CN114515761A - Control system and method for dynamic accurate positioning of logistics steel coil trolley - Google Patents
Control system and method for dynamic accurate positioning of logistics steel coil trolley Download PDFInfo
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- CN114515761A CN114515761A CN202210237007.XA CN202210237007A CN114515761A CN 114515761 A CN114515761 A CN 114515761A CN 202210237007 A CN202210237007 A CN 202210237007A CN 114515761 A CN114515761 A CN 114515761A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 208
- 239000010959 steel Substances 0.000 title claims abstract description 208
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 5
- 238000004519 manufacturing process Methods 0.000 description 11
- 230000033764 rhythmic process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000005097 cold rolling Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application provides a control system and a method for dynamic accurate positioning of a logistics steel coil trolley, which ensure that no coil falling accident occurs in the process of high-speed coil transportation of the logistics steel coil trolley in a logistics channel, and can place steel coils to the center positions of other cross-connection saddles. The system comprises a diffuse reflection type grating, a position sensor and a PLC; the diffuse reflection type grating is positioned at the head of the steel coil trolley, the detection direction is upward, and in the process of connecting steel coils to the steel coil trolley, the diffuse reflection type grating forms a trigger signal according to the condition that the emitted light is shielded by the steel coils and reads the trigger signal into the PLC; the position sensor is positioned on the steel coil trolley and reads the actual position of the steel coil trolley into the PLC; and the PLC calculates the target position of the steel coil trolley according to the trigger signal and the actual position of the trolley and controls the steel coil trolley to move to the target position, wherein the target position is the central position of the steel coil.
Description
Technical Field
The application relates to the technical field of steel production equipment, in particular to a control system and method for dynamic and accurate positioning of a logistics steel coil trolley.
Background
Along with the improvement of equipment and technical level in the steel industry in China, the production rhythm of each production line of a steel mill is very fast, a cold rolling mill has 3 strip steel processing lines, steel coils on the lower line of each production line need to be transferred to the next procedure in time, and because the production rhythm is fast, the traditional travelling crane cannot meet the requirement of the production rhythm, an efficient intelligent logistics system is adopted at present, and the steel coils between the production lines are intelligently transferred through a steel coil trolley.
The steel coil trolley firstly arrives at the handover saddle to receive coils, the steel coils are placed in the middle of the steel coil trolley saddle, and then the steel coil trolley conveys the steel coils to the handover saddle of the next procedure at high speed according to the instruction of the intelligent logistics system. Because need carry out the back-rolling many times in the process of the last, lead to the coil of strip that the process of the last was put on handing-over saddle to often produce the deviation, the center of coil of strip can not coincide with the center of handing-over saddle, either the left side or the right side. And because the coil trolley can only coil downwards at the center of the handover saddle according to instructions, the coil is deviated to the left or right on the saddle of the coil trolley, and the coil falling accident is often caused.
Therefore, a control system and method for dynamically and precisely positioning a logistic steel coil trolley are needed.
Disclosure of Invention
The application provides a control system and a method for dynamic accurate positioning of a logistics steel coil trolley, which can ensure that no coil falling accident occurs in the process of high-speed coil transportation of the logistics steel coil trolley in a logistics channel, and meanwhile, the steel coil can be placed in the center of other handover saddles.
The first aspect provides a control system for dynamic and accurate positioning of a logistics steel coil trolley, which comprises a diffuse reflection type grating, a position sensor and a PLC (programmable logic controller);
the diffuse reflection type optical grating is positioned at the head of the steel coil trolley, the detection direction is upward, and in the process of connecting a steel coil by the steel coil trolley, the diffuse reflection type optical grating forms a trigger signal according to the condition that the emitted light is shielded by the steel coil and reads the trigger signal into the PLC;
the position sensor is positioned on the steel coil trolley and reads the actual position of the steel coil trolley into the PLC;
and the PLC calculates the target position of the steel coil trolley according to the trigger signal and the actual position of the trolley and controls the steel coil trolley to move to the target position, wherein the target position is the central position of the steel coil.
Optionally, the position sensor is a bar code ruler, and the position sensor reads the actual position of the coil car into the PLC, including:
And the bar code ruler reads the actual position of the steel coil trolley into the PLC through a read-write head.
Optionally, the forming of the trigger signal by the diffuse reflection type grating according to a condition that the emitted light source is shielded by the steel coil includes:
when the light emitted by the diffuse reflection type grating is blocked by one side of the steel coil, the trigger signal is changed from 0 to 1;
when the light emitted by the diffuse reflection type grating is not blocked by the other side of the steel coil, the trigger signal is changed from 1 to 0.
Optionally, the PLC calculates the target position of the coil car according to the trigger signal and the actual position of the car, and includes:
the triggering signal is changed from 0 to 1, and the PLC records the bar code scale value of the steel coil trolley as S1;
the trigger signal is changed from 1 to 0, and the PLC records the bar code scale value of the steel coil trolley as S2;
the PLC calculates the width C of the steel coil, wherein the width C is S2-S1;
the PLC calculates a target position D of the steel coil trolley, wherein D is S1+ C/2;
and the PLC controls the steel coil trolley to move to the target position D.
In a second aspect, a method for controlling dynamic precise positioning of a logistic steel coil trolley is provided, which is applied to the system of the first aspect, and includes:
The PLC controls the steel coil trolley to move towards a steel coil;
in the process of connecting and disconnecting a steel coil by the steel coil trolley, the diffuse reflection type grating forms a trigger signal according to the condition that the emitted light is shielded by the steel coil, and the trigger signal is read into the PLC;
the position sensor reads the actual position of the steel coil trolley into the PLC;
and the PLC calculates the target position of the steel coil trolley according to the trigger signal and the actual position of the trolley and controls the steel coil trolley to move to the target position.
Optionally, the position sensor is a bar code ruler, and the position sensor reads the actual position of the coil car into the PLC, including:
and the bar code ruler reads the actual position of the steel coil trolley into the PLC through the read-write head.
Optionally, the forming of the trigger signal by the diffuse reflection type grating according to a condition that the emitted light source is blocked by the steel coil includes:
when the light emitted by the diffuse reflection type grating is blocked by one side of the steel coil, the trigger signal is changed from 0 to 1;
when the light emitted by the diffuse reflection type grating is not blocked by the other side of the steel coil, the trigger signal is changed from 1 to 0.
Optionally, the PLC calculates the target position of the coil car according to the trigger signal and the actual position of the car, including:
The steel coil trolley moves along the width direction of a steel coil, the trigger signal is changed from 0 to 1, and the PLC records the bar code scale value of the steel coil trolley as S1;
the trigger signal is changed from 1 to 0, and the PLC records the bar code scale value of the steel coil trolley as S2;
the PLC calculates the width C of the steel coil, wherein the width C is S2-S1;
the PLC calculates a target position D of the steel coil trolley, wherein D is S1+ C/2;
and the PLC controls the steel coil trolley to move to the target position D.
According to the embodiment, the control system for dynamically and accurately positioning the logistics steel coil trolley forms the trigger signal according to the condition that light emitted by the diffuse reflection type grating is shielded by the steel coil, and the system can also master the actual position of the trolley in real time, so that the central position of the steel coil can be calculated according to the trigger signal and the actual position of the trolley. Therefore, when the logistics steel coil trolley goes to the handing-over saddle to be jointed, the steel coil can be stopped under the steel coil no matter where the steel coil is positioned on the handing-over saddle; further ensuring that the steel coil can be placed in the middle of the saddle of the logistics steel coil trolley, and finally ensuring that no coil falling accident occurs in the process of transporting the coils by the logistics steel coil trolley at a high speed in a logistics channel; in addition, the steel coil can be placed in the middle of the saddle of the logistics steel coil trolley, so that the steel coil can be placed in the center of other cross-connecting saddles.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of an example of dynamic positioning of a coil car according to some embodiments of the present disclosure;
fig. 2 is a schematic diagram illustrating a dynamic positioning procedure of a coil car according to some embodiments of the present disclosure.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present application and are not construed as limiting the present application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
At present, with the improvement of equipment and technical level in the steel industry in China, the production rhythm of each production line of a steel mill is very fast, steel coils of each production line need to be transferred to the next procedure in time, steel coils between the production lines are transferred intelligently through a steel coil trolley, and the steel coil transfer efficiency can be improved.
In the practical process, the coil trolley firstly arrives at the handover saddle to receive coils, the coils are placed in the middle of the coil trolley saddle, and then the coil trolley conveys the coils to the handover saddle of the next procedure at high speed according to the instruction of the intelligent logistics system. If the steel coil is deviated to the left or right on the saddle of the steel coil trolley, the center of gravity can be unstable, and therefore the steel coil trolley is further caused to have a coil falling accident at the joint of the saddle in the high-speed coil conveying process or the next procedure. In addition, because the steel coil placed on the handing-over saddle in the previous process often deviates due to the fact that the steel coil needs to be rewound for many times in the previous process, the center of the steel coil cannot be overlapped with the center of the handing-over saddle, and the steel coil is deviated to the left or the right. The coil of strip dolly connects the book under the center of handing-over saddle according to the instruction, and the center of coil of strip can not coincide with the center of handing-over saddle, and the coil of strip also can not fall on the center at coil of strip dolly saddle, can lead to the focus unstability of coil of strip on coil of strip dolly to lead to falling the emergence of book accident.
In order to solve the problems, the application provides a control system for dynamic and accurate positioning of a logistics steel coil trolley.
Fig. 1 is a schematic diagram illustrating an example of dynamic positioning of a coil car according to some embodiments of the present disclosure, and a control system for dynamically and accurately positioning a logistics coil car is described below with reference to fig. 1.
As shown in fig. 1, the system includes a diffuse reflection type grating, a position sensor, and a Programmable Logic Controller (PLC).
The diffuse reflection type grating is located at the head of the steel coil trolley, the detection direction is upward, and in the process that the steel coil trolley connects the steel coil, the diffuse reflection type grating forms a trigger signal according to the condition that emitted light is shielded by the steel coil and reads the trigger signal into the PLC.
The position sensor is positioned on the coil trolley and reads the actual position of the coil trolley into the PLC.
And the PLC calculates the target position of the steel coil trolley according to the trigger signal and the actual position of the trolley and controls the steel coil trolley to move to the target position, wherein the target position is the central position of the steel coil.
According to the embodiment, the system forms the trigger signal according to the condition that the light emitted by the diffuse reflection type grating is shielded by the steel coil, and can also master the actual position of the trolley in real time, so that the central position of the steel coil can be calculated according to the trigger signal and the actual position of the trolley. Therefore, when the logistics steel coil trolley moves to the handing-over saddle to be coiled, no matter the steel coil is in any position of the handing-over saddle, the logistics steel coil trolley can be stopped under the steel coil, the steel coil is further ensured to be placed in the middle of the saddle of the logistics steel coil trolley, and finally, the logistics steel coil trolley is ensured not to have coil falling accidents in the process of high-speed coil conveying of a logistics channel; in addition, the steel coil can be placed in the middle of the saddle of the logistics steel coil trolley, so that the steel coil can be placed in the center of other cross-connecting saddles.
In one example, the position sensor is a bar code scale that reads the actual position of the coil car into the PLC via a read/write head.
Alternatively, the position sensor may be an instrument for measuring the distance using a laser, which can read the actual position of the coil carriage into the PLC.
In a possible implementation manner, the diffuse reflection type grating forms the trigger signal according to a condition that the emitted light source is shielded by the steel coil, and the specific manner includes:
when the light emitted by the diffuse reflection type grating is blocked by one side of the steel coil, the trigger signal is changed from 0 to 1.
When the light emitted by the diffuse reflection type grating is not blocked by the other side of the steel coil, the trigger signal is changed from 1 to 0.
As shown in fig. 1, in the process of connecting and disconnecting the steel coil to and from the steel coil trolley, the steel coil trolley moves into the side a of the steel coil, once the light emitted by the diffuse reflection type grating is blocked by the side a of the steel coil, the trigger signal is changed from 0 to 1; the steel coil trolley drives away from the side of the steel coil B, and once the light emitted by the diffuse reflection type grating cannot be blocked by the side of the steel coil B, the trigger signal is changed from 1 to 0.
In a possible implementation mode, the PLC calculates the target position of the coil car according to the trigger signal and the actual position of the car, and the specific mode includes:
the trigger signal is changed from 0 to 1, and the PLC records the bar code scale value of the steel coil trolley as S1;
The triggering signal is changed from 1 to 0, and the PLC records the bar code scale value of the steel coil trolley as S2;
the PLC calculates the width C of the steel coil, wherein C is S2-S1;
the PLC calculates the target position D of the steel coil trolley, wherein D is S1+ C/2;
and the PLC controls the steel coil trolley to move to a target position D.
Fig. 2 is a schematic diagram of the dynamic positioning steps of the coil car according to some embodiments of the present application, and as shown in fig. 2, the dynamic positioning steps of the coil car are as follows:
s1: starting the steel coil trolley at any position;
s2: the grating of the steel coil trolley reaches the A position;
and (4) executing the step S3 after the grating of the coil car reaches the A position, otherwise, continuously moving the coil car until the grating of the coil car reaches the A position.
S3: the trigger signal is changed from 0 to 1, and the PLC records the A-bit position value;
s4: the grating of the steel coil trolley reaches the B position;
and (4) executing the step S5 after the grating of the steel coil trolley reaches the position B, otherwise, continuously moving the steel coil trolley until the grating of the steel coil trolley reaches the position B.
S5: the trigger signal is changed from 1 to 0, and the PLC records the position value of the B bit;
after the PLC executes step S5, the PLC executes step S6.
S6: the PLC calculates the width C of the belt steel;
after the PLC executes step S6, the PLC executes step S7.
S7: the PLC calculates the target position D of the steel coil trolley;
after the PLC executes step S7, the PLC executes step S8.
S8: and the PLC controls the steel coil trolley to reach the target position D.
In the embodiment, the diffuse reflection type grating with the upward detection direction is arranged at the front part of the steel coil trolley, and the grating signal is read into the PLC, so that the PLC can master the time when the steel coil trolley reaches the lower part of a steel coil. In the process of connecting the steel coil to the steel coil trolley, when light emitted by the grating is just blocked by one side A of the steel coil, the grating signal is changed from 0 to 1, and the change of the grating signal triggers the PLC to record the value of the bar code scale at the moment as S1; the trolley continues to advance, when the grating reaches the position B on the other side of the steel coil, the steel coil can not block the grating right, when the grating signal is changed from 1 to 0, the change of the grating signal triggers the PLC again to record the bar code ruler value at the moment to be S2, and the width C of the steel coil is calculated to be S2-S1, so that S1+ C/2 is the target position of the steel coil trolley, namely the center position of the steel coil. The PLC controls the steel coil trolley to move to a target position, and the target position can be just stopped under the steel coil, so that the steel coil on the cross-connecting saddle can be just placed at the central position of the saddle of the steel coil trolley.
According to the above system, the present application further provides a control method for dynamic and accurate positioning of the logistic steel coil trolley, comprising:
The PLC controls the steel coil trolley to move towards the steel coil;
in the process of connecting a steel coil to the steel coil trolley, the diffuse reflection type grating forms a trigger signal according to the condition that the emitted light is shielded by the steel coil, and reads the trigger signal into the PLC;
the position sensor reads the actual position of the steel coil trolley into the PLC;
and the PLC calculates the target position of the steel coil trolley according to the trigger signal and the actual position of the trolley and controls the steel coil trolley to move to the target position.
For other implementation manners, reference is made to an example of a control system for dynamically and accurately positioning a logistics steel coil trolley, and details are not repeated here.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (8)
1. A control system for dynamic accurate positioning of a logistics steel coil trolley is characterized by comprising a diffuse reflection type grating, a position sensor and a PLC;
the diffuse reflection type grating is positioned at the head of the steel coil trolley, the detection direction is upward, and in the process of connecting steel coils to the steel coil trolley, the diffuse reflection type grating forms a trigger signal according to the condition that the emitted light is shielded by the steel coils and reads the trigger signal into the PLC;
the position sensor is positioned on the steel coil trolley and reads the actual position of the steel coil trolley into the PLC;
and the PLC calculates the target position of the steel coil trolley according to the trigger signal and the actual position of the trolley and controls the steel coil trolley to move to the target position, wherein the target position is the central position of the steel coil.
2. The control system for the dynamic and accurate positioning of the logistic steel coil trolley according to claim 1, wherein the position sensor is a bar code ruler, and the position sensor reads the actual position of the steel coil trolley into the PLC, including:
And the bar code ruler reads the actual position of the steel coil trolley into the PLC through the read-write head.
3. The control system for the dynamic precise positioning of the logistic steel coil trolley according to claim 2, wherein the diffuse reflection type grating forms a trigger signal according to the condition that the emitted light source is blocked by the steel coil, and the control system comprises:
when the light emitted by the diffuse reflection type grating is blocked by one side of the steel coil, the trigger signal is changed from 0 to 1;
when the light emitted by the diffuse reflection type grating is not blocked by the other side of the steel coil, the trigger signal is changed from 1 to 0.
4. The system as claimed in claim 3, wherein the PLC calculates the target position of the coil car according to the trigger signal and the actual position of the car, and comprises:
the trigger signal is changed from 0 to 1, and the PLC records the bar code scale value of the steel coil trolley as S1;
the trigger signal is changed from 1 to 0, and the PLC records the bar code scale value of the steel coil trolley as S2;
the PLC calculates the width C of the steel coil, wherein the width C is S2-S1;
the PLC calculates a target position D of the steel coil trolley, wherein D is S1+ C/2;
and the PLC controls the steel coil trolley to move to the target position D.
5. The method applied to the control system for the dynamic accurate positioning of the logistics steel coil trolley as claimed in claim 1, is characterized by comprising the following steps:
the PLC controls the steel coil trolley to move towards a steel coil;
in the process of connecting a steel coil to the steel coil trolley, the diffuse reflection type grating forms a trigger signal according to the condition that the emitted light is shielded by the steel coil, and reads the trigger signal into the PLC;
the position sensor reads the actual position of the steel coil trolley into the PLC;
and the PLC calculates the target position of the steel coil trolley according to the trigger signal and the actual position of the trolley and controls the steel coil trolley to move to the target position.
6. The method of claim 5, wherein the position sensor is a bar code scale, and the reading of the actual position of the coil car into the PLC by the position sensor comprises:
and the bar code ruler reads the actual position of the steel coil trolley into the PLC through the read-write head.
7. The method of claim 6, wherein the generating the trigger signal according to the condition that the emitted light source is blocked by the steel coil comprises:
When the light emitted by the diffuse reflection type grating is blocked by one side of the steel coil, the trigger signal is changed from 0 to 1;
when the light emitted by the diffuse reflection type grating is not blocked by the other side of the steel coil, the trigger signal is changed from 1 to 0.
8. The method of claim 7, wherein the PLC calculates the target position of the coil carriage based on the trigger signal and the actual position of the carriage, comprising:
the steel coil trolley moves along the width direction of a steel coil, the trigger signal is changed from 0 to 1, and the PLC records the bar code scale value of the steel coil trolley as S1;
the trigger signal is changed from 1 to 0, and the PLC records the bar code scale value of the steel coil trolley as S2;
the PLC calculates the width C of the steel coil, wherein C is S2-S1;
the PLC calculates a target position D of the steel coil trolley, wherein D is S1+ C/2;
and the PLC controls the steel coil trolley to move to the target position D.
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| CN202210237007.XA CN114515761A (en) | 2022-03-11 | 2022-03-11 | Control system and method for dynamic accurate positioning of logistics steel coil trolley |
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