Automatic control system and method of magnetic crane for electromagnetic hoisting of single medium-thickness plate

Abstract

The invention discloses an automatic control system and method of a magnetic crane for electromagnetic hoisting of a single medium plate, and belongs to the technical field of automatic control of magnetic cranes, the system comprises a hoisting absolute value encoder, an interface module, a weight sensor, a controller, a current adjusting module and a man-machine interaction module; the controller obtains specification data of the medium-thickness plate from the production execution system, and calculates a weight estimation value of the medium-thickness plate and a current reference value required by hoisting; the current adjusting module is controlled to operate, and the magnetic crane is controlled to hoist the medium-thickness plate; in the process that the medium-thickness plate is hoisted, measurement data of the hoisting absolute value encoder and the weight sensor are obtained in real time, and the actual weight value of the medium-thickness plate is calculated; and judging the working state of the current magnetic crane, and adjusting the hoisting current until the single-sheet thick plate can be successfully hoisted. The safety and stability of a transportation site can be guaranteed, and the occurrence probability of subsequent machining faults of the medium-thickness plate is effectively reduced.

Description

Technical Field

[0001] The invention relates to the technical field of automatic control of magnetic cranes, and in particular to an automatic control system and method of a magnetic crane for electromagnetic lifting of a single medium-thick plate. Background Art

[0002] Medium and thick plates are important raw materials for the development of the national economy and are widely used in important national economic fields such as infrastructure, engineering machinery, transportation, energy and environmental protection, national defense and military industry. In the production process, medium and thick plates need to undergo multiple subsequent heat treatment and finishing processes after rolling and forming. The transportation between each process is mainly achieved by an electromagnetic lifting device that adopts the electromagnetic principle. When the electromagnet of the electromagnetic crane is energized, the current passes through the electromagnet to generate a magnetic field, which firmly adsorbs the medium and thick plates for transportation. After hoisting to the destination, the power is cut off, the magnetism disappears, and the medium and thick plates are released. The electromagnetic lifting can automatically complete the lifting needs of medium and thick plates on and off the line, which can effectively reduce costs and the labor intensity of staff and improve production efficiency.

[0003] Since medium and thick plates are stacked in stacking style at various intermediate storage locations, when the electromagnetic crane is lifting and transporting, it is very likely that overlapping plates will occur, that is, two or even more medium and thick plates are lifted at the same time, especially for medium and thick plates with small thickness. This kind of multi-plate lifting situation is not only prone to steel plates falling during the lifting process, causing product damage, equipment damage, and even very serious production accidents such as casualties, which is extremely dangerous; even if there is no falling accident, the transportation of multiple plates will have a great impact on the subsequent process flow, making it difficult for subsequent processing to meet process requirements and even causing damage to mechanical equipment in subsequent processes. To address this problem, the existing solution is generally to manually complete real-time monitoring of medium and thick plate lifting operations and manually intervene when overlapping plates occur. This method will significantly increase the labor intensity of workers and the labor costs of enterprises, and at the same time cannot guarantee good monitoring results.

[0004] There are also proposals to use image acquisition technology to monitor the hoisting of medium and thick plates, and then use manual or machine vision to determine whether there is a stacking of plates. For example, the team of Baoshan Iron & Steel Co., Ltd. proposed an on-site monitoring system that uses high-definition cameras instead of manual work (Baoshan Iron & Steel Co., Ltd. A system for preventing stacking plates on a magnetic hoist and its monitoring method: CN201910210659.2[P].2020-09-29.), but this solution involves considerable additional costs and the system design is complex. In addition, when facing some thinner medium and thick plates, due to the small thickness difference and the abnormally smooth shear edge of the steel plate that is difficult to distinguish, it is difficult to achieve ideal results whether relying on manual identification or machine vision technology.

[0005] In addition, the technical team of Shagang Group proposed a control method based on the single-plate release function of the overhead crane electromagnetic crane (Nantong COSCO Shipping Heavy Industry Equipment Co., Ltd. An electromagnetic crane steel plate flow control system and its operation method: CN202310839045.7[P]. 2023-11-28.), which uses the hysteresis of magnetic force decay during the demagnetization process of the electromagnet to solve the problem of single-piece lifting of medium and thick plates in disguise. However, there is still a risk of steel plates falling off during the lifting of medium and thick plates in stacked form, and during the release period, on-site staff still need to continuously press the power-off button to perform the release operation. This solution still has a lot of room for improvement.

[0006] In summary, the existing magnetic crane control technology needs to rely on manual identification or machine vision technology, and the control effect is not ideal. Summary of the invention

[0007] The present invention provides a magnetic crane automatic control system and method for electromagnetic lifting of single medium and thick plates, so as to solve the technical problem that the existing magnetic crane control technology needs to rely on manual identification or machine vision technology for real-time monitoring of medium and thick plate lifting operations, and the control effect is not ideal.

[0008] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0009] On the one hand, the present invention provides a magnetic hoist automatic control system for electromagnetic lifting of medium and thick plates, the magnetic hoist automatic control system for electromagnetic lifting of medium and thick plates comprises: a lifting absolute value encoder, an interface module, a weight sensor, a controller, a current adjustment module and a human-computer interaction module; wherein,

[0010] The weight sensor and the lifting absolute value encoder are connected to the controller through the interface module respectively; at the same time, the controller is also connected to the current adjustment module, the human-computer interaction module and the production execution system of the steel enterprise; and the current adjustment module is also connected to the controlled magnetic crane;

[0011] The lifting absolute value encoder is used to measure the height data of the lifted medium and thick plate;

[0012] The weight sensor is used to measure the weight data of the lifted medium and thick plate;

[0013] The human-computer interaction module is used to realize human-computer interaction during the operation of the magnetic crane automatic control system;

[0014] The controller is used to:

[0015] Acquire specification data of the medium and thick plate from the production execution system, and calculate an estimated weight value of the medium and thick plate and a reference value of current required for lifting based on the specification data of the medium and thick plate;

[0016] After calculating the current reference value required for lifting, controlling the current adjustment module to operate, transmitting the currently calculated current reference value required for lifting to the magnetic crane, and controlling the magnetic crane to lift the medium and thick plate;

[0017] When the medium and thick plate is being hoisted, the measurement data of the lifting absolute value encoder and the weight sensor are obtained in real time, and the actual weight value of the medium and thick plate is calculated based on the obtained measurement data;

[0018] Based on the actual weight value of the medium and thick plate and the estimated weight value of the medium and thick plate, the current working state of the magnetic crane is judged, and the reference value of the current required for lifting is readjusted according to the judgment result until a single medium and thick plate can be successfully lifted.

[0019] Furthermore, the lifting absolute value encoder is installed on the rotating shaft of the large gear on the side of the lifting hoist of the controlled magnetic crane, and is coaxially connected to the large gear on the side of the lifting hoist.

[0020] Furthermore, there are two weight sensors; the two weight sensors are respectively installed at the lower ends of two steel wire ropes of the hanging beam of the controlled magnetic crane, and the lower ends of the weight sensors are connected to the electromagnetic suction cup of the magnetic crane.

[0021] Furthermore, the specification data includes the length, width, thickness and density of the medium and thick plate.

[0022] Further, the weight estimation value of the medium and thick plate and the reference value of the current required for lifting are calculated based on the specification data of the medium and thick plate, including:

[0023] Calculate the estimated weight of the medium and thick plate to be lifted. The calculation formula is:

[0024] m e =ρ×a×b×h

[0025] Among them, m e is the estimated weight of the medium and thick plate to be lifted; ρ is the density of the medium and thick plate to be lifted; a is the length of the medium and thick plate to be lifted; b is the width of the medium and thick plate to be lifted, and h is the thickness of the medium and thick plate to be lifted;

[0026] According to the estimated weight of the medium and thick plate to be lifted, the set value F of the electromagnetic force is calculated using the following formula:

[0027] F=(1+μ)×m e ×g

[0028] Wherein, g is the acceleration of gravity; μ is the electromagnetic force compensation proportional coefficient, and its value range is 0.2~1.2;

[0029] According to the set value of electromagnetic force, the reference value of current required for lifting is calculated. The calculation formula is:

[0030]

[0031] Where i is the reference value of the current required for lifting; S j1 is the equivalent working area of ​​the inner pole; S j2 is the equivalent working area of ​​the outer pole; R m is the magnetic resistance of the motor electromagnet magnetic circuit; W is the number of turns of the motor electromagnet coil.

[0032] Furthermore, in the process of lifting the medium and thick plate, the measurement data of the lifting absolute value encoder and the weight sensor are obtained in real time, and the actual weight value of the medium and thick plate is calculated based on the obtained measurement data, including:

[0033] When the medium and thick plate is being hoisted, the height data measured by the lifting absolute value encoder is obtained in real time to determine whether the current medium and thick plate is hoisted to a preset equilibrium position;

[0034] After the medium and thick plate is lifted to the preset balance position, the weight data measured by the two weight sensors are obtained in real time. When the change curves of the measurement data of the two weight sensors tend to be stable, the actual weight value of the medium and thick plate is calculated based on the weight data measured by the two weight sensors.

[0035] Furthermore, the calculation formula for the actual value of the weight of the medium and thick plate is:

[0036]

[0037] Among them, m r is the actual weight value of the medium and thick plate; m1 and m2 are the weight data measured by two weight sensors respectively; k is the measurement compensation proportional coefficient, and its value range is 0.9~1.1.

[0038] Further, judging the current working state of the magnetic crane based on the actual weight value of the medium and thick plate and the estimated weight value of the medium and thick plate includes:

[0039] If the measured actual weight of the medium and thick plate is less than the estimated weight of the medium and thick plate, it means that the current magnetic crane fails to successfully lift the medium and thick plate;

[0040] If the measured actual weight of the medium and thick plate is greater than the estimated weight of the medium and thick plate, but less than 1+β times of the estimated weight of the medium and thick plate, it means that the current magnetic crane successfully lifts the medium and thick plate, and the number of lifted medium and thick plates is 1;

[0041] If the actual weight of the medium and thick plate measured is greater than 1+β times the estimated weight of the medium and thick plate, it means that although the current magnetic crane successfully lifts the medium and thick plate, the number of lifts is greater than or equal to 2;

[0042] Among them, β is the difference compensation proportional coefficient, and its value range is 0.6~1.2.

[0043] Further, the step of re-adjusting the reference value of the current required for hoisting according to the judgment result includes:

[0044] If the number of medium and thick plates to be hoisted is 1, there is no need to adjust the reference value of the current required for hoisting;

[0045] If the current magnetic crane fails to successfully lift the medium and thick plate, the magnetic crane is controlled to descend and return to the lifting position, and the value of the electromagnetic force compensation proportional coefficient is increased, thereby increasing the current reference value required for lifting, and then the lifting operation is performed again according to the adjusted current reference value required for lifting until a single medium and thick plate can be successfully lifted;

[0046] If the current lifting quantity is greater than or equal to 2, the magnetic lift is controlled to descend and return to the lifting position, and the value of the electromagnetic force compensation proportional coefficient is reduced, thereby reducing the current reference value required for lifting, and then the lifting operation is performed again according to the adjusted current reference value required for lifting until a single medium and thick plate can be successfully lifted;

[0047] Whenever a single piece of medium and thick plate is successfully lifted, the value of the current electromagnetic force compensation proportional coefficient is recorded and statistically summarized to find the optimal value of the electromagnetic force compensation proportional coefficient, which is then applied to the calculation of the set value of the electromagnetic force for the next lifting process to reduce the debugging workload in future use.

[0048] On the other hand, the present invention also provides a magnetic crane automatic control method implemented by using the above-mentioned magnetic crane automatic control system, and the magnetic crane automatic control method comprises:

[0049] Obtaining specification data of the medium and thick plates from the production execution system, and calculating an estimated weight value of the medium and thick plates and a reference value of current required for lifting based on the specification data of the medium and thick plates;

[0050] After calculating the current reference value required for lifting, the current adjustment module is controlled to run, and the currently calculated current reference value required for lifting is transmitted to the magnetic crane, so as to control the magnetic crane to lift the medium and thick plate;

[0051] When the medium and thick plate is being hoisted, the measurement data of the lifting absolute encoder and the weight sensor are obtained in real time, and the actual weight value of the medium and thick plate is calculated based on the obtained measurement data;

[0052] Based on the actual weight value of the medium and thick plate and the estimated weight value of the medium and thick plate, the current working state of the magnetic crane is judged, and the reference value of the current required for lifting is readjusted according to the judgment result until a single medium and thick plate can be successfully lifted.

[0053] The beneficial effects brought about by the technical solution provided by the present invention include at least:

[0054] The present invention provides an electromagnetic crane automatic control system and method for lifting single medium and thick plates based on single plate weighing and electromagnetic force closed-loop control, which improves the problem of over-reliance on manual identification and machine vision technology in current magnetic crane control to avoid overlapping plates. The technical solution of the present invention adjusts the working current passing through the electromagnet in real time by judging and monitoring the lifting weight of the electromagnetic crane, and then adjusts its electromagnetic force according to the obtained lifting set value, thereby achieving safe and stable lifting of single medium and thick plates. It can not only reduce the dependence on manual labor in the supervision process of electromagnetic lifting and improve labor productivity; it can also effectively prevent serious accidents caused by the lifting of overlapping plates, ensure the safety and stability of the transportation site, and effectively reduce the probability of subsequent processing failures of medium and thick plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. 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 creative work.

[0056] Figure 1 It is a structural schematic diagram of a magnetic hoist automatic control system for electromagnetic hoisting of a single piece of medium and thick plate provided by an embodiment of the present invention;

[0057] Figure 2 It is a schematic diagram of the execution flow of the magnetic hoist automatic control method for electromagnetic lifting of a single piece of medium and thick plate provided by an embodiment of the present invention.

[0058] Description of reference numerals:

[0059] 1. Lifting absolute encoder; 2. Interface module; 3. Weight sensor; 4. Controller;

[0060] 5. Current adjustment module; 6. Human-computer interaction module; 7. Production execution system; 8. Driving;

[0061] 9. Electromagnetic hanging beam; 10. Steel wire rope; 11. Electromagnetic suction cup; 12. Medium and thick plate. DETAILED DESCRIPTION

[0062] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0063] First of all, it should be noted that in the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "exemplarily" is intended to present the concept in a concrete way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0064] This embodiment provides a magnetic lifting automatic control system for electromagnetic lifting of medium and thick plates. The structure of the magnetic lifting automatic control system is as follows: Figure 1 As shown, it includes: a lifting absolute value encoder 1, an interface module 2, a weight sensor 3, a controller 4, a current adjustment module 5 and a human-computer interaction module 6. Among them, the controller 4 is the core of the entire control system. It is connected to the production execution system (MES system) 7 of the steel enterprise through Ethernet to obtain the relevant data of the medium and thick plates, so as to calculate the estimated weight value of a single medium and thick plate and the estimated value of the current required for lifting. At the same time, the controller 4 is connected to the lifting absolute value encoder 1 and the weight sensor 3 respectively through the interface module 2. In addition, the controller 4 is also connected to the current adjustment module 5 and the human-computer interaction module 6 respectively; and the current adjustment module 5 is also connected to the controlled magnetic hoist; the weight sensor 3 is used to measure the weight data of the lifted medium and thick plate; in the process of measuring the weight of the medium and thick plate, the lifting absolute value encoder 1 is used to measure the height data of the lifted medium and thick plate; the controller 4 reads the height data and the weight measurement value for calculation, and compares the data with the estimated value calculated before, so as to control the operation of the current adjustment module 5 according to the result. In addition, the relevant data processed by the controller 4 will be transmitted to the human-computer interaction module 6 for display and storage, so that on-site personnel can monitor the system operation in real time and manually intervene in time at critical moments.

[0065] Specifically, Figure 1 As shown, the lifting absolute value encoder 1 is installed on the rotating shaft of the large gear on the side of the lifting winch of the electromagnetic crane's traveling crane 8, and is coaxially connected so that the speed of the lifting absolute value encoder 1 is the same as the speed of the large gear. The small gear is connected to the lifting motor shaft, the small gear rotates fast, and the large gear rotates slowly, so that the lifting height changes more slowly. In addition, the lifting height of the control method of the present invention is very small during the weight measurement process, which can be regarded as the stroke of the large gear consistent with the actual height change. Therefore, this design can effectively ignore many errors in the mechanical structure, thereby obtaining more accurate lifting height information.

[0066] Two weight sensors 3 are respectively installed at the lower ends of the two steel wires 10 of the electromagnetic hanging beam 9. The lower ends of the two sensors are connected to the electromagnetic suction cup 11 of the electromagnetic hanger. The value measured by the weight sensor 3 is related to the tension of the steel wire 10. The tension of the steel wire 10 causes deformation, resulting in a change in the value, thereby measuring the weight of the medium and thick plate 12 hoisted by the electromagnetic suction cup below. During the measurement process, each sensor will read a weight measurement value, which will be transmitted to the controller 4, which will calculate and obtain the actual weight of the medium and thick plate. This measurement method can reduce the weight fluctuation caused by the shaking of the electromagnetic suction cup during the weight collection process, thereby avoiding the occurrence of inaccurate readings.

[0067] The human-computer interaction module 6 will display the data obtained from the production execution system 7 and the calculated reference value of the weight of the medium and thick plate, the actual value of the weight measured by the weight sensor, the current passing through the electromagnet, etc. Under normal circumstances, the control system can achieve closed-loop control through the feedback mechanism to accurately adjust the current; if there are unstable factors, the on-site staff can also manually adjust through the human-computer interaction module 6.

[0068] The process of realizing the automatic control method of magnetic crane by using the above-mentioned magnetic crane automatic control system for electromagnetic lifting of medium and thick plates is as follows: Figure 2 As shown, specifically, the magnetic crane automatic control method includes:

[0069] Step 1: Acquisition and calculation of medium and thick plate data.

[0070] Obtain the specification data of the medium and thick plates from the production execution system, and calculate the reference value of the electromagnetic lifting work before performing lifting and transportation based on the specification data of the medium and thick plates read from the production execution system. Specifically including:

[0071] Step 11, before the electromagnetic crane is lifted, the control system will read the detailed specification data of the medium and thick plates from the steel company's production execution system (MES system), including: the shape data and material properties of the medium and thick plates. Among them, the shape data includes: the length, width and thickness of the medium and thick plates, and the material properties include: the density and electromagnetic properties of the medium and thick plates. Since the medium and thick plates themselves are obtained by processing and shearing, they can be regarded as ideal rectangles with uniform density. From this, the estimated weight of the medium and thick plates to be lifted can be calculated, and the calculation formula is:

[0072] m e =ρ×a×b×h

[0073] Among them, m e is the estimated weight of the medium and thick plate to be lifted; ρ is the density of the medium and thick plate to be lifted; a is the length of the medium and thick plate to be lifted; b is the width of the medium and thick plate to be lifted, and h is the thickness of the medium and thick plate to be lifted;

[0074] Step 12, during the electromagnetic lifting and lowering process of medium and thick plates, the electromagnetic crane cannot always maintain uniform motion. Especially during the lifting stage, the steel plate will experience an upward acceleration process. According to Newton's second law, the electromagnetic force provided by the electromagnetic crane to the medium and thick plates at this time must be greater than the plate's own gravity. In addition, during the electromagnetic lifting process, there are many interference factors, such as fluctuations in current size, shaking of the electromagnetic suction cup, etc. In order to ensure the safety and stability of electromagnetic lifting, it is necessary to set an electromagnetic force reference value that can stably adsorb a single medium and thick plate but will not adsorb multiple steel plates. Such a reference value can ensure safety and stability during the lifting process.

[0075] Therefore, the reference value F of the electromagnetic force can be set as follows according to the estimated weight of the medium and thick plate:

[0076] F=(1+μ)×m e ×g

[0077] Wherein, g is the acceleration of gravity; μ is the electromagnetic force compensation proportional coefficient, and its value range is 0.2~1.2;

[0078] Step 13, according to the set value of the electromagnetic force, calculate the reference value of the current required for lifting, the calculation formula is:

[0079]

[0080] Where i is the reference value of the current required for lifting; S j1 is the equivalent working area of ​​the inner pole; S j2 is the equivalent working area of ​​the outer pole; R m is the magnetic resistance of the motor electromagnet magnetic circuit; W is the number of coil turns of the motor electromagnet (for a fixed electromagnet, the number of coil turns is fixed and is a constant).

[0081] Step 2: Use electromagnetic crane to lift and weigh.

[0082] According to the calculated reference value of the current required for lifting, the electromagnetic crane is energized and magnetized through the current adjustment module, so that the medium and thick plates are adsorbed on the electromagnetic crane, and the weight of the lifted steel plate is measured. Specifically including:

[0083] Step 21, setting the equilibrium position of the electromagnetic crane after lifting, so as to measure the actual weight of the adsorbed medium and thick plates.

[0084] In step 22, the controller controls the current adjustment module to energize the electromagnetic crane to generate electromagnetic force according to the current reference value calculated in step 1, so that the medium and thick plates are adsorbed on the electromagnetic crane, and while reading the data from the lifting absolute encoder in real time, the electromagnetic crane is raised to the balance position set in step 21 through the transmission system.

[0085] Step 23, when the change curves transmitted by the two weight sensors located below the wire rope are both stable, compare the weights measured by the two sensors and take the average value to complete the measurement and calculation of the actual weight of the medium and thick plate. Specifically, the actual weight calculation formula of the electromagnetic crane is as follows:

[0086]

[0087] Among them, m r is the actual weight value of the medium and thick plate; m1 and m2 are the weight data measured by two weight sensors respectively; k is the measurement compensation proportional coefficient, and its value range is 0.9~1.1.

[0088] Step 3: Determine the working status of the electromagnetic crane.

[0089] Compare the lifting weight of the electromagnetic crane with the estimated weight of the medium and thick plate to determine the number of steel plates to be lifted. Specifically, it is mainly divided into the following situations:

[0090] 1. If the actual weight m is measured r Less than the estimated weight of the steel plate calculated in step 1 m e , it means that the electromagnetic crane failed to successfully lift the steel plate.

[0091] 2. If the measured weight m r Greater than the steel plate weight m calculated in step 1 e , but it is less than (1+β) times of this value, which means that the electromagnetic crane successfully lifts the steel plate, and the number of lifted steel plates is 1.

[0092] 3. If the measured weight m r Greater than the steel plate weight m calculated in step 1 e (1+β) times, which means that although the electromagnetic crane successfully lifted the steel plate, the number of lifts was greater than or equal to 2, and the phenomenon of overlapping plates lifting occurred.

[0093] Among them, β is the difference compensation proportional coefficient, which usually ranges from 0.6 to 1.2. This coefficient is mainly used to deal with the interference caused by individual differences of different steel plates, such as the impact caused by the smoothness or slight density differences of different steel plate surfaces.

[0094] Step 4: Closed-loop control of the electromagnetic crane working current.

[0095] After the electromagnetic crane working status is determined, the electromagnetic lifting is performed or the working current is adjusted according to the demand to re-lift and weigh. This operation is based on the judgment in step 3 and is mainly divided into the following situations:

[0096] 1. If the number of lifted steel plates is 1, there is no need to adjust the working current of the electromagnetic crane. It can continue to run and directly complete the lifting operation of medium and thick plates.

[0097] 2. If the electromagnetic crane fails to successfully lift the steel plate, it is necessary to execute the electromagnetic crane to descend and return to the lifting position through the transmission system, and appropriately increase the parameter of the proportional coefficient μ in the electromagnetic force reference value in step 1, thereby increasing the reference working current of the electromagnetic crane, and repeat step 2 until a single medium and thick plate can be successfully lifted.

[0098] 3. If stacked plates occur during the electromagnetic lifting process, the electromagnetic lift must be lowered back to the lifting position through the transmission system, and the proportional coefficient μ in the electromagnetic force reference value in step 1 must be appropriately reduced, thereby reducing the reference working current of the electromagnetic lift, and repeating step 2 until a single steel plate can be successfully lifted.

[0099] Furthermore, the control method further includes:

[0100] Step 5: Record and organize data.

[0101] Whenever a single piece of medium and thick plate is successfully lifted, the value of the current electromagnetic force compensation proportional coefficient μ is recorded and statistically summarized to find the optimal value of the electromagnetic force compensation proportional coefficient, which is then applied to the calculation of the set value of the electromagnetic force for the next lifting process to reduce the debugging workload in future use.

[0102] In summary, this embodiment provides an electromagnetic crane automatic control system and method for single-piece lifting of medium and thick plates based on single-plate weighing and electromagnetic force closed-loop control, which improves the problem of over-reliance on manual identification and machine vision technology in current magnetic crane control to avoid overlapping plate phenomena. The technical solution of this embodiment adjusts the working current passing through the electromagnet in real time by judging and monitoring the lifting weight of the electromagnetic crane, and then adjusts its electromagnetic force according to the obtained lifting set value, thereby achieving safe and stable lifting of single medium and thick plates. It can not only reduce the dependence on manual labor in the supervision process of electromagnetic lifting and improve labor productivity; it can also effectively prevent serious accidents caused by the lifting of overlapping plates, ensure the safety and stability of the transportation site, and effectively reduce the probability of subsequent processing failures of medium and thick plates.

[0103] In addition, it should be noted that the present invention can be provided as a method, an apparatus or a computer program product. Therefore, the embodiment of the present invention can be in the form of a full or partial hardware embodiment, a full or partial software embodiment or an embodiment combining software and hardware. Moreover, when implemented using software, the embodiment of the present invention can be in the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program codes. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center containing one or more available media sets. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium. The semiconductor medium may be a solid state hard disk.

[0104] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0105] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device, so that a series of operation steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable terminal device provide for implementing the process in the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0106] It should also be noted that, in this article, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "include one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements. In addition, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship, which can be understood by referring to the context before and after. "At least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, ab, ac, bc or abc, where a, b and c can be single or plural.

[0107] In addition, it can be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0108] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0109] In several embodiments provided by the present invention, it should be understood that the disclosed equipment, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of functional modules / units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0110] If the method is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0111] Finally, it should be noted that the above is only a preferred embodiment of the present invention. It should be pointed out that although the preferred embodiment of the present invention has been described, for ordinary technicians in this technical field, once the basic creative concept of the present invention is known, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention. Therefore, the attached claims are intended to be interpreted as including the preferred embodiment and all changes and modifications that fall within the scope of the embodiments of the present invention.

Claims

1. A magnetic lifting automatic control system for electromagnetic lifting of medium and thick plates, characterized in that: The magnetic crane automatic control system includes: a lifting absolute value encoder, an interface module, a weight sensor, a controller, a current adjustment module and a human-computer interaction module; wherein, The weight sensor and the lifting absolute value encoder are connected to the controller through the interface module respectively; at the same time, the controller is also connected to the current adjustment module, the human-computer interaction module and the production execution system of the steel enterprise; and the current adjustment module is also connected to the controlled magnetic crane; The lifting absolute value encoder is used to measure the height data of the lifted medium and thick plate; The weight sensor is used to measure the weight data of the lifted medium and thick plate; The human-computer interaction module is used to realize human-computer interaction during the operation of the magnetic crane automatic control system; The controller is used to: Acquire specification data of the medium and thick plate from the production execution system, and calculate an estimated weight value of the medium and thick plate and a reference value of current required for lifting based on the specification data of the medium and thick plate; After calculating the current reference value required for lifting, controlling the current adjustment module to operate, transmitting the currently calculated current reference value required for lifting to the magnetic crane, and controlling the magnetic crane to lift the medium and thick plate; When the medium and thick plate is being hoisted, the measurement data of the lifting absolute value encoder and the weight sensor are obtained in real time, and the actual weight value of the medium and thick plate is calculated based on the obtained measurement data; Based on the actual weight value of the medium and thick plate and the estimated weight value of the medium and thick plate, the current working state of the magnetic crane is judged, and the reference value of the current required for lifting is readjusted according to the judgment result until a single medium and thick plate can be successfully lifted.

2. The magnetic lifting automatic control system for electromagnetic lifting of medium and thick plates as claimed in claim 1, characterized in that: The lifting absolute value encoder is installed on the rotating shaft of the large gear on the side of the lifting hoist of the controlled magnetic crane, and is coaxially connected with the large gear on the side of the lifting hoist.

3. The magnetic lifting automatic control system for electromagnetic lifting of medium and thick plates as claimed in claim 1, characterized in that: There are two weight sensors; the two weight sensors are respectively installed at the lower ends of two steel wire ropes of the hanging beam of the controlled magnetic crane, and the lower ends of the weight sensors are connected to the electromagnetic suction cup of the magnetic crane.

4. The magnetic lifting automatic control system for electromagnetic lifting of medium and thick plates as claimed in claim 1, characterized in that: The specification data includes the length, width, thickness and density of the medium and thick plates.

5. The magnetic lifting automatic control system for electromagnetic lifting of medium and thick plates as claimed in claim 4, characterized in that: The method of calculating the weight estimate of the medium and thick plate and the reference value of the current required for lifting based on the specification data of the medium and thick plate includes: Calculate the estimated weight of the medium and thick plate to be lifted. The calculation formula is: m e =ρ×a×b×h Among them, m e is the estimated weight of the medium and thick plate to be lifted; ρ is the density of the medium and thick plate to be lifted; a is the length of the medium and thick plate to be lifted; b is the width of the medium and thick plate to be lifted, and h is the thickness of the medium and thick plate to be lifted; According to the estimated weight of the medium and thick plate to be lifted, the set value F of the electromagnetic force is calculated using the following formula: F=(1+μ)×m e ×g Wherein, g is the acceleration of gravity; μ is the electromagnetic force compensation proportional coefficient, and its value range is 0.2~1.2; According to the set value of electromagnetic force, the reference value of current required for lifting is calculated. The calculation formula is: Where i is the reference value of the current required for lifting; S j1 is the equivalent working area of ​​the inner pole; S j2 is the equivalent working area of ​​the outer pole; R m is the magnetic resistance of the motor electromagnet magnetic circuit; W is the number of turns of the motor electromagnet coil.

6. The magnetic lifting automatic control system for electromagnetic lifting of medium and thick plates as claimed in claim 3, characterized in that: In the process of lifting the medium and thick plate, the measurement data of the lifting absolute value encoder and the weight sensor are obtained in real time, and the actual weight value of the medium and thick plate is calculated based on the obtained measurement data, including: When the medium and thick plate is being hoisted, the height data measured by the lifting absolute value encoder is obtained in real time to determine whether the current medium and thick plate is hoisted to a preset equilibrium position; After the medium and thick plate is lifted to the preset balance position, the weight data measured by the two weight sensors are obtained in real time. When the change curves of the measurement data of the two weight sensors tend to be stable, the actual weight value of the medium and thick plate is calculated based on the weight data measured by the two weight sensors.

7. The magnetic lifting automatic control system for electromagnetic lifting of medium and thick plates as claimed in claim 6, characterized in that: The actual weight of the plate is calculated as follows: Among them, m r is the actual weight value of the medium and thick plate; m1 and m2 are the weight data measured by two weight sensors respectively; k is the measurement compensation proportional coefficient, and its value range is 0.9~1.

1.

8. The automatic control system for magnetic lifting for electromagnetic lifting of medium and thick plates as claimed in claim 5, characterized in that: The determining of the current working state of the magnetic crane based on the actual weight value of the medium and thick plate and the estimated weight value of the medium and thick plate includes: If the measured actual weight of the medium and thick plate is less than the estimated weight of the medium and thick plate, it means that the current magnetic crane fails to successfully lift the medium and thick plate; If the measured actual weight of the medium and thick plate is greater than the estimated weight of the medium and thick plate, but less than 1+β times of the estimated weight of the medium and thick plate, it means that the current magnetic crane successfully lifts the medium and thick plate, and the number of lifted medium and thick plates is 1; If the actual weight of the medium and thick plate measured is greater than 1+β times the estimated weight of the medium and thick plate, it means that although the current magnetic crane successfully lifts the medium and thick plate, the number of lifts is greater than or equal to 2; Among them, β is the difference compensation proportional coefficient, and its value range is 0.6~1.

2.

9. The magnetic lifting automatic control system for electromagnetic lifting of medium and thick plates as claimed in claim 8, characterized in that: The method of re-adjusting the reference value of the current required for hoisting according to the judgment result includes: If the number of medium and thick plates to be hoisted is 1, there is no need to adjust the reference value of the current required for hoisting; If the current magnetic crane fails to successfully lift the medium and thick plate, the magnetic crane is controlled to descend and return to the lifting position, and the value of the electromagnetic force compensation proportional coefficient is increased, thereby increasing the current reference value required for lifting, and then the lifting operation is performed again according to the adjusted current reference value required for lifting until a single medium and thick plate can be successfully lifted; If the current lifting quantity is greater than or equal to 2, the magnetic lift is controlled to descend and return to the lifting position, and the value of the electromagnetic force compensation proportional coefficient is reduced, thereby reducing the current reference value required for lifting, and then the lifting operation is performed again according to the adjusted current reference value required for lifting until a single medium and thick plate can be successfully lifted; Whenever a single piece of medium and thick plate is successfully lifted, the value of the current electromagnetic force compensation proportional coefficient is recorded and statistically summarized to find the optimal value of the electromagnetic force compensation proportional coefficient, which is then applied to the calculation of the set value of the electromagnetic force for the next lifting process to reduce the debugging workload in future use.

10. A magnetic crane automatic control method implemented by using the magnetic crane automatic control system for electromagnetic lifting of medium and thick plates as claimed in any one of claims 1 to 9, characterized in that: The method comprises: Obtaining specification data of the medium and thick plates from the production execution system, and calculating an estimated weight value of the medium and thick plates and a reference value of current required for lifting based on the specification data of the medium and thick plates; After calculating the current reference value required for lifting, the current adjustment module is controlled to run, and the currently calculated current reference value required for lifting is transmitted to the magnetic crane, so as to control the magnetic crane to lift the medium and thick plate; When the medium and thick plate is being hoisted, the measurement data of the lifting absolute encoder and the weight sensor are obtained in real time, and the actual weight value of the medium and thick plate is calculated based on the obtained measurement data; Based on the actual weight value of the medium and thick plate and the estimated weight value of the medium and thick plate, the current working state of the magnetic crane is judged, and the reference value of the current required for lifting is readjusted according to the judgment result until a single medium and thick plate can be successfully lifted.

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