A control method for a red-hot steel transfer machine

Abstract

This invention discloses a control method for a hot-rolled steel transfer machine, comprising the following steps: S1, program initialization; S2, obtaining the current number of grabs by the steel transfer machine's grab bucket, and calculating the current number of steel billet layers in the insulation pit based on the current number of grabs; S3, calculating the descent time and ascent time of the steel transfer machine's grab bucket at the insulation position based on the current number of steel billet layers in the insulation pit; S4, controlling the steel transfer machine's grab bucket to descend from the platform position, grab the steel billet, and then rise and move horizontally to the insulation position; S5, controlling the steel transfer machine's grab bucket to release the steel billet and rise after descending to the calculated descent time at the insulation position; S6, controlling the steel transfer machine's grab bucket to stop rising and move horizontally to the platform position after rising to the calculated ascent time at the insulation position. By accurately calculating the time required for the steel transfer machine's grab bucket to rise and fall, the problem of grab bucket overshooting and the risk of wire rope burning during descent in the insulation pit are effectively solved.

Description

Technical Field

[0001] This invention belongs to the technical field of steelmaking equipment, and in particular relates to a control method for a hot-rolled steel transfer machine. Background Technology

[0002] The high-speed wire rod mill in a steel rolling mill rolls continuously cast steel billets into threaded coils or round steel coils. The function of the hot conveyor is to transport the high-temperature continuously cast steel billets from steelmaking to the stand via the heat-insulating roller conveyor. The high-temperature steel billets on the stand are then transported to the heat-insulating pit by the steel transfer machine for heat preservation. When the steel billets of this batch can be rolled, the high-temperature steel billets in the heat-insulating pit are then transported into the heating furnace for heating via the steel transfer machine and roller conveyor. The whole process plays a role in buffering and heat preservation of the steel billets.

[0003] During the lifting and lowering process of the steel transfer machine's grab bucket, the lifting and lowering of the grab bucket is generally controlled by a cam, while the lowering and lowering process is generally controlled by a gravity sensor.

[0004] However, if the above control method causes the grab bucket of the steel transfer machine to break through the cam during the grabbing and lifting process, the winch will continue to drive the grab bucket of the steel transfer machine to rise, which can easily cause the grab bucket of the steel transfer machine to hit the top and damage the wire rope; at the same time, if the gravity sensor malfunctions, the steel transfer machine will continue to descend, causing the wire rope to approach the high-temperature steel billet, thereby causing the wire rope to burn. Summary of the Invention

[0005] The purpose of this invention is to address the problems existing in the prior art by providing a control method for a hot-rolled steel transfer machine. This method uses multiple control mechanisms to control the raising and lowering of the steel transfer machine's grab bucket, thereby avoiding problems such as the grab bucket hitting the top, damaging the wire rope, and the wire rope being burned.

[0006] To achieve the above objectives, the invention employs the following technical solution: a control method for a hot-rolled steel conveying machine, comprising the following steps:

[0007] S1, Program initialization;

[0008] S2. Obtain the current number of times the steel transfer machine's grab bucket has grabbed the billet, and calculate the current number of steel billet layers in the insulation pit based on the current number of times the steel transfer machine's grab bucket has grabbed the billet;

[0009] S3 calculates the descent time and rise time of the steel transfer machine grab bucket at the insulation position based on the current number of steel billet layers in the insulation pit.

[0010] S4. Control the steel transfer machine's grab bucket to descend at the platform position, grab the steel billet, rise, and move horizontally to the heat preservation position;

[0011] S5. After the steel transfer machine grab bucket descends to the heat preservation position and reaches the calculated descent time, control the steel transfer machine grab bucket to release the steel billet and then rise.

[0012] S6. After the steel transfer machine's grab bucket rises to the calculated insulation position rising time, control the steel transfer machine's grab bucket to stop rising and move horizontally to the platform position, returning to S1, until the number of steel billet layers in the insulation pit reaches the target number of layers.

[0013] According to the above technical solution, by obtaining the real-time number of steel billet layers in the insulation pit, the time required for the lifting and lowering of the steel transfer machine grab bucket can be accurately calculated. Then, the start and stop timing of the lifting and lowering of the steel transfer machine grab bucket can be controlled according to the time, which effectively avoids the problem of grab bucket overshooting during the lifting process and the risk of wire rope burning during the lowering process in the insulation pit caused by cam and platform gravity sensor failure.

[0014] Optionally, the program initialization can be set to two modes: mode one is to put the steel billet from the platform into the insulation pit, and mode two is to lift the steel billet from the insulation pit onto the platform.

[0015] The two modes correspond to two different situations, enabling the same system to handle both scenarios.

[0016] Optionally, in Mode 1, the target number of layers in the insulation pit is the maximum number of steel billets that can be stacked in the insulation pit, and the lowering and raising of the steel transfer machine grab bucket at the insulation position is set with a first initial time.

[0017] In Mode 2, the target number of layers in the insulation pit is 0, and the lowering and raising of the steel transfer machine grab bucket at the insulation position are set with a second initial time.

[0018] In both the first initial time and the second mode, the time for the insulation level to fall and the time for the insulation level to rise are the same when the number of steel billet layers in the insulation pit reaches the target number of layers.

[0019] In the second initial time, the time for the insulation level to fall and the time for the insulation level to rise are the same when the number of steel billet layers in the insulation pit reaches the target number of layers, as in Mode 1.

[0020] The above method allows for the direct acquisition of the second initial time simply by experimentally calculating the first initial time.

[0021] Optionally, in mode one during initialization, the current grab count of the steel transfer machine starts from 0, and increments by 1 for each grab.

[0022] Optionally, in the case of mode two during initialization, the current grab count of the steel transfer machine's grab bucket starts from the maximum number of steel billets that can be stacked in the insulation pit, and decreases by 1 for each grab.

[0023] The accumulator automatically adds or subtracts the current number of grabs by the steel transfer machine's grab bucket.

[0024] Optionally, the formula for calculating the current number of steel billet layers in the insulation pit is V=V1, where V represents the current number of steel billet layers in the insulation pit and V1 represents the current number of times the steel transfer machine's grab bucket has grabbed the billet.

[0025] The above formula can be used to quickly determine the number of steel billet layers in the insulation pit, which facilitates the calculation of the insulation level descent time and the insulation level ascent time.

[0026] Optionally, when in the platform position, the lowering and raising of the grab bucket of the steel transfer machine are respectively set with fixed lowering time and fixed raising time on the control terminal.

[0027] Through experimental testing, it was found that when the detection element is normal, the time taken for the grab bucket of the steel transfer machine to rise or fall when in the platform position can be easily calculated using a timer.

[0028] Optionally, in the case of initialization mode one, V is incremented by 1 each time in the insulation position, and the layer switching time is synchronously reduced based on the first initial time for both the descent and ascent times of the insulation position.

[0029] In the case of initialization mode 2, V is decreased by 1 each time in the insulation position, and the descent time and rise time of the insulation position are increased by the layer replacement time synchronously on the basis of the second initial time.

[0030] The above method can accurately calculate the rising and falling times of the insulation position of the steel billet in different layers in the insulation pit, as well as the rising and falling times of the insulation position of the steel transfer machine grab bucket. This ensures that the steel transfer machine grab bucket can reach a fixed position each time it rises or falls, thus preventing the steel transfer machine grab bucket from hitting the top or the steel rope from being burned.

[0031] Optionally, a third setting time is added as a buffer time to prevent burnout, based on the descent time of the insulation position of each steel billet layer, and a fourth setting time is added as a buffer time to prevent top impact, based on the fixed rise time and the descent time of the insulation position of each steel billet layer.

[0032] By setting anti-burnout buffer time and anti-overrush buffer time, the system can be given time to make an emergency response in the event of a malfunction of the steel transfer machine, such as when the grab bucket of the steel transfer machine continues to descend after entering the insulation pit and reaching the insulation time corresponding to the current layer, or when the grab bucket of the steel transfer machine continues to rise after reaching a fixed rising time or the rising time corresponding to the insulation position of the current steel billet layer.

[0033] Optionally, when the grab bucket of the steel transfer machine enters the anti-overrush buffer time during the upward process, the steel transfer machine is forcibly braked to prevent the grab bucket from overrushing. When the grab bucket of the steel transfer machine enters the anti-burnout buffer time during the downward process of the heat preservation position, the steel transfer machine is forcibly braked to prevent the steel rope of the grab bucket from being burned out.

[0034] After the steel transfer machine is forcibly stopped, the system will trigger an alarm, thus promptly reminding workers to maintain the equipment.

[0035] Compared with the prior art, the beneficial effects of the present invention are: 1. By obtaining the real-time number of steel billet layers in the insulation pit, the time required for the rise and fall of the steel transfer machine grab bucket is accurately calculated. Then, the start and stop timing of the rise and fall of the steel transfer machine grab bucket is controlled according to the time, effectively avoiding the problem of grab bucket overshooting during the rise and the risk of wire rope burning during the fall in the insulation pit caused by cam and platform gravity sensor failure; 2. When the steel transfer machine grab bucket enters the anti-overshoot buffer time during the rise or the anti-burnout buffer time during the fall, the steel transfer machine grab bucket will be forcibly braked, and then the alarm will be triggered, thereby effectively protecting the steel transfer machine grab bucket from overshooting or the wire rope from burning. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the time control method in an embodiment of the present invention. Detailed Implementation

[0037] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] In the description of this invention, it should be noted that the terms "middle", "upper", "lower", "left", "right", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0039] In this embodiment, the entire process of the steel transfer machine is described as follows: Initially, the steel transfer machine is in the platform position. The winch is started, and the winch lowers the steel transfer machine's grab bucket until it moves onto the steel billet. Then, the winch raises the steel transfer machine's grab bucket, which automatically grabs the steel billet during the ascent until it reaches the predetermined position. Subsequently, the steel transfer machine moves forward to the insulation position, and the winch lowers the steel transfer machine's grab bucket until the steel billet is placed on the support frame of the insulation pit. Then, the steel transfer machine releases the steel billet, and the winch raises the empty clamp of the steel transfer machine to the predetermined position. Finally, the steel transfer machine retreats to the platform position, thus completing one cycle. This cycle can then be repeated.

[0040] In this embodiment, the control terminal includes a time controller, which integrates a data loop program, a time calculation program, an ascent timeout alarm, and a descent timeout alarm. The time controller enables ascent timeout protection and descent timeout protection.

[0041] In this embodiment, the raising and lowering of the grab bucket of the steel transfer machine are both performed by the winch platform.

[0042] In addition, this embodiment provides three control methods for the lifting of the steel transfer machine: cam control, encoder control, and time control. It also provides three control methods for the lowering of the steel transfer machine: grab bucket gravity sensor control, encoder control, and time control.

[0043] In this embodiment, a hot-rolled steel conveyor control system is specifically provided for the time control method, including a control terminal, a grab bucket gravity sensor installed on the hoisting platform, and a caliper braking mechanism installed on the hoisting platform.

[0044] The hoisting platform is equipped with two parallel grab bucket gravity sensors, so that even if one grab bucket gravity sensor fails, it will not affect the use.

[0045] Secondly, the output shaft of the steel transfer machine is equipped with an independent caliper braking mechanism, which is connected to the control terminal.

[0046] It is important to note that the time control method has two application scenarios, so two initialization modes, Mode 1 and Mode 2, are set in the program.

[0047] Mode 1 addresses the transfer of billets from the stand to the insulation pit; Mode 2 addresses the transfer of billets from the insulation pit to the stand.

[0048] Depending on the actual motion scenario, the corresponding mode can be selected during program initialization.

[0049] like Figure 1 As shown, the specific steps of the time control method are as follows:

[0050] S1, Program initialization;

[0051] S2. Obtain the current number of times the steel transfer machine's grab bucket has grabbed the billet, and calculate the current number of steel billet layers in the insulation pit based on the current number of times the steel transfer machine's grab bucket has grabbed the billet;

[0052] S3 calculates the descent time and rise time of the steel transfer machine grab bucket at the insulation position based on the current number of steel billet layers in the insulation pit.

[0053] S4. Control the steel transfer machine's grab bucket to descend at the platform position, grab the steel billet, rise, and move horizontally to the heat preservation position;

[0054] S5. After the steel transfer machine grab bucket descends to the heat preservation position and reaches the calculated descent time, control the steel transfer machine grab bucket to release the steel billet and then rise.

[0055] S6. After the steel transfer machine's grab bucket rises to the calculated insulation position rising time, control the steel transfer machine's grab bucket to stop rising and move horizontally to the platform position, returning to S1, until the number of steel billet layers in the insulation pit reaches the target number of layers.

[0056] By acquiring the real-time number of steel billet layers in the platform and the insulation pit, the time required for the steel transfer machine's grab bucket to rise and fall is accurately calculated. Then, the start and stop timing of the steel transfer machine's grab bucket's rise and fall is controlled according to the time, effectively avoiding the problem of the grab bucket hitting the top during the rising process and the risk of the wire rope being burned during the descent in the insulation pit, which is caused by the failure of the cam and the platform gravity sensor.

[0057] While the cam control method and encoder control method during the ascent of the steel transfer machine, and the grab bucket gravity sensor control method and encoder control method during the descent of the steel transfer machine are all existing control methods in the prior art, this embodiment combines them with the time control method newly proposed in this application to achieve triple-cycle control, which greatly improves the fault tolerance of a single control method. Even if the first two methods fail, the time control method proposed in this application can still serve as the final control means, significantly reducing the possibility of the steel transfer machine overshooting or the steel rope burning out.

[0058] In this embodiment, the cam control method is initially used by default;

[0059] The specific implementation scheme is as follows: A control method for a hot-rolled steel transfer machine includes the following steps:

[0060] The cam control method is used to control the upward movement of the steel transfer machine's grab bucket;

[0061] The steel transfer machine rises after its grab bucket picks up the steel billet.

[0062] If the grab bucket of the steel transfer machine rises and the grab bucket breaks through the cam without stopping rising, it indicates that the cam has failed and the encoder lifting control method will be automatically activated. The encoder lifting control method will continue to be used for lifting control during subsequent grabs.

[0063] The actual value of the position encoder in the encoder rise control is directly obtained from the control terminal. When the real-time data is within the standard data range, the steel transfer machine stops rising. If the actual value is lower than the critical value, it indicates that the position encoder has failed, and the time control method is activated. It should be noted that the time control method is executed by the time calculation program.

[0064] It should be noted that the position encoder is installed on the output shaft at the tail end of the motor of the hoisting platform. The standard data range of the position encoder is between 0 and -10, and the critical value device is -15.

[0065] Because the lifting and lowering of the grab bucket of the steel transfer machine is a reciprocating motion, the encoder is set to zero when the grab bucket is rising, and after descending to the target position and then rising again to the predetermined position, the encoder count is still zero. The steel transfer machine stops rising once it is considered to have reached the predetermined position during the rising process.

[0066] If the code disk count is less than -15, it indicates that the code disk rise control method has malfunctioned, and the final time control method will be activated.

[0067] The time control method includes: obtaining the real-time time of the steel transfer machine's grab bucket rising through a time calculation program, and stopping the steel transfer machine from rising after the rising time is reached; obtaining the real-time time of the steel transfer machine's grab bucket falling through a time calculation program, and stopping the steel transfer machine from falling after the falling time is reached.

[0068] In this embodiment, the steel transfer machine operates in two states during its ascent: unloaded and fully loaded. Whether unloaded or fully loaded, it maintains a uniform speed. The starting positions include the platform position and the insulation position.

[0069] Meanwhile, the steel transfer machine rises from different starting positions to reach the initial position, with each position corresponding to a fixed time. This time parameter can be read from the actual rising time.

[0070] In Mode 1, the target number of layers in the insulation pit is the maximum number of steel billets that can be stacked in the insulation pit. At the insulation position, the lowering and raising of the steel transfer machine grab bucket are set with a first initial time.

[0071] In Mode 2, the target number of layers in the insulation pit is 0, and the lowering and raising of the steel transfer machine grab bucket at the insulation position are set with a second initial time.

[0072] It should be noted that, in the first initial time and in mode two, the time for the insulation level to fall and the time for the insulation level to rise are the same when the number of steel billet layers in the insulation pit reaches the target number of layers; in the second initial time and in mode one, the time for the insulation level to fall and the time for the insulation level to rise are the same when the number of steel billet layers in the insulation pit reaches the target number of layers.

[0073] In this embodiment, the insulation pit can hold up to 18 layers of steel billets, and the thickness of each steel billet is a fixed value of 180 mm. Therefore, there are 18 possible upward displacements of the insulation pit. In addition, since the weight of each layer of steel billets is the same, there are also 18 possible combinations of the same descent and ascent times of the insulation position.

[0074] Therefore, the second initial time can be directly obtained simply by experimentally calculating the first initial time.

[0075] In Mode 1, the current grab count of the steel transfer machine starts from 0, and increments by 1 for each grab.

[0076] In Mode 2, the current number of grabs by the steel transfer machine's grab bucket starts from the maximum number of steel billets that can be stacked in the insulation pit, and the current number of grabs by the steel transfer machine's grab bucket decreases by 1 for each grab.

[0077] The accumulator automatically adds or subtracts the current number of grabs by the steel transfer machine's grab bucket.

[0078] In this embodiment, the formula for calculating the current number of steel billet layers in the insulation pit is V=V1, where V represents the current number of steel billet layers in the insulation pit and V1 represents the current number of grabs by the steel transfer machine's grab bucket.

[0079] The formula can be used to quickly determine the number of steel billet layers in the insulation pit, which facilitates the calculation of the insulation level descent time and the insulation level ascent time.

[0080] When the steel transfer machine is in the platform position, the lowering and raising of the grab bucket are respectively set with fixed lowering and fixed raising times on the control terminal.

[0081] This fixed time needs to be tested experimentally. When the detection element is normal, it is easy to calculate the time it takes for the grab bucket of the steel transfer machine to rise or fall when it is in the platform position using a timer.

[0082] In the case of initialization mode one, V increases by 1 each time in the heat preservation position. The descent time and rise time of the heat preservation position are simultaneously reduced by 3 to 5 seconds based on the first initial time, which is the lifting and lowering time of the steel machine grab bucket corresponding to the heat preservation displacement of the steel billet layer.

[0083] In the case of initialization mode two, V decreases by 1 each time in the heat preservation position. The time for the heat preservation position to fall and the time for the heat preservation position to rise are increased by 3 to 5 seconds on the basis of the second initial time. This is used as the lifting and lowering time of the steel machine grab bucket corresponding to the number of steel billet layers.

[0084] By accurately calculating the different layers of steel billets in the insulation pit, the rising and falling times of the insulation position of the steel transfer machine's grab bucket can be quickly obtained, thus ensuring that the grab bucket can be in a fixed position each time it rises or falls, thereby preventing the grab bucket from hitting the top or the steel rope from being burned.

[0085] To improve the program's fault tolerance, an additional 3-5 seconds will be added to the descent time of the insulation position for each steel billet layer as a buffer time to prevent burnout. At the same time, an additional 3-5 seconds will be added to the fixed rise time and the descent time of the insulation position for each steel billet layer as a buffer time to prevent overshoot.

[0086] Even if the steel transfer machine malfunctions, and the grab bucket continues to descend after reaching the insulation time corresponding to the current layer in the insulation pit, or if the grab bucket continues to rise after reaching a fixed rising time or the rising time corresponding to the current steel billet layer, the system will be given time to make an emergency response.

[0087] When the grab bucket of the steel transfer machine enters the anti-overrush buffer time during its ascent, the machine is forcibly braked to prevent it from overrushing. Similarly, when the grab bucket enters the anti-burnout buffer time during its descent from the insulation position, the machine is forcibly braked to prevent the steel cable of the grab bucket from burning out. After the steel transfer machine is forcibly stopped, the system will trigger an alarm, promptly reminding workers to perform equipment maintenance.

[0088] For example, assuming the rise time for the platform position is 24 seconds, and the rise time for the 18th layer of the insulation pit is 29 seconds, the time increases by one second for each additional layer. The specific number of layers is stored in the data block of the time controller when the billet is hoisted in; it decreases by one for each rise cycle and increases by one for each descent cycle. Thus, reading the actual number of layers will yield a corresponding rise time value. Since the rise time is only used as a safety feature to stop rise when the cam and position encoder are both out of control, and there is a certain safety distance between the predetermined rise position and the top of the rise, the rise time can be increased by 3 seconds for each position. When the rise time exceeds the limit, the steel transfer machine stops rising and a "rise timeout alarm" pops up on the control screen to remind the staff to check.

[0089] The grab bucket of the steel transfer machine is lowered using a grab bucket gravity sensor control method.

[0090] The real-time weight of the grab bucket of the steel transfer machine is obtained by the grab bucket gravity sensor. If the real-time weight is between the zero value and the empty weight value of the grab bucket of the steel transfer machine, the steel transfer machine will stop descending.

[0091] Under normal circumstances, the descent stop point value can be determined by the grab bucket gravity sensor. When the steel transfer machine descends to the support surface and the weight is less than 4.7 tons, the steel transfer machine decelerates. When the weight is less than one ton, it indicates that the gravity of the grab bucket of the steel transfer machine is acting on the high-temperature steel billet, at which point the descent stops, and the grab bucket of the steel transfer machine can be retrieved.

[0092] It is important to note that the standard values ​​set in the grab gravity sensor, from smallest to largest, are: zero value, empty weight of the grab bucket of the steel transfer machine, full load weight of the grab bucket of the steel transfer machine, and critical value.

[0093] Four preset values ​​are provided for the grab gravity sensor to facilitate the control terminal in diagnosing grab gravity sensor malfunctions.

[0094] In this embodiment, the zero value is 0; the unloaded weight of the steel transfer machine grab bucket is the self-weight of the steel transfer machine grab bucket, and the self-weight of the steel transfer machine grab bucket is 4.7 tons; the fully loaded weight of the steel transfer machine grab bucket is 17.4 tons; the critical value is 30 tons.

[0095] If the weight of the grab bucket of the steel transfer machine is not within the range of the zero value and the unloaded weight value of the grab bucket, it indicates that the grab bucket gravity sensor has failed. That is, when the output value of the grab bucket gravity sensor is less than 0 tons or greater than 30 tons, the sensor is considered to be faulty, and then the encoder descent control method is automatically switched to control the descent of the grab bucket of the steel transfer machine.

[0096] The encoder descent control method includes: when the grab bucket gravity sensor control method fails, the real-time value of the encoder is obtained through the control terminal. When the real-time data is within the standard data range, the steel transfer machine stops descending. If the real-time data is not within the standard data range, it indicates that the encoder descent control method has failed.

[0097] Because the descent positions include the platform position and the insulation pit position, and the insulation pit position has 18 layers, there are a total of 19 sets of descent code disk data. For example, the descent deceleration code disk value for the platform position is 5600, and the stop value is 6200.

[0098] When the position encoder value is below -15, it indicates that the position encoder has malfunctioned. When both the grab gravity sensor and the encoder malfunction, the time control method will be automatically activated.

[0099] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A control method for a hot-rolled steel conveyor, characterized in that, Includes the following steps: S1, Program initialization; S2. Obtain the current number of times the steel transfer machine's grab bucket has grabbed the billet, and calculate the current number of steel billet layers in the insulation pit based on the current number of times the steel transfer machine's grab bucket has grabbed the billet; S3 calculates the descent time and rise time of the steel transfer machine grab bucket at the insulation position based on the current number of steel billet layers in the insulation pit. S4. Control the steel transfer machine's grab bucket to descend at the platform position, grab the steel billet, rise, and move horizontally to the heat preservation position; S5. After the steel transfer machine grab bucket descends to the heat preservation position and reaches the calculated descent time, control the steel transfer machine grab bucket to release the steel billet and then rise. S6. After the steel transfer machine's grab bucket rises to the calculated insulation position rising time, control the steel transfer machine's grab bucket to stop rising and move horizontally to the platform position, returning to S1, until the number of steel billet layers in the insulation pit reaches the target number of layers.

2. The control method for a hot-rolled steel conveyor according to claim 1, characterized in that: The program initialization is set with two modes: mode one is to put the steel billet from the platform into the insulation pit, and mode two is to lift the steel billet from the insulation pit onto the platform.

3. The control method for a hot-rolled steel conveyor according to claim 2, characterized in that: In Mode 1, the target number of layers in the insulation pit is the maximum number of steel billets that can be stacked in the insulation pit. At the insulation position, the lowering and raising of the steel transfer machine grab bucket are set with a first initial time. In Mode 2, the target number of layers in the insulation pit is 0, and the lowering and raising of the steel transfer machine grab bucket at the insulation position are set with a second initial time.

4. The control method for a hot-rolled steel conveyor according to claim 3, characterized in that: In the initialization mode 1 case, the current grab count of the steel transfer machine starts from 0, and increments by 1 for each grab.

5. The control method for a hot-rolled steel conveyor according to claim 4, characterized in that: In the initialization mode 2 case, the current grab count of the steel transfer machine starts from the maximum number of steel billets that can be stacked in the insulation pit, and the current grab count of the steel transfer machine decreases by 1 for each grab.

6. A control method for a hot-rolled steel conveyor according to any one of claims 4-5, characterized in that: The formula for calculating the current number of steel billet layers in the insulation pit is V=V1, where V represents the current number of steel billet layers in the insulation pit and V1 represents the current number of times the steel transfer machine's grab bucket has grabbed the billet.

7. The control method for a hot-rolled steel conveying machine according to claim 1, characterized in that: When the steel transfer machine is in the platform position, the lowering and raising of the grab bucket are respectively set with fixed lowering and fixed raising times on the control terminal.

8. The control method for a hot-rolled steel conveyor according to claim 6, characterized in that: In the case of initialization mode one, V increases by 1 each time in the insulation position, and the layer switching time is reduced synchronously based on the first initial time for both the descent and ascent times of the insulation position. In the case of initialization mode 2, V is decreased by 1 each time in the insulation position, and the descent time and rise time of the insulation position are increased by the layer replacement time synchronously on the basis of the second initial time.

9. The control method for a hot-rolled steel conveyor according to claim 7, characterized in that: A third setting time is added to the existing heat preservation position descent time of each steel billet layer as a buffer time to prevent burnout. A fourth setting time is added to the existing heat preservation position descent time of each steel billet layer as a buffer time to prevent top impact.

10. The control method for a hot-rolled steel conveying machine according to claim 9, characterized in that: When the grab bucket of the steel transfer machine enters the anti-overrush buffer time during its ascent, the steel transfer machine is forcibly braked to prevent the grab bucket from overrushing. When the grab bucket of the steel transfer machine enters the anti-burnout buffer time during its descent from the insulation position, the steel transfer machine is forcibly braked to prevent the steel rope of the grab bucket from being burned out.

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