CN112828045A - Mandrel transport system and method - Google Patents

Mandrel transport system and method Download PDF

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Publication number
CN112828045A
CN112828045A CN202011578283.XA CN202011578283A CN112828045A CN 112828045 A CN112828045 A CN 112828045A CN 202011578283 A CN202011578283 A CN 202011578283A CN 112828045 A CN112828045 A CN 112828045A
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China
Prior art keywords
mandrel
transport vehicle
lifting hook
motor
station
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CN202011578283.XA
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CN112828045B (en
Inventor
赵旭
刘国栋
石媚杰
畅兴刚
闫文秀
秦捷
王琛
万本振
臧树林
徐现荣
张明娟
吴长庆
葛剑鸿
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Taiyuan Heavy Industry Co Ltd
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Taiyuan Heavy Industry Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B25/00—Mandrels for metal tube rolling mills, e.g. mandrels of the types used in the methods covered by group B21B17/00; Accessories or auxiliary means therefor ; Construction of, or alloys for, mandrels or plugs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B25/00—Mandrels for metal tube rolling mills, e.g. mandrels of the types used in the methods covered by group B21B17/00; Accessories or auxiliary means therefor ; Construction of, or alloys for, mandrels or plugs
    • B21B25/04—Cooling or lubricating mandrels during operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B38/00—Methods or devices for measuring, detecting or monitoring specially adapted for metal-rolling mills, e.g. position detection, inspection of the product
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B2201/00—Special rolling modes
    • B21B2201/06—Thermomechanical rolling

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Metal Extraction Processes (AREA)

Abstract

The invention discloses a mandrel conveying system and a method, the system comprises a mandrel lifting hook and a mandrel lifting hook motor, a mandrel transport vehicle and a mandrel transport vehicle motor, a cooling water spraying device, a first mandrel station, a second mandrel station, a mandrel rotating mechanism, a mandrel translation mechanism, a mandrel standby station and a control system, the control system comprises a PI controller, a position encoder, a laser range finder, a first speed encoder, a second speed encoder and a data transmission module, the PI controller is in communication connection with the control system, the position encoder is used for detecting the height of the mandrel lifting hook, the laser range finder is used for detecting the position of the mandrel transport vehicle, the first speed encoder is used for detecting the walking speed of the mandrel transport vehicle, the second speed encoder is used for detecting the lifting speed of the mandrel lifting hook, and the data transmission module are connected with the PI controller, and the PI controller is used for controlling the running speeds of the mandrel transport vehicle. The mandrel conveying system and the mandrel conveying method can improve the mandrel conveying efficiency and the safety and the reliability of mandrel conveying.

Description

Mandrel transport system and method
Technical Field
The invention belongs to the technical field of steel pipe hot rolling, and particularly relates to a mandrel conveying system on a steel pipe hot rolling line and a mandrel conveying method implemented by using the mandrel conveying system.
Background
On a steel pipe hot rolling line, in order to improve production rhythm and efficiency, a plurality of core rods are mostly adopted for recycling. One method for the mandrel to cross the fixing equipment after cooling is to transport the mandrel by an air transport device, which has the advantages of shortening the length of the production line and reducing the investment cost; the transportation device has the disadvantages that the whole transportation device is slow in operation rhythm, low in transportation efficiency, large in impact on a power grid, large in impact on the whole transportation equipment, and multiple in equipment potential safety hazards.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a mandrel conveying system and a mandrel conveying method implemented by using the mandrel conveying system.
The mandrel transport system comprises a mandrel lifting hook, a mandrel lifting hook motor for driving the mandrel lifting hook, a mandrel transport vehicle motor for driving the mandrel transport vehicle, a cooling water spraying device, a first mandrel station, a second mandrel station, a third mandrel station, a fourth mandrel station, a mandrel rotating mechanism, a mandrel translation mechanism and a mandrel standby station, and is characterized by further comprising a control system, wherein the control system comprises a PI (proportional integral) controller, a position encoder arranged on the mandrel transport vehicle and used for detecting the height of the mandrel lifting hook, a laser range finder arranged on a rail beam and used for detecting the position of the mandrel transport vehicle, a first speed encoder arranged on the mandrel transport vehicle motor and used for detecting the walking speed of the mandrel transport vehicle, a second speed encoder arranged on the mandrel lifting hook motor and used for detecting the lifting speed of the mandrel lifting hook, a first speed encoder arranged on the mandrel transport vehicle motor and used for detecting the lifting speed of the mandrel lifting hook, a second speed encoder arranged on the mandrel, And the data transmission module is used for transmitting data acquired by the position encoder, the laser range finder, the first speed encoder and the second speed encoder to the data transmission module in a communication mode in real time, the data transmission module is used for transmitting the data to the PI controller, and the PI controller is used for controlling the running speeds of the mandrel transport vehicle motor and the mandrel lifting hook motor based on the received data so as to control the acceleration operation and the deceleration operation of the mandrel transport vehicle and the mandrel lifting hook.
In the mandrel transport system, a rectifying/feedback device is provided in the power supply circuit of the mandrel lifting hook motor and the mandrel transport vehicle motor, a dc bus shared by the mandrel lifting hook motor and the mandrel transport vehicle motor is formed from the power grid to the rectifying/feedback device, the dc bus supplies dc power to the mandrel lifting hook motor and the mandrel transport vehicle motor, and inverters are further provided in the power supply circuits from the dc bus to the mandrel lifting hook motor and from the dc bus to the mandrel transport vehicle motor, respectively.
In the mandrel conveying system, the first mandrel station is a station for placing a used mandrel to be cooled, the second mandrel station and the third mandrel station are stations for cooling the mandrel, the fourth mandrel station is a station for placing the cooled mandrel, and the standby mandrel station is a station for waiting for the mandrel to be reused.
In the above mandrel bar transporting system, the cooling water spray device is designed such that two cooling water spray heads are led out obliquely downward from the lower side of the device main body.
In the mandrel transport system, the laser distance measuring instruments are respectively arranged on two sides of the rail beam.
The mandrel bar transporting method of the present invention comprises:
(1) starting a mandrel lifting hook motor and a mandrel transport vehicle motor and respectively driving the mandrel lifting hook and the mandrel transport vehicle, adjusting the changes of acceleration and deceleration in the movement process of the mandrel lifting hook and the mandrel transport vehicle by a control system based on the real-time height position of the mandrel lifting hook detected by a position encoder, the real-time walking position of the mandrel transport vehicle detected by a laser range finder, the real-time walking speed of the mandrel transport vehicle detected by a first speed encoder and the real-time lifting speed of the mandrel lifting hook detected by a second speed encoder, simultaneously controlling the walking position and speed of the mandrel transport vehicle and the height position and descending speed of the mandrel lifting hook, under the combined action of the walking of the mandrel transport vehicle and the descending of the mandrel lifting hook, the mandrel lifting hook reaches the fourth mandrel station by the shortest path and hooks the mandrel on the fourth mandrel station;
(2) the mandrel lifting hook motor and the mandrel transport vehicle motor are kept in a starting state, and respectively drive the mandrel lifting hook to ascend and the mandrel transport vehicle to transversely and forwardly move on the rail beam, meanwhile, the control system controls the mandrel transport vehicle to accelerate and control the acceleration of the mandrel transport vehicle to gradually increase and controls the mandrel lifting hook to accelerate and control the acceleration of the mandrel lifting hook to gradually increase on the basis of the real-time height position of the mandrel lifting hook detected by the position encoder, the real-time walking position of the mandrel transport vehicle detected by the laser range finder, the real-time walking speed of the mandrel transport vehicle detected by the first speed encoder and the real-time lifting speed of the mandrel lifting hook detected by the second speed encoder, and under the combined action of the forward walking of the mandrel transport vehicle and the lifting of the mandrel lifting hook, the mandrel lifting hook quickly reaches the preset height exceeding the cooling water spraying device;
(3) the mandrel lifting hook motor and the mandrel transport vehicle motor are kept in a starting state, and respectively drive the mandrel lifting hook to descend and the mandrel transport vehicle to transversely and forwardly move on the rail beam, meanwhile, the control system controls the mandrel transport vehicle to decelerate and control the deceleration of the mandrel transport vehicle to gradually decrease based on the real-time height position of the mandrel lifting hook detected by the position encoder, the real-time walking position of the mandrel transport vehicle detected by the laser range finder, the real-time walking speed of the mandrel transport vehicle detected by the first speed encoder and the real-time lifting speed of the mandrel lifting hook detected by the second speed encoder, and under the combined action of the forward walking of the mandrel transport vehicle and the descending of the mandrel lifting hook, the mandrel lifting hook rapidly crosses a fixing device on a steel pipe hot rolling line by a shortest path and then reaches a mandrel standby station, then, placing the core rod hooked on the core rod lifting hook on a core rod standby station;
(4) the mandrel lifting hook motor and the mandrel transport vehicle motor are kept in a starting state and respectively drive the mandrel lifting hook to ascend and the mandrel transport vehicle to transversely and backwards move straightly on the rail beam, meanwhile, the control system controls the mandrel transport vehicle to accelerate and control the acceleration of the mandrel transport vehicle to gradually increase and controls the mandrel lifting hook to accelerate and control the acceleration of the mandrel lifting hook to gradually increase on the basis of the real-time height position of the mandrel lifting hook detected by the position encoder, the real-time walking position of the mandrel transport vehicle detected by the laser range finder, the real-time walking speed of the mandrel transport vehicle detected by the first speed encoder and the real-time lifting speed of the mandrel lifting hook detected by the second speed encoder, under the combined action of backward walking of the mandrel transport vehicle and rising of the mandrel lifting hook, the mandrel lifting hook quickly leaves the standby station of the mandrel by a shortest path and reaches a preset height exceeding the cooling water spraying device;
(5) the mandrel lifting hook motor and the mandrel transport vehicle motor are kept in a starting state and respectively drive the mandrel lifting hook to descend and the mandrel transport vehicle to transversely move backwards and straightly on the rail beam, meanwhile, the control system controls the mandrel transport vehicle to decelerate and control the deceleration of the mandrel transport vehicle to gradually increase and simultaneously controls the mandrel lifting hook to decelerate and control the deceleration of the mandrel lifting hook to gradually increase based on the real-time height position of the mandrel lifting hook detected by the position encoder, the real-time walking position of the mandrel transport vehicle detected by the laser range finder, the real-time walking speed of the mandrel transport vehicle detected by the first speed encoder and the real-time lifting speed of the mandrel lifting hook detected by the second speed encoder, under the combined action of backward walking of the mandrel transport vehicle and descending of the mandrel lifting hook, the mandrel lifting hook quickly reaches the fourth mandrel station through the shortest path, and then mandrel transport of the next round can be carried out.
In the mandrel conveying system and the mandrel conveying method, the control system simultaneously controls the walking position and speed of the mandrel transport vehicle and the height position and lifting speed of the mandrel lifting hook, so that the air track of the transported mandrel is optimized, and the mandrel conveying efficiency is obviously improved; in the process of transporting the core rod, the core rod transport vehicle and the core rod lifting hook are both always in the motion process, the middle of the core rod transport vehicle and the core rod lifting hook is not in a stop state, and the operation speeds of the motor of the core rod transport vehicle and the motor of the core rod lifting hook are controlled by the PI controller in the control system, so that the core rod transport vehicle and the core rod lifting hook can stably operate, the start-stop impact is reduced, and the equipment can more safely and stably operate; in addition, through the arrangement of the rectification/feedback device, the direct-current bus and the inverter in the power supply circuits of the mandrel lifting hook motor and the mandrel transport vehicle motor, energy generated by the mandrel lifting hook and the mandrel transport vehicle can be directly supplied to the other side, so that the energy is consumed in the mandrel transport system, and the impact on a power grid in the operation process of the mandrel transport system can be reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic view of the basic configuration of a mandrel transporting system.
FIG. 2 is a schematic illustration of a prior art mandrel transport process.
Fig. 3 is a schematic circuit diagram of a mandrel hoist hook motor and a mandrel cart motor in a mandrel transport system of the prior art.
FIG. 4 is a schematic illustration of a mandrel transport process implemented using the mandrel transport system and method of the present invention.
Fig. 5 is a schematic circuit diagram of the mandrel hoist hook motor and the mandrel cart motor in the mandrel transport system of the present invention.
Description of reference numerals: the device comprises a core rod lifting hook 1, a core rod transport vehicle 2, a cooling water spray device 3, a first core rod station 4, a second core rod station 5, a third core rod station 6, a fourth core rod station 7, a core rod rotating mechanism 8, a core rod translation mechanism 9, a core rod standby station 10, a fixing device 11, a first proximity switch of the core rod transport vehicle 20, a second proximity switch of the core rod transport vehicle 21, a proximity switch of the core rod lifting hook 22, a position encoder 23, a laser range finder 24 and a cooling water spray device 30.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
For recycling, the used mandrel is cooled and transported by a transport device over a fixture on the hot-rolling line of steel pipes and finally to a mandrel standby station so that the mandrel can be re-brought on line at any time. As shown in fig. 1, 2 and 3, the mandrel transport system mainly includes a mandrel lifting hook 1, a mandrel transport vehicle 2, two sets of cooling water spraying devices 3, a first mandrel station 4, a second mandrel station 5, a third mandrel station 6, a fourth mandrel station 7, a mandrel rotating mechanism 8, a mandrel translation mechanism 9, and a mandrel standby station 10. The first mandrel station 4 is used for placing used mandrels and waiting for cooling; the second mandrel station 5 and the third mandrel station 6 are used for cooling the mandrels, and the mandrels are uniformly cooled by the cooling water spraying device 3 under the combined action of the mandrel rotating mechanism 8 and the mandrel translating mechanism 9 at the second mandrel station 5 and the third mandrel station 6; the fourth mandrel station 7 is a placing station after the mandrels are cooled, and waits for the mandrel transport vehicle to transport the mandrels to the mandrel preparation station 10; the mandrel standby station 10 is a mandrel preparation station where the mandrel waits to be ready for re-in-line use.
The core rod transportation process of transporting the cooled core rod to the core rod standby station comprises the following steps: (1) the mandrel lifting hook motor is started and drives the mandrel lifting hook 1 to vertically move downwards, after the mandrel lifting hook reaches the fourth mandrel station 7, the mandrel lifting hook motor is stopped, the mandrel transport vehicle motor is started and drives the mandrel transport vehicle 2 to transversely move forwards on the rail beam, and the mandrel lifting hook hooks the mandrel on the fourth mandrel station 7; (2) the motor of the mandrel transport vehicle is stopped, and the mandrel lifting hook motor is started and drives the mandrel lifting hook 1 to vertically move upwards; (3) after the core rod lifting hook reaches the preset height exceeding the cooling water spraying device 3, stopping a motor of the core rod lifting hook, starting a motor of the core rod transport vehicle and driving the core rod transport vehicle 2 to transversely move forwards and straightly on the rail beam; (4) after the mandrel lifting hook passes over the fixing device 11 on the steel pipe hot rolling line and reaches the position above the mandrel standby station 10, stopping the motor of the mandrel transport vehicle, starting the motor of the mandrel lifting hook again, driving the mandrel lifting hook to vertically move downwards until the mandrel hooked on the mandrel lifting hook is placed on the mandrel standby station 10; (5) stopping the mandrel lifting hook motor, starting the mandrel transport vehicle motor again, driving the mandrel transport vehicle to transversely move backwards and straightly on the rail beam, and enabling the mandrel lifting hook to completely leave the mandrel standby station 10; (6) stopping a motor of the core rod transport vehicle, starting a motor of the core rod lifting hook, and driving the core rod lifting hook to vertically move upwards; (7) after the mandrel lifting hook reaches the preset height exceeding the cooling water spraying device 3, the motor of the mandrel lifting hook is stopped, the motor of the mandrel transport vehicle is started and drives the mandrel transport vehicle 2 to transversely move backwards and straightly on the rail beam until the mandrel lifting hook reaches the fourth mandrel station 7. And the circulation is carried out according to the above mode, so that the multi-wheel transportation of the core rods can be carried out.
In the mandrel conveying system and method in the prior art, a mandrel lifting hook motor and a mandrel conveying vehicle motor are independently controlled through a single frequency converter, in the starting process, the starting is accelerated by using larger energy, and the energy generated by braking is consumed by using larger braking power due to the inertia problem during parking, so that the power grid is impacted by each starting and stopping action of the conveying device. Moreover, in the mandrel transport system and method in the prior art, the first proximity switch 20 of the mandrel transport vehicle, the second proximity switch 21 of the mandrel transport vehicle, the proximity switch 22 of the mandrel lifting hook, etc. are used to set and detect the acceleration position, the deceleration position, the stop position of the mandrel transport vehicle and the high-low position of the mandrel lifting hook, the actions of the whole mandrel transport system adopt sequential flow actions, i.e. the next action is started after completing one lifting or transporting action, and as shown by the arrow in fig. 2, the action track in the whole transport process is similar to a rectangle of straight-up, straight-down, straight-front and straight-back, the operation rhythm of the whole transport device is slow, the transport efficiency is low, and the frequent start and stop of the transport system is not beneficial to the stable operation of the whole equipment, and the safety and reliability of the operation of the equipment are reduced.
As shown in fig. 1 and 4, the mandrel transport system of the present invention includes a mandrel lifting hook 1 and a mandrel lifting hook motor for driving the mandrel lifting hook 1, a mandrel transport vehicle 2 and a mandrel transport vehicle motor for driving the mandrel transport vehicle 2, a cooling water spray device 30, a first mandrel station 4, a second mandrel station 5, a third mandrel station 6, a fourth mandrel station 7, a mandrel rotation mechanism 8, a mandrel translation mechanism 9, and a mandrel standby station 10. The first mandrel station 4 is used for placing used mandrels and waiting for cooling; the second mandrel station 5 and the third mandrel station 6 are stations for cooling the mandrels, and the mandrels used in the second mandrel station 5 and the third mandrel station 6 are uniformly cooled by the cooling water spraying device 30 under the combined action of the mandrel rotating mechanism 8 and the mandrel translating mechanism 9; the fourth mandrel station 7 is a placing station after the mandrels are cooled, and waits for the mandrel transport vehicle to transport the mandrels to the mandrel preparation station 10; the mandrel standby station 10 is a mandrel preparation station where the mandrel waits to be ready for re-in-line use.
The mandrel transport system of the invention also comprises a control system, the control system comprises a PI controller (proportional integral controller), a position encoder 23 arranged on the mandrel transport vehicle 2 for detecting the height of the mandrel lifting hook 1, a laser range finder 24 arranged on the rail beam for detecting the position of the mandrel transport vehicle 2, a first speed encoder arranged on the mandrel transport vehicle motor for detecting the walking speed of the mandrel transport vehicle 2, a second speed encoder arranged on the mandrel lifting hook motor for detecting the lifting speed of the mandrel lifting hook 1, and a data transmission module, the PI controller, the position encoder 23, the laser range finder 24, the first speed encoder, the second speed encoder, and the data transmission module are mutually connected in communication, the data collected by the position encoder 23, the laser range finder 24, the first speed encoder, and the second speed encoder can be transmitted to the data transmission module in a real-time communication manner, and then the data transmission module transmits the data to the PI controller, and the PI controller controls the running speeds of the motor of the mandrel transport vehicle and the motor of the mandrel lifting hook based on the received data, so that the mandrel transport vehicle and the mandrel lifting hook correspondingly perform operations such as acceleration, deceleration and the like.
Further, as shown in fig. 5, in the mandrel transport system of the present invention, a rectifying/feeding device is added to a power supply circuit of a mandrel lifting hook motor for driving a mandrel lifting hook 1 and a mandrel transport vehicle motor for driving a mandrel transport vehicle 2, whereby a dc bus shared by the mandrel lifting hook motor and the mandrel transport vehicle motor is formed from the power grid to the rectifying/feeding device, the dc bus supplies dc power to the mandrel lifting hook motor and the mandrel transport vehicle motor, and inverters are further added to the power supply circuits from the dc bus to the mandrel lifting hook motor and from the dc bus to the mandrel transport vehicle motor, respectively, when the mandrel lifting hook motor and the mandrel transport vehicle motor are operated in an electric state, the mandrel lifting hook motor and the mandrel transport vehicle motor take electric power from the dc bus via the inverters, when the mandrel lifting hook motor and the mandrel transport vehicle motor are operated in a power generation state, the energy generated by the mandrel hoist hook motor and the mandrel trolley motor is transferred to the dc bus, which may be utilized by other motors or fed back directly to the grid by a muddlehead device. Specifically, as shown by arrows in fig. 5, energy generated by the mandrel lifting hook and the mandrel transport vehicle can directly supply power to each other, energy feedback generated when the mandrel transport vehicle decelerates can be provided for the mandrel lifting hook to lift the mandrel, and energy feedback generated when the mandrel lifting hook decelerates can also be provided for the mandrel transport vehicle to travel.
In the mandrel transport system, the laser distance measuring instrument 24 arranged on the rail beam can also monitor the posture of the mandrel transport vehicle 2, and the laser distance measuring instrument 24 gives an alarm under the condition that the mandrel transport vehicle is inclined, so that the safety and the reliability of equipment are ensured. Preferably, one laser rangefinder 24 is provided on each side of the rail beam.
In addition, in the mandrel transport system of the present invention, two sets of cooling water spray devices 3 in the prior art are modified into one set of cooling water spray device 30, and the cooling water spray device 30 is designed such that two cooling water spray heads inclined downward are led out from the lower side of the device main body, so that the running space of the mandrel lifting hook 1 can be expanded, and the interference of the cooling water spray devices on the running track of the mandrel lifting hook 1 can be avoided.
As shown in fig. 4, the mandrel bar transporting method of the present invention implemented by the mandrel bar transporting system includes:
(1) the mandrel lifting hook motor and the mandrel transport vehicle motor are both started and respectively drive the mandrel lifting hook 1 and the mandrel transport vehicle 2, the control system adjusts the changes of acceleration and deceleration in the movement process of the mandrel lifting hook 1 and the mandrel transport vehicle 2 based on data information such as the real-time height position of the mandrel lifting hook 1 detected by the position encoder 23, the real-time walking position of the mandrel transport vehicle 2 detected by the laser range finder 24, the real-time walking speed of the mandrel transport vehicle 2 detected by the first speed encoder, the real-time lifting speed of the mandrel lifting hook 1 detected by the second speed encoder, and the like, thereby simultaneously controlling the traveling position and speed of the mandrel transport vehicle 2 and the height position and lowering speed of the mandrel lifting hook 1, under the combined action of the walking of the mandrel transport vehicle 2 and the descending of the mandrel lifting hook 1, the mandrel lifting hook 1 reaches the fourth mandrel station 7 by the shortest path and hooks the mandrel on the fourth mandrel station 7;
(2) the mandrel lifting hook motor and the mandrel transport vehicle motor keep the starting state and respectively drive the mandrel lifting hook 1 to ascend and the mandrel transport vehicle 2 to transversely move forwards on the rail beam, meanwhile, in the period, the control system controls the mandrel transport vehicle 2 to accelerate and control the acceleration of the mandrel transport vehicle to gradually increase and simultaneously controls the mandrel lifting hook 1 to accelerate and control the acceleration of the mandrel lifting hook to gradually increase based on data information such as the real-time height position of the mandrel lifting hook 1 detected by the position encoder 23, the real-time walking position of the mandrel transport vehicle 2 detected by the laser range finder 24, the real-time walking speed of the mandrel transport vehicle 2 detected by the first speed encoder, the real-time lifting speed of the mandrel lifting hook 1 detected by the second speed encoder, and the like, under the combined action of the forward walking of the mandrel transport vehicle 2 and the rising of the mandrel lifting hook 1, the mandrel lifting hook 1 quickly reaches the preset height exceeding the cooling water spraying device 30 by the shortest path;
(3) the mandrel lifting hook motor and the mandrel transport vehicle motor are kept in a starting state, and respectively drive the mandrel lifting hook 1 to descend and the mandrel transport vehicle 2 to move forwards and forwards on the rail beam in the transverse direction, meanwhile, the control system controls the mandrel transport vehicle 2 to decelerate and control the deceleration to gradually decrease and simultaneously controls the mandrel lifting hook 1 to decelerate and control the deceleration to gradually decrease based on data information such as the real-time height position of the mandrel lifting hook 1 detected by the position encoder 23, the real-time walking position of the mandrel transport vehicle 2 detected by the laser range finder 24, the real-time walking speed of the mandrel transport vehicle 2 detected by the first speed encoder, the real-time lifting speed of the mandrel lifting hook 1 detected by the second speed encoder, and the like, under the combined action of the forward walking of the mandrel transport vehicle 2 and the descending of the mandrel lifting hook 1, the mandrel lifting hook 1 rapidly crosses the fixing device 11 on the steel pipe hot rolling line by the shortest path to reach the standby mandrel, then, the core rod hooked on the core rod lifting hook 1 is placed on a core rod standby station 10;
(4) the mandrel lifting hook motor and the mandrel transport vehicle motor keep the starting state and respectively drive the mandrel lifting hook 1 to ascend and the mandrel transport vehicle 2 to transversely move backwards and straightly on the rail beam, meanwhile, in the period, the control system controls the mandrel transport vehicle 2 to accelerate and control the acceleration of the mandrel transport vehicle to gradually increase and simultaneously controls the mandrel lifting hook 1 to accelerate and control the acceleration of the mandrel lifting hook to gradually increase based on data information such as the real-time height position of the mandrel lifting hook 1 detected by the position encoder 23, the real-time walking position of the mandrel transport vehicle 2 detected by the laser range finder 24, the real-time walking speed of the mandrel transport vehicle 2 detected by the first speed encoder, the real-time lifting speed of the mandrel lifting hook 1 detected by the second speed encoder, and the like, under the combined action of backward walking of the mandrel transport vehicle 2 and rising of the mandrel lifting hook 1, the mandrel lifting hook 1 rapidly leaves the mandrel standby station 10 by a shortest path and reaches a preset height exceeding the cooling water spraying device 30;
(5) the mandrel lifting hook motor and the mandrel transport vehicle motor are kept in a starting state, and respectively drive the mandrel lifting hook 1 to descend and the mandrel transport vehicle 2 to move backwards and forwards on the rail beam, meanwhile, the control system controls the mandrel transport vehicle 2 to decelerate and control the deceleration to gradually increase and simultaneously controls the mandrel lifting hook 1 to decelerate and control the deceleration to gradually increase based on data information such as the real-time height position of the mandrel lifting hook 1 detected by the position encoder 23, the real-time walking position of the mandrel transport vehicle 2 detected by the laser range finder 24, the real-time walking speed of the mandrel transport vehicle 2 detected by the first speed encoder, the real-time lifting speed of the mandrel lifting hook 1 detected by the second speed encoder, and the like, under the combined action of the backward walking of the mandrel transport vehicle 2 and the descending of the mandrel lifting hook 1, the mandrel lifting hook 1 quickly reaches the fourth mandrel station 7 by the shortest path, and the next round of mandrel transportation can be carried out at any time.
The "shortest path" herein refers to an arc-shaped path as shown by an arrow in fig. 4, which is the forward walking of the mandrel lifting hook 1 on the (mandrel) mandrel transporting vehicle 2 and the coreUnder the combined action of the lifting of the rod lifting hook 1、Secondly, the mandrel transport vehicle 2 walks forwards and the mandrel lifting hook 1 descends under the combined action、Thirdly, the mandrel transport vehicle 2 walks backwards under the combined action of the lifting of the mandrel lifting hook 1、The actual running track of the mandrel transport vehicle 2 under the combined action of backward walking and the descending of the mandrel lifting hook 1 is completely different from the rectangular track of straight-up, straight-down, straight-front and straight-back in the prior art.
In the mandrel transporting system and the mandrel transporting method, the control system simultaneously controls the traveling position and speed of the mandrel transporting vehicle and the height position and lifting speed of the mandrel lifting hook, so that the air track of the transported mandrel is optimized, and the mandrel transporting path is greatly shortened compared with the prior art, so that the mandrel transporting time is shortened by more than 30 percent compared with the prior art, therefore, the mandrel transporting system and the mandrel transporting method can obviously improve the mandrel transporting efficiency.
In the mandrel conveying system and the mandrel conveying method, the PI controller in the control system controls the running speeds of the motor of the mandrel transport vehicle and the motor of the mandrel lifting hook, the change of the acceleration and the deceleration of the mandrel transport vehicle and the mandrel lifting hook in the whole movement process is adjusted, the acceleration is gradually increased in the acceleration process of the mandrel transport vehicle and the mandrel lifting hook, and the deceleration is gradually reduced in the deceleration process of the mandrel transport vehicle and the mandrel lifting hook, so that the stable running of the mandrel transport vehicle and the mandrel lifting hook can be realized, the start-stop impact is reduced, and the equipment is safer and more stable to run; in addition, in the core rod transportation process, the core rod transport vehicle and the core rod lifting hook are both always in the movement process, and the middle of the core rod transport vehicle and the core rod lifting hook is not in a stop state, so that the impact of the sudden stop and the sudden start of a motor of the core rod transport vehicle and the motor of the core rod lifting hook on equipment is avoided.
In the mandrel conveying system and the mandrel conveying method, the rectifying/feedback device, the direct-current bus and the inverter are arranged in the power supply circuit of the mandrel lifting hook motor and the mandrel transport vehicle motor, so that the energy generated by the mandrel lifting hook and the mandrel transport vehicle can be directly supplied to the other side, the energy is consumed in the mandrel conveying system, and the impact on a power grid in the operation process of the mandrel conveying system can be reduced.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the term "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion, such that an article or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such article or apparatus. Meanwhile, the term "connected" and the like as used herein should be broadly interpreted as referring to a fixed connection, a detachable connection, a direct connection, or an indirect connection through intermediate components. In addition, "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like are referred to herein as being placed in the state shown in the drawings.
It should be further noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and are not limited thereto; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or alterations do not depart from the spirit of the invention.

Claims (6)

1. A mandrel transportation system comprises a mandrel lifting hook, a mandrel lifting hook motor for driving the mandrel lifting hook, a mandrel transport vehicle motor for driving the mandrel transport vehicle, a cooling water spraying device, a first mandrel station, a second mandrel station, a third mandrel station, a fourth mandrel station, a mandrel rotating mechanism, a mandrel translation mechanism and a mandrel standby station And the data transmission module is used for transmitting data acquired by the position encoder, the laser range finder, the first speed encoder and the second speed encoder to the data transmission module in a communication mode in real time, the data transmission module is used for transmitting the data to the PI controller, and the PI controller is used for controlling the running speeds of the mandrel transport vehicle motor and the mandrel lifting hook motor based on the received data so as to control the acceleration operation and the deceleration operation of the mandrel transport vehicle and the mandrel lifting hook.
2. The mandrel transport system according to claim 1, wherein a rectifying/feeding device is provided in the power supply circuit of the mandrel hoist hook motor and the mandrel transport vehicle motor, a dc bus shared by the mandrel hoist hook motor and the mandrel transport vehicle motor is formed from the power grid to the rectifying/feeding device, the dc bus supplies dc power to the mandrel hoist hook motor and the mandrel transport vehicle motor, and inverters are further provided in the power supply circuits from the dc bus to the mandrel hoist hook motor and from the dc bus to the mandrel transport vehicle motor, respectively.
3. The mandrel transport system of claim 1 wherein the first mandrel station is a station for placing used mandrels waiting to be cooled, the second mandrel station and the third mandrel station are stations for cooling mandrels, the fourth mandrel station is a station for placing mandrels after cooling, and the mandrel standby station is a station for mandrels waiting to be re-placed for use.
4. The mandrel transport system of claim 1 wherein the cooling water spray apparatus is designed to lead out two obliquely downward cooling water spray headers at the lower side of the apparatus body.
5. The mandrel transport system of claim 1 wherein one of the laser rangefinders is disposed on each side of the rail beam.
6. A mandrel transport method carried out with the mandrel transport system according to any one of claims 1 to 5, characterized in that it comprises:
(1) starting a mandrel lifting hook motor and a mandrel transport vehicle motor and respectively driving the mandrel lifting hook and the mandrel transport vehicle, adjusting the changes of acceleration and deceleration in the movement process of the mandrel lifting hook and the mandrel transport vehicle by a control system based on the real-time height position of the mandrel lifting hook detected by a position encoder, the real-time walking position of the mandrel transport vehicle detected by a laser range finder, the real-time walking speed of the mandrel transport vehicle detected by a first speed encoder and the real-time lifting speed of the mandrel lifting hook detected by a second speed encoder, simultaneously controlling the walking position and speed of the mandrel transport vehicle and the height position and descending speed of the mandrel lifting hook, under the combined action of the walking of the mandrel transport vehicle and the descending of the mandrel lifting hook, the mandrel lifting hook reaches the fourth mandrel station by the shortest path and hooks the mandrel on the fourth mandrel station;
(2) the mandrel lifting hook motor and the mandrel transport vehicle motor are kept in a starting state, and respectively drive the mandrel lifting hook to ascend and the mandrel transport vehicle to transversely and forwardly move on the rail beam, meanwhile, the control system controls the mandrel transport vehicle to accelerate and control the acceleration of the mandrel transport vehicle to gradually increase and controls the mandrel lifting hook to accelerate and control the acceleration of the mandrel lifting hook to gradually increase on the basis of the real-time height position of the mandrel lifting hook detected by the position encoder, the real-time walking position of the mandrel transport vehicle detected by the laser range finder, the real-time walking speed of the mandrel transport vehicle detected by the first speed encoder and the real-time lifting speed of the mandrel lifting hook detected by the second speed encoder, and under the combined action of the forward walking of the mandrel transport vehicle and the lifting of the mandrel lifting hook, the mandrel lifting hook quickly reaches the preset height exceeding the cooling water spraying device;
(3) the mandrel lifting hook motor and the mandrel transport vehicle motor are kept in a starting state, and respectively drive the mandrel lifting hook to descend and the mandrel transport vehicle to transversely and forwardly move on the rail beam, meanwhile, the control system controls the mandrel transport vehicle to decelerate and control the deceleration of the mandrel transport vehicle to gradually decrease based on the real-time height position of the mandrel lifting hook detected by the position encoder, the real-time walking position of the mandrel transport vehicle detected by the laser range finder, the real-time walking speed of the mandrel transport vehicle detected by the first speed encoder and the real-time lifting speed of the mandrel lifting hook detected by the second speed encoder, and under the combined action of the forward walking of the mandrel transport vehicle and the descending of the mandrel lifting hook, the mandrel lifting hook rapidly crosses a fixing device on a steel pipe hot rolling line by a shortest path and then reaches a mandrel standby station, then, placing the core rod hooked on the core rod lifting hook on a core rod standby station;
(4) the mandrel lifting hook motor and the mandrel transport vehicle motor are kept in a starting state and respectively drive the mandrel lifting hook to ascend and the mandrel transport vehicle to transversely and backwards move straightly on the rail beam, meanwhile, the control system controls the mandrel transport vehicle to accelerate and control the acceleration of the mandrel transport vehicle to gradually increase and controls the mandrel lifting hook to accelerate and control the acceleration of the mandrel lifting hook to gradually increase on the basis of the real-time height position of the mandrel lifting hook detected by the position encoder, the real-time walking position of the mandrel transport vehicle detected by the laser range finder, the real-time walking speed of the mandrel transport vehicle detected by the first speed encoder and the real-time lifting speed of the mandrel lifting hook detected by the second speed encoder, under the combined action of backward walking of the mandrel transport vehicle and rising of the mandrel lifting hook, the mandrel lifting hook quickly leaves the standby station of the mandrel by a shortest path and reaches a preset height exceeding the cooling water spraying device;
(5) the mandrel lifting hook motor and the mandrel transport vehicle motor are kept in a starting state and respectively drive the mandrel lifting hook to descend and the mandrel transport vehicle to transversely move backwards and straightly on the rail beam, meanwhile, the control system controls the mandrel transport vehicle to decelerate and control the deceleration of the mandrel transport vehicle to gradually increase and simultaneously controls the mandrel lifting hook to decelerate and control the deceleration of the mandrel lifting hook to gradually increase based on the real-time height position of the mandrel lifting hook detected by the position encoder, the real-time walking position of the mandrel transport vehicle detected by the laser range finder, the real-time walking speed of the mandrel transport vehicle detected by the first speed encoder and the real-time lifting speed of the mandrel lifting hook detected by the second speed encoder, under the combined action of backward walking of the mandrel transport vehicle and descending of the mandrel lifting hook, the mandrel lifting hook quickly reaches the fourth mandrel station through the shortest path, and then mandrel transport of the next round can be carried out.
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