阅读说明：本技术 一种钢卷电动夹钳的自动对中控制方法 (Automatic centering control method for steel coil electric clamp ) 是由 王林 陈立群 王伟 于 2020-04-25 设计创作，主要内容包括：本发明涉及一种钢卷电动夹钳的自动对中控制方法,所述喷吹装置包括直吹管、喷枪和风口小套,所述直吹管前端与所述风口小套后端紧密贴合安装,所述喷枪的后端可调整的穿插安装在所述直吹管内,喷枪的前端从直吹管的内腔伸出,伸入风口小套的内腔,喷枪的中心线与吹管的中心线在一个平面内,两者相交,且夹角可以调整,该方案适用于各种高炉的鼓风风压和喷吹风压,适用于风口小套的各种规格尺寸和不同的安装角度,确保喷吹时喷吹燃料对小套冲刷磨损最小,提高经济效益。(The invention relates to an automatic centering control method of a steel coil electric clamp, wherein a blowing device comprises a belly pipe, a spray gun and a tuyere small sleeve, the front end of the belly pipe is tightly attached to the rear end of the tuyere small sleeve, the rear end of the spray gun is adjustably inserted into the belly pipe, the front end of the spray gun extends out of the inner cavity of the belly pipe and extends into the inner cavity of the tuyere small sleeve, the central line of the spray gun and the central line of the blow pipe are in a plane and are intersected, and the included angle can be adjusted.)

1. An automatic centering control method for a steel coil electric clamp is characterized by comprising the following steps:

step 1: designing the size of the clamp feet of the electric clamp;

step 2: designing a mounting base;

and step 3: arranging photoelectric limit;

and 4, step 4: and (5) controlling the program.

2. The automatic centering control method of the steel coil electric clamp according to claim 1, characterized in that the step 1: designing the size of the clamp feet of the electric clamp; the end face of the clamp foot is rectangular, the clamp foot is perpendicular to the clamp leg, the end face of the clamp foot cannot exceed the clamp leg, a protective base plate is arranged on the clamp foot, and the thickness of the base plate is calculated in the factor of centering and limiting arrangement.

3. The automatic centering control method of the steel coil electric clamp according to claim 2, characterized in that the step 2: designing a mounting base; the mounting base is a parallel box structure welded on two sides of the clamp leg, and the clamp feet are contained in the plane of the clamp leg and used for mounting photoelectric limit and playing a role in protection.

4. The automatic centering control method of the electric clamp for steel coils as claimed in claim 3, wherein the step 3: arranging photoelectric limit; the limiting requirements are arranged on the mounting base and the clamp legs, the mounting holes can not be recessed into outer contour lines of the clamp legs and clamp leg base plates projected on the clamp legs, photoelectric limiting adopts paired elements with a transmitting end and a receiving end, the transmitting end is mounted on one clamp leg or the mounting base, the receiving end is mounted on the symmetrical clamp leg or the mounting base, and all the transmitting ends and the receiving ends are mounted symmetrically to ensure that respective signals can be received; the transmitting end and the receiving end are required to be recessed into the opening surface when being installed, so that the limiting position is protected from being collided.

5. The automatic centering control method for the electric clamp for steel coils as claimed in claim 3 or 4, characterized in that the step 4: the electric clamp is controlled by a program, shielding detection in four directions is designed, the clamp can continue to clamp the steel coil only when four limits are all switched on, any one of the four limits is not switched on, and the electric clamp represents that the electric clamp needs to continue to operate in a certain direction until the electric clamp is switched on.

6. The automatic centering control method of the electric clamp for the steel coil is characterized in that the electric clamp comprises clamp legs, clamp feet and a mounting base, the clamp legs and the clamp feet are integrated, the bottom of each clamp leg protrudes out of one part of each clamp foot, and the length of the protruding part is 5-10 cm and is used for mounting photoelectric limit.

7. The electric clamp for automatically centering the steel coil as claimed in claim 6, further comprising a clamp foot pad 4, wherein the clamp foot pad 4 is fixed on the clamp foot 3, the width and length of the clamp foot pad 4 are the same as the edge of the clamp foot 4, the height direction of the clamp foot pad is arc-shaped, and the diameter of the arc-shaped surface is not less than the minimum inner diameter of the steel coil and not more than the maximum inner diameter of the steel coil.

8. The automatic centering control of the electric clamp for steel coils as claimed in claim 6, wherein the mounting base is a box structure welded on both sides of the clamp legs, and the width of the projecting part of the mounting base ensures that the photoelectric limit (5), (6), (7) and (8) can be mounted; the clamp legs are protected, and the hollow box body is internally used for limiting electrical wiring.

Technical Field

The invention relates to a control method, in particular to an automatic centering control method of a steel coil electric clamp, and belongs to the technical field of electric clamp structure control.

Background

When a steel coil produced in the steel industry uses the electric clamp, the two clamp feet of the clamp must be ensured to be capable of just penetrating through the inner diameter of the steel coil, and when the clamp starts to clamp, the clamp does not touch any part of the steel coil. The steel coil clamp on the current market adopts a pair of photoelectric switches or laser switches to carry out centering detection on two clamp feet, but the electric clamp has four directions of up and down and front and back along with the motion direction of the crane, and the situation that the centering cannot be carried out can be caused by the fact that any one direction is not in place. Therefore, the use of a pair of centering switches does not solve the fundamental problem, and even if the correction is made by program control, it is not known that there is a deviation in the displacement in that direction. Therefore, developing a method capable of detecting the centering in four directions and a related automatic control program is an essential function of intelligent electric clamp.

Reference and patent: name: electric high temperature horizontal roll clamp centering indicating device (CN201721276560.5)

The utility model discloses an electronic high temperature horizontal scroll clamp centering indicating device, including correlation formula photoelectric sensor transmitting terminal, reflecting plate I, reflecting plate II, correlation formula photoelectric sensor receiving terminal, regulator cubicle, motor, steel pipe, side anticollision piece, bottom anticollision piece, gear, clamp arm, reflecting plate adjusting bolt, correlation formula photoelectric sensor transmitting terminal mounting panel, correlation formula photoelectric sensor receiving terminal mounting panel, reflecting plate adjusting spring, centering pilot lamp. The difference is as follows: the invention is a centering indicator device, which uses a centering photoelectric switch, but does not state how the device is centered.

Full-automatic crane control equipment for finished product warehouse (CN201320254738.1)

The utility model discloses a full automatization hoist controlgear for finished product warehouse. The on-board PLC equipment is connected with the on-board wireless equipment; the onboard wireless equipment is connected with the ground wireless equipment in a wireless communication mode; the ground wireless equipment is connected with the ground operation station; the lifting speed feedback encoder, the lifting brake and the lifting motor are connected with the lifting frequency converter; the cart speed feedback encoder, the cart brake and the cart motor are connected with the cart frequency converter; the trolley speed feedback encoder, the trolley brake and the trolley motor are connected with the trolley frequency converter; the clamp opening detection encoder on the automatic clamp detects the limit in the clamp centering, the clamp obstacle detection limit, the anti-collision ground detection limit, the anti-collision edge detection limit, and the load limit is connected with the clamp PLC control equipment. The difference is as follows: the invention is mentioned to include a crane including a clamp centering limit for control and does not describe how to implement the centering function.

Automatic control system and method of horizontal coil clamp of unmanned crane (CN 201711427081.3); the invention discloses an automatic control system for horizontal coil clamps of an unmanned crane, which comprises a clamp opening degree encoder, a clamp opening degree detection limit sensor, a clamp edge part clamping detection limit sensor, a clamp upper part anti-collision detection limit sensor, a clamp lower part anti-collision detection limit sensor, a clamp centering limit sensor, a clamp pressure detection limit sensor and a clamp lifting detection limit sensor, wherein the clamp opening degree encoder, the clamp opening degree detection limit sensor, the clamp edge part clamping detection limit sensor, the clamp upper part anti-collision detection limit sensor, the clamp lower part anti-collision detection limit sensor, the clamp centering limit sensor, the clamp pressure detection limit sensor and the clamp lifting detection limit sensor are arranged on a clamp body of the horizontal coil clamps. The difference is as follows: the invention describes the various sensors required in the pliers for automation, including the centering sensors, and does not show how centering is achieved. Therefore, a new solution to solve the above technical problems is urgently needed.

Disclosure of Invention

The invention provides an automatic centering control method of a steel coil electric clamp aiming at the problems in the prior art, and the technical scheme can ensure that clamp feet of the clamp completely fall in an inner diameter circle of a steel coil when the clamp feet clamp the steel coil.

In order to achieve the above object, the technical solution of the present invention is as follows, an automatic centering control method for an electric clamp of a steel coil, the control method comprising the steps of:

step 1: designing the size of the clamp feet of the electric clamp; the clamp foot is the part that directly gets into coil of strip inside diameter hole, and the clamp foot can not touch the coil of strip when pressing from both sides tight coil of strip. The end face of the clamp foot is rectangular, the clamp foot is perpendicular to the clamp leg, the end face of the clamp foot cannot exceed the clamp leg, a protective base plate is arranged on the clamp foot, and the thickness of the base plate is calculated in the factor of centering and limiting arrangement.

Step 2: designing a mounting base; the mounting base is a parallel box structure welded on two sides of the clamp leg, and the clamp feet are contained in the plane of the clamp leg and used for mounting photoelectric limit and playing a role in protection.

And step 3: arranging photoelectric limit; the limiting requirements are arranged on the mounting base and the clamp legs, and the mounting holes can not be recessed into outer contour lines of the clamp feet and clamp foot base plates projected on the clamp legs. The photoelectric limit adopts paired elements with a transmitting end and a receiving end, the transmitting end is arranged on one clamp leg or an installation base, the receiving end is arranged on the symmetrical clamp leg or the installation base, and all the transmitting end and the receiving end are arranged symmetrically to ensure that respective signals can be received; the transmitting end and the receiving end are required to be recessed into the opening surface when being installed, so that the limiting position is protected from being collided.

And 4, step 4: and (5) controlling the program. The electric clamp is designed for shielding detection in four directions, and the clamp can continue to clamp the steel coil only when four limits are completely switched on, wherein any one of the four limits is not switched on, and represents that the steel coil needs to continue to run in a certain direction until the steel coil is switched on. In the centering control method of the automatic centering electric clamp, two schemes are arranged on the clamp legs for centering and limiting, and the total number is 6. In the first scheme, four pairs of middle limit positions are adopted and are distributed on four sides of a clamp foot in a rectangular shape and respectively correspond to the upper direction, the lower direction, the front direction and the rear direction; and the second scheme adopts three pairs of centering limit positions which are distributed in a triangular manner, wherein one side of the triangle is required to be parallel to one side of the clamp foot.

The utility model provides a coil of strip electric clamp, electric clamp includes pincers leg, pincers foot and mounting base, pincers leg and pincers foot are a whole, pincers leg bottom protrusion pincers foot partly, and convex partial length is between 5-10 cm for it is spacing to install photoelectricity, and plays the guard action to pincers foot. In the scheme, the sizes of the clamp feet in the upper, lower, left and right directions of the clamp legs are limited in the clamp legs in the side projection direction, and the centering limit is arranged on a convex cuboid base

As an improvement of the invention, the electric clamp further comprises a clamp foot base plate, the clamp foot base plate is fixed on the clamp foot, the width and the length of the clamp foot base plate are identical to the edge of the clamp foot, the height direction of the clamp foot base plate is arc-shaped, the diameter of the arc-shaped surface is not smaller than the minimum inner diameter of the steel coil and not larger than the maximum inner diameter of the steel coil, and the thickness of the arc is also calculated to the height of the clamp foot. In the scheme, as an improvement of the invention, the mounting base is a box body structure welded on two sides of the clamp leg, the width of the protruding part of the mounting base ensures that photoelectric limit 5, 6, 7 and 9 can be mounted, and electric wiring for limiting is arranged in the hollow box body.

Compared with the prior art, the invention has the advantages that the technical scheme realizes the centering method for automatically detecting four directions;

the automatic centering and limiting clamp comprises a clamp leg, a clamp base, a clamp pin, a clamp base, a clamp pin support, a clamp base and a clamp, wherein the clamp leg is provided with a plurality of clamping holes;

the radian and the thickness of the contact surface between the protective backing plate on the clamp foot and the steel coil are optimized, and the radian plate coil is arranged between the maximum inner diameter and the minimum inner diameter of the steel coil and can take an intermediate value; the highest thickness of the center of the cambered surface is counted into the height of the clamp foot, so that the clamp foot and accessories thereof are ensured to fall into the inner meridian circle of the steel coil;

the clamp centering limit arrangement has six optional schemes, and the clamp feet with various appearance sizes can be matched by adjusting the distance between the centering limit; by selecting a proper arrangement form, the clamp can be matched with triangular clamp feet and telescopic clamp feet.

Drawings

FIG. 1 is a schematic view of an electric clamp according to the present invention;

FIG. 2 is a plan view of an automatic centering arrangement for a motorized clamp of the present invention;

FIG. 3 is a plan view of a second embodiment of the present invention for automatically centering an electrical clamp;

FIG. 4 is a flowchart of the process of the present invention;

in the figure, 1-the forceps leg; 2, mounting a base; 3, clamping feet; 4, clamping a foot pad; 5, front centering and limiting; 6, rear centering and limiting; 7-lower centering and limiting; 8, lower centering and limiting; and 9, steel coil.

The specific implementation mode is as follows:

for the purpose of enhancing an understanding of the present invention, the present embodiment will be described in detail below with reference to the accompanying drawings.

Example 1: referring to fig. 1-3, the electric clamp for the steel coil comprises clamp legs 1, clamp feet 3 and a mounting base, wherein the clamp legs 1 and the clamp feet 3 are integrated, the bottom of each clamp leg 1 protrudes out of one part of the clamp foot 3, and the length of the protruding part is 5-10 cm, so that the electric clamp is used for mounting photoelectric limit and has a protection effect on the clamp feet 3. In this scheme, on the side projection direction, the size of pincers foot about the pincers leg in four directions is restricted in the pincers leg, and centering is spacing to be installed on convex cuboid base, electric clamp is still including pincers foot backing plate 4, pincers foot backing plate 4 is fixed on pincers foot 3, and is neat with pincers foot 4 edges on its width, length, and the direction of height is the arc, and the cambered surface diameter must not be less than the minimum inner warp of coil of strip, and the height of pincers foot 3 is counted to thickness. In the scheme, in order to protect the appearance quality of a product, an elastic base plate is required to be installed on the upper end face of each clamp leg, the width of the base plate is the same as that of each clamp leg, the base plate is arc-shaped in the thickness direction, the thickness of the arc is also calculated to the height of each clamp leg, the installation base 2 is a box structure welded on two sides of each clamp leg 1, the width of a protruding part of the installation base can ensure that photoelectric limiting 5, 6, 7 and 8 can be installed, and the hollow box is internally used for limiting electrical wiring.

Example 2: referring to fig. 1 to 4, a control method for automatic centering of an electric clamp for a steel coil comprises the following steps: step 1: designing the size of the clamp feet of the electric clamp; the clamp foot is the part that directly gets into coil of strip inside diameter hole, and the clamp foot can not touch the coil of strip when pressing from both sides tight coil of strip. The end face of each clamp foot is rectangular, the clamp feet are perpendicular to the clamp legs, the end faces of the clamp feet cannot exceed the clamp legs, protective base plates are arranged on the clamp feet, and the thickness of each base plate is calculated in the centering and limiting arrangement factor; step 2: designing a mounting base; the mounting base is a parallel box structure welded on two sides of the clamp leg, and the clamp leg is contained in the plane of the clamp leg and used for mounting photoelectric limit and playing a role in protection; and step 3: arranging photoelectric limit; the limiting requirements are arranged on the mounting base and the clamp legs, and the mounting holes can not be recessed into outer contour lines of the clamp feet and clamp foot base plates projected on the clamp legs. The photoelectric limit adopts paired elements with a transmitting end and a receiving end, the transmitting end is arranged on one clamp leg or an installation base, the receiving end is arranged on the symmetrical clamp leg or the installation base, and all the transmitting end and the receiving end are arranged symmetrically to ensure that respective signals can be received; when the transmitting end and the receiving end are installed, the transmitting end and the receiving end are required to be recessed into the opening surface, so that the limiting is protected from collision; and 4, step 4: and (5) controlling the program. The electric clamp is designed for shielding detection in four directions, and the clamp can continue to clamp the steel coil only when four limits are completely switched on, wherein any one of the four limits is not switched on, and represents that the steel coil needs to continue to run in a certain direction until the steel coil is switched on. In the centering control method of the automatic centering electric clamp, two schemes are arranged on the clamp legs for centering and limiting, and the total number is 6. In the first scheme, four pairs of middle limit positions are adopted and are distributed on four sides of a clamp foot in a rectangular shape and respectively correspond to the upper direction, the lower direction, the front direction and the rear direction; and the second scheme adopts three pairs of centering limit positions which are distributed in a triangular manner, wherein one side of the triangle is required to be parallel to one side of the clamp foot. In the automatic centering control program of the electric clamp, five displacement adjustment programs are contained in the scheme: firstly, finely adjusting the displacement of a second centering limit in the opposite direction in the state of the first centering limit to change the state of the second centering limit to a defined state; and finely adjusting the displacement in the opposite direction by using the centering limit state in the third direction, so that the state of the centering limit state is changed to a defined state. Secondly, in the process of fine tuning the second centering limit, the state change of the limit on the non-reverse direction can occur first, and the centering limit with the first changed state can be used for adjusting the displacement in the corresponding direction during programming. And thirdly, the coordinates of the clamp at the beginning are relatively accurate, the centering limit positions in two opposite directions simultaneously change states, and only the displacement in one of the rest directions needs to be corrected. Fourthly, the coordinates of the clamp at the beginning are very accurate, the centering and limiting positions in three directions are changed in state, and the situations that the displacement needs to be corrected are A, B distribution forms in fig. 2. Fifthly, the coordinates of the clamp at the beginning are very accurate, the centering and limiting positions in four directions are changed completely, centering is completed at one time, and displacement does not need to be corrected.

The centering photoelectric limiting arrangement design: with the first scheme, four pairs of photoelectric limit positions 5, 6, 7 and 8 are distributed on the clamp feet, as shown in fig. 2. The photoelectric limit parts 5, 6, 7 and 8 are distributed in a rectangular shape, the distribution forms are A, B, the side length of the rectangular shape is parallel or basically parallel to the side length of the clamp foot 3, and the projection of the clamp foot 3 and the clamp foot pad 4 on the clamp leg 1 is contained in a rectangular frame. And in the second scheme, three pairs of photoelectric limit parts 5, 6 and 7 are distributed on the clamp feet, as shown in figure 3. The photoelectric limit parts 5, 6 and 7 are distributed in a triangular shape, the distribution forms are A, B, C, D, any one form of triangular arrangement is required, the side length of the triangular arrangement is parallel or basically parallel to the side length of the clamp foot 3, and the projection of the clamp foot 3 and the clamp foot pad plate 4 on the clamp leg 1 is contained in a rectangular frame where the triangle is located.

And (3) program control design: according to the design of the centering and limiting arrangement, a scheme I is adopted, and is shown in figure 2. The clamp is in an idle state at first, self-checking is carried out on four pairs of photoelectric switches, when the self-checking is completely switched on, a centering OK signal is output to a crane control system, the crane firstly opens the electric clamp to exceed the maximum steel coil width according to a received upper computer coordinate instruction, each mechanism is operated right above a target steel coil, when the electric clamp descends to all photoelectric centering limits and is shielded by the steel coil, the hoisting mechanism slowly descends to the first pair of limits to be switched on again, then the positions in other directions are modified according to the first limit direction until all limiting full switch-on positions, and at the moment, an electric clamp closing instruction is sent out. The control logic refers to fig. 4.

As shown in fig. 2, when the first photoelectric limit arrangement scheme (distribution form a) is adopted, the first pair is shielded to be the photoelectric limit 8, the lifting is slowly descended until the photoelectric limit 8 is switched on again, one or all of the photoelectric limits 7 or 6 are switched on again in the height fine adjustment process, and if the photoelectric limit 7 is switched on, the crane operation clamp moves forwards until the photoelectric limit 6 is switched on again; similarly, if the photoelectric limit 6 is switched on, the device moves backwards until the photoelectric limit 7 is switched on again; if photoelectric limit 7 and photoelectric limit 6 are all on during trimming, it is continued to fall until photoelectric limit 5 is on. After the four pairs of photoelectric limit 5, 6, 7, 8 are all switched on, the clamp sends out a 'centering OK' signal. The principle of the photoelectric limit distribution mode B is the same as that of the mode A.

When a second photoelectric limit arrangement scheme (a distribution form A) is adopted, the first pair is shielded to be the photoelectric limit 7, the lifting is slowly lowered until the photoelectric limit 7 is switched on again, one or all of the photoelectric limits 5 or 6 are switched on again in the height fine adjustment process, and if the photoelectric limit 5 is switched on, the crane operation clamp moves forwards until the photoelectric limit 6 is switched on again; similarly, if the photoelectric limit 6 is switched on, the device moves backwards until the photoelectric limit 5 is switched on again; if the opto-electronic limits 5 and 6 are all on during trimming, this indicates that centering is complete, since at the intersection of the two directions 5 and 6, both directions can be detected simultaneously. After the three pairs of photoelectric limit 5, 6, 7 are all switched on, the clamp sends out a 'centering OK' signal. The principle of the photoelectric limit distribution B, C, D is the same as that of A, and the control logic refers to FIG. 4.

It should be noted that the above-mentioned embodiments are not intended to limit the scope of the present invention, and all equivalent modifications and substitutions based on the above-mentioned technical solutions are within the scope of the present invention as defined in the claims.