. The rotation of both the upper and lower rolls is driven by a speed-adjustable motor.

[0004] When the workpiece is being clamped, the upper roller of the clamping roller starts pressing down when the head of the workpiece passes between the upper and lower rollers. The upper roller cylinder performs the pressing down action. When the cylinder reaches its pressing stroke, the pressing down action ends, and the upper roller of the clamping roller is fixed at the position of that stroke by a hydraulic lock. At this time, the roller gap between the upper and lower rollers of the clamping roller is consistent with the height of the workpiece, and the workpiece is clamped and moved by the clamping roller.

[0005] There are generally two methods to achieve the pressing stroke of a hydraulic cylinder. The first is a mechanical stop, where the position of the mechanical stop is adjusted to position the hydraulic cylinder. The second method involves adjusting the position of a proximity switch based on the height of the rolled piece to control the movement of the hydraulic cylinder and achieve pressing positioning.

[0006] Both methods described above have the following problems: When the dimensions of the rolled piece change, the roll gap between the upper and lower pinch rolls remains constant, which can lead to the pinch rolls being unable to effectively clamp the rolled piece, or excessive clamping causing overload failure. Furthermore, inaccurate control of the pressing and positioning action can also cause slight changes in the roll gap between the upper and lower pinch rolls, which can also lead to clamping failure or pinch roll overload failure.

[0007] In practical applications, the adjustments made by different operators to the positions of the positioning blocks or proximity switches, as well as the control of the dimensions of the rolled pieces, will affect the use of the pinch rolls, which will have an adverse impact on high-paced production. Moreover, the adjustment work is extensive, prone to human error, and poses safety hazards, which is not conducive to the smooth operation of the production line. Summary of the Invention

[0008] The present invention includes, for example, providing a method for controlling the exit pinch roll of the roll table, which can improve the problem that the pinch roll cannot be dynamically adjusted according to the size of the rolled piece, leading to pinch failures.

[0009] The embodiments of the present invention can be implemented as follows:

[0010] An embodiment of the present invention provides a method for controlling the exit pinch roll of a roll table, the pinch roll including an upper roll and a lower roll, wherein a channel for conveying the rolled workpiece is formed between the upper roll and the lower roll, and the method for controlling the exit pinch roll of the roll table includes:

[0011] Obtain the workpiece feed speed V0;

[0012] Obtain the no-load torque T0 of the pinch roller;

[0013] Obtain the preset torque Tset of the pinch roller;

[0014] Obtain the position of the rolled piece head;

[0015] Obtain the target position of the rolled piece;

[0016] Obtain the actual torque Tact of the pinch roller;

[0017] Obtain the actual speed Vact of the pinch roller;

[0018] Based on the position of the workpiece head, the target position of the workpiece, the actual torque Tact of the pinch roll, and the no-load torque T0 of the pinch roll, the upper roll is controlled to move closer to the lower roll in stages;

[0019] Based on the actual torque Tact of the pinch roll, the preset torque Tset of the pinch roll, the actual speed Vact of the pinch roll, and the workpiece entry speed V0, the upper roll is controlled to move up and down relative to the lower roll until the preset conditions are met.

[0020] In addition, the control method for the exit pinch roll of the decoupling roller conveyor provided in the embodiments of the present invention may also have the following additional technical features:

[0021] Optionally, the step of controlling the upper roll to move closer to the lower roll in stages based on the position of the workpiece head, the target position of the workpiece, the actual torque Tact of the pinch roll, and the no-load torque T0 of the pinch roll includes:

[0022] Based on the head position of the workpiece and the target position of the workpiece, the upper roller is controlled to press against the lower roller at a preset high speed;

[0023] Based on the actual torque Tact of the pinch roller and the no-load torque T0 of the pinch roller, the upper roller is controlled to press against the lower roller at a preset low speed;

[0024] Wherein, the preset high speed is greater than the preset low speed.

[0025] Optionally, the step of controlling the upper roll to press against the lower roll at a preset high speed based on the position of the workpiece head and the target position of the workpiece includes:

[0026] If the head position of the rolled piece has not reached the target position of the rolled piece, then the upper roller is controlled to be in the initial position;

[0027] If the head position of the workpiece reaches the target position of the workpiece, the upper roller is controlled to press against the lower roller from the initial position at a preset high speed.

[0028] Optionally, the step of controlling the upper roller to press against the lower roller at a preset low speed based on the actual torque Tact of the pinch roller and the no-load torque T0 of the pinch roller includes:

[0029] If the actual torque Tact of the pinch roller is greater than the no-load torque T0 of the pinch roller, then the upper roller is controlled to press against the lower roller at a preset low speed.

[0030] If the actual torque Tact of the pinch roller is less than the no-load torque T0 of the pinch roller, then the upper roller is controlled to press against the lower roller at a preset high speed.

[0031] Optionally, the step of controlling the upper roll to move up and down relative to the lower roll according to the actual torque Tact of the pinch roll, the preset torque Tset of the pinch roll, the actual speed Vact of the pinch roll, and the workpiece entry speed V0, until the preset condition is reached, includes:

[0032] If the actual torque Tact of the pinch roll is equal to the preset torque Tset of the pinch roll, and the actual speed Vact of the pinch roll is greater than or equal to the speed V0 of the workpiece entering the roll, the upper roll adjustment is completed.

[0033] If the actual torque Tact of the pinch roll is equal to the preset torque Tset of the pinch roll, and the actual speed Vact of the pinch roll is less than the workpiece entry speed V0, then the upper roll is controlled to move upward relative to the lower roll until the preset condition is reached. The preset condition is that the actual torque Tact of the pinch roll is greater than the preset torque Tset of the pinch roll, and the actual speed Vact of the pinch roll is greater than or equal to the workpiece entry speed V0.

[0034] Optionally, the step of controlling the upper roll to move up and down relative to the lower roll based on the actual torque Tact of the pinch roll, the preset torque Tset of the pinch roll, the actual speed Vact of the pinch roll, and the workpiece entry speed V0, until the preset condition is met, further includes:

[0035] If the actual torque Tact of the pinch roller is less than the preset torque Tset of the pinch roller, and greater than the no-load torque T0 of the pinch roller, then the upper roller is controlled to press against the lower roller at a preset low speed.

[0036] Optionally, the control method for the exit pinch roll of the decoupling roller conveyor further includes:

[0037] The pinch rolls are controlled to operate at a set operating speed Vpr based on the workpiece entry speed V0; wherein the set operating speed Vpr is greater than the workpiece entry speed V0.

[0038] Optionally, the formula for calculating the set operating speed Vpr includes: Vpr=K V0 and Vpr are the set operating speeds, V0 is the speed at which the workpiece enters the rolls, and K is the lead coefficient of the pinch roll speed. The value range of the lead coefficient K is 1≤k≤1.1.

[0039] Optionally, the step of obtaining the lead coefficient K of the pinch roller speed includes:

[0040] Obtain the thickness h of the rolled piece;

[0041] The lead coefficient K of the pinch roll speed is obtained based on the thickness h of the rolled piece.

[0042] Optionally, the step of obtaining the preset torque Tset of the pinch roll includes:

[0043] Obtain the thickness h of the rolled piece;

[0044] The preset torque Tset of the pinch roll is obtained based on the thickness h of the rolled piece.

[0045] The beneficial effects of the control method for the exit pinch roll of the decoupling roller conveyor according to embodiments of the present invention include, for example:

[0046] The control method for the exit pinch roll of the decoupling roller table includes: acquiring the no-load torque of the pinch roll; acquiring the preset torque of the pinch roll, the head position of the workpiece, the target position of the workpiece, the actual torque of the pinch roll, and the actual speed of the pinch roll Vact; controlling the upper roll to move closer to the lower roll in stages according to the head position of the workpiece, the target position of the workpiece, the actual torque of the pinch roll Tact, and the no-load torque of the pinch roll T0; and controlling the upper roll to move up and down relative to the lower roll according to the actual torque of the pinch roll Tact, the preset torque of the pinch roll Tset, the actual speed of the pinch roll Vact, and the speed of the workpiece entering the roll V0, until the preset conditions are met.

[0047] Based on the relationship between the workpiece head position, the target workpiece position, the actual torque Tact of the pinch roll, and the no-load torque T0 of the pinch roll, the upper roll downward pressure is controlled in stages. Then, based on the relationship between the actual torque Tact of the pinch roll, the preset torque Tset of the pinch roll, the actual speed Vact of the pinch roll, and the workpiece entry speed V0, the downward pressure stroke of the upper roll is continuously corrected until the preset conditions are met. The roll gap between the upper and lower rolls is adjusted in real time according to the operating status of the pinch roll. While ensuring effective clamping of the workpiece, it can also make real-time dynamic adjustments according to changes in workpiece size, improving the stability and reliability of the pinch roll operation and reducing pinch roll failures. This has achieved significant technical results as well as obvious economic and social benefits. Attached Figure Description

[0048] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the upper and lower pinch rollers mentioned in the control method for the exit pinch roller of the de-heading roller conveyor provided in the embodiment of the present invention.

[0050] Figure 2 A flowchart illustrating the steps of a method for controlling the exit pinch roller of a de-heading roller conveyor provided in an embodiment of the present invention;

[0051] Figure 3 The control flowchart is shown in the embodiment of the present invention for the control method of the exit pinch roller of the decoupling roller table.

[0052] Icons: 100 - Upper roller; 200 - Lower roller. Detailed Implementation

[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0054] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0055] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0056] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0057] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0058] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0059] The following is combined Figures 1 to 3 The control method for the exit pinch roller of the decoupling roller conveyor provided in this embodiment is described in detail.

[0060] Please refer to Figure 1 , Figure 2 and Figure 3 The present invention provides a method for controlling the exit pinch roll of a roll table. The pinch roll includes an upper roll 100 and a lower roll 200, and a channel for conveying rolled workpieces is formed between the upper roll 100 and the lower roll 200. The method for controlling the exit pinch roll of the roll table includes:

[0061] Step S1: Obtain the workpiece feed speed V0;

[0062] Step S2, obtain the no-load torque T0 of the pinch roller;

[0063] Step S3: Obtain the preset torque Tset of the pinch roller;

[0064] Step S4: Obtain the position of the rolled piece head;

[0065] Step S5: Obtain the target position of the rolled piece;

[0066] Step S6: Obtain the actual torque Tact of the pinch roller;

[0067] Step S7: Obtain the actual speed Vact of the pinch roller;

[0068] Step S8: Based on the position of the workpiece head, the target position of the workpiece, the actual torque Tact of the pinch roll, and the no-load torque T0 of the pinch roll, control the upper roll 100 to move closer to the lower roll 200 in stages.

[0069] Step S9: Based on the actual torque Tact of the pinch roll, the preset torque Tset of the pinch roll, the actual speed Vact of the pinch roll, and the speed V0 of the workpiece entering the roll, control the upper roll 100 to move up and down relative to the lower roll 200 until the preset conditions are met.

[0070] Based on the relationship between the head position of the workpiece, the target position of the workpiece, the actual torque Tact of the pinch roll, and the no-load torque T0 of the pinch roll, the upper roll 100 is controlled to press down in stages. Then, based on the relationship between the actual torque Tact of the pinch roll, the preset torque Tset of the pinch roll, the actual speed Vact of the pinch roll, and the speed V0 of the workpiece entering the roll, the pressing stroke of the upper roll 100 is continuously corrected until the preset conditions are met. This allows for real-time dynamic adjustment based on changes in the workpiece size, eliminating workpiece clamping failures caused by changes in workpiece size.

[0071] Reference Figure 1 , Figure 2 and Figure 3 In this embodiment, step S8, which involves controlling the upper roll 100 to move closer to the lower roll 200 in stages based on the position of the workpiece head, the target position of the workpiece, the actual torque Tact of the pinch roll, and the no-load torque T0 of the pinch roll, includes:

[0072] Step S81: Based on the position of the workpiece head and the target position of the workpiece, control the upper roller 100 to press the lower roller 200 at a preset high speed.

[0073] Step S82: Based on the actual torque Tact of the pinch roller and the no-load torque T0 of the pinch roller, control the upper roller 100 to press down on the lower roller 200 at a preset low speed.

[0074] Among them, the preset high speed is greater than the preset low speed.

[0075] In the first stage, the upper roller 100 is controlled to move downward at a preset high speed based on the position of the workpiece head. In the second stage, the upper roller 100 is controlled to move downward at a preset low speed based on the actual torque Tact of the pinch roller.

[0076] Reference Figure 1 , Figure 2 and Figure 3In this embodiment, step S81, which controls the upper roller 100 to press the lower roller 200 at a preset high speed according to the position of the workpiece head and the target position of the workpiece, includes:

[0077] Step S811: If the head position of the rolled piece has not reached the target position of the rolled piece, then control the upper roller 100 to be in the initial position;

[0078] In step S812, if the head position of the workpiece reaches the target position of the workpiece, the upper roller 100 is controlled to press down on the lower roller 200 at a preset high speed from the initial position.

[0079] The upper roller 100 is in the initial position. It detects the position of the head of the workpiece and sees whether the head of the workpiece has reached the target position. When it is detected that the workpiece has reached the target position, the upper roller 100 is controlled to move downwards towards the lower roller 200 at a preset high speed.

[0080] Reference Figure 1 , Figure 2 and Figure 3 In this embodiment, step S82, which controls the upper roller 100 to press down on the lower roller 200 at a preset low speed based on the actual torque Tact of the pinch roller and the no-load torque T0 of the pinch roller, includes:

[0081] Step S821: If the actual torque Tact of the pinch roller is greater than the no-load torque T0 of the pinch roller, then control the upper roller 100 to press down on the lower roller 200 at a preset low speed.

[0082] In step S822, if the actual torque Tact of the pinch roller is less than the no-load torque T0 of the pinch roller, then control the upper roller 100 to press down on the lower roller 200 at a preset high speed. That is, jump to step S812 and control the upper roller 100 to press down on the lower roller 200 at a preset high speed.

[0083] As the upper roller 100 approaches the lower roller 200 at a preset high speed, the actual torque Tact of the pinch roller gradually increases. Before reaching the no-load torque T0 of the pinch roller, the upper roller 100 presses down on the lower roller 200 at a preset high speed. When the actual torque Tact of the pinch roller increases to be greater than the no-load torque T0 of the pinch roller, the upper roller 100 is controlled to press down on the lower roller 200 at a preset low speed.

[0084] Reference Figure 1 , Figure 2 and Figure 3 In this embodiment, step S9, which involves controlling the upper roller 100 to move up and down relative to the lower roller 200 until the preset conditions are met, based on the actual torque Tact of the pinch roller, the preset torque Tset of the pinch roller, the actual speed Vact of the pinch roller, and the workpiece entry speed V0, includes the following steps:

[0085] Step S91: If the actual torque Tact of the pinch roll is equal to the preset torque Tset of the pinch roll, and the actual speed Vact of the pinch roll is greater than or equal to the speed V0 of the workpiece entering the roll, the adjustment of the upper roll 100 is completed.

[0086] Step S92: If the actual torque Tact of the pinch roll is equal to the preset torque Tset of the pinch roll, and the actual speed Vact of the pinch roll is less than the workpiece entry speed V0, then control the upper roll 100 to move upward relative to the lower roll 200 until the preset conditions are met. The preset conditions are that the actual torque Tact of the pinch roll is greater than the preset torque Tset of the pinch roll, and the actual speed Vact of the pinch roll is greater than or equal to the workpiece entry speed V0.

[0087] As the upper roller 100 moves downward toward the lower roller 200 at a preset low speed, if the actual torque Tact of the pinch roller is equal to the preset torque Tset of the pinch roller, it is further determined whether the actual speed Vact of the pinch roller is greater than or equal to the speed V0 of the workpiece entering the roller. If the actual speed Vact of the pinch roller is greater than or equal to the speed V0 of the workpiece entering the roller, the upper roller 100 adjustment ends and the upper roller 100 is in place.

[0088] If the actual speed of the pinch roll Vact is less than the workpiece infeed speed V0, then the upper roll 100 is raised until the actual torque of the pinch roll Tact equals the preset torque Tset of the pinch roll. Then, it is further determined whether the actual speed of the pinch roll Vact is greater than or equal to the workpiece infeed speed V0. If not, the upper roll 100 is adjusted to move upward again until the actual torque of the pinch roll Tact equals the preset torque Tset of the pinch roll. If the actual speed of the pinch roll Vact is greater than or equal to the workpiece infeed speed V0, then the adjustment of the upper roll 100 position is stopped.

[0089] When Tact < Tset, the pinch roll maintains Vact = Vpr. When Tact = Tset, if the torque continues to increase, the pinch speed Vact decreases until it stalls. Therefore, when the actual speed Vact of the pinch roll is less than the workpiece entry speed V0, the upper roll 100 should be moved upwards.

[0090] Reference Figure 1 , Figure 2 and Figure 3 In this embodiment, step S9, which involves controlling the upper roller 100 to move up and down relative to the lower roller 200 based on the actual torque Tact of the pinch roller, the preset torque Tset of the pinch roller, the actual speed Vact of the pinch roller, and the workpiece entry speed V0, until the preset conditions are met, further includes:

[0091] Step S93: If the actual torque Tact of the pinch roller is less than the preset torque Tset of the pinch roller, but greater than the no-load torque T0 of the pinch roller, then control the upper roller 100 to press down on the lower roller 200 at a preset low speed.

[0092] When the actual torque Tact of the pinch roller is greater than the no-load torque T0 of the pinch roller, but the preset torque Tset of the pinch roller is not reached, the upper roller 100 presses down on the lower roller 200 at a preset low speed.

[0093] Reference Figure 1 , Figure 2 and Figure 3 In this embodiment, the control method for the exit pinch roller of the decoupling roller conveyor further includes:

[0094] Step S10: Based on the workpiece entry speed V0, control the pinch roll to run at a set operating speed Vpr; wherein, the set operating speed Vpr is greater than the workpiece entry speed V0.

[0095] The workpiece entry speed V0 is detected, and the set running speed Vpr of the pinch roll is controlled according to the workpiece entry speed V0.

[0096] Reference Figure 1 , Figure 2 and Figure 3 In this embodiment, the formula for calculating the running speed Vpr includes: Vpr=K V0 and Vpr are the set running speeds, V0 is the speed at which the workpiece enters the roll, and K is the lead coefficient of the pinch roll speed. The value range of the lead coefficient K is 1≤k≤1.1.

[0097] The set operating speed Vpr of the pinch rolls is determined based on the workpiece entry speed V0 and the pinch roll speed lead coefficient K. After obtaining the set operating speed Vpr, the speed of the pinch rolls is controlled. 1≤k≤1.1 ensures effective clamping of the workpiece.

[0098] Reference Figure 1 , Figure 2 and Figure 3 In this embodiment, the step of obtaining the lead coefficient K of the pinch roller speed includes:

[0099] Obtain the thickness h of the rolled piece;

[0100] Based on the thickness h of the rolled piece, the lead coefficient K of the pinch roll speed is obtained.

[0101] Different workpiece thicknesses h correspond to different pinch roll speed lead coefficients K. These corresponding values ​​are accumulated through calculation and experience. After the workpiece is input into the pinch rolls, the different pinch roll speed lead coefficients K are read according to the workpiece thickness h. Then, the set running speed Vpr is controlled according to the workpiece input speed V0.

[0102] Reference Figure 1 , Figure 2 and Figure 3In this embodiment, step S3, obtaining the preset torque Tset of the pinch roller, includes:

[0103] Obtain the thickness h of the rolled piece;

[0104] Based on the thickness h of the rolled piece, the preset torque Tset of the pinch roll is obtained.

[0105] Different workpiece thicknesses h correspond to different preset torques Tset of the pinch rolls. These preset torques are calculated and accumulated based on experience. After the workpiece is input into the pinch rolls, the different preset torques Tset of the pinch rolls are read according to the workpiece thickness h.

[0106] According to the control method of the exit pinch roll of the decoupling roller table provided in this embodiment, the working principle of the control method of the exit pinch roll of the decoupling roller table is as follows: The position of the workpiece head is obtained; if the workpiece head position reaches the target position, the upper roll 100 is controlled to press down on the lower roll 200 from the initial position at a preset high speed. The actual torque Tact of the pinch roll is obtained; if the actual torque Tact of the pinch roll is greater than the no-load torque T0 of the pinch roll, the upper roll 100 is controlled to press down on the lower roll 200 at a preset low speed; the actual torque Tact of the pinch roll is obtained again; if the actual torque Tact of the pinch roll is equal to the preset torque Tset of the pinch roll, the actual speed Vact of the pinch roll is obtained; if the actual speed Vact of the pinch roll is greater than or equal to the workpiece entry speed V0, the adjustment of the upper roll 100 ends.

[0107] The control method for the exit pinch roll of the decoupling roller conveyor provided in this embodiment has at least the following advantages:

[0108] First, based on the position of the workpiece head and the actual torque Tact of the pinch rolls, the upper roll 100 is controlled to move closer to the lower roll 200 in stages. Then, based on the actual torque Tact and speed Vact of the pinch rolls, the upper roll 100 relative to the lower roll 200 is continuously corrected and verified until the preset conditions are met. In addition to setting the preset torque Tset of the pinch rolls, post-correction can also be performed. By detecting the pinching state during the pinching process and continuously correcting the pinching pressure stroke, workpiece pinching failures caused by changes in workpiece size are eliminated, improving the accuracy and stability of workpiece pinching control, increasing production efficiency, and reducing the labor intensity of operators. Significant technical effects, economic benefits, and social benefits have been achieved.

[0109] During the adjustment of the upper roller 100's downward pressure, the actual torque Tact and speed Vact of the pinch roller are detected and compared in real time with the preset torque Tset and the workpiece entry speed V0. Based on the magnitude and direction of the deviation, it is determined whether the pinch roller's downward pressure stroke meets the workpiece clamping requirements. Simultaneously, based on the deviation, the system automatically adjusts the pinch roller's downward pressure stroke, continuously correcting insufficient or excessive clamping force caused by changes in workpiece dimensions. This makes the pinch roller's clamping control more precise and stable, increasing the reliability of workpiece bite control and rolling interval control, and creating favorable conditions for smooth production.

[0110] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A method for controlling a pinch roll at the exit of a roll table, the pinch roll comprising an upper roll (100) and a lower roll (200), wherein a channel for conveying rolled workpieces is formed between the upper roll (100) and the lower roll (200), characterized in that, The control method for the exit pinch roll of the decoupling roller conveyor includes: Obtain the workpiece feed speed V0; Obtain the no-load torque T0 of the pinch roller; Obtain the preset torque Tset of the pinch roller; Obtain the position of the rolled piece head; Obtain the target position of the rolled piece; Obtain the actual torque Tact of the pinch roller; Obtain the actual speed Vact of the pinch roller; Based on the head position of the workpiece, the target position of the workpiece, the actual torque Tact of the pinch roll, and the no-load torque T0 of the pinch roll, the upper roll (100) is controlled to move closer to the lower roll (200) in stages. Based on the actual torque Tact of the pinch roll, the preset torque Tset of the pinch roll, the actual speed Vact of the pinch roll, and the speed V0 of the workpiece entering the roll, the upper roll (100) is controlled to move up and down relative to the lower roll (200) until the preset conditions are met.

2. The control method for the exit pinch roll of the decoupling roller conveyor according to claim 1, characterized in that, The step of controlling the upper roll (100) to move closer to the lower roll (200) in stages based on the head position of the workpiece, the target position of the workpiece, the actual torque Tact of the pinch roll, and the no-load torque T0 of the pinch roll includes: Based on the head position of the workpiece and the target position of the workpiece, the upper roller (100) is controlled to press against the lower roller (200) at a preset high speed. Based on the actual torque Tact of the pinch roller and the no-load torque T0 of the pinch roller, the upper roller (100) is controlled to press against the lower roller (200) at a preset low speed. Wherein, the preset high speed is greater than the preset low speed.

3. The control method for the exit pinch roller of the decoupling roller conveyor according to claim 2, characterized in that, The step of controlling the upper roller (100) to press against the lower roller (200) at a preset high speed based on the head position and target position of the workpiece includes: If the head position of the rolled piece has not reached the target position of the rolled piece, then continue to obtain the head position of the rolled piece; If the head position of the rolled piece reaches the target position of the rolled piece, the upper roller (100) is controlled to press against the lower roller (200) from the initial position at a preset high speed.

4. The control method for the exit pinch roll of the decoupling roller conveyor according to claim 3, characterized in that, The step of controlling the upper roller (100) to press against the lower roller (200) at a preset low speed based on the actual torque Tact of the pinch roller and the no-load torque T0 of the pinch roller includes: If the actual torque Tact of the pinch roller is greater than the no-load torque T0 of the pinch roller, then the upper roller (100) is controlled to press against the lower roller (200) at a preset low speed. If the actual torque Tact of the pinch roller is less than the no-load torque T0 of the pinch roller, then the upper roller (100) is controlled to press against the lower roller (200) at a preset high speed.

5. The control method for the exit pinch roll of the decoupling roller conveyor according to claim 4, characterized in that, The step of controlling the upper roll (100) to move up and down relative to the lower roll (200) according to the actual torque Tact of the pinch roll, the preset torque Tset of the pinch roll, the actual speed Vact of the pinch roll, and the workpiece entry speed V0, until the preset conditions are met, includes: If the actual torque Tact of the pinch roll is equal to the preset torque Tset of the pinch roll, and the actual speed Vact of the pinch roll is greater than or equal to the speed V0 of the workpiece entering the roll, the adjustment of the upper roll (100) is completed. If the actual torque Tact of the pinch roll is equal to the preset torque Tset of the pinch roll, and the actual speed Vact of the pinch roll is less than the speed V0 of the workpiece entering the roll, then the upper roll (100) is controlled to move upward relative to the lower roll (200) until the preset condition is reached. The preset condition is that the actual torque Tact of the pinch roll is greater than the preset torque Tset of the pinch roll, and the actual speed Vact of the pinch roll is greater than or equal to the speed V0 of the workpiece entering the roll.

6. The control method for the exit pinch roll of the decoupling roller conveyor according to claim 5, characterized in that, The step of controlling the upper roll (100) to move up and down relative to the lower roll (200) according to the actual torque Tact of the pinch roll, the preset torque Tset of the pinch roll, the actual speed Vact of the pinch roll, and the workpiece entry speed V0, until the preset conditions are met, further includes: If the actual torque Tact of the pinch roller is less than the preset torque Tset of the pinch roller, and greater than the no-load torque T0 of the pinch roller, then the upper roller (100) is controlled to press against the lower roller (200) at a preset low speed.

7. The control method for the exit pinch roll of the decoupling roller conveyor according to any one of claims 1-6, characterized in that, The control method for the exit pinch roll of the decoupling roller conveyor also includes: The pinch rolls are controlled to operate at a set operating speed Vpr based on the workpiece entry speed V0; wherein the set operating speed Vpr is greater than the workpiece entry speed V0.

8. The control method for the exit pinch roll of the decoupling roller conveyor according to claim 7, characterized in that, The formula for calculating the set operating speed Vpr includes: Vpr=K V0 and Vpr are the set operating speeds, V0 is the workpiece entry speed into the rolls, and K is the pinch roll speed lead coefficient, the value range of which is 1 ≤ k ≤ 1.

1. It is a multiplication sign.

9. The control method for the exit pinch roll of the decoupling roller conveyor according to claim 8, characterized in that, The steps for obtaining the lead coefficient K of the pinch roller speed include: Obtain the thickness h of the rolled piece; The lead coefficient K of the pinch roll speed is obtained based on the thickness h of the rolled piece.

10. The method for controlling the exit pinch roll of the decoupling roller conveyor according to any one of claims 1-6, characterized in that, The step of obtaining the preset torque Tset of the pinch roll includes: Obtain the thickness h of the rolled piece; The preset torque Tset of the pinch roll is obtained based on the thickness h of the rolled piece.

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