Automatic steel plate alignment system and control method thereof

Abstract

The present application belongs to the technical field of industrial control, and particularly relates to a control method for automatic alignment of steel plates. The method provided by the present application comprises the following steps: detecting the distance L1 between the driving side edge of a steel plate and the driving side edge of a roller way by means of a profiler during the conveying of the steel plate; comparing the horizontal maximum pushing stroke L of the horizontal position stop block in the alignment transverse moving device with the distance L1 detected by the profiler; when the distance L1 is less than the horizontal maximum pushing stroke L, the horizontal position stop block in the alignment transverse moving device is used to push the steel plate to move transversely; when the distance L1 is greater than or equal to the horizontal maximum pushing stroke L, the lifting position stop block in the alignment transverse moving device is used to push the steel plate to move transversely; and after the operation side edge of the steel plate is parallel to and closely attached to the operation side of the roller way, the alignment transverse moving device is returned to the initial position to complete the alignment. The relative position value of the driving side edge of the steel plate relative to the driving side edge of the roller way is determined to decide the transverse moving mode of the transverse moving device HY, so that the alignment time can be shortened and the hourly output can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial control, and in particular relates to a steel plate automatic alignment system and a control method thereof. Background Art

[0002] In the shearing line for medium and thick plates and wide and thick plates, the transport vibration of the steel plate on the roller and the positioning deviation of the steel plate when it goes down the cooling bed will cause the steel plate to be non-parallel to the edge of the roller.

[0003] The traditional control method involves using the traverse mechanism of the steel plate alignment device to horizontally move the steel plate in place. If the traverse mechanism reaches its limit and the steel plate is still not parallel to the roller table, the traverse mechanism returns to its initial position, rises to a predetermined position, and then pushes the steel plate to the edge of the roller table again, thereby achieving parallel contact between the steel plate and the roller table edge. Although this traditional method can achieve parallel contact between the steel plate and the roller table edge, it requires horizontal traverse before lifting and centering narrow plates that can be directly lifted and aligned. This additional process not only wastes time and reduces production, but also increases mechanical wear. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a steel plate automatic alignment system and a control method thereof. The method provided by the present invention can reduce the number of traverse steps, shorten the traverse time and increase the hourly output.

[0005] In order to achieve the above technical objectives, the present invention provides the following technical solutions:

[0006] A steel plate automatic alignment system, comprising:

[0007] A steel plate transmission roller, several cold detectors arranged on one side of the steel plate transmission roller, a profilometer arranged above the input end of the steel plate transmission roller, several alignment lifting devices and several alignment transverse movement devices arranged on the steel plate transmission roller.

[0008] Furthermore, the two sides of the steel plate transmission roller are respectively a transmission side and an operation side; the several cold detectors are all arranged on the transmission side of the steel plate transmission roller.

[0009] Furthermore, the steel plate transport rollers include a first group of input rollers, a second group of input rollers, a third group of input rollers, a swing table roller and an output roller;

[0010] The profilometer is arranged above the first set of input rollers;

[0011] The number of the alignment lifting devices is at least 2, and the number of the alignment transverse moving devices is at least 2; the alignment lifting devices and the alignment transverse moving devices are distributed between the rollers of the first group of rollers to the third group of rollers, and the alignment lifting devices and the alignment transverse moving devices are arranged at intervals.

[0012] Furthermore, the alignment transverse movement device includes a block for contacting the steel plate and pushing the steel plate toward the operating side of the steel plate transmission roller, and the block includes a horizontal position block and a lifting position block; the height of the horizontal position block is higher than the height of the lifting position block.

[0013] A method for controlling automatic alignment of steel plates, comprising the following steps:

[0014] (1) During the steel plate conveying process, the distance L1 between the edge of the steel plate transmission side and the edge of the roller transmission side is detected by a profilometer;

[0015] (2) After the steel plate reaches the set alignment position along the shear logistics direction, the roller stops transporting. When it is detected that the roller speed is 0 and the alignment lifting device and the alignment transverse device are both in the initial position, the lifting device TS lifts the alignment lifting device to lift the steel plate;

[0016] (3) Compare the maximum horizontal push stroke L of the horizontal position stopper in the lateral movement device with the distance L1 detected by the profilometer;

[0017] When the distance L1 is less than the maximum horizontal pushing stroke L, the horizontal position block in the alignment transverse movement device is used to push the steel plate to move transversely, and then proceed to step (4);

[0018] When the distance L1 is greater than or equal to the maximum horizontal pushing stroke L, the lifting position block in the alignment and transverse movement device is used to push the steel plate to move transversely until the operating side of the steel plate is parallel and close to the operating side of the roller, and then the alignment and transverse movement device returns to its initial position to complete the alignment;

[0019] (4) A corresponding set pressure value is set according to the thickness of the steel plate. When the actual pressure value on the steel plate reaches the set pressure value, the alignment transverse moving device retreats to the initial position, the alignment lifting device falls, and the steel plate alignment is completed;

[0020] When the actual pressure value borne by the steel plate when the horizontal position block reaches the horizontal maximum pushing stroke L does not reach the set pressure value, the alignment transverse moving device retreats to the initial position and then rises, and the lifting position block in the alignment transverse moving device is used to push the steel plate to move laterally until the operating side edge of the steel plate is parallel and tightly attached to the operating side of the roller, and the pressure borne by the steel plate reaches the set pressure value, and then the alignment transverse moving device retreats to the initial position, the alignment lifting device falls, and the steel plate alignment is completed.

[0021] Furthermore, the profilometer uses a camera system in conjunction with an active LED light source to accurately calculate the spatial coordinates of any point within the field of view. By continuously capturing images of the edge of the steel plate and merging each frame of the image, all contour images of the steel plate are obtained after the steel plate passes through the profilometer, and the distance L1 between the transmission side edge of the steel plate and the transmission side edge of the roller is calculated.

[0022] Furthermore, the pressure on the steel plate in step (4) is detected by a pressure relay in the rodless cavity of the hydraulic cylinder of the lateral movement device. Specifically, the rodless cavity of the hydraulic cylinder is on the hydraulic cylinder body, and it is a conventional technology to set a pressure relay.

[0023] Furthermore, the set pressure value is determined according to the thickness of the steel plate. For steel plates of different thicknesses, 1.1 to 2.0 times the sampling reference pressure is taken as the set pressure value of the corresponding thickness steel plate; the calculation formula of the set pressure value is:

[0024] Set pressure value = sampling reference pressure × steel plate thickness coefficient;

[0025] The steel plate thickness coefficient is 1.1 to 2.0;

[0026] The steel plate thickness range is 6 mm to 50 mm; the steel plate thickness coefficient corresponding to the 6 mm thick steel plate is 1.1. When the steel plate thickness is in the range of 6 to 10 mm, the steel plate thickness coefficient increases by 0.02 for every 1 mm increase in steel plate thickness; when the steel plate thickness is from 10 mm to 50 mm, the steel plate thickness coefficient increases by 0.1 for every 5 mm increase in steel plate thickness.

[0027] Furthermore, the method for determining the sampling reference pressure is:

[0028] When the lateral movement of the alignment transverse movement device begins, the sampling pressure is collected after the block is pushed out 50 mm. The pressure values ​​are collected 10 times with a sampling period of 100 milliseconds. The ten pressure values ​​are added and then divided by 10 to obtain the average pressure value, which is used as the sampling reference pressure.

[0029] Furthermore, in step (4), the set pressure value is compared with the actual pressure value borne by the steel plate. When the actual pressure value borne by the steel plate is greater than or equal to the set pressure value and lasts for 300 milliseconds, it is determined that the operating side edge of the steel plate is parallel and tightly attached to the operating side of the roller.

[0030] The beneficial effects of the present invention are:

[0031] The control method provided by the present invention detects the relative position of the transmission side edge of the steel plate relative to the transmission side edge of the roller table through the profilometer HT1 during the steel plate conveying process, which can reduce one transverse shift step, shorten the transverse shift time, increase hourly output, and reduce mechanical wear and power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the automatic steel plate alignment system in an embodiment of the present invention;

[0033] Figure 2 Schematic diagram of the alignment process in an embodiment of the present invention;

[0034] Figure 3 for Figure 2 Schematic diagram of the middle AA section;

[0035] Figure 4 Schematic diagram of profilometer detection in an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The technical solution of the present invention is further described below with reference to specific embodiments and accompanying drawings.

[0037] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0038] Example 1: A steel plate automatic alignment system, such as Figure 1 As shown, the steel plate automatic alignment system includes:

[0039] A steel plate transmission roller, several cold detectors arranged on one side of the steel plate transmission roller, a profilometer arranged above the input end of the steel plate transmission roller, several alignment lifting devices and several alignment transverse movement devices arranged on the steel plate transmission roller.

[0040] In this embodiment, the two sides of the steel plate transmission roller are respectively a transmission side and an operation side; the plurality of cold detectors are all arranged on the transmission side of the steel plate transmission roller.

[0041] In this embodiment, along the shear logistics direction, the steel plate conveying rollers include a first group of input rollers, a second group of input rollers, a third group of input rollers, a swing table roller and an output roller;

[0042] The profilometer is arranged above the first set of input rollers;

[0043] The number of the alignment lifting devices is at least 2, and the number of the alignment transverse moving devices is at least 2; the alignment lifting devices and the alignment transverse moving devices are distributed between the rollers of the first group of rollers to the third group of rollers, and the alignment lifting devices and the alignment transverse moving devices are arranged at intervals.

[0044] A length measuring instrument, a light curtain and a shearing machine are set at the end of the third input roller.

[0045] Specifically, with the starting point of the first set of input rollers at 0 m, along the shear logistics direction, the first set of input rollers is located at 0-28 m, the second set of input rollers is located at 28-54 m, and the third set of input rollers is located at 54-68 m; the swing table rollers are located at 68-76.5 m, and the output rollers are located at 76.5-122.5 m. The specific locations of each set of rollers here are only preferred embodiments, and the specific values ​​can be adjusted according to production conditions. Specifically, the output rollers can be divided into several groups, such as the first group of output rollers, the second group of output rollers, and the third group of output rollers.

[0046] In this embodiment, the alignment and transverse movement device includes a stopper for contacting the steel plate and pushing the steel plate toward the operating side of the steel plate conveyor roller conveyor. The stopper includes a horizontal position stopper and a lifting position stopper. The height of the horizontal position stopper is higher than that of the lifting position stopper. Specifically, the lifting position stopper is arranged at the bottom of the horizontal position stopper to form a complete stopper. The cross-section of the stopper is L-shaped. When the alignment and transverse movement device is in the initial position, the lifting position stopper is parallel to the roller conveyor and lower in height than the roller conveyor, while the height of the horizontal position stopper is higher than that of the roller conveyor.

[0047] Example 2: A method for controlling automatic alignment of steel plates, using the automatic alignment system for steel plates described in Example 1, such as Figure 2-Figure 3 As shown, the method includes the following steps:

[0048] (1) During the steel plate conveying process, the distance L1 between the edge of the steel plate transmission side and the edge of the roller transmission side is detected by the profilometer HT1;

[0049] (2) When the steel plate reaches the alignment position set by the human-machine interface along the shear logistics direction, the roller conveyor stops transporting and the alignment lifting device lifts up the steel plate;

[0050] (3) Compare the maximum horizontal push stroke L of the horizontal position stopper in the lateral movement device HY with the distance L1 detected by the profilometer;

[0051] When the distance L1 is less than the maximum horizontal pushing stroke L, the horizontal position block in the aligning and lateral moving device HY is used to push the steel plate to move horizontally, and the process proceeds to step (4); specifically, at this time, the horizontal position block in the aligning and lateral moving device starts from the initial position and moves along the transmission side to the operating side, thereby pushing the steel plate to move horizontally toward the operating side;

[0052] When the distance L1 is greater than or equal to the maximum horizontal pushing stroke L, the lifting position block in the alignment and transverse movement device HY is used to push the steel plate to move laterally until the operating side of the steel plate is parallel to and closely attached to the operating side of the roller, and then the alignment and transverse movement device returns to its initial position to complete the alignment; specifically, at this time, the lifting position block in the alignment and transverse movement device starts from its initial position and is first lifted to the height of the plane where the steel plate is located, and then the lifting position block moves along the transmission side toward the operating side, thereby pushing the steel plate to move laterally toward the operating side;

[0053] (4) A corresponding set pressure value is set according to the thickness of the steel plate. When the actual pressure value on the steel plate reaches the set pressure value, the alignment transverse moving device retreats to the initial position, the alignment lifting device falls, and the steel plate alignment is completed;

[0054] When the actual pressure value borne by the steel plate when the horizontal position block reaches the horizontal maximum pushing stroke L does not reach the set pressure value, the alignment transverse moving device retreats to the initial position and then rises, and the lifting position block in the alignment transverse moving device is used to push the steel plate to move laterally until the operating side edge of the steel plate is parallel and tightly attached to the operating side of the roller, and the pressure borne by the steel plate reaches the set pressure value, and then the alignment transverse moving device retreats to the initial position, the alignment lifting device falls, and the steel plate alignment is completed.

[0055] In the step (1) described in this embodiment, Figure 4 As shown in the figure, the profilometer uses a camera system in conjunction with an active LED light source to accurately calculate the spatial coordinates of any point within the field of view. By continuously capturing images of the edge of the steel plate and merging each frame of the image, all contour images of the steel plate are obtained after the steel plate passes through the profilometer, and the distance L1 between the transmission side edge of the steel plate and the transmission side edge of the roller is calculated.

[0056] In the present invention, the profilometer includes a rectangular detection gantry, several high-precision cameras arranged on the rectangular detection gantry, an LED light source arranged under the roller, and a data processing unit; the profilometer HT1 uses stereo artificial vision detection technology to calculate the distance L1 between the transmission side edge of the steel plate and the transmission side edge of the roller; the profilometer used in the present invention is a conventional equipment in the prior art.

[0057] The pressure on the steel plate in step (4) of this embodiment is detected by a pressure relay in the rodless cavity of the hydraulic cylinder of the lateral movement device. Specifically, the rodless cavity of the hydraulic cylinder is on the hydraulic cylinder body, and it is conventional technology to set a pressure relay.

[0058] The set pressure value in this embodiment is determined according to the thickness of the steel plate. For steel plates of different thicknesses, 1.1 to 2.0 times the sampling reference pressure is used as the set pressure value for the corresponding thickness of the steel plate. The calculation formula for the set pressure value is:

[0059] Set pressure value = sampling reference pressure × steel plate thickness coefficient;

[0060] The steel plate thickness coefficient is 1.1 to 2.0;

[0061] The steel plate thickness range is 6 mm to 50 mm; the steel plate thickness coefficient corresponding to the 6 mm thick steel plate is 1.1. When the steel plate thickness is in the range of 6 to 10 mm, the steel plate thickness coefficient increases by 0.02 for every 1 mm increase in steel plate thickness; when the steel plate thickness is from 10 mm to 50 mm, the steel plate thickness coefficient increases by 0.1 for every 5 mm increase in steel plate thickness.

[0062] Specifically, the steel plate thickness coefficient corresponding to the 7 mm thick steel plate is 1.12; the steel plate thickness coefficient corresponding to the 8 mm thick steel plate is 1.14; the steel plate thickness coefficient corresponding to the 9 mm thick steel plate is 1.16; the steel plate thickness coefficient corresponding to the 10 mm thick steel plate is 1.18; the steel plate thickness coefficient corresponding to the 15 mm thick steel plate is 1.28; the steel plate thickness coefficient corresponding to the 20 mm thick steel plate is 1.38; and so on, the steel plate thickness coefficient corresponding to the 50 mm thick steel plate is 1.98.

[0063] In this embodiment, the method for determining the sampling reference pressure is:

[0064] When the lateral movement of the aligning and collecting transverse device begins, the sampling pressure is collected after the block is pushed out 50 mm. The pressure values ​​are collected 10 times with a sampling period of 100 milliseconds. The ten pressure values ​​are added and divided by 10 to obtain the average pressure value, and the average pressure value is used as the sampling reference pressure. The purpose of starting to collect the sampling pressure after the lateral movement is pushed out 50 mm is to avoid unstable pressure when the lateral movement device just moves. After the lateral movement is pushed out 50 mm, the pressure values ​​are collected 10 times with a sampling period of 100 milliseconds. During this period, the block of the aligning and collecting transverse device cannot contact the steel plate, so the sampling reference pressure obtained during this period is safe and reliable. The sampling pressure is the pressure of the rodless cavity of the hydraulic cylinder of the aligning and collecting transverse device. The pressure of the rodless cavity of the aligning and collecting transverse device is obtained by a pressure relay installed on the hydraulic valve station of the aligning and collecting transverse device. The hydraulic valve station controls the forward and backward movement of the aligning and collecting transverse device and the lifting and lowering of the lifting device.

[0065] In step (4) of this embodiment, the set pressure value is compared with the actual pressure value borne by the steel plate. When the actual pressure value borne by the steel plate is greater than or equal to the set pressure value and lasts for 300 milliseconds, it is determined that the operating side edge of the steel plate is parallel and tightly attached to the operating side of the roller.

[0066] The method provided by the present invention determines the lateral movement mode of the lateral movement device by judging the relative position value of the transmission side edge of the steel plate relative to the transmission side roller edge, which can shorten the lateral movement time and increase the hourly output.

[0067] The method is successfully applied to control of a steel plate alignment device of a certain wide and thick plate factory, and is praised by users.

[0068] Finally, it should be noted that the above only for the preferred embodiments of the present application, and not for limiting the present application, for those of ordinary skill in the art, it can still be modified or deformed improvement of the foregoing described technical solutions, these are within the scope of the present application.

Claims

1. A control method for automatic steel plate alignment, using a steel plate automatic alignment system, characterized in that: The steel plate automatic alignment system comprises: A steel plate conveying roller, a plurality of cold detectors arranged on one side of the steel plate conveying roller, a profilometer arranged above the input end of the steel plate conveying roller, a plurality of alignment and lifting devices and a plurality of alignment and transverse movement devices arranged on the steel plate conveying roller; The two sides of the steel plate transmission roller are respectively a transmission side and an operation side; the plurality of cold detectors are all arranged on the transmission side of the steel plate transmission roller; The alignment and transverse movement device includes a stopper for contacting the steel plate and pushing the steel plate toward the operating side of the steel plate conveying roller, and the stopper includes a horizontal position stopper and a lifting position stopper; the height of the horizontal position stopper is higher than the height of the lifting position stopper; The method comprises the following steps: (1) During the steel plate conveying process, the distance L1 between the edge of the steel plate transmission side and the edge of the roller transmission side is detected by a profilometer; (2) After the steel plate reaches the set alignment position along the shear logistics direction, the roller stops transporting. When it is detected that the roller speed is 0 and the alignment lifting device and the alignment transverse device are both in the initial position, the alignment lifting device is lifted to lift the steel plate; (3) Compare the maximum horizontal push stroke L of the horizontal position block in the lateral movement device with the distance L1 detected by the profilometer; When the distance L1 is less than the maximum horizontal pushing stroke L, the steel plate is pushed horizontally by the horizontal position block in the aligning transverse movement device, and the process goes to step (4); When the distance L1 is greater than or equal to the maximum horizontal pushing stroke L, the lifting position block in the alignment and transverse movement device is used to push the steel plate to move transversely until the operating side of the steel plate is parallel and close to the operating side of the roller, and then the alignment and transverse movement device returns to its initial position to complete the alignment; (4) Set the corresponding set pressure value according to the thickness of the steel plate. When the actual pressure value on the steel plate reaches the set pressure value, the alignment transverse moving device retreats to the initial position, the alignment lifting device falls, and the steel plate alignment is completed; When the actual pressure value borne by the steel plate when the horizontal position block reaches the horizontal maximum pushing stroke L does not reach the set pressure value, the alignment transverse moving device retreats to the initial position and then rises, and the lifting position block in the alignment transverse moving device is used to push the steel plate to move laterally until the operating side edge of the steel plate is parallel and tightly attached to the operating side of the roller, and the pressure borne by the steel plate reaches the set pressure value, and then the alignment transverse moving device retreats to the initial position, the alignment lifting device falls, and the steel plate alignment is completed.

2. The method for controlling automatic alignment of steel plates according to claim 1, characterized in that: In the step (1), the profilometer accurately calculates the spatial coordinates of any point within the field of view by using a camera system in conjunction with an active LED light source, continuously captures images of the edge of the steel plate, merges each frame of the image, and obtains all the contour images of the steel plate after the steel plate passes through the profilometer, and calculates the distance L1 between the transmission side edge of the steel plate and the transmission side edge of the roller.

3. The method for controlling automatic alignment of steel plates according to claim 1, characterized in that: The pressure on the steel plate in step (4) is detected by the pressure relay of the rodless chamber of the hydraulic cylinder of the lateral movement device.

4. The method for controlling automatic alignment of steel plates according to claim 1, characterized in that: The set pressure value is determined according to the thickness of the steel plate. For steel plates of different thicknesses, 1.1 to 2.0 times the sampling reference pressure is used as the set pressure value for the corresponding thickness of the steel plate. The calculation formula for the set pressure value is: Set pressure value = sampling reference pressure × steel plate thickness coefficient; The steel plate thickness coefficient is 1.1 to 2.0; The steel plate thickness range is 6 mm to 50 mm; the steel plate thickness coefficient corresponding to the 6 mm thick steel plate is 1.

1. When the steel plate thickness is in the range of 6 to 10 mm, the steel plate thickness coefficient increases by 0.02 for every 1 mm increase in steel plate thickness; when the steel plate thickness is from 10 mm to 50 mm, the steel plate thickness coefficient increases by 0.1 for every 5 mm increase in steel plate thickness.

5. The method for controlling automatic alignment of steel plates according to claim 4, characterized in that: The method for determining the sampling reference pressure is: When the lateral movement of the alignment transverse movement device begins, the sampling pressure is collected after the block is pushed out 50 mm. The pressure values ​​are collected 10 times with a sampling period of 100 milliseconds. The ten pressure values ​​are added and then divided by 10 to obtain the average pressure value, which is used as the sampling reference pressure.

6. The method for controlling automatic alignment of steel plates according to claim 1, characterized in that: In step (4), the set pressure value is compared with the actual pressure value borne by the steel plate. When the actual pressure value borne by the steel plate is greater than or equal to the set pressure value and lasts for 300 milliseconds, it is determined that the operating side edge of the steel plate is parallel and tightly attached to the operating side of the roller.

7. The method for controlling automatic alignment of steel plates according to claim 1, characterized in that: Along the shear logistics direction, the steel plate conveying rollers include a first group of input rollers, a second group of input rollers, a third group of input rollers, a swing table roller and an output roller; The profilometer is arranged above the first set of input rollers; The number of the alignment lifting devices is at least 2, and the number of the alignment transverse moving devices is at least 2; the alignment lifting devices and the alignment transverse moving devices are distributed between the rollers of the first group of rollers to the third group of rollers, and the alignment lifting devices and the alignment transverse moving devices are arranged at intervals.

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