A control device for unmanned overhead crane roll loading and unloading.

Abstract

This invention relates to a control device and method for unmanned trolley roll loading and unloading, belonging to the technical field of metallurgical control equipment and methods. The technical solution of this invention is as follows: four roll loading and unloading guide devices are respectively placed on both sides of the roll changing table, matching the positions of the roll bearing seats on both sides; a ground sensor between the rolls is installed on the roll changing track, and the ground sensor between the rolls is connected to the input terminal of the ground PLC station between the rolls. The ground PLC station between the rolls is connected to the unmanned trolley system and the primary control system of the roll changing trolley via Ethernet. This invention ensures the stability and reliability of each process during the automatic loading and unloading of rolls by the unmanned trolley, assists in the smooth completion of the automatic loading and unloading operation of the unmanned trolley, promotes the continuous upgrading of the application of the unmanned trolley system technology, successfully applies the unmanned trolley system to the field of rolling mill roll loading and unloading system control, expands the efficiency optimization of unmanned trolley collaboration, reduces loading and unloading time, ensures safety, and improves production efficiency.

Description

Technical Field

[0001] This invention relates to a control device and method for unmanned overhead crane roll loading and unloading, belonging to the technical field of metallurgical control equipment and methods. Background Technology

[0002] With the increasingly rapid pace of hot rolling production, the daily roll changing volume in the hot rolling mill, which serves as the production preparation workshop for the former, has also increased significantly. Each rolled roll that has been ground needs to be frequently hoisted onto the roll changing conveyor and pushed to the hot rolling workshop. Because accurately hoisting the rolls onto the roll conveyor requires extremely high precision from the overhead crane, the existing overhead crane hoisting methods and overhead crane lifting equipment have many problems and defects:

[0003] First, the changing of rolls between hot rolling mill rolls is mostly done manually by hoisting, which is time-consuming and has very low production efficiency; crane operators are prone to crane-related injuries when operating the crane on the ground.

[0004] Secondly, the roller conveyor consists of two tracks, one with a planar design and the other with a guide groove design. When the roller is being transported by a crane, it is difficult to accurately place the roller into the guide groove.

[0005] Thirdly: The connection between the overhead crane hook and the lifting device is a rigid connection. The lifting device cannot be perpendicular to the horizontal plane of the roller conveyor. The overhead crane operator can only manually intervene multiple times to make the guide side of the roll be placed into the guide groove. Moreover, the lifting device has a double hook design, which makes it impossible for the lifting device to rotate. Summary of the Invention

[0006] The purpose of this invention is to provide a control device and method for unmanned crane roll loading and unloading. By employing ground sensors between rolls, roll loading and unloading guide devices, and a ground PLC station between rolls, the invention ensures the stability and reliability of each process during the automatic loading and unloading of rolls by the unmanned crane, assists in the smooth completion of the automatic loading and unloading operation of the unmanned crane, promotes the continuous upgrading of the application of unmanned crane system technology, successfully applies the unmanned crane system to the field of grinding roll loading and unloading system control, expands the efficiency optimization of unmanned crane collaboration, reduces loading and unloading time, ensures safety, improves production efficiency, and effectively solves the above-mentioned problems existing in the background technology.

[0007] The technical solution of the present invention is: a control device for unmanned trolley roll loading and unloading, comprising a roll-to-roller ground PLC station, a roll-to-roller ground sensor, and roll loading and unloading guide devices. The roll-to-roller ground sensor is installed on the roll changing track and connected to the input terminal of the roll-to-roller ground PLC station. The roll-to-roller ground PLC station is connected to the unmanned trolley system and the primary control system of the roll changing trolley via an Ethernet network. There are four roll loading and unloading guide devices, which are respectively placed on both sides of the roll changing track and matched with the positions of both sides of the roll bearing seat.

[0008] The roller guide device includes a base base (2) and a guide slope (3). The base base (2) is fixed on the ground, and the guide slope (3) is installed on the base base (2). The guide slope (3) is a right-angled trapezoidal iron block, and the orientation of the inclined surface matches the position of the track.

[0009] The roll guide device also includes anchor bolt holes (1), which are opened on the foundation base (2). The foundation base (2) is fixed to the ground through the anchor bolt holes (1) and bolts.

[0010] The ground sensor between the rolls is a laser sensor, which includes a laser emitting device, a laser receiving device, and a reflector, which are connected in sequence.

[0011] The roller-interval ground PLC station includes a power supply 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 roller-interval ground sensors, and the analog output module is connected to the unmanned vehicle system and the first-level control system of the roll changing trolley through the communication module.

[0012] A control method for unmanned overhead cranes loading and unloading rolls on a milling line includes the following steps:

[0013] 1. Install ground sensors between the rolls next to the roll changing table to collect roll position information in real time;

[0014] 2. The PLC station on the roller floor will collect signals and feed them back to the unmanned trolley control system. At the same time, it will receive instructions from the unmanned trolley system and send locking and unlocking information to the first-level control system of the roller changing trolley.

[0015] 3. The primary 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 mode and locked, it performs automatic loading and unloading operations of the unmanned trolley rollers.

[0016] In step 3, the operation steps for the automatic unmanned crane roll unloading are as follows:

[0017] Step 101: Replace the used rolls in the hot rolling workshop;

[0018] Step 102: The roll changing trolley transports the rolls from the hot rolling workshop to the roll changing room and moves them to the designated position.

[0019] 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.

[0020] Step 104: The primary control system of the roll changing trolley sends a roll pick-up request signal to the unmanned trolley control system through the ground PLC station between the rolls.

[0021] Step 105: After the roll changing trolley transports the roll from the hot rolling workshop back to the roll room, the ground sensor in the roll room sends the roll arrival status to the ground PLC station in the roll room.

[0022] Step 106: Determine whether the roll has reached the designated position between the rolls. If it has not reached the designated position, proceed to step 107. If it has reached the designated position, proceed to step 108.

[0023] Step 107: If the ground sensor between the rolls does not detect the rolls, the unmanned crane system cannot generate a work order for hoisting the rolls off the line. Check if the ground sensor between the rolls is damaged. If it is damaged, repair it in time.

[0024] Step 108: If the ground sensor between the rolls detects that the rolls are in place, check if there are any unfinished work orders in the unmanned vehicle system;

[0025] Step 109: If there is no work order, proceed to step 111; if there is a work order, proceed to step 110.

[0026] Step 110: If the autonomous vehicle system detects that there are unfinished work orders, the system will continue to complete the work orders and then perform a self-check.

[0027] Step 111: When the unmanned crane system has no work orders to be executed, the unmanned crane moves to the roller changing area and sends a roller changing trolley lock signal to the roller changing trolley primary control system.

[0028] Step 112: The rolling mill's primary roll changing trolley system locks the roll changing trolley.

[0029] Step 113: The unmanned crane executes the roll-picking work order and moves above the roll to pick up the roll;

[0030] Step 114: The unmanned crane lifts the roll from the roll changing table to a safe height, completing the roll removal work order;

[0031] Step 115: After the unmanned crane rises to a safe height, the unmanned crane system immediately sends a roll picking completion signal to the primary control system of the roll changing trolley.

[0032] Step 116: After receiving the roll picking completion signal, the roll changing trolley primary control system unlocks the roll changing trolley.

[0033] Step 117: Roller removal action completed.

[0034] In step 3, the operation steps for the automatic loading of the unmanned crane rolls onto the production line are as follows:

[0035] Step 201: The grinding roll room is for preparing rolls for the hot rolling workshop;

[0036] Step 202: The unmanned crane executes the roll placement work order to the roll changing trolley roller conveyor;

[0037] Step 203: The unmanned crane moves the rolls above the roll changing area;

[0038] Step 204: The unmanned crane sends a roll release request signal to the primary control system of the roll changing trolley;

[0039] Step 205: The primary system of the roll changing trolley detects whether the roll changing trolley is in automatic mode and whether the roll changing trolley is in the designated roll changing position;

[0040] Step 206: If the roll changing trolley is in manual mode or not in the designated roll changing position, the unmanned crane cannot lift and place the roll onto the roll changing table. At this time, the unmanned crane will suspend the execution of the lifting work order and continue to send the roll placement request information to the first-level control system of the roll changing trolley.

[0041] Step 207: If the roll changing trolley is in automatic mode and at the designated roll changing position, the unmanned crane can lift and place the roll onto the roll changing table and send a locking request message to the first-level control system of the roll changing trolley.

[0042] Step 208: The roller changing trolley is locked.

[0043] Step 209: The ground sensor between the rolls detects whether there are rolls or other objects on the ground;

[0044] Step 210: If the ground sensor between the rolls detects a roll on the ground, the unmanned vehicle system suspends the execution of the roll release work order;

[0045] Step 211: If the ground sensor between the rolls detects that there are no rolls on the ground, the unmanned vehicle system continues to execute the roll release work order;

[0046] Step 212: The unmanned crane system completes the roll release work order and raises the main hook to a safe height;

[0047] Step 213: The primary control system of the roller changing trolley is unlocked, and the next action can be performed.

[0048] Step 214: The unmanned crane roll-releasing action is completed.

[0049] The beneficial effects of this invention are: by adopting ground sensors between rolls, roll loading and unloading guide devices, and ground PLC stations between rolls, the stability and reliability of each process during the automatic loading and unloading of rolls by unmanned cranes are ensured, the automatic loading and unloading operations of unmanned cranes are smoothly completed, the application of unmanned crane system technology is continuously upgraded, the unmanned crane system is successfully applied to the field of grinding roll loading and unloading system control, the efficiency optimization of unmanned crane collaboration is expanded, the loading and unloading time is reduced, safety is ensured, and production efficiency is improved. Attached Figure Description

[0050] Figure 1This is a flowchart illustrating the automatic roll unloading process of the unmanned crane of this invention.

[0051] Figure 2 This is a flowchart illustrating the automatic roll loading process of the unmanned crane of this invention.

[0052] Figure 3 This is a schematic diagram of the structure of the roller guide device of the present invention;

[0053] Figure 4 This is a schematic diagram showing the distribution of the upper and lower line guide devices of the present invention in use;

[0054] Figure 5 This is a top view of the roll placement using the upper and lower line guide device assisted by the present invention;

[0055] In the diagram: Anchor bolt hole 1, foundation base 2, guide slope 3. Detailed Implementation

[0056] To make the purpose, technical solutions, and advantages of the invention's embodiments clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only a small part of the embodiments of the present invention, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0057] A control device for unmanned trolley roll loading and unloading includes an inter-roller ground PLC station, an inter-roller ground sensor, and roll loading and unloading guide devices. The inter-roller ground sensor is installed on the roll changing track and connected to the input terminal of the inter-roller ground PLC station. The inter-roller ground PLC station is connected to the unmanned trolley system and the primary control system of the roll changing trolley via Ethernet. There are four roll loading and unloading guide devices, which are placed on both sides of the roll changing track and matched to the positions of both sides of the roll bearing seat.

[0058] The roller guide device includes a base 2 and a guide slope 3. 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 orientation of the inclined surface matches the position of the track.

[0059] The roll guide device also includes anchor bolt holes 1, which are opened on the foundation base 2. The foundation base 2 is fixed to the ground by the anchor bolt holes 1 and bolts.

[0060] The ground sensor between the rolls is a laser sensor, which includes a laser emitting device, a laser receiving device, and a reflector, which are connected in sequence.

[0061] The roller-interval ground PLC station includes a power supply 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 roller-interval ground sensors, and the analog output module is connected to the unmanned vehicle system and the first-level control system of the roll changing trolley through the communication module.

[0062] A control method for unmanned overhead cranes loading and unloading rolls on a milling line includes the following steps:

[0063] 1. Install ground sensors between the rolls next to the roll changing table to collect roll position information in real time;

[0064] 2. The PLC station on the roller floor will collect signals and feed them back to the unmanned trolley control system. At the same time, it will receive instructions from the unmanned trolley system and send locking and unlocking information to the first-level control system of the roller changing trolley.

[0065] 3. The primary 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 mode and locked, it performs automatic loading and unloading operations of the unmanned trolley rollers.

[0066] In step 3, the operation steps for the automatic unmanned crane roll unloading are as follows:

[0067] Step 101: Replace the used rolls in the hot rolling workshop;

[0068] Step 102: The roll changing trolley transports the rolls from the hot rolling workshop to the roll changing room and moves them to the designated position.

[0069] 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.

[0070] Step 104: The primary control system of the roll changing trolley sends a roll pick-up request signal to the unmanned trolley control system through the ground PLC station between the rolls.

[0071] Step 105: After the roll changing trolley transports the roll from the hot rolling workshop back to the roll room, the ground sensor in the roll room sends the roll arrival status to the ground PLC station in the roll room.

[0072] Step 106: Determine whether the roll has reached the designated position between the rolls. If it has not reached the designated position, proceed to step 107. If it has reached the designated position, proceed to step 108.

[0073] Step 107: If the ground sensor between the rolls does not detect the rolls, the unmanned crane system cannot generate a work order for hoisting the rolls off the line. Check if the ground sensor between the rolls is damaged. If it is damaged, repair it in time.

[0074] Step 108: If the ground sensor between the rolls detects that the rolls are in place, check if there are any unfinished work orders in the unmanned vehicle system;

[0075] Step 109: If there is no work order, proceed to step 111; if there is a work order, proceed to step 110.

[0076] Step 110: If the autonomous vehicle system detects that there are unfinished work orders, the system will continue to complete the work orders and then perform a self-check.

[0077] Step 111: When the unmanned crane system has no work orders to be executed, the unmanned crane moves to the roller changing area and sends a roller changing trolley lock signal to the roller changing trolley primary control system.

[0078] Step 112: The rolling mill's primary roll changing trolley system locks the roll changing trolley.

[0079] Step 113: The unmanned crane executes the roll-picking work order and moves above the roll to pick up the roll;

[0080] Step 114: The unmanned crane lifts the roll from the roll changing table to a safe height, completing the roll removal work order;

[0081] Step 115: After the unmanned crane rises to a safe height, the unmanned crane system immediately sends a roll picking completion signal to the primary control system of the roll changing trolley.

[0082] Step 116: After receiving the roll picking completion signal, the roll changing trolley primary control system unlocks the roll changing trolley.

[0083] Step 117: Roller removal action completed.

[0084] In step 3, the operation steps for the automatic loading of the unmanned crane rolls onto the production line are as follows:

[0085] Step 201: The grinding roll room is for preparing rolls for the hot rolling workshop;

[0086] Step 202: The unmanned crane executes the roll placement work order to the roll changing trolley roller conveyor;

[0087] Step 203: The unmanned crane moves the rolls above the roll changing area;

[0088] Step 204: The unmanned crane sends a roll release request signal to the primary control system of the roll changing trolley;

[0089] Step 205: The primary system of the roll changing trolley detects whether the roll changing trolley is in automatic mode and whether the roll changing trolley is in the designated roll changing position;

[0090] Step 206: If the roll changing trolley is in manual mode or not in the designated roll changing position, the unmanned crane cannot lift and place the roll onto the roll changing table. At this time, the unmanned crane will suspend the execution of the lifting work order and continue to send the roll placement request information to the first-level control system of the roll changing trolley.

[0091] Step 207: If the roll changing trolley is in automatic mode and at the designated roll changing position, the unmanned crane can lift and place the roll onto the roll changing table and send a locking request message to the first-level control system of the roll changing trolley.

[0092] Step 208: The roller changing trolley is locked.

[0093] Step 209: The ground sensor between the rolls detects whether there are rolls or other objects on the ground;

[0094] Step 210: If the ground sensor between the rolls detects a roll on the ground, the unmanned vehicle system suspends the execution of the roll release work order;

[0095] Step 211: If the ground sensor between the rolls detects that there are no rolls on the ground, the unmanned vehicle system continues to execute the roll release work order;

[0096] Step 212: The unmanned crane system completes the roll release work order and raises the main hook to a safe height;

[0097] Step 213: The primary control system of the roller changing trolley is unlocked, and the next action can be performed.

[0098] Step 214: The unmanned crane roll-releasing action is completed.

[0099] In practical applications, a set of PLC stations is set up between the rolls to collect detection data from the ground sensors between the rolls. This data is used for data exchange with the unmanned crane system and the primary control system of the roll changing trolley. The system transmits real-time operational data during the automatic roll loading and unloading process to the unmanned crane system and tracks the data to ensure automatic roll loading and unloading control. This provides precise placement of the rolls onto the roll changing table for the unmanned crane's automatic loading. A roll loading and unloading guide device is installed, with guide slope 3 designed as a right-angled trapezoid to provide guidance before the rolls are placed. When the unmanned crane lifts the rolls onto the roll table, the flexible connection of the lifting device causes it to sway after the crane reaches its position. One of the two roll tables has a guide groove design, which makes it difficult to accurately place the rolls into the groove. Therefore, four roll loading and unloading guide devices are installed as a group on both sides of the roll table, aligned with the sides of the positioned roll bearing seats, providing auxiliary guidance for the automatic unloading of the rolls by the unmanned crane, ensuring precise placement of the rolls on the roll table.

[0100] This invention ensures the stability and reliability of each process during the automatic loading and unloading of unmanned crane rolls, assists in the smooth completion of automatic loading and unloading operations, promotes the continuous upgrading of the application of unmanned crane system technology, successfully applies the unmanned crane system to the field of rolling mill roll loading and unloading system control, expands the efficiency optimization of unmanned crane collaboration, reduces loading and unloading time, ensures safety, and improves production efficiency.

Claims

1. A control device for unmanned overhead crane roll loading and unloading, characterized in that: It includes an inter-roller ground PLC station, inter-roller ground sensors, and roll loading / unloading guide devices. The inter-roller ground sensors are installed on the roll changing conveyor and connected to the input terminal of the inter-roller ground PLC station. The inter-roller ground PLC station is connected to the unmanned vehicle system and the first-level control system of the roll changing trolley via Ethernet. There are four roll loading / unloading guide devices, which are placed on both sides of the roll changing conveyor and matched to the positions on both sides of the roll bearing seat. The roller guide device includes a base base (2) and a guide slope (3). The base base (2) is fixed on the ground, and the guide slope (3) is installed on the base base (2). The guide slope (3) is a right-angled trapezoidal iron block, and the orientation of the inclined surface matches the position of the roller changing table. The roll guide device also includes anchor bolt holes (1), which are opened on the foundation base (2). The foundation base (2) is fixed to the ground through the anchor bolt holes (1) and bolts. The ground sensor between the rolls is a laser sensor, which includes 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. The roller floor PLC station includes a power module, a digital input module, a communication module, and an analog output module. The digital input module is connected to the roller floor sensor, and the analog output module is connected to the unmanned vehicle system and the first-level control system of the roll changing trolley through the communication module. The control method for unmanned crane roll loading and unloading using the above-mentioned control device includes the following steps: Step 1: Ground sensors between the rolls collect roll position information in real time; Step 2: The PLC station on the roller floor feeds back the collected signals to the unmanned trolley system, and at the same time receives instructions from the unmanned trolley system to send locking and unlocking information to the first-level control system of the roller changing trolley. Step 3: The primary control system of the roll changing trolley detects the status and position information of the roll changing trolley. When the roll changing trolley is in automatic mode and locked, the unmanned trolley automatically loads and unloads the rolls.

2. The control device for unmanned overhead crane roll loading and unloading according to claim 1, characterized in that: In step 3, the operation steps for the automatic unmanned crane roll unloading are as follows: Step 101: Replace the used rolls in the hot rolling workshop; Step 102: The roll changing trolley transports the rolls from the hot rolling workshop to the roll changing room and moves them to the 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 pick-up request signal to the unmanned trolley system through the ground PLC station between the rolls. Step 105: After the roll changing trolley transports the roll from the hot rolling workshop back to the roll changing room, the ground sensor in the roll changing room sends the roll's position status to the ground PLC station in the roll changing room. Step 106: Determine whether the roll has reached the designated position between the rolls. If it has not reached the designated position, proceed to step 107. If it has reached the designated position, proceed to step 108. Step 107: If the ground sensor between the rolls does not detect the rolls, the unmanned crane system cannot generate a work order for hoisting the rolls off the line. Check if the ground sensor between the rolls is damaged. If it is damaged, repair it in time. Step 108: If the ground sensor between the rolls detects that the rolls are in place, check if there are any unfinished work orders in the unmanned vehicle system; Step 109: If there is no work order, proceed to step 111; if there is a work order, proceed to step 110. Step 110: If the autonomous vehicle system detects that there are unfinished work orders, the autonomous vehicle system will continue to complete the work orders and then perform a self-check. Step 111: When the unmanned crane system has no work orders to be executed, the unmanned crane moves to the roller changing area and sends a roller changing trolley lock signal to the roller changing trolley primary control system. Step 112: The primary control system of the roll changing trolley locks the roll changing trolley. Step 113: The unmanned crane executes the roll-picking work order and moves above the roll to pick up the roll; Step 114: The unmanned crane lifts the roll from the roll changing table to a safe height, completing the roll removal work order; Step 115: After the unmanned crane rises to a safe height, the unmanned crane system immediately sends a roll picking completion signal to the primary control system of the roll changing trolley. Step 116: After receiving the roll picking completion signal, the roll changing trolley primary control system unlocks the roll changing trolley. Step 117: Roller removal action completed.

3. The control device for unmanned overhead crane roll loading and unloading according to claim 1, characterized in that: In step 3, the operation steps for the automatic loading of the unmanned crane rolls onto the production line are as follows: Step 201: The grinding roll room is for preparing rolls for the hot rolling workshop; Step 202: The unmanned crane executes the roll placement work order towards the roll changing conveyor. Step 203: The unmanned crane moves the rolls above the roll changing area; Step 204: The unmanned crane sends a roll release request signal to the primary control system of the roll changing trolley; Step 205: The primary control system of the roll changing trolley detects whether the roll changing trolley is in automatic mode and whether the roll changing trolley is in the designated roll changing position; Step 206: If the roll changing trolley is in manual mode or not in the designated roll changing position, the unmanned crane cannot lift and place the roll onto the roll changing table. At this time, the unmanned crane will suspend the execution of the lifting work order and continue to send the roll placement request information to the first-level control system of the roll changing trolley. Step 207: If the roll changing trolley is in automatic mode and at the designated roll changing position, the unmanned crane can lift and place the roll onto the roll changing table and send a locking request message to the first-level control system of the roll changing trolley. Step 208: The roller changing trolley is locked. Step 209: The ground sensor between the rolls detects whether there are rolls or other objects on the ground; Step 210: If the ground sensor between the rolls detects a roll on the ground, the unmanned vehicle system suspends the execution of the roll release work order; Step 211: If the ground sensor between the rolls detects that there are no rolls on the ground, the unmanned vehicle system continues to execute the roll release work order; Step 212: The unmanned crane system completes the roll release work order and raises the main hook to a safe height; Step 213: The primary control system of the roller changing trolley is unlocked, and the next action can be performed. Step 214: The unmanned crane roll-releasing action is completed.

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