Automatic centering device and centering method for steel plates

Abstract

The present invention provides an automatic steel plate centering device and method, relating to the field of metal processing technology. The device includes a laser marking device, a magnetic centering mechanism, a lifting roller mechanism, and a rolling shear device disposed at the inlet area of a rolling shear device. The rolling shear device includes two rolling shears disposed opposite each other, with the central axis between the two rolling shears being the centerline of a transport roller. A crossbeam is disposed oppositely on the movable side and the fixed side, the crossbeam being arranged parallel to the centerline of the transport roller, and a plurality of magnetic centering mechanisms, lifting roller mechanisms, and a transport roller are disposed on the crossbeam. A laser marking device is disposed at the proximal and distal ends of the crossbeam, respectively. The magnetic centering mechanism, lifting roller mechanism, and transport roller are disposed below the steel plate. The present invention achieves automatic centering and efficient shearing of the steel plate edge, thereby improving the production efficiency and shearing quality of the wide and thick plate production line.

Description

Technical Field

[0001] The present invention relates to the technical field of metal processing, and in particular to an automatic centering device and a centering method for steel plates. Background Art

[0002] Steel plate centering is a crucial process in steel production lines, widely used in steel plate rolling, straightening, and shearing equipment. As the core mechanism of rolling shear equipment, steel plate centering is primarily used to center steel plates tilted on the conveyor rollers before shearing. Based on the shear line on the fixed side of the rolling shear, the system aligns the steel plate edges along the width (perpendicular to the centerline of the conveyor rollers) and along the length (aligned and parallel to the shear blades on each side of the rolling shears) according to process requirements. This improves shearing quality and yield.

[0003] In the prior art, the steel plate centering methods for rolling shear equipment mainly adopt electric centering method, hydraulic centering method and magnetic centering method. The existing magnetic centering method is as follows:

[0004] 1) Plate alignment using visual observation and manual adjustment: To align the steel plates before shearing, laser generators are installed on the shear blades on both sides of the rolling shearing equipment. The laser generators emit laser beams, which are aligned with the shear blades on both sides. The operator visually observes the alignment of the laser beams with the steel plate edges and then manually controls the electromagnetic head to adjust the steel plate alignment. This manual method of adjusting the steel plate centering cannot quantify the offset and relies heavily on visual observation of the alignment between the steel plate edge and the two laser beams. Due to the deviations in manual alignment operations and the high labor intensity of continuous production, low steel plate centering efficiency and poor accuracy are common problems.

[0005] 2) Automatic plate centering based on remote camera contouring: Magnetic alignment of the steel plates is achieved by capturing remote camera video footage from the central control room. The steel plate contours are extracted from the captured video stream to automatically perform the alignment operation. Under normal conditions, plate centering efficiency and accuracy are substantially improved compared to manual alignment. However, during actual production and shearing, the laser line is affected by technical issues such as video network latency and inherent brightness attenuation. This can lead to issues such as blurred remote images and plate centering deviations, ultimately impacting continuous production stability and shearing quality. Summary of the Invention

[0006] Based on the above technical problems that the existing magnetic centering method has centering deviation, an automatic steel plate centering device and centering method are provided to solve the technical problems existing in the existing technology such as large manual control deviation, remote camera image failure, and poor steel plate centering effect.

[0007] The technical means adopted in the present invention are as follows:

[0008] An automatic steel plate centering device includes a laser marking device, a magnetic centering mechanism, a lifting roller mechanism and a rolling shearing device, which are arranged in the inlet area of the rolling shearing device;

[0009] The rolling shear equipment includes two rolling shears arranged opposite to each other, with the central axis between the two rolling shears being the center line of the transport roller; one side of the center line of the transport roller is the moving side, and the other side of the center line of the transport roller is the fixed side; the side close to the rolling shear inlet area is the proximal end, and the side away from the rolling shear inlet area is the distal end;

[0010] A crossbeam is arranged opposite to the movable side and the fixed side. The crossbeam is arranged parallel to the center line of the transport roller. Several magnetic centering mechanisms, lifting roller mechanisms and transport rollers are arranged on the crossbeam. A laser marking device is arranged at the near end and the far end of the crossbeam respectively. The magnetic centering mechanism, lifting roller mechanism and transport roller are arranged under the steel plate.

[0011] Furthermore, the laser marking device includes a motor, a reducer, a screw, a movable side laser marking instrument and a fixed side laser marking instrument connected in sequence from the movable side to the fixed side. The movable side laser marking instrument moves in a direction perpendicular to the center line of the transport roller. The screw is arranged perpendicular to the center line of the transport roller. The fixed side laser marking instrument and the movable side laser marking instrument emit laser lines parallel to the center line of the transport roller. The laser line emitted by the fixed side laser marking instrument coincides with the shear line of the fixed side rolling shear, and the laser line emitted by the movable side laser marking instrument coincides with the shear line of the movable side rolling shear.

[0012] Furthermore, the distance between each transport roller and the adjacent transport roller is fixed, and a magnetic centering mechanism is provided between every two transport rollers.

[0013] Furthermore, each magnetic centering mechanism includes a transverse hydraulic cylinder, a frame and a magnetic head. The transverse hydraulic cylinder is connected to the frame, the magnetic head is arranged on the frame, and the frame is arranged perpendicular to the center line of the transport roller.

[0014] The present invention also provides a method for automatic centering of steel plates, which is implemented based on any one of the above-mentioned automatic centering devices for steel plates and includes the following steps:

[0015] S1. The incoming steel plate runs on several transport rollers toward the rolling shearing equipment. After the incoming steel plate reaches the entrance area of the rolling shearing equipment, the transport rollers stop running. At this time, the lifting roller mechanism and the magnetic centering mechanism are separated from the steel plate.

[0016] S2. Based on the determined finished steel plate width, use a laser marking device to calibrate the shear line positions on both sides of the rolling shearing equipment;

[0017] S3. Calculate the length of the incoming steel plate and determine the combination of magnetic centering mechanisms to be used, i.e., the proximal magnetic head and the distal magnetic head;

[0018] S4. Using the laser rangefinder on the magnetic centering mechanism, determine the centering distance between the near-end magnetic head and the far-end magnetic head;

[0019] S5. deriving the centering distance between the proximal magnetic head and the distal magnetic head based on the width of the finished steel plate and the centering distance between the proximal magnetic head and the distal magnetic head;

[0020] S6, based on the centering distance between the near-end head and the far-end head, combined with the target value |△S i Determine whether the near-end and far-end magnetic heads need to be put into operation; when they need to be put into operation, the lifting roller mechanism rises to separate the incoming steel plate from the transport roller, the magnetic centering mechanism works, and the magnetic head drives the steel plate to move toward the target direction and the centering distance through the magnetic tape;

[0021] S7. After the steel plate centering operation is completed, the magnetic head of the magnetic centering mechanism is demagnetized and returns to the initial position. The lifting roller mechanism descends and places the steel plate on the transport roller and is transported to the rolling shear equipment. The finished steel plate width B is determined according to the fixed side shearing line GD0 of the rolling shear and the moving side shearing line YD of the rolling shear. C The fixed side shearing blade of the rolling shear and the movable side shearing blade of the rolling shear jointly complete the edge shearing on both sides of the steel plate.

[0022] Furthermore, S2 specifically includes the following steps:

[0023] The fixed side shearing line of the rolling shear where the shear blade of the fixed side rolling shear is located remains unchanged, so that the laser line emitted by the laser marking instrument on the fixed side coincides with the fixed side shearing line of the rolling shear;

[0024] Based on the determined finished steel plate width and the fixed side shearing line of the rolling shear, the position of the moving side shearing line of the rolling shear is obtained, so that the laser line emitted by the moving side laser marking instrument coincides with the moving side shearing line of the rolling shear.

[0025] Furthermore, S3 specifically includes the following steps:

[0026] S31, calculating the length of the incoming steel plate and the head positioning dimension value of the incoming steel plate;

[0027] After the incoming steel plate arrives at the entrance area of the rolling shearing equipment, the first online metal detector at the far end of the rolling shearing equipment tracks and determines the length of the incoming steel plate; the second online metal detector at the near end of the rolling shearing equipment calculates and determines the head positioning dimension value of the incoming steel plate based on the length of the incoming steel plate;

[0028] Length of incoming steel plate L iCalculated from the incoming steel plate linear speed and running time, the length range of the incoming steel plate is as follows:

[0029] L i =(5i,5(i+1)], (i=1,2,3,4,…,n);

[0030] The calculation formula for the head positioning dimension value of the incoming steel plate is as follows:

[0031] ;

[0032] S32. Determine the selection of the remote magnetic head according to the length of the incoming steel plate;

[0033] A plurality of magnetic centering mechanisms arranged from the proximal end to the distal end are provided with a first magnetic head, a second magnetic head, ..., and an nth magnetic head; the proximal magnetic head is fixedly selected as the first magnetic head, and the distal magnetic head is selected by the following formula:

[0034] n×5<L n ≤(n+1)×5.

[0035] Furthermore, S4 specifically includes the following steps:

[0036] S41. Use a laser rangefinder set on the moving side of the magnetic centering mechanism where the distal magnetic head and the proximal magnetic head are located to detect the distance between the laser rangefinder and the edge contour of the steel plate to obtain the edge distance; the distance between the laser rangefinder and the shear line on the fixed side of the rolling shear is the positioning distance. Based on the positioning distance and the edge distance, the fixed side distance is obtained using the following formula:

[0037] S i =SU i

[0038] Among them, S i is the fixed side distance, S is the positioning distance, U i is the edge distance;

[0039] S42. Based on the initial positions of the proximal and distal magnetic heads, the fixed side distance, and the initial width of the incoming steel plate, the intersection of the center line of the incoming steel plate and the light beam emitted by the corresponding laser rangefinder is used as the centering position, and the centering distance is calculated using the following formula:

[0040] d i = S i -(S0+B0 / 2), (i=1,2,3,4,…,n)

[0041] Among them, d i To find the center distance, S0 is the initial position of the magnetic head and B0 is the initial width of the incoming steel plate.

[0042] Furthermore, in S5, the formula for the centering distance is as follows:

[0043] △S i = S i -(B0 / 2+B C / 2), (i=1,2,3,4,…,n)

[0044] Among them, △S i is the centering distance, B C is the width of the finished steel plate.

[0045] Furthermore, the specific determination method of S6 is as follows:

[0046] If the near-end head or far-end head needs to move the centering distance |△S i | If it is less than or equal to the specified value, there is no need to align the steel plate;

[0047] If the near-end head or far-end head needs to move the centering distance |△S i | If it is greater than the specified value, the magnetic head will first complete the steel plate centering operation after magnetization;

[0048] Then, the laser rangefinder detects the distance U between the moving sides of the incoming steel plate. i , converted into the respective fixed side distance S i , judge |S i |with|B0 / 2+B C / 2| is greater than the specified value; if it is greater than the specified value, the steel plate centering operation is performed; if it is less than the specified value, the steel plate centering operation is terminated.

[0049] Compared with the prior art, the present invention has the following advantages:

[0050] The present invention uses high-precision detection instruments such as laser scribers and laser rangefinders to achieve accurate centering detection and positioning of the width of finished steel plates, getting rid of the traditional technology's reliance on manual visual observation, achieving the drawbacks of steel plate edge alignment and manual adjustment of steel plate centering operations, and improving steel plate centering efficiency and accuracy.

[0051] The present invention adopts a preset model for steel plate shearing and a self-learning method to accurately match and select a magnetic head combination according to the length of the incoming steel plate and the head positioning size, thereby avoiding the use of redundant magnetic heads, reducing energy consumption, and realizing the green, low-carbon and energy-saving and consumption-reducing automatic centering of steel plates.

[0052] The present invention quantifies the centering distance value in the width direction of the finished steel plate through steel plate edge contour recognition and offset calculation, overcoming technical difficulties such as video image network delay and self-brightness attenuation, and breaking the traditional technology's reliance on remote camera to extract steel plate contours. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0054] Figure 1 It is a schematic diagram of the planar layout of the device of the present invention;

[0055] Figure 2 yes Figure 1 AA section view;

[0056] Figure 3 It is a schematic diagram of the arrangement of the magnetic head and the online metal detector of the magnetic centering mechanism of the present invention;

[0057] Figure 4 Schematic diagram of the excitation operation of the first magnetic head and the second magnetic head of the present invention;

[0058] Figure 5 Schematic diagram of the excitation operation of the first magnetic head and the third magnetic head of the present invention;

[0059] Figure 6 Schematic diagram of the excitation operation of the first magnetic head and the fourth magnetic head of the present invention;

[0060] Figure 7 Schematic diagram of the excitation operation of the first magnetic head and the fifth magnetic head of the present invention;

[0061] Figure 8 Schematic diagram of the excitation operation of the first magnetic head and the nth magnetic head of the present invention;

[0062] Figure 9 This is a schematic diagram of the inclined arrangement of incoming steel plates according to the present invention;

[0063] Figure 10 Schematic diagram of determining the centering distance of a steel plate according to the present invention;

[0064] Figure 11 Schematic diagram of determining the centering distance of steel plates according to the present invention;

[0065] Figure 12 This is a flow chart of the automatic centering operation of steel plates according to the present invention.

[0066] Figure: 1. Laser marking device; 101. Motor; 102. Reducer; 103. Lead screw; 104. Fixed-side laser marking instrument; 105. Moving-side laser marking instrument; 2. Magnetic centering mechanism; 201. Transverse hydraulic cylinder; 202. Frame; 203. Magnetic head; 2031. First magnetic head; 2032. Second magnetic head; 2033. Third magnetic head; 2034. Fourth magnetic head; 2035. Fifth magnetic head; 2036. Sixth magnetic head; 203n. Nth magnetic head; 204. Laser rangefinder ; 3. Lifting roller mechanism; 4. Crossbeam; 5. Transport roller; 6. Mobile side rolling shear; 7. Fixed side rolling shear; 8. Shear blade; 9. First online metal detector; 10. Second online metal detector; Q, steel plate running direction; YD0, initial position; YD1, maximum stroke position; YD, shear line of mobile side rolling shear; GD0, shear line of fixed side rolling shear; M, center line of transport roller; N, center line of incoming steel plate; λ, installation distance; Z0, original distance; Z1, traverse distance; Z max , maximum travel distance; B max , Maximum finished plate width; B min , minimum finished board width; B c , finished steel plate width; Z gx , working distance; L r0 , head positioning size, r=1,2,3,4,…,n; L i , length of incoming steel plate, i=1,2,3,4,…,n; B0, initial width of incoming steel plate; B1, right position of minimum finished plate width; B2, right position of maximum finished plate width; S, positioning distance; S0, initial distance; S1, fixed side distance of near-end magnetic head; U1, edge distance of near-end magnetic head; S2, fixed side distance of far-end magnetic head; U2, edge distance of far-end magnetic head; d1, near-end centering distance; d2, far-end centering distance; △S1, near-end centering distance; △S2, far-end centering distance; O1, initial position of near-end magnetic head; O2, initial position of far-end magnetic head; P1, centering position of near-end magnetic head; P2, centering position of far-end magnetic head; R1, centering position of near-end magnetic head; R2, centering position of far-end magnetic head; θ, angle between center line N of incoming steel plate and center line M of transport roller; L 12 , the distance between the first head and the second head; L 23 , the distance between the second head and the third head; L 34 , the distance between the third head and the fourth head; L 45 , the distance between the fourth head and the fifth head; L 56 , the distance between the fifth head and the sixth head. DETAILED DESCRIPTION

[0067] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0068] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0069] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0070] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0071] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0072] For ease of description, spatially relative terms such as "above," "on the upper surface of," "on top of," etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "on top of" another device or structure would then be positioned as "below" or "below" the other device or structure. Thus, the exemplary term "above" may include both the orientations of "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used herein should be interpreted accordingly.

[0073] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0074] The present invention can solve the technical difficulties and quality problems that steel mill users are highly concerned about and urgently need to eliminate during the steel plate centering process, and ultimately realize automatic centering of steel plates, thereby comprehensively improving centering accuracy and production efficiency.

[0075] like Figure 1As shown, the present invention provides an automatic steel plate centering device, comprising a laser marking device 1, a magnetic centering mechanism 2, a lifting roller mechanism 3, and a rolling shear, disposed at the entrance area of a rolling shear. The rolling shear comprises a movable rolling shear 6 and a fixed rolling shear 7, positioned opposite each other. The central axis between the two rolling shears is the centerline M of the conveyor roller. The movable side is defined on one side of the conveyor roller centerline M, while the fixed side is defined on the other side of the conveyor roller centerline M. The entrance area of the rolling shear is defined as the proximal end, with the side closest to the rolling shear being the proximal end, and the side farther from the rolling shear being the distal end. A crossbeam 4 is positioned opposite the movable and fixed sides, parallel to the centerline M of the conveyor roller. The crossbeam 4 is equipped with several magnetic centering mechanisms 2, lifting roller mechanisms 3, and a conveyor roller 5. A laser marking device 1 is positioned at the proximal and distal ends of the crossbeam 4, respectively. The proximal end is approximately 20 meters from the shear centerline, and the distal end is approximately 20 meters from the proximal end, with the distance slightly adjusted based on the production process. A magnetic centering mechanism 2 is positioned below the steel plate, along with a lifting roller mechanism 3 and a transport roller conveyor 5. The steel plate runs on the transport roller conveyor 5 in the plate's travel direction Q. The present invention utilizes the laser marking device 1, magnetic centering mechanism 2, lifting roller mechanism 3, rolling shears, and transport roller conveyor 5 to automatically center the steel plate and align its edges, facilitating rolling shearing of the steel plate's edges by the rolling shear blades 8.

[0076] Laser marking device 1 is used to calibrate the width B of the finished steel plate C The core equipment mainly includes the following parts: motor 101, reducer 102, screw 103, fixed side laser scriber 104, and mobile side laser scriber 105. The position of the fixed side laser scriber 104 is relatively fixed, and the laser line it emits coincides with the shear line GD0 of the fixed side of the rolling shear. Under the driving action of the motor 101, the reducer 102 drives the screw 103 to make the mobile side laser scriber 105 move left and right, according to the width B of the finished steel plate C The traverse stroke of the moving-side laser scriber 105 is determined.

[0077] The magnetic centering mechanism 2 is the core equipment for steel plate centering and side alignment, and mainly includes a transverse hydraulic cylinder 201, a frame 202 and a magnetic head 203. i Determine the combination of the magnetic centering mechanism 2 to be put into use, and the transverse hydraulic cylinder 201 drives the magnetic head 203 to move transversely along the frame 202 (perpendicular to the center line M of the transport roller), thereby pushing the inclined steel plates to achieve automatic centering, ensuring that the edges of the finished steel plates on both sides coincide with the fixed side shearing line GD0 of the rolling shear and the movable side shearing line YD of the rolling shear along the width direction.

[0078] The lifting roller mechanism 3 drives the joist to rise and fall through the lifting hydraulic cylinder. When the joist is lifted, the bottom surface of the steel plate can be separated from the top surface of the transport roller 5, making it easier for the magnetic centering mechanism 2 to complete the centering of the steel plate.

[0079] The transport roller 5 drives the steel plate into the entrance area of the rolling shearing equipment through the motor-driven roller. When the steel plate completes the centering operation, the transport roller 5 is started again to drive the steel plate into the rolling shearing equipment to complete the edge shearing of the steel plate.

[0080] The rolling shearing equipment is the core equipment for longitudinal shearing of steel plates. The fixed side shearing blades 8 and the movable side shearing blades 8 arranged on both sides of the center line M of the transport roller perform longitudinal trimming operations on both sides of the steel plates.

[0081] The technical principle of automatic steel plate alignment is as follows:

[0082] The steel plate is transported to the entrance area of the rolling shear equipment via the transport roller 5. After the trimming amount on both sides of the original steel plate is known based on the determined width of the finished steel plate, a laser line is emitted from the fixed side and the movable side of the single laser scribing device 1. The four laser lines of the two laser scribing devices 1 are overlapped with each other. In the initial state, the laser line emitted from the fixed side of the laser scribing device 1 overlaps with the shear line GD0 on the fixed side of the rolling shear, and this is used as the positioning reference. According to the width B of the finished steel plate, the laser line emitted from the fixed side of the laser scribing device 1 is overlapped with the shear line GD0 on the fixed side of the rolling shear. C Determine the position of the laser line emitted from the moving side of the laser scribing device 1 to ensure that the shear line YD on the moving side of the roller shear coincides with the laser line emitted from the moving side of the laser scribing device 1. The range defined by the laser lines emitted by the two sets of laser scribing devices 1 is the width of the finished steel plate and also coincides with the two edges of the incoming steel plate after being cut by the roller shear.

[0083] After that, the lifting roller mechanism 3 lifts the steel plate off the transport roller 5 (to avoid scratches on the bottom of the steel plate and the top surface of the transport roller 5 during the transverse movement of the steel plate), and the steel plate is separated from the transport roller 5 by the lifting roller mechanism 3. i Determine the combination of the magnetic centering mechanism 2 to be put into use, and the laser rangefinder 204 of the magnetic centering mechanism 2 determines the centering distance d according to the initial width B0 of the incoming steel plate. i , and combined with the laser line emitted by the laser marking device 1, the fixed side shearing line GD0 of the rolling shear, the moving side shearing line YD of the rolling shear, the initial width B0 of the incoming steel plate and the width B of the finished steel plate C , comprehensively determine the centering distance △S of the steel plate i Finally, the magnetic head 203 of the magnetic centering mechanism 2 is energized to push the steel plate to complete the automatic centering and edge alignment operations.

[0084] After the automatic centering of the steel plate is completed, the magnetic head 203 of the magnetic centering mechanism 2 is demagnetized and returns to the initial position, the lifting roller mechanism 3 descends and places the steel plate on the transport roller 5, and is transferred to the rolling shearing equipment to complete the edge shearing on both sides of the steel plate.

[0085] The present invention also provides a method for automatically centering a steel plate, the specific steps of which are as follows:

[0086] 1. Calibration of the two laser lines of the laser marking device (determine the width of the finished steel plate B C ):

[0087] like Figure 2 As shown, the present invention provides a laser marking device, which calibrates the width of the finished steel plate by emitting two beams of laser lines. The screw 103 of the laser marking device 1 is located above the transport roller 5 as a whole. Two groups of laser marking instruments are set on the screw 103. The fixed-side laser marking instrument 104 is located on the left side of the screw 103. The laser line emitted by it coincides with the shear line GD0 of the fixed side of the rolling shear; the initial position of the movable-side laser marking instrument 105 is set at the initial position YD0, and the interval with the fixed-side laser marking instrument 104 is the original distance Z0. The movable-side laser marking instrument 105 can move horizontally left and right along the screw 103. The moving range of the laser line emitted by it is between the initial position YD0 and the maximum stroke position YD1. The maximum stroke position YD1 is the maximum stroke distance Z that the movable-side laser marking instrument 105 can move horizontally to the right. max .

[0088] Finished steel plate width B C Between the minimum finished board width B min and the maximum finished board width B max In combination with the material type and size of the incoming steel plate, the target width of the finished steel plate is determined, with the finished steel plate width B C The left side is the benchmark and coincides with the shear line GD0 on the fixed side of the rolling shear. The finished steel plate width B C The right side coincides with the shear line YD on the moving side of the rolling shear. The travel range of the shear line YD on the moving side of the rolling shear is between the initial position YD0 and the maximum travel position YD1 [YD0, YD1], which is consistent with the universal applicability of the working principle of the laser marking device.

[0089] To ensure the finished steel plate width B C The centering accuracy and detection effectiveness of the laser marking instrument, the initial position YD0 of the moving side laser marking instrument 105 is located at the left end of the position B1 on the right side of the minimum finished plate width, the minimum finished plate width B min Value (GD0, B1]; the maximum stroke position YD1 is located at the right end of the maximum finished plate width position B2, the maximum finished plate width B max Take the value (GD0, B2].

[0090] The following two particularities also conform to the principle of universal applicability:

[0091] 1) When the finished steel plate width B C= Minimum finished board width B min :Combined with the material type and size specifications of the incoming steel plate, the target width of the finished steel plate is set to be the minimum finished plate width B. min When the minimum finished plate width B min The left side is the benchmark and coincides with the shear line GD0 on the fixed side of the rolling shear, and the minimum finished plate width B min The right side coincides with the shear line YD on the moving side of the rolling shear; the right side position B1 of the minimum finished plate width is located at the right end of the initial position YD0 of the moving side laser marking instrument 105. When the laser line emitted by the moving side laser marking instrument 105 moves from the initial position YD0 to the right by a distance Z1, the shear line YD on the moving side of the rolling shear coincides with the laser line emitted by the moving side laser marking instrument 105 at the right side position B1 of the minimum finished plate width, and the minimum finished plate width B is satisfied. min = original distance Z0 + lateral distance Z1 relationship.

[0092] 2) When the finished steel plate width B C = Maximum finished board width B max :Combined with the material type and size specifications of the incoming steel plate, the target width of the finished steel plate is set to be the maximum finished plate width B. max When the maximum finished plate width B max The left side is the benchmark and coincides with the shear line GD0 on the fixed side of the rolling shear, and the maximum finished plate width B max The right side coincides with the shear line YD on the moving side of the rolling shear; the right side position B2 of the maximum finished plate width is located at the left end of the maximum travel position YD1 of the moving side laser scriber. When the laser line emitted by the moving side laser scriber 105 moves from the initial position YD0 to the right, the lateral movement distance Z1 + working travel distance Z gx After that, the shear line YD on the moving side of the rolling shear coincides with the laser line emitted by the moving side laser scriber 105 at the right position B2 of the maximum finished plate width, and the maximum finished plate width B is satisfied. max =Original distance Z0+Transverse distance Z1+Working stroke distance Z gx (or maximum finished plate width B max = Minimum finished board width B min + Working distance Z gx ) relation.

[0093] More specifically, the effective travel range of the rolling shear moving side shear line YD / moving side laser marking instrument 105 is between the initial position YD0 and the right side position B2 of the maximum finished plate width [YD0, B2].

[0094] 2. Centering distance d of magnetic centering mechanism i and centering distance △S i Confirm (to achieve automatic centering of steel plates):

[0095] Multiple sets of magnetic centering mechanisms 2 are arranged between multiple sets of transport rollers 5 and lifting roller mechanisms 3. Each set of magnetic centering mechanisms 2 is equipped with a laser rangefinder 204 near the moving side to detect the edge contour of the incoming steel plate near the moving side. First, according to the length L of the incoming steel plate i , determine the combination of magnetic centering mechanism 2; secondly, according to the initial width B0 of the incoming steel plate, determine the centering distance d i Third, combined with the fixed side shearing line GD0 of the rolling shear, the moving side shearing line YD of the rolling shear, the initial width B0 of the incoming steel plate and the width B of the finished steel plate C , comprehensively determine the centering distance △S of the steel plate i ; Finally, according to |△S i |The numerical value is used to determine whether the steel plate centering and side alignment work is completed.

[0096] 1) Determine the combination of magnetic centering mechanisms to be used

[0097] like Figure 3-Figure 8 As shown in the figure, the present invention provides a diagram of the excitation working principle of a plurality of magnetic head combinations, by calculating the length L of the incoming steel plate i and head positioning size L r0 The final magnetic head combination (excitation state) is determined and marked with a black dot. Along the inlet area of the rolling shearing equipment, from the proximal end to the distal end, the second online metal detector 10, the first magnetic head 2031, the first magnetic head 2031, the second magnetic head 2032, the third magnetic head 2033, the fourth magnetic head 2034, the fifth magnetic head 2035, the sixth magnetic head 2036, ..., the nth magnetic head 203n, and the first online metal detector 9 are arranged in this order. The steel plate travels in the direction Q from the distal end to the proximal end via multiple sets of transport rollers 5 to the inlet area of the rolling shearing equipment.

[0098] When the incoming steel plate arrives at the entrance area of the rolling shearing device, the first online metal detector 9 can track and determine the length L of the incoming steel plate based on the known conditions such as the linear speed and running time of the incoming steel plate. i ;The head positioning size L of the incoming steel plate r0 This is achieved through the second online metal detector 10. When the head of the incoming steel plate passes through the second online metal detector 10, the head positioning size L of the incoming steel plate can be calculated and determined based on the known conditions such as the installation distance λ between the second online metal detector 10 and the first magnetic head 2031 and the linear speed of the steel plate. r0 value.

[0099] Determine the length L of the incoming steel plate i Finally, through the steel plate shearing pre-set model and the steel plate size database under the adaptive learning procedure, two sets of magnetic head combinations are selected to match the incoming steel plate length L i , the head matching combination is shown in Table 1:

[0100] Appendix 1 Head combination

[0101]

[0102] The length L of the incoming steel plate can be determined from Appendix 1 i and head positioning size L r0 , and their values are as follows:

[0103] L i =(5i,5(i+1)]m,(i=1,2,3,4,…,n)(1)

[0104] (2)

[0105] 2) Determine the mid-distance d i

[0106] Each set of magnetic centering mechanisms 2 is equipped with a set of laser rangefinders 204 near the moving side, and the positioning distance between each set of laser rangefinders 204 and the shear line GD0 on the fixed side of the rolling shear is a constant value S; each set of magnetic centering mechanisms 2 has a set of magnetic heads 203, and the initial position O1 of the proximal magnetic head, the initial position O2 of the distal magnetic head and the initial distance S0 from the shear line GD0 on the fixed side of the rolling shear remain unchanged.

[0107] like Figures 9-11 As shown, the present invention provides a principle diagram of automatic centering of steel plates, which illustrates the entire process of inclined incoming steel plates successively undergoing centering distance determination, centering distance determination, and automatic centering of the steel plates, laying a theoretical foundation for the subsequent successful completion of longitudinal shearing of the edges of the steel plates.

[0108] When the incoming steel plate (initial width B0) reaches the entrance area of the rolling shearing equipment, it will basically be in an inclined arrangement state, that is, there is a certain angle θ between the center line N of the incoming steel plate and the center line M of the transport roller. In this state, the laser rangefinder 204 usually first detects the edge contour of the incoming steel plate close to the moving side and obtains the edge distance U i ; According to the edge distance U i , positioning distance S, converted to the fixed side distance S between the moving side of the unloaded steel plate and the fixed side shear line GD0 of the rolling shear i , and there are

[0109] S i =SU i , (i=1,2,3,4,…,n) (3)

[0110] Each group of heads is based on the initial position, fixed side distance S iThe initial width B0 of the incoming steel plate is used, and the intersection of the incoming steel plate center line N and the corresponding laser rangefinder 204 light beam is used as the centering position, and the centering distance d to be moved is calculated. i , and there are

[0111] d i = S i - (S0+B0 / 2), (i=1,2,3,4,…,n) (4)

[0112] 3) Determine the centering distance △S i

[0113] From the above content, we can know that finding the middle distance d i The laser distance meter 204 is used to determine the initial width B0 of the incoming steel plate. The shearing positions on both sides of the steel plate are determined by the fixed side shearing line GD0 of the rolling shear and the moving side shearing line YD of the rolling shear. Therefore, the centering distance △S i The finished steel plate width B C Determine specific values for your benchmarks.

[0114] Each set of magnetic heads can be adjusted according to the width B of the finished steel plate. C , fixed side distance S i With the initial width B0 of the incoming steel plate, each group finds the center position d i As a benchmark, the centering distance △S to be moved can be calculated i , and there are

[0115] △S i = S i -(B0 / 2+B C / 2), (i=1,2,3,4,…,n) (5)

[0116] If the distance between the two sets of magnetic heads in the excitation work is large, several sets of magnetic heads need to be raised in the middle. They are not energized but only assist in supporting the steel plate to prevent the middle of the thin plate from collapsing, which affects the centering accuracy of the steel plate and the quality of the finished shearing product.

[0117] 4) Based on |△S i |The value is used to determine whether the steel plate alignment is completed

[0118] Determine whether the centering distance required for each group of magnetic heads to move satisfies |△S i |≤4mm:

[0119] ① If the centering distance |△Si| that a group of magnetic heads needs to move is ≤4mm, then this group of magnetic heads does not need to be aligned with the steel plate;

[0120] ② If a set of magnetic heads needs to move the centering distance |△S i|>4mm, then after the magnetization, the magnetic head group first completes the steel plate centering operation; then, the laser rangefinder 204 detects the distance U between the moving side edges of the incoming steel plate. i , converted into the respective fixed side distance S i , judge |S i |with|B0 / 2+B C / 2| is greater than 4mm; if "yes", perform the steel plate centering operation; if "no", end the steel plate centering operation.

[0121] The present invention is suitable for rolling shearing equipment in medium and thick plate production lines, covering rolling shearing equipment of various specifications such as 3000mm, 3500mm, 3800mm, 4200mm, 4300mm, 5000mm, and 5600mm. It is mainly used for automatic centering and alignment of the edges on both sides of the steel plate before shearing, so as to improve the shearing quality and yield rate of the finished steel plate.

[0122] Example

[0123] In order to further illustrate the technical solution of the present invention, the steel plate automatic centering process method of the present invention is further described as follows in combination with the embodiments:

[0124] In order to simplify the workflow of automatic centering of steel plates, this magnetic head combination is explained using the first magnetic head 2031 + the second magnetic head 2032 as an example. The automatic centering of steel plates is achieved through the joint action of five parts: a laser marking device 1, a magnetic centering mechanism 2, a lifting roller mechanism 3, a rolling shear device, and a transport roller 5. The magnetic centering mechanism 2 is the core equipment for centering and side alignment of steel plates. The transverse hydraulic cylinder 201 drives the magnetic head 203 to move transversely along the frame 202 (perpendicular to the center line of the transport roller), pushing the inclined steel plates to achieve automatic centering, ensuring that the edges of both sides of the finished steel plates coincide with the fixed side shearing line GD0 and the movable side shearing line YD of the rolling shear along the width direction, respectively, to facilitate the rolling shear blade 8 to roll and shear the edges of the steel plates.

[0125] like Figure 12 As shown, the present invention provides an operation flow chart of automatic centering of steel plates, which vividly reproduces the entire process of automatic centering of steel plates through a nine-step method, and can effectively improve the production efficiency of wide and thick plate production lines and the shearing quality of steel plates.

[0126] The specific operation process and working method of automatic steel plate centering include the following steps:

[0127] In the first step, the automatic centering process of the steel plate begins.

[0128] In the second step, the steel plate arrives at the entrance area of the rolling shear equipment.

[0129] The incoming steel plate is transported to the entrance area of the rolling shearing equipment via the transport roller 5. The lifting roller mechanism 3 is entirely located below the transport roller 5 and is separated from the incoming steel plate.

[0130] When the transport roller 5 is working, the magnetic centering mechanism 2 and the lifting roller mechanism 3 stop running, and both are not allowed to work at the same time as the transport roller 5.

[0131] The third step is to calibrate the shear line positions GD0 and YD on both sides of the rolling shear by the laser marking device.

[0132] Two sets of laser marking instruments are set on the screw 103 of the laser marking device 1. The fixed side laser marking instrument 104 is located on the left side of the screw 103. The laser line it emits coincides with the fixed side shearing line GD0 of the rolling shear; the movable side laser marking instrument 105 can move left and right along the screw, and the laser line it emits coincides with the movable side shearing line YD of the rolling shear; YD is between the initial position YD0 and the maximum stroke position YD1. The distance between the fixed side shearing line GD0 of the rolling shear and the movable side shearing line YD of the rolling shear is the width B of the finished steel plate. C value.

[0133] The fourth step is to determine the length of the incoming steel plate L. i , determine the combination of magnetic centering mechanisms to be put into use.

[0134] After the incoming steel plate arrives at the entrance area of the rolling shearing device, the first online metal detector 9 at the far end of the rolling shearing device tracks and determines the length L of the incoming steel plate. i The second online metal detector 10 near the rolling shear equipment calculates and determines the head positioning size L of the incoming steel plate r0 value.

[0135] Determine the length L of the incoming steel plate i Finally, through the steel plate shearing pre-set model and the steel plate size database under the adaptive learning procedure, two sets of magnetic head combinations are selected to match the incoming steel plate length L i , in order to better improve the utilization rate of the magnetic head and achieve green, low-carbon and energy-saving and consumption-reducing equipment.

[0136] Incoming steel plate length L i and head positioning size L r0 , and their values are as follows:

[0137] L i =(5i,5(i+1)]m,(i=1,2,3,4,…,n)

[0138]

[0139] Because the present embodiment selects a magnetic head combination of the first magnetic head 2031 + the second magnetic head 2032 , that is, the first magnetic head 2031 is a proximal magnetic head and the second magnetic head 2032 is a distal magnetic head, therefore:

[0140] The length of the incoming steel plate is L1 = (5, 10] m, that is, 5m < L1 ≤ 10m

[0141] Head positioning size L 10 =L1 / 2-2m, L 10 Value range (0.5, 3]m

[0142] Step 5: Determine the middle distance d i

[0143] The center line N of the incoming steel plate and the center line M of the transport roller are generally arranged in an inclined state (angle θ). A laser rangefinder 204 is set on the moving side of each set of magnetic centering mechanism 2. According to the edge profile of the steel plate detected by the laser rangefinder 204, the edge distance U can be determined by light speed × time (half of the round-trip time of the laser rangefinder's light beam). i , namely U1 and U2 below; according to the edge distance U i , positioning distance S, converted to fixed side distance S i , and there are

[0144] S i =SU i , (i=1,2,3,4,…,n)

[0145] Since the embodiment selects the magnetic head combination of the first magnetic head 2031 + the second magnetic head 2032, the distance between the two fixed sides is:

[0146] S1= S-U1;

[0147] S2= S-U2;

[0148] Each set of magnetic centering mechanism 2 is provided with a set of magnetic heads 203. Each set of magnetic heads is provided with a set of magnetic heads 203 according to the initial position, the fixed side distance S i The initial width B0 of the incoming steel plate, and the initial distance S0 between the initial position O1 of the proximal magnetic head, the initial position O2 of the distal magnetic head and the fixed side shear line GD0 of the rolling shear remain unchanged. The intersection of the center line N of the incoming steel plate and the light beam emitted by the corresponding laser rangefinder 204 is the centering position, and the centering distance d is calculated. i , and there are:

[0149] d i = S i -(S0+B0 / 2), (i=1,2,3,4,…,n)

[0150] Since the embodiment selects the magnetic head combination of the first magnetic head 2031 + the second magnetic head 2032, the centering distances of the two groups are:

[0151] d1= S1-(S0+B0 / 2);

[0152] d2= S2-(S0+B0 / 2);

[0153] Among them, U1 is the distance to the edge of the near-end magnetic head; U2 is the distance to the edge of the far-end magnetic head; S1 is the distance to the fixed side of the near-end magnetic head; S2 is the distance to the fixed side of the far-end magnetic head; d1 is the distance to the near-end center; d2 is the distance to the far-end center;

[0154] Step 6: Determine the centering distance △S i

[0155] Because the edge shearing positions on both sides of the steel plate are determined by the fixed side shearing line GD0 of the rolling shear and the moving side shearing line YD of the rolling shear, the centering distance △S i The finished steel plate width B C Determine specific values for your benchmarks.

[0156] Each group of magnetic heads is based on the width B of the finished steel plate C , fixed side distance S i The initial width B0 of the incoming steel plate, with the near-end magnetic head centering position R1 and the far-end magnetic head centering position R2 as the reference, combined with the near-end magnetic head centering position P1 and the far-end magnetic head centering position P2, can be converted to the centering distance △S i , and there are

[0157] △S i = S i -(B0 / 2+B C / 2), (i=1,2,3,4,…,n)

[0158] Since the present embodiment selects the magnetic head combination of the first magnetic head 2031 + the second magnetic head 2032 , therefore:

[0159] Centering distance between the two groups:

[0160] △S1= S1-(B0 / 2+B C / 2)

[0161] △S2= S2-(B0 / 2+B C / 2)

[0162] Among them, △S1 is the near-end centering distance; △S2 is the far-end centering distance;

[0163] After that, the displacement is moved in the target direction by the centering distance, with the displacement of the magnetic head from the fixed side to the movable side being positive and the displacement from the movable side to the fixed side being negative.

[0164] Because the distance between the first magnetic head 2031 and the second magnetic head 2032 engaged in the excitation operation is not too large, there is no need to lift the non-excitation magnetic head to assist in supporting the steel plate.

[0165] Step 7: Target value determination, satisfying |△S i |≤4mm

[0166] According to the centering distance |△S that each group of magnetic heads needs to move i |≤4mm, to determine whether the group of magnetic heads is energized and put into operation to complete the automatic centering operation of the steel plate.

[0167] Since the present embodiment selects the magnetic head combination of the first magnetic head 2031 + the second magnetic head 2032 , therefore:

[0168] 1. If the centering distance |ΔS1| of the first magnetic head 2031 and the centering distance |ΔS2| of the second magnetic head 2032 both meet the judgment value ≤ 4 mm, then the magnetic head combination does not need to be aligned with the steel plate and directly proceeds to step 8;

[0169] 2. If the centering distance |ΔS1| of the first magnetic head 2031 or the centering distance |ΔS2| of the second magnetic head 2032 satisfies the judgment value > 4 mm, then the magnetic head of that group completes the steel plate centering operation after magnetization. Then, return to step 5 and use the laser rangefinder 204 to detect the distance U between the moving side edges of the incoming steel plate. i , converted into the respective fixed side distance S i , judge again |S i |with|B0 / 2+B C Is the difference between / 2|≤4mm? If yes, proceed to step 8; if no, return to step 5.

[0170] 3. Repeat the target value determination until the centering distances of the two sets of heads meet |△S i |≤4mm, the steel plate alignment process is completed.

[0171] In the eighth step, the rolling shear equipment completes the shearing of the steel plate edge.

[0172] The magnetic head 203 of the magnetic centering mechanism 2 returns to its initial position after demagnetization, and the lifting roller mechanism 3 descends to place the steel plate on the transport roller 5 and transfers it to the rolling shear equipment. The finished steel plate width B is determined according to the fixed side shearing line GD0 of the rolling shear and the moving side shearing line YD of the rolling shear. C The fixed side shearing blade 8 of the rolling shear and the movable side shearing blade 8 of the rolling shear jointly complete the edge shearing on both sides of the steel plate.

[0173] Step 9: The workflow ends.

[0174] At this point, the entire steel plate automatic centering workflow is completed and enters the next work cycle.

[0175] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatic centering of steel plates, characterized in that: The steps include: S1. The incoming steel plate runs on several transport rollers toward the rolling shearing equipment. After the incoming steel plate reaches the entrance area of the rolling shearing equipment, the transport rollers stop running. At this time, the lifting roller mechanism and the magnetic centering mechanism are separated from the steel plate. S2. Based on the determined finished steel plate width, use a laser marking device to calibrate the shear line positions on both sides of the rolling shearing equipment; S3. Calculate the length of the incoming steel plate and determine the combination of magnetic centering mechanisms to be used, i.e., the proximal magnetic head and the distal magnetic head; S4. Using the laser rangefinder on the magnetic centering mechanism, determine the centering distance between the near-end magnetic head and the far-end magnetic head; S41. Use a laser rangefinder set on the moving side of the magnetic centering mechanism where the distal magnetic head and the proximal magnetic head are located to detect the distance between the laser rangefinder and the edge contour of the steel plate to obtain the edge distance; the distance between the laser rangefinder and the shear line on the fixed side of the rolling shear is the positioning distance. Based on the positioning distance and the edge distance, the fixed side distance is obtained using the following formula: S i =S-U i Among them, S i is the fixed side distance, S is the positioning distance, U i is the edge distance; S42. Based on the initial positions of the proximal and distal magnetic heads, the fixed side distance, and the initial width of the incoming steel plate, the intersection of the center line of the incoming steel plate and the light beam emitted by the corresponding laser rangefinder is used as the centering position, and the centering distance is calculated using the following formula: d i = S i -(S0+B0 / 2),(i=1,2,3,4,…,n) Among them, d i To find the center distance, S0 is the initial position of the magnetic head and B0 is the initial width of the incoming steel plate; S5. deriving the centering distance between the proximal magnetic head and the distal magnetic head based on the width of the finished steel plate and the centering distance between the proximal magnetic head and the distal magnetic head; The formula for the centering distance is as follows: △S i = S i -(B0 / 2+B C / 2),(i=1,2,3,4,…,n) Among them, △S i is the centering distance, B C is the width of the finished steel plate; S6, based on the centering distance between the near-end head and the far-end head, combined with the target value |△S i Determine whether the near-end and far-end magnetic heads need to be put into operation; when they need to be put into operation, the lifting roller mechanism rises to separate the incoming steel plate from the transport roller, the magnetic centering mechanism works, and the magnetic head drives the steel plate to move toward the target direction and the centering distance through the magnetic tape; S7. After the steel plate centering operation is completed, the magnetic head of the magnetic centering mechanism is demagnetized and returns to the initial position. The lifting roller mechanism descends and places the steel plate on the transport roller and is transported to the rolling shear equipment. The finished steel plate width B is determined according to the fixed side shearing line GD0 of the rolling shear and the moving side shearing line YD of the rolling shear. C The fixed side shearing blade of the rolling shear and the movable side shearing blade of the rolling shear jointly complete the edge shearing on both sides of the steel plate.

2. The method for automatic centering of steel plates according to claim 1, characterized in that: S2 specifically includes the following steps: The fixed side shearing line of the rolling shear where the shear blade of the fixed side rolling shear is located remains unchanged, so that the laser line emitted by the laser marking instrument on the fixed side coincides with the fixed side shearing line of the rolling shear; Based on the determined finished steel plate width and the fixed side shearing line of the rolling shear, the position of the moving side shearing line of the rolling shear is obtained, so that the laser line emitted by the moving side laser marking instrument coincides with the moving side shearing line of the rolling shear.

3. The method for automatic centering of steel plates according to claim 1, characterized in that: S3 specifically includes the following steps: S31, calculating the length of the incoming steel plate and the head positioning dimension value of the incoming steel plate; After the incoming steel plate arrives at the entrance area of the rolling shearing equipment, the first online metal detector at the far end of the rolling shearing equipment tracks and determines the length of the incoming steel plate; The second online metal detector at the near end of the rolling shearing equipment calculates and determines the head positioning dimension value of the incoming steel plate based on the length of the incoming steel plate; Length of incoming steel plate L i Calculated from the incoming steel plate linear speed and running time, the length range of the incoming steel plate is as follows: L i =(5i,5(i+1)],(i=1,2,3,4,…,n); The calculation formula for the head positioning dimension value of the incoming steel plate is as follows: ； S32. Determine the selection of the remote magnetic head according to the length of the incoming steel plate; A plurality of magnetic centering mechanisms arranged from the proximal end to the distal end are provided with a first magnetic head, a second magnetic head, ..., and an nth magnetic head; the proximal magnetic head is fixedly selected as the first magnetic head, and the distal magnetic head is selected by the following formula: n×5<L n ≤(n+1)×5。 4. The method for automatic centering of steel plates according to claim 1, characterized in that: The specific determination method of S6 is as follows: If the near-end head or far-end head needs to move the centering distance |△S i | If it is less than or equal to the specified value, there is no need to align the steel plate; If the near-end head or far-end head needs to move the centering distance |△S i | If it is greater than the specified value, the magnetic head will first complete the steel plate centering operation after magnetization; Then, the laser rangefinder detects the distance U between the moving sides of the incoming steel plate. i , converted into the respective fixed side distance S i , judge |S i |with|B0 / 2+B C / 2| is greater than the specified value; if it is greater than the specified value, the steel plate centering operation is performed; if it is less than the specified value, the steel plate centering operation is terminated.

5. A steel plate automatic centering device for implementing the steel plate automatic centering method according to any one of claims 1 to 4, characterized in that: It includes a laser marking device, a magnetic centering mechanism, a lifting roller mechanism, a laser rangefinder and a rolling shearing device arranged at the entrance area of the rolling shearing device; The laser rangefinder is only set on the moving side of the magnetic centering mechanism; The rolling shear equipment includes two rolling shears arranged opposite to each other, with the central axis between the two rolling shears being the center line of the transport roller; one side of the center line of the transport roller is the moving side, and the other side of the center line of the transport roller is the fixed side; the side close to the rolling shear inlet area is the proximal end, and the side away from the rolling shear inlet area is the distal end; A crossbeam is arranged opposite to the movable side and the fixed side. The crossbeam is arranged parallel to the center line of the transport roller. Several magnetic centering mechanisms, lifting roller mechanisms and transport rollers are arranged on the crossbeam. A laser marking device is arranged at the near end and the far end of the crossbeam respectively. The magnetic centering mechanism, lifting roller mechanism and transport roller are arranged under the steel plate.

6. The automatic steel plate centering device according to claim 5, characterized in that: The laser marking device includes a motor, a reducer, a screw, a movable side laser marking instrument and a fixed side laser marking instrument connected in sequence from the movable side to the fixed side. The movable side laser marking instrument moves in a direction perpendicular to the center line of the transport roller. The screw is arranged perpendicular to the center line of the transport roller. The fixed side laser marking instrument and the movable side laser marking instrument emit laser lines parallel to the center line of the transport roller. The laser line emitted by the fixed side laser marking instrument coincides with the shear line of the fixed side rolling shear, and the laser line emitted by the movable side laser marking instrument coincides with the shear line of the movable side rolling shear.

7. The automatic steel plate centering device according to claim 5, characterized in that: The distance between each transport roller and the adjacent transport roller is fixed, and a magnetic centering mechanism is provided between every two transport rollers.

8. The automatic steel plate centering device according to claim 5, characterized in that: Each magnetic centering mechanism includes a transverse hydraulic cylinder, a frame and a magnetic head. The transverse hydraulic cylinder is connected to the frame. The magnetic head is arranged on the frame. The frame is arranged perpendicular to the center line of the transport roller.

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