Offset coil receiving method for hot rolled steel coil tray conveying chain

Abstract

The invention discloses an offset coil receiving method for a hot rolled steel coil tray conveying chain, which comprises the following steps of: installing a group of correlation type gratings behind a bundling machine in a coil taking and unloading conveying area to form a detection area covering the movement of a coil conveying trolley; recording stroke data of the coil conveying trolley by utilizing on-off changes of signals generated between the correlation type grating and a steel coil inlet and outlet when the coil conveying trolley moves; the actual cambered surface width of the steel coil is obtained through calculation of the stroke data, the offset is obtained, and then the target stroke value of the coil conveying trolley for automatic tray feeding is corrected through the offset. The problem that deviation exists between a tray and a steel coil due to the fact that an edge overflowing coil exists in a hot-rolled coil is solved.

Description

Technical Field

[0001] This invention relates to hot continuous rolling production technology, and more specifically, to a method for offset coil splicing on a hot-rolled steel coil pallet transport chain. Background Technology

[0002] Finished hot-rolled coils are important steel products, and hot-rolled coil coiling and pallet transport are one of the main methods of hot-rolled coil production. When hot-rolled coils produce overflow, the actual width of the coil's arc surface is greater than the actual finished width of the strip. If the position of such coils on the pallet is still controlled according to the strip width, it will inevitably lead to the coils being offset on the pallet. This will cause a series of edge damage and automatic equipment control problems when the pallet trolley transports the coils to the next process. For example, when the tower-shaped repair machine is working on both sides, if the offset of the coils is too large, exceeding the machine's action and pressure range, the excessive asymmetry caused by the large offset will result in collisions between the equipment and the coils, and subsequent abnormal operation of the automatic inkjet printer.

[0003] When hot-rolling thin plates, such as those with a finished thickness of less than 2.5mm, manual intervention is typically used at the tail end of the strip to prevent issues like tail-wagging and breakage. This involves adjusting the horizontal roll gap to ensure the strip's tail passes smoothly through the mill. Previously, the strip tail was in a state of tension loss during the throwing process, which exacerbated the tendency for the strip's centerline to shift to one side. Figure 1 As shown, in the approximately 100m tail section under untensioned conditions, the rolling centerline deviates 120mm towards the drive side. In this situation, the strip will almost always experience significant edge overflow after coiling, commonly referred to as coil overflow. This type of coil shape is generally uncontrollable through subsequent operations. Since hot-rolled steel coils need to be transported via a coil transport chain to the next process, if the standard method of palletizing coils using a coil transport chain is followed—controlling the pallet trolley according to the width of the finished strip—the coils on the pallet will inevitably be off-center, causing a series of problems during subsequent transportation.

[0004] In the prior art patent application, patent publication number CN109816645A relates to an automatic detection method and process for loose coil of steel coil, including collecting depth data on the surface of the steel coil, further comprising the following steps: after denoising the depth data, mapping the depth map into a gray scale image of the same size; using the soble operator to detect the image gradient of the gray scale image; performing connected component analysis on the edge, removing noise regions by the foreground pixel area; in the image edge region, using image gradient to find the gradient opposite point pair at the edge; using the distance between the point pairs and combining the depth information to determine whether it is a loose coil condition. The invention proposes an automatic detection method for steel coil, which is a non-statistical method that does not require a large amount of labeled data and a long training time, saving a lot of manpower and time costs, using depth information to ensure the robustness of the system to light.

[0005] Patent publication number CN101624140A relates to a coil connecting device for chain steel coil transportation system, including base, base, saddle, drive cylinder, base is arranged below the two sides of the transportation chain, the base is installed on the base, a drive cylinder is installed on each side of the base, the piston rod of the drive cylinder is connected with a saddle, the two saddles are distributed on both sides of the transportation chain, the saddle is lower than the transportation chain when the piston rod of the drive cylinder is not raised, and the saddle is higher than the transportation chain when the piston rod of the drive cylinder is raised to the limit position. The invention can slowly and smoothly put the steel coil on the transportation chain, thereby reducing the impact of the steel coil on the transportation chain and protecting the transportation chain; the saddle is lowered to the lower limit end, the height is lower than the transportation chain, and the normal operation of the transportation chain is not affected; the saddle is V-shaped, and the bottom is provided with a lifting guide rod, so that the saddle is stable and safe during lifting; the whole device is simple and practical, and the cost is low.

[0006] Patent publication number CN106005797A relates to a support frame of a steel coil transportation device and a steel coil transportation device, belonging to the technical field of steel coil transportation. It solves the technical problems of heavy weight and inconvenience of use of the existing steel coil tray. The support frame of the steel coil transportation device includes two side plates, which are opposite and spaced apart, and are fixed between the two side plates by a fixing piece. Each side plate has a support flange perpendicular to the plate surface of the side plate, and the side edge of the side plate has a connecting part for connecting two support frames. The upper edges of the two side plates are provided with a support plate for supporting the steel coil, which is inclined and the height of the end close to the connecting part is lower than that of the other end. The length of the bottom edge of the side plate is greater than the length of the support plate, and the bottom between the two side plates is provided with a connecting piece connected with the guide rail. The connecting piece is fixed with the two side plates. The invention has the advantages of light weight, light quality, convenient use and storage, etc.

[0007] The aforementioned patented technologies have not completely solved the problems of steel coil tipping and edge damage that may occur during the transportation of hot-rolled steel coils. Since there are many reasons for steel coil overflow and it is impossible to completely avoid them, the control of overflowing coils on pallet trolleys is particularly important. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide an offset coil splicing method for hot-rolled steel coil pallet transport chains, which solves the problem of offset between the pallet and the steel coil caused by overflowing hot-rolled coils.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] A method for offset splicing hot-rolled steel coils on a pallet transport chain:

[0011] A set of through-beam gratings is installed behind the baler in the roll handling and transport area to form a detection area covering the movement of the roll transport trolley;

[0012] The travel data of the coil transport trolley is recorded by utilizing the signal on / off changes generated between the through-beam grating and the steel coil inlet / outlet when the coil transport trolley is moving.

[0013] The actual arc width of the steel coil is calculated using the travel data. The offset between the actual arc width and the theoretical width of the steel coil is then calculated, and the offset is used to correct the target travel value for the automatic pallet loading of the coil transport trolley.

[0014] Preferably, the actual arc width of the steel coil is calculated as follows:

[0015] L=W OFF -W ON

[0016] In the formula, W OFF This indicates that the position feedback data of the winding trolley was acquired instantaneously at the falling edge of the through-beam grating; W ON This indicates the position feedback data of the winding trolley acquired instantaneously at the rising edge of the through-beam grating; L represents the light-break detection length of the through-beam grating during the forward movement of the winding trolley.

[0017] Preferably, the offset is calculated as follows:

[0018] α=|Lx

[0019] In the formula, α represents the offset between the detected value and the theoretical width of the steel coil; x represents the theoretical width of the steel coil.

[0020] When the offset α≥Δ, it indicates that the steel coil is faulty or the overflow is too large, or that there is a problem with the through-beam grating that requires manual confirmation.

[0021] Δ is a value based on the maximum allowable overflow of the steel coil.

[0022] Preferably, when the offset α ≥ Δ, the lock correction value is 0, the physical target parameter value S is used as the actual set value, and the screen alarm requires the operator to confirm the position.

[0023] Preferably, the target stroke setting control of the winding trolley is as follows:

[0024] S cyl_i =∑{limit[(S gap_t -S cyl_i-1 ),spd]}

[0025] In the formula, S cyl_i Indicates the position travel given for the current scan cycle; S cyl_i-1 S indicates the position travel given in the previous scan cycle; gap_t The target position is given; spd represents the given limit value of the cylinder speed of the winding trolley during one scan cycle.

[0026] Preferably, the target stroke value for the automatic pallet loading of the winding trolley is modified as follows:

[0027]

[0028] In the formula, S 修 This indicates the final output target stroke value of the coil transport trolley; S represents the theoretical distance from the centerline of the steel coil to the centerline of the pallet at the starting position of the coil transport trolley; W OFF This represents the position feedback data of the coil transport trolley acquired instantaneously at the falling edge of the through-beam grating; A represents the theoretical distance from the centerline of the steel coil at the starting position of the coil transport trolley to the through-beam grating; W ON This indicates that the position feedback data of the winding trolley was acquired instantaneously at the rising edge of the through-beam grating.

[0029] Better, (AW) on () represents the width of the steel coil on the transport trolley from the theoretical centerline to the working side of the steel coil;

[0030] (AW OFF () represents the width of the steel coil on the transport trolley from the theoretical centerline to the transmission side of the steel coil;

[0031] These are correction values. Positive values ​​indicate a bias towards the working side, requiring correction towards the transmission side, while negative values ​​indicate the opposite.

[0032] This invention provides an offset splicing method for hot-rolled steel coil pallet transport chains. In the production and transportation of finished hot-rolled coils, the misalignment of the steel coil with the pallet centerline has a significant impact, easily leading to problems such as coil tipping and abnormal edge quality during transport. This invention addresses the issue of miscoupling between the coil and pallet centerlines caused by excess edge, proposing a control method based on actual calculations and measurements of the coil's curved surface to correct the target quantity on the pallet of the transport trolley. Practical application has yielded good results, reducing the occurrence of problems during steel coil pallet transport. Attached Figure Description

[0033] Figure 1 It is a schematic diagram of the actual alignment (centerline deviation) of the strip steel recorded by the field instruments;

[0034] Figure 2 This is a schematic flowchart of the hot-rolled steel coil pallet transport chain offset coil splicing method of the present invention;

[0035] Figure 3 This is a schematic diagram of the arrangement of the through-beam grating in the hot-rolled steel coil pallet transport chain offset splicing method of the present invention. (a) is the front view and (b) is the top view.

[0036] Figure 4 This is a schematic diagram of the parameters for calculating the final travel target value in the hot-rolled steel coil pallet transport chain offset splicing method of the present invention. Detailed Implementation

[0037] To better understand the above-mentioned technical solutions of the present invention, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0038] This invention provides a method for offset splicing hot-rolled steel coils on a pallet transport chain:

[0039] A set of through-beam gratings is installed behind the baler in the roll handling and transport area to form a detection area covering the movement of the roll transport trolley;

[0040] The travel data of the coil transport trolley is recorded by utilizing the signal on / off changes generated between the through-beam grating and the steel coil inlet / outlet as the trolley moves.

[0041] The actual arc width of the steel coil is calculated by the stroke data and the offset is obtained. The offset is then used to correct the target stroke value of the coil transport trolley for automatic pallet loading.

[0042] This is to control the problem of overflowing coils not being on the center line of the pallet, and to reduce the possibility of coil tipping and edge damage during transportation of hot-rolled steel coils.

[0043] Combination Figure 2 and Figure 3As shown, 1) A set of through-beam gratings 3 is added between the roll transport trolley 1 and the tray 2.

[0044] The operating procedure is as follows: After the coil transport trolley 1 lifts the steel coil 4, it is pushed towards the pallet 2 by the hydraulic rod 5. During the movement, the steel coil 4 will block the through-beam signal of the through-beam grating 3 for a period of time. After reaching the given position on the pallet 2, the steel coil 4 descends and falls onto the pallet 2. The coil transport trolley 1 returns to its original position to wait for the next steel coil.

[0045] Combination Figure 4 As shown, 2) the trolley travel value is automatically recorded at the instant the grating is switched on and off during the coil transport process, and the steel coil width is verified.

[0046] 2.1) Incremental coding for calculating the trolley's travel distance

[0047] The actual arc width of the steel coil is calculated as follows:

[0048] L=W OFF -W ON

[0049] In the formula, W OFF This indicates that the position feedback data of the winding carriage was acquired instantaneously at the falling edge of the through-beam grating; W ON This indicates the position feedback data of the winding carriage acquired at the instant of the rising edge of the through-beam grating; L indicates the light-break detection length of the through-beam grating during the forward movement of the winding carriage.

[0050] 2.2) Data Monitoring

[0051] The specific steps to obtain the offset are as follows:

[0052] α=|Lx|

[0053] In the formula, α represents the offset between the detected value and the theoretical width of the steel coil; x represents the theoretical width of the steel coil.

[0054] When the offset α ≥ Δ (Δ is the value based on the maximum allowable overflow of the steel coil), it indicates that there is an error in the steel coil or the overflow is too large, or there is a problem with the through-beam grating that requires manual confirmation.

[0055] The lock correction value is 0, and the physical target parameter value S is used as the actual set value (the original target value for the trolley operation). At the same time, the screen alarm requires the operator to confirm the position.

[0056] 3) Dynamic positioning and protection of the winding trolley

[0057] When controlling the target stroke value of the winding trolley, the target value calculated based on the deviation is not directly used as the stroke value. Instead, it needs to be output with a limiting effect to ensure safety.

[0058] The target stroke control for the roll transport trolley is specified as follows:

[0059] S cyl_i =∑{limit[(S gap_t -S cyl_i-1 ),spd]}

[0060] In the formula, S cyl_i Indicates the position travel given for the current scan cycle; S cyl_i-1 S indicates the position travel given in the previous scan cycle; gap_t The target position is given; spd represents the given limit value of the cylinder speed of the winding trolley during one scan cycle.

[0061] 4) Automatically update and calculate the final trip target value

[0062] The target stroke value for the automatic pallet loading of the roll transport trolley is adjusted as follows:

[0063]

[0064] In the formula, S 修 This indicates the final output target stroke value of the coil transport trolley; S represents the theoretical distance from the centerline of the steel coil to the centerline of the pallet at the starting position of the coil transport trolley; W OFF This represents the position feedback data of the coil transport trolley acquired instantaneously at the falling edge of the through-beam grating; A represents the theoretical distance from the centerline of the steel coil at the starting position of the coil transport trolley to the through-beam grating; W ON This indicates that the position feedback data of the winding trolley was acquired instantaneously at the rising edge of the through-beam grating.

[0065] In the formula, (AW on () represents the width of the steel coil on the transport trolley from the theoretical centerline to the working side of the steel coil;

[0066] (AW OFF () represents the width of the steel coil on the transport trolley from the theoretical centerline to the transmission side of the steel coil;

[0067] These are correction values. Positive values ​​indicate a bias towards the working side, requiring correction towards the transmission side, while negative values ​​indicate the opposite.

[0068] Example 1

[0069] The distance from the centerline of the coil-carrying trolley to the through-beam grating in a steel plant is 1000mm. The theoretical width of coil 1 is 1600mm. The trolley begins transporting the coil to a pallet. When the trolley travels 220mm, the grating is blocked; when the trolley travels 1860mm, the grating returns to its original state. Let Δ be 100mm. The distance from the trolley to the center of the pallet is 2200mm.

[0070] Therefore: A = 1000 mm; W ON =220; W OFF =1860.

[0071] L=W OFF -W ON =1860-220=1640mm

[0072] α = |Lx| = 1640 - 1600 = 40mm

[0073] α≤Δ, width detection is normal

[0074]

[0075] Conclusion: The coil transport trolley needs to travel 2240mm to bring the steel coil to the center of the pallet.

[0076] Analysis: Calculations show that the actual deviation of the center line of the steel coil placement position from the transmission side is 40mm. Therefore, the coil transport trolley needs to travel an additional 40mm to place the steel coil in the center of the pallet.

[0077] Example 2

[0078] The distance from the centerline of the coil-carrying trolley to the through-beam grating in a steel plant is 1000mm. The theoretical width of coil 1 is 1200mm. The trolley begins transporting the coil to a pallet. When the trolley travels 340mm, the grating is blocked; when the trolley travels 1550mm, the grating returns to its original state. Δ is taken as 100mm. The distance from the trolley to the center of the pallet is 2200mm.

[0079] Therefore: A = 1000 mm; W ON =370; W OFF =1550.

[0080] L=W OFF -W ON =1550-340=1210mm

[0081] α = |Lx| = 1210 - 1200 = 10 mm

[0082] α≤Δ, width detection is normal

[0083]

[0084] Conclusion: The coil transport trolley needs to travel 2145mm to reach the center of the pallet.

[0085] Analysis: Calculations show that the actual steel coil placement centerline deviates by 55mm from the working side. Therefore, the coil transport trolley needs to travel 55mm less to place the steel coil in the center of the pallet.

[0086] Those skilled in the art should recognize that the above embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Any variations or modifications to the above embodiments that are within the spirit and essence of the present invention will fall within the scope of the claims of the present invention.

Claims

1. A method for offset splicing hot-rolled steel coils on a pallet transport chain, characterized in that: A set of through-beam gratings is installed behind the baler in the roll handling and transport area to form a detection area covering the movement of the roll transport trolley; The travel data of the coil transport trolley is recorded by utilizing the signal on / off changes generated between the through-beam grating and the steel coil inlet / outlet when the coil transport trolley is moving. The actual arc width of the steel coil is calculated using the travel data. The offset between the actual arc width and the theoretical width of the steel coil is then calculated, and the offset is used to correct the target travel value for the automatic pallet loading of the coil transport trolley.

2. The method for offset coil splicing of hot-rolled steel coil pallet transport chain according to claim 1, characterized in that, The actual arc width of the steel coil is calculated as follows: L=W OFF -W ON In the formula, W OFF This indicates that the position feedback data of the winding trolley was acquired instantaneously at the falling edge of the through-beam grating; W ON This indicates the position feedback data of the winding trolley acquired instantaneously at the rising edge of the through-beam grating; L represents the light-break detection length of the through-beam grating during the forward movement of the winding trolley.

3. The method for offset coil splicing of hot-rolled steel coil pallet transport chain according to claim 2, characterized in that, The offset is calculated as follows: α=|Lx| In the formula, α represents the offset between the detected value and the theoretical width of the steel coil; x represents the theoretical width of the steel coil. When the offset α≥Δ, it indicates that the steel coil is faulty or the overflow is too large, or that there is a problem with the through-beam grating that requires manual confirmation. Δ is a value based on the maximum allowable overflow of the steel coil.

4. The method for offset coil splicing of hot-rolled steel coil pallet transport chain according to claim 3, characterized in that, When the offset α ≥ Δ, the lock correction value is 0, the physical target parameter value S is used as the actual set value, and the screen alarm requires the operator to confirm the position.

5. The method for offset coil splicing of hot-rolled steel coil pallet transport chain according to claim 3, characterized in that, The target stroke control of the winding trolley is specifically as follows: S cyl_i =∑{limit[(S gap_t -S cyl_i-1 ),spd]} In the formula, S cyl_i S indicates the position travel given in the current scan cycle; cyl_i-1 S indicates the position travel given in the previous scan cycle; gap_t The target position is given; spd represents the given limit value of the cylinder speed of the winding trolley during one scan cycle.

6. The method for offset coil splicing of hot-rolled steel coil pallet transport chain according to claim 4, characterized in that, The target stroke value for the automatic pallet loading of the winding trolley is modified as follows: In the formula, S 修 This indicates the final output target travel value of the winding trolley; S represents the theoretical distance from the centerline of the steel coil to the centerline of the pallet at the starting position of the coil transport trolley; W OFF This represents the position feedback data of the coil transport trolley acquired instantaneously at the falling edge of the through-beam grating; A represents the theoretical distance from the centerline of the steel coil at the starting position of the coil transport trolley to the through-beam grating; W ON This indicates that the position feedback data of the winding trolley was acquired instantaneously at the rising edge of the through-beam grating.

7. The method for offset coil splicing of hot-rolled steel coil pallet transport chain according to claim 6, characterized in that: (AW on () represents the width of the steel coil on the transport trolley from the theoretical centerline to the working side of the steel coil; (AW OFF () represents the width of the steel coil on the transport trolley from the theoretical centerline to the transmission side of the steel coil; These are correction values. Positive values ​​indicate a bias towards the working side, requiring correction towards the transmission side, while negative values ​​indicate the opposite.

Images