Control device for feeding and discharging rollers of unmanned travelling crane

Abstract

The invention relates to a control device and method for online and offline of rollers of an unmanned travelling crane, and belongs to the technical field of metallurgical control equipment and methods. According to the technical scheme, four roller feeding and discharging guide devices are arranged on the two sides of a roller changing table respectively and matched with the positions of the two sides of a roller bearing seat; the inter-roller ground sensor is installed on the roller changing track and connected with the input end of the inter-roller ground PLC station, and the inter-roller ground PLC station is connected with the unmanned traveling system and the roller changing trolley primary control system through the Ethernet. The method ensures that each process is stable and reliable when the roller of the unmanned crane is automatically loaded and unloaded, assists the automatic loading and unloading operation of the unmanned crane to be smoothly completed, promotes the technical field application of an unmanned crane system to be continuously upgraded, successfully applies the unmanned crane system to the field of loading and unloading system control between grinding rollers, and improves the working efficiency. The efficiency optimization of unmanned vehicle coordination is expanded, the online and offline time is shortened, the safety is ensured, and the production efficiency is improved.

Description

Technical Field

[0001] The invention relates to a control device and method for unmanned rolling mill rolls on and off the production line, belonging to the technical field of metallurgical control equipment and methods. Background Art

[0002] As the pace of hot rolling production is getting faster and faster, the hot rolling mill roll shop, as the former production preparation workshop, has also seen a significant increase in the number of roll changes per day. Rolls that have been ground each time also need to be frequently hoisted to the roll changing roller table and pushed to the hot rolling workshop. Since the accuracy of hoisting the rolls to the roller table is very high, the existing overhead crane hoisting method and overhead crane hoisting device have many problems and defects: First point: Roll replacement in hot rolling mills is mostly done by manual lifting, which is time-consuming and has very low production efficiency; overhead crane operators are prone to lifting injuries when operating the crane on the ground.

[0003] The second point: the roller table is composed of two tracks, one is a flat design and the other is a guide groove design. It is difficult to place the roller accurately into the guide groove when the roller is hoisted by a crane.

[0004] The third point: The connection between the crane hook and the sling is a rigid connection. The sling cannot be perpendicular to the horizontal plane of the roller table. The crane operator can only manually intervene in the angle of the sling multiple times so that the guide side of the roller can be placed in the guide groove; and the sling is a double-hook design, which makes the sling unable to rotate. Summary of the invention

[0005] The purpose of the present invention is to provide a control device and method for unmanned crane roller loading and unloading. By adopting ground sensors between rollers, roller loading and unloading guide devices and ground PLC stations between rollers, it is ensured that each process is stable and reliable when the unmanned crane rollers are automatically loaded and unloaded, and the unmanned crane automatic loading and unloading operations are smoothly completed, thereby promoting the continuous upgrading of the application in the field of unmanned crane system technology, successfully applying the unmanned crane system to the control field of the loading and unloading system of the grinding roller room, expanding the optimization of the efficiency of unmanned crane coordination, reducing the loading and unloading time, ensuring safety, improving production efficiency, and effectively solving the above-mentioned problems existing in the background technology.

[0006] The technical solution of the present invention is: a control device for unmanned vehicle roller upper and lower lines, comprising a roller inter-ground PLC station, a roller inter-ground sensor and roller upper and lower line guide devices, wherein the roller inter-ground sensor is installed on the roller changing track, the roller inter-ground sensor is connected to the input end of the roller inter-ground PLC station, and the roller inter-ground PLC station is respectively connected to the unmanned vehicle system and the first-level control system of the roller changing trolley through an Ethernet network; there are four roller upper and lower line guide devices, which are respectively placed on both sides of the roller changing roller table to match the positions on both sides of the roller bearing seat.

[0007] The roller upper and lower line guide device comprises a base (2) and a guide slope (3), wherein the base (2) is fixed on the ground, and the guide slope (3) is installed on the base (2); the guide slope (3) is a right-angled trapezoidal iron block, and the direction of the inclined surface matches the position of the track.

[0008] The roller upper and lower line guide device also comprises an anchor bolt hole (1), the anchor bolt hole (1) is opened on the base base (2), and the base base (2) is fixed to the ground through the anchor bolt hole (1) and bolts.

[0009] The roller room ground sensor is a laser sensor, which comprises a laser emitting device, a laser receiving device and a reflector, and the laser emitting device, the reflector and the laser receiving device are connected in sequence.

[0010] The roll room ground PLC station includes a power module, a digital input module, a communication module and an analog output module connected to the power supply, the digital input module is connected to the roll room ground sensor, and the analog module is connected to the unmanned driving system and the roll changing trolley primary control system through the communication module.

[0011] A method for controlling the unmanned roller loading and unloading lines comprises the following steps: (1) Install a floor sensor in the roll room next to the roll changing table to collect roll position information in real time; (2) The ground PLC station between the rollers feeds back the collected signals to the unmanned vehicle control system, and at the same time receives instructions from the unmanned vehicle system to send locking and unlocking information to the first-level control system of the roller-changing trolley; (3) The first-level control system of the roller changing trolley detects the status and position information of the roller changing trolley. When the roller changing trolley is in automatic state and locked, the unmanned rail rollers are automatically operated on and off the line.

[0012] In step (3), the operation steps of the unmanned roller automatic offline are as follows: Step 101, replacing the used rolls in the hot rolling workshop; Step 102, the roll changing trolley drags the rolls from the hot rolling workshop to the roll changing roll room to a designated position; Step 103, the primary control system of the roll-changing trolley sends roll-changing completion information to the ground PLC station between the rolls, and sends the roll position information to the ground PLC station between the rolls; Step 104, the primary control system of the roll-changing trolley sends a roll-taking request signal to the unmanned vehicle control system through the ground PLC station between the rolls; Step 105: After the roll-changing trolley transports the rolls from the hot rolling workshop back to the roll room, the floor sensor in the roll room sends information about whether the rolls are in place to the floor PLC station in the roll room; Step 106, determining whether the roller has reached the designated position between the rollers, if not, executing step 107, if so, executing step 108; Step 107: If the rollers are not detected by the floor sensor in the roller room, the unmanned driving system cannot generate a work order for lifting the rollers off the production line. Check whether the floor sensor in the roller room is damaged. If damaged, repair it in time. Step 108: If the floor sensor in the roll room detects that the rolls are in place, check whether the unmanned driving system has any unfinished work orders; Step 109: If there is no work order, go to step 111; if there is a work order, go to step 110; Step 110: The unmanned vehicle system detects that there are unfinished work orders, and the system will continue to execute the work orders and then perform self-checks; Step 111: When the unmanned vehicle system has no work order to be executed, the unmanned vehicle moves to the roll changing area, and the unmanned vehicle system sends a roll changing trolley locking signal to the first-level control system of the roll changing trolley; Step 112, the first-level roll-changing car system of the rolling mill locks the roll-changing car; Step 113, the unmanned vehicle executes the roll taking work order and moves to the top of the roll to take the roll; Step 114, the unmanned vehicle lifts the roll from the roll changing roller table to a safe height, and completes the roll removal work order; Step 115, after the unmanned vehicle rises to a safe height, the unmanned vehicle system immediately sends a roll removal completion signal to the first-level control system of the roll-changing vehicle; Step 116: After the primary control system of the roll changing trolley receives the roll taking completion signal, the roll changing trolley is unlocked; Step 117, the roller taking action is completed.

[0013] In step (3), the operation steps of the unmanned roller automatic online are as follows: Step 201, the grinding roll room is a hot rolling workshop standby roll; Step 202, the unmanned vehicle executes the work order of placing the rollers on the roller table of the roller changing trolley; Step 203, the unmanned crane hoists the rolls and moves them to above the roll changing area; Step 204: the unmanned vehicle sends a roll-releasing request signal to the primary control system of the roll-changing vehicle; Step 205: The first-level system of the roll-changing trolley detects whether the roll-changing trolley is in an automatic state and whether the roll-changing trolley is in a designated position for roll-changing; Step 206: If the roll-changing trolley is in manual mode or is not at the designated roll-changing position, the unmanned vehicle cannot place the rolls on the roll-changing roller table. At this time, the unmanned vehicle suspends the execution of the lifting work order and continues to send roll placing request information to the first-level control system of the roll-changing trolley. Step 207: If the roll-changing trolley is in automatic state and at the designated roll-changing position, the unmanned vehicle can place the rolls on the roll-changing roller table and send a locking request message to the first-level control system of the roll-changing trolley; Step 208, the roller changing carriage changes to a locked state; Step 209: The ground sensor between the rollers detects whether there are rollers or other objects on the ground; Step 210: If the ground sensor in the roll room detects that there are rolls on the ground, the unmanned driving system suspends the execution of the roll placement work order; Step 211: If the ground sensor in the roll room detects that there are no rolls on the ground, the unmanned driving system continues to execute the roll placement work order; Step 212: The unmanned driving system completes the roller release work order and lifts the main hook to a safe height; Step 213, the primary control system of the roll-changing trolley is unlocked, and the next step can be performed; Step 214, the unmanned vehicle roller placing action is completed.

[0014] The beneficial effects of the present invention are as follows: by adopting the ground sensor between the rolls, the roll up and down line guide device and the ground PLC station between the rolls, it is ensured that each process is stable and reliable when the unmanned vehicle rolls automatically go on and off the line, and the unmanned vehicle is assisted to complete the automatic up and down line operations smoothly, thereby promoting the continuous upgrading of the application in the field of unmanned vehicle system technology, and successfully applying the unmanned vehicle system to the control field of the up and down line system of the grinding roll room, thus expanding the optimization of the efficiency of the unmanned vehicle collaboration, reducing the up and down line time, ensuring safety, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a working diagram of the automatic roll off-line of the unmanned crane of the present invention; Figure 2 This is a working diagram of the automatic online operation of the unmanned rolling mill roll of the present invention; Figure 3 It is a structural schematic diagram of the upper and lower wire guide device of the roller of the present invention; Figure 4 It is a distribution diagram of the use status of the upper and lower wire guide device of the roller of the present invention; Figure 5 It is a top view of the roller placement of the present invention with the assistance of upper and lower wire guide devices; In the figure: anchor bolt hole 1, foundation base 2, guide slope 3. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solutions and advantages of the invention implementation cases clearer, the technical solutions in the implementation cases of the present invention will be clearly and completely described below in conjunction with the drawings in the implementation cases. Obviously, the implementation cases described are only a small part of the implementation cases of the present invention, rather than all the implementation cases. Based on the implementation cases in the present invention, all other implementation cases obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0017] A control device for unmanned crane roller upper and lower lines, comprising a roller inter-ground PLC station, a roller inter-ground sensor and roller inter-ground guide devices, wherein the roller inter-ground sensor is installed on a roller changing track, the roller inter-ground sensor is connected to the input end of the roller inter-ground PLC station, and the roller inter-ground PLC station is respectively connected to the unmanned crane system and the first-level control system of the roller changing trolley through an Ethernet network; there are four roller inter-ground guide devices, which are respectively placed on both sides of the roller changing roller table to match the positions on both sides of the roller bearing seat.

[0018] The roller upper and lower line guide device comprises a basic base 2 and a guide slope 3, the basic base 2 is fixed on the ground, and the guide slope 3 is installed on the basic base 2; the guide slope 3 is a right-angle trapezoidal iron block, and the direction of the inclined surface matches the position of the track.

[0019] The roller upper and lower line guide device also includes an anchor bolt hole 1, which is opened on the basic base 2, and the basic base 2 is fixed to the ground through the anchor bolt hole 1 and bolts.

[0020] The roller room ground sensor is a laser sensor, which comprises a laser emitting device, a laser receiving device and a reflector, and the laser emitting device, the reflector and the laser receiving device are connected in sequence.

[0021] The roll room ground PLC station includes a power module, a digital input module, a communication module and an analog output module connected to the power supply, the digital input module is connected to the roll room ground sensor, and the analog module is connected to the unmanned driving system and the roll changing trolley primary control system through the communication module.

[0022] A method for controlling the unmanned roller loading and unloading lines comprises the following steps: (1) Install a floor sensor in the roll room next to the roll changing table to collect roll position information in real time; (2) The ground PLC station between the rollers feeds back the collected signals to the unmanned vehicle control system, and at the same time receives instructions from the unmanned vehicle system to send locking and unlocking information to the first-level control system of the roller-changing trolley; (3) The first-level control system of the roller changing trolley detects the status and position information of the roller changing trolley. When the roller changing trolley is in automatic state and locked, the unmanned rail rollers are automatically operated on and off the line.

[0023] In step (3), the operation steps of the unmanned roller automatic offline are as follows: Step 101, replacing the used rolls in the hot rolling workshop; Step 102, the roll changing trolley drags the rolls from the hot rolling workshop to the roll changing roll room to a designated position; Step 103, the primary control system of the roll-changing trolley sends roll-changing completion information to the ground PLC station between the rolls, and sends the roll position information to the ground PLC station between the rolls; Step 104, the primary control system of the roll-changing trolley sends a roll-taking request signal to the unmanned vehicle control system through the ground PLC station between the rolls; Step 105: After the roll-changing trolley transports the rolls from the hot rolling workshop back to the roll room, the floor sensor in the roll room sends information about whether the rolls are in place to the floor PLC station in the roll room; Step 106, determining whether the roller has reached the designated position between the rollers, if not, executing step 107, if so, executing step 108; Step 107: If the rollers are not detected by the floor sensor in the roller room, the unmanned driving system cannot generate a work order for lifting the rollers off the production line. Check whether the floor sensor in the roller room is damaged. If damaged, repair it in time. Step 108: If the floor sensor in the roll room detects that the rolls are in place, check whether the unmanned driving system has any unfinished work orders; Step 109: If there is no work order, go to step 111; if there is a work order, go to step 110; Step 110: The unmanned vehicle system detects that there are unfinished work orders, and the system will continue to execute the work orders and then perform self-checks; Step 111: When the unmanned vehicle system has no work order to be executed, the unmanned vehicle moves to the roll changing area, and the unmanned vehicle system sends a roll changing trolley locking signal to the first-level control system of the roll changing trolley; Step 112, the first-level roll-changing car system of the rolling mill locks the roll-changing car; Step 113, the unmanned vehicle executes the roll taking work order and moves to the top of the roll to take the roll; Step 114, the unmanned vehicle lifts the roll from the roll changing roller table to a safe height, and completes the roll removal work order; Step 115, after the unmanned vehicle rises to a safe height, the unmanned vehicle system immediately sends a roll removal completion signal to the first-level control system of the roll-changing vehicle; Step 116: After the primary control system of the roll changing trolley receives the roll taking completion signal, the roll changing trolley is unlocked; Step 117, the roller taking action is completed.

[0024] In step (3), the operation steps of the unmanned roller automatic online are as follows: Step 201, the grinding roll room is a hot rolling workshop standby roll; Step 202, the unmanned vehicle executes the work order of placing the rollers on the roller table of the roller changing trolley; Step 203, the unmanned crane hoists the rolls and moves them to above the roll changing area; Step 204: the unmanned vehicle sends a roll-releasing request signal to the primary control system of the roll-changing vehicle; Step 205: The first-level system of the roll-changing trolley detects whether the roll-changing trolley is in an automatic state and whether the roll-changing trolley is in a designated position for roll-changing; Step 206: If the roll-changing trolley is in manual mode or is not at the designated roll-changing position, the unmanned vehicle cannot place the rolls on the roll-changing roller table. At this time, the unmanned vehicle suspends the execution of the lifting work order and continues to send roll placing request information to the first-level control system of the roll-changing trolley. Step 207: If the roll-changing trolley is in automatic state and at the designated roll-changing position, the unmanned vehicle can place the rolls on the roll-changing roller table and send a locking request message to the first-level control system of the roll-changing trolley; Step 208, the roller changing carriage changes to a locked state; Step 209: The ground sensor between the rollers detects whether there are rollers or other objects on the ground; Step 210: If the ground sensor in the roll room detects that there are rolls on the ground, the unmanned driving system suspends the execution of the roll placement work order; Step 211: If the ground sensor in the roll room detects that there are no rolls on the ground, the unmanned driving system continues to execute the roll placement work order; Step 212: The unmanned driving system completes the roller release work order and lifts the main hook to a safe height; Step 213, the primary control system of the roll-changing trolley is unlocked, and the next step can be performed; Step 214, the unmanned vehicle roller placing action is completed.

[0025] In practical applications, a set of ground PLC stations between rolls is set up to collect the detection data of the ground sensors between rolls, which is used for data exchange with the unmanned driving system and the first-level control system of the roll-changing trolley, and the operation data of the rolls in the process of automatic on-line and off-line is transmitted to the unmanned driving system in real time, and the data is tracked in real time to ensure the automatic on-line and off-line control of the rolls, and to provide the unmanned driving with accurate placement of the rolls when placing the rolls on the roll-changing roller table. A roll on-line guide device is set, in which the guide slope 3 is made into a right-angle trapezoidal shape to provide a guiding effect before the rolls are placed. When the unmanned driving hoist the rolls to place the rolls on the roller table, the hoist shakes after the crane is in place because the connection mode of the hoist is a soft connection; one of the two roller tables is designed with a guide groove, and it is generally difficult to accurately place the rolls into the guide groove. At this time, four roll on-line guide devices are installed on both sides of the roller table as a group, aligned with the two sides of the roller bearing seat, to provide auxiliary guidance for the unmanned driving rolls when they are automatically off-line, so that the rolls are accurately placed on the roller table.

[0026] The present invention ensures that each process is stable and reliable when the unmanned crane rolls automatically go on and off the line, assists the unmanned crane to automatically complete the operation of going on and off the line smoothly, promotes the continuous upgrading of the application of the unmanned crane system technology field, and successfully applies the unmanned crane system to the control field of the on and off line system of the grinding roller room, thereby expanding the optimization of the efficiency of the unmanned crane collaboration, reducing the time of going on and off the line, ensuring safety, and improving production efficiency.

Claims

1. A control device for unmanned rolling mill rolls on and off the production line, characterized in that: It includes a roll-interval ground PLC station, a roll-interval ground sensor and roll-interval upper and lower line guide devices. The roll-interval ground sensor is installed on the roll-changing track. The roll-interval ground sensor is connected to the input end of the roll-interval ground PLC station. The roll-interval ground PLC station is connected to the unmanned driving system and the first-level control system of the roll-changing trolley through the Ethernet network. There are four roll-interval upper and lower line guide devices, which are placed on both sides of the roll-changing roller table and match the positions on both sides of the roll bearing seat.

2. The control device for unmanned rolling mill roll loading and unloading according to claim 1 is characterized in that: The roller upper and lower line guide device comprises a base (2) and a guide slope (3), wherein the base (2) is fixed on the ground, and the guide slope (3) is installed on the base (2); the guide slope (3) is a right-angled trapezoidal iron block, and the direction of the inclined surface matches the position of the track.

3. The control device for unmanned rolling mill roll loading and unloading according to claim 2 is characterized in that: The roller upper and lower line guide device also comprises an anchor bolt hole (1), the anchor bolt hole (1) is opened on the base base (2), and the base base (2) is fixed to the ground through the anchor bolt hole (1) and bolts.

4. The control device for unmanned rolling mill roll loading and unloading according to claim 1 is characterized in that: The roller room ground sensor is a laser sensor, which comprises a laser emitting device, a laser receiving device and a reflector, and the laser emitting device, the reflector and the laser receiving device are connected in sequence.

5. The control device for unmanned rolling mill roll loading and unloading according to claim 1 is characterized in that: The roll room ground PLC station includes a power module, a digital input module, a communication module and an analog output module connected to the power supply, the digital input module is connected to the roll room ground sensor, and the analog module is connected to the unmanned driving system and the roll changing trolley primary control system through the communication module.

6. A control method for unmanned rolling mill rolls on and off the line, characterized in that The following steps are involved: (1) Install a floor sensor in the roll room next to the roll changing table to collect roll position information in real time; (2) The ground PLC station between the rollers feeds back the collected signals to the unmanned vehicle control system, and at the same time receives instructions from the unmanned vehicle system to send locking and unlocking information to the first-level control system of the roller-changing trolley; (3) The first-level control system of the roller changing trolley detects the status and position information of the roller changing trolley. When the roller changing trolley is in automatic state and locked, the unmanned rail rollers are automatically operated on and off the line.

7. The control method for unmanned rolling mill rolls on and off line according to claim 6 is characterized in that: In step (3), the operation steps of the unmanned roller automatic offline are as follows: Step 101, replacing the used rolls in the hot rolling workshop; Step 102, the roll changing trolley drags the rolls from the hot rolling workshop to the roll changing roll room to a designated position; Step 103, the primary control system of the roll-changing trolley sends roll-changing completion information to the ground PLC station between the rolls, and sends the roll position information to the ground PLC station between the rolls; Step 104, the primary control system of the roll-changing trolley sends a roll-taking request signal to the unmanned vehicle control system through the ground PLC station between the rolls; Step 105: After the roll-changing trolley transports the rolls from the hot rolling workshop back to the roll room, the floor sensor in the roll room sends information about whether the rolls are in place to the floor PLC station in the roll room; Step 106, determining whether the roller has reached the designated position between the rollers, if not, executing step 107, if so, executing step 108; Step 107: If the rollers are not detected by the floor sensor in the roller room, the unmanned driving system cannot generate a work order for lifting the rollers off the production line. Check whether the floor sensor in the roller room is damaged. If damaged, repair it in time. Step 108: If the floor sensor in the roll room detects that the rolls are in place, check whether the unmanned driving system has any unfinished work orders; Step 109: If there is no work order, go to step 111; if there is a work order, go to step 110; Step 110: The unmanned vehicle system detects that there are unfinished work orders, and the system will continue to execute the work orders and then perform self-checks; Step 111: When the unmanned vehicle system has no work order to be executed, the unmanned vehicle moves to the roll changing area, and the unmanned vehicle system sends a roll changing trolley locking signal to the first-level control system of the roll changing trolley; Step 112, the first-level roll-changing car system of the rolling mill locks the roll-changing car; Step 113, the unmanned vehicle executes the roll taking work order and moves to the top of the roll to take the roll; Step 114, the unmanned vehicle lifts the roll from the roll changing roller table to a safe height, and completes the roll removal work order; Step 115, after the unmanned vehicle rises to a safe height, the unmanned vehicle system immediately sends a roll removal completion signal to the first-level control system of the roll-changing vehicle; Step 116: After the primary control system of the roll changing trolley receives the roll taking completion signal, the roll changing trolley is unlocked; Step 117, the roller taking action is completed.

8. The control method for unmanned roller loading and unloading according to claim 6 is characterized in that: In step (3), the operation steps of the unmanned roller automatic online are as follows: Step 201, the grinding roll room is a hot rolling workshop standby roll; Step 202, the unmanned vehicle executes the work order of placing the rollers on the roller table of the roller changing trolley; Step 203, the unmanned crane hoists the rolls and moves them to above the roll changing area; Step 204: the unmanned vehicle sends a roll-releasing request signal to the primary control system of the roll-changing vehicle; Step 205: The first-level system of the roll-changing trolley detects whether the roll-changing trolley is in an automatic state and whether the roll-changing trolley is in a designated position for roll-changing; Step 206: If the roll-changing trolley is in manual mode or is not at the designated roll-changing position, the unmanned vehicle cannot place the rolls on the roll-changing roller table. At this time, the unmanned vehicle suspends the execution of the lifting work order and continues to send roll placing request information to the first-level control system of the roll-changing trolley. Step 207: If the roll-changing trolley is in automatic state and at the designated roll-changing position, the unmanned vehicle can place the rolls on the roll-changing roller table and send a locking request message to the first-level control system of the roll-changing trolley; Step 208, the roller changing carriage changes to a locked state; Step 209: The ground sensor between the rollers detects whether there are rollers or other objects on the ground; Step 210: If the ground sensor in the roll room detects that there are rolls on the ground, the unmanned driving system suspends the execution of the roll placement work order; Step 211: If the ground sensor in the roll room detects that there are no rolls on the ground, the unmanned driving system continues to execute the roll placement work order; Step 212: The unmanned driving system completes the roller release work order and lifts the main hook to a safe height; Step 213, the primary control system of the roll-changing trolley is unlocked, and the next step can be performed; Step 214, the unmanned vehicle roller placing action is completed.

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