阅读说明：本技术 一种判断钢卷小车负载状态的控制方法 (Control method for judging load state of steel coil trolley ) 是由 王金华 杨庆玲 马见华 于 2020-05-29 设计创作，主要内容包括：本发明涉及一种判断钢卷小车负载状态的控制方法,所述方法包括以下步骤：步骤1：新钢卷的检测；步骤2：初始位置→鞍座位置(动作1)标记,鞍座位置→初始位置(动作2)标记；步骤3：完成钢卷小车“有卷”状态位判断；步骤4：钢卷小车上升完成高度对中；步骤5：初始位置→开卷机位置(动作3)标记；开卷机位置→初始位置(动作4)标记；步骤6：完成钢卷小车“无卷”状态位判断；步骤7：钢卷小车回到初始位置,进行下一循环过程。通过印象跟踪并标记小车的动作流程来间接判断小车上有无钢卷以避免撞卷事故的发生。主要解决检测元件位置调整难且易损坏要频繁更换的问题。(The invention relates to a control method for judging the load state of a steel coil trolley, which comprises the following steps: step 1: detecting a new steel coil; step 2: initial position → saddle position (action 1) marker, saddle position → initial position (action 2) marker; and step 3: finishing the judgment of the 'coil on' state of the steel coil trolley; and 4, step 4: the steel coil trolley rises to complete height centering; and 5: initial position → unwinder position (action 3) marker; uncoiler position → initial position (action 4) marker; step 6: finishing the judgment of the 'no coil' state position of the steel coil trolley; and 7: and the steel coil trolley returns to the initial position to carry out the next circulation process. The occurrence of coil collision accidents is avoided by indirectly judging whether a steel coil exists on the trolley through impression tracking and marking of the action flow of the trolley. The problem that the position of a detection element is difficult to adjust and is easy to damage and needs to be replaced frequently is mainly solved.)

1. A control method for judging the load state of a steel coil trolley is characterized by comprising the following steps:

step 1: detecting a new steel coil;

step 2: initial position → saddle position (action 1) marker, saddle position → initial position (action 2) marker;

and step 3: finishing the judgment of the 'coil on' state of the steel coil trolley;

and 4, step 4: the steel coil trolley rises to complete height centering;

and 5: initial position → unwinder position (action 3) marker; uncoiler position → initial position (action 4) marker;

step 6: finishing the judgment of the 'no coil' state position of the steel coil trolley;

and 7: and the steel coil trolley returns to the initial position to carry out the next circulation process.

2. The control method for judging the load state of the steel coil trolley according to claim 1, wherein in the step 1, the detection of a new steel coil is performed; and the new steel coil at the saddle position is detected by the detection grating for the steel coil trolley to stop at the initial position, namely the coil receiving waiting position.

3. The control method for judging the load state of the steel coil car according to claim 2, wherein the step 2 is as follows:

the steel coil trolley automatically completed by coil splicing is marked by the initial position → the saddle position (action 1), and is a moving process of the trolley from the initial position to the saddle position; the steel coil trolley retreats to the saddle position and rises to connect coils, the marking of the steel coil trolley from the saddle position → the initial position (action 2) is completed, and the moving process of the trolley from the saddle position to the initial position is realized;

step 2, the combined signal of the steel coil trolley action is used for marking whether the steel coil trolley is in the connected coil state or not by utilizing the automatic coil connecting step, and the automatic coil connecting step is started after the saddle position detects a new steel coil: the steel coil trolley retreats from the initial position to the saddle position, and in the moving process of the trolley, the marking of the steel coil trolley by the initial position → the saddle position (action 1) is completed by utilizing signals (PH-1EC-02, PH-1EC-03, PX-1EC-02, PX-1EC-01, PX-1EC-05, VMG-1EC-01BR and PH-ETC-01) to logically output a signal M33 CTRK; the steel coil trolley ascends to a coil receiving position, the trolley moves from the saddle position to an initial position after coil receiving, and the marking of the steel coil trolley by the saddle position → the initial position (action 2) is completed by utilizing signals (PH-ETC-01, PX-1EC-05, D3H-1EC-01AR, PX-1EC-04, LST-1EC-02 and VMG-1EC-01AR) logic output signals M21 CTRK.

4. The control method for judging the load state of the steel coil car according to claim 3, wherein the step 3: the judgment of the 'coil on' state position of the steel coil trolley is completed as follows: the operation positions of the steel coil trolley in the step 3 are three: the method comprises the following steps of firstly, automatically carrying out coil receiving, moving the coil trolley from the initial position (firstly) to the saddle position (action 1), ascending to receive coils, and moving the coil trolley from the saddle position (secondly) to the initial position (action 2), and therefore, selecting marking signals (M33CTRK and M21CTRK) of the action 1 and the action 2 to judge the load state that the coil trolley is in the coil receiving state, namely the coil is in the coil receiving state.

5. The control method for judging the load state of the steel coil car according to claim 4, wherein the step 4: the steel coil trolley ascends to complete height centering, and the method specifically comprises the following steps: the process of calculating the outer diameter of a steel coil and the height centering distance through a photoelectric switch and a coder for detecting the lifting of the steel coil trolley, and is characterized in that the steel coil trolley supports the lifting of the steel coil to enable the center height of the steel coil to be consistent with the height of a mandrel of an uncoiler, the trolley height centering in step 4 is to align the steel coil to the mandrel of the uncoiler, the height centering refers to the lifting height Hc of the steel coil trolley when the steel coil is inserted into the uncoiler through actual calculation, the distance from the mandrel to the bottom of a saddle is determined as Hpor, and the height of the inner diameter of the steel coil on the saddle is determined as Hd;

Hc＝Hpor-Hd

hd is the radius of the steel coil plus a small distance between the steel coil and the bottom of the saddle, because the saddle and the steel coil are tangent to form a right triangle, the slope of the saddle and the horizontal plane form an included angle theta of the right triangle, according to the principle that the included angles of similar triangles are equal, the included angle of the right triangle formed by the saddle and the steel coil is also theta, Hd is equal to the radius of the steel coil multiplied by 1/cos theta;

the height is determined as Hph to the distance from a photoelectric switch (measuring position) (PH-1 EC-02) to the bottom of the saddle, and the lifting height of the trolley measured by a trolley lifting encoder when the steel coil is lifted to the PH-1EC-02 position is determined as Hc';

the height alignment of the mandrel of the uncoiler and the inner diameter of the steel coil only takes the lifting height of the trolley as a variable, so that the height alignment of the mandrel of the uncoiler is completed as long as the lifting height of the trolley is calculated;

wherein: hpor-the distance from the uncoiler mandrel to the bottom of the saddle;

hph- -distance of photoelectric switch (measurement site) in height pair (PH-1 EC-02) to the bottom of saddle;

theta-the included angle between the slope of the saddle of the trolley and the horizontal plane;

hc' -is the lifting height of the trolley measured by the trolley lifting encoder when the steel coil is lifted to the PH-1EC-02 position;

hc- -target value for centering of height of the trolley.

6. The control method for judging the load state of the steel coil car according to claim 5, wherein the step 5 is as follows: the marking of the steel coil trolley from the initial position → the position of the uncoiler (action 3) is automatically completed by coil loading, and the marking comprises the process that the steel coil trolley is coiled to the uncoiler, and the trolley moves from the initial position to the position of the uncoiler; completing the marking of the trolley by the position of the uncoiler → the initial position (action 4), wherein the marking comprises the processes that the mandrel of the uncoiler is expanded after coil loading, the steel coil trolley is lowered to the lowest position and returns to the initial position, and the trolley moves from the position of the uncoiler to the initial position; and 5, marking that the steel coil trolley is in an empty coil state by utilizing a combined signal generated when the steel coil trolley acts during automatic coil loading step execution, and automatically starting coil loading step after the trolley is coiled back to the initial position and height centering is completed: the steel coil trolley advances from the initial position to the position of the uncoiler, and the marking of the steel coil trolley by the saddle position → the position of the uncoiler (action 3) is completed by utilizing signals (PX-1EC-03, PX-1EC-04, PS-1PR-01 and PX-1PR-02) to logically output a signal M24CTRK in the moving process of the trolley; after the uncoiler is used for coiling, the steel coil trolley descends to the lowest position; the carriage is moved from the uncoiler position to the home position, during which the marking of the coil carriage by uncoiler position → home position (action 4) is accomplished using the signals (M24CTRK, LST-1EC-03, VMG-1EC-0142AB) logic output signal M36 CTRK.

7. The control method for determining the load status of the coil car as claimed in claim 6, wherein the step 6 is performed by combining the car motion 3 and the motion 4 to determine the "no coil" status of the coil car, and when the coil loading is performed automatically, the motion trajectory of the coil car is that the coil car moves from the initial position (i) to the uncoiler position (i.e. motion 3), the coil car descends to the lowest position, and the coil car moves from the uncoiler position (i.e. motion 4), so that the mark signals (M24CTRK and M36CTRK) of the motion 3 and the motion 4 are selected to determine the "no coil" status of the coil car when the coil car is loaded.

8. The control method for determining the load status of the coil car according to claim 7, wherein the step 7 stores the load status of the coil car marked in the steps 3 and 6 as one of the allowable conditions for determining the automatic step of coil receiving and automatic step of coil loading in the next cycle, when the coil car is in the step 3 status, it indicates that the coil car moves to the saddle position for coil receiving, and the car returning to the initial position is in the state of coil, and when the coil car is in the step 6 status, it indicates that the coil car inserts the coil into the uncoiler reel, and the car returning to the initial position is in the state of no coil. Because the coil conveying process of the steel coil trolley consists of the step 3 and the step 6 together, the moving areas of the trolley in the step 3 and the step 6 are not overlapped, and the trolley can only complete the step 3 or the step 6 at the same time, the load state of the steel coil trolley can be marked by the step 3 and the step 6; when the trolley is in a non-coil state, the automatic coil receiving step is satisfied and the automatic coil loading step cannot be called; when the trolley is in a rolling state, the rolling automatic step condition is met and the rolling automatic step cannot be called.

Technical Field

The invention relates to a control method, in particular to a control method for judging the load state of a steel coil trolley, and belongs to the technical field of cold rolling electricity.

Background

In a modern cold rolling unit, a steel coil is conveyed to a saddle from a rotary table at the tail part of a walking beam by a conveying trolley, then the steel coil trolley moves to the saddle from an upper coil waiting position to receive the coil, then the steel coil trolley returns to the upper coil waiting position to complete height centering, and finally the steel coil is inserted into a winding drum of an uncoiler. The plum steel cold continuous rolling unit is also designed, but a sensor for detecting whether a steel coil is loaded on a steel coil trolley or not is omitted during design, the coiling task is automatically executed only by coil receiving, and coil collision accidents that a steel coil on the steel coil trolley still leaves a saddle to receive the coil and a steel coil on an uncoiler still leaves a coil to insert in an automatic or semi-automatic mode frequently occur in the production process.

In order to solve the current situation, technical personnel search related technologies at home and abroad, and the conventional method for judging whether a steel coil is on a steel coil trolley at present is to install a sensor on a trolley saddle to detect and judge and send a corresponding instruction to execute a coil receiving automatic step. Therefore, technical personnel carry out control improvement and optimization of steel coil detection according to the prior related technology, overcome the defect that the detection of the steel coil load state on the steel coil trolley is difficult to realize because a central hole is not reserved in a steel coil trolley saddle in the unit design, firstly punch a hole in the center of the trolley saddle, and then install a proximity switch to complete the detection. Although the effect is obvious, the following problem still appears in this kind of method discontinuity, and when the coil of strip was big book, proximity switch's position need be to the direction adjustment that is close to the coil of strip, and when the coil of strip was little book, because proximity switch's position is too near with the coil of strip bottom, easy emergence is scratched to proximity switch and is caused the damage. Because the variable specification switching is frequent according to different requirements of take-out manufacturers during the actual strip steel production, the use effect of the existing proximity switch type is limited by the control mode of the existing proximity switch type, the adjustment is difficult and the damage is easy, the normal execution of automatic steps is directly influenced by error signals and the like frequently, even sporadic coil collision accidents can be generated, in addition, the load state of the steel coil trolley in the uncoiler area also relates to steel coil logistics, the steel coil numbers can be dislocated or lost by the error signals, and the normal production of a unit is seriously influenced.

In order to eliminate series adverse effects caused by a proximity switch mode detection technology, technicians conduct further research, and the purpose is to achieve the purposes of simply, safely, reliably and efficiently judging whether a steel coil trolley carries a steel coil, so that the automatic step is normally executed and the occurrence of coil collision accidents is avoided, and the technical defects of a conventional detection method are overcome.

The prior art also has related technical disclosure, and chinese patent 201310181573.4, "recoiling machine coil stripping trolley lifting position encoder analog control method" discloses a recoiling machine coil stripping trolley lifting position encoder analog control method, marking position marks on the guide rail of the coil stripping trolley; after the coiling machine finishes coiling the strip steel, if the lifting position encoder of the coil stripping trolley breaks down, an operator observes the position mark of the coil stripping trolley on the guide rail and inputs the position mark into the computer, and the computer runs a simulation program to control the coil stripping trolley to strip the steel coil from the coiling block. The patent technology solves the problem that coil stripping can not be normally carried out due to the fault of detection equipment, reduces the fault time and reduces the maintenance cost, but obviously, the attention of operators is highly concentrated, and the field implementation feasibility is not high; further, chinese patent 201611109380.8, a safety control method and an implementation apparatus for preventing coil-unloading and coil-turning of a coiling machine, discloses a method for monitoring the running accuracy of a coil car by combining encoder counting and adding 3 sets of limit sensors, which effectively avoids coil-turning caused by counting errors due to single encoder. However, the load state signal of the steel coil trolley in the anti-rolling control logic condition is still detected by a traditional method of opening a hole in the middle of a trolley saddle and installing a proximity switch, so that the problems of difficult adjustment and easy damage of the position of the proximity switch cannot be effectively avoided; in addition, the important information of the load state of the trolley is judged through a single signal, when the detection signal is abnormal, the control function of preventing the coil turning is influenced, and even the logistics information of the steel coil in the area is influenced, so that the production is greatly influenced. In addition, the technical scheme ensures the moving precision of the steel coil trolley to avoid coil overturning by adding the detection device, has different directions and specific technical schemes compared with the main solution of tracking the action flow of the trolley and marking the load state of the trolley to avoid coil collision by adopting the technical impression.

Disclosure of Invention

The invention provides a control method for judging the loading state of a steel coil trolley, which is different from the traditional method for judging the loading state of the steel coil trolley by installing a detection element, indirectly judges whether a steel coil is on the trolley by impression tracking and marking the action flow of the trolley so as to avoid the occurrence of coil collision accidents, mainly solves the problems that the position of the detection element is difficult to adjust and easy to damage and needs frequent replacement, and adopts a method for judging whether the steel coil is on the trolley or not by utilizing the action impression tracking flow of the steel coil trolley.

In order to achieve the above object, the technical solution of the present invention is a control method for determining a load state of a coil car, the method comprising the steps of:

step 1: detecting a new steel coil;

step 2: initial position → saddle position (action 1) marker, saddle position → initial position (action 2) marker;

and step 3: finishing the judgment of the 'coil on' state of the steel coil trolley;

and 4, step 4: the steel coil trolley rises to complete height centering;

and 5: initial position → unwinder position (action 3) marker; uncoiler position → initial position (action 4) marker;

step 6: finishing the judgment of the 'no coil' state position of the steel coil trolley;

and 7: and the steel coil trolley returns to the initial position to carry out the next circulation process.

As an improvement of the present invention, in step 1, the new steel coil is detected; and the new steel coil at the saddle position is detected by the detection grating for the steel coil trolley to stop at the initial position, namely the coil receiving waiting position.

As an improvement of the invention, the step 2 is specifically as follows, the steel coil trolley completed by the automatic coil receiving step is marked by the initial position → the saddle position (action 1), and is a moving process of the trolley from the initial position to the saddle position; the steel coil trolley retreats to the saddle position and rises to connect coils, the marking of the steel coil trolley from the saddle position → the initial position (action 2) is completed, and the moving process of the trolley from the saddle position to the initial position is realized;

step 2, the combined signal of the steel coil trolley action is used for marking whether the steel coil trolley is in the connected coil state or not by utilizing the automatic coil connecting step, and the automatic coil connecting step is started after the saddle position detects a new steel coil: the steel coil trolley retreats from the initial position to the saddle position, and in the moving process of the trolley, the marking of the steel coil trolley by the initial position → the saddle position (action 1) is completed by utilizing signals (PH-1EC-02, PH-1EC-03, PX-1EC-02, PX-1EC-01, PX-1EC-05, VMG-1EC-01BR and PH-ETC-01) to logically output a signal M33 CTRK; the steel coil trolley ascends to a coil receiving position, the trolley moves from the saddle position to an initial position after coil receiving, and the marking of the steel coil trolley by the saddle position → the initial position (action 2) is completed by utilizing signals (PH-ETC-01, PX-1EC-05, D3H-1EC-01AR, PX-1EC-04, LST-1EC-02 and VMG-1EC-01AR) logic output signals M21 CTRK.

The step 3: the judgment of the 'coil on' state position of the steel coil trolley is completed as follows: the operation positions of the steel coil trolley in the step 3 are three: the method comprises the following steps of firstly, automatically carrying out coil receiving, moving the coil trolley from the initial position (firstly) to the saddle position (action 1), ascending to receive coils, and moving the coil trolley from the saddle position (secondly) to the initial position (action 2), and therefore, selecting marking signals (M33CTRK and M21CTRK) of the action 1 and the action 2 to judge the load state that the coil trolley is in the coil receiving state, namely the coil is in the coil receiving state.

And 4, step 4: the steel coil trolley ascends to complete height centering, and the method specifically comprises the following steps: the process of calculating the outer diameter of a steel coil and the height centering distance through a photoelectric switch and a coder for detecting the lifting of the steel coil trolley, and is characterized in that the steel coil trolley supports the lifting of the steel coil to enable the center height of the steel coil to be consistent with the height of a mandrel of an uncoiler, the trolley height centering in step 4 is to align the steel coil to the mandrel of the uncoiler, the height centering refers to the lifting height Hc of the steel coil trolley when the steel coil is inserted into the uncoiler through actual calculation, the distance from the mandrel to the bottom of a saddle is determined as Hpor, and the height of the inner diameter of the steel coil on the saddle is determined as Hd;

Hc＝Hpor-Hd

hd is the radius of the steel coil plus a small distance between the steel coil and the bottom of the saddle, because the saddle and the steel coil are tangent to form a right triangle, the slope of the saddle and the horizontal plane form an included angle theta of the right triangle, according to the principle that the included angles of similar triangles are equal, the included angle of the right triangle formed by the saddle and the steel coil is also theta, Hd is equal to the radius of the steel coil multiplied by 1/cos theta;

the height is determined as Hph to the distance from the photoelectric switch (measuring position) (PH-1 EC-02) to the bottom of the saddle, and the lifting height of the trolley measured by the trolley lifting encoder when the steel coil is lifted to the PH-1EC-02 position is determined as Hc'.

The height alignment of the mandrel of the uncoiler and the inner diameter of the steel coil only takes the lifting height of the trolley as a variable, so that the height alignment of the mandrel of the uncoiler can be completed only by calculating the lifting height of the trolley;

wherein: hpor-the distance from the uncoiler mandrel to the bottom of the saddle;

hph- -distance of photoelectric switch (measurement site) in height pair (PH-1 EC-02) to the bottom of saddle;

theta-the included angle between the slope of the saddle of the trolley and the horizontal plane;

hc' -is the lifting height of the trolley measured by the trolley lifting encoder when the steel coil is lifted to the PH-1EC-02 position;

hc- -target value for centering of height of the trolley.

The step 5 is specifically as follows: the marking of the steel coil trolley from the initial position → the position of the uncoiler (action 3) is automatically completed by coil loading, and the marking comprises the process that the steel coil trolley is coiled to the uncoiler, and the trolley moves from the initial position to the position of the uncoiler; completing the marking of the trolley by the position of the uncoiler → the initial position (action 4), wherein the marking comprises the processes that the mandrel of the uncoiler is expanded after coil loading, the steel coil trolley is lowered to the lowest position and returns to the initial position, and the trolley moves from the position of the uncoiler to the initial position;

and 5, marking that the steel coil trolley is in an empty coil state by using a combined signal generated when the steel coil trolley acts during the automatic coil loading step. When the trolley is wound back to the initial position and the height centering is completed, the coil loading is automatically started: the steel coil trolley advances from the initial position to the position of the uncoiler, and the marking of the steel coil trolley by the saddle position → the position of the uncoiler (action 3) is completed by utilizing signals (PX-1EC-03, PX-1EC-04, PS-1PR-01 and PX-1PR-02) to logically output a signal M24CTRK in the moving process of the trolley; after the uncoiler is used for coiling, the steel coil trolley descends to the lowest position; the carriage is moved from the uncoiler position to the home position, during which the marking of the coil carriage by uncoiler position → home position (action 4) is accomplished using the signals (M24CTRK, LST-1EC-03, VMG-1EC-0142AB) logic output signal M36 CTRK.

And 6, combining the trolley action 3 and the trolley action 4 to finish the judgment of the 'no coil' state of the steel coil trolley. When the coil loading is automatically performed, the movement track of the coil car moves from (i) to (action 3), the coil car descends to the lowest position, and moves from (iii) to (action 4). Therefore, the flag signals (M24CTRK and M36CTRK) of actions 3 and 4 can be selected to make the judgment that the steel coil car is in the loaded state of the loaded coil, i.e. "no coil".

As a modification of the present invention, the step 7 stores the load state of the coil car marked in the steps 3 and 6 as one of the allowable conditions for judging the automatic step of coil receiving and the automatic step of coil loading in the next cycle. When the steel coil trolley is in the state of the step 3, the steel coil trolley moves to the saddle position to receive coils, the trolley returning to the initial position is in a coil state, when the steel coil trolley is in the state of the step 6, the steel coil trolley is inserted into a steel coil to an uncoiler winding drum, and the trolley returning to the initial position is in a non-coil state. Because the coil conveying process of the steel coil trolley consists of the step 3 and the step 6 together, the moving areas of the trolley in the step 3 and the step 6 are not overlapped, and the trolley can only complete the step 3 or the step 6 at the same time, the load state of the steel coil trolley can be marked by the step 3 and the step 6. When the trolley is in a non-coil state, the automatic coil receiving step is satisfied and the automatic coil loading step cannot be called; when the trolley is in a rolling state, the rolling automatic step condition is met and the rolling automatic step cannot be called.

Compared with the prior art, the invention has the advantages that the technical scheme has simple, convenient, practical and efficient functions, can effectively avoid serious equipment damage caused by coil collision, improve the safe operation rate, reduce the malposition and loss risk of the coil number during production and reduce equipment fault points; compared with the prior art, the invention also has the following advantages: (1) the method can be widely applied to uncoiling and coiling areas of all units for transporting steel coils by using the steel coil trolley; (2) the existing equipment is fully utilized and can be debugged in place at one time; (3) the corresponding detection equipment installation and maintenance cost is saved, and the machine set is particularly favorable for detecting the load state on the steel coil trolley at the installation position which is not reserved during the design.

Drawings

FIG. 1 is a schematic diagram illustrating the installation of detection signals in a moving area of a steel coil trolley;

FIG. 2 is a flow chart for determining the loading state of the steel coil trolley;

FIG. 3 action 1 (home position → saddle position) marker signal M33 CTRK;

FIG. 4 action 2 (saddle position → initial position) marker signal M21 CTRK;

FIG. 5 is a schematic diagram of the steel coil trolley in height alignment;

FIG. 6 action 3 (home position → unwinder position) marker signal M24 CTRK;

fig. 7 action 4 (unwinder position → home position) marker signal M36 CTRK.

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: a control method for judging the load state of a steel coil trolley comprises the following steps:

step 1: detecting a new steel coil;

step 2: initial position → saddle position (action 1) marker, saddle position → initial position (action 2) marker;

and step 3: finishing the judgment of the 'coil on' state of the steel coil trolley;

and 4, step 4: the steel coil trolley rises to complete height centering;

and 5: initial position → unwinder position (action 3) marker; uncoiler position → initial position (action 4) marker;

step 6: finishing the judgment of the 'no coil' state position of the steel coil trolley;

and 7: and the steel coil trolley returns to the initial position to carry out the next circulation process.

Step 1 is that the steel coil trolley stops at an initial position, namely a coil receiving waiting position, and a new steel coil at the saddle position is detected by a detection grating.

Step 2, marking the steel coil trolley automatically completed by coil receiving from the initial position → the saddle position (action 1), and moving the trolley from the initial position to the saddle position; the steel coil trolley retreats to the saddle position and rises to connect coils, the marking of the steel coil trolley from the saddle position → the initial position (action 2) is completed, and the moving process of the trolley from the saddle position to the initial position is realized;

and 2, marking whether the coil car is in a coil receiving state or not by using a combined signal of the actions of the coil car when the coil receiving automatic step is executed. When the saddle position detects a new steel coil, the coil splicing automatic step starts: the steel coil trolley retreats from the initial position to the saddle position, and in the moving process of the trolley, the marking of the steel coil trolley by the initial position → the saddle position (action 1) is completed by utilizing signals (PH-1EC-02, PH-1EC-03, PX-1EC-02, PX-1EC-01, PX-1EC-05, VMG-1EC-01BR and PH-ETC-01) to logically output a signal M33 CTRK; the steel coil trolley ascends to a coil receiving position, the trolley moves from the saddle position to an initial position after coil receiving, and the marking of the steel coil trolley by the saddle position → the initial position (action 2) is completed by utilizing signals (PH-ETC-01, PX-1EC-05, D3H-1EC-01AR, PX-1EC-04, LST-1EC-02 and VMG-1EC-01AR) logic output signals M21 CTRK.

And step 3, as an improvement of the invention, the judgment of the 'rolling' state position of the steel coil trolley is completed by integrating the action 1 and the action 2, and the judgment is characterized by one of automatic rolling receiving step stop conditions and one of automatic rolling loading step permission conditions.

The operation positions of the steel coil trolley in the step 3 are three: the device comprises an initial position, a saddle position and an uncoiler position. When the automatic coil receiving step is carried out, the motion trail of the steel coil trolley is that the steel coil trolley moves from the initial position (I) to the saddle position (action 1), ascends to receive coils, and moves from the saddle position (II) to the initial position (action 2). Therefore, the flag signals (M33CTRK and M21CTRK) of the actions 1 and 2 can be selected to make the judgment that the steel coil car is in the load state of the connected coil, i.e. "coil exists".

And 4, automatically completing height centering by height centering when the steel coil trolley ascends, and calculating the outer diameter of the steel coil and the height centering distance by a photoelectric switch and a coder for detecting the lifting of the steel coil trolley in the process.

Step 4, the height centering of the trolley is to align the steel coil to a mandrel of the uncoiler, the height centering refers to the lifting height Hc of the steel coil trolley when the steel coil is inserted into the uncoiler in actual calculation, the distance from the mandrel to the bottom of the saddle is determined as Hpor, and the height of the inner diameter of the steel coil on the saddle is determined as Hd.

Hc＝Hpor-Hd

Still further, Hd is coil of strip radius plus a small segment distance of coil of strip and saddle bottom, because saddle and coil of strip are tangent to form a right angled triangle, the slope of saddle and the right angled triangle's that the horizontal plane formed contained angle theta, according to the equal principle of similar triangle's contained angle, the right angled triangle contained angle that saddle and coil of strip formed is theta also, Hd just equals coil of strip radius multiply 1/cos theta.

The height is determined as Hph to the distance from the photoelectric switch (measuring position) (PH-1 EC-02) to the bottom of the saddle, and the lifting height of the trolley measured by the trolley lifting encoder when the steel coil is lifted to the PH-1EC-02 position is determined as Hc'.

Furthermore, the height alignment of the mandrel of the uncoiler and the inner diameter of the steel coil only takes the lifting height of the trolley as a variable, so that the height alignment of the mandrel of the uncoiler can be completed only by calculating the lifting height of the trolley.

Wherein: hpor-the distance from the uncoiler mandrel to the bottom of the saddle;

hph- -distance of photoelectric switch (measurement site) in height pair (PH-1 EC-02) to the bottom of saddle;

theta-the included angle between the slope of the saddle of the trolley and the horizontal plane;

hc' -is the lifting height of the trolley measured by the trolley lifting encoder when the steel coil is lifted to the PH-1EC-02 position;

hc- -target value for centering of height of the trolley;

step 5, marking the steel coil trolley from the initial position → the uncoiler position (action 3) by the coil loading automatic step, wherein the marking comprises the process that the steel coil trolley is coiled up to the uncoiler, and the trolley moves from the initial position to the uncoiler position; completing the marking of the trolley by the position of the uncoiler → the initial position (action 4), wherein the marking comprises the processes that the mandrel of the uncoiler is expanded after coil loading, the steel coil trolley is lowered to the lowest position and returns to the initial position, and the trolley moves from the position of the uncoiler to the initial position;

further, in the step 5, the steel coil trolley is marked to be in an empty coil state by using a combined signal generated when the steel coil trolley acts during the automatic coil loading step. When the trolley is wound back to the initial position and the height centering is completed, the coil loading is automatically started: the steel coil trolley advances from the initial position to the position of the uncoiler, and the marking of the steel coil trolley by the saddle position → the position of the uncoiler (action 3) is completed by utilizing signals (PX-1EC-03, PX-1EC-04, PS-1PR-01 and PX-1PR-02) to logically output a signal M24CTRK in the moving process of the trolley; after the uncoiler is used for coiling, the steel coil trolley descends to the lowest position; the carriage is moved from the uncoiler position to the home position, during which the marking of the coil carriage by uncoiler position → home position (action 4) is accomplished using the signals (M24CTRK, LST-1EC-03, VMG-1EC-0142AB) logic output signal M36 CTRK.

And 6, integrating the action 3 and the action 4 to finish the judgment of the 'no-coil' state position of the steel coil trolley, wherein the judgment is characterized by one of the conditions of automatic coil receiving step permission and one of the conditions of automatic coil loading step stop.

Further, the step 6 combines the trolley action 3 and the trolley action 4 to complete the judgment of the 'no coil' state of the steel coil trolley. When the coil loading is automatically performed, the movement track of the coil car moves from (i) to (action 3), the coil car descends to the lowest position, and moves from (iii) to (action 4). Therefore, the flag signals (M24CTRK and M36CTRK) of actions 3 and 4 can be selected to make the judgment that the steel coil car is in the loaded state of the loaded coil, i.e. "no coil".

Step 7, storing the load states of coils and no coils on the steel coil trolley, and returning the steel coil trolley to the initial position to carry out the next circulation process;

when the sensor signals forming the trolley load state judgment are abnormal, the trolley stops acting to avoid coil impression tracking errors.

And 7, storing the steel coil trolley load states marked in the steps 3 and 6 as one of allowable conditions for judging the automatic coil receiving step and the automatic coil loading step in the next cycle. When the steel coil trolley is in the state of the step 3, the steel coil trolley moves to the saddle position to receive coils, the trolley returning to the initial position is in a coil state, when the steel coil trolley is in the state of the step 6, the steel coil trolley is inserted into a steel coil to an uncoiler winding drum, and the trolley returning to the initial position is in a non-coil state. Because the coil conveying process of the steel coil trolley consists of the step 3 and the step 6 together, the moving areas of the trolley in the step 3 and the step 6 are not overlapped, and the trolley can only complete the step 3 or the step 6 at the same time, the load state of the steel coil trolley can be marked by the step 3 and the step 6. When the trolley is in a non-coil state, the automatic coil receiving step is satisfied and the automatic coil loading step cannot be called; when the trolley is in a rolling state, the rolling automatic step condition is met and the rolling automatic step cannot be called.

Application example 1:

the steel coil trolley from the saddle of the inlet section of the acid continuous rolling unit of certain 1420 cold rolling mill of Bao steel to the area of the uncoiler is taken as an implementation object. The steel coil trolley is in an initial state, namely the trolley is located at an initial position and at the lowest descending position in an empty coiling state, and the mandrel of the uncoiler is expanded and is in a coiling state.

(1) When the steel coil detection grating signal at the position of the saddle is shielded, the new steel coil is detected. In an automatic control mode, the coil receiving is automatically started in a step mode, the coil car moves backwards to a saddle position for coil receiving, and in the process that the car moves from the initial position to the saddle position, the marking of the coil car from the initial position → the saddle position (action 1) is completed by utilizing signals (PH-1EC-02, PH-1EC-03, PX-1EC-02, PX-1EC-01 BR and PH-ETC-01) to logically combine output a signal M33 CTRK; the steel coil trolley rises to a coil receiving position; after the trolley is connected with a coil, the trolley is moved to the initial position from the position of the saddle, and the marking of the steel coil trolley by the position of the saddle → the initial position (action 2) is completed by utilizing signals (PH-ETC-01, PX-1EC-05, D3H-1EC-01AR, PX-1EC-04, LST-1EC-02 and VMG-1EC-01AR) to logically combine output signals M21 CTRK.

(2) The signals M33CTRK and M21CTRK integrate the action 1 and the action 2, and can complete the judgment of the 'coiled' state of the steel coil trolley. When the saddle position detects new coil of strip once more, connect the automatic step start condition of book unsatisfied, effectively avoided waiting for the phenomenon that has the coil of strip still to go saddle position on the position coil of strip dolly and connect the book.

(3) The height centering is automatically started, the distance Hpor from an uncoiler mandrel to the bottom of a saddle of the known unit, the distance Hph from a photoelectric switch (measuring position) (PH-1 EC-02) to the bottom of the saddle in the height pair, and the included angle theta between the slope of the saddle of the trolley and the horizontal plane are known, when the steel coil trolley supports the steel coil to rise to the PH-1EC-02 position, the lifting height Hc 'measured by a trolley lifting encoder is calculated by a control program according to the following formula, the target value Hc in the height centering of the trolley is calculated, the trolley continues to rise, and when the lifting height Hc' measured by the encoder reaches Hc, the central height of the steel coil is consistent with the height of the uncoiler mandrel.

(4) After the steel coil feeding and the tail throwing of the uncoiler are finished, the automatic coil loading step can be automatically called, and the steel coil trolley is coiled to the uncoiler. In the process that the steel coil trolley moves from the initial position to the position of the uncoiler, the signals (PX-1EC-03, PX-1EC-04, PS-1PR-01 and PX-1PR-02) are logically combined to output a signal M24CTRK to complete the marking of the steel coil trolley by the saddle position → the position of the uncoiler (action 3); after the uncoiler is used for coiling, the steel coil trolley descends to the lowest position; the carriage is moved from the uncoiler position to the initial position, during which the marking of the coil carriage by the uncoiler position → the initial position (action 4) is accomplished by logically combining the output signal M36CTRK with the signals (M24CTRK, LST-1EC-03, VMG-1EC-0142 AB).

(3) The signals M24CTRK and M36CTRK integrate the action 3 and the action 4, and the 'no-coil' state judgment of the steel coil trolley can be completed after the coil loading process. When the saddle position detects a new coil of steel again, the coil receiving is automatically started in a step mode. And when the tail end of the steel coil on the uncoiler is thrown, the automatic coil loading step is called, the condition is not met.

(4) And storing the steel coil trolley in the loading state of coil and no coil, and returning the steel coil trolley to the initial position for the next circulation process.

Application example 2:

the steel coil trolley is located at an initial position, the load state of the steel coil trolley is 'coiled', and the mandrel of the uncoiler contracts to be in a non-coiled state.

(1) When the steel coil detection grating signal at the position of the saddle is shielded, the new steel coil is detected. And in the automatic control mode, calling that the automatic roll receiving step condition is not met.

(2) The height centering is automatically started, the outer diameter of the steel coil and the height centering distance are calculated through the photoelectric switch in the height pair and the encoder for detecting the lifting of the steel coil trolley, and the steel coil trolley supports the steel coil to rise so that the center height of the steel coil is consistent with the mandrel of the uncoiler to complete the height centering. (3) And (4) feeding the uncoiler with an empty coil, calling a coil loading automatic step, and feeding the steel coil trolley to the uncoiler. In the process that the steel coil trolley moves from the initial position to the position of the uncoiler, the signals (PX-1EC-03, PX-1EC-04, PS-1PR-01 and PX-1PR-02) are logically combined to output a signal M24CTRK to complete the marking of the steel coil trolley by the saddle position → the position of the uncoiler (action 3); after the uncoiler is used for coiling, the steel coil trolley descends to the lowest position; the carriage is moved from the uncoiler position to the initial position, during which the marking of the coil carriage by the uncoiler position → the initial position (action 4) is accomplished by logically combining the output signal M36CTRK with the signals (M24CTRK, LST-1EC-03, VMG-1EC-0142 AB).

(4) The signals M24CTRK and M36CTRK integrate the action 3 and the action 4, and the stored steel coil trolley state after the coil loading process is changed into a non-coil state.

Application example 3:

the steel coil trolley is located at the initial position, the load state of the steel coil trolley is 'no coil', and the mandrel of the uncoiler is expanded to be in a coil state.

(1) When the steel coil detection grating signal at the position of the saddle is shielded, the new steel coil is detected. And in the automatic control mode, calling the automatic roll receiving step to succeed.

(2) The steel coil trolley retreats to the saddle position to be coiled, and in the process that the trolley moves from the initial position to the saddle position, the marking of the steel coil trolley from the initial position → the saddle position (action 1) is completed by logically combining output signals M33CTRK by using signals (PH-1EC-02, PH-1EC-03, PX-1EC-02, PX-1EC-01, PX-1EC-05, VMG-1EC-01BR and PH-ETC-01); the steel coil trolley rises to a coil receiving position; after the trolley is connected with a coil, the trolley is moved to the initial position from the position of the saddle, and the marking of the steel coil trolley by the position of the saddle → the initial position (action 2) is completed by utilizing signals (PH-ETC-01, PX-1EC-05, D3H-1EC-01AR, PX-1EC-04, LST-1EC-02 and VMG-1EC-01AR) to logically combine output signals M21 CTRK.

(3) The signals M33CTRK and M21CTRK are combined with the action 1 and the action 2, and the stored steel coil trolley state is changed into a coil-existing state after the coil receiving process.

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.