Simulation control method for stepping beam lifting position sensor

Abstract

A stepping beam lifting position sensor simulation control method comprises the steps that in the lifting or descending process of a steel coil, at each monitoring point position, a PLC obtains the sensor horizontal height position of the steel coil at the monitoring point in real time through a lifting position sensor, and meanwhile the PLC obtains the simulation horizontal height position of the steel coil at the monitoring point through calculation; when the PLC detects that the lifting position sensor is not damaged, the detection point corrects the simulated horizontal height position of the steel coil at the monitoring point according to the horizontal height position of the sensor of the steel coil, and even if the simulated horizontal height position of the steel coil at the monitoring point is equal to the horizontal height position of the sensor of the steel coil at the monitoring point, the PLC detects that the lifting position sensor is damaged; and taking the simulated horizontal height position of the steel coil at the monitoring point as the simulated horizontal height position of the steel coil at the monitoring point.

Description

Technical Field

[0001] The invention relates to the field of steel coil transmission by a walking beam. Background Art

[0002] The walking beam is one of the most commonly used steel coil transportation equipment in steel rolling mills. The steel coils coming out of the hot rolling coiler are generally transported by walking beams, and then transported to the finished product warehouse by fast chains and slow chains. The entrances and exits of cold rolling, galvanizing, and continuous withdrawal lines also use walking beams to transport steel coils. The walking beam is divided into an entrance walking beam and an exit walking beam according to the different layout positions. The walking beam is generally underground, and a fixed saddle with a saddle-shaped welded structure is arranged on the walking beam. Each fixed saddle is arranged at a certain distance. The moving beam moves the steel coil from one fixed saddle to the next fixed saddle every time it runs for a cycle. The walking beam is composed of a lifting mechanism and a transverse mechanism to realize step-by-step material transportation. In some cases, the stepping can be realized by an eccentric rotary mechanism.

[0003] The walking beam realizes the step-by-step handling of the steel coil on the fixed saddle through the periodic movement of the moving beam "rising-forward-descending-backward". The movement of the walking beam is divided into two parts: translational movement and lifting movement. The translational movement is generally driven by a translational hydraulic cylinder device. According to the type of lifting mechanism, the walking beam can be divided into vertical, connecting rod, ramp and eccentric wheel types. The vertical walking beam is lifted directly by the hydraulic cylinder, and the lifting stroke can be made larger. The commonly used stroke can reach 380mm, but when it is greater than 400mm, the rigidity of the hydraulic cylinder piston rod is higher, the stability of the moving beam operation is reduced, and the two hydraulic cylinders are required to be synchronized during lifting. The hydraulic cylinder needs to be equipped with a linear displacement sensor or a wire encoder. The hydraulic control and automatic control system have higher requirements. It is used for the transportation of light and medium-loaded steel coils. The connecting rod type walking beam realizes the lifting and lowering of the moving beam by the swing of the connecting rod, and the connecting rod ensures the synchronization of the lifting and lowering of the moving beam. The hydraulic circuit and control system are relatively simple, and it is often used for the transportation of light and medium-loaded steel coils. The ramped walking beam is lifted and lowered by wheels and ramps, and can bear a large load. It is mostly used for transporting billets in heating furnaces. The eccentric wheel walking beam is lifted and lowered by the eccentric wheel mechanism. The lifting distance of the moving beam is a function of the swing angle of the eccentric wheel. When the hydraulic cylinder moves at a constant speed, the speed of the moving beam rises from slow to fast to slow. It starts and stops at low speed, and the impact is relatively small. It runs smoothly. In addition, the eccentric wheel walking beam has good load-bearing capacity and is easy to maintain. The lifting stroke is mostly used for 50 to 280 mm. When the stroke is greater than 300 mm, the outer diameter of the eccentric wheel bearing reaches 950 mm. The larger the bearing specification, the higher the cost. Therefore, the lifting stroke of this type of walking beam should not be too large.

[0004] In actual production, due to the harsh environment, high temperature, strong vibration and other reasons, the lifting position sensor is easily damaged. When the lifting position sensor is damaged, it will seriously affect the transportation rhythm of the steel coil and the production of the hot rolling mill. After the lifting position sensor is damaged, it takes about 6 hours to replace a new lifting position sensor. The time is tight and the task is heavy, which is prone to personal operation danger and equipment operation danger. At the same time, the failure downtime will cause great economic losses. Summary of the invention

[0005] The technical problem to be solved by the present invention is: how to solve the problem of economic losses and personal operation dangers and equipment operation dangers caused by damage to the lifting position sensor.

[0006] The technical solution adopted by the present invention is: a simulation control method for a stepping beam lifting position sensor. The coiling stepping beam transportation is an important transportation link. It is responsible for the transportation of steel coils and transports steel coils quickly and safely. The coiling fast chain is located at the exit of the coiler and is used to transport the steel coils transported by the lifting trolley. The corner table receives the steel coils transported by the first stepping beam and transports them to the second stepping beam. The grating is used to detect the position and speed of the steel coil and track and control it. The lifting position sensor is used to detect the stroke of the stepping beam lifting hydraulic cylinder, the lateral position sensor is used to detect the stroke of the stepping beam lateral position sensor, the cable drag chain prevents the lifting position sensor cable, the lateral solenoid valve controls the action of the lateral hydraulic cylinder, and the lifting solenoid valve controls the action of the lifting hydraulic cylinder. PLC performs overall control and management. During the lifting or lowering process of the steel coil, at each monitoring point, PLC obtains the sensor horizontal height position of the steel coil at the monitoring point in real time through the lifting position sensor. At the same time, PLC obtains the simulated horizontal height position of the steel coil at the monitoring point through calculation. When PLC detects that the lifting position sensor is not damaged, it corrects the simulated horizontal height position of the steel coil at the monitoring point with the sensor horizontal height position of the steel coil. Even if the simulated horizontal height position of the steel coil at the monitoring point is equal to the sensor horizontal height position of the steel coil at the detection point, when PLC detects that the lifting position sensor is damaged, it uses the simulated horizontal height position of the steel coil at the monitoring point as the simulated horizontal height position of the steel coil at the monitoring point.

[0007] The calculation to obtain the simulated horizontal height position of the steel coil at the monitoring point is performed according to the following formula S new =S old +V*T Among them, S new is the simulated horizontal height position of the monitoring point, S old is the horizontal height position of the previous monitoring point or the initial position of the monitoring point, T is the time of the steel coil from the previous monitoring point of the monitoring point to the monitoring point, and V is the average vertical speed of the steel coil from the previous monitoring point of the monitoring point to the monitoring point.

[0008] The damage of the lifting position sensor means that at one detection point, the absolute value of (simulated horizontal height position of the steel coil-sensor horizontal height position of the steel coil) / simulated horizontal height position of the steel coil is greater than 0.2.

[0009] The beneficial effect of the present invention is that the present invention replaces the sensor horizontal height position of the steel coil with the simulated horizontal height position of the steel coil at the monitoring point in the PLC for monitoring and calculation, thereby postponing the replacement of the faulty lifting position sensor to a major overhaul, thereby generating better economic benefits. DETAILED DESCRIPTION

[0010] The existing step beam lifting position sensor simulation control method, the coiling step beam transportation is an important transportation link, responsible for the transportation of steel coils, fast and safe delivery of steel coils, the coiling fast chain is located at the coiler outlet, used to transport the steel coils delivered by the lifting trolley, the corner table receives the steel coils delivered by the first step beam and delivers them to the second step beam, the grating is used to detect the position and speed of the steel coil and track and control it, the lifting position sensor is used to detect the stroke of the step beam lifting hydraulic cylinder, the lateral position sensor is used to detect the stroke of the step beam lateral position sensor, the cable drag chain prevents the lifting position sensor cable, the lateral solenoid valve controls the movement of the lateral hydraulic cylinder, the lifting solenoid valve controls the movement of the lifting hydraulic cylinder, and the overall control and management are carried out through PLC.

[0011] In the prior art, during the transmission process of the walking beam, the horizontal height position of the sensor at each detection point needs to be obtained by the lifting position sensor of the detection point to participate in the work. Due to the harsh environment, high temperature, strong vibration and other reasons, the lifting position sensor is easily damaged. When the lifting position sensor is damaged, it will seriously affect the transportation rhythm of the steel coil and affect the production of the hot rolling mill. After the lifting position sensor is damaged, it takes about 6 hours to replace a new lifting position sensor. The time is tight and the task is heavy, which is prone to personal operation danger and equipment operation danger. At the same time, failure and downtime will cause great economic losses.

[0012] In the present invention, the simulated horizontal height position of the steel coil at the monitoring point replaces the sensor horizontal height position of the steel coil to participate in the work.

[0013] During the lifting or lowering process of the steel coil, at each monitoring point, the PLC obtains the sensor horizontal height position of the steel coil at the monitoring point in real time through the lifting position sensor, and at the same time, the PLC obtains the simulated horizontal height position of the steel coil at the monitoring point through calculation.

[0014] The calculation to obtain the simulated horizontal height position of the steel coil at the monitoring point is performed according to the following formula S new =S old +V*T Among them, S new is the simulated horizontal height position of the monitoring point, S old is the horizontal height position of the previous monitoring point or the initial position of the monitoring point, T is the time of the steel coil from the previous monitoring point of the monitoring point to the monitoring point, and V is the average vertical speed of the steel coil from the previous monitoring point of the monitoring point to the monitoring point.

[0015] When the monitoring point is the initial detection point, the detection point is at the end of the first stepping beam (the previous stepping beam) and the position is fixed. When the monitoring point is the final monitoring point, the detection point is at the beginning of the second stepping beam (the next stepping beam) and the position is fixed.

[0016] During the process of the walking beam transmitting the steel coil, the options of V are slow descent, fast descent, slow rise, and fast rise.

[0017] In one embodiment: slow descent: V is -2.2 mm / 50 ms, fast descent: V is -8.0 mm / 50 ms, slow rise: V is 2 mm / 50 ms, fast rise: V is 2.8 mm / 50 ms.

[0018] In one embodiment, T is the computer scan period of 50 milliseconds.

[0019] When the PLC detects that the lifting position sensor is not damaged, the detection point uses the sensor horizontal height position of the steel coil to correct the simulated horizontal height position of the steel coil at the monitoring point, even if the simulated horizontal height position of the steel coil at the monitoring point is equal to the sensor horizontal height position of the steel coil at the detection point. When the PLC detects that the lifting position sensor is damaged, the simulated horizontal height position of the steel coil at the monitoring point is used as the simulated horizontal height position of the steel coil at the monitoring point.

[0020] The damage of the lifting position sensor means that at one detection point, the absolute value of (simulated horizontal height position of the steel coil-sensor horizontal height position of the steel coil) / simulated horizontal height position of the steel coil is greater than 0.2.

[0021] After using this technical solution for the No. 1 walking beam simulation position sensor of the hot rolling mill of Taigang, the effect is as follows: Before the project was put into use, the sensor failure occurred once every six months, and each replacement took 6 hours. 26 pieces of steel were produced per hour, 30 tons per piece, and each ton of steel was sold for 3,000 yuan. The cost was 2,400 yuan, and the annual benefits were: (3000-2400) yuan / ton*30 tons / piece*26 pieces / hour, 6 hours / time*2 times / year=5.616 million yuan / year.

[0022] The present invention makes full use of the advanced and operable characteristics of computer control technology, and controls the position feedback at different speeds by functions during the simulation control process of the step beam lifting position sensor of hot rolling. It solves the loss of production stoppage caused by damage to the step beam lifting position sensor, avoids equipment and personal safety accidents caused by emergency repairs, and improves the rolling stability of hot rolling production.

Claims

1. A simulation control method for a stepping beam lifting position sensor. The coiling stepping beam transportation is an important transportation link. It undertakes the transportation of steel coils and transports steel coils quickly and safely. The coiling fast chain is located at the exit of the coiler and is used to transport the steel coils transported by the lifting trolley. The corner table receives the steel coils transported by the first stepping beam and transports them to the second stepping beam. The grating is used to detect the position and speed of the steel coil and track and control it. The lifting position sensor is used to detect the stroke of the stepping beam lifting hydraulic cylinder. The lateral position sensor is used to detect the stroke of the stepping beam lateral position sensor. The cable drag chain prevents the lifting position sensor cable. The lateral solenoid valve controls the action of the lateral hydraulic cylinder. The lifting solenoid valve controls the action of the lifting hydraulic cylinder. The overall control and management are performed through PLC. It is characterized by: During the process of lifting or lowering the steel coil, at each monitoring point, the PLC obtains the sensor horizontal height position of the steel coil at the monitoring point in real time through the lifting position sensor, and at the same time, the PLC obtains the simulated horizontal height position of the steel coil at the monitoring point through calculation. When the PLC detects that the lifting position sensor is not damaged, the detection point uses the sensor horizontal height position of the steel coil to correct the simulated horizontal height position of the steel coil at the monitoring point. Even if the simulated horizontal height position of the steel coil at the monitoring point is equal to the sensor horizontal height position of the steel coil at the detection point, when the PLC detects that the lifting position sensor is damaged, the simulated horizontal height position of the steel coil at the monitoring point is used as the simulated horizontal height position of the steel coil at the monitoring point.

2. The walking beam lifting position sensor simulation control method according to claim 1 is characterized in that: The calculation to obtain the simulated horizontal height position of the steel coil at the monitoring point is performed according to the following formula S new =S old +V*T Among them, S new is the simulated horizontal height position of the monitoring point, S old is the horizontal height position of the previous monitoring point or the initial position of the monitoring point, T is the time of the steel coil from the previous monitoring point of the monitoring point to the monitoring point, and V is the average vertical speed of the steel coil from the previous monitoring point of the monitoring point to the monitoring point.

3. The walking beam lifting position sensor simulation control method according to claim 1 is characterized in that: The damage of the lifting position sensor means that at one detection point, the absolute value of (simulated horizontal height position of the steel coil-sensor horizontal height position of the steel coil) / simulated horizontal height position of the steel coil is greater than 0.2.