Thick plate production line cooling bed loading system and method

Abstract

The application provides a kind of thick plate production line cold bed loading system and method.The system is composed of control unit, proportional valve driven hydraulic lifting mechanism, variable frequency translation mechanism with position detection encoder, interlock control module and mode selection unit, equipped with double positioning device and stepless speed regulation control, can realize multiple mechanism synchronous control and deviation hierarchical processing in linkage mode.The corresponding method first selects single action or linkage mode according to the length of steel plate, after pre-interlock check containing equipment self-check, material detection and cold bed state confirmation, the driving mechanism completes the steel plate lifting, translation, downlink operation, finally resets the mechanism and releases the equipment lock, single action and linkage mode are respectively adapted to different length steel plate, set different buffer delay and synchronous control logic.The scheme can adapt to the full length range steel plate loading, effectively improve the positioning accuracy and equipment cooperativity, reduce the equipment failure rate and steel plate defective rate, enhance the production line automation level and operation safety.

Description

Technical Field

[0001] This application relates to the field of automation technology for thick plate production, and more specifically to a cold bed loading system and method for a thick plate production line. Background Technology

[0002] Thick plate production lines are equipment used in the steel industry to produce medium and heavy plates and extra-thick plates. The cooling bed, as a process device in the thick plate production process, is used for cooling, temporarily storing, and conveying steel plates. Its feeding system is used to transfer the rolled steel plates from the input roller conveyor to the walking beam of the cooling bed. With the continuous expansion of the steel industry's requirements for the range of thick plate product specifications, the production line needs to be adaptable to the production of medium and heavy plates and extra-thick plates of different lengths.

[0003] The existing cooling bed loading system mainly adopts a structure of hydraulically driven lifting mechanism combined with motor-driven translation mechanism. The system realizes the lifting, translation and lowering of steel plates through the control system. Some systems are equipped with basic limit protection devices to limit the travel range of the lifting mechanism. At the same time, basic signal interaction with the cooling bed input roller and walking beam is realized through simple electrical connection to complete the steel plate loading and conveying process.

[0004] However, existing cold bed loading systems generally suffer from insufficient positioning accuracy and poor coordination with upstream and downstream equipment, which can easily lead to accidents such as collisions and jamming during steel plate transportation, affecting production continuity. At the same time, the control method is singular and cannot flexibly adjust the operation mode according to the length of the steel plate, making it difficult to adapt to diverse production needs. Summary of the Invention

[0005] To address the common problems of insufficient positioning accuracy and poor coordination with upstream and downstream equipment in existing cold bed loading systems, this application provides a cold bed loading system for a thick plate production line, including a control unit, at least one set of hydraulic lifting mechanisms, a frequency conversion translation mechanism corresponding to the hydraulic lifting mechanisms, an interlocking control module, and a mode selection unit. The control unit is connected to the hydraulic lifting mechanism, the frequency conversion translation mechanism, and the mode selection unit via signals, respectively. The hydraulic lifting mechanism is driven by a proportional valve to lift and lower the steel plate. The proportional valve is used to adjust the lifting speed and stroke accuracy of the hydraulic lifting mechanism. The variable frequency translation mechanism is equipped with an absolute encoder to realize the translation and conveying of the steel plate. The absolute encoder is used to detect the translation position of the variable frequency translation mechanism in real time and feed it back to the control unit to form a closed-loop positioning. The interlocking control module is connected to the cooling bed input roller and the cooling bed stepping beam via signals, and is used to lock the cooling bed input roller and the cooling bed stepping beam during the feeding process; The mode selection unit is used to select either single-action mode or linkage mode according to the length of the steel plate. The single-action mode is for a single set of hydraulic lifting mechanism and variable frequency translation mechanism to operate independently, while the linkage mode is for at least two sets of hydraulic lifting mechanism and variable frequency translation mechanism to operate collaboratively.

[0006] In one feasible implementation, the hydraulic lifting mechanism is also equipped with upper and lower limit switches and a stroke encoder; The control unit simultaneously receives real-time travel data output by the travel encoder of the hydraulic lifting mechanism and trigger signals output by the upper and lower limit switches; The control unit is configured to send a stop signal to the proportional valve and control the hydraulic lifting mechanism to stop running when the real-time travel data is consistent with the preset target position and the upper and lower limit switches output corresponding trigger signals. The control unit is also configured to send a flow regulation control signal to the proportional valve, so that the hydraulic lifting mechanism performs lifting action according to a preset stepless speed regulation curve; A speed regulation control signal is sent to the variable frequency motor of the variable frequency translation mechanism so that the variable frequency translation mechanism performs translation operation according to a preset stepless speed regulation curve.

[0007] In one feasible implementation, when the mode control unit selects the linkage mode, the control unit is configured as follows: Synchronous lifting control signals are sent to at least two sets of the hydraulic lifting mechanisms, synchronous translation control signals are sent to at least two sets of the frequency conversion translation mechanisms, and the synchronization deviation of each set of the hydraulic lifting mechanisms is monitored in real time according to a preset cycle. When the synchronization deviation exceeds a preset correction threshold, the operating speed of the corresponding hydraulic lifting mechanism is automatically adjusted for correction. When the synchronization deviation exceeds the preset stop threshold, the operation of all the hydraulic lifting mechanisms is immediately stopped and a synchronization fault alarm is triggered.

[0008] This application, in another aspect, provides a method for loading a cooling bed in a thick plate production line, implemented based on the thick plate production line cooling bed loading system described in any of the above claims, comprising: The mode control unit selects either single-action mode or linkage mode based on the length of the steel plate to be loaded. The interlocking control module performs a pre-interlocking check to confirm the equipment's operating status and the parking position of the steel plate to be loaded, and locks the cooling bed input roller conveyor and the cooling bed walking beam. The control unit drives the hydraulic lifting mechanism and the frequency conversion translation mechanism to complete the lifting, translation towards the cooling bed and lowering of the steel plate to be loaded. The control unit drives the variable frequency translation mechanism to reset the hydraulic lifting mechanism to its initial position, and the interlock control module releases the lock on the cooling bed input roller and the cooling bed stepping beam.

[0009] In one feasible implementation, the pre-locking check includes: The control unit collects the status signals of the hydraulic lifting mechanism and the variable frequency translation mechanism to perform equipment self-testing; If the device fails the self-test, an audible and visual alarm will be triggered and the process will be paused. If the equipment passes the self-test, it collects the material detection signal to confirm whether the steel plate to be loaded is accurately placed at the corresponding loading station. If the steel plate to be loaded is not accurately positioned, the process will wait. If the steel plate to be loaded is accurately positioned, the cooling bed walking beam is confirmed to be in the initial position at the far end and locked.

[0010] In one feasible implementation, when the single-action mode is selected, the loading operation is performed independently by a single set of the hydraulic lifting mechanism and a single set of the frequency conversion translation mechanism. Before lifting the steel plate to be loaded, the control unit locks the single-group frequency conversion translation mechanism to prevent translation operation. After each stage of lifting, translating, and lowering is completed, a 1-second buffer delay is performed to allow the hydraulic system pressure to stabilize, mechanical vibration to be eliminated, and the steel plate to be loaded to come to a complete stop.

[0011] In one feasible implementation, when the linkage mode is selected, the loading operation is performed in coordination by at least two sets of the hydraulic lifting mechanism and at least two sets of the frequency conversion translation mechanism. After the equipment passes the self-test, the control unit compares the initial position deviations of each group of mechanisms. If the initial position deviation exceeds the preset initial threshold, a single-zone fine-tuning correction will be automatically performed. If the initial position deviation does not exceed the preset initial threshold, the motion control signal is sent synchronously. During the lifting and translation process, the synchronous deviation of each group of mechanisms is monitored in real time according to the preset cycle and corresponding processing is performed. After each stage of action is completed, a buffer delay of 1.5 seconds is performed.

[0012] In one feasible implementation, the corresponding processing of the synchronization deviation includes: Normal operation continues when the synchronization deviation is less than or equal to the preset correction threshold. When the synchronization deviation is greater than the preset correction threshold but less than or equal to the preset stop threshold, the operating speed of the corresponding mechanism is automatically adjusted for correction. When the synchronization deviation exceeds the preset stop threshold, all mechanism actions will be stopped immediately and a synchronization fault alarm will be triggered.

[0013] In one feasible implementation, during the process of lifting and lowering the steel plate to be loaded, the control unit simultaneously receives the stroke data from the absolute encoder and the trigger signals from the upper and lower limit switches to perform dual positioning judgment. If the preset target limit is not reached, continue to execute the corresponding action; If the preset target limit is reached, the action will stop and the current position will be maintained.

[0014] In one feasible implementation, the lifting and lowering actions of the hydraulic lifting mechanism and the forward and reset actions of the variable frequency translation mechanism are all executed according to a stepless speed regulation curve of low-speed start, medium-speed operation, and low-speed approach to the target position. If any mechanism malfunctions during the feeding process, the control unit immediately triggers an emergency stop and locks the current position of all mechanisms using hydraulic locks and brakes to prevent the steel plate to be fed from slipping or shifting.

[0015] As described above, this application provides a loading system and method for a cold bed in a thick plate production line. The system has both single-action and linkage operation modes. In single-action mode, a single mechanism operates independently, effectively reducing energy consumption and equipment wear, and improving the loading efficiency of short steel plates. In linkage mode, dual-zone interlocking checks and four-cylinder hydraulic synchronous control are used, employing a master-slave synchronous control architecture combined with real-time synchronization deviation monitoring and automatic correction mechanisms. Furthermore, a longer buffer delay is set for the inertial characteristics of long steel plates, solving the problems of low synchronization accuracy and high equipment collision failure rate in traditional long and thick plate loading. With the two modes combined, the system can be adapted to automated loading of medium and thick plates and extra-thick plates of all lengths, improving the production efficiency of the thick plate production line, reducing equipment failure rate and steel plate defect rate, and further enhancing the automation level and operational safety of the production line. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the implementation of the invention and, together with the description, serve to explain the principles of the embodiments of the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0017] Figure 1 This is an architectural diagram of the cold bed loading system for a thick plate production line shown in an embodiment of this application; Figure 2 This is a schematic diagram of the lifting and lowering hydraulic cylinder shown in the embodiments of this application; Figure 3 This is a schematic diagram of the lifting and lowering hydraulic cylinder's upper lifting position as shown in the embodiments of this application; Figure 4 This is a schematic diagram of the lifting and lowering hydraulic cylinder's lower position structure shown in the embodiments of this application; Figure 5 This is a connection structure diagram of the cooling bed loading system for a thick plate production line, as shown in an embodiment of this application: Figure 6 This is a schematic flowchart illustrating the method for loading a cooling bed into a thick plate production line according to an embodiment of this application; Figure 7 This is a flowchart illustrating the single-action feeding process of the cooling bed in a thick plate production line, as shown in the embodiments of this application: Figure 8 This is a flowchart illustrating the loading and unloading process of the cooling bed in a thick plate production line, as shown in the embodiments of this application.

[0018] Attached image captions: 1-Hydraulic lifting mechanism; 2-Variable frequency translation mechanism; 11-Upper and lower limit switches; 21-Absolute encoder. Detailed Implementation

[0019] 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 the embodiments of the invention will be more comprehensive 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. In the following description, numerous specific details are provided to give a full understanding of how embodiments of the invention are carried out.

[0020] Existing cold bed loading systems generally suffer from insufficient positioning accuracy and poor coordination with upstream and downstream equipment, which can easily lead to collisions between steel plates and the input roller conveyor and the walking beam of the cold bed during transport, affecting production efficiency and equipment safety. Furthermore, their control methods are limited, making it impossible to flexibly adjust the operating mode according to the length of the steel plate and adapt to diverse production needs. To address these issues, this embodiment provides a cold bed loading system for a thick plate production line, which solves these shortcomings through a modular structural design and a collaborative control mechanism.

[0021] Reference Figures 1-5 As shown, the cold bed loading system of the thick plate production line includes: a control unit, at least one set of hydraulic lifting mechanisms 1, a frequency conversion translation mechanism corresponding to the hydraulic lifting mechanisms 1, an interlocking control module, and a mode selection unit.

[0022] Specifically, the control unit receives various input signals and generates corresponding control commands to achieve unified scheduling and management of all actuators in the system. The control unit establishes signal connections with the hydraulic lifting mechanism 1, the frequency conversion translation mechanism, the interlocking control module, and the mode selection unit. The control unit can be implemented using a programmable logic controller, which can simultaneously process status signals and control signals from multiple devices and adapt to the control requirements of multiple actuators working collaboratively.

[0023] The hydraulic lifting mechanism 1 is signal-connected to the control unit and driven by a proportional valve to achieve the lifting and lowering of the steel plate. In one embodiment, the hydraulic lifting mechanism 1 can be installed in the area below the input roller conveyor of the cooling bed, arranged at intervals along the length of the input roller conveyor, and the number of these rollers can be adjusted according to the actual production needs of the production line. The proportional valve is connected in series in the hydraulic oil supply line of the hydraulic lifting mechanism 1 to regulate the flow rate and pressure of the hydraulic oil entering the hydraulic lifting mechanism 1, thereby achieving continuous adjustment of the lifting speed and stroke accuracy of the hydraulic lifting mechanism 1.

[0024] In one embodiment, the opening degree of the proportional valve can be continuously controlled by an analog electrical signal output by the control unit. The control unit outputs electrical signals of different amplitudes according to preset control logic, correspondingly adjusting different opening degrees of the proportional valve, thereby achieving stepless adjustment of the hydraulic oil flow. Compared with the conventional hydraulic lifting mechanism 1 driven by a common solenoid valve, the proportional valve driving method in this embodiment can avoid the problems of fixed lifting speed and large mechanical impact caused by the solenoid valve's on / off control. It realizes soft start and soft stop of the hydraulic lifting mechanism 1, reduces the deformation of the steel plate caused by impact, and reduces the wear of the equipment.

[0025] A variable frequency translation mechanism is correspondingly arranged with the hydraulic lifting mechanism 1 and is signal-connected to the control unit. It is used to drive the hydraulic lifting mechanism 1 and the steel plate placed on it to perform horizontal translation and conveying. In one embodiment, the variable frequency translation mechanism can be installed on a base platform below the hydraulic lifting mechanism 1, with its upper part fixedly connected to the bottom of the hydraulic lifting mechanism 1, so that the horizontal movement of the variable frequency translation mechanism can directly drive the synchronous movement of the hydraulic lifting mechanism 1. The variable frequency translation mechanism is equipped with an absolute encoder 21, which is used to collect the horizontal displacement data of the variable frequency translation mechanism in real time and feed the collected displacement data back to the control unit in real time. After receiving the displacement data fed back by the absolute encoder 21, the control unit compares it with the preset target displacement data and adjusts the running speed of the variable frequency translation mechanism according to the comparison result, forming a closed-loop positioning control.

[0026] The interlock control module is signal-connected to the control unit and also establishes a signal connection with the control systems of the cooling bed input roller conveyor and the cooling bed walking beam. It is used to lock the operating status of the cooling bed input roller conveyor and the cooling bed walking beam during the feeding operation. The interlock control module can collect the operating status signals of the cooling bed input roller conveyor and the cooling bed walking beam in real time, and after the feeding system starts operation, it sends a locking command to the control systems of the cooling bed input roller conveyor and the cooling bed walking beam, prohibiting them from performing any actions during the feeding process.

[0027] This embodiment effectively prevents steel plate collisions and stacking accidents caused by the continued conveying of steel plates by the cooling bed input rollers during the feeding process through an interlocking control mechanism. At the same time, it avoids steel plate jamming and equipment damage caused by the conflict between the movement of the cooling bed walking beam and the movement of the feeding mechanism, thus ensuring the safety of the feeding process.

[0028] The mode selection unit is connected to the control unit and is used to select the corresponding operation mode according to the length of the steel plate to be loaded. The operation modes include single-action mode and linkage mode.

[0029] In the single-action mode, a single hydraulic lifting mechanism 1 and its corresponding variable frequency translation mechanism independently complete the loading operation. In the linkage mode, at least two hydraulic lifting mechanisms 1 and their corresponding variable frequency translation mechanisms work together to complete the loading operation.

[0030] Specifically, when the length of the steel plate to be loaded is less than or equal to the load-bearing capacity of a single mechanism, the mode selection unit selects the single-action mode; when the length of the steel plate to be loaded is greater than the load-bearing capacity of a single mechanism, the mode selection unit selects the linkage mode. This multi-mode adaptability design allows the system to flexibly adjust its operating mode according to steel plates of different lengths, solving the problem of traditional systems having a single control mode and being unable to adapt to diverse production needs, thus improving the versatility and production efficiency of the production line.

[0031] The thick plate production line cooling bed loading system provided in this embodiment achieves centralized control and unified scheduling of various actuators through a control unit. A proportional valve drives the hydraulic lifting mechanism 1 to achieve continuous adjustment of lifting speed and stroke accuracy. A variable frequency translation mechanism equipped with an absolute encoder 21 achieves high-precision closed-loop positioning control. An interlocking control module provides reliable interlocking protection with upstream and downstream equipment. A mode selection unit enables automatic switching between single-action and linkage operation modes. This system effectively improves the positioning accuracy of the loading process, enhances coordination with upstream and downstream equipment, reduces the risk of equipment collisions and steel plate damage, and can flexibly adapt to the loading requirements of steel plates of different lengths, thereby improving the production efficiency and operational safety of the thick plate production line to a certain extent.

[0032] In some embodiments of this application, the hydraulic lifting mechanism 1 is further equipped with upper and lower limit switches 11 and a stroke encoder, both of which are signal-connected to the control unit. The upper and lower limit switches 11 are respectively installed at the upper and lower limit positions of the lifting stroke of the hydraulic lifting mechanism 1, and are used to detect whether the hydraulic lifting mechanism 1 has reached the preset limit position.

[0033] In one embodiment, the upper and lower limit switches 11 can be mechanical contact switches, which are fixedly installed on the outer surface of the hydraulic cylinder body of the hydraulic lifting mechanism 1. A trigger block is correspondingly provided on the piston rod of the hydraulic cylinder. When the piston rod extends or retracts to the upper or lower limit position, the trigger block contacts the corresponding upper and lower limit switches 11, causing the upper and lower limit switches 11 to output trigger signals to the control unit. In another embodiment, the upper and lower limit switches 11 can also be non-contact proximity switches, which can detect the position of the piston rod without direct contact with the trigger block, thereby reducing mechanical wear and extending service life.

[0034] A stroke encoder is installed on the hydraulic lifting mechanism 1 to collect the stroke data of the hydraulic lifting mechanism 1 in real time and feed the collected real-time stroke data back to the control unit. The control unit simultaneously receives the real-time stroke data output by the stroke encoder of the hydraulic lifting mechanism 1 and the trigger signals output by the upper and lower limit switches 11, compares the real-time stroke data with the internally preset target position data, and checks whether the upper and lower limit switches 11 output the corresponding trigger signals. When the real-time stroke data matches the preset target position and the upper and lower limit switches 11 output the corresponding trigger signals, the control unit sends a stop signal to the proportional valve of the hydraulic lifting mechanism 1, controls the proportional valve to close, and stops the hydraulic lifting mechanism 1 from running and maintains its current position.

[0035] This dual positioning design effectively avoids overshoot or insufficient lifting caused by false triggering of a single mechanical limit switch. At the same time, it can prevent positioning errors caused by data errors due to electromagnetic interference, mechanical wear, etc. of a single absolute encoder 21, further improving the positioning accuracy and operational reliability of the hydraulic lifting mechanism 1.

[0036] The control unit is also configured to send a flow regulation control signal to the proportional valve, so that the hydraulic lifting mechanism 1 performs lifting actions according to a preset stepless speed regulation curve.

[0037] In one embodiment, the preset continuously variable speed control curve can be set as a three-segment curve of low-speed start, medium-speed operation, and low-speed approach to the target position. According to the preset speed control curve, during the start-up phase of the hydraulic lifting mechanism 1, the control unit sends a small-amplitude flow regulation control signal to the proportional valve, keeping the proportional valve at a small opening, resulting in a small hydraulic oil flow and the hydraulic lifting mechanism 1 starting at a low speed to avoid damage to the steel plate and equipment from the start-up impact. During the operation phase, the control unit gradually increases the amplitude of the control signal sent to the proportional valve, gradually increasing the valve opening and hydraulic oil flow, allowing the hydraulic lifting mechanism 1 to operate at a medium speed and improving work efficiency. During the approach to the target position phase, the control unit gradually decreases the amplitude of the control signal sent to the proportional valve, gradually decreasing the valve opening and hydraulic oil flow, allowing the hydraulic lifting mechanism 1 to approach the target position at a low speed, achieving a soft stop.

[0038] The control unit is also configured to send a speed regulation control signal to the variable frequency motor of the variable frequency translation mechanism, so that the variable frequency translation mechanism performs translation operation according to a preset stepless speed regulation curve. Similar to the speed regulation method of the hydraulic lifting mechanism 1, the preset stepless speed regulation curve of the variable frequency translation mechanism can also be set as a three-segment curve of low-speed start, medium-speed operation, and low-speed approach to the target position.

[0039] The control unit adjusts the output speed of the variable frequency motor according to a preset speed regulation curve, enabling the variable frequency translation mechanism to start at low speed during startup, run at medium speed during operation, and stop at low speed when approaching the target position. This stepless speed regulation design effectively reduces the mechanical impact of the variable frequency translation mechanism during startup and shutdown, reduces the displacement and deformation of the steel plate caused by impact, and also reduces equipment vibration and wear, extending the service life of the equipment.

[0040] Therefore, this embodiment achieves dual positioning protection by equipping the hydraulic lifting mechanism 1 with upper and lower limit switches 11 and a stroke encoder, effectively improving the positioning accuracy of the hydraulic lifting mechanism 1. By controlling the hydraulic lifting mechanism 1 and the variable frequency translation mechanism to operate according to a preset stepless speed regulation curve through the control unit, soft start and soft stop are achieved, reducing the impact of mechanical shock on the steel plate and equipment. This system can further reduce the steel plate defect rate, lower equipment maintenance costs, extend the service life of the equipment to a certain extent, and improve the operational stability of the production line.

[0041] In some embodiments of this application, when the mode control unit selects the linkage mode, the control unit is configured to send synchronous lifting control signals to at least two sets of hydraulic lifting mechanisms 1 and synchronous translation control signals to at least two sets of frequency conversion translation mechanisms.

[0042] When the length of the steel plate to be loaded exceeds the load-bearing capacity of a single mechanism, the mode selection unit automatically selects the linkage mode. At this time, the control unit includes at least two sets of hydraulic lifting mechanisms 1 and their corresponding variable frequency translation mechanisms within the synchronous control range. The control unit simultaneously sends the same lifting control signal to all participating hydraulic lifting mechanisms 1, causing them to start lifting actions simultaneously; and simultaneously sends the same translation control signal to all participating variable frequency translation mechanisms, causing them to start translation actions simultaneously.

[0043] The control unit is also configured to monitor the synchronization deviation of each hydraulic lifting mechanism 1 in real time according to a preset cycle. Specifically, the control unit collects the stroke data fed back by the stroke encoder of each hydraulic lifting mechanism 1 according to the preset cycle, and calculates the stroke difference between each group of hydraulic lifting mechanisms 1. This stroke difference is the synchronization deviation. The preset cycle can be set according to the control accuracy requirements of the system. The shorter the cycle, the higher the monitoring frequency of the synchronization deviation, and the more timely the synchronization deviation can be detected and corrected, ensuring the synchronization control accuracy.

[0044] It is understandable that the control unit can also monitor the synchronization deviation of each group of frequency conversion translation mechanisms in real time according to the same preset cycle. Its monitoring method is the same as the synchronization deviation monitoring method of the hydraulic lifting mechanism 1. By collecting the displacement data fed back by the absolute encoder 21 of the frequency conversion translation mechanism, the displacement difference between each group is calculated as the synchronization deviation.

[0045] When the synchronization deviation exceeds a preset correction threshold, the control unit automatically adjusts the operating speed of the corresponding hydraulic lifting mechanism 1 to correct it. In one embodiment, the preset correction threshold is an allowable synchronization deviation range set according to the equipment's operating accuracy and production process requirements. When the control unit detects that the difference in stroke between a certain group of hydraulic lifting mechanisms 1 and other groups exceeds the preset correction threshold, the control unit sends a flow regulation signal to the proportional valve of that group of hydraulic lifting mechanisms 1, increasing or decreasing the opening of the proportional valve, thereby adjusting the operating speed of that group of hydraulic lifting mechanisms 1 to gradually synchronize it with other groups. For example, when the stroke of a certain group of hydraulic lifting mechanisms 1 is greater than that of other groups, the control unit decreases the opening of the proportional valve of that group, reducing its lifting speed; when the stroke of a certain group of hydraulic lifting mechanisms 1 is less than that of other groups, the control unit increases the opening of the proportional valve of that group, increasing its lifting speed. This automatic correction mechanism can adjust the operating status of each group of mechanisms in real time, promptly eliminate synchronization deviations, and ensure the synchronization accuracy of the linkage operation.

[0046] When the synchronization deviation exceeds a preset stop threshold, the control unit immediately stops the operation of all hydraulic lifting mechanisms 1 and triggers a synchronization fault alarm. In one embodiment, the preset stop threshold is greater than a preset correction threshold to prevent excessive synchronization deviation from causing serious accidents. When the control unit detects that the synchronization deviation exceeds the preset stop threshold, it indicates that the synchronization between the various groups of mechanisms has been severely out of control, and continued operation may lead to warping, deformation, slippage, or even equipment damage of the long steel plate. At this time, the control unit immediately sends a closing signal to the proportional valves of all participating hydraulic lifting mechanisms 1, stopping the operation of all hydraulic lifting mechanisms 1, and simultaneously triggers an audible and visual alarm device to issue an audible and visual alarm signal to notify the operator to troubleshoot and handle the fault. It is understood that while stopping the operation of the hydraulic lifting mechanism 1, the control unit can also simultaneously send a stop signal to the variable frequency motors of all participating variable frequency translation mechanisms to stop the operation of all variable frequency translation mechanisms, in order to avoid further amplifying the impact of the fault.

[0047] In this embodiment, the control unit achieves synchronous control of multiple sets of hydraulic lifting mechanisms 1 and frequency conversion translation mechanisms in the linkage mode, and monitors the synchronization deviation in real time, automatically correcting or stopping the system according to the magnitude of the deviation. This system effectively improves the synchronization accuracy of multiple linkage mechanisms, avoids warping, deformation, and slippage of long steel plates during linkage loading, reduces equipment failure rate, improves the safety and reliability of loading long and thick plates, reduces production downtime due to equipment failure, and increases the overall production efficiency of the production line.

[0048] Another aspect of this application provides a method for loading a cooling bed in a thick plate production line, implemented based on any of the aforementioned thick plate production line cooling bed loading systems, with reference to... Figure 6 As shown, it includes: S100: The mode control unit selects either single-action mode or linkage mode according to the length of the steel plate to be loaded.

[0049] The mode control unit can receive the length information of the steel plate to be loaded from the operator, or automatically obtain the length information of the steel plate to be loaded by communicating with the steel plate length detection device. The mode control unit has a preset length threshold. When the length of the steel plate to be loaded is less than or equal to the threshold, the single-action mode is selected; when the length of the steel plate to be loaded is greater than the threshold, the linkage mode is selected. This mode selection method can automatically match the optimal operating mode according to the length of the steel plate, improving the flexibility and efficiency of the loading operation.

[0050] S200: The interlocking control module performs a pre-interlocking check to confirm the equipment's operating status and the parking position of the steel plate to be loaded, and locks the cooling bed input roller conveyor and cooling bed walking beam.

[0051] Understandably, pre-load interlock checks are a necessary step before the loading operation begins. They ensure all relevant equipment is in normal operating condition and that the steel plates to be loaded are accurately positioned, preventing equipment collisions or steel plate slippage during loading. After completing the pre-load interlock check and confirming all conditions are met, the interlock control module sends a locking signal to the control systems of the cooling bed input rollers and cooling bed walking beams, prohibiting them from performing any actions during loading, thus ensuring the safety of the loading process.

[0052] S300: The control unit drives the hydraulic lifting mechanism and the frequency conversion translation mechanism to complete the lifting, translation and lowering of the steel plate to be loaded towards the cooling bed.

[0053] Specifically, the control unit issues control commands to the corresponding hydraulic lifting mechanism and variable frequency translation mechanism according to the selected operating mode. First, the hydraulic lifting mechanism is driven to lift the steel plate to be loaded from the input roller conveyor of the cooling bed, so that the steel plate is no longer in contact with the surface of the input roller conveyor of the cooling bed; then, the variable frequency translation mechanism is driven to move the hydraulic lifting mechanism and the steel plate together towards the cooling bed, conveying the steel plate to the top of the walking beam of the cooling bed; finally, the hydraulic lifting mechanism is driven to smoothly lower the steel plate onto the walking beam of the cooling bed.

[0054] This series of actions is automatically executed by the control unit according to a preset logical sequence, without the need for manual intervention, thus improving the automation level of the material loading operation.

[0055] S400: The control unit drives the frequency conversion translation mechanism to reset the hydraulic lifting mechanism to the initial position, and the interlock control module releases the lock on the cooling bed input roller and the cooling bed walking beam.

[0056] After the steel plate is stably placed on the walking beam of the cooling bed, the control unit drives the variable frequency translation mechanism to move the hydraulic lifting mechanism towards the input roller conveyor of the cooling bed, returning it to its initial position before the loading operation. After the hydraulic lifting mechanism and the variable frequency translation mechanism have completed their reset, the interlock control module sends an unlock signal to the control systems of the input roller conveyor and the walking beam of the cooling bed, allowing them to resume normal operation for the conveying and loading of the next steel plate. This automatic reset and unlock design enables seamless connection between the loading operation and upstream and downstream equipment, improving the overall operating efficiency of the production line.

[0057] The method provided in this embodiment can effectively improve the automation level of the feeding operation and the coordination with upstream and downstream equipment, reduce the risk of equipment collision, and flexibly adjust the operation process according to the length of the steel plate to adapt to diverse production needs, thereby improving the production efficiency of the thick plate production line to a certain extent.

[0058] In some embodiments of this application, the pre-locking check includes: S210: The control unit collects the status signals of the hydraulic lifting mechanism and the frequency conversion translation mechanism to perform equipment self-test.

[0059] The control unit collects status signals from the hydraulic lifting mechanism and the variable frequency translation mechanism for equipment self-testing. In one embodiment, the status signals collected by the control unit for the hydraulic lifting mechanism include the operating status of the proportional valve, the pressure status of the hydraulic cylinder, and the leakage status of the hydraulic system; the status signals collected for the variable frequency translation mechanism include the operating status of the variable frequency motor, the communication status of the absolute encoder, and the operating status of the travel box. The control unit analyzes the collected status signals to determine whether the hydraulic lifting mechanism and the variable frequency translation mechanism are in normal operating condition.

[0060] S211: If the device fails the self-test, an audible and visual alarm will be triggered and the process will be paused.

[0061] When the control unit detects a fault in the hydraulic lifting mechanism or the variable frequency translation mechanism, such as a proportional valve malfunction or an absolute encoder communication interruption, it immediately triggers the audible and visual alarm device, issuing an alarm signal to notify the operator to troubleshoot and handle the fault. Simultaneously, the control unit suspends the feeding process and prohibits any mechanism from operating, preventing equipment damage or safety accidents caused by malfunctions.

[0062] S212: If the equipment self-inspection passes, the material detection signal is collected to confirm whether the steel plate to be loaded is accurately placed at the corresponding loading station.

[0063] Material detection signals can be collected by sensors installed at the end of the input roller conveyor of the cooling bed. These sensors can be laser displacement sensors, weighing sensors, or photoelectric sensors, etc. The sensors send the detected signals to the control unit, which determines whether the steel plate to be loaded has arrived at the loading station, whether the parking position is accurate, and whether there is any offset or stacking.

[0064] S213: If the steel plate to be loaded is not accurately placed, the process will wait.

[0065] When the control unit detects that the steel plate to be loaded is not accurately positioned at the corresponding loading station—for example, if the steel plate is offset or has not fully reached the station—the control unit pauses the loading process, waiting for the cooling bed input roller conveyor to transport the steel plate to the correct position, or waiting for manual adjustment by the operator. The process only resumes once the steel plate is accurately positioned at the corresponding loading station.

[0066] S214: If the steel plate to be loaded is accurately positioned, confirm that the cooling bed walking beam is in the initial position at the far end and complete the locking.

[0067] The control unit communicates with the control system of the cooling bed walking beam to obtain the current position information of the walking beam. When it is confirmed that the walking beam is in the initial, remote position, the control unit sends a locking signal to the control system of the walking beam via the interlocking control module, prohibiting it from performing any actions during the feeding process. This step effectively prevents conflicts between the walking beam's movements and the feeding mechanism during the feeding process, avoiding steel plate jamming or collision accidents.

[0068] This embodiment further clarifies the specific content of the pre-locking inspection, including equipment self-inspection, material detection, and confirmation and locking of the position of the cooling bed walking beam. Therefore, this embodiment can comprehensively investigate equipment failures and material abnormalities before the start of the loading operation, eliminate potential safety hazards in advance, effectively reduce the risk of equipment collisions and steel plate slippage during the loading process, and improve the safety and reliability of the loading operation.

[0069] In some embodiments of this application, when the single-action mode is selected, the loading operation is performed independently by a single set of hydraulic lifting mechanisms and a single set of variable frequency translation mechanisms. The single-action mode is suitable for steel plates with a length less than or equal to the load-bearing capacity of a single set of mechanisms. In this case, only one set of hydraulic lifting mechanisms and the corresponding variable frequency translation mechanism needs to be activated to complete the loading operation, eliminating the need for multiple sets of mechanisms to work together. This method of independent operation of a single set of mechanisms can reduce unnecessary equipment operation, lower energy consumption, and reduce equipment wear.

[0070] Before lifting the steel plate to be loaded, the control unit locks the single-unit variable frequency translation mechanism to prevent translational movement. Simultaneously with sending a lifting control signal to the hydraulic lifting mechanism, the control unit sends a locking signal to the variable frequency translation mechanism, prohibiting it from performing any translational movement. This hard interlock design effectively prevents the variable frequency translation mechanism from malfunctioning during the steel plate lifting process, thus preventing the steel plate from tilting or slipping and ensuring the safety of the lifting process.

[0071] After each stage of the lifting, translating, and lowering actions is completed, a 1-second buffer delay is executed to allow the hydraulic system pressure to stabilize, mechanical vibration to dissipate, and the steel plate to be loaded to come to a complete stop. Specifically, after the hydraulic lifting mechanism completes the lifting action and stops operating, the control unit executes a 1-second buffer delay program to wait for the hydraulic system pressure to stabilize and for the vibration of the steel plate caused by the lifting impact to completely disappear, ensuring that the steel plate is in a stable and stationary state before proceeding to the next translating action. Similarly, after the frequency conversion translating mechanism completes the translating action and stops operating, and after the hydraulic lifting mechanism completes the lowering action and stops operating, a 1-second buffer delay program is executed. This buffer delay design can effectively prevent the steel plate from shifting or slipping due to mechanical vibration or unstable hydraulic system pressure, improving the stability of the loading process and the placement accuracy of the steel plate.

[0072] In some embodiments of this application, when the linkage mode is selected, the loading operation is performed collaboratively by at least two sets of hydraulic lifting mechanisms and at least two sets of variable frequency translation mechanisms. The linkage mode is suitable for steel plates whose length is greater than the load-bearing capacity of a single mechanism. In this case, at least two sets of hydraulic lifting mechanisms and corresponding variable frequency translation mechanisms need to work together to support and transport the steel plate, so as to ensure the stability of the long steel plate throughout the loading process and avoid bending deformation caused by partial suspension of the steel plate.

[0073] After the equipment passes its self-test, the control unit compares the initial position deviations of each group of mechanisms. In one implementation, after completing the pre-interlock check and confirming that all equipment is operating normally, the control unit collects the stroke encoder data of each group of hydraulic lifting mechanisms and the absolute encoder data of each group of variable frequency translation mechanisms, and compares the initial position deviations between the groups of mechanisms. This step can eliminate the impact of initial position differences on subsequent synchronization control from the source, ensuring the synchronization accuracy of the linkage operation.

[0074] If the initial position deviation exceeds the preset initial threshold, a single-zone fine-tuning correction will be automatically performed. Specifically, the preset initial threshold can be set according to actual production needs.

[0075] When the control unit detects that the initial position of a certain group of mechanisms deviates from the initial position of other groups by more than a preset initial threshold, the control unit sends a fine-tuning control signal to that group of mechanisms to adjust its position individually, ensuring it matches the initial position of the other groups. For example, if the initial position of a certain group of hydraulic lifting mechanisms is higher than that of other groups, the control unit drives that group of hydraulic lifting mechanisms to descend to the same height as the other groups; if the initial position of a certain group of variable frequency translation mechanisms deviates from that of other groups, the control unit drives that group of variable frequency translation mechanisms to translate to the same position as the other groups.

[0076] If the initial position deviation does not exceed the preset initial threshold, the motion control signal is sent synchronously. During the lifting and translation process, the synchronous deviation of each group of mechanisms is monitored in real time according to the preset cycle and corresponding processing is performed. After each stage of action is completed, a buffer delay of 1.5 seconds is performed.

[0077] When the initial position deviation of each mechanism group is within the allowable range, the control unit simultaneously sends motion control signals to all participating hydraulic lifting and variable frequency translation mechanisms, causing them to start moving synchronously. During the lifting and translation process, the control unit collects the position data of each mechanism group in real time according to a preset cycle, calculates the synchronization deviation, and performs corresponding processing based on the magnitude of the deviation. After completing each stage of lifting, translation, and lowering, the control unit executes a 1.5-second buffer delay program to wait for the hydraulic system pressure to stabilize, mechanical vibration to be eliminated, and the long steel plate to come to a complete stop. Due to the large inertia of the long steel plate, the buffer delay time is longer than the 1-second delay in single-action mode to ensure that the long steel plate can be completely stabilized and to avoid displacement or slippage due to inertia.

[0078] In some embodiments of this application, the corresponding processing of synchronization deviation includes the following three cases: 1. Maintain normal operation when the synchronization deviation is less than or equal to the preset correction threshold. The preset correction threshold is a range of allowable synchronization deviations set based on the equipment's operating accuracy and production process requirements. When the control unit detects that the synchronization deviation between each group of mechanisms is within the preset correction threshold range, it indicates that the synchronization of each group of mechanisms meets production requirements. At this time, the control unit does not intervene and maintains the normal operation of each group of mechanisms.

[0079] 2. When the synchronization deviation is greater than the preset correction threshold but less than or equal to the preset stop threshold, the operating speed of the corresponding mechanism will be automatically adjusted for correction.

[0080] When the synchronization deviation exceeds the preset correction threshold but not the preset stop threshold, it indicates that there is a certain degree of deviation in the synchronization between the various groups of mechanisms, but it has not yet reached a dangerous level. At this time, the control unit automatically adjusts the operating speed of the corresponding mechanism according to the direction and magnitude of the deviation, so that the deviation gradually decreases until it returns to the preset correction threshold range. For example, when the stroke of a certain group of hydraulic lifting mechanisms is greater than that of other groups, the control unit reduces the opening of the proportional valve of that group, reducing its lifting speed; when the stroke of a certain group of hydraulic lifting mechanisms is less than that of other groups, the control unit increases the opening of the proportional valve of that group, increasing its lifting speed. This automatic correction mechanism can adjust the operating status of each group of mechanisms in real time to ensure the synchronization accuracy of the linkage operation.

[0081] 3. When the synchronization deviation exceeds the preset stop threshold, all mechanism actions will be stopped immediately and a synchronization fault alarm will be triggered.

[0082] Understandably, the preset stop threshold is a safety threshold set to prevent serious accidents caused by excessive synchronization deviation. When the control unit detects that the synchronization deviation exceeds the preset stop threshold, it indicates that the synchronization between the various mechanisms has been severely out of control. Continued operation may lead to warping, deformation, slippage of the long steel plate, or even equipment damage. At this time, the control unit immediately sends a stop signal to all participating mechanisms, stopping all their actions, and simultaneously triggers the audible and visual alarm device to notify the operators to troubleshoot and handle the problem. This emergency stop mechanism can effectively prevent serious accidents and ensure the safety of personnel and equipment.

[0083] This embodiment further clarifies the hierarchical processing logic for synchronization deviation, employing three processing methods—maintaining normal operation, automatic correction, and emergency stop—based on the magnitude of the synchronization deviation. Therefore, this embodiment can monitor and automatically correct synchronization deviation in real time, ensuring the synchronization accuracy of the coordinated operation. Simultaneously, it can promptly stop all mechanism actions when the synchronization deviation is too large, preventing serious accidents and improving the safety and reliability of the long steel plate loading process.

[0084] In some embodiments of this application, during the process of lifting and lowering the steel plate to be loaded, the control unit simultaneously receives the stroke data from the absolute encoder and the trigger signals from the upper and lower limit switches for dual positioning judgment: If the preset target limit is not reached, continue to execute the corresponding action; If the preset target limit is reached, the action will stop and the current position will be maintained.

[0085] Specifically, absolute encoders can acquire the stroke data of hydraulic lifting mechanisms in real time, offering high resolution and real-time performance, but data errors may occur due to electromagnetic interference, mechanical wear, and other factors. Upper and lower limit switches are mechanically triggered switches, offering high reliability, but they can only detect extreme positions and cannot provide continuous stroke data. The control unit simultaneously receives both signals for dual positioning judgment, combining the advantages of both to improve positioning accuracy and reliability.

[0086] In one implementation, the control unit compares the real-time travel data fed back by the absolute encoder with the preset target limit position, and simultaneously detects whether the upper and lower limit switches output trigger signals. When the travel data of the absolute encoder has not reached the preset target limit and the corresponding upper and lower limit switches do not output trigger signals, it indicates that the hydraulic lifting mechanism has not yet reached the target position. At this time, the control unit continues to send control signals to the proportional valve, causing the hydraulic lifting mechanism to continue to perform lifting or lowering actions.

[0087] In another implementation, when the stroke data of the absolute encoder reaches the preset target limit and the corresponding upper and lower limit switches output trigger signals, it indicates that the hydraulic lifting mechanism has accurately reached the target position. At this time, the control unit sends a stop signal to the proportional valve, closes the proportional valve, and causes the hydraulic lifting mechanism to stop moving and maintain its current position. This dual positioning judgment mechanism can effectively avoid positioning errors caused by a single signal failure. For example, when the absolute encoder fails, the upper and lower limit switches can still ensure that the hydraulic lifting mechanism stops when it reaches the limit position, preventing overshoot damage to the equipment; when the upper and lower limit switches fail, the absolute encoder can still provide accurate stroke data, ensuring that the hydraulic lifting mechanism stops accurately at the target position.

[0088] In some embodiments of this application, the lifting and lowering actions of the hydraulic lifting mechanism and the forward and reset actions of the frequency conversion translation mechanism are all executed according to the stepless speed regulation curve of low-speed start, medium-speed operation, and low-speed approach to the target position. If any mechanism malfunctions during the feeding process, the control unit immediately triggers an emergency stop and locks the current position of all mechanisms through hydraulic locks and brakes to prevent the steel plate to be fed from slipping or shifting.

[0089] The low-speed start-up phase effectively reduces the mechanical impact during mechanism startup, preventing steel plate displacement and equipment vibration caused by sudden start-up; the medium-speed operation phase improves work efficiency and shortens the material loading cycle; the low-speed approach to the target position phase enables soft stopping, reducing the impact when the mechanism stops and ensuring the accuracy of steel plate placement and the stability of equipment operation. The control unit controls the lifting speed of the hydraulic lifting mechanism by adjusting the opening of the proportional valve, and controls the translation speed of the variable frequency translation mechanism by adjusting the speed of the variable frequency motor, ensuring that they operate strictly according to the preset stepless speed regulation curve.

[0090] The control unit monitors the operating status of all mechanisms in real time. When a malfunction is detected in any mechanism, such as hydraulic system leakage, variable frequency motor overload, or absolute encoder communication interruption, an emergency stop procedure is immediately triggered. The control unit sends a stop signal to all actuators and simultaneously activates the hydraulic lock to lock the position of the hydraulic cylinder of the hydraulic lifting mechanism, preventing the hydraulic cylinder from extending or retracting due to gravity or changes in hydraulic system pressure; it also activates the brake to lock the position of the travel box of the variable frequency translation mechanism, preventing the travel box from continuing to move due to inertia. Through this dual locking mechanism, the positions of all mechanisms are fixed, preventing the steel plate to be loaded from slipping or shifting due to mechanism malfunction, thus ensuring the safety of personnel and equipment.

[0091] Based on the above embodiments, it can be seen that the single-action mode is suitable for steel plates with a length less than or equal to the load-bearing capacity of a single mechanism. (Refer to...) Figure 7 As shown, the complete workflow is as follows: First, the process is started. The control unit receives the single-action feeding task instruction from the cooling bed main control panel. The system performs initialization operations, the feeding lifting mechanism is reset to the lower limit, the traveling box is reset to the retracted original position, and the absolute encoders of all actuators are cleared to standby.

[0092] Subsequently, a pre-interlock check is performed. The control unit collects the status signals of the hydraulic lifting mechanism and the frequency conversion translation mechanism to perform equipment self-check. If the self-check fails, an audible and visual alarm is triggered and the process is paused. If the self-check passes, the material detection signal is collected to confirm whether the steel plate to be loaded is accurately placed at the corresponding loading station. If it is not accurately placed, the process waits. If it is accurately placed, the cooling bed walking beam is confirmed to be in the remote initial position and locked. At the same time, the cooling bed input roller is locked through the interlock control module.

[0093] Next, the steel plate is lifted. The control unit sends a lifting control signal to the hydraulic lifting mechanism and locks the variable frequency translation mechanism to prevent translation. The hydraulic lifting mechanism rises at a constant speed according to the stepless speed regulation curve of low speed start, medium speed operation, and low speed approaching the upper limit, lifting the steel plate from the input roller conveyor. The control unit receives the stroke data from the stroke encoder and the trigger signal from the upper limit switch for dual positioning judgment. When the preset upper limit is reached, the proportional valve is closed, the hydraulic cylinder stops rising and maintains the current position. A 1-second buffer delay is executed to wait for the hydraulic system pressure to stabilize and the steel plate to come to a complete stop.

[0094] Then, the steel plate moves forward in translation. The control unit sends a forward rotation signal to the variable frequency motor, driving the traveling box to move towards the cooling bed. The variable frequency translation mechanism operates according to a stepless speed regulation curve of low-speed start, medium-speed operation, and low-speed approach to the target position. The absolute encoder collects displacement data in real time and feeds it back to the control unit to form a closed-loop control. The control unit compares the displacement data of the absolute encoder with the preset forward target position, and at the same time confirms that the cooling bed stepping beam is in the locked state. When the preset target position is reached, a stop signal is sent to the variable frequency motor, and the traveling box immediately stops moving forward. A 1-second buffer delay is executed to wait for the mechanical vibration of the traveling box to be eliminated and the steel plate to come to a complete stop.

[0095] The steel plate is then lowered. The control unit sends a descent control signal to the hydraulic lifting mechanism. The hydraulic lifting mechanism descends at a constant speed according to a stepless speed regulation curve of low-speed start, medium-speed operation, and low-speed approach to the lower limit, placing the steel plate smoothly in the tooth groove of the stepper beam. The control unit simultaneously receives the stroke data from the stroke encoder and the trigger signal from the lower limit switch for dual positioning judgment. When the preset lower limit is reached, the proportional valve is closed, the hydraulic cylinder stops descending and remains at the lower limit. A 1-second buffer delay is executed to wait for the steel plate to be completely stable and the hydraulic system pressure to stabilize.

[0096] Finally, the mechanism is reset. The control unit sends a reverse signal to the variable frequency motor, driving the traveling box to retreat at a constant speed towards the input roller conveyor. The absolute encoder collects displacement data in real time. The control unit compares the absolute encoder displacement data with the preset return position. When the preset return position is reached, a stop signal is sent to the variable frequency motor, and the traveling box remains in the initial position. The control unit sends a single-action loading completion signal to the cooling bed main control panel, releasing the interlocking lock on the cooling bed input roller conveyor and the cooling bed walking beam, allowing the next steel plate to be transported to the corresponding station.

[0097] Furthermore, the linkage mode is applicable to steel plates whose length exceeds the load-bearing capacity of a single mechanism, as shown in the reference. Figure 8 As shown, the complete workflow is as follows: First, the process is started. The control unit receives the linkage feeding task instruction issued by the main control panel of the cooling bed. The system performs initialization operation. The feeding and lifting mechanisms of Zone 1 and Zone 2 are simultaneously reset to the lower limit position, the traveling box is simultaneously reset to the retracted original position, and the absolute encoders of all actuators are cleared to zero.

[0098] Subsequently, a pre-interlock check is performed. The control unit simultaneously collects the status signals of the hydraulic lifting mechanism and the frequency conversion translation mechanism in zones 1 and 2 for dual-zone equipment self-check. If any zone is abnormal, a zone-specific audible and visual alarm is triggered and the process is paused. If all are normal, cross-zone material detection signals are collected to confirm that the steel plate accurately covers both loading stations, the lateral offset is within the allowable range, and there is no warping deformation. If these conditions are not met, the process waits. If these conditions are met, the cooling bed walking beam is confirmed to be in the remote initial position and locked. At the same time, the entire section of the cooling bed input roller conveyor is locked through the interlock control module. The control unit compares the initial values ​​of the absolute encoders of the lifting mechanism in zones 1 and 2 with the initial values ​​of the absolute encoder of the traveling box to confirm that the initial position deviation of the two sets of mechanisms is within the allowable range. If the deviation exceeds the standard, single-zone fine-tuning correction is automatically performed. If it is qualified, the execution stage begins.

[0099] Next, the steel plate is lifted synchronously. The control unit simultaneously sends lifting control signals to the hydraulic lifting mechanisms in zones 1 and 2, and locks the two sets of variable frequency translation mechanisms to prevent any translational movement. A master-slave control architecture is adopted, with the hydraulic cylinder in zone 1 as the main shaft, rising according to a preset stepless speed regulation curve. The hydraulic cylinder in zone 2 follows the stroke data of zone 1 in real time, and dynamically adjusts the hydraulic oil flow through the proportional valve to achieve synchronous lifting of the four cylinders. The control unit compares the stroke difference of the absolute encoders in zones 1 and 2 according to a preset cycle to monitor the synchronization deviation. When the deviation is within the preset correction threshold range, it maintains normal operation. When the deviation exceeds the preset correction threshold but is less than or equal to the preset stop threshold, it automatically adjusts the opening of the proportional valve in zone 2 for correction. When the deviation exceeds the preset stop threshold, it immediately stops all hydraulic cylinders and triggers a synchronization fault alarm. The control unit simultaneously collects the upper limit switch trigger signals of zones 1 and 2 and the stroke data of the absolute encoders of the four hydraulic cylinders for dual upper limit judgment in both zones. When all reach the preset upper limit, the eight proportional valves are closed simultaneously, and the four hydraulic cylinders stop rising synchronously and maintain the current pressure. A 1.5-second buffer delay is executed to wait for the hydraulic system pressure to stabilize and the long steel plate to come to a complete stop.

[0100] Then, the steel plate moves forward synchronously. The control unit simultaneously sends forward rotation signals to the variable frequency motors in zones 1 and 2, using the same stepless speed regulation curve. Continuing the master-slave control architecture, the variable frequency motor in zone 1 is the main shaft, running according to the preset speed curve. The variable frequency motor in zone 2 follows the position and speed commands of the main shaft in real time. The two absolute encoders feed back displacement data according to a preset cycle to form a dual closed-loop control. The control unit compares the displacement difference between the absolute encoders of the travel boxes in zones 1 and 2 according to a preset cycle, monitors the synchronization deviation, and maintains normal operation when the deviation is within the preset correction threshold range. When the deviation exceeds the preset correction threshold but is less than or equal to the preset stop threshold, the speed of the motor in zone 2 is automatically adjusted for correction. When the deviation exceeds the preset stop threshold, all motors are stopped immediately and a synchronization fault alarm is triggered. The control unit simultaneously compares the displacement data of the absolute encoders in zones 1 and 2 with the preset forward target position. When all reach the designated position, a stop signal is sent to the variable frequency motors in zones 1 and 2, and the two sets of travel boxes stop moving forward synchronously. A 1.5-second buffer delay is executed to wait for the mechanical vibration of the travel box to be eliminated and the long steel plate to come to a complete stop.

[0101] Then, the steel plate is lowered synchronously, and the control unit sends descent control signals to the hydraulic lifting mechanisms in zones 1 and 2. Using the same master-slave control architecture and stepless speed regulation curve as in the lifting phase, the four hydraulic cylinders descend synchronously and at a uniform speed. The control unit compares the stroke difference once according to a preset cycle, monitors the synchronization deviation, and performs corresponding processing. The control unit simultaneously collects the trigger signals of the lower limit switches in zones 1 and 2 and the stroke data of the absolute encoders of the four hydraulic cylinders to perform dual judgment of the lower limit in both zones. When all reach the preset lower limit, the eight proportional valves are closed at the same time, and the four hydraulic cylinders stop descending synchronously. A 1.5-second buffer delay is executed to wait for the steel plate to be completely stable and the hydraulic system pressure to stabilize.

[0102] Finally, the mechanism is synchronously reset. The control unit simultaneously sends a reverse signal to the variable frequency motors in zones 1 and 2, using the same speed regulation curve as the forward phase. Continuing the master-slave synchronous control architecture, the zone 2 traveling box follows the position and speed of the zone 1 traveling box in real time. The control unit compares the displacement difference once according to a preset cycle, monitors the synchronization deviation, and performs corresponding processing. The control unit simultaneously compares the displacement data of the absolute encoders in zones 1 and 2 with the preset retraction home position. When all have returned to the initial position, a stop signal is sent to the variable frequency motors in zones 1 and 2, and the two traveling boxes stop synchronously. The control unit sends a linkage feeding completion signal to the cooling bed main control panel, releasing the interlocking lock on the entire section of the cooling bed input roller conveyor and the walking beam, allowing the next steel plate to be conveyed.

[0103] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0104] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A cold bed loading system for a thick plate production line, characterized in that, It includes a control unit, at least one set of hydraulic lifting mechanisms (1), a frequency conversion translation mechanism (2) corresponding to the hydraulic lifting mechanism (1), an interlocking control module, and a mode selection unit; The control unit is connected to the hydraulic lifting mechanism (1), the frequency conversion translation mechanism (2), the interlocking control module, and the mode selection unit respectively. The hydraulic lifting mechanism (1) is driven by a proportional valve to lift and lower the steel plate. The proportional valve is used to adjust the lifting speed and stroke accuracy of the hydraulic lifting mechanism (1). The variable frequency translation mechanism (2) is equipped with an absolute encoder (21) for realizing the translation and conveying of the steel plate. The absolute encoder (21) is used to detect the translation position of the variable frequency translation mechanism (2) in real time and feed it back to the control unit to form a closed-loop positioning. The interlocking control module is connected to the cooling bed input roller and the cooling bed stepping beam via signals, and is used to lock the cooling bed input roller and the cooling bed stepping beam during the feeding process; The mode selection unit is used to select a single-action mode or a linkage mode according to the length of the steel plate. The single-action mode is for a single hydraulic lifting mechanism (1) and a variable frequency translation mechanism (2) to operate independently. The linkage mode is for at least two sets of hydraulic lifting mechanisms (1) and variable frequency translation mechanisms (2) to operate in coordination.

2. The cold bed loading system for a thick plate production line according to claim 1, characterized in that, The hydraulic lifting mechanism (1) is also equipped with upper and lower limit switches (11) and a stroke encoder; The control unit simultaneously receives real-time travel data output by the travel encoder of the hydraulic lifting mechanism (1) and trigger signals output by the upper and lower limit switches (11); The control unit is configured to send a stop signal to the proportional valve when the real-time travel data is consistent with the preset target position and the upper and lower limit switches (11) output corresponding trigger signals, thereby controlling the hydraulic lifting mechanism (1) to stop running. The control unit is also configured to send a flow regulation control signal to the proportional valve so that the hydraulic lifting mechanism (1) performs lifting action according to a preset stepless speed regulation curve; A speed regulation control signal is sent to the variable frequency motor of the variable frequency translation mechanism (2) so that the variable frequency translation mechanism (2) performs translation operation according to the preset stepless speed regulation curve.

3. The cold bed feeding system for a thick plate production line according to claim 1, characterized in that, When the mode control unit selects the linkage mode, the control unit is configured as follows: Synchronous lifting control signals are sent to at least two sets of the hydraulic lifting mechanisms (1), synchronous translation control signals are sent to at least two sets of the frequency conversion translation mechanisms (2), and the synchronous deviation of each set of the hydraulic lifting mechanisms (1) is monitored in real time according to a preset cycle; When the synchronization deviation exceeds the preset correction threshold, the running speed of the corresponding hydraulic lifting mechanism (1) is automatically adjusted for correction. When the synchronization deviation exceeds the preset stop threshold, the operation of all the hydraulic lifting mechanisms (1) is immediately stopped and a synchronization fault alarm is triggered.

4. A method for loading a cooling bed in a thick plate production line, characterized in that, The thick plate production line cooling bed loading system based on any one of claims 1-3 includes: The mode control unit selects either single-action mode or linkage mode based on the length of the steel plate to be loaded. The interlocking control module performs a pre-interlocking check to confirm the equipment's operating status and the parking position of the steel plate to be loaded, and locks the cooling bed input roller conveyor and the cooling bed walking beam. The control unit drives the hydraulic lifting mechanism and the frequency conversion translation mechanism to complete the lifting, translation towards the cooling bed and lowering of the steel plate to be loaded. The control unit drives the variable frequency translation mechanism to reset the hydraulic lifting mechanism to its initial position, and the interlock control module releases the lock on the cooling bed input roller and the cooling bed stepping beam.

5. The method for loading a cooling bed in a thick plate production line according to claim 4, characterized in that, The pre-locking check includes: The control unit collects the status signals of the hydraulic lifting mechanism and the variable frequency translation mechanism to perform equipment self-testing; If the device fails the self-test, an audible and visual alarm will be triggered and the process will be paused. If the equipment passes the self-test, it collects the material detection signal to confirm whether the steel plate to be loaded is accurately placed at the corresponding loading station. If the steel plate to be loaded is not accurately positioned, the process will wait. If the steel plate to be loaded is accurately positioned, the cooling bed walking beam is confirmed to be in the initial position at the far end and locked.

6. The method for loading a cooling bed in a thick plate production line according to claim 4, characterized in that, When the single-action mode is selected, the loading operation is performed independently by a single set of the hydraulic lifting mechanism and a single set of the frequency conversion translation mechanism; Before lifting the steel plate to be loaded, the control unit locks the single-group frequency conversion translation mechanism to prevent translation operation. After each stage of lifting, translating, and lowering is completed, a 1-second buffer delay is performed to allow the hydraulic system pressure to stabilize, mechanical vibration to be eliminated, and the steel plate to be loaded to come to a complete stop.

7. The method for loading a cooling bed in a thick plate production line according to claim 4, characterized in that, When the linkage mode is selected, the loading operation is performed in coordination by at least two sets of the hydraulic lifting mechanism and at least two sets of the frequency conversion translation mechanism. After the equipment passes the self-test, the control unit compares the initial position deviations of each group of mechanisms. If the initial position deviation exceeds the preset initial threshold, a single-zone fine-tuning correction will be automatically performed. If the initial position deviation does not exceed the preset initial threshold, the motion control signal is sent synchronously. During the lifting and translation process, the synchronous deviation of each group of mechanisms is monitored in real time according to the preset cycle and corresponding processing is performed. After each stage of action is completed, a buffer delay of 1.5 seconds is performed.

8. The method for loading a cooling bed in a thick plate production line according to claim 7, characterized in that, The corresponding processing of the synchronization deviation includes: Normal operation continues when the synchronization deviation is less than or equal to the preset correction threshold. When the synchronization deviation is greater than the preset correction threshold but less than or equal to the preset stop threshold, the operating speed of the corresponding mechanism is automatically adjusted for correction. When the synchronization deviation exceeds the preset stop threshold, all mechanism actions will be stopped immediately and a synchronization fault alarm will be triggered.

9. The method for loading a cooling bed in a thick plate production line according to claim 4, characterized in that, During the process of lifting and lowering the steel plate to be loaded, the control unit simultaneously receives the stroke data from the absolute encoder and the trigger signals from the upper and lower limit switches to perform dual positioning judgment. If the preset target limit is not reached, continue to execute the corresponding action; If the preset target limit is reached, the action will stop and the current position will be maintained.

10. The method for loading a cooling bed in a thick plate production line according to claim 4, characterized in that, The lifting and lowering actions of the hydraulic lifting mechanism and the forward and reset actions of the variable frequency translation mechanism are all executed according to the stepless speed regulation curve of low-speed start, medium-speed operation, and low-speed approach to the target position. If any mechanism malfunctions during the feeding process, the control unit immediately triggers an emergency stop and locks the current position of all mechanisms using hydraulic locks and brakes to prevent the steel plate to be fed from slipping or shifting.

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