Method for detecting tower-shaped edge of malleable steel coil before transportation

Abstract

This invention specifically relates to a method for detecting tower-shaped edge protrusion of easily deformable steel coils before transportation, belonging to the field of hot-rolled inspection technology. It includes the following steps: first, the coil-carrying lateral movement cylinder is brought to the zero position; then, the coil-carrying trolley is driven to move towards a fixed saddle to detect tower-shaped edge protrusion on both sides of the easily deformable steel coil, checking for any tower-shaped edge protrusion exceeding a threshold. This invention incorporates a height detector on the coil-carrying trolley in a known steel coil transportation system. By adding the detection of tower-shaped edge protrusion during the movement of the coil-carrying trolley during the handling and transportation of easily deformable steel coils, it accurately detects whether easily deformable steel coils have edge protrusion problems that preclude handling and transportation without altering the transportation process or adding excessive equipment. This reduces the scrap steel problem caused by directly transporting easily deformable steel coils with severe tower-shaped edge protrusion problems using the handling and transportation method, saving costs without affecting the existing transportation schedule.

Description

Technical Field

[0001] This invention specifically relates to a method for detecting the tower-shaped edge protrusion of easily deformable steel coils before transportation, belonging to the field of hot rolling inspection technology. Background Technology

[0002] After the steel coils are coiled in the coiling area of ​​the hot rolling production line, they are first transported to the saddle of the bundling machine by the unloading trolley. After the coils are bundled on the saddle, the coil transport trolley transports the bundled coils to the fast conveyor chain and then to the downstream processes for marking and other operations before warehousing. The process of transporting the coils from the saddle of the bundling machine to the fast conveyor chain by the coil transport trolley mostly uses a lifting transport method, that is, the coil transport trolley lifts the coil from directly below and transports it. However, for some special easily deformable steel coils, the lifting transport method can cause significant deformation of the coil shape due to its own weight during transportation, making it impossible to carry out downstream processes. It is necessary to unwind and rewind the coils, which seriously affects production. In the production process, before transporting easily deformable steel coils using pallet transport, a crane is used to lift the coils and spray water to cool them and reduce their deformation capacity. While this method avoids deformation issues during pallet transport, it adds the overhead crane lifting and cooling step, prolonging the coils' time on the production line and disrupting production schedules. Therefore, Chinese patent application CN202310775683.7, "A Method for Transporting Easily Deformable Steel Coils," proposes a novel method to solve these problems. This method involves using a pick-and-place mechanism to transport the easily deformable steel coils. The transport arm of the trolley is inserted into the coil's eyelet, providing an upward supporting force inside the coil core to counteract its own weight. This prevents deformation during pick-and-place transport that could affect downstream production, significantly improving the transport efficiency of easily deformable steel coils. However, the aforementioned coil-picking and transporting method is problematic when easily deformable steel coils exhibit severe tower-shaped edge protrusions. This occurs when one or more coils on either side of the easily deformable steel coil protrude in a tower-like shape. In such cases, the transport arm of the coil-carrying trolley cannot insert into the coil eye, leading to coil-picking failure and rendering the easily deformable steel coil scrap. Therefore, detecting whether easily deformable steel coils have severe tower-shaped edge protrusions that significantly affect coil-picking and transport before transportation becomes a crucial issue in the transportation of easily deformable steel coils.

[0003] Existing methods for detecting tower-shaped edge protrusion in steel coils mostly rely on 3D point clouds for judgment. These methods depend on point cloud acquisition devices. During coil unwinding, the coil is fixed in place by a mounting bracket for precise positioning, and then accurate 3D information is acquired to detect whether the coil has a tower-shaped edge protrusion. While existing methods can accurately detect tower-shaped edge protrusion, they are not applicable to the coil transport area of ​​hot continuous rolling mills. Applying these methods to the hot continuous rolling mill's coil transport area would require modifications to the transport equipment, resulting in excessive costs. Summary of the Invention

[0004] The technical problem to be solved by this invention is: how to perform tower-shaped edge detection on easily deformable steel coils before transportation at low cost and accurately, and determine whether the easily deformable steel coils can be picked and transported.

[0005] The technical solution proposed in this invention is: a method for detecting the edge protrusion of a tower-shaped steel coil before transportation, involving an unloading trolley, a fixed saddle, a coil transport trolley, two transport chains, a coil lateral movement cylinder, a displacement sensor, and an automatic controller in a known steel coil transport system; the coil transport trolley includes a moving frame and a main support; the automatic controller is used to control the operation of the coil lateral movement cylinder; the displacement sensor is used to view the displacement data of the coil lateral movement cylinder; a height detector is installed on the moving frame of the coil transport trolley, which can detect the distance from the obstruction above the coil transport trolley to the coil transport trolley, and performs the following steps:

[0006] Step 1: When the easily deformable steel coil is unloaded onto the fixed saddle by the unloading trolley, check if the reading on the first displacement sensor is zero; if it is not zero, the automatic controller controls the coil transverse movement cylinder to return to the zero position; when the coil transverse movement cylinder is at the zero position, the center line of the main support coincides with the center lines of the two transport chains, and the reading of the height detector is A1; if it is zero, proceed to the next step.

[0007] Step 2: The lateral movement cylinder drives the trolley to move towards the fixed saddle. When the height detector reading changes abruptly from A1 to A2, the lateral movement cylinder stops driving the trolley and records the displacement sensor reading L1 at this time. The height detector reading A2 and the displacement sensor reading L1 are then substituted into the following formula (1) for judgment.

[0008]

[0009] In formula (1), H2 is the vertical distance from the horizontal plane of the steel coil center to the horizontal plane of the height detector; D is the outer diameter of the steel coil; L0 is the horizontal distance between the vertical center lines of the two conveyor chains and the vertical center line of the steel coil; F is the horizontal distance between the vertical center line of the height detector and the vertical center line of the main support; B is the width of the steel coil; K is the limit threshold of the impact of the steel coil tower-shaped edge on the coil lifting.

[0010] If all requirements of formula (1) are met, it means that at least one edge of the inner or outer ring of the easily deformable steel coil near the transport chain exceeds the threshold and can no longer be picked up and transported. At this time, a warning is issued and the prepared pick-up and transport is switched to crane crane transport.

[0011] If at least one requirement of formula (1) is not met, it indicates that the inner or outer ring of the easily deformable steel coil near the transport chain has not exceeded the threshold for edge deviation. Continue to perform the following steps.

[0012] Step 3: The lateral movement cylinder drives the trolley to continue moving towards the fixed saddle. When the height detector reading suddenly changes and exceeds H2-d / 2, the lateral movement cylinder stops driving the trolley and records the displacement sensor reading L2 at this time. Substitute the displacement sensor reading L2 at this time into the following formula (2) for judgment.

[0013] L2+F-L0≥B / 2+K(2)

[0014] If the requirements of formula (2) are met, it means that at least one edge of the lower edge of the inner or outer ring of the easily deformable steel coil on the side away from the transport chain exceeds the threshold and can no longer be picked up and transported. At this time, a warning is issued and the prepared pick-up and transport is switched to crane crane transport.

[0015] If the requirements of formula (2) are not met, it means that the lower edge of the inner ring and the lower edge of the outer ring on the side of the easily deformable steel coil away from the transport chain do not exceed the threshold. At this time, there is no problem of the steel coil exceeding the threshold on both sides, and the easily deformable steel coil can be directly picked up and transported.

[0016] The beneficial effects of this invention are as follows: This invention sets up a height detector on the coil transport trolley in a known steel coil transport system. By adding the detection of the tower-shaped edge protrusion problem of the easily deformable steel coil during the movement of the coil transport trolley in the process of picking and transporting the easily deformable steel coil, without changing the transport process or adding too much equipment, it can accurately detect whether the easily deformable steel coil has an edge protrusion problem that makes it impossible to use the picking and transport method. This reduces the scrap steel problem caused by directly using the picking and transport method to transport easily deformable steel coils with serious tower-shaped edge protrusion problems, saving costs without affecting the existing transport rhythm. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the steel coil transportation system in an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram illustrating edge detection of easily deformable steel coils near the transport chain according to an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram illustrating edge detection of easily deformable steel coils on the side away from the transport chain, according to an embodiment of the present invention. Detailed Implementation

[0020] The following detailed description of a method for detecting edge protrusion in a tower-shaped structure before transporting easily deformable steel coils according to the present invention, with reference to specific embodiments, will further illustrate this method.

[0021] Example

[0022] The method for detecting the edge protrusion of the tower-shaped steel coil before transportation in this embodiment is as follows: Figure 1 As shown, this involves an unloading trolley, a fixed saddle, a coil transport trolley, two transport chains, a coil lateral movement cylinder, a displacement sensor, and an automatic controller in a known steel coil transport system. The coil transport trolley includes a moving frame and a main support. The automatic controller controls the operation of the coil lateral movement cylinder. The displacement sensor is used to view the displacement data of the coil lateral movement cylinder. A height detector is installed on the moving frame of the coil transport trolley. The height detector can detect the distance from the obstruction above the coil transport trolley to the coil transport trolley, including the following steps:

[0023] Step 1: When a deformable steel coil with an outer diameter D of 2080 mm, an inner diameter d of 630 mm, a width B of 1000 mm, an edge threshold K of 200 mm, and a center height H2 of 1600 mm is unloaded onto a fixed saddle by an unloading trolley, check if the reading on the displacement sensor is zero. If it is not zero, the automatic controller controls the lateral movement cylinder and the lifting cylinder to return to the zero position. When the lateral movement cylinder is at the zero position, the center line of the main support of the trolley coincides with the center lines of the two transport chains, and the reading of the height detector on the trolley is A1. If it is zero, proceed to the next step.

[0024] Step 2: The lateral movement cylinder drives the winding trolley to move towards the fixed saddle, as shown. Figure 2 As shown, when the height detector reading changes abruptly from A1 to A2, A2 is 2525 mm; the lateral movement cylinder stops driving the winding trolley and records the displacement sensor reading as L1, which is 2200 mm; the height detector reading A2 and the displacement sensor reading L1 are substituted into the following formula (1) for judgment.

[0025]

[0026] In formula (1), H2 is the vertical distance from the horizontal plane of the center of the steel coil to the horizontal plane of the height detector; D is the outer diameter of the steel coil; L0 is the horizontal distance between the vertical center lines of the two conveyor chains and the vertical center line of the steel coil, which is 3795 mm in this embodiment; F is the horizontal distance between the vertical center line of the height detector and the vertical center line of the main bracket, which is 1000 mm in this embodiment; B is the width of the steel coil; K is the limit threshold of the impact of the tower-shaped edge of the steel coil on the coil lifting.

[0027] If all requirements of formula (1) are met, it means that at least one edge of the inner or outer ring of the easily deformable steel coil near the transport chain exceeds the threshold and can no longer be picked up and transported. At this time, a warning is issued and the prepared pick-up and transport is switched to crane crane transport.

[0028] If at least one requirement of formula (1) is not met, it indicates that the inner or outer ring of the easily deformable steel coil near the transport chain has not exceeded the threshold for edge deviation. Continue to perform the following steps.

[0029] It was found that L0-L1-F=3975-2200-1000=675<B / 2+K=700; there are contents that do not satisfy formula (1), therefore the inner or outer ring of the easily deformable steel coil near the transport chain does not exceed the threshold edge problem;

[0030] Step 3: The lateral movement cylinder drives the winding trolley to continue moving towards the fixed saddle, as shown. Figure 3 As shown, when the height detector reading A suddenly changes and the reading A3 exceeds H2-d / 2=1285 mm, the winding traverse cylinder stops driving the winding trolley and records the displacement sensor reading L2 at this time. The displacement sensor reading L2 at this time is 5500 mm. Substitute the displacement sensor reading L2 at this time into the following formula (2) for judgment.

[0031] L2+F-L0≥B / 2+K(2)

[0032] If the requirements of formula (2) are met, it means that at least one edge of the lower edge of the inner or outer ring of the easily deformable steel coil on the side away from the transport chain exceeds the threshold and can no longer be picked up and transported. At this time, a warning is issued and the prepared pick-up and transport is switched to crane crane transport.

[0033] If the requirements of formula (2) are not met, it means that the inner or outer ring of the easily deformable steel coil on the side away from the transport chain does not have an edge exceeding the threshold. In this case, there is no edge exceeding the threshold on either side of the steel coil, and the coil can be transported by picking.

[0034] It was found that L2+F-L0=5500+1000-3795=2705≥B / 2+K=700 meets the requirements of formula (2). Therefore, at least one edge of the inner or outer ring of the easily deformable steel coil on the side away from the transport chain exceeds the threshold, and it can no longer be picked up and transported. At this time, a warning is issued and the prepared pick-up and transport is switched to crane crane transport.

Claims

1. A method for detecting the edge protrusion of a tower-shaped steel coil before transport, involving an unloading trolley, a fixed saddle, a coil transport trolley, two transport chains, a coil lateral movement cylinder, a displacement sensor, and an automatic controller in a known steel coil transport system; the coil transport trolley includes a moving frame and a main support; the automatic controller is used to control the operation of the coil lateral movement cylinder; the displacement sensor is used to view the displacement data of the coil lateral movement cylinder; a height detector is installed on the moving frame of the coil transport trolley, the height detector being able to detect the distance from the obstruction above the coil transport trolley to the coil transport trolley, characterized in that: Includes the following steps: Step 1: When the easily deformable steel coil is unloaded onto the fixed saddle by the unloading trolley, check if the reading on the first displacement sensor is zero; if it is not zero, the automatic controller controls the coil transverse movement cylinder to return to the zero position; when the coil transverse movement cylinder is at the zero position, the center line of the main support coincides with the center lines of the two transport chains, and the reading of the height detector is A1; if it is zero, proceed to the next step. Step 2: The lateral movement cylinder drives the trolley to move towards the fixed saddle. When the height detector reading changes abruptly from A1 to A2, the lateral movement cylinder stops driving the trolley and records the displacement sensor reading L1 at this time. The height detector reading A2 and the displacement sensor reading L1 are then substituted into the following formula (1) for judgment. In formula (1), H2 is the vertical distance from the horizontal plane of the steel coil center to the horizontal plane of the height detector; D is the outer diameter of the steel coil; L0 is the horizontal distance between the vertical center lines of the two conveyor chains and the vertical center line of the steel coil; F is the horizontal distance between the vertical center line of the height detector and the vertical center line of the main support; B is the width of the steel coil; K is the limit threshold of the impact of the steel coil tower-shaped edge on the coil lifting. If all requirements of formula (1) are met, it means that at least one edge of the inner or outer ring of the easily deformable steel coil near the transport chain exceeds the threshold and can no longer be picked up and transported. At this time, a warning is issued and the prepared pick-up and transport is switched to crane crane transport. If at least one requirement of formula (1) is not met, it indicates that the inner or outer ring of the easily deformable steel coil near the transport chain has not exceeded the threshold for edge deviation. Continue to perform the following steps. Step 3: The lateral movement cylinder drives the trolley to continue moving towards the fixed saddle. When the height detector reading suddenly changes and exceeds H2-d / 2, the lateral movement cylinder stops driving the trolley and records the displacement sensor reading L2 at this time. Substitute the displacement sensor reading L2 at this time into the following formula (2) for judgment. L2+F-L0≥B / 2+K(2) If the requirements of formula (2) are met, it means that at least one edge of the lower edge of the inner or outer ring of the easily deformable steel coil on the side away from the transport chain exceeds the threshold and can no longer be picked up and transported. At this time, a warning is issued and the prepared pick-up and transport is switched to crane crane transport. If the requirements of formula (2) are not met, it means that the lower edge of the inner ring and the lower edge of the outer ring on the side of the easily deformable steel coil away from the transport chain do not exceed the threshold. At this time, there is no problem of the steel coil exceeding the threshold on both sides, and the easily deformable steel coil can be directly picked up and transported.

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