CN-117921440-B - Flying shear blade calibration system based on incremental encoder

CN117921440BCN 117921440 BCN117921440 BCN 117921440BCN-117921440-B

Abstract

The invention discloses a flying shear blade calibration system based on an incremental encoder, which belongs to the technical field of steel production and solves the technical problem that an absolute value encoder is easily affected by vibration generated in the running process of equipment to cause the deviation of the position of a shearing blade, and the system comprises a controller, the incremental encoder, a proximity switch and an induction stop iron, wherein the incremental encoder is arranged on a motor shaft of a flying shear motor, the proximity switch is arranged on the side wall of a flying shear speed reducer, the induction stop iron is arranged on an upper shearing blade connecting shaft or a lower shearing blade connecting shaft of the flying shear speed reducer, the proximity switch and a shearing blade point are in the same vertical plane, and when the upper shearing blade rotates to the lowest point, the proximity switch can effectively sense the induction stop iron, and the controller is electrically connected with the incremental encoder, the proximity switch and the flying shear motor; the controller is provided with a reference coordinate system setting module, a detection and calculation module and a calibration control module. The invention enables the incremental encoder to be far away from the flying shear speed reducer, and effectively avoids the influence of mechanical vibration.

Inventors

YUAN CHUNWEI
LIU XIAOMING
HUANG LIMING
YIN SHAOHUA
HE JIANHUI
XU GUANGLING

Assignees

阳春新钢铁有限责任公司

Dates

Publication Date: 20260505
Application Date: 20240131

Claims (6)

1. The utility model provides a flying shear blade calibration system based on incremental encoder, includes the controller, and its characterized in that still includes incremental encoder (1), proximity switch (2), response keep-off iron (3), incremental encoder (1) are installed at motor shaft (5) of flying shear motor (4), proximity switch (2) are installed at the lateral wall of flying shear speed reducer (6), response keep-off iron (3) are installed at last shear blade connecting axle (7) or lower shear blade connecting axle (8) of flying shear speed reducer (6), proximity switch (2) and shear point (9) are in same vertical plane, when last shear (10) rotate to the minimum, proximity switch (2) can effectively sense response keep-off iron (3), controller electric connection incremental encoder (1), proximity switch (2), flying shear motor (4); The controller is provided with a reference coordinate system setting module, a detection and calculation module and a calibration control module, The reference coordinate system setting module is used for setting the target position, speed and acceleration of the flying shears according to the technological shearing requirement, generating a given control path and waveform curve of the position and the speed according to the principle of the fastest response time, and further determining the reference coordinate system of the shearing edge of the flying shears; the detection and calculation module is used for acquiring the real-time position of the flying shear blade according to the incremental encoder (1) and the proximity switch (2); the calibration control module is used for establishing a datum reference point for the position of the shearing edge and performing high-precision calibration control on the position of the shearing edge of the flying shear; the rotation angle relation formula of the shearing edge, the speed reducer and the motor is established in the detection and calculation module and is as follows: ; Wherein, the , Is the reduction ratio of the flying shear speed reducer (6); In the detection and calculation module, the position of the shearing edge is represented by an angle and rotates with the flying shear motor (4) in one direction, and the rotation is 360 degrees; The position of the upper cutting edge (10) and the lower cutting edge (11) which are completely staggered, namely, the lowest point of the upper cutting edge (10) is marked as a cutting point of the flying shear, and the cutting point is defined as 0 degree of the angle of the cutting edge of the flying shear; The flying shear blade rotates along the moving direction of the rolled piece when working, takes 0 degree as a reference point, and marks the original position (HP) of the shear blade when rotating to an angle E; The corresponding relation between the angle position of the shearing edge and the pulse value of the encoder is as follows: the pulse value is 0 when the cutting edge is closed, the angle is 0 DEG, the pulse value is Mxi x A/360 DEG when the cutting edge is in the original position (HP), the angle is E, the pulse value is Mxi when the cutting edge rotates for one circle, the angle is 360 DEG, and M is the pulse number sent by the incremental encoder (1) when the incremental encoder rotates for one circle; The angle E is 90 degrees, and the number of pulses emitted by the incremental encoder (1) after one rotation is 1024; the controller is a PLC, and the process of establishing a reference point for the position of the cutting edge at the calibration control module is called in-situ calibration of the cutting edge; the calibration operation is as follows: The method comprises the steps that after an in-situ activation switch of a PLC is driven to a withdrawal position, a normal climbing switch or an inverse climbing switch is operated, a control command is sent to a calibration control module through the PLC, the calibration control module outputs a control signal to a driver, a flying shear motor (4) is controlled by the driver to drive a shearing blade to rotate to a shearing position (CP), after the closing position of the shearing blade is confirmed to be correct, a flying shear blade calibration button is pressed down, the calibration command is transmitted to the calibration control module, the detection and calculation module takes the point as a reference point in a pre-established reference coordinate system and sets the point as 0 DEG, an encoder pulse calculated value in the detection and calculation module is initialized to 0, the position of the reference point rotating 90 DEG along the moving direction of a rolled piece is synchronously marked as the in-situ (HP) of the shearing blade, after conversion calculation of the data is completed, the calibration control module feeds back the signal to the PLC, and the PLC controls a 0-bit calibration state indicator lamp to be changed from on to off, and 0-bit calibration is completed; The second step, after the 0-bit calibration is finished, the 'in-situ activation' switch is beaten to the input position, then the 'flying shear reset' button is clicked, the calibration control module receives the shear blade reset instruction of the PLC, the detection and calculation module is invoked to execute the internally written program to control the flying shear blade to rotate along the moving direction of the rolled piece at the rated speed of 5 percent, the detection and calculation module calculates the pulse data fed back by the incremental encoder (1) in real time, when the induction stop iron (3) stops the proximity switch (2), the signal of the proximity switch (2) is changed from 0 to 1, the calibration control module is triggered to execute the memory program, the memory program records the encoder pulse data P0 at the moment of the change of the proximity switch signal, the P0 value is the pulse accumulated value detected by the flying shear motor (4) from 0 bit to the proximity switch position along the moving direction of the rolled piece, the calibration control module continues to control the shear blade to rotate along the moving direction of the rolled piece at the rated speed of 5 percent, the shear blade is controlled to return to the original position (HP) and stop, and the 'in-situ activation' switch is switched to the withdrawal position, so that the flying shear in-situ calibration action is finished; the calibration control module stores the successful calibration result in an internal program, so that one-time calibration is realized, and the calibration is effective for a long time.
2. The incremental encoder-based flying shear blade calibration system of claim 1 wherein the reference frame comprises: In situ (HP) with the cutting edge resting in situ (HP) when no cutting is performed; The flying shear is accelerated from the original position (HP) during shearing, and when the shearing blade contacts the rolled piece, the rolled piece is sheared, and the shearing position (CP) is used for shearing; and a shearing completion position (CRP), wherein the flying shear continues to rotate, and when the flying shear is separated from the rolled piece and pushes out the rolled piece, the shearing completion position is the shearing completion position (CRP).
3. The incremental encoder-based flying shear blade calibration system of claim 2 wherein the flying shear is accelerated from 0 to the Home Position (HP) until the flying shear moves to the shear position (CP), the flying shear completes the shearing action at a maximum speed at a uniform speed to the shear completion position (CRP), then the flying shear performs a forward climbing deceleration movement until stopping, and finally the flying shear performs a reverse climbing movement and accurately stops at the Home Position (HP).
4. The incremental encoder-based flying shear blade calibration system of claim 2 wherein the reference frame setting module converts and computes the in-situ (HP), cut-out (CP), cut-out (CRP) information of the reference frame into constant data recognizable by the controller and initializes to the initial value database of the controller for subsequent algorithm program invocation.
5. The flying shear blade calibration system based on the incremental encoder according to claim 1, wherein the induction stop iron (3) is installed on the upper shear blade connecting shaft (7) or the lower shear blade connecting shaft (8) through a mounting ring (12) which can be adjusted by 360 degrees, and the mounting ring (12) is locked through a jacking bolt (13).
6. The flying shear blade calibration system based on the incremental encoder according to claim 1, wherein after the driver is disconnected and reclosed, an operator needs to execute a shear blade resetting program to reset, the flying shear rotates along the moving direction of the rolled piece at a rated speed of 5%, when a signal of the proximity switch (2) is detected to be changed from 0 to 1, the calibration control module automatically sets the current position of the flying shear to a memory value P0 when the current position of the flying shear is calibrated at 0, and then positions the shear blade at a position of 90 °.

Description

Flying shear blade calibration system based on incremental encoder Technical Field The invention relates to the technical field of steel production, in particular to a flying shear blade calibration system based on an incremental encoder. Background The start-stop flying shears are important equipment installed behind a rolling mill for sectionally shearing rolled pieces. In head cutting, tail cutting and length doubling shearing, the rolled piece passes through the flying shears at a constant speed, and when the measured length of the rolled piece reaches a set length and the flying shears shearing blade rotates to the rolled piece, shearing is started, so that the rolled piece is sheared in operation. The above process is realized by a flying shear control system, wherein the position control of the flying shear blade is also the key of the flying shear control. In the prior art, as shown in fig. 1, a start-stop flying shear is composed of a motor a, a flying shear speed reducer B, an upper shear blade and a lower shear blade C, wherein a shear blade position detection sensor adopts an absolute value encoder coaxially installed with the shear blade, namely, the absolute value encoder is installed on a speed reducer output shaft D directly connected with the shear blade. The connector of the absolute value encoder is loosened due to the vibration influence of the equipment in the production process, and the position of the shearing blade is deviated after the connector is loosened (the position of the shearing blade is determined by the feedback position of the absolute value encoder), so that the normal shearing of the flying shears is influenced, and even steel piling accidents are caused. Disclosure of Invention The invention aims to solve the technical problem of the prior art, and aims to provide a flying shear blade calibration system based on an incremental encoder. The technical scheme is that the flying shear blade calibration system based on the incremental encoder comprises a controller, the system further comprises the incremental encoder, a proximity switch and an induction stop iron, wherein the incremental encoder is arranged on a motor shaft of a flying shear motor, the proximity switch is arranged on the side wall of a flying shear speed reducer, the induction stop iron is arranged on an upper shear blade connecting shaft or a lower shear blade connecting shaft of the flying shear speed reducer, the proximity switch and a shear blade point are in the same vertical plane, when the upper shear blade rotates to the lowest point, the proximity switch can effectively sense the induction stop iron, and the controller is electrically connected with the incremental encoder, the proximity switch and the flying shear motor; The controller is provided with a reference coordinate system setting module, a detection and calculation module and a calibration control module, The reference coordinate system setting module is used for setting the target position, speed and acceleration of the flying shears according to the technological shearing requirement, generating a given control path and waveform curve of the position and the speed according to the principle of the fastest response time, and further determining the reference coordinate system of the shearing edge of the flying shears; The detection and calculation module is used for acquiring the real-time position of the flying shear blade according to the incremental encoder and the proximity switch; the calibration control module is used for establishing a datum reference point for the position of the shear blade and performing high-precision calibration control on the position of the shear blade of the flying shear. As a further improvement, the reference coordinate system includes: In situ, when shearing is not performed, the shearing blade is stationary in situ; when the shearing blade contacts the rolled piece, the rolled piece is sheared, and the shearing position is the shearing position; And the flying shear continues to rotate at the shearing completion position, and the shearing completion position is the shearing completion position when the flying shear breaks away from the rolled piece and pushes out the rolled piece. Further, the flying shears start to accelerate from 0 to start in situ until the flying shears move to a shearing position, the flying shears move at a constant speed to the shearing position at a maximum speed to complete shearing action, then the flying shears perform forward climbing decelerating movement until stopping, and finally the flying shears perform backward climbing movement and accurately stop in situ. Further, the reference coordinate system setting module converts and calculates the in-situ, shearing position and shearing completion position information of the reference coordinate system into constant data which can be identified by the controller and initializes the constant data into an initial value datab