Ingot rod and slab storage position and posture adjustment method

Abstract

The application discloses an ingot rod and slab storage position and posture adjusting method, which comprises the following steps: obtaining initial position distribution information of the ingot rod and the slab on a storage rack through a sensor network; analyzing the offset of the ingot rod and the inclination angle of the slab by using a central processing unit according to the initial position distribution information, and generating an adjusting instruction; correcting the position of the ingot rod and the slab by driving a mechanical device according to the adjusting instruction, and obtaining an adjusted real-time position state; verifying the adjusting result according to the adjusted real-time position state, and generating final position information after correction; detecting the posture and surface quality of the ingot rod and the slab according to the final position information after correction, and generating final storage posture information; generating a digital file in combination with continuous casting machine operation data according to the final storage posture information; and driving a taking device to perform accurate grabbing according to the digital file, and generating final taking state information.

Description

Technical Field

[0001] This invention belongs to the field of steelmaking technology, specifically relating to a method for adjusting the storage position and posture of the ingot rod and slab. Background Technology

[0002] Slab continuous casting is a core process in modern steel production, connecting steelmaking and rolling. Its technological level directly determines the production efficiency, yield, and quality stability of steel products. In the slab continuous casting process, the dummy bar is a key component for achieving the initial casting operation: during the initial casting stage, the dummy bar acts as the traction carrier for the slab. Its head seals the lower opening of the crystallizer, receiving molten steel and continuously pulling the initially solidified slab through the crystallizer, secondary cooling section, and other process units, completing the continuous straightening of the slab. After the initial casting is completed and the slab is removed from the ingot, the dummy bar needs to be transferred to a special storage rack for storage, awaiting reuse in the next casting cycle.

[0003] The accuracy of the dummy bar's storage and positioning, as well as its centering reliability, directly affect the operational stability and production continuity of continuous casting equipment, making it a crucial and indispensable process in the entire continuous casting process. Currently, in slab continuous casting production lines, the storage and centering of the dummy bar are generally achieved through manual visual alignment combined with simple mechanical limit switches. Some production lines only add basic limit switches to achieve coarse positioning control.

[0004] In actual production applications, existing storage and alignment methods have many insurmountable technical defects. They cannot guarantee the repeatability and consistency of the dummy bar's storage position. Manual visual alignment is affected by the harsh working environment of continuous casting workshops, such as high temperatures, high dust levels, and limited lighting. Furthermore, it heavily relies on the operator's experience and sense of responsibility, resulting in large single-time alignment deviations and difficulty in consistently controlling repeatability accuracy. Conventional simple mechanical stops can only achieve rigid limiting in a single direction. After long-term impact and wear, these stops amplify positioning errors, easily causing frequent deviations between the dummy bar's resting position on the storage rack and the preset reference position. This directly leads to difficulties in alignment during the subsequent dummy bar retrieval and transfer process before casting begins.

[0005] This invention provides a method for adjusting the storage position and posture of the dummy bar and slab, particularly regarding how to achieve precise positioning and automatic centering of the dummy bar on the storage rack, thereby improving the operating efficiency and stability of the slab continuous casting machine. Summary of the Invention

[0006] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention provides a method for adjusting the storage position and posture of the dummy bar and slab, with the purpose of achieving precise positioning and automatic centering of the dummy bar on the storage rack, thereby improving the operating efficiency and stability of the slab continuous casting machine.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: a method for adjusting the storage position and posture of the ingot derrick and slab, comprising the following steps: The initial position distribution information of the dummy bar and slab on the storage rack is obtained through the sensing and detection unit; Based on the initial position distribution information, the central processing unit calculates the position offset of the derrick and the attitude deviation of the slab, and generates adjustment instructions. According to the adjustment command, the actuator is driven to correct the position and attitude of the dummy bar and the slab, and obtain the real-time position status information after correction. The real-time location status information is compared with the preset standard location information to verify the adjustment result and generate the corrected final location information. Based on the final position information, the storage posture and surface quality of the dummy bar and the slab are detected, and the final storage posture information is generated. The final stored posture information is associated with the continuous casting machine operation data and stored to generate digital files of the dummy bar and slab; Based on the digital archive, the drive device completes the gripping of the ingot rod and the slab, generating the final gripping status information.

[0008] The step of acquiring the initial position distribution information of the derrick and slab on the storage rack through the sensing and detection unit specifically includes: The actual position data of the ingot rod is obtained by measuring the horizontal and vertical coordinates of the ingot rod using a laser rangefinder. The tilt angle and contact surface distribution of the slab on the storage rack are detected by the attitude detection unit. The actual position data, tilt angle, and contact surface distribution data are transmitted to the central processing unit to generate the initial position distribution information of the dummy bar and the slab. Based on the initial position distribution information, the deviation of the horizontal and vertical coordinates of the derrick is corrected by a preset coordinate calibration model to generate corrected position data; If the corrected location data exceeds a preset threshold range, the location data is marked as abnormal to determine the abnormal location point.

[0009] Based on the data of abnormal locations and the tilt angle information of the slab, the spatial relationship between the dummy bar and the slab is classified to determine whether there is a risk of contact. If there is a risk of contact, analyze and obtain the overlapping area of ​​the contact surface between the dummy bar and the slab to determine the range of the risk area; Based on the risk area range, adjustment instruction data is generated, and an optimized adjustment scheme for the position of the derrick is calculated.

[0010] Based on the initial position distribution information, the central processing unit calculates the position offset of the derrick and the attitude deviation of the slab, and generates adjustment commands, specifically including: The lateral and longitudinal offsets of the derrick are calculated by the central processing unit. Analyze the influence of the slab tilt angle on the position of the dummy bar; If the lateral offset, longitudinal offset, or tilt angle exceeds a preset threshold range, a corresponding adjustment command is generated; Based on the adjustment instructions, the adjustment direction and distance parameters between the derrick and the slab are determined, adjustment instruction data is generated and stored in the central processing unit.

[0011] According to the adjustment command, the drive actuator corrects the position and attitude of the derrick and the slab, and obtains the corrected real-time position status information, specifically including: According to the adjustment instructions, the position of the dummy bar is finely adjusted, and the stacking posture of the slab is adjusted at the same time. The motion trajectory data of the actuator and the force change data of the slab contact surface are collected in real time and fed back to the central processing unit. Based on the feedback motion trajectory data and force change data, the real-time position status information of the dummy bar and slab after adjustment is generated and stored in the central processing unit.

[0012] The actuator includes a robotic arm and an auxiliary support mechanism. According to the adjustment command, the robotic arm on the storage rack is driven to make a fine adjustment to the position of the slab guide rod, and at the same time, the auxiliary support mechanism is driven to adjust the stacking posture of the slab. The step of comparing the real-time location status information with preset standard location information to verify the adjustment result and generate the corrected final location information specifically includes: The central processing unit compares the real-time location status information with preset standard location information; If the deviation of the comparison result exceeds the preset threshold range, a secondary adjustment command is generated to determine the further correction parameters for the ingot rod and the slab. Based on the further correction parameters, the robotic arm is driven to fine-tune the position of the dummy bar and the slab; The robot arm's motion trajectory data and force feedback data are collected in real time and transmitted to the central processing unit to generate the corrected final position information.

[0013] The step of detecting the storage posture and surface quality of the dummy bar and slab based on the final position information, and generating final storage posture information, specifically includes: Images of the slab and the ingot rod are captured by a camera, and the storage posture of the slab and the ingot rod on the storage rack is detected. At the same time, the surface of the slab is scanned locally to obtain surface defect data. The detected attitude data and surface defect data are transmitted to the image processing module to generate the alignment status of the ingot rod and the slab and the surface quality detection results. If the alignment status or surface quality detection result deviates from the preset standard, an attitude correction signal is generated to drive the auxiliary clamping device to adjust the angle between the ingot rod and the slab, and finally generate the stored attitude information.

[0014] The step of associating and storing the final stored posture information with the continuous casting machine operating data to generate digital files for the dummy bar and slab specifically includes: Collect real-time data on the operating status of the continuous casting machine, including crystallizer vibration frequency and billet speed control parameters; The final stored posture information is associated with the real-time operating data of the continuous casting machine, and the associated data is stored through the central processing unit to generate a digital archive of the storage position and posture of the dummy bar and slab. The digitized archives are transmitted to the production management system for recording, and data retrieval instructions are generated for subsequent access.

[0015] The step of driving the retrieval device to grasp the slab and generate final retrieval status information based on the digitized file specifically includes: Based on the digital archive, retrieve the position and attitude data of the dummy bar and the slab; Based on the feedback from the continuous casting machine's molten steel level monitoring data, the grabbing device is driven to grab the dummy bar and the slab; Real-time alignment status data is generated during the retrieval process, and the real-time alignment status data is verified a second time by the central processing unit. If the centering accuracy or slab size deviation exceeds the preset threshold range, a fine-tuning signal is generated to drive the picking device to perform local position correction and generate the final picking status information.

[0016] The present invention provides a method for adjusting the position and attitude of the dummy bar and slab. This method uses a sensor network to collect the initial position of the dummy bar in real time, and combines this with slab stacking attitude detection to generate initial position distribution information. Based on this information, the offset is calculated, and an adjustment command is generated to drive the actuator to perform position correction, precisely fine-tuning the dummy bar and simultaneously adjusting the slab stacking attitude. Through multiple iterative corrections and verifications, precise alignment of the dummy bar and slab is ultimately achieved.

[0017] This invention also employs image recognition technology to detect the surface quality of slabs and generates digital storage files based on the continuous casting machine's operating status, enabling precise grasping and dynamic adjustment during the retrieval process. This method significantly improves the storage accuracy and retrieval efficiency of the dummy bar and slabs, effectively ensuring the stability of continuous casting production and the quality of the slabs. Attached Figure Description

[0018] This manual includes the following figures, which illustrate the following: Figure 1 This is a flowchart of a method for adjusting the storage position and posture of a dummy bar and a slab according to the present invention.

[0019] Figure 2 This is a schematic diagram of a method for adjusting the storage position and posture of a dummy bar and a slab according to the present invention.

[0020] Figure 3 This is another schematic diagram of a method for adjusting the storage position and posture of the ingot rod and slab according to the present invention.

[0021] Figure 4 This is another schematic diagram of a method for adjusting the storage position and posture of the ingot rod and slab according to the present invention.

[0022] Figure 5 This is a schematic diagram of the auxiliary clamping device.

[0023] The diagram is labeled as follows: 1. Clamping arm; 2. Drive unit. Detailed Implementation

[0024] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0025] like Figures 1 to 4 As shown, this embodiment of the invention provides a method for adjusting the storage position and attitude of the dummy bar and slab, including the following steps: The initial position distribution information of the dummy bar and slab on the storage rack is obtained through the sensing and detection unit; Based on the initial position distribution information, the central processing unit calculates the position offset of the derrick and the attitude deviation of the slab, and generates adjustment instructions. According to the adjustment command, the actuator is driven to correct the position and attitude of the dummy bar and the slab, and obtain the real-time position status information after correction. The real-time location status information is compared with the preset standard location information to verify the adjustment result and generate the corrected final location information. Based on the final position information, the storage posture and surface quality of the dummy bar and the slab are detected, and the final storage posture information is generated. The final stored posture information is associated with the continuous casting machine operation data and stored to generate digital files of the dummy bar and slab; Based on the digital archive, the drive device completes the gripping of the ingot rod and the slab, generating the final gripping status information.

[0026] Specifically, the method for adjusting the storage position and posture of the dummy bar and slab provided in this embodiment of the invention is applied to the dummy bar storage and retrieval process in a slab continuous casting production line. The execution system upon which this method relies includes a sensing and detection unit, a central processing unit, an execution mechanism, and a retrieval device. The sensing and detection unit includes a multi-point laser rangefinder, an tilt sensor, a pressure sensor array, a high-resolution camera, a weight sensor, and a molten steel level monitoring module. The central processing unit includes a data storage module, a computational processing module, an image processing module, and an instruction generation module. The execution mechanism includes a multi-degree-of-freedom robotic arm, an auxiliary support mechanism, and an auxiliary clamping device. All the above units, modules, and devices interact and transmit instructions via industrial Ethernet.

[0027] The method for adjusting the storage position and attitude of the dummy bar and slab according to an embodiment of the present invention specifically includes the following steps: Step S1: Obtain the initial position distribution information of the ingot guide rod and the slab on the storage rack through the sensing and detection unit; Specifically, step S1 includes: S101. The horizontal and vertical coordinates of the guide rod are measured using a laser rangefinder to obtain the actual position data of the guide rod. S102. The tilt angle and contact surface distribution data of the slab on the storage rack are detected by the attitude detection unit; S103. Transmit the actual position data, tilt angle and contact surface distribution data to the central processing unit to generate the initial position distribution information of the dummy bar and the slab. S104. Based on the initial position distribution information, the deviation of the horizontal and vertical coordinates of the derrick is corrected by using a preset coordinate calibration model to generate the corrected position data. S105. If the corrected location data exceeds the preset threshold range, mark the location data as abnormal and determine the abnormal location point.

[0028] The specific execution flow of step S1 is as follows: Figure 2As shown. After the dummy bar completes the dummy bar removal operation and is moved to the preset parking area of ​​the storage rack by the conveyor rollers, the system initiates the initial position detection process. First, the horizontal and vertical coordinates of the dummy bar are measured using a multi-point laser rangefinder. The multi-point laser rangefinder is arranged at intervals along the axial direction of the dummy bar on both sides of the storage rack, with a measurement accuracy of not less than 0.1mm. The actual position data of the dummy bar is obtained through multi-point synchronous measurement, including the axial position of the dummy bar, the coordinates of the first and last ends, and the overall offset. At the same time, the slab status is detected by the attitude detection unit. Specifically, the tilt angle of the slab on the storage rack is collected by an inclination sensor, and the contact surface distribution data between the slab and the storage rack is collected by a pressure sensor array arranged on the support surface of the storage rack, including the pressure value, contact area, and pressure distribution uniformity of each support point.

[0029] The actual position data of the dummy bar, the tilt angle of the slab and the distribution data of the contact surface are collected and transmitted to the central processing unit in real time via industrial Ethernet. The computing module of the central processing unit integrates and processes the received data to generate the initial position distribution information of the dummy bar and the slab.

[0030] Furthermore, based on the generated initial position distribution information, the calculation and processing module calls a preset coordinate calibration model and uses the least squares method to correct the deviation of the lateral and longitudinal coordinates of the derrick, eliminating systematic errors and random noise in the measurement process, and generating corrected position data. The calculation and processing module has a preset position deviation threshold range, which is set to ±5mm in this embodiment. If the lateral or longitudinal coordinate of the derrick in the corrected position data exceeds the preset threshold range, the calculation and processing module marks the position data as abnormal and accurately locates the abnormal position point.

[0031] Furthermore, based on the data of abnormal location points and the tilt angle information of the slab, the calculation and processing module uses the support vector machine algorithm with the radial basis function as the kernel function to classify the spatial positional relationship between the dummy bar and the slab and determine whether there is a potential risk of contact between them. If the classification results show that there is a contact risk, the calculation and processing module performs in-depth analysis of the contact surface distribution data, uses image processing algorithms to extract the overlapping area of ​​the contact surface between the dummy bar and the slab, and determines the specific range of the risk area; Based on the specific scope of the risk area and the real-time status information of the storage rack, the central processing unit generates adjustment command data, calculates the optimized adjustment scheme of the derrick position using the gradient descent method, obtains the adjusted position distribution information, and simultaneously stores the adjusted position distribution information to the data storage module of the central processing unit to complete the update of the position distribution record.

[0032] In subsequent operations, the system continuously tracks the spatial relationship between the dummy bar and the slab based on the updated position distribution records and real-time monitoring data of the slab stacking posture, and uses the Kalman filter algorithm to generate dynamically updated position status information.

[0033] Step S2: Based on the initial position distribution information, the central processing unit calculates the position offset of the derrick and the attitude deviation of the slab, and generates adjustment instructions. Specifically, step S2 includes: The lateral and longitudinal offsets of the derrick are calculated by the central processing unit. Analyze the influence of the slab tilt angle on the position of the dummy bar; If the lateral offset, longitudinal offset, or tilt angle exceeds the preset threshold range, a corresponding adjustment command will be generated. Based on the adjustment instructions, the adjustment direction and distance parameters between the derrick and the slab are determined, adjustment instruction data is generated and stored in the central processing unit.

[0034] The control logic for step S2 is as follows: Figure 3 As shown. After receiving the initial position distribution information, the arithmetic processing module of the central processing unit calculates the lateral and longitudinal offsets of the dummy bar based on the preset standard storage position, and comprehensively analyzes the correlation between the inclination angle of the slab and the position of the dummy bar.

[0035] The calculation and processing module has preset offset thresholds and tilt angle thresholds. If any of the calculated lateral offset, longitudinal offset, or tilt angle of the slab exceeds the corresponding preset threshold range, the calculation and processing module sends a trigger signal to the instruction generation module, which then generates the corresponding adjustment instruction.

[0036] Based on the generated adjustment instructions, the processing module further calculates and determines the required adjustment direction, distance parameters, and attitude correction parameters for the derrick and slab, thereby generating complete adjustment instruction data. This data is synchronously stored in the data storage module to enable data traceability during the adjustment process.

[0037] Step S3: According to the adjustment command, drive the actuator to correct the position and attitude of the dummy bar and the slab, and obtain the real-time position status information after correction; Specifically, step S3 includes: According to the adjustment instructions, the position of the dummy bar is finely adjusted, and the stacking posture of the slab is adjusted at the same time. The motion trajectory data of the actuator and the force change data of the slab contact surface are collected in real time and fed back to the central processing unit. Based on the feedback motion trajectory data and force change data, the real-time position status information of the dummy bar and slab after adjustment is generated and stored in the central processing unit.

[0038] The specific execution flow of step S3 is as follows: Figure 4 As shown. The actuator includes a robotic arm and an auxiliary support mechanism. The instruction generation module of the central processing unit sends adjustment instructions to the actuator, which completes the correction operation according to the adjustment instructions: the robotic arms arranged on both sides of the storage rack are controlled to fine-tune the position of the slab guide rod. The robotic arms use a PID control algorithm to complete the displacement closed-loop control. In this embodiment, when the lateral deviation of the slab guide rod is detected to be 5mm, the robotic arm completes the compensation movement at a step speed of 0.1mm / s to ensure the stability and accuracy of the adjustment process. At the same time, the auxiliary support mechanism on the storage rack is controlled to adjust the stacking posture of the slab. In this embodiment, a three-point support strategy is adopted. The pressure value of each support point is monitored in real time by a pressure sensor array. If the pressure of a single support point exceeds 15kN, the auxiliary support mechanism is triggered to control the pressure of the three support points evenly within the range of 10±2kN, thereby achieving stable adjustment of the slab posture.

[0039] Furthermore, the auxiliary support mechanism comprises three support units arranged in a triangle on the support plane of the storage rack, forming a stable three-point support structure. Each support unit mainly includes a support body, a drive unit, and a pressure sensor. The top of the support body is a support surface that contacts the bottom surface of the slab. This support surface can be covered with wear-resistant material to reduce frictional damage to the bottom surface of the slab during posture adjustments. The drive unit connects to and drives the support body to perform vertical lifting and lowering movements. The drive unit is a telescopic structure and can employ electric push rods, servo hydraulic cylinders, etc. The pressure sensor is integrated between the support body and the drive unit, or placed directly below the support surface, for real-time measurement of the pressure exerted on the support point.

[0040] During the calibration process, the robotic arm's motion trajectory data is collected in real time via its built-in encoder, and the force change data of the slab contact surface is collected in real time via a pressure sensor array. This collected data is then fed back to the central processing unit (CPU). The CPU's processing module uses a Kalman filter algorithm to process the received motion trajectory and force change data, eliminating process noise and generating real-time position status information of the slab and the guide rod after adjustment. This real-time position status information is simultaneously stored in the data storage module.

[0041] Furthermore, the processing module performs preliminary analysis on the collected motion trajectory data and force change data, extracts the position deviation feature values ​​of the dummy bar and the slab, and determines whether the current adjustment state meets the preset preliminary correction range. If the analysis result shows that the position deviation feature value exceeds the preset range, a preliminary correction command is generated, and the further adjustment direction and distance parameters of the dummy bar and the slab are calculated to obtain the specific values ​​of the secondary correction. Based on the specific values ​​of the secondary correction, the robotic arm is driven to perform a new round of position fine-tuning operations. At the same time, the appropriate contact point is selected according to the thickness specification of the slab to complete the support optimization. The motion trajectory data and force feedback data during the adjustment process are collected and transmitted to the central processing unit to generate updated position status information.

[0042] Step S4: Compare the real-time location status information with the preset standard location information, complete the verification of the adjustment results, and generate the corrected final location information; Specifically, step S4 includes: The central processing unit compares the real-time location status information with the preset standard location information. If the deviation of the comparison result exceeds the preset threshold range, a secondary adjustment command is generated to determine the further correction parameters for the ingot rod and the slab. Based on further calibration parameters, the robotic arm is driven to fine-tune the position of the ingot guide rod and the slab; The robot arm's motion trajectory data and force feedback data are collected in real time and transmitted to the central processing unit to generate the corrected final position information.

[0043] The central processing unit's computational processing module compares the adjusted real-time position status information with the pre-stored standard position information to complete the closed-loop verification of the adjustment result. If the deviation of the comparison result exceeds the preset threshold range, the instruction generation module generates a secondary adjustment instruction, and the computational processing module calculates and determines the further correction parameters for the dummy bar and the slab. Based on the further correction parameters, the robotic arm is driven to perform fine-tuning of the position of the dummy bar and the slab. During the fine-tuning process, the motion trajectory data and force feedback data of the robotic arm are collected in real time and transmitted to the central processing unit. After processing the received data, the computational processing module generates the corrected final position information.

[0044] Furthermore, if the comparison result after the second adjustment still exceeds the preset threshold range, the computational processing module generates a deep correction command. Combining this with the force distribution data of the slab contact surface, it uses a finite element analysis algorithm to calculate more precise adjustment parameters and determine the final correction scheme. Based on the final correction scheme, the robotic arm is driven to perform high-precision position adjustments on the slab and the derrick, collecting force feedback data and motion trajectory data in real time and transmitting them to the central processing unit to generate the corrected final position information. The computational processing module performs multi-dimensional verification of the final position information, combining historical adjustment data with current force distribution characteristics to analyze the storage stability of the derrick and the slab, generating a stability assessment result. Based on the stability assessment result, subsequent operation commands for the storage rack are generated, adjusting the support force and contact point position of the robotic arm, monitoring the changes in the slab stacking posture in real time, and determining a continuous optimization scheme for the storage state.

[0045] Step S5: Based on the final position information, detect the storage posture and surface quality of the dummy bar and the slab, and generate the final storage posture information; Specifically, step S5 includes: Images of the slab and the ingot rod are captured by a camera, and the storage posture of the slab and the ingot rod on the storage rack is detected. At the same time, the surface of the slab is scanned locally to obtain surface defect data. The detected attitude data and surface defect data are transmitted to the image processing module to generate the alignment status of the ingot rod and the slab and the surface quality detection results. If the centering status or surface quality test results deviate from the preset standard, an attitude correction signal is generated to drive the auxiliary clamping device to adjust the angle between the ingot rod and the slab, and generate the final stored attitude information.

[0046] Based on the generated final position information, the central processing unit initiates the attitude and surface quality inspection process. High-resolution cameras positioned around the storage rack, combined with image recognition technology, visually inspect the storage attitude of the dummy bar and slab on the rack. Simultaneously, the high-resolution cameras perform localized scanning of the slab surface to acquire surface defect data, including the location and size of surface scratches, dents, and other defects. The detected attitude data and surface defect data are transmitted to the image processing module of the central processing unit. The image processing module analyzes and processes the received data to generate the alignment status of the dummy bar and slab, as well as the surface quality inspection results.

[0047] The image processing module has preset posture standards and surface quality standards. If the generated alignment state or surface quality detection result deviates from the preset standards, the instruction generation module generates a posture correction signal, which drives the auxiliary clamping device arranged on the storage rack to adjust the angle of the derrick rod and the slab. After the posture correction is completed, the posture and surface quality detection process is executed again until the detection result meets the preset standards, and the final storage posture information of the derrick rod and the slab is generated.

[0048] Furthermore, the auxiliary clamping device mainly includes a clamping arm and a drive unit. The clamping arm has a clamping surface adapted to the shape of the side of the derrick or the end face of the slab, and this clamping surface can be made of wear-resistant material. The drive unit is connected to the clamping arm and is used to control the movement of the clamping arm so that the clamping arm contacts the part to be clamped. The drive unit is a telescopic component, such as a hydraulic cylinder or an electric push rod.

[0049] For the derrick, at least one set of auxiliary clamping devices can be arranged on each of the opposite sides of the derrick. By cooperating with the auxiliary clamping devices on both sides, a thrust is applied to the derrick, enabling it to rotate slightly in the horizontal plane and adjust its angle.

[0050] For a slab, auxiliary clamping devices can be arranged on both sides along its length. By coordinating the auxiliary clamping devices on both sides, a pushing force is applied to the slab, enabling it to rotate slightly in the horizontal plane, correcting the deflection angle of the slab in the horizontal plane, and adjusting its angle.

[0051] Step S6: Associate the final stored posture information with the continuous casting machine operation data to generate digital files for the dummy bar and slab; Specifically, step S6 includes: Collect real-time data on the operating status of the continuous casting machine, including the crystallizer vibration frequency and billet speed control parameters; The final stored posture information is associated with the real-time data of the continuous casting machine operation. The associated data is stored through the central processing unit to generate a digital archive of the position and posture of the dummy bar and slab. The digital archives are transmitted to the production management system for recording and to generate data retrieval instructions for subsequent use.

[0052] The continuous casting machine's control system collects real-time data on its operating status, including process parameters such as crystallizer vibration frequency and billet speed control parameters, and transmits this data to the central processing unit. The central processing unit correlates and matches the generated final storage posture information with the continuous casting machine's real-time operating data. The data storage module encrypts and stores the correlated data, generating a digital archive of the dummy bar and slab's storage position and posture. This digital archive includes the dummy bar's position adjustment data throughout the entire process, slab posture and surface quality data, and continuous casting machine process parameter data. The generated digital archive is transmitted via industrial Ethernet to the production management system of the production line for archiving and recording. Simultaneously, it generates data retrieval instructions for subsequent retrieval processes, providing data support for these processes.

[0053] Step S7: Based on the digital archive, drive the picking device to accurately grasp the ingot rod and the slab, and generate the final picking status information; Specifically, step S7 includes: Based on the digital archives, retrieve the position and attitude data of the dummy bar and the slab; Based on feedback from the molten steel level monitoring data of the continuous casting machine, the grabbing device is driven to grab the dummy bar and the slab; the grabbing device mainly includes a robotic arm; The real-time alignment status data of the retrieval process is generated, and the real-time alignment status data is verified a second time by the central processing unit. If the centering accuracy or slab size deviation exceeds the preset threshold range, a fine-tuning signal is generated to drive the picking device to perform local position correction and generate the final picking status information.

[0054] When the continuous casting process enters the preparation stage for the next casting, and the dummy bar and slab need to be retrieved, the central processing unit retrieves the corresponding position and posture data of the dummy bar and slab from the digital archive based on the generated data retrieval instructions. Combined with the real-time molten steel level data fed back by the continuous casting machine's molten steel level monitoring module, the central processing unit issues a grabbing instruction to the grabbing device, controlling it to grab the dummy bar and slab according to the position and posture data in the archive. During the grabbing process, the weight data of the slab is collected in real time by a weight sensor. The central processing unit dynamically adjusts the grabbing force of the grabbing device based on the collected weight data to avoid slab slippage or surface damage during the grabbing process.

[0055] During the grabbing and transferring process, real-time alignment status data is generated and transmitted to the central processing unit. The processing module performs secondary verification on the real-time alignment status data. If the verification result shows that the alignment accuracy or slab size deviation exceeds the preset threshold range, the instruction generation module generates a fine-tuning signal to drive the grabbing device to perform local position correction. The force feedback data during the correction process is recorded in real time and transmitted to the central processing unit until the alignment accuracy of the transfer process meets the preset standard. At this point, the final grabbing status information of the dummy bar and the slab is generated, and the archiving and storage of the entire process data is completed simultaneously.

[0056] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. A method for adjusting the storage position and posture of a dummy bar and a slab, characterized in that, include: The initial position distribution information of the dummy bar and slab on the storage rack is obtained through the sensing and detection unit; Based on the initial position distribution information, the central processing unit calculates the position offset of the derrick and the attitude deviation of the slab, and generates adjustment instructions. According to the adjustment command, the actuator is driven to correct the position and attitude of the dummy bar and the slab, and obtain the real-time position status information after correction. The real-time location status information is compared with the preset standard location information to verify the adjustment result and generate the corrected final location information. Based on the final position information, the storage posture and surface quality of the dummy bar and the slab are detected, and the final storage posture information is generated. The final stored posture information is associated with the continuous casting machine operation data and stored to generate digital files for the dummy bar and slab; Based on the digital archive, the drive device completes the gripping of the ingot rod and the slab, generating the final gripping status information.

2. The method for adjusting the storage position and attitude of the dummy bar and slab according to claim 1, characterized in that, The step of acquiring the initial position distribution information of the derrick and slab on the storage rack through the sensing and detection unit specifically includes: The actual position data of the ingot rod is obtained by measuring the horizontal and vertical coordinates of the ingot rod using a laser rangefinder. The tilt angle and contact surface distribution of the slab on the storage rack are detected by the attitude detection unit. The actual position data, tilt angle, and contact surface distribution data are transmitted to the central processing unit to generate the initial position distribution information of the dummy bar and the slab. Based on the initial position distribution information, the deviation of the horizontal and vertical coordinates of the derrick is corrected by a preset coordinate calibration model to generate corrected position data; If the corrected location data exceeds a preset threshold range, the location data is marked as abnormal to determine the abnormal location point.

3. The method for adjusting the storage position and posture of the dummy bar and slab according to claim 1, characterized in that, Based on the initial position distribution information, the central processing unit calculates the position offset of the derrick and the attitude deviation of the slab, and generates adjustment commands, specifically including: The central processing unit calculates the lateral and longitudinal offsets of the derrick. Analyze the influence of the slab tilt angle on the position of the dummy bar; If the lateral offset, longitudinal offset, or tilt angle exceeds a preset threshold range, a corresponding adjustment command is generated; Based on the adjustment instructions, the adjustment direction and distance parameters between the derrick and the slab are determined, adjustment instruction data is generated and stored in the central processing unit.

4. The method for adjusting the storage position and posture of the dummy bar and slab according to any one of claims 1 to 3, characterized in that, According to the adjustment command, the drive actuator corrects the position and attitude of the derrick and the slab, and obtains the corrected real-time position status information, specifically including: According to the adjustment instructions, the position of the dummy bar is finely adjusted, and the stacking posture of the slab is adjusted at the same time. The motion trajectory data of the actuator and the force change data of the slab contact surface are collected in real time and fed back to the central processing unit. Based on the feedback motion trajectory data and force change data, the real-time position status information of the dummy bar and slab after adjustment is generated and stored in the central processing unit.

5. The method for adjusting the storage position and attitude of the dummy bar and slab according to claim 4, characterized in that, The actuator includes a robotic arm and an auxiliary support mechanism. According to the adjustment command, the robotic arm on the storage rack is driven to make a fine adjustment to the position of the slab guide rod, and at the same time, the auxiliary support mechanism is driven to adjust the stacking posture of the slab.

6. The method for adjusting the storage position and posture of the dummy bar and slab according to any one of claims 1 to 5, characterized in that, The step of comparing the real-time location status information with preset standard location information to verify the adjustment result and generate the corrected final location information specifically includes: The central processing unit compares the real-time location status information with preset standard location information. If the deviation of the comparison result exceeds the preset threshold range, a secondary adjustment command is generated to determine the further correction parameters of the ingot rod and the slab. Based on the further correction parameters, the robotic arm is driven to fine-tune the position of the dummy bar and the slab; The robot arm's motion trajectory data and force feedback data are collected in real time and transmitted to the central processing unit to generate the corrected final position information.

7. The method for adjusting the storage position and posture of the dummy bar and slab according to any one of claims 1 to 5, characterized in that, The step of detecting the storage posture and surface quality of the dummy bar and slab based on the final position information, and generating final storage posture information, specifically includes: Images of the slab and the trolley are captured by a camera to detect their storage posture on the storage rack. At the same time, the surface of the slab is scanned locally to obtain surface defect data. The detected attitude data and surface defect data are transmitted to the image processing module to generate the alignment status of the ingot rod and the slab and the surface quality detection results. If the alignment status or surface quality detection result deviates from the preset standard, an attitude correction signal is generated to drive the auxiliary clamping device to adjust the angle between the ingot rod and the slab, and finally generate the stored attitude information.

8. The method for adjusting the storage position and posture of the dummy bar and slab according to any one of claims 1 to 5, characterized in that, The step of associating and storing the final stored posture information with the continuous casting machine operating data to generate digital files for the dummy bar and slab specifically includes: Collect real-time data on the operating status of the continuous casting machine, including crystallizer vibration frequency and billet speed control parameters; The final stored posture information is associated with the real-time operating data of the continuous casting machine, and the associated data is stored through the central processing unit to generate a digital archive of the storage position and posture of the dummy bar and slab. The digitized archives are transmitted to the production management system for recording, and data retrieval instructions are generated for subsequent access.

9. The method for adjusting the storage position and posture of the dummy bar and slab according to any one of claims 1 to 5, characterized in that, The step of driving the retrieval device to grasp the slab and generate final retrieval status information based on the digitized file specifically includes: Based on the digital archive, retrieve the position and attitude data of the dummy bar and the slab; Based on the feedback from the continuous casting machine's molten steel level monitoring data, the grabbing device is driven to grab the slab and the ingot rod; Real-time alignment status data is generated during the retrieval process, and the real-time alignment status data is verified a second time by the central processing unit. If the centering accuracy or slab size deviation exceeds the preset threshold range, a fine-tuning signal is generated to drive the picking device to perform local position correction and generate the final picking status information.

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