A fully automatic control method for magnetic crane in middle plate finishing area

Abstract

The invention discloses a fully automatic control method for a magnetic crane in a medium plate finishing area, and belongs to the field of automatic control of a medium plate production line. First, a fully automatic control system for a magnetic crane in a medium plate finishing area is built, including a magnetic crane, a plurality of magnetic crane rollers, a laser rangefinder, a hot metal detector and a stacking table. Initially, the magnetic crane is located at an initial position. When there is incoming material, the magnetic crane adjusts the hoisting center to coincide with the center of the steel plate, and then the magnetic crane is lowered to a limit position through a lifting motor, and the magnetic crane is automatically excited to attract the steel plate and rise to the rising limit position. Then the magnetic crane transports the adsorbed steel plate through a walking motor until it reaches directly above the stacking table where the steel plate is placed. Finally, the lifting motor is used to control the magnetic crane and the steel plate to descend simultaneously until the steel plate contacts the stacking table, at which time the magnetic crane is automatically demagnetized, and after the steel plate is placed on the stacking table, the magnetic crane rises to a limit position, returns to the initial position, and waits for the next incoming material. The invention improves the operating efficiency of the magnetic crane loading and unloading.

Description

Technical Field

[0001] The invention belongs to the field of automatic control of a medium plate production line and relates to a fully automatic control method for a magnetic hanger in a medium plate finishing area. Background Art

[0002] In recent years, the production line of medium plate has experienced a steady growth, with a large increase in output. The magnetic crane in the finishing area of ​​medium plate is a key equipment for collecting finished products in the back area. The degree of automation and control accuracy of its control largely determine the production rhythm and output of the medium plate production line.

[0003] The magnetic crane in the middle plate finishing area is used to unload the finished products on the roller to the palletizing area, and then align the finished products in the palletizing area. The loading and unloading cycle of the magnetic crane determines the production rhythm of the finishing area and is a key link in increasing production; the automatic lifting control, walking automatic control and positioning accuracy of the magnetic crane largely restrict the loading and unloading cycle time of the magnetic crane. Summary of the invention

[0004] In order to improve the operating stability, reliability and parking accuracy of a medium plate finishing magnetic crane and obtain an ideal production rhythm, the present invention proposes a fully automatic control method for a medium plate finishing area magnetic crane.

[0005] The described method for fully automatic control of magnetic crane in the middle plate finishing area has the following specific steps:

[0006] Step 1: Build a fully automatic control system for magnetic cranes in the middle plate finishing area;

[0007] The fully automatic control system includes a magnetic crane, a plurality of magnetic crane rollers, a laser rangefinder, a hot metal detector and a pallet stacking platform;

[0008] The lifting and traveling of the magnetic crane are controlled by the traveling motor and the lifting motor respectively. The lifting motor controls the magnetic crane to reach the rising limit position and the falling limit position respectively through the rising switch and the falling switch; the traveling motor detects the traveling distance of the magnetic crane through the laser rangefinder.

[0009] The laser rangefinder is installed on the gantry crane of the magnetic crane.

[0010] The hot metal detector is located between the first and second rollers of the magnetic crane and is used to detect whether the steel plate has been transported to the magnetic crane rollers.

[0011] The pallet stacking platform comprises a transmission side pallet stacking platform and an operation side pallet stacking platform, which are respectively located at relative positions on both sides of the magnetic hanging roller.

[0012] Step 2: Initially, the magnetic crane is located at the initial position above the magnetic crane roller. When the hot metal detector detects incoming material on the roller, the magnetic crane adjusts the offset of the lifting center according to the width of the incoming steel plate so that the lifting center coincides with the center of the steel plate.

[0013] The offset adjustment S of the magnetic hoisting center is: S = W0-W / 2;

[0014] Among them, W0 is half of the standard width of the steel plate, and W is the actual width of the steel plate.

[0015] Step 3: The adjusted magnetic crane is lowered by the lifting motor. When the signal of the lowering limit position is detected, the magnetic crane is automatically excited, sucks a steel plate and rises vertically. After reaching the upper limit position, it returns to the offset position.

[0016] Step 4. The hot metal detector continues to detect incoming materials. If there is no steel plate on the roller within the set time range, execute step 5; if there is still steel plate on the roller, the magnetic crane returns to step 3 to repeat adsorption until there is no steel plate on the roller or the number of steel plates adsorbed on the magnetic crane reaches the limit, and execute step 5.

[0017] The adsorption limit of the magnetic crane is determined by the suction force of the magnetic crane and the motor. The present invention comprises three steel plates.

[0018] Step 5: The magnetic crane transports the adsorbed steel plate through the travel motor, and the travel distance of the magnetic crane is detected by the laser rangefinder until it reaches directly above the stacking platform where the steel plate is placed.

[0019] The stacking platform is selected according to the actual process requirements of the steel plate;

[0020] The travel distance of the magnetic crane is the distance from the initial position of the magnetic crane to the place where the steel plate is placed on the pallet platform.

[0021] The travel distance of the magnetic crane is: the distance between the installation position of the laser rangefinder and the initial position of the magnetic crane is L0 (mm), and the distance between the laser rangefinder and the magnetic crane in the walking state is L1 (mm), then the actual travel distance of the magnetic crane is: L = L0-L1.

[0022] Step 6: Control the magnetic hanger and the steel plate to descend simultaneously through the lifting motor until the steel plate contacts the pallet stacking table. At this time, the magnetic hanger is automatically demagnetized. After the steel plate is placed on the pallet stacking table, the magnetic hanger rises to the limit position; return to step 2.

[0023] The advantages of the present invention are:

[0024] The present invention realizes the full automatic control of the medium plate finishing magnetic crane, improves the operation efficiency of the magnetic crane loading and unloading by reasonably allocating the logical action sequence in the magnetic crane loading and unloading process, proposes a magnetic crane lifting control method and a magnetic crane walking automatic positioning control method, obtains a stable magnetic crane loading and unloading cycle, and improves the production output of the medium plate line to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1It is a schematic diagram of the regional layout of the magnetic crane fully automatic control system in the middle plate finishing area of ​​the present invention;

[0026] Figure 2 It is a principle diagram of the fully automatic control method of the magnetic hoist in the middle plate finishing area of ​​the present invention;

[0027] Figure 3 It is a flow chart of the fully automatic control method of the magnetic crane in the middle plate finishing area of ​​the present invention. DETAILED DESCRIPTION

[0028] The specific implementation method of the present invention is described in detail below with reference to the accompanying drawings.

[0029] The present invention reasonably controls the whole process of magnetic crane loading and unloading through a PLC (Programmable Logic Controller) system, which is of great significance to improving the operation efficiency of the lifting and walking of the magnetic crane, improving the automatic control level of the magnetic crane in the middle plate finishing area, and improving the production capacity and product quality of the middle plate production line.

[0030] Fully automatic control system for magnetic crane in the middle plate finishing area, such as Figure 1 As shown, it includes a magnetic crane, a magnetic crane roller, a laser rangefinder and a pallet stacking platform;

[0031] The pallet stacking platform includes a transmission side pallet stacking platform and an operating side pallet stacking platform, which are respectively installed on both sides of the magnetic hanging roller. In this embodiment, the transmission side pallet stacking platform is located on the side where the magnetic hanging roller motor is installed, and the operating side pallet stacking platform is located opposite to the side where the magnetic hanging roller motor is installed.

[0032] The lifting and traveling of the magnetic crane are controlled by the traveling motor and the lifting motor respectively; loading and unloading are controlled by the lifting motor, and the lifting motor controls the magnetic crane to reach the rising limit position and the falling limit position respectively through the rising switch and the falling switch; the traveling motor detects the traveling distance of the magnetic crane through the laser rangefinder.

[0033] Magnetic crane lifting motor speed: n1 (r / min), lifting speed: V1 (m / s), V1 = 0.0004n1.

[0034] Magnetic crane travel motor speed: n2 (r / min), travel speed: V2 (m / s), V2 = 0.0012n2.

[0035] The laser rangefinder is installed on the gantry crane of the magnetic crane.

[0036] The hot metal detector is located between the first and second rollers of the magnetic crane roller conveyor. It is used to detect the steel plate transported to the magnetic crane roller conveyor and start the magnetic crane to automatically move to the top of the magnetic crane roller conveyor.

[0037] In this embodiment, 5# magnetic crane, CMD425 hot metal detector and 15 5# magnetic crane rollers are selected, and the standard width of the steel plate is set to 2500mm, then W0 is 1250mm, the distance from the center of the magnetic crane roller to the place where the steel plate is placed on the operating side stacking platform is 3600mm, and the distance from the center of the magnetic crane roller to the place where the steel plate is placed on the transmission side stacking platform is 12500mm.

[0038] like Figure 2 As shown in the figure, the working principle of the fully automatic control system of magnetic crane in the middle plate finishing area is:

[0039] The initial position of the magnetic crane is above the center of the magnetic crane roller. When the steel plate on the magnetic crane roller stops in place, first remember the initial position of the magnetic crane at this time, and adjust the offset of the magnetic crane hoisting center according to the width W (mm) of the steel plate. The adjustment amount is 1250-W / 2 (mm).

[0040] After adjustment, the magnetic crane starts loading. The magnetic crane descends to the set height, and then the magnetic crane is energized to attract the steel plates. A maximum of 3 steel plates can be loaded.

[0041] Then, the magnetic crane automatically moves toward the pallet platform for a set distance and then stops;

[0042] According to the process requirements, choose to move towards the stacking platform on the operation side or the transmission side. If the steel plate is transported to the stacking platform on the operation side, the travel distance of the magnetic crane is 3600mm; if the steel plate is transported to the stacking platform on the transmission side, the travel distance of the magnetic crane is 12500-W (mm).

[0043] The travel distance of the magnetic crane is detected by a laser rangefinder. The distance between the initial installation position of the laser rangefinder and the initial position of the magnetic crane is L0 (mm). The distance between the laser rangefinder and the magnetic crane in the traveling state is L1 (mm). L0-L1 is the actual travel distance of the magnetic crane. Whether the travel setting value is reached is determined based on the travel distance.

[0044] After the magnetic crane stops at the pallet stacking platform, it automatically descends to the set height, and then the magnetic crane is demagnetized, and the steel plate is placed on the pallet stacking platform. After demagnetization, the magnetic crane rises to the limit, automatically moves to the initial position of the magnetic crane, and enters the standby state.

[0045] The fully automatic control method of the magnetic crane in the middle plate finishing area includes the lifting control of the magnetic crane and the walking control of the magnetic crane, such as Figure 3 As shown, the specific steps are as follows:

[0046] Step 1: Initially, the magnetic crane is located at the initial position above the magnetic crane roller. When the hot metal detector detects that there is incoming material on the roller, the magnetic crane adjusts the offset of the magnetic crane's lifting center according to the width W of the incoming steel plate, and moves the magnetic crane horizontally to make the lifting center coincide with the center of the steel plate;

[0047] Step 2: The adjusted magnetic crane is lowered by the lifting motor until the signal of the descent limit proximity switch is detected. The magnetic crane is automatically energized, absorbs a steel plate and then rises and returns to the offset position. The hot metal detector continues to detect incoming materials. If there is no steel plate on the roller, execute step 3; if there is still steel plate on the roller, the magnetic crane repeats the above adsorption process until there is no steel plate on the roller or the number of steel plates adsorbed on the magnetic crane reaches the limit, and then execute step 3.

[0048] Step three, the magnetic crane that absorbs the steel plate transports the steel plate to the stacking platform through the travel motor, and the travel distance of the magnetic crane is detected by the laser rangefinder until the magnetic crane reaches above the place where the steel plate is placed on the stacking platform.

[0049] The pallet stacking platform is selected according to the actual process requirements of the steel plate; the travel distance of the magnetic crane is the distance from the initial position of the magnetic crane to the top of the pallet stacking platform where the steel plate is placed.

[0050] Step 4. When the magnetic crane moves with the adsorbed steel plate to the top of the designated stacking platform where the steel plate is placed, the lifting motor is used to control the magnetic crane and the steel plate to descend until the magnetic crane is in place and the steel plate contacts the stacking platform. At this time, the magnetic crane is demagnetized and the steel plate is placed on the stacking platform where the steel plate is placed. The magnetic crane rises to the limit position and then returns to the initial position through the walking motor, returning to step 1 for the next loading.

[0051] The method for judging whether the magnetic crane has fallen into place is: the time is calculated by the descending speed of the magnetic crane to judge whether it has fallen into place.

Claims

1. A fully automatic control method for magnetic hoist in the middle plate finishing area, characterized in that: The specific steps are as follows: Step 1: Build a fully automatic control system for magnetic cranes in the middle plate finishing area; The fully automatic control system includes a magnetic crane, a plurality of magnetic crane rollers, a laser rangefinder, a hot metal detector and a pallet stacking platform; The magnetic crane is controlled by the travel motor and the lifting motor to control its lifting and traveling respectively. The lifting motor controls the magnetic crane to reach the rising limit position and the falling limit position respectively through the rising switch and the falling switch; the travel motor detects the traveling distance of the magnetic crane through the laser rangefinder; The laser rangefinder is installed on the gantry crane of the magnetic crane; The hot metal detector is located between the first and second rollers of the magnetic crane and is used to detect whether the steel plate has been transported to the magnetic crane rollers; The pallet stacking platform includes a transmission side pallet stacking platform and an operation side pallet stacking platform, which are respectively located at opposite positions on both sides of the magnetic hanging roller table; Step 2: Initially, the magnetic crane is located at the initial position above the magnetic crane roller. When the hot metal detector detects incoming material on the roller, the magnetic crane adjusts the offset of the lifting center according to the width of the incoming steel plate so that the lifting center coincides with the center of the steel plate. The offset adjustment S of the magnetic hoisting center is: S=W0-W / 2 Among them, W0 is half of the standard width of the steel plate, and W is the actual width of the steel plate; Step 3: The adjusted magnetic crane is lowered by the lifting motor. When the signal of the lowering limit position is detected, the magnetic crane is automatically excited, sucks a steel plate and rises vertically. After reaching the upper limit position, it returns to the offset position. Step 4: The hot metal detector continues to detect incoming materials. If there is no steel plate on the roller within the set time range, step 5 is executed; if there is still a steel plate on the roller, the magnetic crane returns to step 3 to repeat adsorption until there is no steel plate on the roller or the number of steel plates adsorbed on the magnetic crane reaches the limit, and step 5 is executed; Step 5: The magnetic crane transports the adsorbed steel plate through the travel motor, and the travel distance of the magnetic crane is detected by the laser rangefinder until it reaches the top of the stacking platform where the steel plate is placed; The stacking platform is selected according to the actual process requirements of the steel plate; Step 6: Control the magnetic hanger and the steel plate to descend simultaneously through the lifting motor until the steel plate contacts the pallet stacking table. At this time, the magnetic hanger is automatically demagnetized. After the steel plate is placed on the pallet stacking table, the magnetic hanger rises to the limit position; return to step 2.

2. A method for fully automatic control of magnetic crane in the middle plate finishing area according to claim 1, characterized in that: The adsorption limit of the magnetic crane is determined by the suction force of the magnetic crane and the motor.

3. A method for fully automatic control of magnetic crane in the middle plate finishing area according to claim 1, characterized in that: The traveling distance of the magnetic crane is the distance from the initial position of the magnetic crane to the position where the steel plate is placed on the pallet platform. The calculation method is: the installation position of the laser rangefinder is L0 (mm) away from the initial position of the magnetic crane, and the distance between the laser rangefinder and the magnetic crane in the walking state is L1 (mm). Then the actual traveling distance of the magnetic crane is: L=L0-L1.

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