Precise intelligent magnetic adjustment control method and system for steel plate of intelligent electromagnetic crane

Abstract

The invention relates to an intelligent electromagnetic crane steel plate precise magnetic adjustment intelligent separation control method. The method comprises the following steps that a steel plate hoisting task is obtained; based on the steel plate hoisting task, the number of matched electromagnetic poles needed by steel plates of different specifications is calculated according to different steel plate specifications, and the positions of the electromagnetic poles for sucking the steel plates and the electromagnetic voltage value needed by the electromagnetic poles are determined; acquiring the real-time operation state of the electromagnetic pole in real time; whether the electromagnetic pole is in a fault-free state or not is judged according to the real-time operation state of the electromagnetic pole, when the electromagnetic pole is in the fault-free state, the electromagnetic pole determines the electromagnetic voltage on the basis, and accurate magnetism adjustment and intelligent separation control over steel plates of different sizes are achieved. According to the device and the system, the structure is simplified, the manual operation process and the equipment complex structure are reduced, operation and machining are convenient, large-scale production and popularization are facilitated, the production efficiency is remarkably improved, the lifting speed is increased through cooperation of the intelligent crane and the magnetic adjustment control system, the product yield is improved, and carrying damage is reduced through accurate operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent magnetic control of electromagnets, and relates to a precise intelligent magnetic control method and system for steel plates of an intelligent electromagnetic crane. Background Art

[0002] To realize the intelligence and unmanned operation of the steel plate storage, it is necessary to upgrade the existing electromagnet control system of the electromagnetic crane equipment and develop a precise magnetic control and intelligent sheet separation control system applicable to steel plates of different sizes, weights, and materials. This system is dedicated to realizing precise magnetic control and intelligent sheet separation of different specifications of steel plates, so as to achieve intelligent and efficient lifting operations of single and multiple steel plates.

[0003] Currently, most domestic intelligent steel plate storages adopt manual lifting methods, which have the disadvantages of high labor intensity, low efficiency, and high safety risks. Although automation technologies have been applied to intelligent electromagnetic cranes, there is still great room for improvement in the full-automatic precise magnetic control and intelligent sheet separation of electromagnets. Generally speaking, the full-automatic lifting technology of intelligent steel plate storages urgently needs further development and improvement.

[0004] However, the electromagnet will be affected by factors such as the service life of the electromagnet and the ambient temperature, resulting in the heating of the electromagnet, and then the magnetic force of the electromagnet will decrease under the same control voltage. Summary of the Invention

[0005] In order to solve the above problems, the technical solution adopted by the present invention is: a precise intelligent magnetic control method for steel plates of an intelligent electromagnetic crane, including the following steps:

[0006] Obtain the steel plate lifting task;

[0007] Based on the steel plate lifting task, according to different steel plate specifications, calculate the number of matching electromagnetic poles required for different specifications of steel plates, determine the position of the electromagnetic pole for sucking the steel plate, and the required electromagnetic voltage value of the electromagnetic pole;

[0008] Obtain the real-time operating state of the electromagnetic pole in real time;

[0009] Judge whether the electromagnetic pole is in a fault-free state through the real-time operating state of the electromagnetic pole. When all the electromagnetic poles are in a fault-free state, the electromagnetic pole realizes precise magnetic control and intelligent sheet separation control of different-sized steel plates based on the determined electromagnetic voltage.

[0010] Furthermore: The steel plate specifications include the length, width, thickness, weight, and material of the steel plate.

[0011] Furthermore: The process of outputting the electromagnetic voltage to the electromagnet is as follows:

[0012] Obtain the length, width, thickness, and weight information of the steel plate to be lifted, and preliminarily determine the preliminary voltage value of each magnetic pole electromagnet;

[0013] Based on the service life of the electromagnet, the ambient temperature, and the preliminary voltage value, establish a multiple linear regression model to determine the electromagnetic voltage value of the final electromagnet.

[0014] Furthermore: The process of obtaining the length, width, thickness, and weight information of the steel plate to be lifted and preliminarily calculating the preliminary voltage base value of each magnetic pole electromagnet is as follows:

[0015] First, based on the length, width, thickness, and weight parameters of the steel plate to be lifted, determine the theoretical suction force required for the electromagnetic pole block, and thereby derive the theoretical voltage value;

[0016] Then, based on the theoretical voltage value, conduct an automatic steel plate suction test. Through the test, obtain the preliminary voltage base range value for sucking steel plates of the same specification, and further determine the preliminary voltage value.

[0017] The maximum voltage ≥ and the preliminary voltage base range value ≥ the minimum voltage; where the minimum voltage is the state voltage value just enough to lift a steel plate, and the maximum voltage is the state voltage value when lifting this steel plate just not sticking to the steel plate below.

[0018] Furthermore: The process of establishing the multiple linear regression model and determining the electromagnetic voltage value of the final electromagnet by adjusting the fuzzy rules is as follows:

[0019] The multiple linear regression model is as follows:

[0020] Accurate voltage value = α × steel plate thickness + β × electromagnet temperature + γ × ambient temperature + δ × service life + ε;

[0021] Where α, β, γ, and δ are coefficients to be determined, α is the thickness coefficient, β is the temperature coefficient, γ is the temperature coefficient, δ is the time coefficient, and ε is the error term;

[0022] The adjusted fuzzy rule is: If the ambient temperature is between -10°C and 40°C and the steel plate thickness is between 8 and 90 mm, then adjust the voltage between 15V and 235V;

[0023] Since the thickness of the steel plate of the same material is the largest parameter affecting the electromagnetism, give a greater weight to the steel plate thickness, and determine the electromagnetic voltage value of the final electromagnet by adjusting the coefficients in the regression model or setting rules for adjusting the steel plate thickness.

[0024] An intelligent electromagnetic crane steel plate precise intelligent magnetic adjustment control system includes:

[0025] The first acquisition module: used to obtain the steel plate lifting task;

[0026] Calculation module: For the steel plate lifting task, according to different steel plate specifications, calculate the electromagnetic parameters required for different specifications of steel plates, match the number of electromagnetic poles, determine the position of the steel plate to be picked up and the electromagnetic voltage value required for the electromagnetic poles;

[0027] Second acquisition module: Real-time acquisition of the real-time operating status of the electromagnetic poles;

[0028] Judgment module: Judge whether the electromagnetic poles are in a fault-free state through the real-time operating status of the electromagnetic poles; When all the electromagnetic poles are in a fault-free state, the electromagnetic poles are based on the determined electromagnetic voltage to achieve precise magnetic regulation and intelligent sheet separation control of steel plates of different sizes.

[0029] An intelligent electromagnetic crane steel plate precise magnetic regulation and intelligent sheet separation control system, including:

[0030] Intelligent warehousing control system: Used to obtain the steel plate retrieval task and issue the steel plate retrieval task;

[0031] Electromagnetic spreader: Used to retrieve the steel plate;

[0032] Intelligent magnetic regulation control system: Based on the steel plate retrieval task issued by the intelligent control system, determine the number of magnetic poles of the electromagnetic spreader, perform magnetic pole combination, electromagnetic voltage value and the position of the retrieved material;

[0033] Intelligent crane equipment: Carry out the handling of storing, retrieving and transferring the steel plates retrieved by the electromagnetic spreader.

[0034] A method, device and system for precise magnetic regulation and intelligent sheet separation control of steel plates by an intelligent electromagnetic crane provided by the present invention aims to solve the problems of high labor intensity, low efficiency and high safety risks in manual operation during the steel plate storage and retrieval operations, as well as the deficiencies of the existing domestic and foreign technologies in the full-automatic precise magnetic regulation and intelligent sheet separation of electromagnets for different specifications of steel plates, realizing the intelligence and unmanned operation of the steel plate storage, and improving the management level and production efficiency.

[0035] Adopting the intelligent electromagnetic crane steel plate precise magnetic regulation and intelligent sheet separation control system has significant advantages. It can greatly reduce the labor intensity, solve the problem of the need for multiple people to cooperate in traditional manual lifting operations, and the intelligent system can realize full-automatic operation; significantly improve the lifting efficiency, and the intelligent crane can quickly and accurately identify and grab the steel plate, far exceeding manual operation; effectively ensure safety, reduce the exposure of personnel in dangerous environments, reduce risks, and at the same time, precise control ensures stable material lifting and safeguards the safety of equipment and materials.

[0036] The device and system of the present application have a high level of intelligence and unmanned operation, avoiding the drawbacks of traditional manual lifting, and reducing costs and risks. Precise magnetic field adjustment and intelligent sheet separation ensure accurate and stable lifting. Automatically adjusting voltage parameters overcomes the problem of electromagnet heating and guarantees safety and stability. It is convenient to transform manual electromagnetic starters and improve performance and efficiency.

[0037] The device and system of the present application have a simplified structure, reducing manual operation processes and the complex structure of equipment, and facilitating operation. It is convenient for processing and conducive to large-scale production and promotion. The production efficiency is significantly improved, and the intelligent crane and magnetic field adjustment control system cooperate to increase the lifting speed. The product yield is increased, and precise operation reduces handling damage.

[0038] The device and system of the present application automatically adjust voltage parameters by increasing electromagnet and ambient temperature monitoring, recording working hours, collecting voltage and current feedback, and long-term acquired empirical values, and using technologies such as fuzzy algorithms and system self-learning, which effectively ensure that the electromagnetic suction meets the safety and stability of steel plate lifting.

[0039] This invention can realize the unmanned and fully automatic precise magnetic field adjustment and intelligent sheet separation of an intelligent crane for steel plates of different specifications, improving the accuracy and stability of lifting; reducing the labor intensity of operation, reducing manual operation and improving work efficiency; ensuring the safety of equipment and personnel and reducing safety risks; recording and analyzing material information through an intelligent management and control system to optimize storage and handling processes and improve operation efficiency and management level; for the problem of electromagnet heating and magnetic force decline, adopting advanced technologies to automatically adjust voltage parameters to ensure that the electromagnetic suction meets the safety and stability of steel plate lifting. At the same time, this invention is also convenient for transforming existing manual electromagnetic cranes. By simply adding corresponding modules and functions, intelligent magnetic field adjustment and intelligent sheet separation control can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0041] Figure 1 It is a flowchart of the precise intelligent magnetic field adjustment control method for the steel plate of an intelligent electromagnetic crane;

[0042] Figure 2 It is a flowchart of precise intelligent magnetic field adjustment and voltage regulation control;

[0043] Figure 3 It is a structural diagram of the precise magnetic field adjustment and intelligent sheet separation control system for the steel plate of an intelligent electromagnetic crane;

[0044] Figure 4It is the process flow chart of the intelligent magnetic field adjustment and intelligent sheet separation control system for steel plates of an intelligent electromagnetic crane;

[0045] Figure 5 It is the structure diagram of an electromagnetic sling. Specific implementation manners

[0046] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0047] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. The description of at least one exemplary embodiment below is actually only illustrative and in no way constitutes a limitation to the present invention and its application or use. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0048] Figure 1 It is the flow chart of the intelligent magnetic field adjustment control method for steel plates of an intelligent electromagnetic crane;

[0049] An intelligent magnetic field adjustment control method for steel plates of an intelligent electromagnetic crane includes the following steps:

[0050] S1: Obtain the steel plate lifting task;

[0051] S2: Based on the steel plate lifting task, calculate the number of matching electromagnetic poles required for steel plates of different specifications according to different steel plate specifications, determine the positions of the electromagnetic poles for sucking the steel plates, and the required electromagnetic voltage values of the electromagnetic poles;

[0052] S3: Obtain the real-time operating status of the electromagnetic poles in real time;

[0053] S4: Judge whether the electromagnetic poles are in a fault-free state through the real-time operating status of the electromagnetic poles. When all the electromagnetic poles are in a fault-free state, the electromagnetic poles realize precise magnetic field adjustment and intelligent sheet separation control for steel plates of different sizes based on the determined electromagnetic voltage.

[0054] Steps S1 / S2 / S3 / S4 are executed in sequence;

[0055] The real-time operating state of the electromagnetic pole includes the lifting height of the electromagnetic pole, real-time weight information, lifting motor speed, current, torque, etc.; the electromagnetic pole is controlled by a PLC, and when there is a fault with the electromagnetic pole, an alarm signal will be issued; there is a data interface between the current value and voltage value of the electromagnetic pole and the system of the present application to obtain real-time monitoring, equipment lifting, lifting weight, and the motor state is obtained by the system of the present application;

[0056] The steel plate specifications include the length, width, thickness, weight, and material of the steel plate.

[0057] Figure 2 It is a flow chart for intelligent and precise magnetic field and voltage regulation control;

[0058] The process of outputting the electromagnetic voltage to the electromagnet is as follows:

[0059] Obtain the length, width, thickness, and weight information of the steel plate to be lifted, and preliminarily determine the preliminary voltage value of each pole electromagnet;

[0060] Based on the service life of the electromagnet and the environmental temperature combined with the preliminary voltage value, establish a multiple linear regression model to determine the final electromagnetic voltage value of the electromagnet.

[0061] The process of obtaining the length, width, thickness, and weight information of the steel plate to be lifted and preliminarily calculating the preliminary voltage base value of each pole electromagnet is as follows:

[0062] First, based on parameters such as the length, width, thickness, and weight of the steel plate to be absorbed, determine the theoretical suction force required for the electromagnetic pole block, and thus derive the theoretical voltage value;

[0063] Then, based on the theoretical voltage value, conduct an automatic steel plate absorption test, and through the test, obtain the preliminary voltage base range value for absorbing steel plates of the same specification, and then determine the preliminary voltage value.

[0064] The maximum voltage ≥ and the preliminary voltage base range value ≥ the minimum voltage; where the minimum voltage is the state voltage value just enough to lift a steel plate, and the maximum voltage is the state voltage value when lifting this steel plate just not sticking to the steel plate below.

[0065] Since the selected electromagnets may come from magnet manufacturers of different brands, the formula for the suction force of a single electromagnetic pole block is provided by the manufacturer. Calculate the theoretical voltage value of steel plates of different specifications through the formula and combine with on-site actual measurement. During the measurement, obtain the actual voltage value of the electromagnetic pole block through the sensor to obtain the upper and lower limit ranges of the base value of steel plates of different specifications.

[0066] In practical applications, the appropriate voltage range value can be determined by combining the theoretical values provided by the manufacturer with the on-site measurement data to ensure that the electromagnetic lifting device can safely and effectively lift steel plates of different specifications. At the same time, it should be noted that there may be performance differences in the electromagnets of different manufacturers, and debugging, adjustment, and optimization should be carried out according to specific situations to ensure the stability and reliability of the lifting process.

[0067] The process of establishing the multiple linear regression model and determining the electromagnetic voltage value of the final electromagnet by adjusting the fuzzy rules is as follows:

[0068] First, it is clear that the basic value range is obtained from the data provided by the electromagnet manufacturer and on-site measurements. On this basis, various influence coefficients are considered to further accurately determine the voltage value.

[0069] The temperature coefficient of the electromagnet is added because its performance changes at different temperatures. When the temperature rises, the resistance of the electromagnet may change, thus affecting the current magnitude and magnetic field strength. For example, an increase in temperature may cause an increase in resistance, resulting in a decrease in current at the same voltage, and thus weakening the suction force of the electromagnet. By testing the performance of the electromagnet at different temperatures, the temperature coefficient can be obtained, which may be expressed by a mathematical formula as:

[0070] Voltage adjustment value = basic voltage value × temperature coefficient (a function related to the current temperature).

[0071] The environmental temperature influence coefficient is similar. The environmental temperature not only directly affects the electromagnet itself but may also affect the steel plate being lifted. For example, at a lower environmental temperature, the steel plate may become more brittle, and the adsorption force with the electromagnet may change. The method for determining the environmental temperature influence coefficient can be to conduct a large number of on-site tests at different environmental temperatures, record the relationship between the voltage value and the lifting effect, and thus obtain the expression of the environmental temperature influence coefficient.

[0072] The service life coefficient takes into account the possible performance degradation of the electromagnet as the usage time increases. As the usage time increases, the coil of the electromagnet may age and the iron core may wear, resulting in a decrease in the suction force. By testing the performance of the electromagnet at different usage times, the service life coefficient can be determined, and the formula can be expressed as:

[0073] Voltage adjustment value = basic voltage value × service life coefficient (a function related to the usage time).

[0074] Through a large amount of on-site data collection, a mathematical model is established using MATLAB simulation. Various influencing factors are collected, such as the temperature of the electromagnet, the ambient temperature, the usage duration, and the thickness of the steel plate, etc., as input variables, and the required precise voltage value is used as the output variable. In MATLAB, methods such as regression analysis can be used to fit the data and establish a mathematical model, such as establishing a multiple linear regression model;

[0075] The multiple linear regression model is as follows:

[0076] Precise voltage value = α × thickness of the steel plate + β × temperature of the electromagnet + γ × ambient temperature + δ × usage duration + ε;

[0077] Among them, α, β, γ, and δ are coefficients to be determined. α is the thickness coefficient, β is the temperature coefficient, γ is the temperature coefficient, δ is the duration coefficient, and ε is the error term;

[0078] Through the fuzzy calculation of machine learning, the multiple linear regression model can be further optimized. Fuzzy calculation can handle uncertainty and ambiguity. For some factors that are difficult to accurately quantify (such as the case where the impact of slight changes in ambient temperature on the voltage value is not very clear), adjustments can be made through fuzzy rules.

[0079] For example, set fuzzy rules. The adjusted fuzzy rules are: If the ambient temperature is between -10°C and 40°C and the thickness of the steel plate is between 8 and 90 mm, then the voltage is adjusted between 15 V and 235 V; The voltage of 15 V corresponds to a steel plate of 1 to 10 mm, 35 V corresponds to 11 to 13 mm, 60 V corresponds to 14 to 20 mm, 100 V corresponds to 21 to 25 mm, and 235 corresponds to 26 and above.

[0080] According to experience, the thickness of the steel plate of the same material is the largest parameter affecting the electromagnetism. This means that when establishing a multiple linear regression model and performing calculations, greater weight should be given to the thickness of the steel plate. The electromagnetic voltage value of the final electromagnet can be determined by adjusting the coefficients in the regression model or setting more strict rules regarding the thickness of the steel plate in the fuzzy calculation. Thickness is the most critical data. Different thicknesses result in different voltage values, and the influence of other factors is relatively small.

[0081] An intelligent electromagnetic crane steel plate precise magnetic adjustment and intelligent sheet separation control device, comprising:

[0082] The first acquisition module: used to acquire the steel plate lifting task;

[0083] The calculation module: used to calculate the electromagnetic parameters required for different specifications of steel plates based on the steel plate lifting task, match the number of electromagnetic poles, determine the position of the steel plate to be picked up, and the electromagnetic voltage value required for the electromagnetic poles;

[0084] Second acquisition module: Real-time acquisition of the real-time operating status of the electromagnetic poles;

[0085] Judgment module: Determine whether the electromagnetic poles are in a fault-free state based on the real-time operating status of the electromagnetic poles; when all the electromagnetic poles are in a fault-free state, based on the determined electromagnetic voltage of the electromagnetic poles, precise magnetic field adjustment and intelligent sheet separation control for steel plates of different sizes are realized.

[0086] Figure 3 It is the structure diagram of the precise magnetic field adjustment and intelligent sheet separation control system for steel plates of an intelligent electromagnetic crane;

[0087] Figure 4 It is the process flow diagram of the precise magnetic field adjustment and intelligent sheet separation control system for steel plates of an intelligent electromagnetic crane;

[0088] An intelligent electromagnetic crane steel plate precise magnetic field adjustment and intelligent sheet separation control system, comprising:

[0089] Intelligent Warehouse Control System ICS: Used to obtain the steel plate retrieval task and issue the steel plate retrieval task; responsible for the management of the storage area in the intelligent steel plate warehouse, coordinating upstream and downstream equipment and information, efficiently managing and scheduling equipment to achieve unmanned operation, and at the same time recording in detail information such as the type, specification, quantity, and location of the materials in the warehouse, providing comprehensive and accurate data support for the intelligent management of the steel plate warehouse. By analyzing the recorded material information, it can better coordinate the operation of the equipment, optimize the material storage and handling processes, improve the operation efficiency and management level of the steel plate warehouse, and provide the basic basis and key information for the automatic magnetic field adjustment of the electromagnetic spreader and the precise magnetic field adjustment and sheet separation control of the spreader. Electromagnetic spreader: Used to retrieve the steel plate; the electromagnetic spreader adjusts the electromagnetic suction through multi-magnet combination, and the electromagnetic poles of the conventional electromagnet adjust the magnetic force by adjusting the voltage characteristics to complete the lifting of steel plates of different specifications;

[0090] Intelligent electromagnetic crane steel plate precise magnetic field adjustment and intelligent sheet separation control device: Used to determine the number of magnetic poles of the electromagnetic spreader, perform magnetic pole combination, electromagnetic voltage value, and the location of the retrieved material based on the steel plate retrieval task issued by the intelligent control system; this device is the core and key part of the system, acting as the implementer of intelligent magnetic field adjustment and sheet separation. The device uses PLC control, receives and based on the steel plate information provided by the intelligent warehouse control system, accurately calculates the electromagnetic parameters required for steel plates of different specifications (thickness, length, weight), and then automatically controls the number of electromagnetic bodies to be matched, the material suction position of the crane spreader, and outputs the voltage to the electromagnet for magnetic force matching and precise control, and judges the correctness of the suction state through the real-time current, voltage value, real-time operating status of the electromagnet, and the weight information of the electronic scale, so as to realize the precise magnetic field adjustment and intelligent control of steel plates of different sizes.

[0091] Intelligent crane: It is the key equipment for the steel plate storage to realize the fully automatic and unmanned handling of steel plates. It can accurately position and perform technological handling operations such as warehousing, outbound, and stock transfer of the steel plates retrieved by the electromagnetic lifting device;

[0092] Through the synergistic effect of these components, the intelligent magnetic field adjustment control system realizes the precise magnetic field adjustment and intelligent sheet separation of steel plates of different specifications, thereby improving the efficiency and accuracy of the steel plate lifting operation and promoting the development of the intelligent steel plate storage towards the direction of intelligence and unmanned operation.

[0093] This system realizes the unmanned and fully automatic precise magnetic field adjustment and intelligent sheet separation of the intelligent crane for steel plates of different specifications, and completes the fully automatic handling operation task.

[0094] Embodiment 1: As Figure 5 shown, the intelligent control system ICS receives the steel plate lifting task instruction, automatically calculates and decomposes it, and issues it to the intelligent crane for the operation of lifting the steel plate to complete the operation action. At the same time, the intelligent crane real-time feedbacks the operation status and operation result. The intelligent control system (ICS) also sends the steel plate specification size information and the position information of the center point of the steel plate on the lifting device to be lifted by the intelligent crane. The intelligent crane forwards the above information to the intelligent magnetic field adjustment control system.

[0095] According to the obtained position information of the center point of the steel plate, the intelligent magnetic field adjustment control system calculates through the system to select which specific electromagnetic pole block needs to be magnetized (that is, selects 1, 2, 3, or 4 magnetic poles according to the length and width of the steel plate), as Figure 5 shown;

[0096] The intelligent magnetic field adjustment control system calculates the preliminary voltage base value of each magnetic pole electromagnet based on the obtained information such as the length, width, thickness, and weight of the steel plate to be lifted.

[0097] Since the electromagnet will be affected by factors such as the service life of the electromagnet and the ambient temperature, resulting in the electromagnet heating up, and then the magnetic force of the electromagnet will decrease under the same control voltage. The intelligent magnetic field adjustment system establishes a multiple linear regression model by increasing the monitoring of the electromagnet and the ambient temperature, recording the working hours, collecting the voltage and current feedback, and the long-term obtained empirical values, calculates the precise magnetic field adjustment voltage value by adjusting the fuzzy rules, and controls the electromagnet to complete the precise sheet separation and grasping operation of the steel plate, as Figure 3 shown.

[0098] The intelligent steel plate lifting crane has different forms and sizes of intelligent lifting devices according to different usage conditions. Taking the intelligent crane of the Jinzhong intelligent open-air steel plate storage as an example,

[0099] The electromagnetic hanging beam and electromagnetic chuck system of this embodiment is used in the intelligent stock preparation workshop for the operations of warehousing, outbound, and stock transfer of finished steel plates,

[0100] Working environment: outdoors, maximum relative humidity is 90%, working temperature is: -10°C to 40°C. When working, it is: 20 m / s; when not working, it is: 40 m / s; lifting capacity: 20 t (below the electromagnet).

[0101] This electromagnetic hanging beam is suspended under a 20 t electromagnetic hanging beam crane in the intelligent steel warehouse, with a 90-degree rotation function.

[0102] Connection with the crane: An eight-rope anti-sway device is adopted, and one end of the steel wire rope is fixed on the wedge joint of the balance arm of the electromagnetic hanging beam.

[0103] It includes a fixed hanging beam, a rotating hanging beam and a rotating drive mechanism.

[0104] The electromagnetic hanging beam adopts a welded structure, with the material of Q355B. An electronic scale is installed on the fixed hanging beam, and the balance arm is connected to the wire rope of the hoisting mechanism. Multiple groups of electromagnets are suspended on the rotating hanging beam through chains, meeting the requirements for lifting steel plates. Connection with the crane: An eight-rope anti-sway device is adopted, and one end of the steel wire rope is fixed on the wedge joint of the balance arm of the electromagnetic hanging beam. It includes a fixed hanging beam, a rotating hanging beam and a rotating drive mechanism. The electromagnetic hanging beam adopts a welded structure, with the material of Q355B. An electronic scale and a balance arm are installed on the fixed hanging beam and connected to the wire rope of the hoisting mechanism. Multiple groups of electromagnets are suspended on the rotating hanging beam through chains, meeting the requirements for lifting steel plates.

[0105] Length of steel plate: 6000 - 13000 mm, thickness: 8 - 90 mm, width: 1600 - 4000 mm; Lifting method: single-piece lifting

[0106] The electromagnetic chuck system has an independent control unit, is equipped with a PLC, receives the steel plate size information from the main PLC of the crane, and has the functions of automatically adjusting the magnetic field to accurately lift and hold a single steel plate and power-off magnetic holding for > 30 min (within five years); It is equipped with a supporting electric control device to realize unmanned control during the process of lifting and placing materials, and has necessary safety detection, protection and alarm functions. It is equipped with a weighing device: when the electromagnet is placed on the ground and the chain is slack, it is at zero point, and the load information is output in real time at 4 - 20 mA. It is equipped with electromagnet landing detection: two laser rangefinders about 10 meters long are configured on the hanging beam.

[0107] When the electromagnetic lifting appliance lifts a steel plate, it will automatically select the number of electromagnetic pole blocks according to the length of the steel plate, and the process of matching and selecting the number of electromagnetic poles

[0108] When the length of the steel plate ≤ 8 m, the number of electromagnetic poles is determined to be 2, and 2 electromagnetic poles are used to suck and lift, which can ensure reasonable magnetic field distribution, uniform suction force, meet the load requirements and have a safety factor.

[0109] When 12 ≥ the length of the steel plate > 8 m, the number of electromagnetic poles is determined to be 3; 3 electromagnetic poles are used to ensure uniform suction force in the length direction of the longer steel plate and prevent insufficient local suction force.

[0110] When the length of the steel plate > 12m, the number of electromagnetic poles is determined to be 4. Although the length increases, with the reasonable layout of the 4 electromagnetic poles, the positions can be adjusted to make the magnetic field distribution meet the lifting requirements and ensure safety. Its principle is based on factors such as magnetic field distribution and suction uniformity, load capacity and safety factor, and electromagnetic induction and magnetic flux.

[0111] The process of determining the position of the electromagnetic pole to pick up the steel plate:

[0112] The basic lifting position is the center point of the spreader. However, if three electromagnetic poles are selected instead of four, then it is the center point of the three electromagnetic poles, that is, the second electromagnetic pole is exactly at the center of the steel plate.

[0113] The storage location is fixed, the size of each storage location is fixed, and the steel plates are placed exactly in the middle of the storage location. Then we only need to adjust the center point of the magnetic pole for grasping.

[0114] The present invention can realize the unmanned and fully automatic precise magnetic field adjustment and intelligent sheet separation of intelligent cranes for steel plates of different specifications, improve the accuracy and stability of lifting; reduce the operation labor intensity, reduce manual operation and improve work efficiency; ensure the safety of equipment and personnel, reduce safety risks; record and analyze material information through the intelligent control system, optimize the storage and handling processes, and improve the operation efficiency and management level. For the problem of the decrease in magnetic force due to the heating of the electromagnet, advanced technologies are adopted to automatically adjust the voltage parameters to ensure that the electromagnetic suction meets the safety and stability of steel plate lifting. At the same time, the present invention also facilitates the transformation of existing manual electromagnetic cranes. Only by adding corresponding modules and functions can intelligent magnetic field adjustment and intelligent sheet separation control be realized.

[0115] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A precise intelligent magnetic adjustment control method for steel plates of an intelligent electromagnetic crane, characterized in that: Includes the following steps: Get the steel plate lifting task; Based on the steel plate lifting task, according to the different steel plate specifications, calculate the number of matching electromagnetic poles required for steel plates of different specifications, determine the position of the electromagnetic pole to pick up the steel plate and the electromagnetic voltage value required by the electromagnetic pole; Obtain the real-time operating status of the electromagnetic pole in real time; The real-time operating status of the electromagnetic pole is used to determine whether the electromagnetic pole is in a fault-free state. When the electromagnetic pole is in a fault-free state, the electromagnetic voltage of the electromagnetic pole is determined to achieve precise magnetic adjustment and intelligent sheeting control of steel plates of different sizes.

2. According to claim 1, a smart electromagnetic crane steel plate precise intelligent magnetic control method is characterized by: The steel plate specifications include the length, width, thickness, weight and material of the steel plate.

3. According to claim 1, a smart electromagnetic crane steel plate precise intelligent magnetic adjustment control method is characterized by: The process of outputting the electromagnetic voltage to the electromagnet is as follows: The length, width, thickness and weight information of the steel plate to be hoisted are obtained, and the preliminary voltage value of each pole electromagnet is preliminarily determined; According to the usage time of the electromagnet, the ambient temperature and the preliminary voltage value, a multivariate linear regression model is established to determine the final electromagnetic voltage value of the electromagnet.

4. According to claim 1, a smart electromagnetic crane steel plate precise smart magnetic adjustment control method is characterized by: The process of obtaining the length, width, thickness and weight information of the steel plate to be hoisted and preliminarily calculating the preliminary voltage base value of each magnetic pole electromagnet is as follows: Firstly, the theoretical suction force required by the electromagnetic pole block is determined according to the length, width, thickness and weight parameters of the sucked steel plate, and the theoretical voltage value is derived from this; Then, based on the theoretical voltage value, an automatic steel plate absorption test is performed, and the preliminary voltage basic range value for absorbing steel plates of the same specification is obtained through the test, and then the preliminary voltage value is determined. The maximum voltage value ≥ and the preliminary voltage basic range value ≥ the minimum voltage value; wherein, the minimum voltage value is the state voltage value that can just absorb a steel plate, and the maximum voltage value is the state voltage value that can just not stick to the steel plate below when calling this steel plate.

5. According to claim 1, a smart electromagnetic crane steel plate precise intelligent magnetic adjustment control method is characterized by: The multiple linear regression model is established and the final electromagnetic voltage value of the electromagnet is determined by adjusting the fuzzy rules as follows: The multivariate linear regression model is as follows: Exact voltage value = α×steel plate thickness + β×electromagnet temperature + γ×ambient temperature + δ×use time + ε; Among them: α is the thickness coefficient, β is the temperature coefficient, γ is the temperature coefficient, δ is the constant coefficient, and ε is the error term; The adjustment fuzzy rule is: if the ambient temperature is between -10°C and 40°C and the thickness of the steel plate is between 8 and 90 mm, the voltage is adjusted between 15V and 235V; Since the thickness of steel plates of the same material is the largest parameter affecting electromagnetism, a greater weight is given to the thickness of the steel plate. The electromagnetic voltage value of the final electromagnet is determined by adjusting the coefficients in the regression model or setting the rules for adjusting the thickness of the steel plate.

6. An intelligent electromagnetic crane steel plate precise intelligent magnetic adjustment control system, characterized by: include: The first acquisition module: used to acquire the steel plate lifting task; Calculation module: used to calculate the electromagnetic parameters required for steel plates of different specifications based on the steel plate lifting task and according to different steel plate specifications, match the number of electromagnetic poles, determine the position of the steel plate to be sucked and the electromagnetic voltage value required by the electromagnetic poles; The second acquisition module: acquires the real-time operating status of the electromagnetic pole in real time; Judgment module: judge whether the electromagnetic pole is in a fault-free state through the real-time operation status of the electromagnetic pole; when the electromagnetic pole is in a fault-free state, the electromagnetic pole is based on the determined electromagnetic voltage to achieve precise magnetic adjustment and intelligent sheeting control of steel plates of different sizes.

7. An intelligent electromagnetic crane steel plate precise magnetic adjustment intelligent sheeting control system, characterized by: include: Intelligent warehouse management and control system: used to obtain steel plate retrieval tasks and issue steel plate retrieval tasks; Electromagnetic lifting device: used to retrieve the steel plate; Intelligent magnetic control system: used to determine the number of magnetic poles of the electromagnetic spreader, the combination of magnetic poles, the electromagnetic voltage value and the location of the material to be retrieved based on the steel plate retrieval task issued by the intelligent management and control system; Intelligent crane equipment: transports the steel plates retrieved by the electromagnetic lifter into, out of and into storage.

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