Intelligent transportation system and method for continuous casting slabs

Abstract

The present invention discloses an intelligent transportation system and method for continuous casting slabs, which belongs to the field of intelligent transportation of continuous casting slabs. The system realizes accurate measurement and control of the slab conveying distance through encoders and roller dimensions; adopts photoelectric tubes to measure the slab in-place signal and interlocks control with the track drive system; ensures good centering of the trolley and the center line of the casting strand by the accurate measurement of the distance between multiple distance meters and reference blocks and the formulation of judgment standards; realizes the function of a trolley conveying different casting strands of slabs to different production lines by the forward and reverse rotation of the trolley wheel drive device and the tracking of the trolley travel distance by the encoder; baffles are designed at the top of the slab conveying roller and the top of the trolley roller, and the demand for normal slab conveying is met by the control of the lifting system; the trolley baffle is designed with a position sensor, which can measure the final position of the slab on the trolley, and avoids the situation that the equipment is damaged due to the lateral movement of the trolley when the slab stop position is incorrect.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent transportation of continuous casting slabs, and more specifically, relates to a system and method for transporting continuous casting slabs between different billet discharge lines. Background Art

[0002] Generally, multiple continuous casting production lines are designed in each steelmaking plant. When each continuous casting production line is producing at the same time, the width and steel grade of the ingot products may be different according to customer needs. This will lead to different subsequent supporting processes. For example, some ingots will be sent to the hot rolling mill, and some will be sent to the surface cleaning machine for surface treatment. Since different billet discharge rollers correspond to different subsequent processing production lines, an intelligent billet conveying system is required at this time to send the billets from different continuous casting production lines to different billet discharge rollers to meet the needs of subsequent processing.

[0003] With reference to a hot billet delivery system for a rectangular billet continuous casting machine developed by China Heavy Machinery Research Institute Co., Ltd. (Jiang Jun, He Bo, Li Xinqiang, Li Jiwen, Song Meijuan. A hot billet delivery system for a rectangular billet continuous casting machine. China, invention patent, CN201510427238.7.2017.02.01.), the patent includes a billet delivery roller for receiving rectangular billets; a detection device for detecting whether there are rectangular billets on the billet delivery roller; a trolley track perpendicular to the casting direction; a horizontal steel scooping machine running on the trolley track and a horizontal steel scooping machine for receiving the horizontal billet ... detection device for detecting whether there are rectangular billets on the billet delivery roller; a detection device for detecting whether there are rectangular billets on the billet delivery roller; a detection device for detecting whether there are rectangular billets on the billet delivery roller; a detection device for detecting whether there are rectangular billets on the billet delivery roller; a detection device for detecting whether there are rectangular billets on the billet delivery roller; a detection device for detecting whether The rectangular billet is transferred to the scooping machine by the billet transfer device and the hot delivery roller. The rectangular billet is transported to the billet discharge roller. After it is in place, the horizontal scooping machine transfers the billet from the billet discharge roller to the top of the billet transfer device and the hot delivery roller. After receiving the hot delivery instruction, the scooping machine descends and places the billet on the billet transfer device and the hot delivery roller. The billet transfer device and the hot delivery roller cooperate to complete the hot delivery of the rectangular billet. Although this patent realizes the hot delivery of rectangular billets through the scooping machine, it is inefficient, costly, and not suitable for transporting large-mass billets.

[0004] Referring to a slab continuous casting machine casting conveyor roller developed by Jiashan Guande Precision Forging Co., Ltd. (Zhang Zhuyou, Li Chunsheng, Zhu Jialin, Niu Yongfei. A slab continuous casting machine casting conveyor roller. China, Utility Model, CN201620373157.3.2016.9.21.), it mainly includes a cement foundation, a support frame, a reducer anti-sway bracket, a conveyor roller, a casting billet, a cross universal coupling, a base-fixed reducer and a reducer base. The cement foundation is provided on both sides of the bottom of the slab continuous casting machine casting conveyor roller. A groove is provided in the middle of the cement foundation, and the support frame is provided above the groove. The support frames on both sides are connected by the reducer anti-sway bracket. The top of the support frame is connected to the conveyor roller. The right end of the conveyor roller is the driving end. The billet is provided above the conveyor roller. A takeover is installed at the driving end of the conveyor roller. The right side of the takeover is provided with the cross universal coupling. The right end of the cross universal coupling is provided with the base-fixed reducer. The reducer base is provided below the base-fixed reducer. This patent can only realize the transportation of continuous casting billets on one production line, and cannot realize the switching and transportation of continuous casting billets between multiple production lines.

[0005] Referring to a continuous casting machine billet conveying device developed by Wuhan Iron and Steel Group Kunming Iron and Steel Co., Ltd. (He Yongli, Fan Guoming, Li Guomin, Duan Yunsheng, Liu Aijun, A continuous casting machine billet conveying device. China, Utility Model, CN201320871798.8.2014.6.11.), the patent includes a flip cooling bed fixed plate and a flip cooling bed movable plate. The flip cooling bed fixed plate is matched with the flip cooling bed movable plate, and the front end is connected to the fixed cooling bed guide rail. There are billets on the fixed cooling bed guide rail and it is adapted to the pushing claw of the steel pusher. This utility model combines a fixed plate of a reversing cooling bed with a movable plate of the reversing cooling bed. The head of the movable plate of the reversing cooling bed has a sloped surface, so that the overhead steel transfer machine can continue to transport the billets to the cooling bed while the reversing cooling bed can work continuously, avoiding time waste and meeting the conveying capacity of the billets. The bottom of the sloped surface is lower than the horizontal plane of the fixed cooling bed guide rail. In this way, when the movable plate is raised to the highest position, the billets can still be pushed to the cooling bed by the overhead steel transfer machine along the sloped surface of the movable plate to complete the conveying of the billets, avoiding affecting the casting speed of the casting machine. Although this patent uses a reversing cooling bed device to achieve lateral conveying of billets, it has problems such as complex equipment structure, high cost, and limited billet movement distance.

[0006] With reference to the continuous casting billet conveyor roller centering device developed by Anshan Iron and Steel Co., Ltd. (Tian Yong, Liu Yu, Zhang Xiangchun, Yu Yanzhong, Zhang Mingkui, Cui Mingwei, Su Hui, Chen Liansong, Hu Yahong. Continuous casting billet conveyor roller centering device. China, Utility Model, CN201120535362.2.2012.9.26.), this system provides a continuous casting billet conveyor roller centering device, wherein one end of the solenoid valve is connected to the hydraulic oil pipe and the other end is connected to the hydraulic cylinder. The hydraulic cylinder is connected to the box body through the piston rod. Two pairs of connecting plates are welded to the front of the box body. The front end of each pair of connecting plates is connected to a guide wheel through a pin shaft. The lower part of the box body is movably connected to the running wheel through a support frame and a rotating shaft. The running wheel rides on the guide rail. The two wires led out of the solenoid valve are respectively connected to the terminal blocks of the two guide wheel connecting plates. Because it uses a hydraulic cylinder to provide power and a solenoid valve to control its movement, the system operates quickly, sensitively, accurately, and reliably, allowing it to quickly center deflected continuous casting billets online. During centering, the friction between the guide wheel and the billet is low, ensuring that the billet is properly conveyed. This prevents the billet from scraping other equipment due to deviation, thus ensuring the safe operation of other equipment on the conveyor roller. However, this patent only applies to track centering and cannot achieve billet conveyance between multiple production lines.

[0007] In summary, there is an urgent need for a method and related technologies that can realize the intelligent transportation of multi-production line castings. Summary of the Invention

[0008] In response to the above-mentioned defects or improvement needs of the prior art, the present invention proposes an intelligent transportation system and transportation method for continuous casting slabs, which can realize the intelligent transportation of cast slabs on multiple production lines.

[0009] To achieve the above-mentioned purpose, according to one aspect of the present invention, a continuous casting slab intelligent transportation system is provided, which is applied to a steel mill comprising multiple continuous casting machines, each continuous casting machine having several streams, and the steel mill having n streams, which are recorded as stream 1, stream 2, stream 3, ..., stream n, respectively. Each stream device includes a reducer, a motor, an encoder, a foundation, a slab conveyor roller, a photoelectric sensor, a distal reference block, a proximal reference block, a slab discharge baffle and a slab discharge baffle lifting system. The slab conveyor roller is equipped with a reducer, a motor and an encoder, and the reducer and the motor are mainly The conveyor rollers provide power to move the slabs. The encoder records the motor speed and converts it into the slab's movement speed and distance through the conveyor roller diameter. The photoelectric sensor, located on the left side of the discharge baffle, detects the slab's position and generates a trigger signal to stop the slab's movement. The far-end and near-end reference blocks are both installed on the foundation and cooperate with the far-end and near-end distance meters to achieve precise positioning of the trolley. A discharge baffle lifting system is designed below the discharge baffle, which is raised and lowered by the action of the discharge baffle lifting system.

[0010] The discharge roller table for the continuous casting slab includes k lines, recorded as line A, line B, line C, ..., line K. The equipment of each line includes a reducer, a motor, an encoder, a foundation, a discharging roller table, a photoelectric sensor, a far-end reference block, and a near-end reference block. The discharging roller table is used to move the slab. A reducer, a motor, and an encoder are installed on one side of the discharging roller table. The reducer and motor provide power for the discharging roller table. The encoder is used to record the motor speed and convert it into the movement speed and distance of the slab based on the roller diameter of the discharging roller table. The photoelectric sensor is located to the right of the far-end reference block and the near-end reference block. It is used to detect the position of the slab and provide a trigger signal to raise the trolley baffle to facilitate the movement of the trolley. The far-end reference block and the near-end reference block are both installed on the foundation and are used to cooperate with the far-end distance meter and the near-end distance meter to achieve precise positioning of the trolley.

[0011] A trolley is designed between the continuous casting machine's slab feed rollers and discharging rollers. The trolley is mounted on tracks and has a trolley travel encoder, drive system, and travel wheels located below the trolley. The drive system drives the travel wheels in forward and reverse rotation to enable the trolley to move between different casting strands and deliver the slabs to different discharging lines. The trolley travel encoder is used to record the speed of the drive system motor and convert it into the speed and distance of the slab moving on the trolley through the roller diameter of the trolley conveyor roller. A trolley baffle is designed on the right side of the trolley, and a trolley baffle lifting system is designed below the trolley baffle. The trolley baffle is raised and lowered by the action of the trolley baffle lifting system. A position sensor is designed in the middle of the trolley baffle to measure the position of the slab on the trolley and cooperate with the motor of the trolley conveyor roller to achieve precise control of the slab's position on the trolley and prevent the slab from hitting the trolley baffle without stopping its movement on the trolley. Two far-end distance meters and two near-end distance meters are located on the left and right ends of the trolley, respectively. They cooperate with the far-end reference block and the near-end reference block to achieve precise positioning of the trolley.

[0012] According to another aspect of the present invention, a transportation method based on the above-mentioned continuous casting slab intelligent transportation system is provided, comprising:

[0013] (1) When receiving the delivery instruction, the transport system starts, the position sensor is powered, and the n-stream slab is transported to the k-line. It is determined whether n is equal to 1. If n≠1, the process proceeds to step (2), otherwise, the process proceeds to step (3);

[0014] (2) Start the driving system on the trolley's wheels to drive the trolley to move toward the n stream, and at the same time start the trolley's travel encoder to record the trolley's travel distance and record it as g. When g>[(n-1)×Zq] and the measurement values ​​of the proximal rangefinder and the distal rangefinder on both sides of the trolley are L1=L2=L3=L4=a, turn off the driving system on the trolley's wheels, reset the recorded value g of the trolley's travel encoder, and proceed to step (3), where Z is the center distance between the two streams and q is the allowable error value of the trolley's travel.

[0015] (3) If the blocking signal of the n-stream photoelectric sensor does not come, the n-stream reducer and motor are started to move the slab to the right until the blocking signal of the n-stream photoelectric sensor comes, and the n-stream reducer and motor stop moving; at this time, the ejection baffle lifting system is controlled to retract, and the ejection baffle is lowered below the base plane of the delivery roller and the ejection baffle lowering position limit is reached, and then step (4) is entered;

[0016] (4) Simultaneously starting the reducers and motors of the n-strand conveying rollers and the trolley conveying rollers, and tracking the moving distance L of the slab through the encoder. Based on the relationship between the moving distance L and the distance between the optimal stop position of the slab on the trolley and the stop position of the slab on the conveying rollers, determining whether a fault has occurred, and if a fault has occurred, performing fault recovery, and then entering step (5);

[0017] (5) If k≠n, go to step (6), otherwise go to step (7);

[0018] (6) Based on the relationship between k and n, the distance traveled by the trolley, and the measurement values ​​of the proximal and distal rangefinders on both sides of the trolley, determine whether to turn off the drive system on the trolley's travel wheels, and after turning off the drive system on the trolley's travel wheels, proceed to step (7);

[0019] (7) Control the trolley baffle lifting system to descend, and lower the trolley baffle to below the trolley conveyor roller reference plane; when the trolley baffle descending position limit is reached, start the reducer and motor on the trolley conveyor roller and the billet roller, and record the moving distance L of the slab through the encoder; when L>h and the k-line photoelectric sensor blocking signal disappears, h is the length of the slab, then turn off the reducer and motor of the trolley conveyor roller, and control the trolley baffle lifting system to rise until the trolley baffle is raised above the trolley conveyor roller reference plane and the trolley baffle ascending position limit is reached; if k≠1, go to step (8), otherwise go to step (9);

[0020] (8) Start the driving system on the trolley's wheels to drive the trolley to move toward line A. At the same time, start the trolley's travel encoder and record the trolley's travel distance as g. When g>[(k-1)×yq] and the measured values ​​of the proximal and distal rangefinders on both sides of the trolley are L1=L2=L3=L4=a, turn off the driving system on the trolley's wheels, reset the recorded value g of the trolley's travel encoder, and proceed to step (9).

[0021] (9) The system shuts down and returns to step (1).

[0022] In some optional implementation schemes, in the initial state, the trolley is located in stream 1, the proximal rangefinders on both sides of the trolley are on the same horizontal line with the proximal reference blocks of stream 1 and line A, respectively, and the distal rangefinders on both sides are on the same horizontal line with the distal reference blocks of stream 1 and line A, respectively, and their distance measurement values ​​are recorded as L1, L2, L3, and L4, respectively. At this time, L1=L2=L3=L4=a, where a is the distance between the distal rangefinder and the distal reference block on the same side in the initial state, and also the distance between the proximal rangefinder and the proximal reference block on the same side in the initial state; the billet discharge baffle and the trolley baffle are in the highest position; the position sensor is powered off and stops working; the photoelectric sensor is powered on and works normally.

[0023] In some optional embodiments, step (4) includes:

[0024] When L=s, if the deviation value of the real-time measured distance K of the position sensor on the trolley baffle and b is between [-r, r], r is the system setting deviation, b is the distance between the system setting position sensor and the optimal stop position of the slab, and s is the distance between the optimal stop position of the slab on the trolley and the stop position of the slab on the conveyor roller, then the slab baffle lifting system is controlled to lift up, and the slab baffle is raised above the reference plane of the conveyor roller and after the rising position limit of the slab baffle is reached, the L value recorded by the encoder on the conveyor roller and the trolley conveyor roller is cleared, and step (5) is entered; otherwise, the system reminds that the stop position of the slab on the trolley is out of tolerance. After manual confirmation and restoration of the fault, the slab baffle is raised to the initial highest position and after the rising position limit is reached, the L value recorded by the encoder on the conveyor roller and the trolley conveyor roller is cleared, and step (5) is entered.

[0025] In some optional embodiments, step (6) includes:

[0026] If k>n, start the driving system on the trolley's wheels to drive the trolley to move toward line k, and at the same time start the trolley's travel encoder, record the trolley's travel distance and record it as g. When g>[(kn)×yq], y is the center distance between the two lines, q is the allowable error value of the trolley's travel, and the measurement values ​​of the near-end distance meter and the far-end distance meter on both sides of the trolley are L1=L2=L3=L4=a, turn off and start the driving system on the trolley's wheels, clear the recorded value g of the trolley's travel encoder, and enter step (7); if k<n, start the driving system on the trolley's wheels to drive the trolley to move toward line k, and at the same time start the trolley's travel encoder, record the trolley's travel distance and record it as g. When g>[(nk)×yq] and the measurement values ​​of the near-end distance meter and the far-end distance meter on both sides of the trolley are L1=L2=L3=L4=a, turn off and start the driving system on the trolley's wheels, clear the recorded value g of the trolley's travel encoder, and enter step (7).

[0027] In general, the above technical solutions conceived by the present invention can achieve the following beneficial effects compared with the prior art:

[0028] 1. The overall system has a simple structure, easy installation, low price and strong applicability;

[0029] 2. Accurate measurement and control of slab conveying distance is achieved through encoders and roller dimensions;

[0030] 3. A photoelectric tube is used to measure the signal of the in-place casting, and the in-place casting signal is interlocked with the track drive system to avoid the in-place casting.

[0031] 4. Through the precise measurement of the distance between multiple distance meters and reference blocks and the formulation of judgment standards, the good alignment of the gantry and the casting strand centerline is ensured, the possibility of slabs falling or colliding with gantry parts is avoided, and the stability and reliability of equipment operation are improved;

[0032] 5. Through the forward and reverse rotation of the trolley wheel drive device and the tracking of the trolley travel distance by the encoder, the trolley can transport different casting strands to different production lines;

[0033] 6. Baffles are designed at the top of the slab conveyor rollers and the top of the trolley roller table to avoid problems such as the slab being unable to stop due to inertia during movement. At the same time, the control of the lifting system meets the needs of normal slab transportation;

[0034] 7. A position sensor is designed on the trolley baffle to measure the final position of the slab on the trolley, avoiding damage to the equipment caused by the trolley moving sideways when the slab is not in the correct stop position, thereby improving the safety and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a top view of an intelligent transportation system for continuous casting slabs provided by an embodiment of the present invention;

[0036] Figure 2 This is a side view of an intelligent transportation system for continuous casting slabs provided by an embodiment of the present invention;

[0037] Among them, 1- reducer, 2- motor, 3- encoder, 4- slab, 5- foundation, 6- conveyor roller, 7- discharging roller, 8- photoelectric sensor, 9- far-end reference block, 10- near-end reference block, 11- discharging baffle, 12- track, 13- far-end distance meter, 14- near-end distance meter, 15- trolley baffle, 16- position sensor, 17- trolley travel encoder, 18- drive system, 19- travel wheel, 20- trolley, 21- discharging baffle lifting system, 22- trolley baffle lifting system, 23- trolley conveyor roller. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0039] As attached Figure 1 and Figure 2 As shown: A continuous casting slab intelligent transportation system includes a reducer 1, a motor 2, an encoder 3, a slab 4, a foundation 5, a slab conveyor roller 6, a slab discharge roller 7, a photoelectric sensor 8, a distal reference block 9, a proximal reference block 10, a slab discharge baffle 11, a track 12, a distal rangefinder 13, a proximal rangefinder 14, a trolley baffle 15, a position sensor 16, a trolley travel encoder 17, a drive system 18, travel wheels 19, a trolley 20, a slab discharge baffle lifting system 21, a trolley baffle lifting system 22 and a trolley conveying roller 23.

[0040] The device consists of the following:

[0041] Each steel plant generally has multiple continuous casting machines, and each continuous casting machine generally has several streams, so a general steel plant will have n streams, which are recorded as stream 1, stream 2, stream 3... up to stream n, where each stream equipment includes a reducer 1, a motor 2, an encoder 3, a foundation 5, a billet conveyor roller 6, a photoelectric sensor 8, a distal reference block 9, a proximal reference block 10, a billet discharge baffle 11 and a billet discharge baffle lifting system 21. A reducer 1, a motor 2 and an encoder 3 are installed on the delivery roller 6, wherein the reducer 1 and the motor 2 mainly provide power for the delivery roller 6 to drive the slab 4 to move, and the encoder 3 is mainly used to record the motor speed and convert it into the moving speed and moving distance of the slab 4 through the roller diameter of the delivery roller 6; the photoelectric sensor 8 is located on the left side of the delivery baffle 11, and is mainly used to detect the position of the slab and give a trigger signal to stop the movement of the slab 4; the far-end reference block 9 and the near-end reference block 10 are both installed on the foundation 5, and are mainly used to cooperate with the far-end rangefinder 13 and the near-end rangefinder 14 to achieve precise positioning of the trolley 20; a delivery baffle lifting system 21 is designed under the delivery baffle 11, and the delivery baffle 11 can be lifted and lowered by the action of the delivery baffle lifting system 21;

[0042] Due to process requirements, slabs produced by different continuous casting machines will be sent to different production lines, including different hot rolling mills, different surface cleaning lines, etc., so the output roller of the continuous casting slab includes k lines, which are recorded as line A, line B, line C... all the way to line K. The equipment of each line includes reducer 1, motor 2, encoder 3, foundation 5, slab discharge roller 7, photoelectric sensor 8, far-end reference block 9 and near-end reference block 10; the slab discharge roller 7 is mainly used to move the slab 4, and a reducer 1, motor 2 and encoder 3 are installed on one side. The motor 2 mainly provides power for the billet discharge roller 7, and the encoder 3 is mainly used to record the motor speed and convert it into the moving speed and moving distance of the slab 4 through the roller diameter of the billet discharge roller 7; the photoelectric sensor 8 is located on the right side of the far-end reference block 9 and the near-end reference block 10, and is mainly used to detect the position of the slab and give a trigger signal to raise the trolley baffle 15 to facilitate the movement of the trolley 20; the far-end reference block 9 and the near-end reference block 10 are both installed on the foundation 5, and are mainly used to cooperate with the far-end rangefinder 13 and the near-end rangefinder 14 to achieve accurate positioning of the trolley 20;

[0043] A trolley 20 is designed between the continuous casting machine's slab conveying roller 6 and the slab discharge roller 7. The trolley 20 is installed on the track 12. At the same time, a trolley travel encoder 17, a drive system 18 and a travel wheel 19 are designed below the trolley 20. The drive system 18 drives the travel wheel 19 to move forward and reversely to realize the movement of the trolley 20 between different casting strands and send the slab 4 to different discharge lines; the trolley travel encoder 17 is mainly used to record the motor speed of the drive system 18 and convert it into the moving speed and distance of the slab 4 on the trolley 20 through the roller diameter of the trolley conveying roller 23; a trolley baffle 15 is designed on the right side of the trolley 20. A trolley baffle lifting system 22 is designed below 15, and the trolley baffle 15 can be lifted and lowered by the action of the trolley baffle lifting system 22; a position sensor 16 is designed in the middle of the trolley baffle 15 to measure the position of the slab 4 on the trolley, and cooperate with the motor of the trolley conveyor roller 23 to achieve precise control of the position of the slab 4 on the trolley 20, and prevent the slab 4 from moving on the trolley 20 and hitting the trolley baffle without stopping; two far-end rangefinders 13 and two near-end rangefinders 14 are designed at the left and right ends of the trolley 20 respectively, which cooperate with the far-end reference block 9 and the near-end reference block 10 to achieve precise positioning of the trolley 20.

[0044] The transportation method of the slab intelligent conveying system is as follows:

[0045] 1. In the initial state, the trolley 20 is located in stream 1, and the proximal rangefinders 14 on both sides of the trolley 20 are respectively on the same horizontal line with the proximal reference blocks 10 of stream 1 and line A, and the distal rangefinders 13 on both sides are respectively on the same horizontal line with the distal reference blocks 9 of stream 1 and line A. The distance measurement values ​​are recorded as L1, L2, L3, and L4, respectively. At this time, L1=L2=L3=L4=a, where a is the distance between the distal rangefinder 13 and the distal reference block 9 on the same side in the initial state, and also the distance between the proximal rangefinder 14 and the proximal reference block 10 on the same side in the initial state; the billet discharge baffle 11 and the trolley baffle 15 are in the highest position; the position sensor 16 is powered off and stops working; the photoelectric sensor 8 is powered on and works normally;

[0046] 2. When the system receives the delivery command, the conveying system starts, and position sensor 16 is energized. The following describes the system's process of conveying n streams of slabs (n is an integer, ranging from 1, 2, 3, ... n, representing stream 1, stream 2, stream 3, ... stream n, respectively) to k lines (k is an integer, ranging from 1, 2, 3, ... k, representing line a, line b, line c, ... line k, respectively). The system determines whether n is equal to 1. If n ≠ 1, it proceeds to step 3; otherwise, it proceeds to step 4.

[0047] 3. Start the drive system 18 on the trolley travel wheel 19 to drive the trolley 20 to move toward the n stream. At the same time, start the trolley travel encoder 17 to record the trolley travel distance and record it as g. When g>[(n-1)×Zq] (where Z is the center distance between the two streams, q is the allowable error value of the trolley travel, generally in the range of 50-200mm) and the measurement values ​​of the proximal rangefinder 14 and the distal rangefinder 13 on both sides of the trolley 20 are L1=L2=L3=L4=a, turn off the drive system 18 on the trolley travel wheel 19, reset the recorded value g of the trolley travel encoder 17, and go to step 4;

[0048] 4. If the blocking signal of the n-stream photoelectric sensor 8 does not come, the n-stream reducer 1 and the motor 2 are started to move the slab 4 to the right until the blocking signal of the n-stream photoelectric sensor 8 comes, at which time the n-stream reducer 1 and the motor 2 stop moving; at this time, the discharge baffle lifting system 21 is controlled to retract, and the discharge baffle 11 is lowered below the reference plane of the delivery roller 6. After the discharge baffle 11 reaches the lowering limit, step 5 is entered;

[0049] 5. Simultaneously start the reducer 1 and motor 2 of the n-stream conveying roller 6 and the trolley conveying roller 23, and track the moving distance L of the slab 4 through the encoder 3; when L = s, if the deviation value of the real-time measured distance K of the position sensor 16 on the trolley baffle 15 and b is between [-r, r] (that is, within the preset range of r, r is the system setting deviation, generally in the range of 5-20mm, b is the distance between the system-set position sensor 16 and the optimal stop position of the slab, s is the distance between the optimal stop position of the slab 4 on the trolley and the stop position of the slab on the conveying roller), Distance), at this time, the discharging baffle lifting system 21 is controlled to lift, and the discharging baffle 11 is raised to above the reference plane of the discharging roller 6 and after the discharging baffle 11 rises to the limit of the rising position, the L value recorded by the encoder 3 on the discharging roller and the trolley conveying roller 23 is cleared, and the process goes to step 6; otherwise, the system reminds "the stopping position of the slab on the trolley is out of tolerance and manual confirmation is required". After manual confirmation and restoration of the fault, the discharging baffle 11 rises to the initial highest position and after the rising limit is reached, the L value recorded by the encoder 3 on the discharging roller and the trolley conveying roller 23 is cleared, and the process goes to step 6;

[0050] 6. If k≠n, go to step 7, otherwise go to step 8;

[0051] 7. If k>n, start the drive system 18 on the trolley travel wheel 19 to drive the trolley 20 to move toward the k line, and start the trolley travel encoder 17 at the same time, record the trolley travel distance and record it as g. When g>[(kn)×yq] (where y is the center distance between the two lines, generally y and Z have the same value, q is the allowable error value of the trolley travel, generally in the range of 50-200mm) and the measurement values ​​of the proximal rangefinder 14 and the distal rangefinder 13 on both sides of the trolley 20 are L1=L2=L3=L4=a, turn off the drive system 18 on the trolley travel wheel 19, reset the recorded value g of the trolley travel encoder 17, and go to step 8; if k <n, start the drive system 18 on the trolley travel wheel 19, drive the trolley 20 to move toward the k line (the wheel rotates counterclockwise), and at the same time start the trolley travel encoder 17, record the trolley travel distance and record it as g, when g>[(nk)×yq] (where y is the center distance between the two lines, generally y and Z have the same value, q is the allowable error value of the trolley travel, generally in the range of 50-200mm) and the measurement values ​​of the proximal rangefinder 14 and the distal rangefinder 13 on both sides of the trolley 20 are L1=L2=L3=L4=a, turn off the drive system 18 on the trolley travel wheel 19, reset the recorded value g of the trolley travel encoder 17, and go to step 8;

[0052] 8. Control the trolley baffle lifting system 22 to descend, and lower the trolley baffle 15 to below the reference plane of the trolley conveying roller 23; when the descent limit of the trolley baffle 15 is reached, start the reducer 1 and motor 2 on the trolley conveying roller 23 and the billet discharge roller 7, and record the moving distance L of the slab through the encoder 3; when L>h and the blocking signal of the k-line photoelectric sensor 8 disappears (h is the length of the slab 4), turn off the reducer 1 and motor 2 of the trolley conveying roller 23, and control the trolley baffle lifting system 22 to rise until the trolley baffle 15 is raised above the reference plane of the trolley conveying roller 23 and the trolley baffle 15 rise limit is reached; if k≠1, go to step 9, otherwise go to step 10;

[0053] 9. Start the drive system 18 on the trolley travel wheel 19 to drive the trolley 20 to move toward line A. At the same time, start the trolley travel encoder 17 to record the trolley travel distance and record it as g. When g>[(k-1)×yq] (where y is the center distance between the two lines, q is the allowable error value of the trolley travel, generally in the range of 50-200mm) and the measurement values ​​of the proximal rangefinder 14 and the distal rangefinder 13 on both sides of the trolley 20 are L1=L2=L3=L4=a, turn off the drive system 18 on the trolley travel wheel 19, reset the recorded value g of the trolley travel encoder 17, and go to step 10;

[0054] 10. The system shuts down and returns to step 1.

[0055] The present invention provides an intelligent transportation system for continuous casting slabs, which has a simple overall system structure, is easy to install, low in price, and has strong applicability; the accurate measurement and control of the slab conveying distance is achieved through the encoder and the roller size; a photoelectric tube is used to measure the slab in-place signal, and the system is interlocked with the track drive system to avoid the occurrence of slabs not being in place; the accurate measurement of the distance between multiple distance meters and reference blocks and the formulation of judgment standards ensure that the trolley is well aligned with the center line of the casting strand, avoiding the possibility of slabs falling or colliding with trolley parts, and improving the stability and reliability of the equipment operation; through the trolley The forward and reverse rotation of the wheel drive device and the encoder's tracking of the trolley's travel distance enable a trolley to transport different cast slabs to different production lines; baffles are designed at the top of the slab conveyor roller and the top of the trolley roller to avoid problems such as the slab being unable to stop due to inertia during movement, and at the same time, the control of the lifting system meets the needs of normal slab transportation; a position sensor is designed on the trolley baffle to measure the final position of the slab on the trolley, avoiding damage to the equipment due to the lateral movement of the trolley when the slab is not in the correct stop position, thereby improving the safety and reliability of the system.

[0056] It should be pointed out that, according to the needs of implementation, the various steps / components described in this application can be split into more steps / components, or two or more steps / components or partial operations of steps / components can be combined into new steps / components to achieve the purpose of the present invention.

[0057] It will be easily understood by those skilled in the art that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An intelligent transportation system for continuous casting slabs, applied to a steel mill comprising multiple continuous casting machines, wherein each continuous casting machine has several streams, and the steel mill may have n streams, which are recorded as stream 1, stream 2, stream 3, ..., stream n, respectively. The system is characterized in that: Each flow equipment includes a reducer, a motor, an encoder, a foundation, a billet conveyor roller, a photoelectric sensor, a distal reference block, a proximal reference block, a billet discharge baffle and a billet discharge baffle lifting system. The billet conveyor roller is equipped with a reducer, a motor and an encoder. The reducer and the motor mainly provide power for the billet conveyor roller to drive the billet to move. The encoder is used to record the motor speed and convert it into the moving speed and distance of the billet through the billet conveyor roller diameter; the photoelectric sensor is located on the left side of the billet discharge baffle and is used to detect the position of the billet and give a trigger signal to stop the billet from moving; the distal reference block and the proximal reference block are both installed on the foundation and are used to cooperate with the distal rangefinder and the proximal rangefinder to achieve precise positioning of the trolley; a billet discharge baffle lifting system is designed under the billet discharge baffle, and the billet discharge baffle is lifted and lowered by the action of the billet discharge baffle lifting system; The discharge roller table for the continuous casting slab includes k lines, recorded as line A, line B, line C, ..., line K. The equipment of each line includes a reducer, a motor, an encoder, a foundation, a discharging roller table, a photoelectric sensor, a far-end reference block, and a near-end reference block. The discharging roller table is used to move the slab. A reducer, a motor, and an encoder are installed on one side of the discharging roller table. The reducer and motor provide power for the discharging roller table. The encoder is used to record the motor speed and convert it into the movement speed and distance of the slab based on the roller diameter of the discharging roller table. The photoelectric sensor is located to the right of the far-end reference block and the near-end reference block. It is used to detect the position of the slab and provide a trigger signal to raise the trolley baffle to facilitate the movement of the trolley. The far-end reference block and the near-end reference block are both installed on the foundation and are used to cooperate with the far-end distance meter and the near-end distance meter to achieve precise positioning of the trolley. A trolley is designed between the continuous casting machine's slab feed rollers and discharging rollers. The trolley is mounted on tracks and has a trolley travel encoder, drive system, and travel wheels located below the trolley. The drive system drives the travel wheels in forward and reverse rotation to enable the trolley to move between different casting strands and deliver the slabs to different discharging lines. The trolley travel encoder is used to record the speed of the drive system motor and convert it into the speed and distance of the slab moving on the trolley through the roller diameter of the trolley conveyor roller. A trolley baffle is designed on the right side of the trolley, and a trolley baffle lifting system is designed below the trolley baffle. The trolley baffle is raised and lowered by the action of the trolley baffle lifting system. A position sensor is designed in the middle of the trolley baffle to measure the position of the slab on the trolley and cooperate with the motor of the trolley conveyor roller to achieve precise control of the slab's position on the trolley and prevent the slab from hitting the trolley baffle without stopping its movement on the trolley. Two far-end distance meters and two near-end distance meters are located on the left and right ends of the trolley, respectively. They cooperate with the far-end reference block and the near-end reference block to achieve precise positioning of the trolley.

2. A transportation method based on the continuous casting slab intelligent transportation system according to claim 1, characterized in that: include: (1) When receiving the delivery instruction, the transport system starts, the position sensor is powered, and the n-stream slab is transported to the k-line. It is determined whether n is equal to 1. If n≠1, the process proceeds to step (2), otherwise, the process proceeds to step (3); (2) Start the driving system on the trolley's wheels to drive the trolley to move toward the n stream, and at the same time start the trolley's travel encoder to record the trolley's travel distance and record it as g. When g>[(n-1)×Zq] and the measurement values ​​of the proximal rangefinder and the distal rangefinder on both sides of the trolley are L1=L2=L3=L4=a, turn off the driving system on the trolley's wheels, reset the recorded value g of the trolley's travel encoder, and proceed to step (3), where Z is the center distance between the two streams and q is the allowable error value of the trolley's travel. (3) If the blocking signal of the n-stream photoelectric sensor does not come, the n-stream reducer and motor are started to move the slab to the right until the blocking signal of the n-stream photoelectric sensor comes, and the n-stream reducer and motor stop moving; at this time, the ejection baffle lifting system is controlled to retract, and the ejection baffle is lowered below the base plane of the delivery roller and the ejection baffle lowering position limit is reached, and then step (4) is entered; (4) Simultaneously starting the reducers and motors of the n-strand conveying rollers and the trolley conveying rollers, and tracking the moving distance L of the slab through the encoder. Based on the relationship between the moving distance L and the distance between the optimal stop position of the slab on the trolley and the stop position of the slab on the conveying rollers, determining whether a fault has occurred, and if a fault has occurred, performing fault recovery, and then entering step (5); (5) If k≠n, go to step (6), otherwise go to step (7); (6) Based on the relationship between k and n, the distance traveled by the trolley, and the measurement values ​​of the proximal and distal rangefinders on both sides of the trolley, determine whether to turn off the drive system on the trolley's travel wheels, and after turning off the drive system on the trolley's travel wheels, proceed to step (7); (7) Control the trolley baffle lifting system to descend, and lower the trolley baffle to below the trolley conveyor roller reference plane; when the trolley baffle descending position limit is reached, start the reducer and motor on the trolley conveyor roller and the billet roller, and record the moving distance L of the slab through the encoder; when L>h and the k-line photoelectric sensor blocking signal disappears, h is the length of the slab, then turn off the reducer and motor of the trolley conveyor roller, and control the trolley baffle lifting system to rise until the trolley baffle is raised above the trolley conveyor roller reference plane and the trolley baffle ascending position limit is reached; if k≠1, go to step (8), otherwise go to step (9); (8) Start the driving system on the trolley's wheels to drive the trolley to move toward line A. At the same time, start the trolley's travel encoder and record the trolley's travel distance as g. When g>[(k-1)×yq] and the measured values ​​of the proximal and distal rangefinders on both sides of the trolley are L1=L2=L3=L4=a, turn off the driving system on the trolley's wheels, clear the recorded value g of the trolley's travel encoder, and proceed to step (9). y is the center distance between the two lines. (9) The system shuts down and returns to step (1).

3. The transportation method according to claim 2, characterized in that: In the initial state, the trolley is located in stream 1, and the proximal distance meters on both sides of the trolley are on the same horizontal line with the proximal reference blocks of stream 1 and line A respectively, and the distal distance meters on both sides are on the same horizontal line with the distal reference blocks of stream 1 and line A respectively, and their distance measurement values ​​are recorded as L1, L2, L3, and L4 respectively. At this time, L1=L2=L3=L4=a, where a is the distance between the distal distance meter and the distal reference block on the same side in the initial state, and also the distance between the proximal distance meter and the proximal reference block on the same side in the initial state; the billet discharge baffle and the trolley baffle are in the highest position; the position sensor is powered off and stops working; the photoelectric sensor is powered on and works normally.

4. The transportation method according to claim 3, characterized in that: Step (4) includes: When L=s, if the deviation value of the real-time measured distance K of the position sensor on the trolley baffle and b is between [-r, r], r is the system setting deviation, b is the distance between the system setting position sensor and the optimal stop position of the slab, and s is the distance between the optimal stop position of the slab on the trolley and the stop position of the slab on the conveyor roller, then the slab baffle lifting system is controlled to lift up, and the slab baffle is raised above the reference plane of the conveyor roller and after the rising position limit of the slab baffle is reached, the L value recorded by the encoder on the conveyor roller and the trolley conveyor roller is cleared, and step (5) is entered; otherwise, the system reminds that the stop position of the slab on the trolley is out of tolerance. After manual confirmation and restoration of the fault, the slab baffle is raised to the initial highest position and after the rising position limit is reached, the L value recorded by the encoder on the conveyor roller and the trolley conveyor roller is cleared, and step (5) is entered.

5. The transportation method according to claim 4, characterized in that: Step (6) includes: If k>n, start the driving system on the trolley's wheels to drive the trolley to move toward line k, and at the same time start the trolley's travel encoder, record the trolley's travel distance and record it as g. When g>[(kn)×yq], y is the center distance between the two lines, q is the allowable error value of the trolley's travel, and the measurement values ​​of the near-end distance meter and the far-end distance meter on both sides of the trolley are L1=L2=L3=L4=a, turn off and start the driving system on the trolley's wheels, clear the recorded value g of the trolley's travel encoder, and enter step (7); if k<n, start the driving system on the trolley's wheels to drive the trolley to move toward line k, and at the same time start the trolley's travel encoder, record the trolley's travel distance and record it as g. When g>[(nk)×yq] and the measurement values ​​of the near-end distance meter and the far-end distance meter on both sides of the trolley are L1=L2=L3=L4=a, turn off and start the driving system on the trolley's wheels, clear the recorded value g of the trolley's travel encoder, and enter step (7).

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