A method of controlling a centring device and a centring device

Abstract

The application discloses a control method of a centering device and the centering device, and relates to the technical field of strip processing, and the control method of the centering device comprises the following steps: based on the end of the strip being located on the centering area of the guide plate table, the first width of the strip and the second width between the two positioners are obtained, wherein the second width is the width between the two positioners when the two positioners are in the initial position; according to the first width and the second width, the target positioning position of the positioner is determined; the two positioners are controlled to move to the target positioning position through a servo control system; and based on the target positioning position, the two vertical rollers are controlled to move relatively until the two vertical rollers are clamped on the two sides of the strip. Compared with manual control of the movement process of the transmission mechanism of the vertical roller, the control method can effectively improve the accuracy of the stroke control of the vertical roller, and thus the centering accuracy of the strip is effectively improved.

Description

Technical Field

[0001] This application relates to the field of strip steel processing technology, and in particular to a control method and a centering device for a centering device. Background Technology

[0002] In cold-rolled silicon steel strip production lines, due to shape defects at the beginning and end of the raw material, the strip needs to be aligned with the line centerline after uncoiling to meet the requirements of shearing and welding processes. The strip alignment device drives the vertical rollers on both sides of the guide plate table to move through a transmission mechanism, thereby clamping the strip and centering it.

[0003] In related technologies, alignment is usually achieved by manually operating the transmission mechanism, which relies on human experience and results in poor alignment accuracy. Summary of the Invention

[0004] This application provides a control method for a centering device, wherein the centering device includes a servo control system, a guide plate, and two vertical rollers located on both sides of the guide plate, with a strip steel loaded on the guide plate; the servo control system is connected to the two vertical rollers and is used to control the relative movement of the two vertical rollers until they clamp both sides of the strip steel for centering; the servo control system includes two positioners located on both sides of the guide plate and between the two vertical rollers, and the positioners are used to position the clamping position of the vertical rollers; the control method includes: Based on the centering area of ​​the strip end on the guide plate, the first width of the strip and the second width between the two positioners are obtained, wherein the second width is the width between the two positioners when the two positioners are in the initial position; The target positioning position of the locator is determined based on the first width and the second width. The servo control system controls the two positioners to move to the target positioning position. Based on the target positioning position, control the relative movement of the two vertical rollers until the two vertical rollers are respectively clamped on both sides of the strip.

[0005] The control method of the centering device in this application determines the target position of the vertical rollers by using the first width of the strip and the second width when the two vertical rollers are in their original positions. Then, a servo control system controls the movement of the vertical rollers according to the target position, achieving precise control of the roller movement. This ensures that when the two vertical rollers are clamped on both sides of the strip, the third width between the two rollers matches the first width of the strip. This avoids both excessively large third widths that could cause the strip to tilt and excessively small third widths that could damage the strip, thus ensuring the centering accuracy of the strip. Compared to the manual control of strip centering in existing technologies, this application effectively improves the accuracy of the vertical roller stroke control, thereby effectively improving the centering accuracy. This can effectively reduce malfunctions during strip shearing or welding operations caused by insufficient strip centering accuracy.

[0006] In some implementations, determining the target positioning position of the locator based on a first width and a second width includes: Based on the first width, determine the third width, where the third width is the width between the two locators when they are at the target positioning position; The target positioning positions of the two locators are determined based on the difference between the third width and the second width.

[0007] In some implementations, a servo control system controls the positioner to move to the target positioning position, including: Based on the initial position and target position of the two locators, determine the target travel distance of each locator. The servo control system controls the movement of two positioners according to the target stroke until each positioner reaches its corresponding target position.

[0008] In some embodiments, the servo control system includes a servo motor and a lead screw. A positioner is mounted on the lead screw. The servo motor drives the lead screw to rotate, adjusting the position of the positioner during the rotation. The servo control system, based on the target stroke, drives and controls two positioners to move until both positioners reach the target positioning position, including: Determine the target speed of the servo motor based on the target stroke; Based on the target speed of the servo motor, control the servo motor to rotate, thereby driving the lead screw to rotate until the two positioners reach their respective target positioning positions.

[0009] In some embodiments, the servo control system further includes a pneumatic assembly comprising a cylinder and a piston rod disposed within the cylinder. The piston rod is used to move the vertical rollers from their initial position. Based on the target positioning position, the system controls the relative movement of the two vertical rollers until the two rollers are respectively clamped on both sides of the strip, including: Based on the two positioners being located at the target positioning position, the control piston rod drives the vertical roller to move from the original position until the piston rod abuts against the positioner; When the piston rod comes into contact with the positioner, the two vertical rollers clamp the strip on both sides respectively.

[0010] In some implementations, based on the target positioning position, the two vertical rollers are controlled to move relative to each other until the two vertical rollers are respectively clamped on both sides of the strip. The control method further includes: Based on the target positioning position, predict the width between the two vertical rollers when the piston rod abuts against the positioner; If the width difference between the predicted width and the first width is greater than the width threshold, the target positioning position is adjusted according to the width difference until the predicted width corresponding to the adjusted target positioning position is less than or equal to the width threshold.

[0011] In some embodiments, the centering device further includes an image acquisition module and a display module, and the control method further includes: The image acquisition module is controlled to acquire image information of the centering region; Control the display module to display image information; The image information is identified to obtain the actual distance between the vertical roller and both sides of the strip. If the actual distance is greater than the distance threshold, the two vertical rollers are controlled to move relative to each other until the actual distance between the two vertical rollers and the two sides of the strip is less than or equal to the distance threshold.

[0012] In some embodiments, the centering device further includes a detection element disposed in the centering region. Before acquiring a first width of the strip and a second width between the two positioners, based on the fact that the end of the strip is located in the centering region on the guide plate, the control method further includes: Acquire the detection signal emitted by the detection element; Based on the acquired detection signal, it is determined that the end of the strip is located in the centering area on the guide plate.

[0013] Secondly, this application proposes a centering device, characterized in that the centering device is used for centering strip steel, and the centering device includes: Guide plate table, used for placing steel strip; Two vertical rollers are respectively set on both sides of the guide plate platform. The two vertical rollers are used to clamp the two sides of the strip steel to center the strip steel. A servo control system, connected to the two vertical rollers, is used to control the relative movement of the two vertical rollers. The servo control system includes a positioner for limiting the movement position of the vertical rollers. A control device, electrically connected to a servo control system, is used to execute the control method of the centering device as described in any one of claims 1 to 7.

[0014] In some implementations, the servo control system includes: The servo motor is electrically connected to the control device. A lead screw is connected to a servo motor. A positioner is installed on the lead screw. The servo motor is used to drive the lead screw to rotate, so as to adjust the position of the positioner during the rotation of the lead screw. The pneumatic assembly is electrically connected to the control device. The pneumatic assembly includes a cylinder and a piston rod disposed in the cylinder. The piston rod is used to drive the vertical roller to move from its original position. Attached Figure Description

[0015] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit this specification. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the centering device according to an embodiment of this application; Figure 2 This is a flowchart illustrating the control method of the centering device according to an embodiment of this application.

[0016] Figure Labels 100 Centering device, 102 Guide plate platform, 104 Vertical roller, 106 Servo control system, 108 Positioner, 110 Servo motor, 112 Lead screw, 114 Pneumatic components. Detailed Implementation

[0017] To better understand the technical solutions provided in the embodiments of this specification, the technical solutions of the embodiments of this specification will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0018] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element. The term "two or more" includes two or more cases.

[0019] This application provides a control method for a centering device, wherein the centering device includes a servo control system, a guide plate, and two vertical rollers located on both sides of the guide plate, with strip steel loaded on the guide plate; the servo control system is connected to the two vertical rollers and is used to control the relative movement of the two vertical rollers until they clamp both sides of the strip steel for centering; the servo control system includes two positioners located on both sides of the guide plate and between the two vertical rollers, and the positioners are used to position the clamping position of the vertical rollers.

[0020] Specifically, the control method for the centering device provided in this application can be used to control the centering device to center the strip steel. It should be noted that in the cold-rolled silicon steel strip production line, due to the plate shape defects at the head and tail of the strip steel, the strip steel needs to be aligned with the center line of the centering device after uncoiling in order to meet the requirements of the shearing and welding processes.

[0021] Please see Figure 1This is a schematic diagram of the centering device according to an embodiment of this application. The centering device 100 may include a guide plate 102 and two vertical rollers 104 located on both sides of the guide plate 102. The guide plate 102 is used to load the strip steel 200. The vertical rollers 104 on both sides of the guide plate 102 can move relative to each other, so that the two vertical rollers 104 can clamp the two sides of the strip steel 200, thereby centering the strip steel 200. It can be understood that the two vertical rollers 104 are respectively located on both sides of the center line of the centering device 100, and the distance between the two vertical rollers 104 and the center line of the centering device 100 is equal. During the movement of the two vertical rollers 104, the two vertical rollers 104 can move relative to each other synchronously, and the moving speed is also equal. In other words, the distance between the two vertical rollers 104 and the center line of the centering device 100 is equal at any position. Thus, when the two vertical rollers 104 clamp the strip 200 on both sides, the center line of the strip 200 coincides with the center line of the centering device 100 because the distance between the two vertical rollers 104 and the center line of the centering device 100 is equal, thereby achieving the centering of the strip 200.

[0022] In some examples, such as Figure 1 As shown, the centering device 100 also includes a servo control system 106, which is connected to two vertical rollers 104 respectively, so as to control the relative movement of the two vertical rollers 104, so that the two vertical rollers 104 can clamp the two sides of the strip 200 to center the strip 200.

[0023] In addition, the servo control system 106 also includes two positioners 108, which are located on both sides of the guide plate 102 and between the two vertical rollers 104. The positioners 108 are used to position the clamping positions of the vertical rollers 104. It is understood that before centering the strip 200, the distance between the two vertical rollers 104 is usually greater than the width of the strip 200. During centering, it is necessary to control the relative movement of the two vertical rollers 104, that is, to bring them closer together, until the two vertical rollers 104 clamp both sides of the strip 200, thus completing the centering. By setting the two positioners 108, the clamping positions of the two vertical rollers 104 can be positioned separately. This makes the distance between the two vertical rollers 104 more accurate, avoiding excessive pressure on both sides of the strip 200 from the two vertical rollers 104, which could damage the strip. It also avoids a situation where the distance between the two vertical rollers 104 is too large to effectively clamp both sides of the strip 200, resulting in reduced centering accuracy.

[0024] Please see Figure 2 This is a flowchart illustrating a control method for a centering device provided in an embodiment of this application. The control method for the centering device includes: S210, based on the fact that the end of the strip is located in the centering area on the guide plate, obtain the first width of the strip and the second width between the two positioners.

[0025] The second width is the width between the two locators when they are in their initial positions.

[0026] Specifically, before centering the strip, the end of the strip needs to be loaded onto the guide plate and conveyed to the centering area of ​​the guide plate. When the end of the strip is located in the centering area of ​​the guide plate, the first width of the strip and the second width between the two positioners can be obtained.

[0027] It should be noted that the second width between the two positioners refers to the initial position of the two positioners before centering the strip. This initial position is usually the position where the two positioners are located after the previous centering operation on the strip. Understandably, if the width of the strip that was previously centered is different from the width of the strip that needs to be centered this time, then the initial position of the two positioners will not be suitable for this centering operation. The positioners need to be adjusted to ensure that the current centering operation conforms to the width of the strip, avoiding damage to the strip or reducing centering accuracy.

[0028] For example, the first width of the strip can be obtained by manual measurement, or the strip's specifications, i.e., the first width, can be directly obtained during the strip production process and then directly input into the control system of the alignment device. Correspondingly, the second width can be determined by directly detecting the initial positions of the two positioners.

[0029] S220, determine the target positioning position of the locator based on the first width and the second width.

[0030] Specifically, after obtaining the first width of the strip and the second width of the two positioners in their initial positions, the target positioning positions required by the two positioners can be determined based on the first and second widths.

[0031] For example, the required width between the two current positioners can be determined based on the first width of the strip, and then the target positioning position of the two positioners can be determined based on the required width between the two current positioners and the second width when the two positioners are in the initial position.

[0032] It is understandable that the target positioning position of the two positioners is a position that matches the first width of the strip. That is, when the two positioners are in the target positioning position, the clamping position of the two vertical rollers is positioned by the two positioners. After the two vertical rollers move to the clamping position, the distance between the two vertical rollers can match the first width of the strip, so that the two vertical rollers can effectively clamp the two sides of the strip to ensure the centering accuracy of the strip. At the same time, the positioning of the two vertical rollers by the two positioners can also prevent the vertical rollers from applying too much pressure to the two sides of the strip and damaging the strip.

[0033] The S230 uses a servo control system to control two positioners to move to the target positioning position.

[0034] After determining the target positioning positions of the two positioners, the servo control system can be used to control the relative movement of the two positioners so that they move to the target positioning positions.

[0035] For example, a servo control system can control the movement of two positioners using a servo motor and a corresponding transmission mechanism. Specifically, the two positioners can be mounted on the transmission mechanism, and the servo motor can drive the transmission mechanism. Under the drive of the servo motor, the transmission mechanism can move the two positioners relative to each other, thereby moving them to the target positioning position.

[0036] When the two positioners are in the target positioning position, the clamping position of the two vertical rollers is positioned by the two positioners. After the two vertical rollers move to the clamping position, the distance between the two vertical rollers can match the first width of the strip, so that the two vertical rollers can effectively clamp the two sides of the strip to ensure the centering accuracy of the strip. At the same time, the positioning of the two vertical rollers by the two positioners can also prevent the vertical rollers from applying too much pressure to the two sides of the strip and damaging the strip.

[0037] S240, based on the target positioning position, controls the relative movement of the two vertical rollers until the two vertical rollers are respectively clamped on both sides of the strip.

[0038] After the two positioners move to the target positioning position, the two vertical rollers can be controlled to move relative to each other until they clamp the two vertical rollers on both sides of the strip. At this point, because the two positioners position the two vertical rollers, that is, by restricting the position of the two vertical rollers, the two vertical rollers can clamp the two sides of the strip, thus ensuring the alignment accuracy of the two strips and preventing excessive pressure on the two sides of the strip from damaging it.

[0039] For example, the movement of the two vertical rollers can also be controlled by a servo control system, thereby controlling the two vertical rollers to move closer to each other until the movement of the two vertical rollers is restricted, so that the two vertical rollers clamp the two sides of the strip and complete the centering operation of the strip.

[0040] This application's embodiments determine the target position of the vertical rollers by using the first width of the strip and the second width when the two vertical rollers are in their original positions. Then, a servo control system controls the movement of the vertical rollers based on the target position, achieving precise control of the roller movement. This ensures that when the two vertical rollers are clamped on both sides of the strip, the third width between the two rollers matches the first width of the strip. This avoids both excessively large third widths that could cause the strip to tilt and excessively small third widths that could damage the strip, thus guaranteeing the strip's centering accuracy. Compared to the manual control of strip centering in existing technologies, this application effectively improves the accuracy of the vertical roller stroke control, thereby significantly improving centering accuracy. This effectively reduces malfunctions during strip shearing or welding operations caused by insufficient strip centering accuracy.

[0041] In some examples, the target positioning location of the locator is determined based on a first width and a second width, including: Based on the first width, determine the third width, where the third width is the width between the two locators when they are at the target positioning position; The target positioning positions of the two locators are determined based on the difference between the third width and the second width.

[0042] In this embodiment, after obtaining the first width of the strip and the second width of the two positioners in their initial positions, the target positioning positions required by the two positioners can be determined based on the first width and the second width.

[0043] Specifically, firstly, the required width between the two current positioners can be determined based on the first width of the strip steel, which is the third width between the two positioners when they are in the target positioning position.

[0044] Then, based on the third width required between the two locators and the second width when the two locators are in their initial positions, the target positioning positions required by the two locators are determined. Specifically, the difference between the third width and the second width can be calculated. This difference reflects the distance between the initial positions of the two locators and the target positioning positions. Thus, based on the initial positions of the two locators and the distance between the initial positions and the target positioning positions, the target positioning positions required by the two locators can be determined.

[0045] For example, the initial positions of the two positioners are determined based on the width of the strip during the previous alignment operation. For instance, if the width of the strip during the previous alignment operation was 100mm, and the first width of the strip during this alignment operation is 120mm, then the required third width between the two positioners can be determined based on 120mm. Then, since the width of the strip during the previous alignment operation was 100mm, the second width between the two positioners will be less than the third width when the two positioners are in their initial positions. At this time, the distance between the initial positions of the two positioners and the target positioning position can be determined based on the difference between the third width and the second width, thereby determining the target positioning position required by the two positioners.

[0046] This embodiment of the application determines the required width between the two current positioners based on the first width of the strip steel. This yields the third width between the two positioners when they are in the target positioning position. Furthermore, based on the difference between the required third width between the two positioners and the second width when they are in the initial position, the target positioning position required by the two positioners can be accurately located. This achieves precise determination of the target positioning position of the two positioners, thereby ensuring the alignment accuracy when aligning the strip steel.

[0047] In some examples, a servo control system controls the positioner to move to the target location, including: Based on the initial position and target position of the two locators, determine the target travel distance of each locator. The servo control system controls the movement of two positioners according to the target stroke until each positioner reaches its corresponding target position.

[0048] In this embodiment, the servo control system can determine the target travel distance of each of the two positioners based on their initial positions and target positions. It can be understood that the target travel distance of the two positioners represents the distance and direction of movement required for each positioner. For example, if the target position of a positioner is located away from the centerline of the centering device, while its initial position is closer to the centerline, this indicates that the servo control system needs to control the two positioners to move away from each other. Based on the distance between the target position and the initial position, the distance the servo controller needs to move to control the two positioners can be determined.

[0049] After determining the target travel distance of the two positioners, the servo control system can be used to control the movement of the two positioners until they reach their respective target positions.

[0050] For example, a servo control system can control the movement of two positioners using a servo motor and a corresponding transmission mechanism. Specifically, the two positioners can be mounted on the transmission mechanism, and the servo motor can drive the transmission mechanism. Under the drive of the servo motor, the transmission mechanism can move the two positioners relative to each other, thereby moving them to the target positioning position.

[0051] This embodiment of the application determines the target stroke of the two positioners based on their initial positions and target positions, enabling the servo control system to control the movement of the two positioners according to their target strokes. This ensures that the servo control system can accurately adjust the two positioners to their target positions, thereby guaranteeing the alignment accuracy when aligning the strip.

[0052] In some examples, the servo control system includes a servo motor and a lead screw, on which a positioner is mounted. The servo motor drives the lead screw to rotate, adjusting the position of the positioner during the rotation. The servo control system, based on the target stroke, moves the two positioners until they reach the target positioning position, including: Determine the target speed of the servo motor based on the target stroke; Based on the target speed of the servo motor, control the servo motor to rotate, thereby driving the lead screw to rotate until the two positioners reach their respective target positioning positions.

[0053] In this embodiment, such as Figure 1 As shown, the servo control system 106 may specifically include a servo motor 110 and a lead screw 112. Two positioners 108 may be mounted on the lead screw 112, and the positioners 108 may be mounted on a gear seat. The gear seat is connected to the lead screw 112 via an internal thread. The servo motor 110 drives the lead screw 112 to rotate. Thus, during the rotation of the lead screw 112, the gear seat moves relative to the lead screw 112 under the action of the thread, thereby enabling the positioners 108 to move relative to the lead screw 112, thereby adjusting the position of the positioners 108.

[0054] In controlling the movement of the two positioners, firstly, the target speed of the servo motor can be determined based on the target stroke. It can be understood that the servo motor achieves precise adjustment of position, speed, and torque through closed-loop control, with a positioning accuracy of up to 0.001mm. The high-speed inertia servo control system achieves a centering accuracy of ±1mm and a high-speed response of 3 seconds / cycle, improving centering accuracy and efficiency. During the adjustment of the two positioners' positions, the target speed of the servo motor can be determined based on the target stroke of the two positioners. Thus, the servo motor rotates according to the target speed, driving the lead screw to rotate, enabling the positioner to move at a certain speed while ensuring the accuracy of the position. Furthermore, during the lead screw rotation to adjust the position of the positioner, the servo control system can also provide feedback on the position of the positioner driven by the servo motor through an encoder, that is, feedback on the real-time position of the positioner. Based on the real-time position of the positioner, the operating parameters of the servo motor are adjusted, meaning that timely adjustments are made when the position of the positioner deviates, further improving the accuracy of the position.

[0055] This embodiment controls a servo motor to drive a lead screw to rotate, thereby moving the positioner to the target positioning position as the lead screw rotates, thus achieving position adjustment of the positioner. Furthermore, using a servo motor for position adjustment, and implementing closed-loop control, effectively improves the accuracy of position adjustment, thereby ensuring the alignment precision of the strip steel.

[0056] In some examples, the servo control system also includes a pneumatic assembly comprising a cylinder and a piston rod disposed within the cylinder. The piston rod is used to move the vertical rollers from their initial position, and, based on the target positioning position, control the relative movement of the two vertical rollers until the two rollers are respectively clamped on both sides of the strip, including: Based on the two positioners being located at the target positioning position, the control piston rod drives the vertical roller to move from the original position until the piston rod abuts against the positioner; When the piston rod comes into contact with the positioner, the two vertical rollers clamp the strip on both sides respectively.

[0057] In this embodiment, such as Figure 1 As shown, the servo control system 106 may also include a pneumatic assembly 114, which enables control of the movement of the vertical roller. Specifically, the pneumatic assembly 114 includes a cylinder and a piston rod located inside the cylinder. The piston rod can be used to drive the vertical roller to move. That is, when gas is filled into the cylinder, the piston rod extends out of the cylinder; conversely, when gas is extracted from the cylinder, the piston rod gradually extends into the cylinder, thereby enabling the vertical roller to move via the piston rod.

[0058] Specifically, when the two positioners are in the target positioning position, air can be injected into the cylinder to make the piston rod extend out of the cylinder, thereby driving the vertical roller to move from the original position until the piston rod abuts against the positioner.

[0059] Understandably, before centering the strip, the distance between the two vertical rollers is usually greater than the strip width. During centering, air is injected into the cylinder to extend the piston rod, controlling the two vertical rollers to move closer together until the piston rod abuts against the positioner. When the piston rod abuts against the positioner, the positioner restricts the position of the piston rod, preventing it from extending further, thus limiting the position of the two vertical rollers. Simultaneously, since the target positioning positions of the two positioners are determined based on the first width of the strip, limiting the position of the two vertical rollers allows the two rollers to clamp both sides of the strip, ensuring centering accuracy and preventing excessive pressure on the strip's sides from damaging it.

[0060] This embodiment uses a pneumatic assembly to move two vertical rollers, and two positioners to position the rollers in place. This ensures that the two rollers effectively clamp the strip on both sides, guaranteeing the alignment accuracy of the strip while preventing excessive pressure from the rollers that could damage the strip. Furthermore, the clamping position of the rollers is determined by the two positioners; simply adding or deflating air into the cylinders of the pneumatic assembly adjusts the roller position, reducing the control complexity during roller movement.

[0061] In some examples, based on the target positioning position, the control method further includes controlling the relative movement of the two vertical rollers until the two vertical rollers are respectively clamped on both sides of the strip. Based on the target positioning position, predict the width between the two vertical rollers when the piston rod abuts against the positioner; If the width difference between the predicted width and the first width is greater than the width threshold, the target positioning position is adjusted according to the width difference until the predicted width corresponding to the adjusted target positioning position is less than or equal to the width threshold.

[0062] In this embodiment, before the vertical rollers are driven to move by the pneumatic assembly, the actual positions of the two vertical rollers can be predicted based on the target positioning positions of the two positioners. That is, the predicted width between the two vertical rollers when they come into contact with the positioners is predicted.

[0063] Understandably, by determining the predicted width between the two vertical rolls, the alignment effect of the two rolls on the strip can be predicted. For example, if the predicted width between the two rolls is greater than the first width of the strip, the two rolls will not be able to effectively clamp the two sides of the strip during actual alignment, thus affecting the alignment accuracy. Conversely, if the predicted width between the two rolls is less than the first width of the strip, the two rolls will still tend to move closer to each other after contacting the two sides of the strip during actual alignment, resulting in excessive pressure on the strip and potentially damaging it.

[0064] Specifically, after determining the predicted width between the two vertical rollers based on the target positioning position, the predicted width can be compared with the first width of the strip. If the difference between the predicted width and the first width is greater than the width threshold, it indicates that during actual alignment, the two vertical rollers will be unable to effectively clamp both sides of the strip, or the pressure on the strip will be too great. In this case, the target positioning position of the two positioners can be adjusted based on the difference between the predicted width and the first width. Then, the predicted width between the two vertical rollers can be determined again based on the adjusted target positioning position until the difference between the predicted width between the two vertical rollers and the first width is less than or equal to the width threshold. The adjusted target positioning position can then be determined as the final target positioning position, thereby ensuring the alignment effect of the strip.

[0065] For example, depending on the centering accuracy requirements of the strip, the width threshold can be set to 0.2mm, 0.3mm or 0.5mm. In this way, when the width difference between the predicted width between the two vertical rolls and the first width of the strip is less than or equal to the width threshold, the centering accuracy of the strip can be guaranteed, while avoiding damage to the strip by the vertical rolls.

[0066] This embodiment determines the centering effect of the strip by predicting the width between two vertical rollers and comparing it with the first width of the strip. If the difference between the predicted width and the first width is greater than a width threshold, it indicates that during actual centering, the two vertical rollers may be unable to effectively clamp both sides of the strip, or there may be excessive pressure on the strip. This allows for timely adjustment of the target positioning positions of the two positioners before actual centering, preventing issues such as affecting the centering accuracy or damaging the strip during actual centering.

[0067] In some examples, the centering device also includes an image acquisition module and a display module, and the control method further includes: The image acquisition module is controlled to acquire image information of the centering region; Control the display module to display image information; The image information is identified to obtain the actual distance between the vertical roller and both sides of the strip. If the actual distance is greater than the distance threshold, the two vertical rollers are controlled to move relative to each other until the actual distance between the two vertical rollers and the two sides of the strip is less than or equal to the distance threshold.

[0068] In this embodiment, the centering device may further include an image acquisition module and a display module. The image acquisition module can acquire image information of the centering area, and the display module can display the image information of the centering area, thereby enabling relevant personnel to monitor the centering process in real time by observing the image information of the centering area.

[0069] Additionally, image recognition algorithms can be used to identify the image information of the centering area, thereby determining the actual distance between the vertical roll and the two sides of the strip. It is understandable that, typically, to ensure the centering accuracy of the strip, the two vertical rolls must effectively clamp the two sides of the strip. If the distance between the vertical roll and the two sides of the strip is too large, the vertical roll cannot effectively clamp the strip, thus compromising the centering accuracy.

[0070] By identifying the image information of the centering area, the actual distance between the vertical roller and both sides of the strip is obtained. If the actual distance is greater than the distance threshold, it means that the current vertical roller cannot effectively clamp the strip. At this time, the two vertical rollers can be controlled to move relative to each other until the actual distance between the two vertical rollers and both sides of the strip is less than or equal to the distance threshold, thereby ensuring that the vertical roller can effectively clamp the strip and ensure the centering accuracy of the strip.

[0071] It should be noted that since the clamping position of the vertical roller is limited by the target positioning position of the positioner, when the actual distance between the vertical roller and the two sides of the strip is detected to be greater than the distance threshold through the image information of the centering area, firstly, the target positioning positions of the two positioners can be adjusted according to the actual distance between the vertical roller and the two sides of the strip. Then, the piston rod of the pneumatic component is controlled to extend, so that the vertical roller moves closer to the two sides of the strip, thereby making the actual distance between the vertical roller and the two sides of the strip less than or equal to the distance threshold.

[0072] In this embodiment of the application, by acquiring and displaying image information of the alignment area during the alignment process, relevant personnel can monitor the alignment process in real time by observing the image information of the alignment area. Furthermore, by recognizing the image information, adjustments can be made in a timely manner when alignment deviations occur during the actual alignment process, ensuring alignment accuracy.

[0073] In some examples, the centering device further includes a detection element disposed in the centering region. Before acquiring a first width of the strip and a second width between the two positioners, based on the strip's end being located in the centering region on the guide plate stage, the control method further includes: Acquire the detection signal emitted by the detection element; Based on the acquired detection signal, it is determined that the end of the strip is located in the centering area on the guide plate.

[0074] In this embodiment, the centering device may further include a detection element with a centering area. This detection element can detect whether the strip is loaded into the centering area of ​​the guide plate. For example, the detection element may be a photoelectric switch, which is located in the detection area of ​​the guide plate. When the end of the strip is loaded into the centering area, the end of the strip blocks the photoelectric switch. At this time, the photoelectric switch emits a detection signal. Upon receiving the detection signal, the servo control system can determine that a centering operation is currently required for the strip.

[0075] In addition, the image acquisition module and display module of the alignment device can also operate based on the detection signal of the detection element. Specifically, when the end of the strip is loaded in the alignment area, the end of the strip blocks the detection element. At this time, the detection element emits a detection signal. When the controller of the alignment device receives the detection signal emitted by the detection element, it can control the operation of the image acquisition module and display module to realize the display of image information in the alignment area.

[0076] This application embodiment, by setting a detection element, can send a detection signal when the strip enters the centering area, thereby enabling the servo control system to control the centering process of the strip based on the received detection signal, further improving the automation level of the centering process.

[0077] In some examples, this application also proposes a centering device, such as Figure 1 As shown, the centering device 100 provided in this application is used to center the strip 200. The centering device 100 includes: Guide plate 102, guide plate 102 is used to load strip steel 200; Two vertical rollers 104 are respectively disposed on both sides of the guide plate 102. The two vertical rollers 104 are used to clamp both sides of the strip 200 to center the strip 200. The servo control system 106 is connected to the two vertical rollers 104 and is used to control the relative movement of the two vertical rollers 104. The servo control system 106 includes a positioner 108 for limiting the movement position of the vertical rollers 104. The control device, electrically connected to the servo control system 106, is used to execute the control method of the centering device as described in any of the above embodiments.

[0078] The centering device 100 provided in this application includes a guide plate 102 and two vertical rollers 104 located on both sides of the guide plate 102. The guide plate 102 is used to load strip steel 200. The vertical rollers 104 on both sides of the guide plate 102 can move relative to each other, so that the two vertical rollers 104 can clamp both sides of the strip steel 200, thereby centering the strip steel 200. It is understood that the two vertical rollers 104 are respectively located on both sides of the center line of the centering device 100, and the distance between the two vertical rollers 104 and the center line of the centering device 100 is equal. During the movement of the two vertical rollers 104, the two vertical rollers 104 can move synchronously relative to each other, and the moving speed is also equal. In other words, the distance between the two vertical rollers 104 and the center line of the centering device 100 is equal at any position. Thus, when the two vertical rollers 104 clamp the strip 200 on both sides, the center line of the strip 200 coincides with the center line of the centering device 100 because the distance between the two vertical rollers 104 and the center line of the centering device 100 is equal, thereby achieving the centering of the strip 200.

[0079] In some examples, the centering device 100 also includes a servo control system 106, which is connected to two vertical rollers 104 respectively, so as to control the relative movement of the two vertical rollers 104, so that the two vertical rollers 104 can clamp the two sides of the strip 200 to center the strip 200.

[0080] In addition, the servo control system 106 also includes two positioners 108, which are located on both sides of the guide plate 102 and between the two vertical rollers 104. The positioners 108 are used to position the clamping positions of the vertical rollers 104. It is understood that before centering the strip 200, the distance between the two vertical rollers 104 is usually greater than the width of the strip 200. During centering, it is necessary to control the relative movement of the two vertical rollers 104, that is, to bring them closer together, until the two vertical rollers 104 clamp both sides of the strip 200, thus completing the centering. By setting the two positioners 108, the clamping positions of the two vertical rollers 104 can be positioned separately. This makes the distance between the two vertical rollers 104 more accurate, avoiding excessive pressure on both sides of the strip 200 from the two vertical rollers 104, which could damage the strip. It also avoids a situation where the distance between the two vertical rollers 104 is too large to effectively clamp both sides of the strip 200, resulting in reduced centering accuracy.

[0081] In some examples, the centering device 100 also includes a control device electrically connected to the servo control system 106 for executing the control method of the centering device as described in any of the above embodiments. Therefore, the centering device 100 proposed in this application has all the beneficial effects of the control method of the centering device described above, which will not be repeated here.

[0082] In some examples, the servo control system 106 includes: Servo motor 110 is electrically connected to the control device; A lead screw 112 is connected to a servo motor 110. A positioner 108 is provided on the lead screw 112. The servo motor 110 is used to drive the lead screw 112 to rotate, so as to adjust the position of the positioner 108 during the rotation of the lead screw 112. A pneumatic assembly 114, electrically connected to a control device, includes a cylinder and a piston rod disposed within the cylinder. The piston rod drives the vertical roller 104 to move from its initial position. In this embodiment, The servo control system 106 may specifically include a servo motor 110 and a lead screw 112. Two positioners 108 may be mounted on the lead screw 112, and the positioners 108 may be mounted on a gear seat. The gear seat is connected to the lead screw 112 via an internal thread. The servo motor 110 drives the lead screw 112 to rotate. During the rotation of the lead screw 112, the gear seat moves relative to the lead screw 112 under the action of the thread, thereby enabling the positioners 108 to move relative to the lead screw 112, thus adjusting the position of the positioners 108.

[0083] During the movement of the two positioners 108, the target speed of the servo motor 110 can first be determined based on the target stroke. It is understood that the servo motor 110 achieves precise adjustment of position, speed, and torque through closed-loop control, with a positioning accuracy of up to 0.001mm. Therefore, based on the target stroke of the two positioners 108, the target speed of the servo motor 110 can be determined. The servo motor 110 can then rotate according to the target speed, driving the lead screw 112 to rotate, enabling the positioners 108 to move at a certain speed while ensuring the accuracy of their position. Furthermore, during the rotation of the lead screw 112 to adjust the position of the positioners 108, the servo control system 106 can also provide feedback on the position of the positioners 108 driven by the servo motor 110 via an encoder, i.e., providing feedback on the real-time position of the positioners 108. Based on the real-time position of the positioners 108, the operating parameters of the servo motor 110 are adjusted. This means that when a deviation occurs in the position of the positioners 108, timely adjustments are made to further improve the accuracy of their position.

[0084] In some examples, the servo control system 106 may also include a pneumatic assembly 114, which enables control of the movement of the vertical roller 104. Specifically, the pneumatic assembly 114 includes a cylinder and a piston rod located within the cylinder, the piston rod being used to drive the vertical roller 104 to move. That is, when gas is filled into the cylinder, the piston rod extends out of the cylinder; conversely, when gas is extracted from the cylinder, the piston rod gradually extends into the cylinder, thereby enabling the vertical roller 104 to move via the piston rod.

[0085] Specifically, when the two positioners 108 are in the target positioning position, air can be injected into the cylinder so that the piston rod extends out of the cylinder, thereby driving the vertical roller 104 to move from the original position until the piston rod abuts against the positioner 108.

[0086] Understandably, before centering the strip 200, the distance between the two vertical rollers 104 is usually greater than the width of the strip 200. During centering, air is injected into the cylinder to extend the piston rod, thereby controlling the two vertical rollers 104 to move closer together until the piston rod abuts against the positioner 108. When the piston rod abuts against the positioner 108, the positioner 108 can limit the position of the piston rod, preventing it from extending further, thus limiting the position of the two vertical rollers 104. Simultaneously, since the target positioning position of the two positioners 108 is determined based on the first width of the strip 200, limiting the position of the two vertical rollers 104 based on the two positioners 108 allows the two vertical rollers 104 to clamp both sides of the strip 200, thereby ensuring the centering accuracy of the strip 200. At the same time, it also prevents excessive pressure from the two vertical rollers 104 on both sides of the strip 200, which could damage the strip 200.

[0087] It should be noted that the descriptions of each embodiment in the above embodiments have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0088] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

[0089] Although preferred embodiments have been described in this specification, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this specification.

[0090] Obviously, those skilled in the art can make various modifications and variations to this specification without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, this specification is also intended to include such modifications and variations.

Claims

1. A control method for a centering device, characterized in that, The centering device includes a servo control system, a guide plate, and two vertical rollers located on both sides of the guide plate. A strip steel is loaded on the guide plate. The servo control system is connected to the two vertical rollers and controls their relative movement until they clamp both sides of the strip steel for centering. The servo control system includes two positioners located on both sides of the guide plate and between the two vertical rollers. The positioners are used to position the clamping position of the vertical rollers. The control method includes: Based on the fact that the end of the strip is located in the centering area on the guide plate, the first width of the strip and the second width between the two positioners are obtained, wherein the second width is the width between the two positioners when the two positioners are in the initial position; The target positioning position of the locator is determined based on the first width and the second width; The servo control system controls the two positioners to move to the target positioning position. Based on the target positioning position, control the two vertical rollers to move relative to each other until the two vertical rollers are respectively clamped on both sides of the strip.

2. The control method according to claim 1, characterized in that, Determining the target positioning position of the locator based on the first width and the second width includes: Based on the first width, a third width is determined, wherein the third width is the width between the two locators when the two locators are at the target positioning position; The target positioning positions of the two locators are determined based on the difference between the third width and the second width.

3. The control method according to claim 2, characterized in that, The step of controlling the locator to move to the target positioning position through the servo control system includes: The target travel distance of the two locators is determined based on their initial positions and target positions. The servo control system controls the movement of the two positioners according to the target stroke until the two positioners reach their respective target positions.

4. The control method according to claim 3, characterized in that, The servo control system includes a servo motor and a lead screw. The lead screw is equipped with the positioner. The servo motor drives the lead screw to rotate, adjusting the position of the positioner during the rotation. The servo control system, based on the target stroke, drives and controls the two positioners to move until they reach the target positioning position, including: Based on the target stroke, determine the target speed of the servo motor; Based on the target rotation speed of the servo motor, the servo motor is controlled to rotate, thereby driving the lead screw to rotate until the two positioners reach their respective target positioning positions.

5. The control method according to claim 4, characterized in that, The servo control system further includes a pneumatic component, which includes a cylinder and a piston rod disposed in the cylinder. The piston rod is used to drive the vertical roller to move from its original position. The step of controlling the relative movement of the two vertical rollers based on the target positioning position until the two vertical rollers are respectively clamped on both sides of the strip includes: Based on the fact that the two positioners are located at the target positioning position, the piston rod is controlled to drive the vertical roller to move from the original position until the piston rod abuts against the positioner; When the piston rod abuts against the positioner, the two vertical rollers are respectively clamped on both sides of the strip.

6. The control method according to claim 5, characterized in that, Before controlling the relative movement of the two vertical rollers based on the target positioning position until the two vertical rollers respectively clamp the two sides of the strip, the control method further includes: Based on the target positioning position, predict the predicted width between the two vertical rollers when the piston rod abuts against the positioner; If the width difference between the predicted width and the first width is greater than the width threshold, the target positioning position is adjusted according to the width difference until the predicted width corresponding to the adjusted target positioning position is less than or equal to the width threshold.

7. The control method according to any one of claims 1 to 6, characterized in that, The centering device further includes an image acquisition module and a display module, and the control method further includes: The image acquisition module is controlled to acquire image information of the centering region; Control the display module to display the image information; The image information is identified to obtain the actual distance between the vertical roller and both sides of the strip steel; If the actual distance is greater than the distance threshold, the two vertical rollers are controlled to move relative to each other until the actual distance between the two vertical rollers and the two sides of the strip is less than or equal to the distance threshold.

8. The control method according to any one of claims 1 to 6, characterized in that, The centering device further includes a detection element disposed in the centering region. Before obtaining the first width of the strip and the second width between the two positioners based on the end of the strip being located in the centering region on the guide plate, the control method further includes: Acquire the detection signal emitted by the detection element; Based on the acquired detection signal, it is determined that the end of the strip is located in the centering area on the guide plate.

9. A centering device, characterized in that, The centering device is used to center the strip steel, and the centering device includes: A guide plate table, used for loading the strip steel; Two vertical rollers are respectively disposed on both sides of the guide plate platform. The two vertical rollers are used to clamp the two sides of the strip steel to center the strip steel. A servo control system, connected to the two vertical rollers, is used to control the relative movement of the two vertical rollers. The servo control system includes a positioner for limiting the movement position of the vertical rollers. A control device, electrically connected to the servo control system, is used to execute the control method of the centering device as described in any one of claims 1 to 7.

10. The centering device according to claim 7, characterized in that, The servo control system includes: A servo motor, electrically connected to the control device; A lead screw is connected to the servo motor, and a positioner is provided on the lead screw. The servo motor is used to drive the lead screw to rotate so as to adjust the position of the positioner during the rotation of the lead screw. A pneumatic assembly, electrically connected to the control device, includes a cylinder and a piston rod disposed in the cylinder, the piston rod being used to drive the vertical roller to move from its original position.

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