A steel coil double-cone automatic centering and positioning method and device, a terminal and a storage medium

Abstract

The application provides a steel coil double-cone automatic centering positioning method and device, a terminal and a storage medium, and relates to the technical field of steel coil processing, feeding and positioning control. The method comprises the following steps: determining the running speed of a feeding trolley based on the distance between the feeding trolley and a preset position, controlling the feeding trolley carrying a target steel coil to move to the preset position at the running speed; collecting the position coordinates of the target steel coil, the position coordinates of the feeding trolley and the core height coordinates of the target steel coil in real time, and calculating the real center coordinates of the target steel coil; based on the real center coordinates of the target steel coil and the double-cone core shaft center coordinates of the feeding machine, controlling the feeding trolley to lift the target steel coil to be aligned with the center of the double-cone core shaft of the feeding machine; after the center of the target steel coil is aligned with the center of the double-cone core shaft of the feeding machine, controlling the double-cone feeding machine on both sides of the target steel coil to feed at the same speed synchronously, so that the target steel coil is connected with the double-cone feeding machine. The application can improve the feeding accuracy of the steel coil.

Description

Technical Field

[0001] This application relates to the field of steel coil processing, feeding, positioning, and control technology, and in particular to a method, device, terminal, and storage medium for automatic centering and positioning of steel coils with double cones. Background Technology

[0002] Double-cone feeding of strip coils is the first core process in the continuous production line of straight seam high-frequency welded steel pipes. Its control precision and operating efficiency directly determine the production cycle of the entire line.

[0003] Currently, the mainstream double-cone coil centering and feeding method generally adopts a manual visual alignment operation mode. That is, the operator visually observes the relative position of the coil core and the double-cone mandrel, and manually controls the movement of the coil trolley and the double-cone feed to complete the centering and tensioning. This traditional operation method is highly dependent on the operator's work experience, visual state, and concentration, and has a great deal of human uncertainty. Operators are prone to visual fatigue and judgment errors after working for a long time, and the alignment operation standards of different operators are not consistent, resulting in a large degree of randomness and extremely poor stability in the centering deviation between the coil core and the double-cone mandrel.

[0004] Meanwhile, existing technologies lack multi-dimensional positional data acquisition and intelligent calibration mechanisms. Relying solely on manual single-time alignment adjustments cannot accurately match the dynamic changes in the incoming steel coil status, trolley movement displacement, and core height, easily leading to problems such as coil eccentricity and alignment misalignment. Misaligned steel coils will frequently exhibit quality defects such as coil misalignment, edge chipping, and surface scratches during double-cone tensioning and subsequent uncoiling processes, significantly increasing the scrap rate and rework costs. Furthermore, traditional double-cone feeding often adopts a single-sided independent control mode, where the left and right double-cone feeding speeds and displacements cannot be kept synchronized. The difference in feeding displacement between the two sides further amplifies the alignment error, exacerbating uneven stress and eccentricity issues in the steel coil. Summary of the Invention

[0005] This application provides a method, device, terminal, and storage medium for automatic centering and positioning of steel coils with double cones, in order to solve the problem of low accuracy in steel coil feeding in the prior art.

[0006] In a first aspect, this application provides an automatic centering and positioning method for a double-cone steel coil, the method being applied to a PLC controller, the method comprising: Based on the distance between the loading trolley and the preset position, the traveling speed of the loading trolley is determined, and the loading trolley carrying the target steel coil is controlled to move to the preset position at the traveling speed. The position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil are collected in real time. Based on the position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil, the true center coordinates of the target steel coil are calculated. Based on the true center coordinates of the target steel coil and the center coordinates of the double-cone mandrel of the feeding machine, the feeding trolley is controlled to lift the target steel coil and align it with the center of the double-cone mandrel of the feeding machine. After the feeding trolley lifts the target steel coil and aligns it with the center of the double-cone mandrel of the feeding machine, the double cones of the feeding machine on both sides of the target steel coil are controlled to feed synchronously at the same speed so that the target steel coil docks with the double cones of the feeding machine.

[0007] Secondly, this application provides an automatic centering and positioning device for double-cone steel coils, the device being applied to a PLC controller, the device comprising: The speed determination module is used to determine the travel speed of the loading trolley based on the distance between the loading trolley and the preset position, and control the loading trolley carrying the target steel coil to move to the preset position at the travel speed. The center coordinate calculation module is used to collect the position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil in real time, and calculate the true center coordinates of the target steel coil based on the position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil. The centering and positioning module is used to control the feeding trolley to lift the target steel coil and align it with the center of the feeding machine's double-cone mandrel based on the true center coordinates of the target steel coil and the center coordinates of the feeding machine's double-cone mandrel. After the feeding trolley lifts the target steel coil and aligns it with the center of the feeding machine's double-cone mandrel, it controls the feeding machine's double cones on both sides of the target steel coil to feed synchronously at the same speed, so that the target steel coil docks with the feeding machine's double cones.

[0008] Thirdly, this application provides a terminal including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method as described in the first aspect or any possible implementation of the first aspect above.

[0009] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method as described in the first aspect or any possible implementation of the first aspect.

[0010] This application provides a method, device, terminal, and storage medium for automatic centering and positioning of steel coils using a double-cone mandrel. This application calculates the true center coordinates of the steel coil in real time by acquiring multi-dimensional coordinates, and, combined with synchronous feeding at the same speed of the double cones, significantly improves the alignment accuracy between the steel coil and the double-cone mandrel, avoiding positioning deviations caused by manual operation. Furthermore, by dynamically adjusting the speed of the feeding trolley based on distance, combined with the high-speed response characteristics of the PLC, the feeding and docking cycle time can be effectively shortened, reducing manual operation time and improving the overall operating efficiency of the steel coil processing production line. Moreover, relying on the strong anti-interference capability and adaptability to complex industrial environments of the PLC controller, the entire automatic control process has high stability, significantly reducing the probability of human error and minimizing equipment collisions, steel coil jamming, and other malfunctions. This application eliminates the need for repeated manual calibration, reducing on-site manpower input and avoiding edge collisions and material loss caused by alignment deviations, thus improving the utilization rate of raw materials. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram illustrating the implementation process of the automatic centering and positioning method for double cone steel coils provided in this application embodiment; Figure 2 This is a schematic diagram of the structure of the automatic centering and positioning device for double cone steel coils provided in the embodiments of this application; Figure 3 This is a schematic diagram of the terminal provided in the embodiments of this application. Detailed Implementation

[0013] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0014] To make the objectives, technical solutions, and advantages of this application clearer, the following description will be provided in conjunction with the accompanying drawings and specific embodiments.

[0015] Figure 1 The implementation flow diagram of the automatic centering and positioning method for double cone steel coils provided in the embodiments of this application is described in detail below: The automatic centering and positioning method for double-cone steel coils provided in this application is applied to a control system with a PLC controller as the core controller. The control system hardware adopts a modular architecture, with the PLC as the core controller, and is equipped with input / output modules, analog input modules, and high-speed counting modules. It also connects to external sensors, displacement sensors, and multiple sets of photoelectric switches for data acquisition. Furthermore, the actuator drive layer uses a frequency converter to control the walking motor, the hydraulic lifting system, and the rotation and expansion / contraction of the double-cone mandrel.

[0016] In step 101, the traveling speed of the loading trolley is determined based on the distance between the loading trolley and the preset position, and the loading trolley carrying the target steel coil is controlled to move to the preset position at the traveling speed.

[0017] In this embodiment, the PLC controller collects feedback signals from the laser displacement sensor on the loading trolley track in real time, calculates the remaining distance between the current actual coordinates of the loading trolley and the preset position of the preset loading station standard on the production line, and intelligently adapts and determines the real-time travel speed of the loading trolley based on an internally preset distance threshold. Then, it controls the loading trolley carrying the target steel coil to smoothly stop at the preset station at the real-time travel speed, completing long-distance coarse positioning and eliminating large-stroke conveying deviations.

[0018] In one possible implementation, determining the travel speed of the loading trolley based on the distance between the loading trolley and a preset position may include: The current center position coordinates of the loading trolley are obtained in real time, and the distance between the current center position coordinates and the preset position is calculated. The preset position is the position of the preset loading station on the production line. The spacing is dynamically divided, and the travel speed of the loading trolley is determined based on the divided spacing.

[0019] In this embodiment, the preset position is the standard loading station center position calibrated at the factory and stored in the PLC controller. It is a fixed reference coordinate and the only reference point for the coarse positioning and stopping of the loading trolley. It is not affected by the on-site working conditions or the operating status of the equipment.

[0020] Optionally, during the coarse positioning stage of steel coil loading, the PLC controller uses high-precision laser displacement sensors deployed along the track to perform high-frequency real-time sampling, continuously collecting real-time operating position data of the loading trolley, and calculating and obtaining the current center position coordinates of the loading trolley in real time. Then, through coordinate difference calculation, it accurately calculates the distance between the current center position coordinates of the loading trolley and the position coordinates of the preset loading station. This actual distance is used as the sole criterion for adjusting the trolley's travel speed, abandoning the traditional coarse control method of timed speed adjustment and fixed-gear speed adjustment, and realizing a dynamic speed adjustment mechanism based on the actual station distance.

[0021] The formula for calculating the spacing is as follows: in, The distance between the current center position coordinates of the loading trolley and the preset position. The standard center x-coordinate of the pre-set loading station position on the production line. The x-coordinate of the current center position of the feeding trolley is collected in real time.

[0022] After accurately calculating the spacing, the PLC controller dynamically divides the real-time spacing into intervals, matches the travel speed parameters of the corresponding working intervals, and finally accurately determines the real-time travel speed of the loading trolley, ensuring the two-way unity of trolley conveying efficiency and smooth stopping.

[0023] This application embodiment obtains the center coordinates of the feeding trolley in real time, accurately calculates the station spacing, and then dynamically adjusts the speed in segments according to the distance. This avoids the problems of the trolley rushing at high speed and shaking when stopping suddenly, greatly improves the positional accuracy of stopping at the preset station, reduces alignment deviation, takes into account the overall feeding efficiency, and avoids the safety hazards of steel coils moving and colliding with equipment under high-speed movement.

[0024] In one possible implementation, the travel speed includes a full-speed high-speed travel speed and a low-speed buffer travel speed; dynamically dividing the spacing distance and determining the travel speed of the loading trolley based on the divided spacing distance may include: If the distance between the two sides is greater than the deceleration buffer distance threshold, the loading trolley is determined to be in the long-distance conveying range, and the speed of the loading trolley is determined to be the full-speed high-speed speed. If the distance between the loading trolleys is less than or equal to the deceleration buffer distance threshold, it is determined that the loading trolley is in the adjacent area of ​​the production line station, and the traveling speed of the loading trolley is determined to be the low-speed buffer traveling speed.

[0025] The PLC controller has a pre-stored fixed deceleration buffer distance threshold. This threshold is the optimal critical distance calibrated based on the mechanical inertia of the equipment, the load of the trolley, and the specifications of the steel coil. It is used to divide the long-distance high-speed conveying zone and the low-speed buffer zone near the workstation, so as to achieve precise dynamic division of the spacing.

[0026] Optionally, if the real-time distance is greater than the preset deceleration buffer distance threshold, it is determined that the trolley is in the long-distance conveying range, the steel coil is far from the target station, there is no risk of overshoot, and the system determines that the traveling speed of the loading trolley is the full-speed high-speed traveling speed, and drives the steel coil to quickly approach the station at the rated maximum operating speed, which greatly shortens the travel time and improves the overall loading cycle and operating efficiency of the production line.

[0027] If the real-time distance is less than or equal to the deceleration buffer distance threshold, it is determined that the loading trolley has entered the adjacent area of ​​the production line station and is close to the target station. There is a risk of mechanical inertia overshoot, vehicle body vibration, and over-position deviation. The system immediately switches the speed gear and determines the traveling speed of the loading trolley to be a low-speed buffer traveling speed. It moves towards the station at a low and uniform speed to gradually offset the mechanical inertia and ensure that the trolley stops smoothly without impact, overtravel, or vibration.

[0028] For example, the device calibrates a deceleration buffer distance threshold. Full-speed high-speed travel Low-speed buffer travel speed When the real-time spacing of the loading trolley... The system automatically matches the full-speed travel speed. Rapid movement; when the real-time spacing between the loading trolleys decreases to The system automatically switches to a low-speed buffer travel speed. It smoothly approaches the workstation and finally completes precise coarse positioning and docking.

[0029] This application embodiment, through spacing calculation, interval division and graded speed adjustment logic, can take into account both the operation efficiency of steel coil feeding and the station docking accuracy, completely avoid the inertial deviation problem of high-speed close-distance docking, and provide a stable pre-condition foundation for subsequent accurate calculation of steel coil center and high-precision centering process.

[0030] In step 102, the position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil are collected in real time. Based on the position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil, the true center coordinates of the target steel coil are calculated.

[0031] In this embodiment, after the loading trolley is coarsely positioned and parked smoothly with all vibrations eliminated, the system performs high-frequency data acquisition across all dimensions. Through a laser displacement sensor and a multi-station photoelectric switch array, it synchronously and in real-time collects three core operating parameters: the position coordinates of the target steel coil, the position coordinates of the loading trolley, and the core height coordinates of the target steel coil. Compared to the traditional coarse positioning method that relies solely on the center of the loading trolley to approximate the center of the steel coil, this embodiment comprehensively considers various on-site interference factors such as steel coil placement offset, steel coil end face tilt, incoming material ellipticity deviation, and slight deviations in loading trolley parking. It uses multi-parameter coupling and fusion calculations based on the three types of measured coordinate data to correct detection errors in a single detection dimension and accurately determine the true center coordinates of the target steel coil.

[0032] In one possible implementation, calculating the true center coordinates of the target steel coil based on its position coordinates, the position coordinates of the feeding trolley, and the core height coordinates can include: Using the position coordinates of the loading trolley as the positioning reference origin, a rectangular coordinate system for the equipment is constructed. Map the position coordinates of the target steel coil to the equipment's rectangular coordinate system to determine the lateral offset coordinates of the target steel coil relative to the center of the feeding trolley. The true center coordinates of the target steel coil are calculated using the lateral offset coordinates of the target steel coil relative to the center of the feeding trolley, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil.

[0033] Optionally, after the loading trolley has been coarsely positioned and smoothly parked, and the operating conditions are stable without shaking, a dedicated Cartesian coordinate system adapted to the on-site loading conditions is constructed using the real-time acquired position coordinates of the loading trolley as the positioning reference origin. This coordinate system serves as a unified reference coordinate system for calculating the center of the steel coil, effectively avoiding detection deviations caused by installation deviations of the fixed coordinate system and track assembly errors, ensuring the fit and accuracy of the coordinate calculation. The equipment Cartesian coordinate system uses the center position of the loading trolley after coarse positioning as the coordinate origin, with the horizontal direction along the trolley's travel track as the X-axis and the vertical direction perpendicular to the trolley's bearing platform as the Y-axis. All subsequent steel coil position parameters and offset parameters are calculated based on this dynamic reference coordinate system.

[0034] After constructing the equipment's rectangular coordinate system, the position coordinates of the target steel coil, which are collected in real time by the laser displacement sensor, are uniformly mapped to the current equipment's rectangular coordinate system through a coordinate translation mapping algorithm. This eliminates absolute coordinate reference deviation and accurately calculates the lateral offset coordinates of the target steel coil relative to the center of the feeding trolley. This accurately represents the left and right placement offset of the target steel coil on the trolley's bearing platform and precisely captures lateral position errors such as eccentric placement and end face offset of the steel coil.

[0035] Ultimately, relying on three core measured parameters—the lateral offset coordinates of the steel coil obtained through mapping, the position coordinates of the loading trolley as the reference origin, and the height coordinates of the target steel coil core acquired by the multi-station photoelectric switch array—and combining the PLC's built-in multi-dimensional error compensation algorithm, which integrates lateral placement offset, vertical height deviation, and on-site working condition interference errors, the true center coordinates of the target steel coil core are calculated. This completely solves the problems of inaccurate calculations and poor adaptability to working conditions caused by traditional single geometric point selection and fixed center estimation.

[0036] The lateral offset coordinates of the target steel coil relative to the center of the feeding trolley, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil are input into the first formula to calculate the true center coordinates of the target steel coil. The first formula is: in, The true center coordinates of the target steel coil, The coordinates represent the lateral offset of the target steel coil relative to the center of the feeding trolley. Here are the coordinates of the loading trolley. The core height coordinates of the target steel coil. This is the lateral error correction coefficient, used to compensate for sensor acquisition noise, vehicle micro-vibration, and lateral detection interference errors; This is the vertical error correction coefficient, used to compensate for photoelectric detection deviation, steel coil end face tilt, and vertical attitude interference errors.

[0037] This application's embodiments construct a Cartesian coordinate system for the equipment using the position of the feeding trolley as the reference origin. This unifies scattered position data into a single dimension, significantly reducing the complexity of coordinate transformation and avoiding calculation deviations caused by multiple references. Simultaneously, the correction coefficients can be flexibly calibrated according to on-site working conditions, effectively offsetting coordinate data fluctuations caused by industrial vibrations and environmental interference, greatly improving the stability of positioning results and reducing the probability of positioning failure.

[0038] In step 103, based on the true center coordinates of the target steel coil and the center coordinates of the double cone mandrel of the feeder, the feeder trolley is controlled to lift the target steel coil and align it with the center of the double cone mandrel of the feeder. After the feeder trolley lifts the target steel coil and aligns it with the center of the double cone mandrel of the feeder, the double cones of the feeder on both sides of the target steel coil are controlled to feed synchronously at the same speed so that the target steel coil is connected to the double cones of the feeder.

[0039] In this embodiment, the PLC controller pre-stores the factory-calibrated standard center coordinates of the double-cone mandrel of the feeder, which serves as a fixed and precise alignment reference. After calculating the true center coordinates of the target steel coil, the system performs real-time differential calculations between the true center coordinates of the steel coil and the standard center coordinates of the double-cone mandrel to accurately determine the deviation. This deviation is then used as the closed-loop control input to dynamically generate a micro-adjustment trajectory for the feeder trolley. The system adaptively matches the micro-adjustment speed and stroke, controlling the feeder trolley to perform low-speed, precise micro-movements, gradually correcting the positional deviation by lifting the target steel coil. This achieves high-precision coaxial alignment between the core center of the target steel coil and the center of the double-cone mandrel of the feeder, locking the alignment accuracy to [percentage missing]. Within the range.

[0040] Once the system detects that both bidirectional deviations converge to within the preset accuracy threshold, the center alignment is deemed qualified. The position of the feeding trolley is immediately locked to prevent secondary offset. Subsequently, the PLC controller outputs a constant-speed synchronous feed command, starts the closed-loop synchronous control logic, monitors the feed displacement and running speed of the left and right double cones in real time, and dynamically compensates for the feed difference between the two sides. This ensures that the left and right double cones of the feeding machine feed at the same speed, synchronously, and symmetrically throughout the entire process, without displacement difference or force eccentricity. The target steel coil core is then smoothly and tightly clamped, and the precise docking and assembly of the target steel coil and the feeding machine's double cones are finally completed. This completely solves the industry pain points of large alignment errors, eccentricity, and edge scraping caused by traditional manual alignment, and achieves fully automated, high-precision, and high-stability steel coil feeding and centering operations.

[0041] In one possible implementation, based on the true center coordinates of the target steel coil and the center coordinates of the double-cone mandrel of the feeder, controlling the feeding trolley to align the target steel coil with the center of the double-cone mandrel of the feeder can include: Calculate the difference between the true center coordinates of the target steel coil and the center coordinates of the double-cone mandrel of the feeding machine, and use this difference as the bidirectional alignment deviation value, which includes the lateral alignment deviation value and the vertical alignment deviation value. By using the bidirectional alignment deviation value and the true center coordinates of the target steel coil, the target alignment coordinates after the fine-tuning of the feeding trolley are determined; Based on the target alignment coordinates, control the feeding trolley to lift the target steel coil and align it with the center of the double-cone mandrel of the feeding machine.

[0042] Optionally, after accurately calculating the true center coordinates of the target steel coil, the standard center coordinates of the double-cone mandrel of the feeding machine, which are pre-calibrated and stored in the PLC controller, are retrieved. These coordinates serve as the mechanical reference coordinates of the equipment and are the sole reference for precise centering and alignment of the steel coil. They possess high precision and are fixed, unaffected by the incoming state of the steel coil, the parking position of the trolley, or disturbances in the on-site working conditions. The PLC controller uses high-precision coordinate difference calculation logic to calculate the difference between the horizontal and vertical coordinates of the true center of the steel coil and the standard center of the double-cone mandrel, respectively, to solve for the bidirectional positional deviation. This constructs a bidirectional alignment deviation value that includes both horizontal and vertical alignment deviation values, accurately quantifying the direction and magnitude of the steel coil's current position offset relative to the standard alignment center. This comprehensively covers two types of alignment errors: horizontal misalignment and vertical height deviation, avoiding problems such as inaccurate centering and insufficient coaxiality caused by single-dimensional correction.

[0043] The formula for calculating the bidirectional alignment deviation is as follows: in, This is the lateral alignment deviation value. This is the vertical alignment deviation value. The coordinates of the center of the double-cone mandrel of the feeding machine. The coordinates are the true center coordinates of the target steel coil. The sign of the deviation value accurately represents the direction of offset, and the magnitude of the value represents the magnitude of offset, providing a quantitative basis for precise fine-tuning and correction.

[0044] After obtaining the bidirectional alignment deviation values, and combining them with the calculated true center coordinates of the target steel coil, the fine-tuning target position required for the loading trolley to achieve precise alignment is accurately calculated through coordinate compensation logic. This is the target alignment coordinate after the trolley's fine-tuning. The target alignment coordinate is the optimal alignment coordinate after precise compensation in both the horizontal and vertical directions, which can completely offset the minor positional deviations, steel coil placement posture deviations, and minor equipment assembly deviations remaining from the coarse positioning stage.

[0045] The bidirectional alignment deviation value and the true center coordinates of the target steel coil are input into the second formula to calculate the target alignment coordinates after the loading trolley is fine-tuned. The second formula is: in, The target alignment coordinates are fine-tuned for the loading trolley. This is the lateral alignment deviation value. This is the vertical alignment deviation value. The true center coordinates of the target steel coil.

[0046] Finally, the PLC controller outputs closed-loop speed regulation and displacement control commands based on the target alignment coordinates, driving the feeding trolley to move at low speed and in small, precise increments, lifting the target steel coil to complete bidirectional position correction, and achieving high-precision coaxial alignment between the core center of the target steel coil and the center of the double-cone mandrel of the feeding machine, laying a precise positional foundation for subsequent synchronous and stable docking of the double cones.

[0047] This application provides an automatic centering and positioning method for steel coils using a double-cone mandrel. This method calculates the true center coordinates of the steel coil in real time by acquiring multi-dimensional coordinates, and, combined with synchronous feeding at the same speed of the double cones, significantly improves the alignment accuracy between the steel coil and the double-cone mandrel, avoiding positioning deviations caused by manual operation. Furthermore, by dynamically adjusting the speed of the feeding trolley based on distance, combined with the high-speed response characteristics of the PLC, the feeding and docking cycle time can be effectively shortened, reducing manual operation time and improving the overall operating efficiency of the steel coil processing production line. Moreover, relying on the strong anti-interference capability and adaptability to complex industrial environments of the PLC controller, the entire automatic control process has high stability, significantly reducing the probability of human error and minimizing equipment collisions, steel coil jamming, and other malfunctions. This application eliminates the need for repeated manual calibration, reducing on-site manpower input and avoiding edge collisions and material loss caused by alignment deviations, thus improving the utilization rate of raw materials.

[0048] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0049] The following are device embodiments of this application. For details not described in detail, please refer to the corresponding method embodiments described above.

[0050] Figure 2 A schematic diagram of the automatic centering and positioning device for double cones of steel coils provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown, and are described in detail below: like Figure 2 As shown, the steel coil double-cone automatic centering and positioning device 2 includes: The speed determination module 21 is used to determine the travel speed of the loading trolley based on the distance between the loading trolley and the preset position, and control the loading trolley carrying the target steel coil to move to the preset position at the travel speed. The center coordinate calculation module 22 is used to collect the position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil in real time, and calculate the true center coordinates of the target steel coil based on the position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil. The centering and positioning module 23 is used to control the feeding trolley to lift the target steel coil and align it with the center of the feeding machine's double cone mandrel based on the true center coordinates of the target steel coil and the center coordinates of the feeding machine's double cone mandrel. After the feeding trolley lifts the target steel coil and aligns it with the center of the feeding machine's double cone mandrel, it controls the feeding machine's double cones on both sides of the target steel coil to feed synchronously at the same speed so that the target steel coil docks with the feeding machine's double cones.

[0051] This application provides an automatic centering and positioning device for steel coils using a double-cone design. This device calculates the true center coordinates of the steel coil in real time by acquiring multi-dimensional coordinates, and, combined with synchronous feeding at the same speed of the double cones, significantly improves the alignment accuracy between the steel coil and the double-cone mandrel, avoiding positioning deviations caused by manual operation. Furthermore, by dynamically adjusting the speed of the feeding trolley based on distance, combined with the high-speed response characteristics of the PLC, the feeding and docking cycle time can be effectively shortened, reducing manual operation time and improving the overall operating efficiency of the steel coil processing production line. Moreover, relying on the strong anti-interference capability and adaptability to complex industrial environments of the PLC controller, the entire automatic control process has high stability, significantly reducing the probability of human error and minimizing equipment collisions, steel coil jamming, and other malfunctions. This application eliminates the need for repeated manual calibration, reducing on-site manpower input and avoiding edge collisions and material loss caused by alignment deviations, thus improving the utilization rate of raw materials.

[0052] In one possible implementation, the speed determination module is specifically used for: The current center position coordinates of the loading trolley are obtained in real time, and the distance between the current center position coordinates and the preset position is calculated. The preset position is the position of the preset loading station on the production line. The spacing is dynamically divided, and the travel speed of the loading trolley is determined based on the divided spacing.

[0053] In one possible implementation, the travel speed includes a full-speed high-speed travel speed and a low-speed buffered travel speed; the speed determination module can also be used for: If the distance between the two sides is greater than the deceleration buffer distance threshold, the loading trolley is determined to be in the long-distance conveying range, and the speed of the loading trolley is determined to be the full-speed high-speed speed. If the distance between the loading trolleys is less than or equal to the deceleration buffer distance threshold, it is determined that the loading trolley is in the adjacent area of ​​the production line station, and the traveling speed of the loading trolley is determined to be the low-speed buffer traveling speed.

[0054] In one possible implementation, the center coordinate calculation module can be used for: Using the position coordinates of the loading trolley as the positioning reference origin, a rectangular coordinate system for the equipment is constructed. Map the position coordinates of the target steel coil to the equipment's rectangular coordinate system to determine the lateral offset coordinates of the target steel coil relative to the center of the feeding trolley. The true center coordinates of the target steel coil are calculated using the lateral offset coordinates of the target steel coil relative to the center of the feeding trolley, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil.

[0055] In one possible implementation, the center coordinate calculation module can also be used for: The lateral offset coordinates of the target steel coil relative to the center of the feeding trolley, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil are input into the first formula to calculate the true center coordinates of the target steel coil. The first formula is: in, The true center coordinates of the target steel coil, The coordinates represent the lateral offset of the target steel coil relative to the center of the feeding trolley. Here are the coordinates of the loading trolley. The core height coordinates of the target steel coil. This is the lateral error correction coefficient. This is the vertical error correction coefficient.

[0056] In one possible implementation, the centering module can be used to: Calculate the difference between the true center coordinates of the target steel coil and the center coordinates of the double-cone mandrel of the feeding machine, and use this difference as the bidirectional alignment deviation value, which includes the lateral alignment deviation value and the vertical alignment deviation value. By using the bidirectional alignment deviation value and the true center coordinates of the target steel coil, the target alignment coordinates after the fine-tuning of the feeding trolley are determined; Based on the target alignment coordinates, control the feeding trolley to lift the target steel coil and align it with the center of the double-cone mandrel of the feeding machine.

[0057] In one possible implementation, the centering module can also be used for: The bidirectional alignment deviation value and the true center coordinates of the target steel coil are input into the second formula to calculate the target alignment coordinates after the fine-tuning of the loading trolley. The second formula is as follows: in, The target alignment coordinates are fine-tuned for the loading trolley. This is the lateral alignment deviation value. This is the vertical alignment deviation value. The true center coordinates of the target steel coil.

[0058] Figure 3 This is a schematic diagram of the terminal provided in an embodiment of this application. For example... Figure 3As shown, the terminal 3 in this embodiment includes: a processor 30, a memory 31, and a computer program 32 stored in the memory 31 and executable on the processor 30. When the processor 30 executes the computer program 32, it implements the steps in the various embodiments of the automatic centering and positioning method for double-cone steel coils described above, for example... Figure 1 Steps 101 to 103 are shown. Alternatively, when the processor 30 executes the computer program 32, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 2 The functions of each module are shown.

[0059] For example, the computer program 32 can be divided into one or more modules / units, which are stored in the memory 31 and executed by the processor 30 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 32 in the terminal 3. For example, the computer program 32 can be divided into... Figure 2 The modules shown.

[0060] The terminal 3 can be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal 3 may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art will understand that... Figure 3 This is merely an example of terminal 3 and does not constitute a limitation on terminal 3. It may include more or fewer components than shown, or combine certain components, or different components. For example, the terminal may also include input / output devices, network access devices, buses, etc.

[0061] The processor 30 may be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0062] The memory 31 can be an internal storage unit of the terminal 3, such as a hard disk or memory of the terminal 3. The memory 31 can also be an external storage device of the terminal 3, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the terminal 3. Furthermore, the memory 31 can include both internal storage units and external storage devices of the terminal 3. The memory 31 is used to store the computer program and other programs and data required by the terminal. The memory 31 can also be used to temporarily store data that has been output or will be output.

[0063] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0064] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0065] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0066] In the embodiments provided in this application, it should be understood that the disclosed devices / terminals and methods can be implemented in other ways. For example, the device / terminal embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0067] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0068] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0069] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above-described embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the above-described embodiments of the automatic centering and positioning method for double cones of steel coils. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0070] The above-described 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, and should all be included within the protection scope of this application.

Claims

1. A method for automatic centering and positioning of a double-cone steel coil, characterized in that, The method is applied to a PLC controller, and the method includes: Based on the distance between the loading trolley and the preset position, the traveling speed of the loading trolley is determined, and the loading trolley carrying the target steel coil is controlled to move to the preset position at the traveling speed. The position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil are collected in real time. Based on the position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil, the true center coordinates of the target steel coil are calculated. Based on the true center coordinates of the target steel coil and the center coordinates of the double-cone mandrel of the feeding machine, the feeding trolley is controlled to lift the target steel coil and align it with the center of the double-cone mandrel of the feeding machine. After the feeding trolley lifts the target steel coil and aligns it with the center of the double-cone mandrel of the feeding machine, the double cones of the feeding machine on both sides of the target steel coil are controlled to feed synchronously at the same speed so that the target steel coil docks with the double cones of the feeding machine.

2. The automatic centering and positioning method for double-cone steel coils according to claim 1, characterized in that, Determining the travel speed of the loading trolley based on the distance between the loading trolley and the preset position includes: The current center position coordinates of the loading trolley are obtained in real time, and the distance between the current center position coordinates of the loading trolley and the preset position is calculated. The preset position is the position of the preset loading station on the production line. The spacing is dynamically divided, and the travel speed of the loading trolley is determined based on the divided spacing.

3. The automatic centering and positioning method for double-cone steel coils according to claim 2, characterized in that, The traveling speed includes a full-speed high-speed traveling speed and a low-speed buffer traveling speed; the dynamic division of the spacing distance and the determination of the traveling speed of the loading trolley based on the divided spacing distance includes: If the distance between the two sides is greater than the deceleration buffer distance threshold, it is determined that the loading trolley is in the long-distance conveying range, and the traveling speed of the loading trolley is determined to be the full-speed high-speed traveling speed. If the spacing is less than or equal to the deceleration buffer distance threshold, the loading trolley is determined to be in the adjacent range of the production line station, and the traveling speed of the loading trolley is determined to be the low-speed buffer traveling speed.

4. The automatic centering and positioning method for double-cone steel coils according to claim 1, characterized in that, The calculation of the true center coordinates of the target steel coil based on the position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil includes: Using the position coordinates of the loading trolley as the positioning reference origin, a rectangular coordinate system for the equipment is constructed; Map the position coordinates of the target steel coil to the Cartesian coordinate system of the equipment, and determine the lateral offset coordinates of the target steel coil relative to the center of the loading trolley. The true center coordinates of the target steel coil are calculated using the lateral offset coordinates of the target steel coil relative to the center of the feeding trolley, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil.

5. The automatic centering and positioning method for double-cone steel coils according to claim 4, characterized in that, The step of calculating the true center coordinates of the target steel coil using the lateral offset coordinates of the target steel coil relative to the center of the loading trolley, the position coordinates of the loading trolley, and the core height coordinates of the target steel coil includes: The lateral offset coordinates of the target steel coil relative to the center of the feeding trolley, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil are input into the first formula to calculate the true center coordinates of the target steel coil. The first formula is: in, The true center coordinates of the target steel coil are, The coordinates represent the lateral offset of the target steel coil relative to the center of the loading trolley. Let be the position coordinates of the loading trolley. Here are the core height coordinates of the target steel coil. This is the lateral error correction coefficient. This is the vertical error correction coefficient.

6. The automatic centering and positioning method for double-cone steel coils according to claim 1, characterized in that, The step of controlling the feeding trolley to align the target steel coil with the center of the feeding machine's double-cone mandrel, based on the true center coordinates of the target steel coil and the center coordinates of the feeding machine's double-cone mandrel, includes: Calculate the difference between the true center coordinates of the target steel coil and the center coordinates of the double-cone mandrel of the feeding machine, and use this difference as the bidirectional alignment deviation value, which includes the lateral alignment deviation value and the vertical alignment deviation value. Using the bidirectional alignment deviation value and the true center coordinates of the target steel coil, the target alignment coordinates after the fine-tuning of the loading trolley are determined; Based on the target alignment coordinates, the feeding trolley is controlled to lift the target steel coil and align it with the center of the double-cone mandrel of the feeding machine.

7. The automatic centering and positioning method for double-cone steel coils according to claim 6, characterized in that, The step of determining the target alignment coordinates of the loading trolley after fine-tuning by using the bidirectional alignment deviation value and the true center coordinates of the target steel coil includes: The bidirectional alignment deviation value and the true center coordinates of the target steel coil are input into the second formula to calculate the target alignment coordinates after the fine-tuning of the loading trolley. The second formula is: in, The target alignment coordinates are the ones after the loading trolley has been fine-tuned. This refers to the lateral alignment deviation value. This refers to the vertical alignment deviation value. The coordinates are the true center coordinates of the target steel coil.

8. A double-cone automatic centering and positioning device for steel coils, characterized in that, The device is applied to a PLC controller, and the device includes: The speed determination module is used to determine the travel speed of the loading trolley based on the distance between the loading trolley and the preset position, and control the loading trolley carrying the target steel coil to move to the preset position at the travel speed. The center coordinate calculation module is used to collect the position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil in real time, and calculate the true center coordinates of the target steel coil based on the position coordinates of the target steel coil, the position coordinates of the feeding trolley, and the core height coordinates of the target steel coil. The centering and positioning module is used to control the feeding trolley to lift the target steel coil and align it with the center of the feeding machine's double-cone mandrel based on the true center coordinates of the target steel coil and the center coordinates of the feeding machine's double-cone mandrel. After the feeding trolley lifts the target steel coil and aligns it with the center of the feeding machine's double-cone mandrel, it controls the feeding machine's double cones on both sides of the target steel coil to feed synchronously at the same speed, so that the target steel coil docks with the feeding machine's double cones.

9. A terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the automatic centering and positioning method for double cones of steel coils as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the automatic centering and positioning method for double cones of steel coils as described in any one of claims 1 to 7.

Images