Strip threading method, device and equipment for strip steel on pickling line and medium

Abstract

The invention discloses a strip threading method, device and equipment for strip steel on a normalizing pickling line and a medium, and belongs to the technical field of metallurgy. The normalizing pickling line comprises a saddle, a transport vehicle and a mandrel, and the method comprises the steps that after a steel coil is placed on the saddle, if a strip threading signal is received, the first distance between the steel coil and the mandrel is obtained; and the transport vehicle is controlled to carry the steel coil to run for the first distance from the center position of the saddle to the direction of the core shaft, so that the core shaft is sleeved with the steel coil in the middle. According to the method, the steel coil can be accurately sleeved on the central spindle in the center by controlling the driving distance of the transport vehicle carrying the steel coil, so that the steel coil can enter the follow-up threading equipment in the center after being uncoiled, and the condition that the strip steel is scraped or broken in the threading process is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of metallurgy, and in particular to a strip threading method, device, equipment and medium for a normalizing pickling line. BACKGROUND

[0002] The normalizing pickling line is a key production line for producing electrical steel and is located at a "throat" position in the electrical steel production line. If a problem occurs in the entry section of the normalizing pickling line, the continuous operation of the production line will be affected, resulting in over-burning and over-pickling of the steel coil and seriously affecting the product quality.

[0003] In the related art, the entry section of the normalizing pickling line is sequentially provided with a mandrel, a turning pinch roll, a straightening machine, and a cross-cut shear. After the transport vehicle carries the steel coil to the mandrel to complete the coil loading, the strip head of the strip will pass through the turning pinch roll and the straightening machine in sequence and then reach the cross-cut shear to complete the strip threading.

[0004] However, in the actual production process, the strip is in a tension-free state during the strip threading process, and the running direction of the strip is not controlled, which can easily cause the strip to deviate from the center, resulting in edge scraping or even strip breakage of the strip, and thus the unit cannot be continuously and stably operated, affecting the output of the unit. Therefore, how to reduce the occurrence of edge scraping or strip breakage of the strip during the strip threading process is a technical problem to be solved at present. SUMMARY

[0005] In view of the above problems, the present application is proposed to provide a strip threading method, device, equipment and medium for a normalizing pickling line, which can accurately center the steel coil on the mandrel by controlling the running distance of the transport vehicle carrying the steel coil, so that the steel coil can be centered after being unwound and can be entered into the subsequent strip threading equipment, thereby reducing the occurrence of edge scraping or strip breakage of the strip during the strip threading process.

[0006] In the first aspect, the present application provides a strip threading method for a normalizing pickling line, the normalizing pickling line comprising a saddle, a transport vehicle and a mandrel, and the method comprising:

[0007] After the steel coil is placed on the saddle, if a threading signal is received, a first distance between the steel coil and the mandrel is obtained;

[0008] The transport vehicle carrying the steel coil is controlled to run from the center position of the saddle to the direction of the mandrel by the first distance, so that the steel coil is centered on the mandrel.

[0009] Optionally, the normalizing pickling line further comprises a straightening machine, a centering device and a cross-cut shear along the running direction of the strip, and after the transport vehicle carrying the steel coil is controlled to run from the center position of the saddle to the direction of the mandrel by the first distance, the method further comprises:

[0010] acquire a second distance between the strip head of the steel coil and the cross-cut shear;

[0011] if the second distance is less than a preset first distance threshold, control the centering device to perform a centering operation on the strip steel.

[0012] Optionally, a first turning pinch roll is arranged between the mandrel and the straightening machine, and the control of the centering device to perform the centering operation on the strip steel includes:

[0013] if the second distance is less than a preset first distance threshold, control the first turning pinch roll to be lifted, and then control the centering device to perform the centering operation on the strip steel.

[0014] Optionally, after the control of the centering device to perform the centering operation on the strip steel, the method further includes:

[0015] acquire a third distance between the strip head and a target position, the target position being arranged between the cross-cut shear and the welding machine;

[0016] if the third distance is less than a preset second distance threshold, control the centering device to perform a centering operation.

[0017] Optionally, a second turning pinch roll is arranged between the cross-cut shear and the welding machine, and the target position is arranged between the cross-cut shear and the second turning pinch roll.

[0018] Optionally, the acquisition of the first distance between the steel coil and the mandrel includes:

[0019] acquire a fourth distance between a first cross section of the steel coil and a preset first detection point, and a fifth distance between the first detection point and the mandrel, the first detection point being arranged on an extension line of an end of the saddle;

[0020] determine the first distance between the steel coil and the mandrel according to the fourth distance and the fifth distance.

[0021] Optionally, the acquisition of the first distance between the steel coil and the mandrel includes:

[0022] acquire a fourth distance between a first cross section of the steel coil and a preset first detection point, a sixth distance between a second cross section of the steel coil and a preset second detection point, and a seventh distance between the mandrel and the saddle, the first detection point and the second detection point being arranged on extension lines of two ends of the saddle respectively, and the distances between the first detection point and the second detection point and the corresponding ends being equal;

[0023] calculating a difference between the fourth distance and the sixth distance;

[0024] determining the first distance between the coil and the mandrel according to the difference and the seventh distance.

[0025] In a second aspect, the present application provides a coil threading device for a normalizing and pickling line, the normalizing and pickling line comprising a saddle, a transport vehicle and a mandrel, the device comprising:

[0026] a first obtaining module, configured to, after a coil is placed on the saddle, if a threading signal is received, obtain a first distance between the coil and the mandrel;

[0027] a first control module, configured to control the transport vehicle to carry the coil to travel the first distance from a center position of the saddle to the direction of the mandrel, so that the coil is centered on the mandrel.

[0028] In a third aspect, the present application provides an electronic device, comprising a memory and a processor, which are communicatively connected with each other, and the memory stores computer instructions, and the processor executes the computer instructions to perform the method of the first aspect.

[0029] In a fourth aspect, the present application provides a computer readable storage medium, which stores computer instructions for causing a computer to execute the method of the first aspect.

[0030] The technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0031] The coil threading method, device, equipment and medium provided by the embodiments of the present application for a normalizing and pickling line, the normalizing and pickling line comprising a saddle, a transport vehicle and a mandrel, the method comprising: after a coil is placed on the saddle, if a threading signal is received, indicating that the preparation is ready for threading operation, obtaining a first distance between the coil and the mandrel, since the positions of the mandrel and the saddle are fixed, the first distance can be used to understand the placement position of the coil on the saddle; controlling the transport vehicle to carry the coil to travel the first distance from the center position of the saddle to the direction of the mandrel, that is, the coil is away from the mandrel by the first distance, the coil on the saddle is just transported by the first distance to the direction of the mandrel, so that the coil is transported to the mandrel and is centered on the mandrel, thereby the coil can be centered after uncoiling and enter the subsequent threading equipment, reducing the occurrence of edge scraping or broken strip during threading.

[0032] The above description is only a summary of the technical solutions of the present application, in order to enable the technical means of the present application to be more clearly understood, and can be implemented according to the content of the specification, and in order to enable the above and other purposes, characteristics and advantages of the present application to be more apparent and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0033] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used throughout the several drawings to represent similar parts. In the drawings:

[0034] Figure 1 is a structure diagram of an entry section of a normalizing and pickling line provided by an embodiment of the present application;

[0035] Figure 2 is a flowchart of a strip threading method on a normalizing and pickling line provided by an embodiment of the present application;

[0036] Figure 3 is a schematic diagram of a detection point provided by an embodiment of the present application;

[0037] Figure 4 is a structure block diagram of a strip threading device on a normalizing and pickling line provided by an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the purposes, technical solutions and advantages of the present application more clear, the following will further describe the embodiments of the present application in combination with the drawings, and it should be understood that the embodiments of the present disclosure and the specific features in the embodiments are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments of the present application and the embodiments can be combined with each other without conflict.

[0039] Before the strip threading method on a normalizing and pickling line provided by the embodiments of the present application is described in detail, the implementation environment involved will be briefly introduced.

[0040] Non-oriented electrical steel is mainly applied to household appliances, industrial motors and emerging new energy vehicles. With the development of the times, the sales of new energy vehicles increase rapidly, and the demand for non-oriented electrical steel also increases. Many steel plants have built new electrical steel production lines, and the normalizing and pickling line is a key production line for producing electrical steel.

[0041] Figure 1 is a structure diagram of an entry section of a normalizing and pickling line provided by an embodiment of the present application, as Figure 1As shown, the entry section of the normalizing and pickling line includes mandrel 1, strip passing guide (not shown in the figure), first turning pinch roll 2, straightening machine 3, cross-cut shear 4 and welding machine 5 in sequence along the running direction of the strip. Before the mandrel 1, saddle 6 and transport car 7 are also arranged.

[0042] Firstly, after the crane hoists the steel coil 8 onto the saddle 6, the transport car 7 transports the steel coil 8 on the saddle 6 to the mandrel 1 to complete the coil loading, and then the strip passing guide assists the uncoiling of the steel coil 8. Then, the uncoiled strip 9 first passes through the first turning pinch roll 2 to change direction and then enters the straightening machine 3. The straightening machine 3 straightens the strip head. The straightened strip 9 continues to run forward and reaches the cross-cut shear 4. The cross-cut shear 4 cuts off the strip 9 with poor plate shape. The cut-off strip 9 continues to run to the welding machine 5. The welding machine 5 welds the two strips 9 in front and back to complete the strip passing.

[0043] Figure 2 is a flowchart of a strip passing method on a normalizing and pickling line provided by an embodiment of the present application, as shown, the method comprises: Figure 2

[0044] Step S210: After the steel coil is placed on the saddle, if a strip passing signal is received, the first distance between the steel coil and the mandrel is obtained.

[0045] It can be understood that after the crane places the steel coil 8 on the saddle 6, if a strip passing signal is received, it means that all preparations are ready and the strip passing operation can be performed. The strip passing signal can be triggered by a user, for example, the strip passing signal can be triggered by pressing a control button; or the strip passing signal can be automatically triggered after the steel coil 8 is placed on the saddle 6 and starts timing, and the strip passing signal is automatically triggered when the timing reaches the set time length.

[0046] In this embodiment, due to the limited stability of the crane hoisting the steel coil 8, the placement position of the hoisted steel coil 8 on the saddle 6 may not be the same each time. Sometimes the steel coil 8 may be placed in the middle of the saddle 6, sometimes it may be placed on one side of the mandrel 1 or on the side away from the mandrel 1. The positions of the mandrel 1 and the saddle 6 are fixed, and the distance between them is also fixed. Therefore, the different placement positions of the steel coil 8 will result in different first distances between the steel coil 8 and the mandrel 1. Therefore, after the steel coil 8 is placed, the first distance between the steel coil 8 and the mandrel 1 is determined, and according to the first distance, it can be known whether the placement position of the steel coil 8 is in the middle. The first distance can refer to the distance between the center point of the steel coil 8 and the center point of the mandrel 1.

[0047] ​In step S220, the transport vehicle is controlled to drive the steel coil from the center position of the saddle to the mandrel by a first distance, so that the steel coil is centered on the mandrel.

[0048] In this embodiment, the route between the mandrel 1 and the saddle 6 is generally straight, and the transport vehicle 7 transports the steel coil 8 to the mandrel 1 along the straight route. Before transporting the steel coil 8 each time, the transport vehicle 7 is first driven to the center position of the saddle 6, the steel coil 8 is loaded on the transport vehicle 7 at the center position, and then the transport vehicle 7 is driven from the center position to the mandrel 1 by a first distance and stopped. Since the distance between the steel coil 8 and the mandrel 1 is the first distance, and the distance by which the transport vehicle 7 transports the steel coil 8 to the mandrel 1 is also the first distance, the steel coil 8 can be centered on the mandrel 1.

[0049] As shown in Figure 1 , the saddle 6 generally includes a left saddle and a right saddle, and the center position refers to the middle point A of the left saddle and the right saddle. The steel coil 8 can be stably placed on the transport vehicle 7 by loading the steel coil 8 on the transport vehicle 7 at the center position each time.

[0050] That is, when the placement position of the steel coil 8 is deviated to one side of the mandrel 1, the distance between the steel coil 8 and the mandrel 1 is smaller, and at this time, the distance by which the transport vehicle 7 is controlled to drive is smaller. When the placement position of the steel coil 8 is deviated to the other side, the distance between the steel coil 8 and the mandrel 1 is larger, and at this time, the distance by which the transport vehicle 7 is controlled to drive is larger. Thus, the steel coil 8 can be centered on the mandrel 1 each time without being deviated to the left end of the mandrel 1 or the right end of the mandrel 1, the precision of the coiling is improved, and the steel coil 8 can be centered after being uncoiled and then enter the subsequent first deflector pinch roll 2, straightening machine 3, cross-cut shear 4 and other equipment, so that the occurrence of edge scraping or strip breakage of the strip 9 during threading is reduced, and the continuous and stable operation of the production line is realized.

[0051] Optionally, before step S210, the method further includes:

[0052] acquiring a fourth distance between the first cross section of the steel coil and a first detection point and a fifth distance between the first detection point and the mandrel; and determining the first distance between the steel coil and the mandrel according to the fourth distance and the fifth distance.

[0053] The first detection point can be arranged on the extension line of the end of the saddle 6, and the ultrasonic sensor is arranged on the first detection point to detect the fourth distance between the first detection point and the first cross section of the steel coil 8. Figure 3 is a schematic diagram of the arrangement of the detection point provided by the embodiment of the present application, as shown in Figure 3 , the first detection point can be point B or point C on the extension line x of the end of the saddle 6.

[0054] In the embodiment, the steel coil 8 generally includes two cross sections, one of which is close to the side of the mandrel 1, and the other of which is away from the side of the mandrel 1, which can be referred to as a first cross section and a second cross section.

[0055] If the first detection point is on the same side of the first cross section, the fourth distance between the first detection point and the first cross section can be directly detected by sending an ultrasonic wave from the ultrasonic sensor on the first detection point to the first cross section. If the first detection point is not on the same side of the first cross section, the fourth distance between the first detection point and the first cross section can be detected by sending an ultrasonic wave from the ultrasonic sensor on the first detection point to the second cross section, and then adding the width of the steel coil 8 to the distance between the first detection point and the second cross section.

[0056] In the embodiment, the position of the first detection point is fixed, so the fifth distance between the first detection point and the mandrel 1 is also fixed. Therefore, the first distance between the steel coil 8 and the mandrel 1 is determined according to the fourth distance and the fifth distance, which includes:

[0057] If the first detection point is the B point and the first cross section is on the same side of the first detection point, the first distance is the sum of the fourth distance and the fifth distance. If the first detection point is the B point and the first cross section is not on the same side of the first detection point, the width of the steel coil 8 is obtained, the difference between the fourth distance and half of the width is calculated, and the first distance is the sum of the difference and the fifth distance. If the first detection point is the C point, the same calculation logic can be used to calculate the first distance, which will not be described here.

[0058] Optionally, the step S210 further includes:

[0059] The fourth distance between the first cross section of the steel coil and the preset first detection point, the sixth distance between the second cross section of the steel coil and the preset second detection point, and the seventh distance between the mandrel and the saddle are obtained, the difference between the fourth distance and the sixth distance is calculated, and the sum of half of the difference and the seventh distance is determined as the first distance between the steel coil and the mandrel.

[0060] In the embodiment, in order to make the calculation process simpler and faster, two detection points can be arranged, which are referred to as a first detection point and a second detection point. The first detection point and the second detection point are arranged on the extension lines of the two ends of the saddle 6, as shown by the B point and the C point in Figure 3 The distances between the first detection point and the second detection point and the corresponding ends are equal, that is, the distance between the B point and one end of the saddle 6 and the distance between the C point and the other end of the saddle 6 are equal. By arranging two detection points, the width of the steel coil 8 is not needed in the process of calculating the first distance.

[0061] Specifically, the ultrasonic sensor is arranged at the first detection point and the second detection point, and the fourth distance between the first cross section of the steel coil 8 and the first detection point and the sixth distance between the second cross section of the steel coil 8 and the second detection point are detected by the ultrasonic sensor. The seventh distance between the mandrel 1 and the saddle 6 is fixed.

[0062] Next, the difference between the fourth distance and the sixth distance is calculated. If the difference is 0, it indicates that the placement position of the steel coil 8 on the saddle 6 is centered, and if the difference is not 0, it indicates that the placement position of the steel coil 8 on the saddle 6 is not centered and is offset. According to the offset condition and the seventh distance, the first distance can be determined.

[0063] In this embodiment, the first distance between the steel coil 8 and the mandrel is determined according to the difference and the seventh distance, including:

[0064] If the difference is 0, the seventh distance is the first distance. If the first detection point is the B point and the second detection point is the C point, the sum of half of the difference and the seventh distance is the first distance. If the first detection point is the C point and the second detection point is the B point, the value obtained by subtracting half of the difference from the seventh distance is the first distance.

[0065] It can be understood that when the difference is 0, it indicates that the steel coil 8 is placed in the middle of the saddle 6, so the distance between the saddle 6 and the mandrel 1 is the distance between the steel coil 8 and the mandrel 1. In the case that the first detection point is the B point and the second detection point is the C point, if the difference is less than 0, it indicates that the placement position of the steel coil 8 is biased towards the B point; if the difference is greater than 0, it indicates that the placement position of the steel coil 8 is biased towards the C point, so the distance obtained by adding half of the difference to the seventh distance is the distance between the steel coil 8 and the mandrel 1. Conversely, in the case that the first detection point is the C point and the second detection point is the B point, if the difference is less than 0, it indicates that the placement position of the steel coil 8 is biased towards the C point; if the difference is greater than 0, it indicates that the placement position of the steel coil 8 is biased towards the B point, so the value obtained by subtracting half of the difference from the seventh distance is the distance between the steel coil 8 and the mandrel 1. When determining the first distance by arranging two detection points, the width of the steel coil 8 does not need to be obtained, so that the calculation is faster and simpler.

[0066] Optionally, after step S220, the method further includes a first step and a second step.

[0067] The first step is to obtain the second distance between the head of the steel coil and the cross-cut shear.

[0068] The second step is to control the centering device to perform centering operation on the steel strip if the second distance is less than a preset first distance threshold.

[0069] In this embodiment, the normalizing and pickling line includes a centering device, which can be arranged between the straightening machine 3 and the cross-cut shear 4, and the steel strip 9 between the straightening machine 3 and the cross-cut shear 4 can be corrected by the centering device. Figure 1As shown, the centering device can include a first centering device 10 and a second centering device 11, the first centering device 10 is close to the straightening machine 3, and the second centering device 11 is close to the cross-cut shear 4.

[0070] In the embodiment, the position of the steel coil 8 on the mandrel 1 before uncoiling is centered, so that the strip steel 9 after uncoiling is relatively centered when entering the first turning pinch roll 2, but the strip steel 9 continues to run to the cross-cut shear 4, and the running distance is relatively long, the strip steel 9 is in a tension-free state, and the running direction is not controlled due to the influence of the shape of the strip steel and the accuracy of the equipment, and deviation may occur. In order to prevent the deviation from being too large to cause edge scraping or strip breaking of the strip steel 9, the centering device can be controlled to perform centering operation on the strip steel 9 when the strip head runs to the vicinity of the cross-cut shear 4, so as to correct the deviation of the strip steel 9, so that the strip steel 9 can run in the center. The second distance between the strip head and the cross-cut shear 4 can be detected by an ultrasonic sensor.

[0071] In the embodiment, the first distance threshold value can be 0, that is, the strip head runs to the cross-cut shear 4, and the centering device is controlled to perform centering operation. A proximity switch can be arranged at the entrance of the cross-cut shear 4, and when the proximity switch is triggered to generate a signal, it indicates that the strip head runs to the cross-cut shear 4, the second distance between the strip head and the cross-cut shear 4 is 0, and the centering operation can be performed.

[0072] Optionally, the second step includes:

[0073] If the second distance is less than the preset first distance threshold value, the first turning pinch roll is controlled to be lifted, and the centering device is controlled to perform centering operation on the strip steel 9.

[0074] In the embodiment, in order to adjust the running direction of the strip steel 9, the normalizing and pickling line usually arranges the first turning pinch roll 2 between the mandrel 1 and the straightening machine 3. When the strip steel 9 runs to the first turning pinch roll 2, the pressure roller is pressed down to ensure that the strip steel 9 does not pass above the straightening machine 3, so as to realize the adjustment of the running direction of the strip steel 9. However, in order to achieve better centering effect during the centering operation, the first turning pinch roll 2 is generally controlled to be lifted, so that the strip steel 9 is kept in a completely tension-free state, and it is easier to adjust the deviation of the strip steel 9. At the same time, in order to ensure safety, the strip steel 9 can also be controlled to stop running during the centering operation.

[0075] Optionally, after the second step, the method further includes a third step and a fourth step.

[0076] The third step is to obtain a third distance between the strip head and a target position. The target position is arranged between the cross-cut shear and the welding machine.

[0077] The fourth step is to control the centering device to perform centering operation if the third distance is less than a preset second distance threshold value.

[0078] In the embodiment, the strip steel 9 is easy to deviate after it comes out of the cross-cutting shear 4 and continues to run to the welding machine 5, which causes the edge scraping or strip breaking at the strip guiding plate. Therefore, the strip steel 9 can be centered once again before it runs to the welding machine 5 to correct the deviation of the strip steel 9.

[0079] Specifically, a target position is arranged between the cross-cutting shear 4 and the welding machine 5. When the strip head runs to the vicinity of the target position, the centering device is controlled to perform the centering operation to correct the deviation of the strip steel 9, so that the strip steel 9 can be as centered as possible when it enters the welding machine 5, thereby avoiding the edge scraping or strip breaking.

[0080] Optionally, the target position is arranged between the cross-cutting shear 4 and the second turning pinch roll.

[0081] In the embodiment, the second turning pinch roll is arranged between the cross-cutting shear 4 and the welding machine 5 of the normalizing and pickling line, and the second turning roll can adjust the running direction of the strip steel 9 to the direction of the welding machine 5. In this case, the target position can be arranged between the cross-cutting shear 4 and the second turning pinch roll, so that the strip steel 9 can be centered before it enters the second turning pinch roll, and the second turning pinch roll can better adjust the running direction of the strip steel 9.

[0082] In the embodiment, the second distance threshold value can be 0, that is, the centering operation is performed when the strip head runs to the entrance of the second turning pinch roll. A proximity switch can be arranged at the entrance of the second turning pinch roll. When the proximity switch is triggered to generate a signal, it indicates that the strip head runs to the entrance of the second turning pinch roll, and the second distance between the strip head and the entrance of the second turning pinch roll is 0, so that the centering operation can be performed.

[0083] Therefore, the strip steel 8 can be sleeved on the middle of the mandrel 1 when it is coiled, and the centering operation is performed twice during the running process, so that the strip steel 9 can run as centered as possible during the whole strip running process, the first-time strip passing rate is above 95%, the edge scraping or strip breaking during the strip running process is greatly reduced, the production line demand is met, and the continuous running of the unit is ensured.

[0084] Based on the same inventive concept, the embodiment of the present application also provides a strip steel running device on a normalizing and pickling line, the normalizing and pickling line comprising a saddle, a transport vehicle and a mandrel, Figure 4 is a structural block diagram of the strip steel running device on the normalizing and pickling line provided by the embodiment of the present application, as Figure 4 shown, the device 400 comprises a first acquisition module 401 and a second control module 402.

[0085] The first acquisition module 401 is configured to acquire a first distance between the steel coil and the mandrel if a threading signal is received after the steel coil is placed on the saddle.

[0086] The second control module 402 is configured to control the transport vehicle to drive the steel coil from the center position of the saddle to the mandrel by the first distance, so that the steel coil is centered on the mandrel.

[0087] Optionally, the normalizing and pickling line further comprises a straightening machine, a centering device and a cross-cut shear along the running direction of the strip, and the device 400 further comprises:

[0088] The second acquisition module is configured to acquire a second distance between the strip head of the steel coil and the cross-cut shear.

[0089] The second control module is configured to control the centering device to perform a centering operation on the strip if the second distance is less than a preset first distance threshold.

[0090] Optionally, a first turning pinch roll is arranged between the mandrel and the straightening machine, and the second control module is further configured to:

[0091] If the second distance is less than the preset first distance threshold, the first turning pinch roll is controlled to be lifted, and then the centering device is controlled to perform the centering operation on the strip.

[0092] Optionally, the device 400 further comprises a third control module configured to:

[0093] acquire a third distance between the strip head and a target position, the target position being arranged between the cross-cut shear and the welding machine;

[0094] If the third distance is less than a preset second distance threshold, the centering device is controlled to perform a centering operation.

[0095] Optionally, a second turning pinch roll is arranged between the cross-cut shear and the welding machine, and the target position is arranged between the cross-cut shear and the second turning pinch roll.

[0096] Optionally, the first acquisition module 401 further comprises a first determination unit configured to:

[0097] acquire a fourth distance between a first cross section of the steel coil and a preset first detection point, and a fifth distance between the first detection point and the mandrel, the first detection point being arranged on an extension line of an end of the saddle;

[0098] determine the first distance between the steel coil and the mandrel according to the fourth distance and the fifth distance.

[0099] Optionally, the first acquisition module 401 further comprises a second determination unit, configured to:

[0100] acquire a fourth distance between the first cross section of the steel coil and a preset first detection point, a sixth distance between the second cross section of the steel coil and a preset second detection point, and a seventh distance between the mandrel and the saddle, the first detection point and the second detection point being arranged on the extension lines of the two end portions of the saddle respectively, and the first detection point and the second detection point being equidistant from the corresponding end portions;

[0101] calculate the difference between the fourth distance and the sixth distance;

[0102] determine the first distance between the steel coil and the mandrel according to the difference and the seventh distance.

[0103] It can be understood that the apparatus provided by the above embodiments is only exemplified by the division of the above functional modules, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to complete all or part of the above described functions.

[0104] The embodiment of the present application further provides an electronic device, which can comprise a processor and a memory, wherein the processor and the memory can be connected to each other in communication through a bus or other manners.

[0105] The processor can be a central processing unit (CPU), or a specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits of the embodiments of the present application, or can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. chips, or a combination of the above chips.

[0106] The memory can include mass storage for data or instructions. By way of example, and not limitation, the memory can include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc, a magneto-optical disc, magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these. The memory can include removable or non-removable (or fixed) media, where appropriate. The memory can be internal or external to the electronic device, where appropriate. In particular embodiments, the memory can be nonvolatile, solid-state memory.

[0107] In one example, the memory can be a Read Only Memory (ROM). In one example, the ROM can be a mask programmed ROM, a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), an Electrically Alterable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0108] The processor implements the pass-through method of the strip on the normalizing pickling line by reading and executing the computer program instructions stored in the memory.

[0109] In one example, the electronic device can further include a communication interface and a bus. The processor, the memory, and the communication interface are connected through the bus and complete communication with each other. The communication interface is mainly used to realize the communication between the modules, devices, units, and / or equipment in the embodiments of the present application. The bus can include one or more buses, where appropriate.

[0110] In addition, in combination with the pass-through method of the strip on the normalizing pickling line in the above embodiments, the embodiments of the present application can provide a computer readable storage medium to implement. The computer readable storage medium has computer program instructions stored thereon; the computer program instructions are executed by the processor to implement any one of the pass-through methods of the strip on the normalizing pickling line in the above embodiments.

[0111] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer readable storage medium. When the program is executed, the processes of the above-mentioned embodiment methods can be included. The storage medium can be a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD), etc. The storage medium can also include a combination of the above-mentioned types of memories.

[0112] The technical solutions in the embodiments of the present application have at least the following technical effects or advantages:

[0113] The method, device, equipment and medium for threading a strip on a normalizing and pickling line provided by the embodiment of the present application, the normalizing and pickling line comprising a saddle, a transport vehicle and a mandrel, the method comprising: after a coil is placed on the saddle, if a threading signal is received, it indicates that the preparation is ready and the threading operation can be performed, then a first distance between the coil and the mandrel is obtained, since the positions of the mandrel and the saddle are fixed, the first distance can be used to understand the placement position of the coil on the saddle; the transport vehicle carrying the coil is controlled to travel from the center position of the saddle to the mandrel by the first distance, that is, the coil is just a first distance away from the mandrel, the coil on the saddle is just transported by the first distance to the mandrel, so that the coil is transported to the mandrel and is just centered on the mandrel, so that the coil can be unwound and the strip can be threaded on the mandrel after the coil is unwound.

[0114] In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the application can be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

[0115] Similarly, it is to be understood that the embodiments of the present application can be over-simplified, and that one or more of the individual aspects of the present disclosure can sometimes be inter-related in the above description of illustrative embodiments of the present application, individual features of the present application are sometimes grouped together in a single embodiment, figure, or description thereof. However, the method of this disclosure should not be interpreted as reflecting an intention that the claimed application requires more features than those explicitly recited in each claim. Rather, as reflected in the following claims, the inventive aspects are in less than all the features of the previously disclosed single embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into this detailed description, wherein each claim itself is a separate embodiment of the present application.

[0116] It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that one skilled in the art will be able to design many alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word 'comprising' does not exclude the presence of elements or steps not listed in a claim. The word 'a' or 'an' preceding an element does not exclude the presence of a plurality of such elements. The application can be implemented by means of both hardware and software, and any combination thereof. In a unitary claim, several devices or means can be listed, comprising means which can be implemented by one and the same item of hardware. The use of the words 'first','second', and 'third', etc. do not imply any ordering. These words are used to name the elements.

Claims

1. A strip threading method for a normalized pickling line, characterized in that: The normalizing pickling line includes a saddle, a transport vehicle, and a mandrel, and the method includes: After the steel coil is placed on the saddle, if a threading signal is received, a first distance between the steel coil and the core shaft is obtained; The transport vehicle is controlled to carry the steel coil and travel the first distance from the center position of the saddle toward the core shaft, so that the steel coil is centered on the core shaft.

2. The strip threading method on the normalizing pickling line according to claim 1 is characterized in that: The normalizing pickling line further includes a straightening machine, a centering device, and a cross-cutting shear in sequence along the running direction of the strip steel. After controlling the transport vehicle to carry the steel coil from the center position of the saddle toward the mandrel for the first distance, the method further includes: Obtaining a second distance between the strip head of the steel coil and the cross-cutting shear; If the second distance is less than the preset first distance threshold, the centering device is controlled to perform a centering operation on the strip.

3. The strip threading method on the normalizing pickling line according to claim 2 is characterized in that: A first steering pinch roller is arranged between the mandrel and the straightening machine, and if the second distance is less than a preset first distance threshold, the centering device is controlled to perform a centering operation on the strip, including: If the second distance is less than a preset first distance threshold, the first steering pinch roller is controlled to be lifted, and then the centering device is controlled to perform a centering operation on the strip.

4. The strip threading method on the normalizing pickling line according to claim 2 is characterized in that: After controlling the centering device to perform centering operation on the strip steel, the method further includes: obtaining a third distance between the strip head and a target position, the target position being disposed between the cross-cut shear and the welder; If the third distance is less than a preset second distance threshold, the centering device is controlled to perform a centering operation.

5. The strip threading method on the normalizing pickling line according to claim 4 is characterized in that: A second steering pinch roller is arranged between the cross-cut shear and the welder, and the target position is arranged between the cross-cut shear and the second steering pinch roller.

6. The strip threading method on the normalizing pickling line according to claim 1 is characterized in that: The obtaining of a first distance between the steel coil and the mandrel comprises: Obtaining a fourth distance between a first cross section of the steel coil and a preset first detection point, and a fifth distance between the first detection point and the mandrel, wherein the first detection point is arranged on an extension line of an end portion of the saddle; The first distance between the steel coil and the mandrel is determined according to the fourth distance and the fifth distance.

7. The strip threading method on a normalizing pickling line according to claim 1, characterized in that: The obtaining of a first distance between the steel coil and the mandrel comprises: Obtaining a fourth distance between a first cross section of the steel coil and a preset first detection point, a sixth distance between a second cross section of the steel coil and a preset second detection point, and a seventh distance between the mandrel and the saddle, wherein the first detection point and the second detection point are respectively arranged on extension lines of two ends of the saddle, and the first detection point and the second detection point are equidistant from the corresponding ends; calculating a difference between the fourth distance and the sixth distance; The first distance between the steel coil and the mandrel is determined based on the difference and the seventh distance.

8. A strip threading device for a normalized pickling line, characterized in that: The normalizing pickling line includes a saddle, a transport vehicle and a mandrel, and the device includes: a first acquisition module, configured to acquire a first distance between the steel coil and the core shaft if a threading signal is received after the steel coil is placed on the saddle; The first control module is used to control the transport vehicle to carry the steel coil and move the first distance from the center position of the saddle toward the core shaft, so that the steel coil is centered on the core shaft.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 7 by executing the computer instructions.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the method according to any one of claims 1 to 7.

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