CN116372131A - Intelligent transportation system and transportation method for continuous casting slab - Google Patents
Intelligent transportation system and transportation method for continuous casting slab Download PDFInfo
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- CN116372131A CN116372131A CN202310331535.6A CN202310331535A CN116372131A CN 116372131 A CN116372131 A CN 116372131A CN 202310331535 A CN202310331535 A CN 202310331535A CN 116372131 A CN116372131 A CN 116372131A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000005266 casting Methods 0.000 claims abstract description 55
- 238000005259 measurement Methods 0.000 claims abstract description 10
- 238000007599 discharging Methods 0.000 claims description 46
- 239000003638 chemical reducing agent Substances 0.000 claims description 40
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- 230000009471 action Effects 0.000 claims description 8
- 238000011084 recovery Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 238000001816 cooling Methods 0.000 description 15
- 238000012546 transfer Methods 0.000 description 6
- 230000007306 turnover Effects 0.000 description 5
- 239000004568 cement Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005098 hot rolling Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005242 forging Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/12—Accessories for subsequent treating or working cast stock in situ
- B22D11/128—Accessories for subsequent treating or working cast stock in situ for removing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D11/00—Continuous casting of metals, i.e. casting in indefinite lengths
- B22D11/16—Controlling or regulating processes or operations
- B22D11/20—Controlling or regulating processes or operations for removing cast stock
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22D—CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES
- B22D29/00—Removing castings from moulds, not restricted to casting processes covered by a single main group; Removing cores; Handling ingots
- B22D29/04—Handling or stripping castings or ingots
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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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Abstract
The utility model discloses an intelligent transportation system and method for continuous casting slabs, which belong to the field of intelligent transportation of continuous casting slabs, and accurate measurement and control of slab conveying distance are realized through an encoder and roller way dimensions; measuring a casting blank in-place signal by adopting a photoelectric tube, and controlling the signal in an interlocking manner with a rail driving system; the accurate measurement of the distances between the plurality of distance meters and the reference block and the establishment of the judgment standard ensure the good centering of the cart and the casting flow center line; the function of conveying different casting flow slabs to different production lines by one cart is realized through the forward and reverse rotation of the cart wheel driving device and the tracking of the travelling distance of the cart by the encoder; the baffle plates are designed at the top end of the blank conveying roller and the top end of the roller way of the cart, and meanwhile, the normal conveying requirement of the plate blank is met through the control of the lifting system; the position sensor is designed on the cart baffle plate, so that the final position of the slab on the cart can be measured, and the condition that equipment is damaged due to the fact that the cart transversely moves under the condition of not being opposite to the stop position of the slab is avoided.
Description
Technical Field
The utility model belongs to the technical field of intelligent transportation of continuous casting slabs, and particularly relates to a system and a method for conveying continuous casting slabs among different tapping lines.
Background
Generally, a plurality of continuous casting production lines are designed in each steel mill, and when each continuous casting production line is produced simultaneously, the width, the steel grade and the like of casting blank products are possibly not the same according to the demands of customers, so that the follow-up matching process is also not the same, if some casting blanks are sent to a hot rolling mill, the casting blanks are sent to a surface cleaning machine for surface treatment and the like, and because different casting blank ejection roller ways correspond to different follow-up processing production lines, an intelligent casting blank conveying system is needed at the moment, casting blanks of different continuous casting production lines are sent to different casting blank ejection roller ways, and the requirements of follow-up processing are met.
Referring to a rectangular billet caster hot delivery system developed by chinese heavy machinery institute, inc. (Jiang Jun, he Bo, li Xinjiang, li Jiwen, song Meijuan. A rectangular billet caster hot delivery system, chinese, utility model patent, CN201510427238.7.2017.02.01.) comprising a knockout roll table for receiving rectangular billets; the detecting device is used for detecting whether a rectangular casting blank exists on the blank ejection roller way; a trolley track perpendicular to the casting flow direction; the transverse steel dragging machine walks on the trolley track, and the casting blank transfer device and the hot conveying roller way for receiving the rectangular casting blank transferred by the transverse steel dragging machine, the rectangular casting blank is transferred to the blank discharging roller way, and after the rectangular casting blank is in place, the transverse steel dragging machine transfers the casting blank from the blank discharging roller way to the upper part of the casting blank transfer device and the hot conveying roller way; after the hot-feeding instruction is obtained, the steel dragging machine descends to place the casting blank above the casting blank transferring device and the hot-feeding roller way; the casting blank transfer device is matched with the hot-feeding roller way to finish hot-feeding of the rectangular casting blank; the hot delivery and ejection of rectangular billets are realized through a steel scooping machine, but the hot delivery and ejection device is low in efficiency, high in cost and not suitable for conveying large-quality billets;
the casting blank conveying roller way of the slab continuous casting machine developed by the Jiashan through-hole precision forging limited company is referred to, wherein the rolling roller way (the blank holder, li Chunsheng, zhu Gulin and Niu Yongfei) is used for conveying the casting blank of the slab continuous casting machine, the casting blank conveying roller way is invented in China, and the rolling roller way mainly comprises a cement foundation, a support frame, a speed reducer anti-swing support, a conveying roller way, casting blanks, a cross universal coupling, a base fixed speed reducer and a speed reducer base, the cement foundation is arranged on the left side and the right side of the bottom of the casting blank conveying roller way, grooves are formed in the middle of the cement foundation, the support frame is arranged above the grooves in a connecting mode, the support frames on the two sides are connected through the speed reducer anti-swing support, the conveying roller way is connected to the top of the support frame, a connector is arranged at the driving end of the conveying roller way, the cross universal coupling is arranged on the right side of the connector, the base fixed speed reducer is arranged below the base fixed speed reducer. The patent can only realize the conveying of continuous casting blanks on one production line, and can not realize the switching conveying of continuous casting blanks among a plurality of production lines;
reference is made to a continuous casting machine casting blank conveying device developed by Kunming iron and steel Co., ltd of the Wu Steel group, (He Yongli, fan Guoming, li Guomin, duan Yunsheng, liu Aijun, a continuous casting machine casting blank conveying device. China, utility model, CN201320871798.8.2014.6.11.) comprising a turning cooling bed fixed plate and a turning cooling bed movable plate, wherein the turning cooling bed fixed plate is matched with the turning cooling bed movable plate, the front end of the turning cooling bed fixed plate is connected with a fixed cooling bed guide rail, and the fixed cooling bed guide rail is provided with a casting blank and is suitable for pushing claws of a pusher. According to the utility model, the turnover cooling bed fixed plate is combined with the turnover cooling bed movable plate, and the head of the turnover cooling bed movable plate is provided with the slope surface, so that the overhead steel moving machine can continuously carry out the conveying work of casting blanks to the cooling bed when the turnover cooling bed can continuously work, the waste of time is avoided, the conveying capability of the casting blanks is met, the bottom of the slope surface is lower than the horizontal plane of the fixed cooling bed guide rail, and therefore, when the movable plate is lifted to the highest position, the casting blanks can still be pushed onto the cooling bed along the slope surface of the movable plate by the overhead steel moving machine, and the conveying work of the casting blanks is completed, and the influence on the drawing speed of the casting machine is avoided. The device of the turnover cooling bed is used for realizing the transverse conveying of the casting blank, but the device has the problems of complex equipment structure, high cost, limited moving distance of the casting blank and the like;
the system provides a continuous casting billet conveying roller way centering device (Tian Yong, liu Yu, zhang Xiangchun, yu Yanzhong, zhang Mingkui, cui Mingwei, su Hui, chen Liansong, hu Yagong. The continuous casting billet conveying roller way centering device is developed by saddle steel, inc.. Chinese, utility model, CN201120535362.2.2012.9.26.), one end of an electromagnetic valve is connected with a hydraulic oil pipe, the other end of the electromagnetic valve is connected with a hydraulic cylinder, the hydraulic cylinder is connected with a box body through a piston rod, two pairs of connecting plates are welded at the front part of the box body, and the front ends of each pair of connecting plates are respectively connected with a guide wheel through a pin roll; the lower part of the box body is movably connected with a travelling wheel through a supporting frame and a rotating shaft, and the travelling wheel rides on a guide rail; two wires led out by the electromagnetic valve are respectively connected to the wiring terminals of the two guide wheel connecting plates. Because the hydraulic cylinder is used for providing power and the electromagnetic valve is used for controlling the action of the hydraulic cylinder, the action is quick, sensitive, accurate and reliable, the deflected continuous casting billet can be centered in place on line quickly, the friction resistance between the guide wheel and the continuous casting billet is small during centering, and the normal conveying of the continuous casting billet is not influenced, so that the problem that other equipment is scraped and collided due to the offset of the continuous casting billet is avoided, and the operation safety of other equipment on a conveying roller way is ensured. But this patent is only suitable for rail centering, and can not realize the casting blank transportation between the multiple production lines.
In view of the foregoing, there is a need for a method and related technology for intelligent delivery of multi-production-line casting blanks.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the utility model provides an intelligent conveying system and an intelligent conveying method for continuous casting slabs, which can realize intelligent conveying of casting slabs in multiple production lines.
In order to achieve the above object, according to one aspect of the present utility model, there is provided an intelligent transportation system for continuously cast slabs, applied to a steel mill including a plurality of continuous casting machines, each continuous casting machine having several streams, n streams each recorded as 1 stream, 2 streams, 3 streams, and n streams, respectively, wherein each stream equipment includes a speed reducer, a motor, an encoder, a foundation, a slab conveying roller, a photoelectric sensor, a far-end reference block, a near-end reference block, a slab discharging baffle, and a slab discharging baffle lifting system, the slab conveying roller is provided with the speed reducer, the motor, and the encoder, the speed reducer and the motor mainly provide power for the slab conveying roller to drive the slab to move, and the encoder is used for recording the rotation speed of the motor and converting the rotation speed into the movement speed and the movement distance of the slab through the slab conveying roller diameter; the photoelectric sensor is positioned at the left side of the blank ejection baffle plate and is used for detecting the position of the blank and giving a trigger signal to stop the movement of the blank; the far-end reference block and the near-end reference block are both arranged on the foundation and are used for being matched with a far-end range finder and a near-end range finder to realize accurate positioning of the cart; a blank discharging baffle lifting system is arranged below the blank discharging baffle, and the blank discharging baffle is lifted by the action of the blank discharging baffle lifting system;
the output roller way of the continuous casting blank comprises k lines which are respectively recorded as a line A, a line B, a line C, a line I and a line K, wherein equipment of each line comprises a speed reducer, a motor, an encoder, a foundation, a blank ejection roller way, a photoelectric sensor, a far-end reference block and a near-end reference block; the blank ejection roller way is used for moving the plate blank, one side of the blank ejection roller way is provided with a speed reducer, a motor and an encoder, the speed reducer and the motor provide power for the blank ejection roller way, and the encoder is used for recording the rotating speed of the motor and converting the rotating speed into the moving speed and the moving distance of the plate blank through the roller diameter of the blank ejection roller way; the photoelectric sensor is positioned on the right sides of the far-end reference block and the near-end reference block and is used for detecting the position of the slab and giving out a trigger signal, so that the cart baffle is lifted, and the cart is convenient to move; the far-end reference block and the near-end reference block are both arranged on the foundation and are used for being matched with a far-end range finder and a near-end range finder to realize accurate positioning of the cart;
a cart is arranged between a blank conveying roller and a blank discharging roller way of the continuous casting machine, the cart is arranged on a track, a cart travelling encoder, a driving system and travelling wheels are arranged below the cart, the travelling wheels are driven to rotate forwards and backwards through the driving system, so that the cart can move between different casting flows, and casting blanks are sent to different blank discharging lines; the cart running encoder is used for recording the rotating speed of a motor of the driving system and converting the rotating speed into the moving speed and the moving distance of the plate blank on the cart through the roller diameter of the cart conveying roller; the right side of the cart is provided with a cart baffle, a cart baffle lifting system is arranged below the cart baffle, and the cart baffle is lifted by the action of the cart baffle lifting system; a position sensor is arranged in the middle of the cart baffle plate, measures the position of the plate blank on the cart, is matched with a motor of a cart conveying roller, realizes the accurate control of the position of the plate blank on the cart, and prevents the plate blank from moving on the cart without stopping to collide with the cart baffle plate; two far-end range finders and two near-end range finders are respectively designed at the left end and the right end of the cart, and are matched with a far-end reference block and a near-end reference block to realize accurate positioning of the cart.
According to another aspect of the present utility model, there is provided a transportation method based on the above-mentioned intelligent transportation system for continuous casting slabs, comprising:
after receiving a blank conveying instruction, starting a conveying system, powering up a position sensor, conveying n-flow slabs to a k line, judging whether n is equal to 1, if n is equal to 1, entering a step (2), otherwise, entering a step (3);
(2) Starting a driving system on a cart travelling wheel to drive the cart to move towards n flows, starting a cart travelling encoder, recording the travelling distance of the cart and recording the travelling distance as g, closing the driving system on the cart travelling wheel when g > [ (n-1) x Z-q ] and the measured values L1=L2=L3=L4=a of a near-end distance meter and a far-end distance meter on two sides of the cart, clearing the recorded value g of the cart travelling encoder, and entering the step (3), wherein Z is the center distance between two flows, and q is the cart travelling allowable error value;
(3) If the shielding signal of the n-flow photoelectric sensor is future, starting the n-flow speed reducer and the motor to enable the slab to move to the right, and stopping the movement of the n-flow speed reducer and the motor until the n-flow photoelectric sensor shields the signal; at the moment, controlling the lifting system of the blank discharging baffle to shrink, and after the blank discharging baffle is lowered below the reference surface of the blank conveying roller and the limit of the lowering position of the blank discharging baffle comes, entering the step (4);
(4) Simultaneously starting a speed reducer and a motor of an n-flow blank conveying roller and a cart conveying roller, tracking the moving distance L of a plate blank through an encoder, determining whether a fault occurs or not based on the relation between the moving distance L and the distance between the optimal stop position of the plate blank on the cart and the stop position of the plate blank on the blank conveying roller, performing fault recovery after the fault occurs, and then entering the step (5);
(5) If k is not equal to n, entering the step (6), otherwise, entering the step (7);
(6) Determining whether to close a driving system on a traveling wheel of the cart based on the size relation between k and n, the traveling distance of the cart and the measured values of a near-end distance meter and a far-end distance meter on two sides of the cart, and entering the step (7) after closing the driving system on the traveling wheel of the cart;
(7) Controlling a cart baffle lifting system to descend, and descending the cart baffle below a cart conveying roller reference surface; when the descending limit of the cart baffle arrives, starting a speed reducer and a motor on the cart conveying roller and the blank discharging roller way, and recording the moving distance L of the plate blank through an encoder; when L is more than h and the shielding signal of the k-line photoelectric sensor disappears, h is the length of the slab, closing a speed reducer and a motor of the cart conveying roller, and controlling a cart baffle lifting system to rise until the cart baffle is raised above a cart conveying roller reference surface and the rising limit of the cart baffle comes; if k is not equal to 1, entering the step (8), otherwise entering the step (9);
(8) Starting a driving system on the cart travelling wheel to drive the cart to move towards the line A, starting a cart travelling encoder, recording the travelling distance of the cart and recording the travelling distance as g, closing the driving system on the cart travelling wheel when g > [ (k-1) x y-q ] and the measured values L1=L2=L3=L4=a of the near-end distance measuring instrument and the far-end distance measuring instrument on two sides of the cart, resetting the recorded value g of the cart travelling encoder, and entering the step (9);
(9) The system is shut down and returns to step (1).
In some alternative embodiments, in the initial state, the cart is located at the 1-stream, the near-end rangefinders on two sides of the cart are respectively located at the same level with the near-end reference blocks of the 1-stream and the a-line, the far-end rangefinders on two sides are respectively located at the same level with the far-end reference blocks of the 1-stream and the a-line, the distance measurement values of the near-end rangefinders on two sides are respectively recorded as L1, L2, L3 and L4, and at the moment, l1=l2=l3=l4=a, and a is the distance between the far-end rangefinder on the same side and the far-end reference block in the initial state; the blank discharging baffle and the cart baffle are positioned at the highest position; the position sensor is powered off and stops working; the photoelectric sensor is powered on and works normally.
In some alternative embodiments, step (4) comprises:
when l=s, if the deviation value of the real-time measurement distance K of the position sensor on the cart baffle and b is between [ -r, r ], r is the system setting deviation, b is the distance between the position sensor set by the system and the optimal stop position of the slab, s is the distance between the optimal stop position of the slab on the cart and the stop position of the slab on the slab conveying roller, at this time, the lifting system of the slab discharging baffle is controlled to lift, the slab discharging baffle is lifted to be above the reference plane of the slab conveying roller, after the lifting limit of the slab discharging baffle arrives, the L values recorded by the encoders on the slab conveying roller and the cart conveying roller are cleared, and the step (5) is entered; otherwise, the system reminds the fault that the stop position of the slab on the cart is out of tolerance, after the fault is confirmed and recovered manually, the blank discharging baffle is lifted to the initial highest position and the lifting limit arrives, the L values recorded by the encoders on the blank conveying roller and the cart conveying roller are cleared, and the step (5) is carried out.
In some alternative embodiments, step (6) comprises:
if k is larger than n, starting a driving system on wheels of the cart to drive the cart to move towards k lines, starting a cart travel encoder at the same time, recording the travel distance of the cart and marking as g, when g > [ (k-n) x y-q ], wherein y is the center distance between two lines, q is the cart travel allowable error value, and when measured values L1=L2=L3=L4=a of a near-end distance meter and a far-end distance meter on two sides of the cart, closing the driving system on the wheels of the cart to be started, resetting the recorded value g of the cart travel encoder, and entering the step (7); if k is less than n, starting a driving system on the cart travelling wheel to drive the cart to move towards a k line, starting a cart travelling encoder, recording the travelling distance of the cart and recording as g, when g > [ (n-k) x y-q ] and measured values of a near-end distance meter and a far-end distance meter on two sides of the cart are L1=L2=L3=L4=a, closing the driving system on the cart travelling wheel, resetting the recorded value g of the cart travelling encoder, and entering the step (7).
In general, the above technical solutions conceived by the present utility model, compared with the prior art, enable the following beneficial effects to be obtained:
1. the whole system has simple structure, convenient installation, low price and strong applicability;
2. accurate measurement and control of the slab conveying distance are realized through the encoder and the roller way size;
3. the photoelectric tube is adopted to measure the in-place signal of the casting blank and is controlled in an interlocking way with the rail driving system, so that the situation that the casting blank is not in place is avoided;
4. by accurately measuring the distances between the plurality of distance meters and the reference block and formulating the judgment standard, the good centering of the cart and the casting flow center line is ensured, the possibility that the plate blank falls off or collides with the cart parts is avoided, and the running stability and the running reliability of the equipment are improved;
5. the function of conveying different casting flow slabs to different production lines by one cart is realized through the forward and reverse rotation of the cart wheel driving device and the tracking of the travelling distance of the cart by the encoder;
6. the baffle plates are designed at the top end of the blank conveying roller and the top end of the roller way of the cart, so that the problems that a casting blank cannot stop due to inertia in the moving process are avoided, and meanwhile, the normal conveying requirement of the blank is met through the control of the lifting system;
7. the position sensor is designed on the cart baffle plate, so that the final position of the slab on the cart can be measured, the condition that equipment is damaged due to the fact that the cart transversely moves under the condition of not being opposite to the stop position of the slab is avoided, and the safety and the reliability of the system are improved.
Drawings
Fig. 1 is a top view of an intelligent transportation system for continuous casting slabs provided by an embodiment of the utility model;
fig. 2 is a side view of an intelligent transportation system for continuous casting slabs according to an embodiment of the present utility model;
the device comprises a 1-speed reducer, a 2-motor, a 3-encoder, a 4-slab, a 5-foundation, a 6-blank conveying roller, a 7-blank ejection roller way, an 8-photoelectric sensor, a 9-far end reference block, a 10-near end reference block, a 11-blank ejection baffle, a 12-track, a 13-far end range finder, a 14-near end range finder, a 15-cart baffle, a 16-position sensor, a 17-cart running encoder, a 18-driving system, 19-running wheels, a 20-cart, a 21-blank ejection baffle lifting system, a 22-cart baffle lifting system and a 23-cart conveying roller.
Detailed Description
The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model. In addition, the technical features of the embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.
As shown in fig. 1 and 2: the intelligent continuous casting slab conveying system comprises a speed reducer 1, a motor 2, an encoder 3, a slab 4, a foundation 5, a slab conveying roller 6, a slab discharging roller table 7, a photoelectric sensor 8, a far-end reference block 9, a near-end reference block 10, a slab discharging baffle 11, a track 12, a far-end distance meter 13, a near-end distance meter 14, a cart baffle 15, a position sensor 16, a cart running encoder 17, a driving system 18, running wheels 19, a cart 20, a slab discharging baffle lifting system 21, a cart baffle lifting system 22 and a cart conveying roller 23.
The equipment comprises the following components:
each steelworks typically has a plurality of casters, each caster typically having several streams, so that typically a steelworks will have n streams, recorded as 1 stream, 2 stream, 3 stream, respectively, up to n streams, wherein each stream of equipment includes a speed reducer 1, a motor 2, an encoder 3, a foundation 5, a pinch-off roll 6, a photosensor 8, a distal reference block 9, a proximal reference block 10, a pinch-off plate 11, and a pinch-off plate lift system 21. The blank conveying roller 6 is provided with a speed reducer 1, a motor 2 and an encoder 3, wherein the speed reducer 1 and the motor 2 mainly provide power for the blank conveying roller 6 to drive the blank 4 to move, and the encoder 3 is mainly used for recording the rotating speed of the motor and converting the rotating speed into the moving speed and the moving distance of the blank 4 through the roller diameter of the blank conveying roller 6; the photoelectric sensor 8 is positioned at the left side of the blank ejection baffle 11 and is mainly used for detecting the position of the blank and giving a trigger signal to stop the movement of the blank 4; the far-end reference block 9 and the near-end reference block 10 are both arranged on the foundation 5 and are mainly used for matching with the far-end range finder 13 and the near-end range finder 14 to realize the accurate positioning of the cart 20; a blank discharging baffle lifting system 21 is arranged below the blank discharging baffle 11, and the blank discharging baffle 11 can be lifted by the action of the blank discharging baffle lifting system 21;
the slab produced by different continuous casting machines is sent to different production lines, including different hot rolling plants, different surface cleaning lines and the like, so that an output roller way of the continuous casting blank comprises k lines which are respectively recorded as a line A, a line B and a line C. The knockout roll table 7 is mainly used for moving the slab 4, one side of the knockout roll table is provided with a speed reducer 1, a motor 2 and an encoder 3, the speed reducer 1 and the motor 2 are mainly used for providing power for the knockout roll table 7, and the encoder 3 is mainly used for recording the rotating speed of the motor and converting the rotating speed into the moving speed and the moving distance of the slab 4 through the roller diameter of the knockout roll table 7; the photoelectric sensor 8 is positioned on the right side of the far-end reference block 9 and the near-end reference block 10, and is mainly used for detecting the position of a plate blank and giving a trigger signal, so that the cart baffle 15 is lifted, and the cart 20 can be conveniently moved; the far-end reference block 9 and the near-end reference block 10 are both arranged on the foundation 5 and are mainly used for matching with the far-end range finder 13 and the near-end range finder 14 to realize the accurate positioning of the cart 20;
a cart 20 is designed between the continuous casting machine blank conveying roller 6 and the blank ejection roller way 7, the cart 20 is arranged on the track 12, a cart travelling encoder 17, a driving system 18 and travelling wheels 19 are designed below the cart 20, the cart 20 can move between different casting flows by driving the travelling wheels 19 to rotate forwards and backwards through the driving system 18, and the plate blanks 4 are sent to different blank ejection lines; the cart travel encoder 17 is mainly used for recording the rotating speed of a motor of the driving system 18 and converting the rotating speed into the moving speed and the moving distance of the plate blank 4 on the cart 20 through the roller diameter of the cart conveying roller 23; the right side of the cart 20 is provided with a cart baffle 15, a cart baffle lifting system 22 is arranged below the cart baffle 15, and the cart baffle 15 can be lifted by the action of the cart baffle lifting system 22; the middle of the cart baffle 15 is provided with a position sensor 16 for measuring the position of the plate blank 4 on the cart and is matched with a motor of a cart conveying roller 23, so that the position of the plate blank 4 on the cart 20 is accurately controlled, and the plate blank 4 is prevented from moving on the cart 20 and not stopping to collide with the cart baffle; two far-end range finders 13 and two near-end range finders 14 are respectively designed at the left end and the right end of the cart 20 and are matched with the far-end reference block 9 and the near-end reference block 10, so that the accurate positioning of the cart 20 is realized.
The transportation method of the slab intelligent transportation system comprises the following steps:
1. in the initial state, the cart 20 is positioned at the 1-stream, the near-end distance measuring devices 14 at two sides of the cart 20 are respectively positioned at the same horizontal line with the near-end reference blocks 10 of the 1-stream and the A-line, the far-end distance measuring devices 13 at two sides are respectively positioned at the same horizontal line with the far-end reference blocks 9 of the 1-stream and the A-line, the distance measurement values are respectively recorded as L1, L2, L3 and L4, at the moment, L1=L2=L3=L4=a, and a is the distance between the far-end distance measuring device 13 at the same side and the far-end reference block 9 in the initial state and is the distance between the near-end distance measuring device 14 at the same side and the near-end reference block 10 in the initial state; the knockout baffle 11 and the cart baffle 15 are at the highest position; the position sensor 16 is powered off and stops working; the photoelectric sensor 8 is powered on and works normally;
2. when the system receives a blank transfer command, the transfer system starts to operate and the position sensor 16 is powered on. The following describes a case where the system is to deliver n-stream slabs (n is an integer, and values are 1, 2, and 3..n, and represent 1 stream, 2 stream, and 3 stream..n stream, respectively) to k lines (k is an integer, and values are 1, 2, and 3..k, and represent a line, b line, and c line..k line, respectively); the system judges whether n is equal to 1, if n is equal to 1, the step 3 is entered, otherwise, the step 4 is entered;
3. starting a driving system 18 on a cart running wheel 19 to drive a cart 20 to move towards n flows, starting a cart running encoder 17 at the same time, recording the cart running distance and recording as g, when g > [ (n-1) x Z-q ] (wherein Z is the center distance between two flows, q is a cart running allowable error value, the value range is generally 50-200 mm), and the measured values L1=L2=L3=L4=a of a near-end distance meter 14 and a far-end distance meter 13 on two sides of the cart 20, closing the driving system 18 on the cart running wheel 19, resetting the recorded value g of the cart running encoder 17, and entering step 4;
4. if the shielding signal of the n-flow photoelectric sensor 8 is future, starting the n-flow speed reducer 1 and the motor 2 to enable the slab 4 to move to the right until the n-flow photoelectric sensor 8 shields the signal, and stopping the n-flow speed reducer 1 and the motor 2 from moving; at this time, the blank discharging baffle lifting system 21 is controlled to shrink, the blank discharging baffle 11 is lowered below the reference surface of the blank conveying roller 6, and after the limit of the lowering position of the blank discharging baffle 11 comes, the step 5 is started;
5. simultaneously starting a speed reducer 1 and a motor 2 of an n-flow blank conveying roller 6 and a cart conveying roller 23, and tracking the moving distance L of the plate blank 4 through an encoder 3; when l=s, if the deviation value between the real-time measurement distance K of the position sensor 16 on the cart shutter 15 and b is between [ -r, r ] (i.e. r is the system setting deviation within the left and right preset range of r, the general value range is 5-20mm, b is the distance between the position sensor 16 set by the system and the optimal stop position of the slab, s is the distance between the optimal stop position of the slab 4 on the cart and the stop position of the slab on the slab conveying roller), at this time, the lifting system 21 of the knockout shutter is controlled to lift, the knockout shutter 11 is lifted to be above the reference surface of the slab conveying roller 6, and after the lifting limit of the knockout shutter 11 comes, the L values recorded by the encoders 3 on the slab conveying roller and the cart conveying roller 23 are cleared, and the step 6 is entered; otherwise, the system reminds that the stop position of the slab on the cart is out of tolerance, and the manual confirmation is needed, after the manual confirmation and the recovery of the fault, the blank ejection baffle 11 is lifted to the initial highest position and the lifting limit arrives, the L values recorded by the encoders 3 on the blank conveying rollers and the cart conveying rollers 23 are cleared, and the step 6 is entered;
6. if k is not equal to n, entering step 7, otherwise entering step 8;
7. if k > n, starting a driving system 18 on a cart running wheel 19 to drive a cart 20 to move towards k lines, starting a cart running encoder 17 at the same time, recording the cart running distance, recording g, and when g > [ (k-n) x y-q ] (where y is the center distance between two lines, the values of y and Z are the same, q is a cart running allowable error value, and the value range is 50-200mm generally), closing the driving system 18 on the cart running wheel 19 when the measured values L1=L2=L3=L4=a of the near-end distance meter 14 and the far-end distance meter 13 on two sides of the cart 20, clearing the recorded value g of the cart running encoder 17, and entering step 8; if k is less than n, starting a driving system 18 on a cart traveling wheel 19 to drive a cart 20 to move towards k lines (the wheels rotate anticlockwise), simultaneously starting a cart traveling encoder 17, recording the cart traveling distance and recording as g, when g > [ (n-k) x y-q ] (where y is the center distance between two lines, the values of y and Z are the same, q is a cart traveling allowable error value, the value range is 50-200mm generally), and the measured values L1=L2=L3=L4=a of a near-end distance meter 14 and a far-end distance meter 13 on two sides of the cart 20 are closed, starting the driving system 18 on the cart traveling wheel 19, and clearing the recorded value g of the cart traveling encoder 17, and then entering step 8;
8. the cart baffle lifting system 22 is controlled to descend, and the cart baffle 15 is lowered below the reference surface of the cart conveying roller 23; when the descending limit of the cart baffle 15 comes, starting the speed reducer 1 and the motor 2 on the cart conveying roller 23 and the blank ejection roller way 7, and recording the moving distance L of the plate blank through the encoder 3; when L is more than h and the shielding signal of the k-line photoelectric sensor 8 disappears (h is the length of the slab 4), the speed reducer 1 and the motor 2 of the cart conveying roller 23 are closed, and the cart baffle lifting system 22 is controlled to rise until the cart baffle 15 rises above the reference surface of the cart conveying roller 23 and the rising limit of the cart baffle 15 comes; if k is not equal to 1, entering step 9, otherwise entering step 10;
9. starting a driving system 18 on a cart running wheel 19 to drive a cart 20 to move towards a line A, starting a cart running encoder 17 at the same time, recording and marking the cart running distance as g, and when g > [ (k-1) x y-q ] (wherein y is the center distance between two lines, q is a cart running allowable error value, and the value range is generally 50-200 mm), and the measured values L1=L2=L3=L4=a of a near-end distance meter 14 and a far-end distance meter 13 on two sides of the cart 20, closing the driving system 18 on the cart running wheel 19, resetting the recorded value g of the cart running encoder 17, and entering step 10;
10. the system is turned off and returns to step 1.
The utility model provides an intelligent transportation system for continuous casting slabs, which has the advantages of simple structure, convenient installation, low price and strong applicability; accurate measurement and control of the slab conveying distance are realized through the encoder and the roller way size; the photoelectric tube is adopted to measure the in-place signal of the casting blank and is controlled in an interlocking way with the rail driving system, so that the situation that the casting blank is not in place is avoided; by accurately measuring the distances between the plurality of distance meters and the reference block and formulating the judgment standard, the good centering of the cart and the casting flow center line is ensured, the possibility that the plate blank falls off or collides with the cart parts is avoided, and the running stability and the running reliability of the equipment are improved; the function of conveying different casting flow slabs to different production lines by one cart is realized through the forward and reverse rotation of the cart wheel driving device and the tracking of the travelling distance of the cart by the encoder; the baffle plates are designed at the top end of the blank conveying roller and the top end of the roller way of the cart, so that the problems that a casting blank cannot stop due to inertia in the moving process are avoided, and meanwhile, the normal conveying requirement of the blank is met through the control of the lifting system; the position sensor is designed on the cart baffle plate, so that the final position of the slab on the cart can be measured, the condition that equipment is damaged due to the fact that the cart transversely moves under the condition of not being opposite to the stop position of the slab is avoided, and the safety and the reliability of the system are improved.
It should be noted that each step/component described in the present application may be split into more steps/components, or two or more steps/components or part of the operations of the steps/components may be combined into new steps/components, as needed for implementation, to achieve the object of the present utility model.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the utility model and is not intended to limit the utility model, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the utility model are intended to be included within the scope of the utility model.
Claims (5)
1. The intelligent transportation system for the continuous casting slab is applied to a steel mill comprising a plurality of continuous casting machines, each continuous casting machine comprises a plurality of streams, the steel mill comprises n streams which are recorded as 1 stream, 2 streams, 3 streams, and n streams, and is characterized in that each stream of equipment comprises a speed reducer, a motor, an encoder, a foundation, a slab conveying roller, a photoelectric sensor, a far-end reference block, a near-end reference block, a slab discharging baffle and a slab discharging baffle lifting system, the slab conveying roller is provided with the speed reducer, the motor and the encoder, the speed reducer and the motor mainly provide power for the slab conveying roller to drive the slab to move, and the encoder is used for recording the rotating speed of the motor and converting the rotating speed of the motor into the moving speed and the moving distance of the slab through the diameter of the slab conveying roller; the photoelectric sensor is positioned at the left side of the blank ejection baffle plate and is used for detecting the position of the blank and giving a trigger signal to stop the movement of the blank; the far-end reference block and the near-end reference block are both arranged on the foundation and are used for being matched with a far-end range finder and a near-end range finder to realize accurate positioning of the cart; a blank discharging baffle lifting system is arranged below the blank discharging baffle, and the blank discharging baffle is lifted by the action of the blank discharging baffle lifting system;
the output roller way of the continuous casting blank comprises k lines which are respectively recorded as a line A, a line B, a line C, a line I and a line K, wherein equipment of each line comprises a speed reducer, a motor, an encoder, a foundation, a blank ejection roller way, a photoelectric sensor, a far-end reference block and a near-end reference block; the blank ejection roller way is used for moving the plate blank, one side of the blank ejection roller way is provided with a speed reducer, a motor and an encoder, the speed reducer and the motor provide power for the blank ejection roller way, and the encoder is used for recording the rotating speed of the motor and converting the rotating speed into the moving speed and the moving distance of the plate blank through the roller diameter of the blank ejection roller way; the photoelectric sensor is positioned on the right sides of the far-end reference block and the near-end reference block and is used for detecting the position of the slab and giving out a trigger signal, so that the cart baffle is lifted, and the cart is convenient to move; the far-end reference block and the near-end reference block are both arranged on the foundation and are used for being matched with a far-end range finder and a near-end range finder to realize accurate positioning of the cart;
a cart is arranged between a blank conveying roller and a blank discharging roller way of the continuous casting machine, the cart is arranged on a track, a cart travelling encoder, a driving system and travelling wheels are arranged below the cart, the travelling wheels are driven to rotate forwards and backwards through the driving system, so that the cart can move between different casting flows, and casting blanks are sent to different blank discharging lines; the cart running encoder is used for recording the rotating speed of a motor of the driving system and converting the rotating speed into the moving speed and the moving distance of the plate blank on the cart through the roller diameter of the cart conveying roller; the right side of the cart is provided with a cart baffle, a cart baffle lifting system is arranged below the cart baffle, and the cart baffle is lifted by the action of the cart baffle lifting system; a position sensor is arranged in the middle of the cart baffle plate, measures the position of the plate blank on the cart, is matched with a motor of a cart conveying roller, realizes the accurate control of the position of the plate blank on the cart, and prevents the plate blank from moving on the cart without stopping to collide with the cart baffle plate; two far-end range finders and two near-end range finders are respectively designed at the left end and the right end of the cart, and are matched with a far-end reference block and a near-end reference block to realize accurate positioning of the cart.
2. A transportation method based on the intelligent transportation system for continuous casting slabs according to claim 1, comprising:
after receiving a blank conveying instruction, starting a conveying system, powering up a position sensor, conveying n-flow slabs to a k line, judging whether n is equal to 1, if n is equal to 1, entering a step (2), otherwise, entering a step (3);
(2) Starting a driving system on a cart travelling wheel to drive the cart to move towards n flows, starting a cart travelling encoder, recording the travelling distance of the cart and recording the travelling distance as g, closing the driving system on the cart travelling wheel when g > [ (n-1) x Z-q ] and the measured values L1=L2=L3=L4=a of a near-end distance meter and a far-end distance meter on two sides of the cart, clearing the recorded value g of the cart travelling encoder, and entering the step (3), wherein Z is the center distance between two flows, and q is the cart travelling allowable error value;
(3) If the shielding signal of the n-flow photoelectric sensor is future, starting the n-flow speed reducer and the motor to enable the slab to move to the right, and stopping the movement of the n-flow speed reducer and the motor until the n-flow photoelectric sensor shields the signal; at the moment, controlling the lifting system of the blank discharging baffle to shrink, and after the blank discharging baffle is lowered below the reference surface of the blank conveying roller and the limit of the lowering position of the blank discharging baffle comes, entering the step (4);
(4) Simultaneously starting a speed reducer and a motor of an n-flow blank conveying roller and a cart conveying roller, tracking the moving distance L of a plate blank through an encoder, determining whether a fault occurs or not based on the relation between the moving distance L and the distance between the optimal stop position of the plate blank on the cart and the stop position of the plate blank on the blank conveying roller, performing fault recovery after the fault occurs, and then entering the step (5);
(5) If k is not equal to n, entering the step (6), otherwise, entering the step (7);
(6) Determining whether to close a driving system on a traveling wheel of the cart based on the size relation between k and n, the traveling distance of the cart and the measured values of a near-end distance meter and a far-end distance meter on two sides of the cart, and entering the step (7) after closing the driving system on the traveling wheel of the cart;
(7) Controlling a cart baffle lifting system to descend, and descending the cart baffle below a cart conveying roller reference surface; when the descending limit of the cart baffle arrives, starting a speed reducer and a motor on the cart conveying roller and the blank discharging roller way, and recording the moving distance L of the plate blank through an encoder; when L is more than h and the shielding signal of the k-line photoelectric sensor disappears, h is the length of the slab, closing a speed reducer and a motor of the cart conveying roller, and controlling a cart baffle lifting system to rise until the cart baffle is raised above a cart conveying roller reference surface and the rising limit of the cart baffle comes; if k is not equal to 1, entering the step (8), otherwise entering the step (9);
(8) Starting a driving system on the cart travelling wheel to drive the cart to move towards the line A, starting a cart travelling encoder, recording the travelling distance of the cart and recording the travelling distance as g, closing the driving system on the cart travelling wheel when g > [ (k-1) x y-q ] and the measured values L1=L2=L3=L4=a of the near-end distance measuring instrument and the far-end distance measuring instrument on two sides of the cart, resetting the recorded value g of the cart travelling encoder, and entering the step (9);
(9) The system is shut down and returns to step (1).
3. The transportation method according to claim 2, wherein in an initial state, the cart is located at the same level as the proximal reference blocks of the 1 stream and the a line, the proximal range finders on both sides of the cart are located at the same level as the distal reference blocks of the 1 stream and the a line, the distance measurement values of the two distal range finders are respectively recorded as L1, L2, L3, L4, and l1=l2=l3=l4=a, where a is the distance between the proximal range finders and the distal reference blocks on the same side in the initial state, and is the distance between the proximal range finders and the proximal reference blocks on the same side in the initial state; the blank discharging baffle and the cart baffle are positioned at the highest position; the position sensor is powered off and stops working; the photoelectric sensor is powered on and works normally.
4. A method of transportation according to claim 3, wherein step (4) comprises:
when l=s, if the deviation value of the real-time measurement distance K of the position sensor on the cart baffle and b is between [ -r, r ], r is the system setting deviation, b is the distance between the position sensor set by the system and the optimal stop position of the slab, s is the distance between the optimal stop position of the slab on the cart and the stop position of the slab on the slab conveying roller, at this time, the lifting system of the slab discharging baffle is controlled to lift, the slab discharging baffle is lifted to be above the reference plane of the slab conveying roller, after the lifting limit of the slab discharging baffle arrives, the L values recorded by the encoders on the slab conveying roller and the cart conveying roller are cleared, and the step (5) is entered; otherwise, the system reminds the fault that the stop position of the slab on the cart is out of tolerance, after the fault is confirmed and recovered manually, the blank discharging baffle is lifted to the initial highest position and the lifting limit arrives, the L values recorded by the encoders on the blank conveying roller and the cart conveying roller are cleared, and the step (5) is carried out.
5. The transportation method of claim 4, wherein step (6) comprises:
if k is larger than n, starting a driving system on wheels of the cart to drive the cart to move towards k lines, starting a cart travel encoder at the same time, recording the travel distance of the cart and marking as g, when g > [ (k-n) x y-q ], wherein y is the center distance between two lines, q is the cart travel allowable error value, and when measured values L1=L2=L3=L4=a of a near-end distance meter and a far-end distance meter on two sides of the cart, closing the driving system on the wheels of the cart to be started, resetting the recorded value g of the cart travel encoder, and entering the step (7); if k is less than n, starting a driving system on the cart travelling wheel to drive the cart to move towards a k line, starting a cart travelling encoder, recording the travelling distance of the cart and recording as g, when g > [ (n-k) x y-q ] and measured values of a near-end distance meter and a far-end distance meter on two sides of the cart are L1=L2=L3=L4=a, closing the driving system on the cart travelling wheel, resetting the recorded value g of the cart travelling encoder, and entering the step (7).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117718453A (en) * | 2024-02-07 | 2024-03-19 | 山东钢铁股份有限公司 | Multi-machine multi-strand continuous casting machine, control method, control system and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117718453A (en) * | 2024-02-07 | 2024-03-19 | 山东钢铁股份有限公司 | Multi-machine multi-strand continuous casting machine, control method, control system and storage medium |
| CN117718453B (en) * | 2024-02-07 | 2024-05-03 | 山东钢铁股份有限公司 | Multi-machine multi-strand continuous casting machine, control method, control system and storage medium |
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