Section bar turnover equipment and turnover control method

Abstract

The invention relates to the technical field of steel production equipment, in particular to sectional material turnover equipment and a turnover control method. According to the sectional material steel turnover equipment, by reasonably designing the driving hydraulic cylinder and the transverse moving steel turnover mechanism, the steel turnover efficiency and the turnover position precision can be greatly improved, it is ensured that the turned steel can be accurately located at the position and angle needed by the subsequent machining procedure, and the device is compact in overall structure, small in occupied space and convenient to install and maintain on site; according to the steel turnover control method provided by the invention, through cooperative work and intelligent control of multiple groups of steel turnover devices, the operation reliability and production continuity of equipment can be effectively guaranteed, the automation degree is high, the labor cost is reduced, and through real-time fault diagnosis and early warning, the maintenance cost and the production loss caused by shutdown are reduced; the method can be suitable for various profiles and steel rails, is high in practicability and wide in application scene, and has remarkable practical application value and popularization significance.

Description

Technical Field

[0001] This invention relates to the field of steel production equipment technology, specifically to a profile turning equipment and a turning control method, which is particularly suitable for turning hot heavy rail steel. Background Technology

[0002] A steel turnover machine is an important piece of machinery used in the steel production industry. It is mainly used to change the transport state of profiles, turning them from horizontal to vertical (or vertical to horizontal) so that the steel can be processed in the next step of the production process. It is one of the indispensable key pieces of equipment on the steel production line.

[0003] However, traditional profile turning equipment and technology have gradually revealed many problems in long-term production practice, which seriously restrict the improvement of production efficiency and product quality: 1) In terms of efficiency, some traditional steel-turning equipment relies heavily on manual operation. Workers need to perform repetitive tasks frequently in harsh environments with high temperatures and high noise levels. This not only results in extremely high labor intensity but also limits the operating speed, making it difficult to meet the efficiency requirements of modern high-speed production lines for steel-turning.

[0004] 2) In terms of accuracy, the positioning and flipping accuracy of traditional steel-turning equipment is generally low. Due to the lack of advanced position detection and feedback devices, there is often a large deviation between the actual flipping angle and the preset angle of the profile during the steel-turning process.

[0005] 3) In terms of automation, most traditional steel-turning equipment has a low level of automation and is difficult to seamlessly integrate with modern production lines, resulting in a lack of effective coordination and continuity in the entire production process. In addition, traditional steel-turning equipment lacks fault diagnosis functions and fault response measures. Once the equipment malfunctions, it often requires manual inspection and repair, which not only consumes a lot of time and causes production to stop, but also increases maintenance costs. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a profile steel turning equipment and a steel turning control method, which can significantly improve the profile steel turning efficiency and turning accuracy through the coordinated work and intelligent control of multiple sets of steel turning devices, and effectively ensure equipment reliability and production continuity.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: The present invention provides a profile steel turning equipment, which consists of multiple sets of steel turning devices 100 arranged in parallel. The steel turning device 100 includes: a frame 1, a guide rail 2, a turning hydraulic cylinder 6, a push rod 4, a steel turning fork 3, a transverse hydraulic cylinder 8, a trolley frame 5, and a drag chain 7. The guide rail 2 and the transverse hydraulic cylinder 8 are fixedly installed on the top and bottom surfaces of the frame 1, respectively. The trolley frame 5 is slidably installed on the guide rail 2, and the bottom of the trolley frame 5 is connected to the output end of the transverse hydraulic cylinder 8. The tilting hydraulic cylinder 6 is fixedly installed at the rear of the trolley frame 5. The tilting fork 3 is hinged to the front of the trolley frame 5, and the tilting drive plate of the tilting fork 3 is hinged to one end of the push rod 4. The other end of the push rod 4 is connected to the output end of the tilting hydraulic cylinder 6. One end of the drag chain 7 is connected to the trolley frame 5, and the other end is fixed to the pallet.

[0008] Furthermore, both the lateral hydraulic cylinder 8 and the tilting hydraulic cylinder 6 adopt a dual hydraulic cylinder structure, and displacement sensors are installed at the output ends of both the lateral hydraulic cylinder 8 and the tilting hydraulic cylinder 6, respectively, to determine the lateral displacement and tilting angle of the tilting fork 3.

[0009] Furthermore, the piping of the transverse hydraulic cylinder 8 and the tilting hydraulic cylinder 6, as well as the cable of the displacement sensor, are all laid along the inner cavity of the cable chain 7.

[0010] Furthermore, an initial position limit switch is installed on the guide rail 2 at the initial position corresponding to the initial position of the flipping fork 3. A steel placement limit switch is installed at a distance A in front of the initial position limit switch. A centering position limit switch is installed at a distance B behind the steel placement limit switch. A steel release limit switch is installed at a distance C in front of the centering position limit switch.

[0011] Furthermore, the distance A is determined based on the position of the steel flipping area on the guide rail 2, the distance B is determined based on the steel alignment position required for subsequent processes, and the distance C is determined based on the length of the flipping drive plate.

[0012] Furthermore, the transverse hydraulic cylinder 8, the tilting hydraulic cylinder 6, the displacement sensor, the initial position limit switch, the steel positioning limit switch, the centering position limit switch, and the steel release limit switch are all electrically connected to the steel tilting controller.

[0013] Based on the same inventive concept, the present invention also provides a steel-turning control method using the steel-turning equipment described above, which mainly includes the following steps: S1. Establish a collaborative coordinate system: Divide the steel-turning device into multiple groups, and each group contains multiple steel-turning devices that move synchronously. Take the first group of steel-turning devices as the reference, establish a three-dimensional spatial coordinate system, and calibrate the coordinate range of the steel-turning fork movement of each group of steel-turning devices to determine the working coordinate range of each group of steel-turning devices. S2, Determine the safety boundary: Based on the flipping radius of the fork and the maximum size of the steel to be flipped, determine the safety boundary for the flipping and lateral movement of the fork. When the fork movement exceeds the safety boundary, the controller automatically triggers a stop command. S3, based on intelligent collaborative control algorithm for multi-device collaborative scheduling: dynamically tracks the real-time position of the steel to be flipped, sorts the action priorities of multiple sets of steel flipping devices, and starts each set of steel flipping devices in sequence according to the sorting results to perform synchronous steel flipping actions, avoiding interference caused by the simultaneous action of two sets of devices. S4, Fault Identification and Dynamic Adjustment: Based on the displacement sensor data and limit switch feedback signals of each group of steel-turning devices, the steel-turning action is verified. When an abnormal steel-turning action is detected, the current steel-turning device is immediately disabled and the corresponding backup steel-turning device is activated. S5, Reset Control and Connection with the Next Cycle: After confirming that the current batch of steel has left and entered the next working area, the controller triggers the current steel-turning device to perform a reset action. At the same time, it collects the position data of the next batch of steel to be turned in advance and calculates the start time of the next set of steel-turning devices.

[0014] The synchronous steel-turning action is performed simultaneously by multiple steel-turning devices within the same group, wherein the action of a single steel-turning device includes: 1) The steel-turning device is in standby position, waiting for the start command; 2) After receiving the start command, the lateral hydraulic cylinder extends and drives the trolley frame, the tilting hydraulic cylinder, and the tilting fork to move laterally a distance A, so that the tilting fork moves to the preset tilting position; 3) After reaching the preset flipping position, the flipping hydraulic cylinder extends to drive the flipping steel fork to flip, thereby causing the steel to flip to the preset state. Then, the end of the horizontal moving hydraulic cylinder retracts by a distance B, so that the steel is placed in the centering position of the next process. 4) After the steel is placed in the center position, the lateral hydraulic cylinder drives the trolley frame to continue moving forward a distance C, so that the flipping fork separates from the flipped steel.

[0015] Furthermore, in step S3, the intelligent collaborative control algorithm includes: S31 uses a visual sensor to dynamically track the real-time position of the steel to be flipped and confirms the moving speed and size data of the steel to be flipped. S32, For the first group of steel-turning devices: When the first batch of steel to be turned reaches a preset distance D in front of the steel-turning area, the first group of steel-turning devices is started first to perform synchronous steel-turning action; S33, For the 2nd to Nth groups of steel turning devices: When it is confirmed that the (n-1)th batch of steel has entered the next working area, and the nth batch of steel to be turned has reached the preset distance D before the turning area, the nth group of steel turning devices will be started first to perform synchronous steel turning action. S34, For the N+1th batch of steel to be flipped: Record the N+1th batch of steel to be flipped as the 1st batch of steel to be flipped again, and repeat steps S32~S33.

[0016] Furthermore, in step S4, the fault identification specifically includes: S41, based on the displacement sensor data of the lateral hydraulic cylinder and the tilting hydraulic cylinder, determine the lateral speed v and the tilting angular velocity w of the tilting fork respectively, and set the fault tolerance time value t. S42, after the steel turning device receives the start command, if the steel positioning limit switch does not receive a feedback signal after time T1=A / v+t, it is determined that the lateral movement is abnormal. S43, when the fork moves to the preset flip position, if the center position limit switch does not receive a feedback signal after a time T2=90° / w+B / v+t, the flip action is determined to be abnormal. S44, after the steel is placed in the center position, if the time T3=C / v+t elapses and the steel does not receive a feedback signal from the limit switch, it is determined that the disengagement action is abnormal. S45. When the steel-turning device receives the reset command, if the initial position limit switch does not receive a feedback signal after time T4=(A-B+C) / v+t, it is determined that the reset action is abnormal.

[0017] Furthermore, in step S4, the dynamic adjustment specifically includes: If it is determined that the first group of steel-turning devices is malfunctioning, it will be immediately disabled and the Nth group of steel-turning devices will be activated to perform the steel-turning task of the original first group of steel-turning devices. If it is determined that the nth group of steel-turning devices has an abnormal operation, then it is immediately disabled and the (n-1)th group of steel-turning devices is started to perform the steel-turning task of the original nth group of steel-turning devices, where n≥2.

[0018] Compared with the prior art, the present invention has the following main advantages: 1. The profile steel turning equipment provided by the present invention can greatly improve the efficiency and accuracy of steel turning by reasonably designing the driving hydraulic cylinder and the transverse turning mechanism, ensuring that the steel can be accurately positioned and angled for subsequent processing after turning. In addition, the overall structure of the device is compact, occupies little space, and is easy to install and maintain on site. 2. The steel-turning control method provided by the present invention can effectively ensure the reliability of equipment operation and production continuity through the coordinated work and intelligent control of multiple sets of steel-turning devices. It has a high degree of automation, reduces labor costs, and reduces maintenance costs and production losses caused by downtime through real-time fault diagnosis and early warning. 3. This invention is applicable to a variety of profiles and rails, has strong practicality, wide application scenarios, and significant practical application value and promotion significance. Attached Figure Description

[0019] Figure 1 This is an overall schematic diagram of the profile steel turning equipment in an embodiment of the present invention; Figure 2 This is a schematic diagram of a single steel-turning device in an embodiment of the present invention; Figure 3 This is a front view of a single steel-turning device in an embodiment of the present invention; Figure 4 This is a cross-sectional view of a single steel-turning device in an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the working principle of a single steel-turning device in an embodiment of the present invention. Figure 6 This is an overall flowchart of the steel-turning control method in an embodiment of the present invention.

[0020] In the diagram: 100-steel-turning device, 1-frame, 2-guide rail, 3-steel-turning fork, 4-push rod, 5-trolley frame, 6-turning hydraulic cylinder, 7-drag chain, 8-lateral hydraulic cylinder. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0022] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0023] In this invention, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise expressly and specifically limited.

[0024] Example 1: This example provides a profile steel turning equipment, such as... Figures 1-4 As shown, the device consists of multiple sets of steel-turning devices 100 arranged side by side. Each steel-turning device 100 includes: a frame 1, a guide rail 2, a tilting hydraulic cylinder 6, a push rod 4, a steel-turning fork 3, a lateral hydraulic cylinder 8, a trolley frame 5, and a drag chain 7. The guide rail 2 and the transverse hydraulic cylinder 8 are fixedly installed on the top and bottom surfaces of the frame 1, respectively. The trolley frame 5 is slidably installed on the guide rail 2, and the bottom of the trolley frame 5 is connected to the output end of the transverse hydraulic cylinder 8. Furthermore, the tilting hydraulic cylinder 6 is fixedly installed at the rear of the trolley frame 5, the tilting fork 3 is hinged to the front of the trolley frame 5, and the tilting drive plate of the tilting fork 3 is hinged to one end of the push rod 4, and the other end of the push rod 4 is connected to the output end of the tilting hydraulic cylinder 6. Furthermore, one end of the cable chain 7 is connected to the trolley frame 5, and the other end is fixed to the pallet.

[0025] Furthermore, an initial position limit switch is installed on the guide rail 2 at the initial position corresponding to the initial position of the flipping fork 3. A steel placement limit switch is installed at a distance A in front of the initial position limit switch. A centering position limit switch is installed at a distance B behind the steel placement limit switch. A steel release limit switch is installed at a distance C in front of the centering position limit switch.

[0026] Furthermore, the distance A is determined based on the position of the steel flipping area on the guide rail 2, the distance B is determined based on the steel alignment position required for subsequent processes, and the distance C is determined based on the length of the flipping drive plate.

[0027] Furthermore, the transverse hydraulic cylinder 8, the tilting hydraulic cylinder 6, the displacement sensor, the initial position limit switch, the steel positioning limit switch, the centering position limit switch, and the steel release limit switch are all electrically connected to the steel tilting controller.

[0028] Example 2: This example provides a profile flipping device, wherein the flipping hydraulic cylinder 5 and the lateral moving hydraulic cylinder 8 both adopt a double hydraulic cylinder structure to ensure stable power for flipping and lateral movement of the profile.

[0029] Furthermore, each hydraulic cylinder is equipped with a displacement sensor, which can precisely control the movement distance of the hydraulic cylinder, thereby ensuring that the angle of steel flipping and the movement distance are consistent with the expected values, and ensuring that the flipped steel is in the center position for subsequent processes.

[0030] Furthermore, the piping of the hydraulic cylinder and the wires of the displacement sensor are both fixed on the cable chain to avoid messy piping on site and interference with other equipment.

[0031] Furthermore, the trolley frame is equipped with rollers, allowing it to move smoothly on the guide rails via the action of a lateral hydraulic cylinder.

[0032] Furthermore, all components of the device are modularly installed, facilitating quick replacement and maintenance in case of malfunction.

[0033] Furthermore, multiple sets of the steel-turning device 100 are arranged side by side, so that even if some equipment fails, the normal steel-turning function of the profile can still be guaranteed, and online maintenance and replacement can be realized.

[0034] Specifically, the working principle of a single steel-turning device 100 is as follows: Figure 5 As shown: 1) At the beginning, the steel-turning device 100 is in the standby position, waiting for the steel to be turned into the steel-turning area; 2) The lateral hydraulic cylinder 8 extends and drives the trolley frame 5, the tilting hydraulic cylinder 6, and the tilting fork 3 to move laterally a distance A, so that the tilting fork 3 moves to the preset tilting position; 3) After reaching the position, the tilting hydraulic cylinder 6 extends to drive the tilting fork 3 to tilt, thereby tilting the steel to be tilted to an upright position. Then, the rod end of the horizontal hydraulic cylinder 8 retracts by a distance B, so that the steel is placed in the working center position. 4) The lateral hydraulic cylinder 8 drives the trolley frame 5 to continue moving forward a distance C, so that the tipping fork 3 separates from the tipped steel; 5) After the steel leaves and enters the next working area, the transverse hydraulic cylinder 8 drives the trolley frame 5 back to the standby position; 6) The retraction of the hydraulic cylinder 6 brings the tilting fork 3 to its initial state.

[0035] Example 3: Based on the same inventive concept, this example also provides a steel-turning control method using the steel-turning equipment described above, such as... Figure 6 As shown, the main steps include the following: S1. Establish a collaborative coordinate system: Divide the steel-turning device into multiple groups, and each group contains multiple steel-turning devices that move synchronously. Take the first group of steel-turning devices as the reference, establish a three-dimensional spatial coordinate system, and calibrate the coordinate range of the steel-turning fork movement of each group of steel-turning devices to determine the working coordinate range of each group of steel-turning devices. Step S2, determine the safety boundary: Based on the flipping radius of the fork and the maximum size of the steel to be flipped, determine the safety boundary for the flipping and lateral movement of the fork. When the fork movement exceeds the safety boundary, the controller automatically triggers a stop command. Step S3, Multi-device collaborative scheduling based on intelligent collaborative control algorithm: Dynamically track the real-time position of the steel to be flipped, sort the action priority of multiple sets of steel flipping devices, and start each set of steel flipping devices in sequence according to the sorting result to perform synchronous steel flipping action, so as to avoid interference caused by the simultaneous action of two sets of devices. Step S4, Fault Identification and Dynamic Adjustment: Based on the displacement sensor data and limit switch feedback signals of each group of steel-turning devices, the steel-turning action is verified. When an abnormal steel-turning action is detected, the current steel-turning device is immediately shut down and the corresponding backup steel-turning device is started to ensure production continuity. Step S5, Reset Control and Connection with the Next Cycle: After confirming that the current batch of steel has left and entered the next working area, the controller triggers the current steel-turning device to perform a reset action. At the same time, it collects the position data of the next batch of steel to be turned in advance and calculates the start time of the next set of steel-turning devices to achieve seamless connection between multiple sets of devices and reduce standby time.

[0036] Furthermore, in step S3, the intelligent collaborative control algorithm includes: S31 uses a visual sensor to dynamically track the real-time position of the steel to be flipped and confirms the moving speed and size data of the steel to be flipped. S32, For the first group of steel-turning devices: When the first batch of steel to be turned reaches a preset distance D in front of the steel-turning area, the first group of steel-turning devices is started first to perform synchronous steel-turning action; S33, For the 2nd to Nth groups of steel turning devices: When it is confirmed that the (n-1)th batch of steel has entered the next working area, and the nth batch of steel to be turned has reached the preset distance D before the turning area, the nth group of steel turning devices will be started first to perform synchronous steel turning action. S34, For the N+1th batch of steel to be flipped: Record the N+1th batch of steel to be flipped as the 1st batch of steel to be flipped again, and repeat steps S32~S33.

[0037] Furthermore, in step S4, the fault identification specifically includes: S41, based on the displacement sensor data of the lateral hydraulic cylinder and the tilting hydraulic cylinder, determine the lateral speed v and the tilting angular velocity w of the tilting fork respectively, and set the fault tolerance time value t. S42, after the steel turning device receives the start command, if the steel positioning limit switch does not receive a feedback signal after time T1=A / v+t, it is determined that the lateral movement is abnormal. S43, when the fork moves to the preset flip position, if the center position limit switch does not receive a feedback signal after a time T2=90° / w+B / v+t, the flip action is determined to be abnormal. S44, after the steel is placed in the center position, if the time T3=C / v+t elapses and the steel does not receive a feedback signal from the limit switch, it is determined that the disengagement action is abnormal. S45. When the steel-turning device receives the reset command, if the initial position limit switch does not receive a feedback signal after time T4=(A-B+C) / v+t, it is determined that the reset action is abnormal.

[0038] Furthermore, in step S4, the dynamic adjustment specifically includes: If it is determined that the first group of steel-turning devices is malfunctioning, it will be immediately disabled and the Nth group of steel-turning devices will be activated to perform the steel-turning task of the original first group of steel-turning devices. If it is determined that the nth group of steel-turning devices has an abnormal operation, then it is immediately disabled and the (n-1)th group of steel-turning devices is started to perform the steel-turning task of the original nth group of steel-turning devices, where n≥2.

[0039] Furthermore, all parts of this application that are not described in detail are the same as or implemented using existing technology.

[0040] In summary: 1. The profile steel turning equipment provided by the present invention can greatly improve the efficiency and accuracy of steel turning by reasonably designing the driving hydraulic cylinder and the transverse turning mechanism, ensuring that the steel can be accurately positioned and angled for subsequent processing after turning. In addition, the overall structure of the device is compact, occupies little space, and is easy to install and maintain on site. 2. The steel-turning control method provided by the present invention can effectively ensure the reliability of equipment operation and production continuity through the coordinated work and intelligent control of multiple sets of steel-turning devices. It has a high degree of automation, reduces labor costs, and reduces maintenance costs and production losses caused by downtime through real-time fault diagnosis and early warning. 3. This invention is applicable to a variety of profiles and rails, has strong practicality, wide application scenarios, and significant practical application value and promotion significance.

[0041] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0042] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0043] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A profile steel turning equipment, characterized in that, It consists of multiple sets of steel-turning devices (100) arranged side by side. The steel-turning device (100) includes: frame (1), guide rail (2), tilting hydraulic cylinder (6), push rod (4), steel-turning fork (3), lateral hydraulic cylinder (8), trolley frame (5) and drag chain (7). The guide rail (2) and the transverse hydraulic cylinder (8) are fixedly installed on the top and bottom surfaces of the frame (1), respectively. The trolley frame (5) is slidably installed on the guide rail (2), and the bottom of the trolley frame (5) is connected to the output end of the transverse hydraulic cylinder (8). The tilting hydraulic cylinder (6) is fixedly installed at the rear of the trolley frame (5). The tilting fork (3) is hinged to the front of the trolley frame (5), and the tilting drive plate of the tilting fork (3) is hinged to one end of the push rod (4). The other end of the push rod (4) is connected to the output end of the tilting hydraulic cylinder (6). One end of the drag chain (7) is connected to the trolley frame (5), and the other end is fixed to the pallet.

2. The profile steel turning equipment according to claim 1, characterized in that, Both the lateral hydraulic cylinder (8) and the tilting hydraulic cylinder (6) adopt a dual hydraulic cylinder structure, and both the output ends of the lateral hydraulic cylinder (8) and the tilting hydraulic cylinder (6) are equipped with displacement sensors, which are used to determine the lateral displacement and tilting angle of the tilting fork (3), respectively.

3. The profile steel turning equipment according to claim 2, characterized in that, The piping of the transverse hydraulic cylinder (8) and the tilting hydraulic cylinder (6) and the cable of the displacement sensor are all laid along the inner cavity of the drag chain (7).

4. The profile steel turning equipment according to claim 3, characterized in that, An initial position limit switch is installed on the guide rail (2) at the initial position corresponding to the flipping steel fork (3). A steel placement limit switch is installed at a distance A in front of the initial position limit switch. A centering position limit switch is installed at a distance B behind the steel placement limit switch. A steel release limit switch is installed at a distance C in front of the centering position limit switch. Furthermore, the distance A is determined based on the position of the steel flipping area on the guide rail (2), the distance B is determined based on the steel alignment position required for subsequent processes, and the distance C is determined based on the length of the flipping drive plate.

5. A profile steel-turning equipment according to claim 4, characterized in that, The transverse hydraulic cylinder (8), the tilting hydraulic cylinder (6), the displacement sensor, the initial position limit switch, the steel positioning limit switch, the centering position limit switch, and the steel release limit switch are all electrically connected to the steel tilting controller.

6. A steel-turning control method using the profile steel-turning equipment as described in any one of claims 1 to 5, characterized in that, Includes the following steps: S1. Establish a collaborative coordinate system: Divide the steel-turning device into multiple groups, and each group contains multiple steel-turning devices that move synchronously. Take the first group of steel-turning devices as the reference, establish a three-dimensional spatial coordinate system, and calibrate the coordinate range of the steel-turning fork movement of each group of steel-turning devices to determine the working coordinate range of each group of steel-turning devices. S2, Determine the safety boundary: Based on the flipping radius of the fork and the maximum size of the steel to be flipped, determine the safety boundary for the flipping and lateral movement of the fork. When the fork movement exceeds the safety boundary, the controller automatically triggers a stop command. S3, based on intelligent collaborative control algorithm for multi-device collaborative scheduling: dynamically tracks the real-time position of the steel to be flipped, sorts the action priorities of multiple sets of steel flipping devices, and starts each set of steel flipping devices in sequence according to the sorting results to perform synchronous steel flipping actions, avoiding interference caused by the simultaneous action of two sets of devices. S4, Fault Identification and Dynamic Adjustment: Based on the displacement sensor data and limit switch feedback signals of each group of steel-turning devices, the steel-turning action is verified. When an abnormal steel-turning action is detected, the current steel-turning device is immediately disabled and the corresponding backup steel-turning device is activated. S5, Reset Control and Connection with the Next Cycle: After confirming that the current batch of steel has left and entered the next working area, the controller triggers the current steel-turning device to perform a reset action. At the same time, it collects the position data of the next batch of steel to be turned in advance and calculates the start time of the next set of steel-turning devices.

7. The steel-turning control method according to claim 6, characterized in that, The synchronized steel-turning action is performed simultaneously by multiple steel-turning devices within the same group, wherein the action of a single steel-turning device includes: 1) The steel-turning device is in standby position, waiting for the start command; 2) After receiving the start command, the lateral hydraulic cylinder extends and drives the trolley frame, the tilting hydraulic cylinder, and the tilting fork to move laterally a distance A, so that the tilting fork moves to the preset tilting position; 3) After reaching the preset flipping position, the flipping hydraulic cylinder extends to drive the flipping steel fork to flip, thereby causing the steel to flip to the preset state. Then, the end of the horizontal moving hydraulic cylinder retracts by a distance B, so that the steel is placed in the centering position of the next process. 4) After the steel is placed in the center position, the lateral hydraulic cylinder drives the trolley frame to continue moving forward a distance C, so that the flipping fork separates from the flipped steel.

8. The steel-turning control method according to claim 7, characterized in that... In step S3, the intelligent collaborative control algorithm includes: S31 uses a visual sensor to dynamically track the real-time position of the steel to be flipped and confirms the moving speed and size data of the steel to be flipped. S32, For the first group of steel-turning devices: When the first batch of steel to be turned reaches a preset distance D in front of the steel-turning area, the first group of steel-turning devices is started first to perform synchronous steel-turning action; S33, For the 2nd to Nth groups of steel turning devices: When it is confirmed that the (n-1)th batch of steel has entered the next working area, and the nth batch of steel to be turned has reached the preset distance D before the turning area, the nth group of steel turning devices will be started first to perform synchronous steel turning action. S34, For the N+1th batch of steel to be flipped: Record the N+1th batch of steel to be flipped as the 1st batch of steel to be flipped again, and repeat steps S32~S33.

9. The steel-turning control method according to claim 8, characterized in that... In step S4, the fault identification specifically includes: S41, Based on the displacement sensor data of the lateral hydraulic cylinder and the tilting hydraulic cylinder, determine the lateral speed v and the tilting angular velocity w of the tilting fork respectively, and set the fault tolerance time value t. S42, after the steel turning device receives the start command, if the steel positioning limit switch does not receive a feedback signal after time T1=A / v+t, it is determined that the lateral movement is abnormal. S43, when the fork moves to the preset flip position, if the center position limit switch does not receive a feedback signal after a time T2=90° / w+B / v+t, the flip action is determined to be abnormal. S44, after the steel is placed in the center position, if the time T3=C / v+t elapses and the steel does not receive a feedback signal from the limit switch, it is determined that the disengagement action is abnormal. S45. When the steel-turning device receives the reset command, if the initial position limit switch does not receive a feedback signal after time T4=(A-B+C) / v+t, it is determined that the reset action is abnormal.

10. The steel-turning control method according to claim 9, characterized in that... In step S4, the dynamic adjustment specifically includes: If it is determined that the first group of steel-turning devices is malfunctioning, it will be immediately disabled and the Nth group of steel-turning devices will be activated to perform the steel-turning task of the original first group of steel-turning devices. If it is determined that the nth group of steel-turning devices has an abnormal operation, then it is immediately disabled and the (n-1)th group of steel-turning devices is started to perform the steel-turning task of the original nth group of steel-turning devices, where n≥2.

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