An automatic control system for a head trimming shear and a control method thereof

Abstract

The application discloses an automatic control system of a head cutting shear and a control method thereof, and relates to the technical field of automatic steel plate shearing. The specific process of the automatic shearing is as follows: the cold bed unloading roller way, the front roller way of the head cutting shear and the rear roller way of the head cutting shear are started, and the steel plate to be sheared is transported; the steel plate is tracked and positioned in the whole area; the width of the steel plate is measured, and the steel plate is positioned before being turned over; it is determined whether to be offline; if yes, manual selection is performed; otherwise, automatic plate connection, positioning, turning over, plate feeding and edge alignment are performed; the length of the steel plate is accurately measured in real time, and cooling correction is performed; the profile, width and possible marking line of the head of the steel plate are recognized; the shearing procedure of the head cutting shear is automatically calculated; the head of the steel plate is automatically cut, and the steel plate is cut to a specified size; the position closed loop control is performed by using the length feedback signal of the steel plate; and the steel plate is continuously transported to the downstream system. The application has the beneficial effects that the automation degree of the head cutting shear area is improved, the shearing precision and transportation efficiency of products are improved, the operation of the operator is greatly simplified, and the plate yield is improved.

Description

Technical Field

[0001] The invention relates to an automatic control system for a crop shear and a control method thereof, and relates to the technical field of automatic shearing of steel plates. Background Art

[0002] Shearing of steel plates is a critical process in the production of steel plates, requiring high shearing quality, high production efficiency, and a high utilization rate. Improving the precision and automation of the steel plate shearing line is a key task in achieving these goals in the production of medium and thick steel plates. Shearing of medium and thick steel plates can be divided into several categories: head shearing, tail shearing, double-sided shearing, splitting, and cut-to-length shearing. The head shear is a key piece of shearing equipment, primarily removing the head of the strip during thin-gauge rolling to ensure a well-defined head shape in the finished strip.

[0003] Currently, operators in the crop shear area are required to manually operate the roller conveyor in front of the crop shear, the crop shear and its ancillary equipment, the roller conveyor behind the crop shear, and to temporarily remove steel plates from the production line when a plate transport blockage occurs. As a result, the crop shear area has a wide range of control equipment, complex operations, tedious manual operations, and variable control accuracy. Furthermore, the slab transport process is slow, and the degree of automation is low, impacting the production efficiency of the cooling bed and rolling area. Summary of the Invention

[0004] The purpose of the present invention is to address the defects or shortcomings in the existing technology and provide a head shear automation control system and method, which overcomes the above-mentioned defects, improves the degree of automation in the head shear area, improves product shearing accuracy and transportation efficiency, greatly simplifies the operator's operation, and improves the plate yield rate.

[0005] To achieve the above-mentioned object, the present invention adopts the following technical scheme: a crop shear automatic control system which comprises a first cooling bed 1 and a second cooling bed 2. The first cooling bed 1 and the second cooling bed 2 are arranged in parallel, and a cooling bed unloading roller 21 is provided on one side of the first cooling bed 1 and the second cooling bed 2. A first rangefinder 3 and a second rangefinder 19 are respectively provided on both sides of the cooling bed unloading roller 21. A printer 20 is provided between the first rangefinder 3 and the second rangefinder 19. An inspection stand 14 is provided on the side corresponding to the horizontal level of the cooling bed unloading roller 21 and the second cooling bed 2, a turnover machine is provided on the inspection stand 14, and a crop shear front roller 5 and a crop shear rear roller 10 are provided in parallel on the inspection stand 14 away from the side of the cooling bed unloading roller 21. A first laser speed measuring side length meter 6 and a second laser speed measuring side length meter 11 are respectively provided on the crop shear front roller 5 and the crop shear rear roller 10. A crop shear 9 is provided between the crop shear front roller 5 and the crop shear rear roller 10.

[0006] Furthermore, the cooling bed unloading roller 21 is provided with a first cold metal detector 22 near the second cooling bed 2, and a second cold metal detector 18 and a third cold metal detector 16 are provided near the inspection stand 14. Two fourth cold metal detectors 15 are provided on one side of the third cold metal detector 16, and a third rangefinder 17 is provided between the second cold metal detector 18 and the third cold metal detector 16.

[0007] Furthermore, a fourth rangefinder 4 is provided on one side of the front roller 5 of the cropping shear, and the position of the fourth rangefinder 4 corresponds to the third rangefinder 17. A fifth cold metal detector 13 is provided on the front roller 5 of the cropping shear near the first laser speed measuring side length meter 6, and a profile meter 7 is provided on the other side of the front roller 5 of the cropping shear near the first laser speed measuring side length meter 6. A light curtain 8 is also provided between the front roller 5 of the cropping shear and the cropping shear 9, and a sixth cold metal detector 12 is provided at the front end of the rear roller 10 of the cropping shear. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0009] Figure 1 It is a schematic diagram of the structural framework of the present invention;

[0010] Figure 2 It is a schematic diagram of the overall process of the present invention;

[0011] Figure 3 This is a schematic diagram of the automatic shearing process of the crop shears of the present invention;

[0012] Figure 4 It is a schematic diagram of APC speed control in the present invention.

[0013] Explanation of the accompanying symbols: first cooling bed 1, second cooling bed 2, first distance meter 3, fourth distance meter 4, front roller of crop shear 5, first laser speed and side length meter 6, profilometer 7, light curtain 8, crop shear 9, rear roller of crop shear 10, second laser speed and side length meter 11, sixth cold metal detector 12, fifth cold metal detector 13, inspection stand 14, fourth cold metal detector 15, third cold metal detector 16, third distance meter 17, second cold metal detector 18, second distance meter 19, inkjet printer 20, cooling bed unloading roller 21, first cold metal detector 22, waste hopper 23. DETAILED DESCRIPTION

[0014] See Figures 1-4As shown, an automatic control system for a crop shear comprises a first cooling bed 1 and a second cooling bed 2, which are arranged in parallel. The technical solution adopted in this specific embodiment is: in this embodiment, the cooling bed is used for online natural cooling of the steel plate, and the cooled steel plate is transported to the next link;

[0015] A cooling bed unloading roller 21 is provided on one side of the first cooling bed 1 and the second cooling bed 2. A first distance meter 3 and a second distance meter 19 are provided on both sides of the cooling bed unloading roller 21. The two distance meters are symmetrically arranged to perform centering detection on the steel plates conveyed to the cooling bed unloading roller from both sides to ensure the accuracy of the feeding position, and also complete the steel plate width measurement and the positioning before the steel plate is turned over.

[0016] A printer 20 is provided between the first distance meter 3 and the second distance meter 19. When the steel plate is conveyed on the cooling bed unloading roller, the signal handover with the printer is completed, and the printing action is automatically triggered. The two distance meters are used to control the distance between the front and rear steel plates to meet the printing requirements, and finally ensure the automatic and continuous printing action.

[0017] An inspection stand 14 is provided on one side of the cooling bed unloading roller 21 and the second cooling bed 2 at the same level. A plate turning machine is provided on the inspection stand 14. The automatic plate connection, positioning, plate turning, plate feeding and sideways of the steel plate are completed on the inspection stand. The lateral position of the steel plate on the inspection stand is tracked and the deflection of the steel plate in the process of being transported to the stand is monitored. It can be understood that in this embodiment, a human-machine interface is also provided, and the operation and detection of the equipment are performed through the human-machine interface. The steel plate is in a monitoring and tracking state throughout the whole process, and its status information will be displayed in the human-machine interface. When an abnormality occurs, an alarm prompt will be given through the human-machine interface.

[0018] The inspection platform 14 is provided with a front roller conveyor 5 and a rear roller conveyor 10 in parallel on the side away from the cooling bed unloading roller conveyor 21. The front roller conveyor 5 and the rear roller conveyor 10 are parallel conveying roller conveyors and are parallel conveying roller conveyors with the cooling bed unloading roller conveyor. The steel plate is connected and turned over by the inspection platform and then conveyed to the front roller conveyor of the crop shear. The steel plate is measured again on the front roller conveyor and then sheared. The steel plate is discharged by the rear roller conveyor, and the waste material is conveyed to the waste hopper 23 on one side.

[0019] More specifically, when the steel plate is being conveyed on the roller conveyor before the head cropping shear, it still needs to be measured to ensure shearing accuracy. In this embodiment, a first laser speed and length meter 6 and a second laser speed and length meter 11 are respectively provided on the roller conveyor before the head cropping shear 5 and the roller conveyor after the head cropping shear 10, for accurately measuring the length of the steel plate in real time and improving the accuracy of steel plate position tracking. The laser speed and length meter obtains the length of the steel plate before and after shearing, which serves as the main data basis for automatic shearing closed-loop control, forms a closed-loop control with the roller running speed, and provides the steel plate running speed data for the head contour system;

[0020] The head cutting shear 9 is arranged between the front roller table 5 of the head cutting shear and the rear roller table 10 of the head cutting shear, and the steel plate is sent to the head cutting shear for shearing after detection at the front end. The control system at the head cutting shear includes a data processing system, which is used for direct communication with the MES, receives the MES data, establishes initial data reception according to the information transmitted by the steel plate to the cooling bed, analyzes the PDI information, determines the routing direction of the steel plate: whether the steel plate is offline or online shearing, obtains the shearing requirements through the PDI information, generates the shearing procedure and sends it to the head cutting shear system, and at the same time, the measured data after shearing is fed back to the MES system, so as to form the sub-plate information for tracking, complete the automatic shearing and the conveying requirements of the steel plate.

[0021] More specifically, the first cold metal detector 22 is arranged near the second cooling bed 2, the second cold metal detector 18 and the third cold metal detector 16 are arranged near the inspection bench 14, and the third distance meter 17 is arranged between the second cold metal detector 18 and the third cold metal detector 16. In this embodiment, the first cold metal detector is used for initial position state detection, and the second cold metal detector is combined with the distance meter to control the distance of each steel plate, that is, the conveying speed, which is beneficial to control the shearing rhythm and mark the steel plate during conveying at the front end. The second and third cold metal detectors are used for position positioning when the steel plate is conveyed to the position of the inspection bench, so as to ensure that the steel plate can be accurately received at the position of the inspection bench, and the position before the steel plate is turned over is accurately measured by the third distance meter, so as to ensure the accuracy of the conveying position and the alignment with the inspection bench.

[0022] The two fourth cold metal detectors 15 are arranged on one side of the third cold metal detector 16. If the steel plate has a problem and needs to be offline during conveying, it will not stop at the position of the inspection bench and continue to be conveyed. Whether it is in place is determined by the fourth cold metal detector, and offline operation is performed after it is in place. The offline operation is intervened by a person and performed on the man-machine interaction interface.

[0023] More specifically, the fourth distance meter 4 is arranged on one side of the head cutting shear front roller table 5. The position of the fourth distance meter 4 corresponds to the position of the third distance meter 18, which can better monitor the position distance during roller conveying.

[0024] The fifth cold metal detector 13 is arranged at the position close to the first laser speed side length instrument 6 of the head cutting shear front roller 5, and the profile gauge 7 is arranged at the position away from the first laser speed side length instrument 6 of the head cutting shear front roller 5. One set of head and tail profile system is installed at the position 5 meters away from the head cutting shear, the stereo vision measurement principle is applied, two linear array CCD cameras are used as sensors to simultaneously measure the positions of the two side edges of the steel plate, the digital signals output by the cameras are processed by a signal processor to find the edges of the images, the spatial positions of the edges of the steel plate are calculated according to the geometric relationship of the camera installation, the images are spliced, the errors caused by the vibration, jumping and tilting of the steel plate are corrected, the external profile value is calculated, the cutting line is determined according to the edge mutation, the absolute length of the external profile edge from the cutting line is finally calculated, the profile gauge preferentially identifies the line drawn by the inspector, and the length of the line from the head is calculated;

[0025] The light curtain 8 is further arranged between the head cutting shear front roller 5 and the head cutting shear 9, and the sixth cold metal detector 12 is arranged at the front end of the head cutting shear rear roller 10. The steel plate is automatically cut and cut to size after the steel plate is detected by the light curtain to be transported to the cutting position. The manual control of the head cutting shear is reserved to ensure manual operation in an abnormal state. After the high position of the cutting blade of the head cutting shear reaches the specified position, the steel plate is transported. If the specified position is not reached, the transportation is not started. The operator selects whether the steel plate is offline through the man-machine interaction interface. If the steel plate is selected to be offline, the steel plate is automatically controlled to enter the offline area, and after the steel plate is moved away, the next steel plate is transported. If the steel plate is selected not to be offline, the steel plate is automatically controlled to the cutting area, and after the steel plate is moved away, the next steel plate is transported. The entire transportation and detection process is based on the APC position closed loop control to realize high-precision positioning.

[0026] The APC control is the control basis of the automatic cutting of the head cutting shear. The positioning accuracy and the positioning speed are directly related to the product quality and the production speed. The reference of the APC positioning is the length target value of the cutting procedure of each sub-plate.

[0027] The system calculates the length deviation ΔS (target value-actual value) according to the actual length fed back by the length measuring instrument. The relationship between the roller speed V and the roll gap deviation ΔS is as follows:

[0028]

[0029] The polarity of the speed V is determined according to the positive and negative of ΔS. The size of K can also be adjusted in sections according to the size of ΔS. The limit characteristic and the dead zone characteristic are used. When |ΔS| is greater than the deceleration point, |V| = Vmax. When |ΔS| is less than the dead zone value, V = 0.

[0030] Due to the particularity of roller conveying steel plates, too fast speed increase or decrease may cause relative sliding between the steel plate and the roller, affecting the actual positioning accuracy. In order to ensure the accuracy and high speed of roller positioning, it is necessary to specify different maximum speeds Vmax and slopes K within different deviation ranges to ensure that no relative sliding occurs during final positioning. At the same time, a wide range of high-speed areas should be guaranteed as much as possible to improve the shearing rhythm.

[0031] This embodiment also provides a method for controlling an automated shearing machine. Taking medium and thick plates as an example, the specific process of the entire shearing automation is as follows:

[0032] The cooling bed unloading roller, the crop shear front roller and the crop shear rear roller are started to transport the steel plate to be sheared. After the steel plate enters the cooling bed unloading roller, the roller running speed is integrated to track the position of the head and tail of the steel plate, and the position is corrected when it passes the corresponding sensor on the line;

[0033] The steel plates are tracked and positioned in the entire area. The entire feeding and shearing process is tracked and positioned by various detectors and side distance meters. The data is fed back to the central control and displayed through the human-computer interaction interface.

[0034] Measure the width of the steel plate and the positioning before turning the plate. During the feeding process, before turning the plate, measure the width of the steel plate to provide accurate shearing data;

[0035] Determine whether to go off the line. If yes, manually select to go off the line. Otherwise, automatically pick up the plate, position, turn over, send the plate and pull over. If the steel plate is detected to be unqualified, it will not be sent and the steel plate will continue to be transported forward to the two fourth cold metal detector positions for going off the line. The qualified steel plate will be picked up and turned over at the inspection platform position.

[0036] Real-time and accurate measurement of steel plate length, cooling correction, and continued measurement of steel plate length after the plate flipping operation is completed to ensure the accuracy of front-end measurement;

[0037] Identify the head contour, width and possible markings of the steel plate. A profilometer detection device is installed on the roller table before the head shear to detect the edge spatial position of the steel plate and calculate the absolute length of the outer contour edge of the steel plate from the shear line.

[0038] Automatically calculate the shearing procedures, including identifying the steel plate head profile, width and possible markings, processing and storing shearing data, receiving the cooling bed unloading plate data, confirming the steel plate processing path, and storing the completed shearing plate data;

[0039] Automatically trim and cut steel plates to length. The speed and length measuring device at a distance before and after the trimming shear accurately measures the length of the steel plate in real time. The steel plate is cooled and corrected according to the temperature of the steel plate, and the steel plate is automatically trimmed. The speed data of the steel plate is also provided to the contour detection device.

[0040] The steel plate length feedback signal is used to perform position closed-loop control. In automatic mode, the PLC controls the speed of the roller and receives the steel plate length feedback signal detected by the speed and length measuring instrument to form a position closed-loop control to provide accurate positioning in the length direction of the steel plate.

[0041] Continue to transport to the downstream system.

[0042] The specific process of automatic cutting and cutting of steel plates is as follows: when a steel plate is transported to a cutting position, it is detected whether there is a cutting line on the surface of the steel plate. If there is no cutting line, the arc of the steel plate is cut cleanly to the root; if there is a cutting line, it is cut along the line. The length of each cutting, that is, the distance from the most protruding arc head of the steel plate to the edge of the lower shear blade, does not exceed the specified length;

[0043] Determine whether the motherboard has camber. When the plate shape is good, the motherboard length < 20m is not segmented. When the motherboard length > 20m, it is divided into two segments according to the length calculated by MES. When the plate shape is bad, according to the segmentation information provided by MES, if the motherboard is cut into three parts, it is segmented at a ratio of 1:2; if the motherboard is cut into four parts, it is segmented at a ratio of 2:2, and so on. When the steel plate is manually selected for offline production, it is segmented according to the MES plan, and the length of each segment is ≤ 12m.

[0044] Steel plates of specified material, thickness and length may pass straight through the plate without segmentation;

[0045] When there is no material head or debris on the transport chain, no material head or debris on the transition roller and the unloading roller, and the waste hopper is not full, the sheared plate heads are transported, but the number of material heads on the transport chain shall not exceed 3 pieces. To avoid overload, the steel plate offline option is set in the human-machine interaction interface, and manual intervention is used to control whether to go offline. If the sheared steel plate needs to be offline, it will be automatically controlled to the offline area, and the next plate can only be delivered after the crane moves the steel plate away. If the sheared steel plate does not need to be offline, it will be automatically controlled to the shearing area, and the next plate can only be delivered after the steel plate is removed.

[0046] The automatic control process of the crop shear in this embodiment specifically includes the following steps:

[0047] Step 1: Cooling: The rolled steel plate is slowly cooled online by the first cooling bed 1 and the second cooling bed 2;

[0048] Step 2: feeding, the cooling bed unloading roller 21, the crop shear front roller 5 and the crop shear rear roller 10 are started to transport the steel plate to be sheared;

[0049] Step 3: Printing: When the steel plate passes through the printer 20 on the cooling bed unloading roller 21, the printing action is triggered to print the shear line on the steel plate;

[0050] Step 4: Measurement and positioning before turning the plate, using the second cold metal detector 18 and the third cold metal detector 16 to complete the positioning of the front and rear ends of the steel plate turning plate;

[0051] Step 5: Turning the plate. After the head and tail positioning of the steel plate is completed, the automatic plate connection, positioning, turning the plate, feeding the plate and pulling to the edge are completed by the inspection stand 14.

[0052] Step six, data acquisition. After the steel plate is turned over on the inspection platform, it is transported to the roller 5 in front of the head shear through the conveyor roller. The first laser speed measuring side length meter 6 obtains the length of the steel plate before shearing, which is used as the main data basis for automatic shearing closed-loop control and provides the head contour system with steel plate running speed data. A set of contour meters 7 is installed 5 meters in front of the head shear 9. The principle of stereo vision measurement is applied. Two linear array CCD cameras are used as sensors to measure the edge positions of both sides of the steel plate at the same time. The digital signal output by the camera is used by the signal processor to find the edge of the image. The spatial position of the edge of the strip is calculated according to the geometric relationship of the camera installation and the image splicing is completed. At the same time, the errors caused by vibration, jumping, tilt, etc. of the steel strip are corrected, the external contour value is calculated, and the shear line is determined according to the edge mutation. Finally, the absolute length of the external contour edge from the shear line is calculated. The contour meter preferentially recognizes the inspector's markings and calculates the length of the markings from the head.

[0053] Step 7: Shearing. The light curtain 9 detects that the steel plate has been transported to the shearing position, and the steel plate is automatically trimmed and cut to length. The manual control of the crop shear is retained to ensure that manual operation can be performed under abnormal conditions. After shearing, the waste enters the waste hopper. After the upper cutting blade of the crop shear reaches the designated position, the steel plate is transported.

[0054] To be more specific, in step 2, during the feeding process, the storage system receives the PDI data of the plate unloaded from the cooling bed, confirms the downstream processing path of the incoming material, and selects the steel plate to be unloaded from the line or enter the inspection stand.

[0055] After adopting the above technical solution, the beneficial effects of the present invention are as follows: the positions of all steel plates are located and tracked by multiple sensors, and the speed and length measuring device in the cropping shear area is used to improve the shearing accuracy of the cropping shear, assist in controlling the roller and checking the operating status of the stand, effectively improve the shearing rhythm, complete the real-time measurement of the steel plate length and perform cooling correction, and cooperate with the contour detection device to effectively improve the shearing accuracy, reduce the complexity of manual operation and the occurrence of operational errors, and effectively improve the degree of automation.

[0056] The above description is only used to illustrate the technical solution of the present invention and is not intended to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A crop shear automation control system, characterized by: The invention comprises a first cooling bed (1) and a second cooling bed (2). The first cooling bed (1) and the second cooling bed (2) are arranged in parallel. A cooling bed unloading roller (21) is arranged on one side of the first cooling bed (1) and the second cooling bed (2). A first distance meter (3) and a second distance meter (19) are respectively arranged on both sides of the cooling bed unloading roller (21). A printing machine (20) is arranged between the first distance meter (3) and the second distance meter (19). An inspection stand (14) is arranged on the side corresponding to the horizontal plane of the cooling bed unloading roller (21) and the second cooling bed (2). A plate turning machine is arranged on the inspection stand (14). A head shear front roller (5) and a head shear front roller (5) are arranged in parallel on the side of the inspection stand (14) away from the cooling bed unloading roller (21). The rear roller conveyor (10), the roller conveyor before the cropping shear (5) and the roller conveyor after the cropping shear (10) are respectively provided with a first laser speed measuring side length meter (6) and a second laser speed measuring side length meter (11); a crop shear (9) is provided between the roller conveyor before the cropping shear (5) and the roller conveyor after the cropping shear (10); the roller conveyor before the cropping shear (5) and the roller conveyor after the cropping shear (10) are parallel conveying roller conveyors, and are parallel conveying roller conveyors with the cooling bed unloading roller conveyor (21); the steel plate is transported to the roller conveyor before the cropping shear (5) after being connected and turned over by the inspection stand (14); the steel plate is measured again on the roller conveyor before the cropping shear (5) and then sheared, and is output by the roller conveyor after the cropping shear (10); and the waste material is transported to a waste material hopper (23) on one side; The cooling bed unloading roller (21) is provided with a first cold metal detector (22) near the second cooling bed (2), and a second cold metal detector (18) and a third cold metal detector (16) are provided near the inspection platform (14). Two fourth cold metal detectors (15) are provided on one side of the third cold metal detector (16), and a third rangefinder (17) is provided between the second cold metal detector (18) and the third cold metal detector (16). The first cold metal detector is used for initial position state detection, and the distance between each steel plate is controlled by the second cold metal detector and the rangefinder. The second and third cold metal detectors cooperate with each other to locate the position of the steel plate when it is transported to the position on one side of the inspection platform, ensuring that the steel plate can be accurately connected to the plate when it is at the inspection platform position. During the steel plate transportation process, if there is a problem with the steel plate and it needs to be taken offline, it will not stay at the inspection platform position, but will continue to be transported. The fourth cold metal detector is used to determine whether it is in place, and the offline operation is performed after it is in place.

2. The automatic control system for crop shears according to claim 1, characterized in that: A fourth distance meter (4) is provided on one side of the front roller conveyor (5) of the cropping shear, and the position of the fourth distance meter (4) corresponds to the third distance meter (17). A fifth cold metal detector (13) is provided on the front roller conveyor (5) of the cropping shear near the first laser speed measuring side length meter (6). A profile meter (7) is provided on the other side of the front roller conveyor (5) of the cropping shear near the first laser speed measuring side length meter (6). A light curtain (8) is also provided between the front roller conveyor (5) of the cropping shear and the cropping shear (9). A sixth cold metal detector (12) is provided at the front end of the rear roller conveyor (10) of the cropping shear.

3. A crop shear automation control method, applied to a crop shear automation control system according to any one of claims 1 to 2, characterized in that: It includes the following specific processes: starting the cooling bed unloading roller, the roller before the crop shear and the roller after the crop shear, and transporting the steel plates to be sheared; Track and locate steel plates in the entire area; Measure the width of the steel plate and position it before flipping; Determine whether to go offline, if yes, manually select to go offline, otherwise automatically receive, position, flip, send and pull to the side; Real-time and accurate measurement of steel plate length for cooling correction; Identify the steel plate head profile, width and possible markings; Automatic calculation of crop shear cutting procedures; Automatic cutting and cutting of steel plates; Use the steel plate length feedback signal to perform position closed-loop control; Continue to transport to the downstream system.

4. The automatic control method for a crop shear according to claim 3, characterized in that: The specific process of automatic cutting and cutting of steel plates is as follows: when a steel plate is transported to a cutting position, it is detected whether there is a cutting line on the surface of the steel plate. If there is no cutting line, the arc of the steel plate is cut cleanly to the root; if there is a cutting line, it is cut along the line. The length of each cutting, that is, the distance from the most protruding arc head of the steel plate to the edge of the lower shear blade, does not exceed the specified length; Determine whether the motherboard has camber. When the plate shape is good, the motherboard length < 20m is not segmented. When the motherboard length > 20m, it is divided into two segments according to the length calculated by MES. When the plate shape is bad, according to the segmentation information provided by MES, if the motherboard is cut into three parts, it is segmented at a ratio of 1:2; if the motherboard is cut into four parts, it is segmented at a ratio of 2:2, and so on. When the steel plate is manually selected for offline production, it is segmented according to the MES plan, and the length of each segment is ≤ 12m. Steel plates of specified material, thickness and length are not segmented and pass straight through the plate; When there is no material head or debris on the transport chain, no material head or debris on the transition roller and the unloading roller, and the waste hopper is not full, the sheared plate heads are transported, but the number of material heads on the transport chain shall not exceed 3 pieces to avoid overload. The steel plate offline option is set in the human-machine interaction interface, and manual intervention is used to control whether to offline. If the sheared steel plate needs to be offline, it will be automatically controlled to the offline area. The next plate can only be delivered after the crane moves the steel plate away. If the sheared steel plate does not need to be offline, it will be automatically controlled to the shearing area. The next plate can only be delivered after the steel plate is removed.

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