CN114505350A - Coil receiving method of coil conveying vehicle - Google Patents
Coil receiving method of coil conveying vehicle Download PDFInfo
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- CN114505350A CN114505350A CN202210237006.5A CN202210237006A CN114505350A CN 114505350 A CN114505350 A CN 114505350A CN 202210237006 A CN202210237006 A CN 202210237006A CN 114505350 A CN114505350 A CN 114505350A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 104
- 239000010959 steel Substances 0.000 claims abstract description 104
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000005484 gravity Effects 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims abstract description 12
- 230000006378 damage Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000005034 decoration Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000005097 cold rolling Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B37/00—Control devices or methods specially adapted for metal-rolling mills or the work produced thereby
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Winding, Rewinding, Material Storage Devices (AREA)
Abstract
The application provides a fortune rolling car connects a roll method can reduce fortune rolling car and connect the emergence of the automatic chronogenesis interrupt scenario of book in-process, makes the accurate, stable, the safe handing-over coil of strip of fortune rolling car, and automatic control system is applied to this method, automatic control system includes controlling means and fortune rolling car, the saddle bottom of fortune rolling car is equipped with apart from detection device, be equipped with the band-type brake on the fortune rolling car, this method includes: the control device controls the coil transport vehicle to move to a target position and locks the band-type brake; the control device controls the coil conveying vehicle to lift the saddle; the distance detection device detects a steel coil, and the control device allows the coil conveying vehicle to transversely move under the condition that the gravity center of the steel coil and the center of a saddle of the coil conveying vehicle are not on a vertical line; when the distance detection device detects that the steel coil stably falls into the saddle, the control device controls the coil conveying vehicle to move to the next target position.
Description
Technical Field
The application relates to the field of mechanical automation control, in particular to a coil receiving method of a coil conveying vehicle.
Background
At present, automation programs of steel coil production and processing enterprises are higher and higher, and full automation is basically realized in the transportation process of inlet steel coils. In the whole full-automatic process, the time sequence control condition among the coil conveying vehicles and the action condition of each vehicle determine the timeliness and the precision of automatic control. For example, as shown in fig. 1 and 2, in the case of a cold rolling double uncoiler, the automatic coiling process involves a walking beam, a shuttle car, a 1# coiling car and a 2# coiling car. The shuttle car and the winding car are both coil transporting cars, and the shuttle car is a coil transporting car with a coil receiving function. The walking beam is responsible for conveying steel coils in the steel coil warehouse to a shuttle car delivery position of a production line; the shuttle car is responsible for conveying the steel coil on the shuttle car delivery position to the coil receiving position of the upper coil car; the No. 1 coiling vehicle and the No. 2 coiling vehicle are responsible for conveying the steel coil to the uncoiler.
At present, in the whole steel coil conveying process, coil falling and other serious process faults are easy to occur in the coil conveying process and the coil receiving process, and the coil receiving and sending precision of each coil conveying vehicle can also influence the safe conveying of the steel coil. Therefore, how to make the coil transporting vehicle accurately, stably and safely coil the coil into a coil is a problem to be solved urgently.
Disclosure of Invention
The application provides a coil receiving method of a coil transporting vehicle, which can reduce the occurrence of automatic time sequence interruption in the coil receiving process of the coil transporting vehicle and ensure accurate, stable and safe coil handover of the coil transporting vehicle.
The application provides a fortune rolling car connects a book method is applied to automatic control system, automatic control system includes controlling means and fortune rolling car, the saddle bottom of fortune rolling car is equipped with apart from detection device, be equipped with the band-type brake on the fortune rolling car, include:
the control device controls the coil transport vehicle to move to a target position and locks the band-type brake;
the control device controls the coil conveying vehicle to lift the saddle;
the distance detection device detects a steel coil, and the control device allows the coil conveying vehicle to transversely move under the condition that the gravity center of the steel coil and the center of a saddle of the coil conveying vehicle are not on a vertical line;
when the distance detection device detects that the steel coil falls into the saddle, the control device controls the coil transporting vehicle to move to the next target position.
Optionally, before the control device locks the band-type brake, the method further comprises:
the control device adjusts the tightness of the band-type brake according to the weight of the steel coil, so that the coil transporting vehicle can stably stop under the condition of no load, and the shuttle vehicle can transversely move under the action of the transverse force of the steel coil.
Optionally, the control device allowing the transverse movement of the coil car comprises:
when the distance detection device detects a steel coil in a first distance range, the control device allows the coil transporting vehicle to transversely move, wherein the first distance range is 15 cm-50 cm.
Optionally, the control device controlling the carriage to lift the saddle comprises:
when the lifting height of the coil conveying vehicle is 760cm +/-8 cm, the control device controls the coil conveying vehicle to lift the saddle at the speed of 5-20% of the maximum lifting speed.
Optionally, the method further comprises:
the opening degree of the control valve of the control device is adjusted to 24% along a slope from 70%, meanwhile, the control of the lifting speed is converted into a pressure control mode, the maximum value is limited to 20%, and the minimum value is 8%.
From the above embodiments, in the case that the steel coil is placed in the saddle and the center of gravity of the steel coil and the center of the saddle of the coil transporting vehicle are not on a vertical line, the control device allows the coil transporting vehicle to perform a certain distance of transverse movement, that is, the phenomenon that the horizontal position of the shuttle vehicle is moved due to the transverse force generated by the steel coil on the shuttle vehicle is considered as effective coil receiving. The condition that the steel coil swings on the shuttle car under the condition that the brake-holding force of the shuttle car can resist the transverse force is avoided, so that the shuttle car is pressed down under the condition that the steel coil is transversely eccentric, and the problem of equipment damage is caused. Further can avoid the coil of strip swing to probably cause certain destruction problem to shuttle car equipment. On the other hand, the program is adjusted to ensure that when the shuttle car saddle detects the steel coil, the horizontal position of the shuttle car moves normally, so that the automatic time sequence process cannot be interrupted, the labor intensity of workers is reduced, and unnecessary safety alarm is avoided.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of the saddle and shuttle car without a coil of steel;
FIG. 2 is a schematic view of the saddle and shuttle car with steel coils;
FIG. 3 is a schematic view of a normal coil of strip for a shuttle car;
FIG. 4 is a schematic diagram of the deviation of the center of a steel coil when the shuttle car receives the coil;
FIG. 5 is a schematic view of the force applied to the V-shaped opening when the center of the steel coil deviates when the shuttle car receives the coil;
FIG. 6 is a schematic flow chart diagram of a method for receiving rolls by a roll transport cart according to some embodiments of the present application;
fig. 7 is a schematic diagram of the wrapping state of the steel coil by the V-shaped opening of the shuttle car saddle.
Description of the reference numerals
1-a first saddle supporting seat, 2-a second saddle supporting seat, 3-a third saddle supporting seat, 4-a fourth saddle supporting seat, 5-a steel coil, 6-a shuttle car saddle, 7-a steel coil center, 8-a shuttle car V-shaped opening center, and 9-a shuttle car.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are exemplary only for explaining the present application and are not construed as limiting the present application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
The coil conveying vehicle comprises a shuttle vehicle, a winding vehicle and the like, and the following description of the coil receiving scheme of the coil conveying vehicle is given by taking the shuttle vehicle in fig. 1 and 2 as an example. Wherein, fig. 1 is a schematic view of the saddle and the shuttle car without steel coils, fig. 2 is a schematic view of the saddle and the shuttle car with steel coils, wherein 1,2,3 and 4 jointly form a shuttle car cross-connecting saddle (shuttle car saddle 6), the shuttle car is driven by a motor to move transversely, and the shuttle car is controlled by hydraulic pressure to lift.
The automatic process of the coil receiving time sequence from the shuttle car to the coil receiving saddle needs to meet three target positions:
(1) first target bit: the coil conveying vehicle is at the horizontal target position of coil receiving.
(2) A second target bit: the coil conveying vehicle is stabilized at a horizontal target position in the coil receiving position lifting and coil receiving process.
(3) A third target position: and the coil conveying vehicle is lifted to receive the coil and reaches a height target position.
Only if the three target positions meet the requirements, the steel coil can be horizontally conveyed.
In the automatic sequence process, when the shuttle car 9 receives and lifts the coil, the center of gravity of the coil 5 (namely the center 7 of the coil) and the center 8 of the V-shaped opening of the shuttle car are on the same vertical line, and the shuttle car can stably convey the coil to the coil receiving position of the upper coil car, as shown in fig. 3, fig. 3 is a schematic diagram of the normal coil of the coil carried by the shuttle car. In practical engineering, when the shuttle car is connected to the walking beam for coiling, in order to ensure that the shuttle car can safely support the steel coil, the horizontal position of the shuttle car should be stopped within a safe range of +/-2 mm of a coiling saddle seat. And the shuttle car reaches the coil receiving saddle seat to lift and receive the steel coil at the coil receiving position. In the lifting process, if the steel coil center 7 and the shuttle car V-shaped opening center 8 are not on the same horizontal vertical line, the horizontal force generated by the steel coil on the shuttle car saddle 6 may cause the shuttle car to horizontally move, and the risk of dropping the steel coil exists. As shown in fig. 4, fig. 4 is a schematic diagram illustrating the deviation of the center of the steel coil when the shuttle car receives the coil. Therefore, it is particularly important to guarantee the second target bit.
Fig. 5 is a schematic diagram of the force applied to the V-shaped opening when the center of the steel coil deviates when the shuttle car receives the coil, and it can be known from fig. 4 and 5 that when the center 8 of the V-shaped opening of the shuttle car is not perpendicular to the center 7 of the steel coil, the saddle 6 of the shuttle car collides with the edge of the steel coil. Under the condition that the gravity center of the steel coil is shifted from a to b, the shuttle car saddle can firstly bear force at the position c of the steel coil in the coil receiving process, and the steel coil can generate a transverse force F on the shuttle car saddle at the momentbThe transverse force can cause the steel coil to swing in a V-shaped opening of a shuttle car saddle (the brake holding force of the shuttle car is sufficient) and the shuttle car to horizontally move (the brake holding force of the shuttle car is insufficient). The damage of the condition to equipment is very large, the risk that the steel coil support is unstable and falls off is easily caused, and faults such as belt head tracking errors and the like are caused for the uncoiling of subsequent steel coils.
The non-corresponding situation of the center of gravity of the steel coil and the center of the V-shaped opening of the saddle of the shuttle car is caused by many factors, such as:
(1) the lining plate is worn.
(2) The steel coil is eccentric.
(3) The high temperature of the steel coil causes the deformation of contact objects and the like.
(4) The mounting accuracy is not sufficient.
(5) The maintenance and replacement frequency of standard equipment is not enough.
(6) The coiling saddle and the shuttle saddle are not on the same vertical line.
The shuttle car contracting brake force is not enough, namely the shuttle car contracting brake can not lock the horizontal displacement: the change of the horizontal position of the shuttle car has the following factors except that the center of gravity of the steel coil and the center of the V-shaped opening of the saddle of the shuttle car are not on the same vertical line:
(1) the rail is worn seriously.
(2) The track is wet and slippery and has insufficient friction force.
(3) The shuttle car wheels are severely worn.
(4) The brake force of the shuttle car is too small. (the strip will be affected by the above three strips)
If the traversing distance of the shuttle car reaches about 20mm, the danger condition is considered, the collision of a saddle of the shuttle car on the steel coil is easy to generate, and the steel coil falls off. Therefore, in the automatic time sequence execution process, in order to safely receive the rolls, the procedure is switched to manual operation, the production rhythm is seriously influenced, and the labor intensity of workers is increased.
Under the above various unavoidable circumstances, coil of strip focus can't guarantee on same vertical line with shuttle saddle V type mouth center under actual conditions with shuttle saddle, because coil of strip weight is very big, the in-process of coil of strip is lifted to the shuttle saddle, and the coil of strip to the transverse force of shuttle saddle can lead to coil of strip swing and the horizontal sideslip of shuttle to a certain extent. In the process of executing the automatic time sequence, the horizontal target position of the shuttle car deviates from the fault safety alarm due to the transverse force, the automatic time sequence is interrupted, and the manual operation is switched, so that the labor intensity of workers is increased. However, if the shuttle car braking force can resist the transverse force, the steel coil can swing on the shuttle car, and the shuttle car can be pressed down under the condition that the steel coil is transversely eccentric, so that equipment is damaged; in addition, the steel coil swing also puts forward higher requirements on the dynamic shuttle car, and the steel coil swing can damage shuttle car equipment to a certain degree.
In conclusion, how to reduce the occurrence of automatic time sequence interruption to safely lift the steel coil on the saddle of the shuttle car and reduce the swing of the steel coil in the V-shaped opening of the saddle of the shuttle car as much as possible, so that the V-shaped opening of the saddle of the shuttle car can accurately, stably and safely lift the steel coil on the coil saddle when the shuttle car connects the coils becomes the problem to be solved urgently.
In order to solve the above problems, the present application proposes a method for receiving a coil by a coil transporting vehicle, fig. 6 is a schematic flow chart of the method for receiving a coil by a coil transporting vehicle according to some embodiments, and the method is described below with reference to fig. 6. The method is applied to an automatic control system, the automatic control system comprises a control device and a coil conveying vehicle, a distance detection device is arranged at the bottom of a saddle of the coil conveying vehicle, and a band-type brake is arranged on the coil conveying vehicle, and the method comprises the following steps:
and S1, the control device controls the coil transport vehicle to move to the target position and locks the band-type brake.
The target position is the position of the coil receiving of the coil conveying vehicle set by a program.
And S2, controlling the coil conveying vehicle to lift the saddle by the control device.
S3, the distance detecting device detects the coil of steel, and the control device allows the carriage to move laterally in case the center of gravity of the coil of steel and the center of the saddle of the carriage are not on a vertical line.
And S4, when the distance detection device detects that the steel coil stably falls into the saddle, the control device controls the coil conveying vehicle to move to the next target position.
By adopting the mode, under the condition that the gravity center of the steel coil and the center of the saddle of the coil transporting vehicle are not on the same vertical line, the control device allows the coil transporting vehicle to transversely move for a certain distance, namely the phenomenon that the horizontal position of the shuttle vehicle moves due to the transverse force generated by the steel coil to the shuttle vehicle is considered as effective coil receiving. The condition that the steel coil swings on the shuttle car under the condition that the brake-holding force of the shuttle car can resist the transverse force is avoided, so that the shuttle car is pressed down under the condition that the steel coil is transversely eccentric, and the problem of equipment damage is caused. Further can avoid the coil of strip swing to probably cause certain destruction problem to shuttle car equipment. On the other hand, the program is adjusted to ensure that when the shuttle car saddle detects the steel coil, the horizontal position of the shuttle car moves normally, so that the automatic time sequence process cannot be interrupted, the labor intensity of workers is reduced, and unnecessary safety alarm is avoided.
Optionally, the distance detection means is a grating.
In one possible embodiment, before the control device locks the band-type brake, the method further includes:
the control device adjusts the tightness of the band-type brake according to the weight of the steel coil, so that the coil transporting vehicle can stably stop under the condition of no load, and the shuttle vehicle can transversely move under the action of the transverse force of the steel coil.
Illustratively, the tightness of the band-type brake is divided into three grades, three grades are tightest, two grades and one grade are arranged in sequence from bottom to top, the weight of the steel coil reaches 20 tons, the tightness of the band-type brake is two grades, the weight of the steel coil reaches 25 tons, and the tightness of the band-type brake is one grade.
At present, in the automatic time sequence process, no matter whether the center of gravity of a steel coil and the center of a saddle of a coil transporting vehicle are on a vertical line or not, the shuttle vehicle is fixed and unchanged at a target position, if the shuttle vehicle transversely moves, the shuttle vehicle is considered to be abnormal, and the horizontal position of the shuttle vehicle moves to be normal when the saddle of the shuttle vehicle detects the steel coil. After the steel coil is detected by the shuttle car saddle, the V-shaped opening of the shuttle car saddle contains a part of the steel coil, the saddle contacts the steel coil under special conditions, and the horizontal position of the shuttle car can be moved along with the transverse force of the steel coil lifted by the shuttle car saddle. Because the band-type brake force of the shuttle car is partially adjusted, the reverse acting force of the shuttle car on the steel coil is small, the shuttle car horizontally moves along with the lifting of the saddle of the shuttle car, and the surrounding state of the V-shaped opening of the saddle of the shuttle car on the steel coil is gradually changed from a half surrounding state to a full surrounding state. For example, as shown in fig. 7, fig. 7 is a schematic view of the state that the V-shaped opening of the shuttle saddle surrounds the steel coil. The program of the control device identifies the normal transverse movement of the shuttle car transverse movement position under the current condition and is in a non-fault state. The abrasion of the equipment such as a band-type brake and the like caused by the impact on the saddle when the steel coil is not positioned on a vertical line between the gravity center and the saddle center of the coil transporting vehicle can be reduced, and the unstable condition of the shuttle vehicle caused by the swing in the saddle can be reduced.
In one possible embodiment, the control device allowing the transverse movement of the carriage comprises:
when the distance detection device detects the steel coil in a first distance range, the control device allows the coil conveying vehicle to transversely move, wherein the first distance range is 15 cm-50 cm.
At present, saddle coil of strip occupy the place signal and be some detection, estimate the position relation of coil of strip and saddle V type mouth through the detection distance in this application. Taking the distance detection device as an example of the grating, when the purpose is to detect whether a steel coil exists on the shuttle car saddle, the detection distance standard is 20cm, the grating is arranged at the bottom of the V-shaped opening, the distance is the effective distance of the grating for detecting the steel coil, and the range is within +/-5 cm. For another example, in order to ensure that the steel coil can be detected in the lifting process of the shuttle car saddle, the accurate detection distance of the grating is adjusted from 20cm to 50cm, and the condition that the steel coil is detected within the range of 0-50cm away from the grating can be met. The distance of 50cm needs to be judged according to the existing actual situation, after the steel coil detection signal distance is adjusted to 50cm for about 20 tons of steel coils, the V-shaped opening of the saddle of the shuttle car already realizes a half-surrounding state on the steel coils, and at the moment, the steel coils with the diameter of one third are surrounded by the V-shaped opening of the saddle.
In a possible embodiment, the control device controlling the carriage to lift the saddle comprises:
when the lifting height of the coil conveying vehicle is 760cm +/-8 cm, the control device controls the coil conveying vehicle to lift the saddle at the speed which is 5% -20% of the maximum lifting speed.
By adopting the mode, when the lifting height of the coil transporting vehicle is 760cm +/-8 cm, the saddle of the shuttle vehicle is meant to contact the steel coil, and the lifting speed of the coil transporting vehicle is controlled by a program at the moment, so that the saddle of the shuttle vehicle is in soft contact with the steel coil, the coil receiving efficiency of the shuttle vehicle is ensured, and the steel coil does not swing greatly in the saddle of the shuttle vehicle after the coil receiving of the shuttle vehicle is ensured. The lifting speed is reduced to be 5-20% of the maximum lifting speed of the shuttle car saddle, so that the shuttle car saddle can slowly and stably contact the bottom of the steel coil, the center of the steel coil and the center of a V-shaped opening of the shuttle car saddle can be on a vertical line of the same horizontal plane, and the effect of safely and accurately receiving the steel coil is achieved.
In one example, the method further comprises:
the opening degree of the control valve of the control device is adjusted to 24% along the slope from 70%, and meanwhile the control of the lifting speed is switched to a pressure control mode, the maximum value is limited to 20%, and the minimum value is 8%.
By adopting the above mode, through hydraulic pressure regulation, realize that the in-process of coil of strip is lifted to the shuttle car saddle, can satisfy under the horizontal sideslip's of shuttle car under the effect of coil of strip transverse force the circumstances, the coil of strip can be on the shuttle car saddle of steadily falling under the weak wobbling state. Further achieving the stable roll receiving effect.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in the flow chart of the figure may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed alternately or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
The foregoing is only a partial embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and decorations can be made without departing from the principle of the present application, and these modifications and decorations should also be regarded as the protection scope of the present application.
Claims (5)
1. The utility model provides a fortune roll coil of strip car connects a roll method, is applied to automatic control system, automatic control system includes controlling means and fortune roll car, the saddle bottom of fortune roll car is equipped with apart from detection device, be equipped with the band-type brake on the fortune roll car, its characterized in that includes:
the control device controls the coil conveying vehicle to move to a target position and locks the band-type brake;
the control device controls the coil conveying vehicle to lift the saddle;
the distance detection device detects a steel coil, and the control device allows the coil conveying vehicle to transversely move under the condition that the gravity center of the steel coil and the center of a saddle of the coil conveying vehicle are not on a vertical line;
when the distance detection device detects that the steel coil falls into the saddle, the control device controls the coil transporting vehicle to move to the next target position.
2. The method of claim 1, wherein prior to the control device locking the band-type brake, the method further comprises:
the control device adjusts the tightness of the band-type brake according to the weight of the steel coil, so that the coil transporting vehicle can stably stop under the condition of no load, and the shuttle vehicle can move transversely under the action of the transverse force of the steel coil.
3. The method of claim 1, wherein the control device allowing the carriage to traverse comprises:
when the distance detection device detects a steel coil in a first distance range, the control device allows the coil transporting vehicle to transversely move, wherein the first distance range is 15 cm-50 cm.
4. The method of claim 1, wherein the controlling device controlling the carriage to lift the saddle comprises:
when the lifting height of the coil conveying vehicle is 760cm +/-8 cm, the control device controls the coil conveying vehicle to lift the saddle at the speed of 5-20% of the maximum lifting speed.
5. The method of claim 4, further comprising:
the opening degree of the control valve of the control device is adjusted to 24% along a slope from 70%, meanwhile, the control of the lifting speed is converted into a pressure control mode, the maximum value is limited to 20%, and the minimum value is 8%.
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| CN202210237006.5A CN114505350A (en) | 2022-03-11 | 2022-03-11 | Coil receiving method of coil conveying vehicle |
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| CN202210237006.5A CN114505350A (en) | 2022-03-11 | 2022-03-11 | Coil receiving method of coil conveying vehicle |
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