Automatic control method and device for cooperatively transporting steel plates through multiple sets of roller ways

Abstract

The invention discloses an automatic control method and device for multi-group roller way collaborative steel plate transportation, and relates to the field of metallurgical automatic control. According to the method, a set of roller way movement automatic control system is built, data such as the length, the width and the thickness of a steel plate are obtained from a previous procedure and an L2 system, data such as a steel plate passing signal are obtained from field detection equipment, and roller way operation speed data are obtained from a roller way driver and the like; and establishing a mirror image by using the obtained steel plate size information, and respectively controlling the start-stop and transportation speed of each group of roller ways according to the steel plate position to complete steel plate transportation control. According to the invention, the tedious operation of manual control can be replaced, the labor intensity is reduced, and the effects of saving energy and reducing consumption are achieved.

Description

Technical Field

[0001] The present invention belongs to the field of metallurgical automatic control, and relates to an automatic control method and device for collaborative transportation of steel plates by multiple groups of roller tables. Background Art

[0002] The medium and heavy plate roller table control system realizes real-time control of the roller table from incoming material to feeding (or completion). As an indispensable process in the medium and heavy plate mill production line, the original manual control was used. The operator controlled each transportation roller table one by one according to the visual inspection results to transport the steel plate to the target position. The labor intensity was high, and there was a large deviation between the actual parking position and the target position due to visual inspection deviation; the debugging process could not affect the enterprise production activities, and the real-time, accuracy, and safety of the new control system had to be ensured. To meet the above functional requirements, it was necessary to implement the acquisition of basic data of the steel plate and the roller table, and to ensure the safety of the system debugging process, a method and device for automatic control of medium and heavy plate roller tables were required. Summary of the Invention

[0003] To solve the above technical problems, the present invention provides an automatic control method and device for collaborative transportation of steel plates by multiple groups of roller tables.

[0004] To achieve the above technical objectives, the present invention provides the following technical solutions:

[0005] A method for collaborative automatic transportation of medium and heavy plates by multiple groups of roller tables, the method steps include:

[0006] S101: The roller table automatic control system obtains the basic data of the incoming steel plate from the previous process and the L2 system and creates a mirror image corresponding to the incoming steel plate;

[0007] S102: The roller table automatic control system performs real-time calculation of mirror image displacement based on the speed data fed back by the roller table motor driver;

[0008] S103: The on-site photoelectric detection device generates corresponding digital signals according to whether a steel plate passes through, and corrects the position of the mirror image through the digital signals;

[0009] S104: Control the automatic operation of the roller table motor according to the length and position of the mirror image.

[0010] And the method performs selective parallel processing on the automated control instructions and the original manual control instructions, and the priority of the manual control instructions is higher than that of the control instructions of the execution module. During the process of the on-site original control system transporting the steel plate, the on-site operator can determine whether the original control system executes automatic control of the roller table according to the on-site actual situation, and can switch between the manual and automatic systems at any time to avoid affecting production during the debugging process.

[0011] Further, in step S101, the method for the roller table automatic control system to obtain the basic data of the steel plate from the previous process and the L2 system includes:

[0012] Build the communication telegram between the roller table automatic control system and the previous process to obtain the incoming steel plate ID, the position of the incoming steel plate, the speed of the feeding roller table, and the control right of the roller table;

[0013] Build the communication telegram between the roller table automatic control system and the L2 system to obtain the length of the incoming steel plate, the width of the incoming steel plate, the thickness of the incoming steel plate, the incoming steel plate ID, and the parking strategy of the incoming steel plate;

[0014] The roller table automatic control system determines whether the incoming steel plate enters the feeding roller table according to the position of the incoming steel plate. When the incoming steel plate just enters the feeding roller table, the roller table automatic control system sends the ID of the incoming steel plate to the L2 system, and the L2 system returns the corresponding length, width, thickness, and parking strategy of the incoming steel plate to the roller table automatic control system according to the ID of the incoming steel plate.

[0015] Further, in step S101, a first-in-first-out mirror queue is established according to the process requirements to realize the simultaneous tracking of multiple steel plate mirrors.

[0016] Further, in step S102, the mirror position is updated in real time by performing integral calculation on the speed data fed back by the roller table motor driver;

[0017] Further, in step S103, when the steel plate passes by, the photoelectric detection device generates a switching signal of on and off. The switching signal is filtered and the filtered switching signal is used to correct the mirror position.

[0018] Further, in step S104, the roller table automatic control system pre-plans the parking position according to the length of the incoming steel plate.

[0019] Further, step S104 includes:

[0020] Judge the occupancy status of the roller table according to the mirror position of the incoming steel plate, the installation position of the roller table, and the switching signal generated by the photoelectric detection device;

[0021] The roller table includes two speed control modes of high speed and low speed. According to the high-speed gear speed of the roller table, the low-speed gear speed of the roller table, the acceleration and deceleration time, and the target parking position, the high-low speed switching position and the deceleration stop position are calculated;

[0022] After the roller table automatic control system obtains the incoming material signal from the previous process (including the ID of the incoming steel plate, the position of the incoming steel plate, and the speed of the feeding roller table) and the control right of the roller table, it controls the feeding roller table to feed forward at the high-speed gear speed; when the mirror head corresponding to the incoming steel plate advances to the high-low speed switching position of the current group of roller tables, it controls the operation of the roller table motor according to different working conditions:

[0023] Working condition 1: The head of the incoming steel plate will stop on the current group of roller tables; control the current group of roller tables to switch to the low-speed gear and continue to advance at the low-speed gear speed. When the mirror head advances to the deceleration and stop position, it starts to decelerate until it stops;

[0024] Working condition 2: The head of the incoming steel plate will stop on the next group of roller tables of the current group of roller tables, and the next group of roller tables is already occupied; control the current group of roller tables to switch to the low-speed gear and continue to advance at the low-speed gear speed. When the mirror head advances to the deceleration and stop position, it starts to decelerate until it stops; when the occupied state of the next group of roller tables disappears, the current group of roller tables and the next group of roller tables start simultaneously and feed forward at the high-speed gear speed;

[0025] Working condition 3: The head of the incoming steel plate will stop on the next group of roller tables of the current group of roller tables, and the next group of roller tables is not occupied: Start the next group of roller tables and continue to advance at the current speed;

[0026] When a certain mirror occupies multiple groups of roller tables, the occupied multiple groups of roller tables feed forward at the same speed; when the tail of a certain mirror leaves a group of roller tables, the corresponding group of roller tables without mirror occupancy stops running. Step S104 can achieve: Before the steel plate reaches the specified position, if it is not passable ahead, the steel plate will be transported to a position close to the impassable roller table and then stop. After the passing condition is met, it will continue to be transported forward; after reaching the specified position, it will be transported away from the roller table by a transfer trolley. After the trolley transports the steel plate away from the roller table, the next steel plate whose parking position is occupied will automatically continue to be transported forward.

[0027] An automatic control device for a medium and heavy plate transportation roller table system, the device includes:

[0028] A data communication module, used for the roller table control system to obtain the basic data of the steel plate from the previous process and the L2 system, and obtain the basic data of the roller table from the roller table driver;

[0029] A setting calculation module, which obtains the data of the data communication module and performs calculations to obtain the roller table settings; the roller table settings include: start / stop, speed setting;

[0030] A setting execution module, used for the on-site roller table driver to execute the settings to achieve roller table control. In this module, the roller table settings are executed by the on-site original control system, realizing the automatic control of the transportation roller table control system.

[0031] Further, the device can further collect the steel plate displacement data through the signal acquisition device at the production site, and correct the displacement deviation between the physical object and the mirror image through a correction algorithm.

[0032] The beneficial effects of the present invention include.

[0033] (1) The method for automatically transporting medium and heavy plates with multi-group roller tables provided by the present invention can realize the automation transformation of the transport roller tables without affecting production, has strong applicability and obvious effects in the transport of steel plates in metallurgical engineering, can be used for upgrading the production lines of old medium and heavy plate plants, and does not affect the production activities of enterprises;

[0034] (2) The automatic control device provided by the present invention performs selective parallel processing on the control instructions of the setting execution module and the original manual control instructions, and the priority of the manual control instructions is higher than that of the control instructions of the execution module, and can be switched and used in real time during the production process, greatly improving the safety of the production process. Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0036] Figure 1 is a flowchart of a method for automatically transporting medium and heavy plates with multi-group roller tables provided by an embodiment of the present invention;

[0037] Figure 2 is a framework diagram of an automatic control device for a medium and heavy plate transport roller table system provided by an embodiment of the present invention; Detailed Embodiments

[0038] The following further illustrates the technical solutions of the present invention in conjunction with specific embodiments and drawings.

[0039] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail in conjunction with the drawings and specific embodiments.

[0040] Embodiment 1: A method for automatically transporting medium and heavy plates with multi-group roller tables, which is a method for automating the transformation of a medium and heavy plate roller table transportation control system. The processing flow of this method is as Figure 1 shown, and includes the following steps:

[0041] S101: The roller table automatic control system obtains the basic data of the incoming steel plate from the previous process and the L2 system and establishes a mirror image corresponding to the incoming steel plate;

[0042] S102: The roller table automatic control system performs real-time calculation of the mirror displacement based on the speed data fed back by the roller table motor driver;

[0043] S103: The on-site optoelectronic detection device generates corresponding digital signals according to whether there is a steel plate passing by, and corrects the position of the mirror through the digital signals;

[0044] S104: Control the automatic operation of the roller table motor according to the length and position of the mirror.

[0045] Optionally, in S101, the roller table automatic control system obtains the basic data of the steel plate from the L2 system and the previous process, including:

[0046] Build a communication telegram for receiving the steel plate information of the previous process.

[0047] Furthermore, build a telegram for communication between the roller table automatic control system and the L2 system;

[0048] The roller table automatic control system sends the steel plate ID received from the steel plate of the previous process to the L2 system. After the L2 system queries the database, it receives the detailed information of the corresponding steel plate returned from the L2 system (including the length of the incoming steel plate, the width of the incoming steel plate, the thickness of the incoming steel plate, and the parking strategy of the incoming steel plate).

[0049] Furthermore, store the received detailed information of the steel plate into the corresponding structure array as the steel plate mirror.

[0050] Optionally, in S102, the roller table automatic control system obtains the operation status data of the roller table motor driver through real-time communication, including: operating speed, whether there is a fault alarm, etc.

[0051] Furthermore, perform integral calculation on the operating speed of the roller table occupied by the incoming steel plate. Using the cyclic interruption function of the S7 series PLC, calculate the current position of the steel plate mirror according to X = X0 + dv / dt, where X0 is the position of the steel plate mirror in the previous cycle scan period, dv is the currently collected operating speed of the roller table, and dt is the duration of the cycle scan period.

[0052] Optionally, in S103, when the steel plate passes by, the optoelectronic detection device generates on-off digital signals, filters the digital signals and uses the filtered digital signals to correct the mirror position. Including:

[0053] When the head of the steel plate triggers the optoelectronic detection device, correct the head position of the mirror. When the tail of the steel plate leaves the detection range of the optoelectronic detection device, correct the tail position of the mirror.

[0054] Furthermore, use the optoelectronic detection signal as a supplementary means for judging the occupation of the roller table when the mirror is missing.

[0055] Optionally, in S104, controlling the roller table motor according to the mirror length and position includes: roller table start / stop control, roller table speed control, and roller table acceleration / deceleration control.

[0056] The following uses an actual application example to illustrate the implementation process of a method for multi-group roller table collaborative automatic transportation of medium and thick plates according to the present invention. The implementation steps are as follows:

[0057] Step 1: Receive the steel plate ID, position information, and roller table speed from the previous process steel plate, and use TCP connection to achieve communication between the roller table automatic control system and the previous process. Table 1 lists the communication configuration for the communication between the roller table control system and the previous process control system.

[0058] Table 1: Communication configuration for the communication between the roller table automatic control system and the previous process control system

[0059]

[0060] When the head of the incoming steel plate enters the controllable range, establish a steel plate mirror. The steel plate mirror tracking data includes: steel plate number, steel type, length, width, thickness, weight, steel plate head and tail positions, etc.

[0061] Step 2: Plan the communication configuration for the communication between the roller table automatic control system and the L2 system, establish the sending and receiving channels used for communication, and send communication at a fixed period. Table 2 lists the communication configuration for the communication between the roller table automatic control system and the L2 system.

[0062] Table 2 Communication configuration for the communication between the roller table automatic control system and the L2 system

[0063]

[0064]

[0065] The detailed information of the steel plate includes: steel plate number, steel type, length, width, thickness, weight, steel plate head and tail positions, and steel plate parking strategy.

[0066] Send the steel plate ID received from the previous process steel plate to the L2 system. After the L2 system queries the database, receive the detailed information of this steel plate returned from the L2 system.

[0067] Step 3: Obtain the operating status data of the roller table motor driver through real-time communication, including:

[0068] Operating speed, whether there is a fault alarm, etc.

[0069] Further, integrate and calculate the operating speed of the roller table occupied by the steel plate according to X = X0 + dv / dt, and update the steel plate mirror position with the calculation result.

[0070] Step 4: Determine whether to enable this group of roller tables according to the parking strategy; pre-start the next group of roller tables based on the position of the mirror head to avoid scratching the lower surface of the steel plate due to asynchronous roller table speeds; determine whether the mirror tail has left the roller table based on the mirror tail position, and stop the roller table after it leaves to achieve the purpose of energy conservation and consumption reduction; start decelerating before approaching the target parking position according to the mirror position and parking strategy to improve the positioning accuracy.

[0071] Specifically: The roller table includes two speed control modes of high speed and low speed. According to the high-speed gear speed of the roller table, the low-speed gear speed of the roller table, the acceleration and deceleration time, and the target parking position, calculate the high-low speed switching position and the deceleration stop position; calculate the high-low speed switching position and the deceleration stop position according to the acceleration and deceleration distance calculation formula s = vt + at² / 2, where s is the displacement change during the acceleration and deceleration process, v is the speed of the steel plate before acceleration and deceleration, t is the time experienced during the acceleration and deceleration process, and a is the acceleration of the roller table.

[0072] After the automatic control system of the roller table obtains the incoming material signal of the previous process (including the incoming steel plate ID, the incoming steel plate position, and the feeding roller table speed) and the control right of the roller table, it controls the feeding roller table to feed forward at the high-speed gear speed; when the mirror head corresponding to the incoming steel plate advances to the high-low speed switching position of the current group of roller tables, control the operation of the roller table motor according to different working conditions:

[0073] Working condition 1: The head of the incoming steel plate will stop on the current group of roller tables; control the current group of roller tables to switch to the low-speed gear and continue to advance at the low-speed gear speed. When the mirror head advances to the deceleration stop position, start decelerating until it stops;

[0074] Working condition 2: The head of the incoming steel plate will stop on the next group of roller tables of the current group of roller tables, and the next group of roller tables is already occupied; control the current group of roller tables to switch to the low-speed gear and continue to advance at the low-speed gear speed. When the mirror head advances to the deceleration stop position, start decelerating until it stops; when the occupied state of the next group of roller tables disappears, the current group of roller tables and the next group of roller tables are started simultaneously and fed forward at the high-speed gear speed;

[0075] Working condition 3: The head of the incoming steel plate will stop on the next group of roller tables of the current group of roller tables, and the next group of roller tables is not occupied: Start the next group of roller tables and continue to advance at the current speed;

[0076] When a certain mirror occupies multiple groups of roller tables, the occupied multiple groups of roller tables feed forward at the same speed; when the tail of a certain mirror leaves a group of roller tables, the corresponding group of roller tables without mirror occupancy stops running.

[0077] Furthermore, during the automatic control process executed by the roller table control system, on-site operators can determine whether the original control system executes the automatic control setting according to the actual on-site situation, and can switch between the manual and automatic systems at any time to avoid affecting production during the debugging process.

[0078] Embodiment 2: An automatic control device for a medium and heavy plate transportation roller table system. The device adopts the method described in Embodiment 1. As Figure 2 shown, the device includes:

[0079] A data communication module 301, which is used for the roller table control system to obtain the steel plate basic data from the previous process and the L2 system, and obtain the roller table basic data from the roller table driver;

[0080] A setting calculation module 302, which obtains the data of the data communication module and performs calculations to obtain the roller table setting; the roller table setting includes: start / stop and speed setting;

[0081] A setting execution module 303, which is used for the on-site roller table driver to execute the setting to achieve roller table control.

[0082] The device can further collect the steel plate displacement data through the signal acquisition equipment at the production site, and correct the deviation between the physical object and the mirror image displacement through a correction algorithm.

[0083] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. For those of ordinary skill in the art, they can still modify or improve the previously described technical solutions, and all of these belong to the protection scope of the present invention.

Claims

1. A method for automatically transporting medium and thick plates using multiple rollers, characterized in that: The method steps include: S101: The roller automatic control system obtains the basic data of the incoming steel plate from the previous process and the L2 system and establishes the corresponding mirror image of the incoming steel plate; S102: The roller automatic control system performs real-time calculation of the mirror displacement based on the speed data fed back by the roller motor driver; S103: The on-site photoelectric detection device generates a corresponding digital signal according to whether a steel plate passes through, and corrects the position of the mirror image by using the digital signal; S104: Controlling the roller motor to automatically run according to the length and position of the mirror image.

2. According to claim 1, a method for automatically transporting medium and thick plates using multiple rollers is characterized in that: In step S101, the method for the roller automatic control system to obtain the basic data of the steel plate from the previous process and the L2 system includes: Build a communication message between the roller automatic control system and the previous process to obtain the incoming steel plate ID, incoming steel plate position, feeding roller speed, and roller control rights; Build the communication message between the roller automatic control system and the L2 system to obtain the length, width, thickness, ID and parking strategy of the incoming steel plate; The roller automatic control system determines whether the incoming steel plate enters the feeding roller according to the position of the incoming steel plate. When the incoming steel plate just enters the feeding roller, the roller automatic control system sends the ID of the incoming steel plate to the L2 system, and the L2 system returns the corresponding length, width, thickness and parking strategy of the incoming steel plate to the roller automatic control system according to the ID of the incoming steel plate.

3. According to claim 1, a method for automatically transporting medium and thick plates using multiple rollers is characterized in that: In step S101, a first-in-first-out mirror queue is established according to the process requirements to achieve simultaneous mirror tracking of multiple steel plates.

4. The method for automatically transporting medium and thick plates by using multiple rollers in coordination according to claim 1, characterized in that: In step S102, the mirror position is updated in real time by performing integral calculation on the speed data fed back by the roller motor driver.

5. The method for automatically transporting medium and thick plates by using multiple rollers in coordination according to claim 1, characterized in that: In step S103, the photoelectric detection device generates an on-off switch signal when the steel plate passes by, filters the switch signal, and uses the filtered switch signal to correct the mirror position.

6. The method for automatically transporting medium and thick plates by using multiple rollers in coordination according to claim 1, characterized in that: In step S104, the roller conveyor automatic control system pre-plans the parking position according to the length of the incoming steel plate.

7. The method for automatically transporting medium and thick plates using multiple rollers according to claim 5, characterized in that: Step S104 includes: The occupancy status of the roller table is determined based on the mirror image position of the incoming steel plate, the roller table installation position and the switch signal generated by the photoelectric detection equipment; The roller table includes two speed control modes, high speed and low speed. According to the roller table high speed, roller table low speed, acceleration and deceleration time and target parking position, the high and low speed switching position and the deceleration parking position are calculated; After the roller automatic control system obtains the incoming material signal from the previous process and the roller control right, it controls the feeding roller to feed the material forward at a high speed; when the mirror head corresponding to the incoming steel plate moves to the high-speed and low-speed switching position of the current group of rollers, the roller motor is controlled to operate according to different working conditions: Working condition 1: The head of the incoming steel plate will stop at the current group of rollers; the current group of rollers will be controlled to switch to the low speed gear and continue to move forward at the low speed gear. When the mirror head moves to the deceleration stop position, it will start to decelerate until it stops; Working condition 2: The head of the incoming steel plate will stop at the next roller conveyor of the current roller conveyor, and the next roller conveyor is occupied; the current roller conveyor is controlled to switch to low speed gear and continue to move forward at low speed. When the mirror head moves to the deceleration stop position, it starts to decelerate until it stops; when the occupation status of the next roller conveyor disappears, the current roller conveyor and the next roller conveyor start at the same time and feed forward at high speed; Working condition three, the head of the incoming steel plate will stop at the next roller conveyor of the current roller conveyor, and the next roller conveyor is not occupied: start the next roller conveyor and keep moving forward at the current speed; When a mirror image occupies multiple groups of rollers, the occupied groups of rollers feed forward at the same speed; when the tail of a mirror image leaves a group of rollers, the corresponding groups of rollers that are not occupied by the mirror image stop running.

8. An automatic control device for a roller conveyor system for transporting medium and thick plates, characterized in that: The device adopts the method according to any one of claims 1 to 7, and the device comprises: Data communication module, used for the roller control system to obtain the basic data of the steel plate from the previous process and L2 system, and to obtain the basic data of the roller from the roller drive; Setting the calculation module, obtaining the data of the data communication module, and performing calculation to obtain the roller table setting; the roller table setting includes: starting and stopping, and speed setting; The setting execution module is used for the on-site roller drive to execute the settings and realize the roller control.

9. The automatic control device for a medium and thick plate conveying roller system according to claim 8 is characterized in that: The device can further collect steel plate displacement data through signal collection equipment at the production site, and correct the displacement deviation between the real object and the mirror image through a correction algorithm.

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