Billet charging method and billet charging device

Abstract

This invention relates to the field of billet loading technology, specifically to a billet loading method and device. The billet loading method includes: acquiring the positions of the insulated car, trestle, steel taker, and loading platform and forming a data model, establishing a corresponding three-dimensional coordinate system; calibrating the position coordinates of the insulated car, trestle, steel taker, and loading platform within the three-dimensional coordinate system, and obtaining the positional relationship function between each model; acquiring the data model of the billet inside the insulated car, calculating the moving distance, descent height, and rotation angle of the steel taker; controlling the steel taker to move to the position of the billet, removing the billet and transporting it to the loading platform; and recording the steel type and quantity of the transported billet. By using the model in the three-dimensional coordinate system to calculate the moving trend and moving time of the steel taker, billets that cannot be loaded onto the line are promptly placed into the insulated pit, and the specifications, steel type, and quantity are recorded in the warehouse management system, reducing heat loss from high-temperature billets and minimizing energy waste.

Description

Technical Field

[0001] This invention relates to the field of billet feeding technology, specifically to a billet feeding method and a billet feeding device. Background Technology

[0002] In the steel production process, high-temperature steel billets produced by continuous casting are generally transported to the loading platform by a crane operated manually. This mode requires a high level of skill from the operators. Due to reasons such as mismatch between production line capacity and continuous casting rhythm, equipment failure, maintenance and roll replacement, or change of steel grade, some hot billets need to be temporarily taken off the line and stored.

[0003] In existing technologies, the condition of steel billets after production is recorded manually. The billets are then manually hoisted and stacked on-site or temporarily stored in a ring cooling pit. When they are put back on the production line, they need to be reheated, which causes serious energy waste. It is impossible to achieve automatic identification, collection, and synchronous transfer of high-temperature steel billets. It also cannot meet the development trend of energy conservation and consumption reduction, let alone the needs of efficient and continuous production. Summary of the Invention

[0004] This invention is made to solve the above-mentioned technical problems. Its purpose is to provide a billet feeding method. By modeling each piece of equipment and establishing a coordinate system, the collaborative cooperation between the components is realized through calculation, so as to quickly transport high-temperature billets to the feeding platform, reduce heat loss, and avoid resource waste.

[0005] The present invention also provides a billet feeding device, which can realize the transportation of high-temperature billets through the above-mentioned billet feeding method, eliminating the need for operators to operate based on experience, and further realizing the automated feeding of high-temperature billets.

[0006] This invention provides a billet loading method comprising: acquiring the positions of an insulated car, a trestle, a steel taker, and a loading platform and forming a data model, and establishing a corresponding three-dimensional coordinate system; calibrating the position coordinates of the insulated car, the trestle, the steel taker, and the loading platform within the three-dimensional coordinate system, and acquiring the positional relationship function between each model; acquiring the data model of the billet inside the insulated car, and calculating the moving distance, descent height, and rotation angle of the steel taker; controlling the steel taker to move to the position of the billet, taking out the billet and transporting it to the loading platform; and recording the steel type and transport quantity of the transported billet.

[0007] Preferably, controlling the steel take-up machine to move to the position of the steel billet, and taking out the steel billet and transporting it to the loading platform includes: establishing a data model of the insulation pit and the cover-opening machine, and obtaining the positional relationship function between the insulation pit and each model; moving the steel take-up machine to the position of the insulation pit, and moving the steel billet in the insulation car into the insulation pit; controlling the steel take-up machine to take out the steel billet from the insulation pit and transport it to the loading platform.

[0008] Preferably, moving the steel taker to the insulation pit and moving the steel billet from the insulation car into the insulation pit includes: calculating the running distance, descent height, and rotation angle of the steel taker's clamps; obtaining the steel type of the steel billet in the insulation car and selecting an insulation pit with a suitable management mode; controlling the cover opener to open the pit cover and move it to the end of the trestle; moving the steel taker, controlling the clamps to pick up the steel billet and move it into the insulation pit; removing the clamps, and controlling the cover opener to close the pit cover.

[0009] Preferably, the management mode can be adjusted in real time according to the type and quantity of steel billets in the insulation pit.

[0010] Preferably, controlling the steel take-out machine to remove the steel billet from the insulation pit and transport it to the loading platform includes: calculating the moving distance, descent height, and rotation angle of the clamps of the steel take-out machine based on the location of the insulation pit and the number of layers of steel billets inside; controlling the cover-lifting machine to reach the insulation pit and move it to the end of the trestle with the pit cover; and controlling the steel take-out machine to clamp the steel billet and transport it to the loading platform.

[0011] Preferably, the data model of the steel billet includes the steel grade, three-dimensional coordinates, external dimensions, and tilt angle of the billet in the insulated vehicle.

[0012] Preferably, the step of acquiring the data model of the steel billet inside the insulated car and calculating the moving distance, descent height and rotation angle of the steel picker includes: real-time scanning of the insulated car and the steel billet inside the insulated car, and reflecting it in the three-dimensional coordinate system in real time; acquiring the data model of the corresponding steel billet after the insulated car stops, and calculating the moving distance, descent height and rotation angle of the steel picker.

[0013] Preferably, the vision device is controlled to acquire the positions of the insulated vehicle, the trestle, the steel take-up machine, and the loading platform, and compare them with the data model in the three-dimensional coordinate system.

[0014] This invention provides a billet loading device, installed on a loading platform, including a trestle, comprising a bridge body and columns for supporting the bridge body; an operating device, disposed outside the trestle, for operating the billet loading method as described above; a scanning device, installed on the columns and electrically connected to the operating device; multiple heat-insulating pits, located below the trestle; a steel-retrieving machine, including clamps, movably installed on the bridge body; a capping machine, movably installed on the bridge body and moving above the heat-insulating pits; and a heat-insulating cart, located below the trestle.

[0015] Preferably, it also includes a vision device, which is mounted on the column and electrically connected to the operating device.

[0016] Based on the above description and practice, the billet loading method of this invention includes: acquiring the positions of the insulated car, trestle, steel taker, and loading platform and forming a data model; establishing a corresponding three-dimensional coordinate system; calibrating the position coordinates of the insulated car, trestle, steel taker, and loading platform within the three-dimensional coordinate system and obtaining the positional relationship function between each model; acquiring the data model of the billet inside the insulated car and calculating the moving distance, descent height, and rotation angle of the steel taker; controlling the steel taker to move to the position of the billet and removing the billet to transport it to the loading platform; and recording the steel type and transport quantity of the transported billet. A scanning device is used to scan the entire billet loading device and form a data model, establishing a three-dimensional coordinate system and marking the positions between each model. This allows for pre-calculation using the model within the three-dimensional coordinate system before starting the billet loading device, and timely acquisition of the type of billet inside the insulated car, as well as calculation of the moving trend and moving time of the steel taker. This billet feeding device prevents billets from being delayed in reaching the feeding platform due to mismatches between production line capacity and continuous casting rhythm, equipment failures, roll changes during maintenance, or changes in steel grades. This avoids heat loss and energy waste caused by the high-temperature billets. Furthermore, the scanning device can acquire and record the quality of the billets on the feeding platform in real time. This billet feeding method allows for the calculation and recording of the entire workflow, further enabling coordinated operation between various structures and minimizing energy consumption. Attached Figure Description

[0017] Figure 1 This is a flowchart of a billet feeding method according to one embodiment of the present invention.

[0018] Figure 2 This is a flowchart of step S4 of the billet feeding method in one embodiment of the present invention.

[0019] Figure 3 This is a flowchart of step S42 of the billet feeding method in one embodiment of the present invention.

[0020] Figure 4 This is a flowchart of step S43 of the billet feeding method according to one embodiment of the present invention.

[0021] Figure 5 This is a flowchart of step S3 of the billet feeding method in one embodiment of the present invention.

[0022] Figure 6 This is a schematic diagram of the billet feeding device according to one embodiment of the present invention. Detailed Implementation

[0023] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0024] Furthermore, the accompanying drawings are merely illustrative diagrams of the present invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and therefore repeated descriptions of them will be omitted. It should be noted that in this invention disclosure, the terms "comprising," "configured with," and "set in" are used to indicate an open-ended inclusion, meaning that additional elements / components / etc. may exist besides those listed; the terms "first," "second," etc., are used only as labels and are not intended to limit the number or order of objects; the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention.

[0025] Unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] This invention discloses a billet feeding device, please refer to... Figure 6The billet loading device includes a trestle 1, operating equipment, a scanning device 2, a heat preservation pit 6, a steel take-up machine 3, a cover-opening machine 7, and a heat preservation cart 4. The trestle 1 includes a bridge body 11 and columns 12 supporting the bridge body 11, and supports the steel take-up machine 3 and the cover-opening machine 7, allowing them to move above the heat preservation pit 6 and the heat preservation cart 4. The operating equipment is located outside the trestle 1 and is used to operate the billet loading method. The scanning device 2 is installed on the column 12 and electrically connected to the operating equipment. It scans the trestle 1 and the structures above and below it, and transmits the scanned data to the operating equipment for processing. Multiple heat preservation pits 6 are located below the trestle 1 and can be used to temporarily store high-temperature billets, reducing heat loss. The heat preservation cart 4 is located below the trestle 1 and is used to transport the high-temperature heated billets to the area below the trestle 1, awaiting transport to the loading platform 5. The steel-retrieving machine 3 includes a clamp 31, which is movably installed on the bridge body 11 and can be moved above the insulation pit 6 or the insulation cart 4. The clamp 31 is used to grip the high-temperature steel billet. By using the steel-retrieving machine 3 and the insulation cart 4, the high-temperature steel billet can be automatically retrieved, preventing personnel injury and operational errors that may be caused by manual operation, and further improving the operating accuracy of the entire steel billet feeding device. The cover-opening machine 7 is movably installed on the bridge body 11 and moves above the insulation pit 6. When the steel billet needs to be temporarily stored in the insulation pit 6 or taken out of the insulation pit 6 and transported to the feeding platform 5, the cover-opening machine 7 is used to open the insulation cover 62 on the insulation pit 6, ensuring the thermal protection of the high-temperature steel billet and further realizing the coordinated operation of the entire steel billet feeding device.

[0027] In some embodiments, the scanning device 2 is a 3D scanner. The 3D scanner acquires point cloud data of the trestle 1, the insulation pit 6, the steel take-up machine 3, the cover opener 7, and the insulation cart 4, and transmits the data to the operating equipment for analysis and calculation. Specifically, it can be an optical scanner, a lidar, or an electromagnetic scanner. The appropriate scanner can be selected according to the actual environment and needs of the factory. The scanning device 2 scans the entire billet loading device and uploads the scanned data to the operating equipment. Multiple scanning devices 2 can also be used to ensure the accuracy of the data transmitted to the operating equipment.

[0028] To ensure the accuracy of the models uploaded by the scanning device 2 to the operating device, in some embodiments, the billet feeding device also includes a vision device 8, which is installed on the column 12 and electrically connected to the operating device. The images acquired by the vision device 8 can also be uploaded to the operating device and compared with the scanning data of the scanning device 2 to determine the accuracy of the scanning data. Adjustments can be made in a timely manner if the accuracy is insufficient.

[0029] This invention discloses a billet feeding method, which operates in an operating device to ensure that, during the billet transport and feeding process, all conveying devices work collaboratively, enabling the high-temperature billet to be transported to the feeding platform 5 in a timely manner. This avoids excessive heat loss from the high-temperature billet, which could affect subsequent processing. For details, please refer to... Figures 1 to 6 The billet feeding method includes: Step S1: Obtain the positions of the insulated vehicle 4, the trestle 1, the steel take-up machine 3, and the loading platform 5, and form a data model to establish the corresponding three-dimensional coordinate system.

[0030] In some application scenarios, the scanning device 2 scans the insulated car 4, the trestle 1, the steel take-up machine 3 and the loading platform 5 to form a data model. The data model is then uploaded to the operating equipment, and a three-dimensional coordinate system is established based on the data model, so that the data models are in the same space, which facilitates subsequent calculation and control operations.

[0031] Step S2: In the three-dimensional coordinate system, calibrate the position coordinates of the insulated car 4, the trestle 1, the steel take-up machine 3 and the loading platform 5, and obtain the positional relationship function between each model.

[0032] In some application scenarios, the coordinates of the insulated car 4, the trestle 1, the steel taker 3, and the loading platform 5 are calibrated in a three-dimensional coordinate system, and the positional relationship function between the models is calculated in pairs. This facilitates the calculation of the moving distance, descent height, and time required for the insulated car 4 and the steel taker 3 to move independently in the future.

[0033] Step S3: Obtain the data model of the steel billet inside the insulated car 4, and calculate the moving distance and rotation angle of the steel taking machine 3.

[0034] In some applications, high-temperature steel billets of different shapes and weights are often processed on the same production line. Therefore, in order to reliably remove the high-temperature steel billets from the insulated car 4, a scanning device 2 is needed to scan the insulated car 4 and the high-temperature steel billets inside it as they enter the underpass trestle 1, in order to obtain the shape and steel type of each individual high-temperature steel billet. This information is then used to calculate the position and rotation angle that the steel picker 3 needs to move to, thus ensuring that the steel picker 3 can smoothly remove the high-temperature steel billets from the insulated car 4 after it has come to a complete stop.

[0035] Specifically, in some application scenarios, the data model of the billet includes the steel type, three-dimensional coordinates, external dimensions, and tilt angle of the billet in the insulated car 4. The more accurate the data that the scanning device 2 can scan, the higher the precision of the subsequent structure in grasping and feeding the billet, and it can also prevent the billet from slipping and causing an accident when the steel picker 3 grasps the billet.

[0036] Step S4: Control the steel take-up machine 3 to move to the position of the steel billet, take out the steel billet and transport it to the loading platform 5.

[0037] In some application scenarios, after obtaining the shape and steel grade of the high-temperature steel billet, the operating equipment controls the steel take-up machine 3 to reach the designated position according to the calculated moving distance. The rotation angle of the steel take-up machine 3 is adjusted to match the shape of the high-temperature steel billet, preventing the high-temperature steel billet from falling during movement. The steel billet is then removed from the insulated car 4 and transported to the loading platform 5, completing the transportation of the steel billet.

[0038] Step S5: Record the steel type and quantity of the transported steel billets.

[0039] In some application scenarios, the scanning device 2 and the transmission device on the feeding platform 5 record the steel type and weight of the high-temperature steel billet on the feeding platform 5, and transmit the above data to the operating equipment for filing, and upload it to the real-time warehouse management system, so as to facilitate the recording of work consumption and facilitate the real-time viewing by management personnel.

[0040] Understandably, when heating steel billets in an industrial furnace, many billets are usually heated at once. When the insulated cart 4 transports the billets to the billet loading device, it also needs to temporarily store many billets that cannot be delivered to the loading platform 5 in time. Therefore, step S4 specifically includes: Step S41: Establish data models of the insulation pit 6 and the cover-opening machine 7, and obtain the positional relationship function between the insulation pit 6 and each model.

[0041] In some application scenarios, the scanning device 2 is used to scan the insulation pit 6 and the cover-opening machine 7, and the data model is transmitted to the operating equipment. The positional relationship function between the insulation pit 6 and the cover-opening machine 7 and other models is obtained, which facilitates subsequent collaborative work with the insulation vehicle 4 and the steel taking machine 3.

[0042] Furthermore, to enable the categorized storage of high-temperature steel billets of different shapes and grades, in some application scenarios, multiple insulation pits 6 are provided and arranged side-by-side under the trestle 1, allowing for the categorized storage of different steel billets within the insulation cart 4. Moreover, different insulation conditions can be set for the insulation pits 6 according to different high-temperature steel billets, achieving categorized storage and further ensuring that high-temperature steel billets that cannot be delivered to the loading platform 5 in a timely manner are properly preserved, avoiding excessive heat loss from the high-temperature steel billets.

[0043] Step S42: Move the steel taking machine 3 to the position of the insulation pit 6, and move the steel billet in the insulation car 4 into the insulation pit 6.

[0044] In some application scenarios, the insulated car 4 transports high-temperature steel billets and delivers them to the vicinity of the corresponding insulated pit 6. The steel take-out machine 3 then takes out the steel billets from the insulated car 4 and transports them to the corresponding insulated pit 6.

[0045] Step S43: Control the steel take-out machine 3 to take the steel billet out of the heat preservation pit 6 and transport it to the loading platform 5.

[0046] In some application scenarios, when it is necessary to transport high-temperature steel billets to the loading platform 5, the steel take-out machine 3 takes the high-temperature steel billets from the insulation pit 6 and transports them to the loading platform 5, thus completing the transportation of the steel billets.

[0047] Furthermore, in order to ensure the insulation effect of the insulation pit 6 on the high-temperature steel billet inside, it is usually necessary to seal the insulation pit 6 to prevent heat loss from the high-temperature steel billet. Therefore, when removing the steel billet from the insulation pit 6, step S42 specifically includes: Step S421: Calculate the running distance, descent height, and rotation angle of the clamp 31 of the steel picker 3.

[0048] In some application scenarios, based on the real-time positions between the various structures obtained by the scanning device 2, the running distance and descent height of the steel picker 3 to the insulated car 4 are calculated, and the rotation angle of the clamp 31 of the steel picker 3 when it extends into the insulated car 4 to pick up the high-temperature steel billet is calculated, so as to ensure that the high-temperature steel billet can be stably transported into the insulated pit 6.

[0049] Step S422: Obtain the steel type of the steel billet inside the insulated car 4, and select the insulated pit 6 that matches the management mode.

[0050] In some application scenarios, multiple insulation pits 6 are set up. The insulation pit 6 that meets the management mode is selected according to the shape and size of the high-temperature steel billet and the number of steel billets currently in the insulation pit 6. The management mode includes adjusting the temperature in the insulation pit 6, the single heating time in the insulation pit 6, the heating interval, etc.

[0051] Understandably, this is to ensure that the insulation pit 6 can insulate the high-temperature steel billets immediately, and that the insulation effect of the insulation pit 6 is not affected by an excessive number of steel billets inside. In some application scenarios, the management mode can be adjusted in real time according to the steel type and quantity of the steel billets in the insulation pit 6, further ensuring the insulation effect of the high-temperature steel billets in the insulation pit 6, avoiding heat loss, and preventing impact on production efficiency.

[0052] Step S423: Control the cover-opening machine 7 to open the cover of the insulation pit 6 and move it to the end of the trestle 1.

[0053] In some application scenarios, the cover of the insulation pit 6 is opened by the cover-opening machine 7. In order to avoid the pit cover colliding with the high-temperature steel billet during transportation, the cover-opening machine 7 moves the pit cover to the end of the trestle 1 to provide sufficient space for the transportation of the high-temperature steel billet.

[0054] Step S424: Move the steel take-up machine 3, control the clamp 31 to grab the steel billet and move it into the heat preservation pit 6.

[0055] In some application scenarios, after the cover-opening machine 7 opens and removes the pit cover, the steel-retrieving machine 3 moves according to the calculated data and removes the steel billet from the insulation car 4 and sends it into the insulation pit 6.

[0056] Step S425: Remove clamp 31 and control the cover opening machine 7 to close the pit cover of the heat preservation pit 6.

[0057] In some application scenarios, after the high-temperature steel billet is transported into the insulation pit 6, the clamp 31 of the steel take-out machine 3 is removed from the insulation pit 6, and the operating equipment controls the cover-opening machine 7 to move back from the end of the trestle 1 to close the pit cover back into the insulation pit 6.

[0058] When it is necessary to transport the high-temperature steel billet that needs to be insulated to the loading platform 5, the insulation pit 6 needs to be opened. Step S43 specifically includes: Step 431: Based on the location of the insulation pit 6 and the number of layers of steel billets inside, calculate the moving distance, descent height, and rotation angle of the steel picker 31.

[0059] In some application scenarios, based on the position of the corresponding heat preservation pit 6 recorded in the scanning device 2 and the operating equipment, as well as the number of steel billet layers inside it, the moving distance, descent height, and rotation angle required for the clamp 31 to remove the high-temperature steel billet above are calculated to ensure that the high-temperature steel billet is clamped smoothly.

[0060] Step 432: Control the cover-opening machine 7 to reach the insulation pit 6 and move it to the end of the trestle 1 with the pit cover of the insulation pit 6.

[0061] In some application scenarios, the control mechanism 7 reaches the corresponding insulation pit 6, opens the pit cover of the insulation pit 6, and moves the pit cover of the insulation pit 6 to the end of the trestle 1 to avoid the pit cover colliding with the taken-out high-temperature steel billet and causing damage.

[0062] Step 433: Control the steel take-up machine 3 to pick up the steel billet and transport it to the loading platform 5.

[0063] In some application scenarios, the steel picker 3 reaches above the insulation pit 6, the clamp 31 extends into the insulation pit 6 and takes out the high-temperature steel billet, and the steel picker 3 moves along the trestle 1 to transport the high-temperature steel billet to the loading platform 5.

[0064] Furthermore, after the steel billet is clamped, the cover-opening machine 7 moves from the end of the trestle 1 back to the top of the insulation pit 6 and puts the pit cover back on the insulation pit 6 to prevent the remaining high-temperature steel billet in the insulation pit 6 from losing heat.

[0065] Understandably, in order to ensure stable clamping and smooth transport of the high-temperature steel billet to the loading platform 5, step S3 specifically includes: Step 31: Scan the insulation car 4 and the steel billet inside the insulation car 4 in real time and reflect them in the three-dimensional coordinate system in real time.

[0066] In some application scenarios, when the insulated car 4 carries the high-temperature steel billet to the range of the billet feeding device, the scanning device 2 scans the insulated car 4 and the steel billet inside the insulated car 4, and transmits the data synchronously to the operating equipment, and obtains data modeling synchronously in the three-dimensional coordinate system.

[0067] Step 32: Obtain the data model of the corresponding steel billet after the insulated car 4 stops, and calculate the moving distance, descent height and rotation angle of the steel picker 3.

[0068] In some application scenarios, when the insulated car 4 stops, the data model of the insulated car 4 and the high-temperature steel billet inside is obtained. Based on the real-time model of the steel picker 3, the moving distance and descent height of the steel picker 3 to the insulated car 4 and the rotation angle of the clamp 31 to pick up the high-temperature steel billet are calculated to ensure the stability and safety of the high-temperature steel billet during the picking process.

[0069] Understandably, to further ensure the accuracy of the data transmitted to the operating equipment by the scanning device 2, in some application scenarios, the billet loading method also includes: controlling the vision device 8 to acquire the positions of the insulated cart 4, the trestle 1, the steel take-up machine 3, the cover-opening machine 7, and the loading platform 5, and comparing them with the data model in the three-dimensional coordinate system. The images acquired by the vision device 8 can also be uploaded to the operating equipment and compared with the scanning data of the scanning device 2 to ensure the accuracy of the scanning data, and adjustments can be made in a timely manner if the accuracy is insufficient.

[0070] Furthermore, by installing positioning tags 9 on structures such as the insulated car 4, steel taker 3, cover opener 7, and feeding platform 5, the positions marked by the positioning tags 9 can be compared with the positions of each model in the three-dimensional coordinate system, ensuring the accuracy of the scanning data. This enables the coordination between the insulated car 4, steel taker 3, cover opener 7, and insulated pit 6, achieving automated storage and feeding of high-temperature steel billets, and ensuring the working accuracy during collaborative operation.

[0071] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A method for feeding steel billets, characterized in that, include: The locations of the insulated truck, trestle, steel taker, and loading platform are obtained and a data model is formed to establish the corresponding three-dimensional coordinate system. The position coordinates of the insulated vehicle, the trestle, the steel take-up machine, and the loading platform are calibrated in the three-dimensional coordinate system, and the positional relationship function between each model is obtained. The data model of the steel billet inside the insulated car is obtained, and the moving distance, descent height and rotation angle of the steel taking machine are calculated. Control the steel take-up machine to move to the position of the steel billet, take out the steel billet and transport it to the loading platform; Record the steel type and quantity of the transported steel billets.

2. The billet feeding method as described in claim 1, characterized in that, The step of controlling the steel take-up machine to move to the position of the steel billet, taking out the steel billet and transporting it to the loading platform includes: Establish data models of the insulation pit and the cover-opening machine, and obtain the positional relationship functions between the insulation pit and each model; Move the steel taking machine to the position of the insulation pit, and move the steel billet in the insulation car into the insulation pit; The steel taking machine is controlled to remove the steel billet from the heat preservation pit and transport it to the loading platform.

3. The billet feeding method as described in claim 2, characterized in that, Moving the steel taking machine to the position of the insulation pit and moving the steel billet in the insulation car into the insulation pit includes: Calculate the running distance, descent height, and rotation angle of the steel taker's clamps; Obtain the steel type of the steel billet inside the insulated vehicle, and select the insulated pit that matches the management mode; Control the opening machine to open the cover of the insulation pit and move it to the end of the trestle; Move the steel take-up machine, control the clamps to pick up the steel billet and move it into the heat preservation pit; Remove the clamps and control the cover-opening machine to close the cover of the insulation pit.

4. The billet feeding method as described in claim 3, characterized in that, The management mode can be adjusted in real time according to the type and quantity of steel billets in the insulation pit.

5. The billet feeding method as described in claim 2, characterized in that, The process of controlling the steel take-out machine to remove the steel billet from the insulation pit and transport it to the loading platform includes: Based on the location of the insulation pit and the number of layers of the steel billet inside, calculate the moving distance, descent height, and rotation angle of the clamp of the steel taking machine; Control the cover-lifting machine to reach the insulation pit and move it to the end of the trestle with the pit cover; The steel picker is controlled to pick up the steel billet and transport it to the loading platform.

6. The billet feeding method as described in claim 1, characterized in that, The data model of the steel billet includes the steel type, three-dimensional coordinates, external dimensions, and tilt angle of the billet in the insulated vehicle.

7. The billet feeding method as described in claim 1, characterized in that, The process of acquiring the data model of the steel billet inside the insulated vehicle and calculating the moving distance, descent height, and rotation angle of the steel taking machine includes: The system scans the insulated car and the steel billets inside the insulated car in real time and reflects them in the three-dimensional coordinate system in real time. Obtain the data model of the steel billet after the insulated vehicle stops, and calculate the moving distance, descent height and rotation angle of the steel take-up machine.

8. The billet feeding method as described in claim 1, characterized in that, Also includes: The vision device is controlled to acquire the positions of the insulated vehicle, the trestle, the steel take-up machine, and the loading platform, and compares them with the data model in the three-dimensional coordinate system.

9. A billet feeding device, installed on a feeding platform, characterized in that, include: A trestle bridge, consisting of the bridge structure and the columns used to support the bridge structure; An operating device, located outside the trestle, is used to operate the billet feeding method as described in any one of claims 1-8; A scanning device is mounted on the column and electrically connected to the operating equipment; Multiple insulation pits are provided and located below the trestle; A steel-retrieving machine, including clamps, is movably mounted on the bridge body; A cover-opening machine is movably installed on the bridge body and moves above the insulation pit; The refrigerated truck is located below the trestle bridge.

10. The billet feeding device as described in claim 9, characterized in that, Also includes: A vision device is mounted on the column and electrically connected to the operating device.

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