Intelligent plate blank conveying device and method

Abstract

The invention relates to an intelligent plate blank conveying device and method, and the intelligent plate blank conveying device comprises a casting flow roller way, a blank conveying vehicle roller way, a steel moving machine roller way, a blank conveying vehicle, a steel moving machine, a conveying hot roller way, a conveying fire cleaning machine roller way, an in-place detection switch, a position detection device and a controller which are arranged side by side. The blank conveying vehicle is arranged on the blank conveying vehicle roller way, the hot rolling roller way and the fire cleaning machine conveying roller way are vertically arranged on the two sides of the blank conveying vehicle roller way respectively, the steel moving machine roller way is vertically crossed with the hot rolling roller way and is parallel to the blank conveying vehicle roller way, and the steel moving machine is arranged on the steel moving machine roller way. Selecting a single-vehicle blank conveying mode, a double-vehicle blank conveying mode or a three-vehicle blank conveying mode according to the number and time of plate blanks conveyed by a casting flow roller way and the conveying speed of a blank conveying vehicle; according to the automatic plate blank conveying device, automatic control replaces manual plate blank conveying, production safety accidents are reduced, and the plate blank conveying efficiency can be effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control of continuous casting machines, and in particular to a device and method for intelligently conveying slabs. Background Art

[0002] In slab continuous casting, slabs are cut to length by a cutting machine, then deburred, weighed, and numbered. Qualified slabs are then sent to the rolling mill for the next process, while defective slabs are sent to a fire-cleaning machine for processing before rolling. This process generally uses a slab transporter to selectively transport the slabs to the target location. With the improvement of steelmaking efficiency, continuous casting needs to adapt to the rhythm of steelmaking production to meet production requirements. This will result in a multi-machine and multi-stream equipment layout in one work area. Such an equipment layout will store slabs waiting to be transported after numbering on each stream during production. The number of slabs stored on each stream varies due to differences in casting speed, length, etc. To avoid the impact of too many slabs on each stream after cutting, which may affect the production of the casting machine, the stream with the most slabs waiting to be transported must be transported first, and the rhythm requirements for the slab transport system are further increased. At present, slab transport vehicles are mostly configured in the form of single or double vehicles, and most of them transport slabs through semi-automatic or manual intervention. If the slab transportation efficiency is low under high casting speed, it will affect the normal progress of continuous casting production. The slab transportation rhythm is increasingly becoming a limiting link between the production of continuous casting machines and the next process. When the number of billet streams is greater than a certain number, the two billet transport vehicles will not be able to transport the billets to the target position within the specified time, etc. In the process of relying on semi-automatic or manual operation to transport billets, it is difficult to avoid human operational errors, etc., which lead to production safety accidents during the slab transportation process, burying hidden dangers for the efficient production of enterprises. A method is needed to solve the above problems. Summary of the Invention

[0003] The present invention provides a device and method for intelligently transporting slabs. By calculating the length of time that the slabs of each stream stay on the casting roller after being cut, it is determined which casting stream slab has stayed longer and needs to be transported first. The slab numbers are used for marking, comparison, and processing, and the slabs are transported to the target position in an intelligent and selective manner. Automatic control replaces manual slab transportation, reducing production safety accidents, effectively improving slab transportation efficiency, having a high degree of automation, and reducing the workload of operators.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A device for intelligently transporting slabs, comprising a strand roller, a slab transport car roller, a steel transfer machine roller, a slab transport car, a steel transfer machine, a hot rolling conveying roller, a hot cleaning conveying roller, an in-position detection switch, a position detection device and a controller arranged side by side, wherein the slab transport car roller is vertically arranged downstream of the strand roller, the slab transport car is arranged on the slab transport car roller, the hot rolling conveying roller and the hot cleaning conveying roller are respectively vertically arranged on both sides of the slab transport car roller, and the steel transfer machine roller is positioned perpendicularly to the hot rolling conveying roller and parallel to the slab transport car. Roller, the steel transfer machine is arranged on the steel transfer machine roller, the in-position detection switches are respectively arranged at the storage position of the casting strand roller arranged side by side with the billet transport car, the corresponding billet transport car receiving / delivering billet stop position on the billet transport car roller, the billet transport machine receiving position on the steel transfer machine roller, the hot rolling roller hot delivery position and billet unloading position, the billet transport car and the steel transfer machine are both provided with position detection devices, the billet transport car and the steel transfer machine are both provided with billet transport rollers, the in-position detection switch, position detection device, billet transport car and steel transfer machine are all connected to the controller.

[0006] Furthermore, it also includes an HMI human-machine interface, which is connected to the controller through a communication port and is used to input commands to the intelligent slab transportation automatic control system and the number of defective slabs.

[0007] A method for intelligently transporting slabs, comprising the following steps:

[0008] S1. Select single-carriage slab transport mode, double-carriage slab transport mode or three-carriage slab transport mode according to the number, time and speed of slab transported by the strand roller;

[0009] S2. The total time T of the slab staying on the strand roller conveyor after each strand cut is calculated during the process of being transported to the storage location by the strand roller conveyor until the slab is reset to zero after being loaded onto the slab transport vehicle.

[0010] S3. If more than one slab stays on the strand roller, the total slab residence time T is the sum of the residence time T of each slab at the post-cut slab storage position, the deburred slab storage position, and the slab storage position in the numbering area on the strand roller. The residence time of the slab at the slab storage position in the numbering area is reset to zero after the slab is loaded onto the vehicle, and the residence time at the post-cut slab storage position and the deburred slab storage position is accumulated.

[0011] S4. According to the total residence time T of the slabs on the strand roller, the corresponding slabs are queued in order of the total residence time T, and the target receiving position of the slab transport vehicle is determined;

[0012] S5. According to the queue number, the slab transport car starts to move to the docking position with the corresponding strand roller, slows down and stops, and the strand roller and the slab transport car roller start simultaneously to deliver the slab to the slab transport car. The in-place detection switch at the end of the strand roller is used to determine whether all the slabs are loaded normally. The position detection device on the slab transport roller of the slab transport car determines the travel distance of the slab and whether it is loaded;

[0013] S6. Input the offline cleaning slab number on the HMI interface for the slab defects that need to be cleaned;

[0014] S7: The slab is delivered to the slab transport vehicle and the slab number is stored. The slab number is identified and compared with the number of the slab that needs to be cleaned off the line to determine the final delivery direction of the slab;

[0015] S8, the slab transport car starts to move and transports the slab to the corresponding position of the target roller table, then slows down and stops;

[0016] S9, check whether there is a slab on the target roller conveyor. If there is a slab on the roller conveyor, the slab transport vehicle waits. If there is no slab on the target roller conveyor, the roller conveyors of the slab transport vehicle and the target roller conveyor start at the same time to transport the slab on the slab transport vehicle to the target roller conveyor. At the same time, clear the slab number on the slab transport vehicle.

[0017] S10. After all the unloading of the billets is completed, check whether the billet transport vehicle or the steel transfer machine is in the commissioning mode. If so, jump to and repeat step S5, otherwise exit.

[0018] Furthermore, in the dual-car transport mode or the three-car transport mode, the first two transport cars with the longest total residence time T are given priority; the automatic billet connection order is controlled according to the combination logic, and if there are two or more streams of slabs with the same total residence time T, the slabs with smaller stream numbers are given priority; if the number of slabs staying on the casting strand roller is equal to 3, the slabs on this stream are given priority; if the number of slabs staying on multiple casting strand rollers is equal to 3, the slabs with the largest total residence time T are given priority.

[0019] Furthermore, a button indicating that the entire flow of slabs needs to be offline for cleaning is provided on the HMI human-machine interface for cleaning the slabs of the entire flow.

[0020] Furthermore, in step S7, the slab transport direction is finally determined by comparing the identified slab number with the slab number that needs to be cleaned offline or determining whether the button for cleaning the entire slab flow offline is activated.

[0021] Furthermore, in the dual-car billet transport mode or the three-car billet transport mode, one billet transport car starts to move and transports the billet to the billet delivery position and then slows down and stops; the other billet transport car starts to move and transports the billet to the steel transfer machine position or the billet delivery position and then slows down and stops; the position between the two billet transport cars is calculated in real time during operation, and the two cars slow down or temporarily stop and wait according to the distance between the two cars; in order to ensure safety, when the two cars run at the same time, a deceleration distance and a stopping distance are set; when the two cars run in the same direction, if the distance between the two cars is less than the set deceleration distance, the rear billet transport car moves slowly, and when the distance between the two cars is less than the stopping distance, the rear billet transport car stops moving.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] By tracking and calculating the slabs, the slab transportation process of multiple machines and multiple streams can be automatically controlled instead of manually after the slabs are numbered, thus reducing production safety accidents. By adding a steel transfer machine, the problem of two slab transport vehicles being unable to transport the slabs to the target position within the specified time when the number of slab streams exceeds a certain number is solved. This method can effectively improve the efficiency of slab transportation, has a high degree of automation, reduces the workload of operators, and can flexibly choose to carry out offline cleaning and hot rolling of single or group slabs, making production organization more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the continuous casting billet transport system of the present invention.

[0025] Figure 2 It is a schematic diagram of the strand roller table of the present invention.

[0026] In the figure: 1. Casting strand roller 2. Billet transport roller 3. Billet transport car 4. Steel transfer machine 5. Hot rolling conveyor roller 6. Hot cleaning machine conveyor roller 7. Steel transfer machine roller DETAILED DESCRIPTION

[0027] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings:

[0028] like Figure 1, the distance between the billet position n of the 1st flow and the billet position r of the hot rolling or hot cleaning machine is about 120 meters, the maximum speed of the billet transport car 3 is 60 meters / minute, the deceleration distance is 8 meters, the acceleration and deceleration slope is 10 meters / second, and the total time for loading and unloading billets is about 30 seconds. The two billet transport cars 3 unload billets at the same position of the hot rolling or hot cleaning machine billet position r. They need to avoid each other and there will be waiting time. The two billet transport cars 3 make a round trip of about 5 minutes. The average casting speed of the casting machine is 1.3 meters / minute. Calculated based on the fixed length of 8 meters, the four flows produce a total of about 3 slabs in about 5 minutes, and the two billet transport cars 3 make a round trip. It takes about 5 minutes to transport only 2 slabs, so it cannot meet the on-site needs. According to the analysis of the above problems, in order to solve the problem of multi-machine and multi-stream intelligent transportation of slabs and reduce the workload of operators, it is necessary to improve the slab transportation system and add a set of steel transfer machines 4 to be used for two slab transport vehicles 3 to transport the slabs to the "hot rolling or fire cleaning machine slab delivery position r" and "steel transfer machine slab receiving position t" at the same time. The No. 2 slab transport vehicle 3 directly delivers the slabs, and the No. 1 slab transport vehicle 3 sends the slabs to the steel transfer machine 4, so that the two slab transport vehicles 3 can unload the slabs at the same time, reducing the waiting and avoidance time and improving the slab transportation efficiency in production.

[0029] The present invention provides an intelligent device for transporting slabs, comprising four strand rollers 1 arranged side by side, a strand transport car roller 2, a steel transfer machine roller 7, two strand transport cars 3, a steel transfer machine 4, a hot rolling conveying roller 5, a hot cleaning conveying roller 6, an in-place detection switch, a position detection device and a controller. The strand transport cars 3 and the steel transfer machine 4 are each provided with a strand transport roller, and the in-place detection switch, the position detection device, the strand transport cars 3 and the steel transfer machine 4 are all connected to the controller; the two strand transport cars 3 move back and forth on the strand transport car roller 2 to pick up and transport the slabs, the strand transport car roller 2 is horizontally arranged at the output end of the four strand rollers 1, and is vertically arranged at the downstream of the strand roller 1, and is connected to the steel transfer machine running roller, the hot rolling conveying roller 5, the hot delivery and hot cleaning roller Between the input ends, the billet transport car 3 is arranged on the billet transport car roller 2, the conveying hot rolling roller 5 and the conveying fire cleaning machine roller 6 are respectively vertically arranged on both sides of the billet transport car roller 2, and the steel transfer machine roller 7 is positioned to cross the conveying hot rolling roller 5 vertically and be parallel to the billet transport car roller 2. Each billet transport car 3 is provided with a billet transport roller for moving the slab; the billet transport car 3 moves to the billet connection position of the 1st to 4th streams, so that the billet transport car roller 2 is docked with the casting strand roller 1 of the 1st to 4th streams, completing the movement of the slab onto the car, and at the same time, the slab number is stored and marked. The two billet transport cars 3 complete the final transportation direction of the slab by identifying the slab number on the car, and transport the slab to the input end between the steel transfer machine running roller, the conveying hot rolling roller 5, and the hot delivery to the fire cleaning roller for docking.

[0030] Each of the three slab storage positions of the strand roller 1 is provided with a slab in place detection switch, and the No. 1 and No. 2 slab transport cars 3 are provided with real-time position detection devices for real-time detection of the position of the slab transport car 3 on the roller, and the safe distance of the No. 2 car is calculated based on the position, and the safe operation of the No. 2 car is controlled. At the same time, the running speed is controlled by the car position; a real-time position detection device is also provided on the steel transfer machine 4 for real-time detection of the position of the steel transfer machine 4 on the steel transfer machine roller 7, and the running speed of the steel transfer machine 4 is calculated based on the position; a photoelectric tube is provided at the slab receiving position u of the steel transfer machine 4 for detecting the slab in place; a photoelectric tube is provided at the hot delivery hot rolling roller 5 for detecting the slab in place;

[0031] The No. 1 and No. 2 slab transport vehicles 3 are respectively provided with 4 flow connection slab stop position and delivery slab stop position detection switches, a total of 12, for accurately reaching the target position to stop; the steel transfer machine 4 is provided with a total of 2 slab connection position and delivery slab stop position switches, for accurately reaching the target position to stop, and an HMI human-machine interface is set for inputting commands to the intelligent slab transport automatic control system and the defective slab number. The intelligent slab transport automatic control system has 3 transport modes: single-car slab transport mode and double-car slab transport mode. There are 3 three-car slab transport modes. The single-car slab transport mode refers to only single The two-car billet transport mode refers to the simultaneous use of two billet transport cars 3, and the three-car billet transport mode refers to the simultaneous use of two billet transport cars 3 and one steel transfer machine 4. The three billet transport modes can be flexibly switched and selected according to production conditions; the single-car billet transport mode is a billet transport control method that can meet the production conditions of one stream, or is used when a billet transport car 3 fails; the double-car billet transport mode is a control method that can meet the conditions of three casting strands producing at full load at the same time; the three-car billet transport mode is a control method that can meet the conditions of four casting strands producing at full load at the same time.

[0032] A method for intelligently transporting slabs, comprising the following steps:

[0033] S1, according to the number of slabs transported by the strand roller 1, the time, and the transport speed of the slab transport car 3, select a single-car slab transport mode, a double-car slab transport mode, or a three-car slab transport mode;

[0034] S2. The total number of strands that can be cast simultaneously by each continuous casting machine is called the strand number of the continuous casting machine. Usually, one machine has one strand or multiple strands. The total time T that the slabs cut from each strand stay on the strand roller 1 is calculated as they are transported to the storage location via the strand roller 1. This time is reset to zero after the slabs are loaded onto the strand transporter 3.

[0035] S3. If more than one slab stays on the strand roller 1, the total slab stay time T is the sum of the stay time T of each slab at the slab storage position a after cutting, the slab storage position b for deburring, and the slab storage position c for the spraying area on the strand roller 1. Figure 2 The time it takes for the slab to arrive at the slab storage position a after cutting is Ta, the time it takes for the slab to arrive at the slab storage position b for deburring is Tb, and the time it takes for the slab to arrive at the slab storage position c in the spraying area is Tc. The total residence time of the slab is T=Ta+Tb+Tc. After the slab in the slab storage position in the spraying area is loaded onto the vehicle, the residence time of the slab is reset to zero. The residence time of the slab in the storage position a for cutting and the storage position b for deburring is

[0036] S4. According to the total stay time T of the slabs on the strand roller 1, the corresponding slabs are queued in order of the total stay time T, and the target receiving position of the slab transport car 3 is determined; in the two-car slab transport mode or the three-car slab transport mode, the first two slab transport cars 3 with the longest total stay time T are given priority; the automatic slab receiving sequence is controlled according to the combination logic, if there are two or more streams of slabs with the same total stay time T, the slabs with smaller stream number are given priority; if there are 3 or more slabs staying on the strand roller 1, the slabs on this stream are given priority; if there are 3 or more slabs staying on multiple strand rollers 1, the slabs with the largest total stay time T are given priority.

[0037] S5. According to the queue number, the slab transport car 3 starts to move to the docking position with the corresponding strand roller table 1, decelerates and stops, and the strand roller table 1 and the slab transport car roller table 2 start simultaneously to deliver the slab to the slab transport car 3. The in-place detection switch at the end of the strand roller table 1 determines whether all the slabs are loaded normally. The position detection device on the slab transport roller table of the slab transport car 3 determines the travel distance of the slab and whether the slab is loaded;

[0038] S6. Enter the offline cleaning slab number on the HMI interface for slabs that need to be cleaned. Cleaned slabs refer to slabs with surface defects that require surface processing. Also set the "No. 1 slab transporter" and "No. 2 slab transporter" enable, and connect the variable to control the enable signal of slab transporter 3. Set a button for offline cleaning of slabs in the entire flow to clean the slabs in the entire flow. Set four "non-automatic" slab connection buttons for flows 1-2-3-4 respectively to control manual slab connection operations, and set four groups of dialog boxes for storing defective slab numbers in flows 1-2-3-4.

[0039] S7, the slab is delivered to the slab transport vehicle 3 and the slab number is stored. The slab number is identified and compared with the slab number that needs to be cleaned offline or the button for cleaning the entire slab flow is determined to be activated, and the slab transport direction is finally determined;

[0040] S8, the billet transport car 3 starts to move and transports the slab to the corresponding position of the target roller table, then slows down and stops; in the double-car billet transport mode or the three-car billet transport mode, one billet transport car 3 starts to move and transports the slab to the billet delivery position r, then slows down and stops; the other billet transport car 3 starts to move and transports the billet to the steel transfer machine 4 position t (no need to clean) or the billet delivery position r (need to clean), then slows down and stops; the position between the two billet transport cars 3 is calculated in real time during operation, and the deceleration or temporary stop waiting is performed according to the distance between the two cars; in order to ensure safety, when the two cars are running at the same time, a deceleration distance and a stopping distance are set; when the two cars are running in the same direction, if the distance between the two cars is less than the set deceleration distance, the rear billet transport car 3 moves slowly, and when the distance between the two cars is less than the stopping distance, the rear billet transport car 3 stops.

[0041] S9, check whether there is a billet on the target roller conveyor. If there is a billet on the roller conveyor, the billet transport car 3 waits. If there is no billet on the target roller conveyor, the billet transport car roller conveyor 2 and the target roller conveyor start at the same time to transport the billet on the billet transport car 3 to the target roller conveyor; at the same time, clear the billet number on the billet transport car 3; in the double-car billet transport mode or the three-car billet transport mode, since the actual car position determines that the No. 2 billet transport car 3 arrives at the billet delivery position r first, the No. 2 billet transport car 3 completes the billet unloading task, and detects that the billet on the No. 1 billet transport car 3 needs to be cleaned, the No. 2 billet transport car 3 will move to the s rest position to avoid the No. 1 billet transport car 3 from unloading;

[0042] S10. After all the unloading of the billets is completed, check whether the billet transport vehicle 3 or the steel transfer machine 4 is in the commissioning mode. If so, jump to and repeat step S5, otherwise exit.

[0043] The following examples are implemented under the premise of the technical solution of the present invention, and provide detailed implementation methods and specific operating processes, but the scope of protection of the present invention is not limited to the following examples. The methods used in the following examples are conventional methods unless otherwise specified.

[0044] [Example 1]

[0045] like Figure 1 As shown, an intelligent slab conveying device includes four strand rollers 1 arranged side by side, a strand transport roller 2, a steel transfer roller 7, two strand transport vehicles 3, a steel transfer machine 4, a hot rolling conveying roller 5, a hot cleaning conveying roller 6, an in-position detection switch, a position detection device and a controller. The strand transport rollers are provided on the strand transport vehicle 3 and the steel transfer machine 4. The in-position detection switch, the position detection device, the strand transport vehicle 3 and the steel transfer machine 4 are all connected to the controller.

[0046] The distance between the 1st stream billet connection position n and the hot rolling or hot cleaning machine billet delivery position r is about 120 meters. There are 2 billet transport cars 3 rest positions on both sides, each of which is 7 meters long for parking and avoidance. A new steel transfer machine 4 billet connection position u is added to the hot rolling roller 5, with a total length of 30 meters; a photoelectric tube is set at the end of each stream to detect whether the slab is fully loaded on the car, to avoid damage to the equipment when the billet transport car 3 moves when the slab is not fully loaded on the car; the three slab storage positions of each casting strand roller 1 are equipped with a billet in place detection switch; No. 1 and No. 2 billet transport cars 3 are set with real-time position detection function for real-time detection of the position of the billet transport car 3 on the roller, and calculate the safe distance of No. 2 car based on the position to control the safe operation of No. 2 car, and the safety distance is 15 meters (if one of the billet transport cars 3 is in the rest position, this function will be short-circuited), and if it is less than the distance, it will stop running; at the same time, the car position is used to control the running speed, and the acceleration and deceleration when starting and stopping is 10m 2 / second, the maximum speed is 60 meters / minute, the slow speed is 10 meters / minute, and it slows down when the distance to the target position is less than 8 meters; the steel moving machine 4 is equipped with a real-time position detection function to detect the position of the steel moving machine 4 on the roller in real time, and use the vehicle position to control the running speed. The acceleration and deceleration when starting and stopping is 6m 2 / second, the maximum speed is 40 m / min, the slow speed is 5 m / min, and it slows down when the distance to the target position is less than 6 meters; a photoelectric tube is set at the billet receiving position u of the steel transfer machine 4 to detect the arrival of the slab; a photoelectric tube is set at the 5th position v of the hot rolling roller to detect the arrival of the slab; a photoelectric tube is set at the 6th position w of the conveying hot cleaning roller to detect the arrival of the slab; No. 1 and No. 2 billet transporters 3 are respectively provided with 4 flow billet stop positions and billet delivery stop position detection switches, a total of 12, for accurately reaching the target position to stop; No. 1 and No. 2 billet transporters 3 are provided with rest positions m and s, for accurately reaching the rest position; the steel transfer machine 4 is provided with 2 billet receiving position u and billet delivery stop position switches, for accurately reaching Stop at the target position; set the "No. 1 billet transport car" enable, "No. 2 billet transport car" enable and "steel transfer machine" enable buttons on the HMI interface to switch the billet transport mode, set 4 "non-automatic" billet connection buttons for 1-2-3-4 streams to control the manual billet connection operation, set an HMI human-machine interface to input the command of the intelligent slab transportation automatic control system and the defective slab billet number, 1-2-3-4 stream defective slab number storage dialog box 4 groups, each stream can store 6 groups of billet numbers, for judging if there is a defect in the billet number on the car, automatically select the billet delivery position w of the fire cleaning machine for offline cleaning, set the 1-2-3-4 stream overall "de-finishing" offline cleaning button for automatic offline rectification of the billet.

[0047] The single-vehicle billet transport mode control method specifically includes the following steps:

[0048] S1. Enable the "No. 1 Billet Transport Cart" and "No. 2 Billet Transport Cart" buttons on the HMI human-machine interface, connect the variable to control the billet transport car 3 enable signal, select one of the billet transport cars 3 and put it in the commissioning mode, and park the other billet transport car 3 and the steel transfer machine 4 in the rest position.

[0049] S2. The slab after each stream cutting will pass through 3 positions when it moves forward on the casting roller 1: the storage position a of the slab after cutting, the storage position b of the slab for deburring, and the storage position c of the slab in the spraying area. There are 4 groups of rollers with a total length of about 48 meters, and it will eventually be delivered to the slab storage position c in the spraying area. During this process, PLC is used for timing. When the slab is in position c, the residence time of the previous 2 positions will be added to the residence time of position c to calculate the total residence time T, until the slab is on the slab transport car 3 and then reset to zero. The slab is positioned according to the roller speed and the photoelectric tube during the movement.

[0050] S3. If there are more than one slabs staying on the strand roller 1, the total slab stay time T is the accumulation of the stay time T of each slab at three positions on the strand roller 1. After the slab at position c is loaded onto the vehicle, the block will be cleared and the rest will be accumulated.

[0051] S4. According to the total time T that the slabs stay on the strand roller 1, the corresponding slabs are queued in order of the total time T, and the slabs with the largest total time T are placed at the front of the queue; if the time is the same, the slabs with smaller stream numbers are transported first. If there are 3 or more slabs staying on the strand roller 1, the slabs on this stream are transported first; if there are 3 or more slabs staying on multiple strand rollers 1, the slabs with the largest total time T are transported first; when joining slabs, if the "Do not automatically join slabs" HMI button is activated for a certain stream, the system will assign the total time T of the slabs of this stream to a negative number, so that the slabs are placed at the back of the sorting queue and will not be automatically joined.

[0052] S5. According to the queue number, the billet transport car 3 starts and moves to the docking position with the corresponding casting strand roller 1, decelerates and stops by relying on the corresponding strand connection billet stop position switch. The casting strand roller 1 and the billet transport car roller 2 start at the same time to send the billet to the billet transport car 3. The number of revolutions of the billet transport car roller 2 motor is used to determine whether the billet has been loaded onto the car. At the same time, the photoelectric tube set at the end of the stream is used to determine whether all the billets are loaded onto the car normally. Otherwise, an alarm is triggered to prohibit the billet transport car 3 from starting.

[0053] S6. In the HMI interface, a storage dialog box is set for the slab number that needs to be cleaned offline. The operator inputs the slab number for offline cleaning, which is used for individual slabs that need to be cleaned. A button for offline cleaning of the entire flow slab is set, which is used for cleaning of the slabs in the entire flow.

[0054] S7. The slab is sent to the slab transport car 3 and the slab number is stored. The final transport direction of the slab is determined by comparing the slab number with the slab number that needs to be cleaned offline on the HMI or identifying whether the "rectifier slab offline cleaning button" command is activated.

[0055] S8, the billet transport car 3 starts to move and transports the billet to the target roller, slows down, and stops by controlling the corresponding roller billet stop position switch;

[0056] S9. Check whether there is a billet on the roller conveyor according to the photoelectric tube of the billet feeding roller conveyor. If there is a billet on the roller conveyor, the billet transport car 3 will wait. If there is no billet on the target roller conveyor, the billet transport car roller conveyor 2 and the target roller conveyor will start at the same time to transport the billet on the billet transport car 3 to the target roller conveyor. At the same time, the photoelectric tube signal of the billet feeding roller conveyor is used to determine that the billet has been unloaded and the billet number on the billet transport car 3 will be cleared.

[0057] S10, check whether the billet transport vehicle 3 is in the commissioning mode, if so, jump to and repeat step S5, otherwise exit.

[0058] [Example 2]

[0059] like Figure 1 As shown, an intelligent slab transport device is the same as Example 1. Since the efficiency of double-car slab transport is twice that of single-car slab transport, the efficiency is greatly increased. When the two cars unload slabs at the same position r, they need to avoid each other, which will delay a certain amount of time. The distance between the slab position n of the 1st stream and the slab position r of the hot rolling or hot cleaning machine is about 120 meters. The maximum speed of the slab transport car 3 is 60 meters / minute, the deceleration distance is 8 meters, the acceleration and deceleration slope is 10 meters / second, and the total time for loading and unloading slabs is about 30 seconds. The two slab transport cars 3 unload slabs at the same position r of the hot rolling or hot cleaning machine. They need to avoid each other and there will be waiting time. The two slab transport cars 3 make a round trip of about 5 minutes. The average casting speed of the casting machine is 1.3 meters / minute. When the cutting length is greater than 9 meters, 4 slabs can be transported. The double-car slab transport mode can meet production needs. Therefore, the steps of the double-car slab transport mode are as follows:

[0060] S1. Enable the "No. 1 Billet Transporter" and "No. 2 Billet Transporter" buttons on the HMI human-machine interface, select two of the billet transporters 3 and put them into use mode, and park the steel transfer machine 4 in the middle position;

[0061] S2. The slab after each stream cutting will pass through 3 positions when it moves forward on the roller: the storage position a of the slab after cutting, the storage position b of the slab for deburring, and the storage position c of the slab in the spraying area. There are 4 groups of rollers with a total length of about 48 meters, and it will eventually be delivered to the slab storage position c in the spraying area. During this process, PLC is used for timing. When the slab is in position c, the residence time of the previous 2 positions will be added to the residence time of position c to calculate the total residence time T, until the slab is on the slab transport vehicle 3 and then reset to zero. The slab is positioned according to the roller speed and the photoelectric tube during the movement.

[0062] S3. If there are more than one slabs staying on the strand roller 1, the total slab stay time T is the accumulation of the stay time T of each slab at three positions on the strand roller 1. After the slab at position 3 is loaded onto the vehicle, the block will be cleared and the rest will be accumulated.

[0063] S4. According to the total time T that the slab stays on the 1-2-3-4 strand roller 1, the queue numbers are ranked from large to small, and the first two with the longest total stay time T are transported first. There are 6 combinations, namely 1-2 strand, 1-3 strand, 1-4 strand, 2-3 strand, 2-4 strand, and 3-4 strand. When the 1-2 strand combination appears, due to the actual position of No. 1 and No. 2 strand transporters 3, No. 1 strand transporter 3 can only transport 1 strand, and No. 2 strand transporter 3 can only transport 2 strands; similarly, for the 1-3 strand combination, No. 1 strand transporter 3 can only transport 1 strand, and No. 2 strand transporter 3 can only transport 3 strands; for the 1-4 strand combination, No. 1 strand transporter 3 can only transport 1 strand, and No. 2 strand transporter 3 can only transport 4 strands; for the 2-3 strand combination, No. 1 strand transporter 3 can only transport 2 strands, and No. 2 strand transporter 3 can only transport 3 streams; 2-4 stream combination, No. 1 billet transporter 3 can only transport 2 streams, and No. 2 billet transporter 3 can only transport 4 streams; 3-4 stream combination, No. 1 billet transporter 3 can only transport 3 streams, and No. 2 billet transporter 3 can only transport 4 streams; if the total residence time T of slabs in 2 or more streams is the same, the billets with smaller stream numbers will be transported first; if there are 3 or more slabs staying on the casting strand roller 1, the slabs on this stream will be transported first; if there are 3 or more slabs staying on multiple casting strand rollers 1, the slabs with the largest total residence time T will be transported first; this function is used to intelligently activate No. 1 and No. 2 billet transporters 3 to go to the target stream to connect billets; when connecting billets, if the "not automatically connect" HMI button of a certain stream is activated, the system will assign the total residence time T of the slabs of this stream to a negative number, so that it is at the back of the sorting queue and will not be automatically connected.

[0064] S5. The No. 1 and No. 2 billet transport cars 3 arrive at the target flow position according to step 4 to perform the billet connection task. The No. 1 and No. 2 billet transport cars 3 start and move to the docking position with the corresponding casting strand roller 1, slow down and stop under the control of the corresponding flow connection billet stop position switch. The casting strand roller 1 and the billet transport car roller 2 start at the same time to send the billet to the billet transport car 3; the billet travel distance is judged by the number of revolutions of the billet transport car roller 2 motor to load the car, and the photoelectric tube set at the end of the flow is used to judge whether the slabs are loaded normally. Otherwise, an alarm is issued to prohibit the billet transport car 3 from starting.

[0065] S6. In the HMI interface, a storage dialog box is set for the slab number that needs to be cleaned offline. The operator inputs the slab number for offline cleaning, which is used for individual slabs that need to be cleaned. A button for offline cleaning of the entire flow slab is set, which is used for cleaning of the slabs in the entire flow.

[0066] S7. The slab is sent to the slab transport car 3 and the slab number is stored. The final transport direction of the slab is determined by comparing the slab number with the slab number that needs to be cleaned offline on the HMI or identifying whether the "rectifier slab offline cleaning button" command is activated.

[0067] S8, two billet transport cars 3 start running and transport the billets to the corresponding position of the target roller, then slow down and stop by the corresponding roller billet delivery stop position switch; during the operation, the position between cars 1 and 2 is calculated in real time, and the speed is reduced or temporarily stopped to wait according to the distance between the two cars; in order to ensure safety, when the two cars are running at the same time, a deceleration distance and a parking distance are set; when the distance between the two cars is less than the parking distance of 15 meters, the rear billet transport car 3 stops running; when the two cars are running in the same direction, if the distance between the two cars is less than the set deceleration distance of 20 meters, the rear billet transport car 3 moves at a slow speed of 10 meters per minute.

[0068] S9. Check whether there is a billet on the roller conveyor according to the photoelectric tube of the billet delivery roller conveyor position. If there is a billet on the roller conveyor, billet transport car 3 will wait. If there is no billet on the target roller conveyor, billet transport car roller conveyor 2 and the target roller conveyor will start at the same time to transport the billet on billet transport car 3 to the target roller conveyor; at the same time, clear the billet number on billet transport car 3; because the actual car position determines that billet transport car 3 No. 2 arrives at the billet delivery position r first, billet transport car 3 No. 2 completes the billet unloading task and must move to the s rest position of billet transport car 3 No. 2 to avoid billet transport car 3 No. 1 unloading.

[0069] S10. After all the unloading of the billets is completed, check whether the billet transport vehicle 3 is in the commissioning mode. If so, jump to and repeat step S5, otherwise exit.

[0070] [Example 3]

[0071] The distance between the 1st flow connecting billet position n and the hot rolling or hot cleaning machine billet delivery position r is about 120 meters. The maximum speed of the billet transport car 3 is 60 meters / minute, the deceleration distance is 8 meters, the acceleration and deceleration slope is 10 meters / second, and the total time for loading and unloading billets is about 30 seconds. Two billet transport cars 3 unload billets at the same position of the hot rolling or hot cleaning machine billet delivery position r. They need to avoid each other and there will be waiting time. The two billet transport cars 3 make a round trip of about 5 minutes. The average casting speed of the casting machine is 1.3 meters / minute. Based on the fixed length of 8 meters, the four flows produce about 3 in about 5 minutes. slabs, and two billet transporting cars 3 take about 5 minutes to go back and forth to transport only 2 slabs. Since the two billet transporting cars unload the billets at the same position r, the two cars need to avoid each other. When the cutting length is less than 9 meters, it is not enough to transport 4 streams of slabs. At this time, the three-car billet transport mode is adopted. The No. 1 and No. 2 billet transporting cars 3 correspond to the position t of the No. 3 steel transfer machine 4 and the billet delivery position r respectively when unloading the billets, so as to achieve simultaneous unloading. The No. 3 steel transfer machine 4 then delivers the slabs of the No. 1 billet transporting car 3 to the billet delivery position r, reducing the billet transport cycle time of the No. 1 and No. 2 billet transporting cars 3 and improving the billet unloading efficiency.

[0072] The control method of the three-car billet transport mode specifically includes the following steps:

[0073] S1. Enable the "No. 1 Billet Transporter" and "No. 2 Billet Transporter" buttons on the HMI human-machine interface, select two of the billet transporters 3 and put them into use mode, and then put the "steel transfer machine" into use mode.

[0074] S2. The slab after each stream cutting will pass through 3 positions when it moves forward on the roller: the storage position a of the slab after cutting, the storage position b of the slab for deburring, and the storage position c of the slab in the spraying area. There are 4 groups of rollers with a total length of about 48 meters, and it will eventually be delivered to the slab storage position c in the spraying area. During this process, PLC is used for timing. When the slab is at position c, the residence time of the first two positions will be added to the residence time of position c to calculate the total residence time T, which will be reset after the slab is on the slab transport vehicle 3.

[0075] S3. If there are more than one slabs staying on the strand roller 1, the total slab stay time T is the accumulation of the stay time T of each slab at three positions on the strand roller 1. After the slab at position c is loaded onto the vehicle, the block will be cleared and the rest will be accumulated.

[0076] S4. According to the total time T that the slab stays on the 1-2-3-4 strand roller 1, the queue numbers are arranged from large to small, and the first two with the longest total stay time T are transported first. There are 6 combinations, namely 1-2 strand, 1-3 strand, 1-4 strand, 2-3 strand, 2-4 strand, and 3-4 strand. When the 1-2 strand combination appears, due to the actual position of No. 1 and No. 2 strand transporters 3, No. 1 strand transporter 3 can only transport 1 strand, and No. 2 strand transporter 3 can only transport 2 strands. Similarly, for the 1-3 strand combination, No. 1 strand transporter 3 can only transport 1 strand, and No. 2 strand transporter 3 can only transport 3 strands. For the 1-4 strand combination, No. 1 strand transporter 3 can only transport 1 strand, and No. 2 strand transporter 3 can only transport 4 strands. For the 2-3 strand combination, No. 1 strand transporter 3 can only transport 2 strands, and No. 2 strand transporter 3 can only transport For 3 streams, for a 2-4 stream combination, the No. 1 slab transporter 3 can only transport 2 streams, and the No. 2 slab transporter 3 can only transport 4 streams. For a 3-4 stream combination, the No. 1 slab transporter 3 can only transport 3 streams, and the No. 2 slab transporter 3 can only transport 4 streams. If the total residence time T of slabs in 2 or more streams is the same, the slabs with smaller stream numbers will be given priority. If there are 3 or more slabs remaining on the strand roller 1, the slabs on this stream will be given priority. If there are 3 or more slabs remaining on multiple strand rollers 1, the slabs with the largest total residence time T will be given priority. This function is used to intelligently activate the No. 1 and No. 2 slab transporters 3 to go to the target stream to connect slabs. When connecting slabs, if the "Do not automatically connect slabs" HMI button of a stream is activated, the system will programmatically assign the total residence time T of the slabs in this stream to a negative number to prevent automatic connection.

[0077] S5. The No. 1 and No. 2 billet transporters 3 arrive at the target flow position according to step 4 to perform the billet connection task. The No. 1 and No. 2 billet transporters 3 start and move to the docking position with the corresponding casting strand roller 1, slow down and stop under the control of the corresponding flow connection billet stop position switch. The casting strand roller 1 and the billet transporter roller 2 start at the same time to send the billet to the billet transporter 3. The number of revolutions of the billet transporter roller 2 motor is used to judge whether the billet has been loaded onto the car by its travel distance. At the same time, the photoelectric tube set at the end of the flow is used to judge whether all the slabs are loaded onto the car normally. Otherwise, an alarm is issued to prohibit the billet transporter 3 from starting.

[0078] S6. In the HMI interface, a storage dialog box is set for the slab number that needs to be cleaned offline. The operator inputs the slab number for offline cleaning, which is used for individual slabs that need to be cleaned. A button for offline cleaning of the entire flow slab is set, which is used for cleaning of the slabs in the entire flow.

[0079] S7. The slab is sent to the slab transport car 3 and the slab number is stored. The slab number is identified and compared with the slab number that needs to be cleaned offline or the button for cleaning the entire slab flow offline is judged to be activated, and the slab transportation direction is finally determined.

[0080] S8, the No. 2 billet transport car 3 starts to move and transports the billet to the billet delivery position r, then slows down and stops by controlling the corresponding roller billet delivery stop position switch; the No. 1 billet transport car 3 starts to move and transports the billet to the steel transfer machine 4 position t (no need to clean) or the billet delivery position r (need to clean), then slows down and stops by controlling the corresponding roller billet delivery stop position switch; the position between the No. 1 and No. 2 cars is calculated in real time during operation, and the deceleration or temporary parking waiting is performed according to the distance between the two cars; in order to ensure safety, when the two cars are running at the same time, a deceleration distance and a parking distance are set; when the distance between the two cars is less than the parking distance of 15 meters, the rear billet transport car 3 stops; when the two cars are running in the same direction, if the distance between the two cars is less than the set deceleration distance of 20 meters, the rear billet transport car 3 moves at a slow speed of 10 meters / minute.

[0081] S9. Check whether there is a billet on the target roller conveyor. If there is a billet on the roller conveyor, the billet transport car 3 will wait. If there is no billet on the target roller conveyor, the billet transport car roller conveyor 2 and the target roller conveyor will start at the same time to transport the billet on the billet transport car 3 to the target roller conveyor. At the same time, clear the billet number on the billet transport car 3. Since the actual car position determines that the No. 2 billet transport car 3 reaches the r billet delivery position first, the No. 2 billet transport car 3 completes the billet unloading task and checks whether the billet on the No. 1 billet transport car 3 needs to be cleaned. If necessary, the No. 2 billet transport car 3 will move to the s rest position to avoid the No. 1 billet transport car 3 from unloading.

[0082] S10. After all the unloading of the billets is completed, check whether the billet transport vehicle 3 or the steel transfer machine 4 is in the commissioning mode. If so, jump to and repeat step 5, otherwise exit.

Claims

1. An intelligent device for transporting slabs, characterized in that: It includes a strand roller, a billet transport car roller, a steel transfer machine roller, a billet transport car, a steel transfer machine, a hot rolling conveying roller, a hot cleaning machine conveying roller, an in-place detection switch, a position detection device and a controller arranged side by side. The billet transport car roller is vertically arranged downstream of the strand roller, the billet transport car is arranged on the billet transport car roller, the hot rolling conveying roller and the hot cleaning machine conveying roller are respectively vertically arranged on both sides of the billet transport car roller, the steel transfer machine roller is positioned to cross the hot rolling conveying roller vertically and is parallel to the billet transport car roller, and the transfer machine is positioned to cross the hot rolling conveying roller vertically and is parallel to the billet transport car roller. The steel machine is arranged on the steel transfer machine roller, and the in-position detection switches are respectively arranged at the storage position of the casting strand roller arranged side by side with the billet transport car, the corresponding billet transport car receiving / delivering stop position on the billet transport car roller, the billet transport car receiving position on the steel transfer machine roller, the hot rolling roller hot delivery position and billet unloading position. Position detection devices are set on the billet transport car and the steel transfer machine, and billet transport rollers are provided on the billet transport car and the steel transfer machine. The in-position detection switch, position detection device, billet transport car and the steel transfer machine are all connected to the controller.

2. The intelligent slab conveying device according to claim 1, characterized in that: It also includes an HMI human-machine interface, which is connected to the controller through a communication port and is used to input commands to the intelligent slab transportation automatic control system and defective slab numbers.

3. The method for transporting a slab by an intelligent transport device according to any one of claims 1 to 2, characterized in that: The steps include: S1. Select single-carriage slab transport mode, double-carriage slab transport mode or three-carriage slab transport mode according to the number, time and speed of slab transported by the strand roller; S2. The total time T of the slab staying on the strand roller conveyor after each strand cut is calculated during the process of being transported to the storage location by the strand roller conveyor until the slab is reset to zero after being loaded onto the slab transport vehicle. S3. If more than one slab stays on the strand roller, the total slab residence time T is the sum of the residence time T of each slab at the post-cut slab storage position, the deburred slab storage position, and the slab storage position in the numbering area on the strand roller. The residence time of the slab at the slab storage position in the numbering area is reset to zero after the slab is loaded onto the vehicle, and the residence time at the post-cut slab storage position and the deburred slab storage position is accumulated. S4. According to the total residence time T of the slabs on the strand roller, the corresponding slabs are queued in order of the total residence time T, and the target receiving position of the slab transport vehicle is determined; S5. According to the queue number, the slab transport car starts to move to the docking position with the corresponding strand roller, slows down and stops, and the strand roller and the slab transport car roller start simultaneously to deliver the slab to the slab transport car. The in-place detection switch at the end of the strand roller is used to determine whether all the slabs are loaded normally. The position detection device on the slab transport roller of the slab transport car determines the travel distance of the slab and whether it is loaded; S6. Input the offline cleaning slab number on the HMI interface for the slab defects that need to be cleaned; S7: The slab is delivered to the slab transport vehicle and the slab number is stored. The slab number is identified and compared with the number of the slab that needs to be cleaned off the line to determine the final delivery direction of the slab; S8, the slab transport car starts to move and transports the slab to the corresponding position of the target roller table, then slows down and stops; S9, check whether there is a slab on the target roller conveyor. If there is a slab on the roller conveyor, the slab transport vehicle waits. If there is no slab on the target roller conveyor, the roller conveyors of the slab transport vehicle and the target roller conveyor start at the same time to transport the slab on the slab transport vehicle to the target roller conveyor. At the same time, clear the slab number on the slab transport vehicle. S10. After all the unloading of the billets is completed, check whether the billet transport vehicle or the steel transfer machine is in the commissioning mode. If so, jump to and repeat step S5, otherwise exit.

4. The method for intelligently transporting slabs according to claim 3, characterized in that: In the dual-car transport mode or the three-car transport mode, the first two slab transport cars with the longest total residence time T are given priority; the automatic slab connection order is controlled according to the combination logic. If the total residence time T of two or more slabs in two streams is the same, the slabs with smaller stream numbers are given priority; if there are three or more slabs remaining on the strand roller, the slabs on this stream are given priority; if there are three or more slabs remaining on multiple strand rollers, the slabs with the largest total residence time T are given priority.

5. The method for intelligently transporting slabs according to claim 3, characterized in that: The HMI human-machine interface is provided with a button for cleaning the entire flow of slabs offline, which is used for cleaning the slabs of the entire flow.

6. The method for intelligently transporting slabs according to claim 5, characterized in that: In step S7, the slab transport direction is finally determined by comparing the identified slab number with the slab number that needs to be cleaned offline or determining whether the button for cleaning the entire slab flow offline is activated.

7. The method for intelligently transporting slabs according to claim 3, characterized in that: In the dual-car billet transport mode or the three-car billet transport mode, one billet transport car starts to move and transports the billet to the billet delivery position and then slows down and stops; the other billet transport car starts to move and transports the billet to the steel transfer machine position or the billet delivery position and then slows down and stops; the position between the two billet transport cars is calculated in real time during operation, and the two cars slow down or temporarily stop to wait according to the distance between the two cars; in order to ensure safety, when the two cars run at the same time, a deceleration distance and a stopping distance are set; when the two cars run in the same direction, if the distance between the two cars is less than the set deceleration distance, the rear billet transport car moves slowly, and when the distance between the two cars is less than the stopping distance, the rear billet transport car stops.

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