WO2021128252A1 - 一种钢板悬浮传送装置及其方法和应用 - Google Patents

一种钢板悬浮传送装置及其方法和应用 Download PDF

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Publication number
WO2021128252A1
WO2021128252A1 PCT/CN2019/129108 CN2019129108W WO2021128252A1 WO 2021128252 A1 WO2021128252 A1 WO 2021128252A1 CN 2019129108 W CN2019129108 W CN 2019129108W WO 2021128252 A1 WO2021128252 A1 WO 2021128252A1
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WIPO (PCT)
Prior art keywords
steel plate
module
electromagnet
electromagnets
conveying device
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PCT/CN2019/129108
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English (en)
French (fr)
Inventor
邓永芳
张为超
杨杰
邓斌
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江西理工大学
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Priority to PCT/CN2019/129108 priority Critical patent/WO2021128252A1/zh
Priority to US17/265,658 priority patent/US11465860B2/en
Publication of WO2021128252A1 publication Critical patent/WO2021128252A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G54/00—Non-mechanical conveyors not otherwise provided for
    • B65G54/02—Non-mechanical conveyors not otherwise provided for electrostatic, electric, or magnetic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/025—Speed of the article
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged

Definitions

  • the invention relates to the field of conveying devices, in particular to a steel plate suspension conveying device, a method and application thereof.
  • the steel plates are usually conveyed through rolls after rolling, but the steel plates are prone to form waves, arches, scratches and potential defects on the surface that touches the rolls, which affects The accuracy and performance of the steel plate are improved.
  • the transfer of the rolls will also cause uneven heat dissipation of the steel sheet, which also affects the grain size and uniformity of the grain distribution of the steel sheet, and reduces the consistency of the steel sheet.
  • the Chinese invention patent with the patent application number 201810065214.5 discloses a steel plate conveyor rack.
  • the transmission efficiency is improved and the cost is saved.
  • the steel plate and the conveyor rack are inevitable.
  • the steel plate transmission is still contact transmission.
  • the contact transmission will cause defects on the surface of the steel plate, affecting the processing accuracy and performance of the steel plate, especially the steel plate just after hot rolling, due to the bottom surface of the steel plate.
  • Contact with the conveyor frame and other parts in contact with the air resulting in uneven heat dissipation of the steel plate, affecting the grain size and grain distribution of the steel plate.
  • the Chinese invention patent with the patent application number 201711297138.2 discloses a steel plate conveying automatic control system. By placing the steel plate on the operating table for cutting, and then conveying the cut steel plate away, the cutting and conveying efficiency is improved, and the conveying system is at the same time There is also a temperature detection system to avoid the hidden danger of high temperature of the steel plate after cutting and easy burns, but in essence this steel plate transmission is still contact transmission, which affects the processing accuracy and performance of the steel plate, and also affects the grain size and grain distribution of the steel plate The uniformity.
  • the purpose of the present invention is to overcome the defects caused by uneven heat dissipation and contact transmission of the steel plate after rolling in the prior art, and to improve the performance and consistency of the steel plate after rolling, to provide a steel plate suspension conveying device and method thereof,
  • the suspension conveying device suspends and conveys the rolled steel plate and fully cools the steel plate during the conveying process, which can make the grain size and grain distribution of the steel plate more uniform, enhance the consistency of the steel plate, and improve the performance of the steel plate.
  • a steel plate suspension conveying device which includes:
  • the initial suspension module and the tail end unloading module installed horizontally;
  • An intermediate transmission module installed between the initial suspension module and the tail end unloading module, where an angle exists between the intermediate transmission module and the horizontal plane;
  • the initial levitation module, the intermediate transmission module and the tail end unloading module are respectively installed with a plurality of electromagnets capable of applying electromagnet attraction to the steel plate.
  • the electromagnets of the initial levitation module control the suspension of the steel plate, and the intermediate transmission module
  • the electromagnet controls the movement of the steel plate toward the tail end unloading module, and the landing of the steel plate is controlled by the electromagnet of the tail end unloading module;
  • a sensor module installed on each of the electromagnets, capable of detecting the position, speed and temperature information of the steel plate conveyed by the electromagnets;
  • the central processing unit connected to the electromagnet and the sensor module can receive the information sent by the sensor module, and then adjust the current/voltage flowing into the electromagnet, thereby adjusting the electromagnet attraction applied by the electromagnet to the steel plate The size of the force.
  • the included angle between the electromagnet of the intermediate transmission module and the horizontal plane is 0°-60°.
  • the installation distance between two adjacent electromagnets is 200-4000 mm.
  • the sensor module includes a displacement sensor, a speed sensor and a temperature sensor.
  • the initial suspension module, the intermediate transmission module and the tail end unloading module make the steel plate suspended at a position of 150-3000 mm below the electromagnet.
  • the electromagnet makes the steel plate conveying speed between 0.01 m/s and 10 m/s.
  • the initial suspension module, the intermediate transmission module and the tail end unloading module are sequentially connected to form a linear layout or a spiral layout.
  • the second aspect of the present invention provides an application of the above-mentioned steel plate suspension conveyor in the transportation of magnetic materials.
  • a method for suspending conveying steel plates is provided, the method is performed in the above suspending conveying device, and the method includes the following steps:
  • the sensor module cooperates with the central processor to adjust the electromagnetic force attraction of the electromagnet of the tail end unloading module, so that the steel plate is unloaded and landed.
  • the sensor module detects that the steel plate is misaligned, there is a distance deviation between the steel plate and the electromagnet, or the speed of the steel plate does not meet the requirements, the sensor module immediately transmits the detected deviation information to the central processing unit Then, the central processing unit controls the current flowing into the electromagnet to adjust the attraction force of the electromagnet to the steel plate to restore the movement state of the steel plate.
  • the steel plate suspension conveying device of the present invention will use suspension conveying the rolled steel plate, which is easier to form waves, arches, scratches and potential defects on the surface of the contact roll than the contact conveying steel plate in the prior art.
  • the suspension conveying of the present invention fully cools the steel plate during the conveying process, can make the steel plate crystal grain size and the crystal grain distribution more uniform, enhance the consistency of the steel plate, and improve the performance of the steel plate.
  • Fig. 1 is a schematic diagram of a suspension conveying device according to a preferred embodiment of the present invention
  • Fig. 2 is a schematic diagram of steel plate turning in a suspension conveying device according to a preferred embodiment of the present invention
  • FIG. 3 is an enlarged schematic diagram of the electromagnet and sensor module of the suspension conveying device according to a preferred embodiment of the present invention
  • Fig. 4 is a force analysis diagram of a steel plate provided in an intermediate transportation module according to a preferred embodiment of the present invention, where 4a is the force diagram of the steel plate in accelerating forward motion, and 4b is the force analysis diagram of the steel plate in a uniform motion after reaching a certain speed .
  • orientation words used such as "up, down, top, bottom” usually refer to the directions shown in the drawings or refer to vertical, vertical, or vertical directions.
  • the present invention provides a steel plate suspension conveying device, which comprises an initial suspension module, an intermediate transmission module and a tail end unloading module.
  • the initial suspension module and the end unloading module are installed horizontally, and the intermediate transmission module is installed in the initial suspension module and Between the end unloading modules, there is an angle between the intermediate transmission module and the horizontal plane, that is, the intermediate transmission module has a slope, and the initial suspension module, the intermediate transmission module and the end unloading module are respectively installed with a plurality of
  • the electromagnet 5-17 of the electromagnet attraction is controlled by the electromagnet 5-6 of the initial levitation module to control the suspension of the steel plate, and the electromagnet 7-14 of the intermediate transmission module is used to control the movement of the steel plate toward the tail end unloading module,
  • the landing of the steel plate is controlled by the electromagnet 15-17 of the tail end unloading module.
  • Each of the electromagnets 5-17 is equipped with a sensor module 18 that can detect the position, speed and temperature information of the steel plate 1-3 transmitted by the electromagnet 5-17, and communicate with the electromagnet 5-17 and the sensor module 18
  • the connected central processing unit 4 can receive the information sent by the sensor module 18, and then adjust the current/voltage flowing into the electromagnet 5-17, thereby adjusting the amount of the electromagnet 5-17 applied to the steel plate 1-3 The size of the electromagnet's attractive force.
  • the angle between the electromagnet 7-14 of the intermediate transmission module and the horizontal plane is 0°-60°, which can be specifically adjusted according to production requirements.
  • the conveying device of the present invention mainly includes a central processing unit 4 and electromagnets 5-17.
  • the electromagnets 5-17 are distributed along the conveying path of the steel plate 1-3, and are distributed at intervals, and the electromagnets 5-17 Connected to the central processing unit 4 and controlled by the central processing unit 4, the entire conveying device can be divided into three sections, namely the initial suspension module, the intermediate transmission module and the tail end unloading module.
  • the electromagnets 5-6 of the initial suspension module are parallel to the horizontal rolling mill, the electromagnets 7-14 of the intermediate transmission module are at an angle with the horizontal rolling mill, and the electromagnets 15-17 of the tail unloading module are parallel to the horizontal rolling mill. , Located above the steel plate unloading area.
  • the installation distance between two adjacent electromagnets 5-17 is 200-4000 mm.
  • the sensor module 18 includes a displacement sensor, a speed sensor, and a temperature sensor.
  • the displacement sensor and the speed sensor detect the distance between the steel plate and the electromagnet 5-17 and the operating speed of the steel plate 1-3. , And further detect the surface temperature of the steel plate 1-3 through the temperature sensor, which can avoid accidental scalding and burning accidents.
  • the initial suspension module, the intermediate transmission module and the tail end unloading module make the steel plate 1-3 suspended within 150-3000 mm below the electromagnet 5-17.
  • the electromagnet 5-17 enables the conveying speed of the steel plate 1-3 to be 0.01 m/s-10 m/s.
  • the initial suspension module, the intermediate transmission module and the tail end unloading module are sequentially connected to form a linear layout or a spiral layout.
  • the length of the transmission line of the device of the present invention can be adjusted according to production needs. The length is 200-60000mm.
  • the length of the initial suspension module, the intermediate transmission module and the end unloading module of the conveyor line are adjusted according to the length, width and thickness of the steel plate 1-3. The length of each module is 50-10000mm.
  • the present invention The length of the steel plate 1-3 to be conveyed by the device is 10-7000mm, the width is 5-10000mm, and the thickness is 0.1mm-500mm.
  • the included angle between the roll of the rolling mill and the horizontal plane is -60°-60°.
  • the steel plate suspension conveying device of the present invention will use the suspension conveying the rolled steel plate 1-3. Compared with the contact conveying steel plate 1-3 in the prior art, it is easier to form waves, arches, scratches and potential on the surface of the contact roll.
  • the levitation conveying of the present invention fully cools the steel plate 1-3 during the conveying process, can make the grain size and grain distribution of the steel plate 1-3 more uniform, enhance the consistency of the steel plate 1-3, and improve the performance of the steel plate 1-3 .
  • the present invention also provides a method for suspending conveying steel plates.
  • the method is carried out by using the above-mentioned steel suspending conveying device.
  • the method includes the following steps:
  • the sensor module 18 cooperates with the central processing unit 4 to adjust the electromagnetic force attraction of the electromagnets 15-17 of the tail end unloading module , Making the steel plate 3 unload and land.
  • the steel plate 1 located in the initial suspension module produces the actual steel plate 1.
  • the temperature is higher at this time; when performing step S2, the steel plate 2 located in the middle conveying module produces the actual steel plate 2.
  • the temperature of the steel plate 2 in the middle conveying module is continuously reduced during the forward transfer; in step S3, the steel plate 3 at the end of the unloading module is used to produce the actual steel plate 3, and for the hot rolling, at the end The steel plate 3 of the unloading template at the end has been cooled to the required temperature.
  • the steel plate suspension conveying device of the present invention is used in the transportation of magnetic materials.
  • the device can not only convey steel plates, but also convey all magnetic materials, including iron, cobalt, nickel and other materials.
  • the sensor module 18 on the electromagnet 5-6 detects that the steel plate 1 is being transmitted, it transmits the position and speed information of the steel plate 1 to the central processing unit 4, and the central processing unit 4 communicates with the electromagnet 5-6
  • the position and speed of the steel plate 2 control the current flowing into the electromagnet 5-6, thereby adjusting the attractive force of the electromagnet 5-6 to the steel plate 1.
  • the electromagnet on the steel plate 1 is attracted
  • the resultant force is equal to its own gravity, and the direction is opposite. It floats under the electromagnets 5-6, and the rolling mill drives the steel plate 1 to move forward until the steel plate 1 completely leaves the rolling mill and enters the action area of the electromagnets 5-8.
  • the central processing unit 4 controls the electromagnets 5-8 to work together, and the central processing unit 4 according to the position and speed information transmitted by the sensor modules 18 of the electromagnets 5-8 , Control the current flowing into the electromagnet 5-8, adjust the attraction force of the electromagnet 5-8 to the steel plate 1, and control the steel plate 1 to transmit forward while rotating the whole angle to complete the steering of the steel plate 1.
  • the steel plate 1 is parallel to the electromagnet 7-14 of the intermediate transmission module, and there is an angle a between the steel plate 1 and the horizontally placed rolling mill. Under the combined action of gravity and the attractive force of the electromagnet 7-14, it is suspended, and it is slowly transported forward while cooling.
  • the electromagnets 13-16 of the intermediate transmission module and the end unloading module work together, and the sensor module 18 of the electromagnet 13-16 is transmitted to the central processing unit 4
  • the central processing unit 4 adjusts the current flowing into the electromagnet 13-16 to adjust the attraction force of the electromagnet 13-16 to the steel plate 2 and controls the steel plate 2 to transmit forward while rotating the whole to an angle.
  • the transfer module transitions to the tail end unloading module. For the hot-rolled steel plate, it has been cooled sufficiently at this time.
  • the central processing unit 4 controls the current flowing into the electromagnet 15-17 according to the position and speed information transmitted by the sensor module 18 of the electromagnet 15-17, and adjusts the electromagnet 15-17 to the steel plate 4
  • the attractive force of the steel plate 3 controls the slow downward movement of the steel plate 3, and finally makes the steel plate 3 fall into the unloading area smoothly, and the transfer is completed.
  • the sensor module 18 detects that the position of the steel plate 1/2/3 is misaligned, there is a distance deviation between the steel plate 1/2/3 and the electromagnet 5-17, or the steel plate 1/ When 2/3 of the movement speed does not meet the requirements, the sensor module 18 immediately transmits the detected deviation information to the central processing unit 4, and then the central processing unit 4 controls the current flowing into the electromagnet 5-17 to adjust The electromagnet 5-17 attracts the electromagnet 1/2/3 of the steel plate to restore the movement state of the steel plate 1/2/3.
  • the conveying device is used to convey steel plates 1-3 with a length of 2500mm, a width of 1500mm, and a thickness of 10mm.
  • the entire conveying device is divided into three modules, namely the initial suspension section, the intermediate transmission module and the tail end unloading module.
  • the initial suspension module is parallel to the horizontal rolling mill with a total length of 3000mm.
  • the purpose is to suspend the rolled steel plate 1 and the electromagnets 5-6 of the initial suspension module are parallel to the horizontal rolling mill, with a distance of 1200mm between two adjacent ones.
  • the angle between the intermediate transfer module and the horizontally placed rolling mill is 10°, and the total length of the intermediate transfer module is 40000mm.
  • the purpose is to transfer the steel plate 2 forward.
  • the electromagnet 7-14 is installed every 1200mm and has an included angle of 10° with the horizontal rolling mill.
  • the end unloading module is parallel to the horizontal rolling mill.
  • the total length of the end unloading section is 4000mm. The purpose is to gently convey the steel plate 3 to the ground.
  • the cooled steel plate 3 is conveyed to the ground, and the end is unloaded.
  • the electromagnet 15-17 of the module is parallel to the horizontal rolling mill, and the distance between two adjacent ones is 1200mm.
  • the central processing unit 4 controls the electromagnets 5-8 to work together.
  • the steel plate 1 is parallel to the electromagnet 7-14 of the intermediate transmission module, and has an included angle of 10° with the horizontal rolling mill.
  • the central controller 4 controls the electromagnets 13-16 to act together.
  • the steel plate 3 at the tail end of the unloading module is parallel to the electromagnets 15-17 and also parallel to the horizontal rolling mill.
  • the hot-rolled steel plate 3 it has been cooled to the required temperature at this time.
  • the conveying device is used to convey steel plates 1-3 with a length of 2500mm, a width of 1500mm and a thickness of 10mm.
  • the entire conveying device is divided into three modules, namely the initial suspension section, the intermediate transmission module and the tail end unloading module.
  • the initial suspension module is parallel to the horizontal rolling mill with a total length of 3000mm.
  • the purpose is to suspend the rolled steel plate 1 and the electromagnets 5-6 of the initial suspension module are parallel to the horizontal rolling mill, with a distance of 1200mm between two adjacent ones.
  • the angle between the intermediate transfer module and the horizontally placed rolling mill is 10°, and the total length of the intermediate transfer module is 40000mm.
  • the purpose is to transfer the steel plate 2 forward. For the steel plate 2 after hot rolling, it is transferred forward while cooling.
  • the electromagnet 7-14 is installed every 1200mm and has an included angle of 10° with the horizontal rolling mill.
  • the end unloading module is parallel to the horizontal rolling mill.
  • the total length of the end unloading section is 4000mm.
  • the purpose is to gently convey the steel plate 3 to the ground. For hot rolling, the cooled steel plate 3 is conveyed to the ground, and the end is unloaded.
  • the electromagnet 15-17 of the module is parallel to the horizontal rolling mill, and the distance between two adjacent ones is 1200mm.
  • the steel plate 1-3 is misaligned during transmission.
  • the sensor 18 immediately transmits the deviation information to the central processing unit 4, and the central processing unit 4 according to the position of the steel plate 1-3 ,
  • the steel plate 1-3 is restored to the centering position.
  • the attractive force of iron 5-17 on the steel plate is combined , which makes the steel plate 1-3 move upward for a certain distance until it recovers to 2500mm.

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  • Mechanical Engineering (AREA)
  • Control Of Heat Treatment Processes (AREA)
  • Non-Mechanical Conveyors (AREA)

Abstract

一种钢板悬浮传送装置及其方法，包括分别安装有多个电磁铁的初始悬浮模块、中间传输模块和尾端卸载模块，通过初始悬浮模块的电磁铁(5-6)控制钢板悬浮，通过中间传输模块的电磁铁(7-14)控制钢板向尾端卸载模块运动，通过尾端卸载模块的电磁铁(15-17)控制钢板降落；各个电磁铁上安装传感器模块(18)，能够检测电磁铁传送的钢板的位置、速度和温度信息，通过中央处理器(4)接收传感器模块(18)发送的信息，然后调节流入电磁铁的电流/电压大小，从而调整电磁铁对钢板施加的电磁铁吸引力大小。利用悬浮传送钢板，在传送过程中使钢板充分冷却，能够使钢板晶粒大小和晶粒分布更加均匀，增强钢板一致性，提升钢板的性能。

Description

一种钢板悬浮传送装置及其方法和应用 技术领域
本发明涉及传送装置领域，具体的涉及一种钢板悬浮传送装置及其方法和应用。
背景技术
在工业生产中，为了方便将钢板从一个地方传送到另一个地方，通常钢板轧制后通过轧辊传送，但钢板容易在接触轧辊的面形成浪形、拱形、划痕和潜在的缺陷，影响了钢板的精度和性能。对于热轧，轧辊传送也会导致钢板散热不均匀，也影响了钢板晶粒大小和晶粒分布的均匀性，降低了钢板的一致性。
专利申请号为201810065214.5的中国发明专利公开了一种钢板传送架，通过将钢板放在该可调节高低的传送架上传送，提高了传送效率，节约了成本，但是不可避免的是钢板和传送架的接触，本质上的钢板传送仍是接触传送，对于刚轧制后的钢板，接触传送会使得钢板表面产生缺陷，影响钢板的加工精度和性能，特别是刚热轧后的钢板，由于钢板底面与传送架接触，其他部分与空气接触，导致钢板的散热不均匀，影响钢板的晶粒大小和晶粒分布。
专利申请号为201711297138.2的中国发明专利公开了一种钢板传送自动控制***，通过将钢板放置在操作台上切割，然后再将切割 后的钢板传送走，提高了切割和传送效率，同时传送***内还有温度检测***，避免切割后钢板温度高容易烫伤人员的隐患，但本质上这种钢板传送仍是接触传送，影响了钢板的加工精度和性能，也影响了钢板晶粒大小和晶粒分布的均匀性。
发明内容
本发明的目的是为了克服现有技术存在的钢板轧制后散热不均匀以及接触传送带来的缺陷，以及为了提高轧制后钢板的性能和一致性，提供一种钢板悬浮传送装置及其方法，该悬浮传送装置将轧制后的钢板悬浮传送，在传送过程中使钢板充分冷却，能够使钢板晶粒大小和晶粒分布更加均匀，增强钢板一致性，提升钢板的性能。
为了实现上述目的，本发明提供如下技术方案：
一种钢板悬浮传送装置，其包括：
水平安装的初始悬浮模块和尾端卸载模块；
安装于所述初始悬浮模块和尾端卸载模块之间的中间传输模块，所述中间传输模块与水平面之间存在夹角；
所述初始悬浮模块、中间传输模块和尾端卸载模块分别安装有多个能够对钢板施加电磁铁吸引力的电磁铁，通过所述初始悬浮模块的电磁铁控制钢板悬浮，通过所述中间传输模块的电磁铁控制钢板向所述尾端卸载模块运动，通过所述尾端卸载模块的电磁铁控制钢板降落；
传感器模块，安装于各个所述电磁铁上，能够检测所述电磁铁传送的钢板的位置、速度和温度信息；
与所述电磁铁、传感器模块连接的中央处理器，能够接收所述传感器模块发送的信息，然后调节流入所述电磁铁的电流/电压大小，从而调整所述电磁铁对钢板施加的电磁铁吸引力大小。
优选地，所述中间传输模块的电磁铁与水平面的夹角为0°-60°。
优选地，相邻两个所述电磁铁之间的安装距离为200-4000mm。
优选地，所述传感器模块包括位移传感器、速度传感器和温度传感器。
优选地，所述初始悬浮模块、中间传输模块和尾端卸载模块使得所述钢板悬浮于所述电磁铁下方150-3000mm的位置。
优选地，所述电磁铁使得钢板传送速度为0.01m/s-10m/s。
优选地，所述初始悬浮模块、中间传输模块和尾端卸载模块依次连接形成直线布局或者螺旋线布局。
本发明第二方面提供一种上述钢板悬浮传送装置在磁性材料运输中的应用。
根据本发明第三方面提供一种钢板的悬浮传送方法，所述方法在上述悬浮传送装置中进行，所述方法包括以下步骤：
S1、将所述初始悬浮模块与轧机出料口连接，通过轧机带动钢板进入所述初始悬浮模块，然后所述传感器模块协同所述中央处理器调整所述初始悬浮模块的电磁铁产生电磁力吸引力，以控制钢板进行悬浮；
S2、利用钢板的惯性或轧机的带动使得悬浮的钢板进入所述中间传输模块，然后所述传感器模块协同所述中央处理器调整所述中间传 输模块的电磁铁产生电磁力吸引力，控制钢板向所述尾端卸载模块的方向运动；
S3、所述中间传输模块控制钢板进入所述尾端卸载模块后，所述传感器模块协同所述中央处理器调节所述尾端卸载模块的电磁铁的电磁力吸引力大小，使得钢板卸载降落。
进一步地，所述传感器模块检测到钢板位置不对中、钢板与所述电磁铁之间有距离偏差或者钢板运动速度不满足要求时，传感器模块立即将检测到的偏离信息传送到所述中央处理器，然后所述中央处理器控制流入所述电磁铁的电流，从而调节所述电磁铁对钢板的吸引力以恢复钢板的运动状态。
通过上述技术方案，本发明钢板悬浮传送装置将利用悬浮传送轧制后钢板，相比于现有技术中的接触传送钢板容易在接触轧辊的面形成浪形、拱形、划痕和潜在的缺陷，本发明悬浮传送在传送过程中使钢板充分冷却，能够使钢板晶粒大小和晶粒分布更加均匀，增强钢板一致性，提升钢板的性能。
本发明实施方式的其它特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本发明实施方式的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明实施方式，但并不构成对本发明实施方式的限制。在附图中：
图1为根据本发明一种优选实施方式提供的悬浮传送装置示意图；
图2为根据本发明一种优选实施方式提供的悬浮传送装置中钢板转弯示意图；
图3为根据本发明一种优选实施方式提供的悬浮传送装置电磁铁和传感器模块放大示意图；
图4为根据本发明一种优选实施方式提供的钢板在中间运输模块时的受力分析图，其中4a为钢板加速向前运动受力图，4b为钢板达到一定速度后匀速运动受力分析图。
附图标记说明
1为位于初始悬浮模块的钢板；2为位于中间传输模块的钢板；3为位于尾端卸载模块的钢板；4为中央处理器；5-17为电磁铁，其中5-6为初始悬浮模块的电磁铁，7-14为中间传输模块的电磁铁，15-17为尾端卸载模块的电磁铁；18为传感器模块。
具体实施方式
以下结合附图对本发明的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本发明实施方式，并不用于限制本发明实施方式。
在本申请实施方式中，在未作相反说明的情况下，使用的方位词如“上、下、顶、底”通常是针对附图所示的方向而言的或者是针对竖直、垂直或重力方向上而言的各部件相互位置关系描述用词。
本发明提供了一种钢板悬浮传送装置，其包括初始悬浮模块、中间传输模块和尾端卸载模块，所述初始悬浮模块和尾端卸载模块水平安装，所述中间传输模块安装于初始悬浮模块和尾端卸载模块之间，所述中间传输模块与水平面之间存在夹角，即中间传输模块具有坡度，所述初始悬浮模块、中间传输模块和尾端卸载模块分别安装有多个能够对钢板施加电磁铁吸引力的电磁铁5-17，通过所述初始悬浮模块的电磁铁5-6控制钢板悬浮，通过所述中间传输模块的电磁铁7-14控制钢板向所述尾端卸载模块运动，通过所述尾端卸载模块的电磁铁15-17控制钢板降落。
各个所述电磁铁5-17上安装有传感器模块18能够检测所述电磁铁5-17传送的钢板1-3的位置、速度和温度信息，通过与所述电磁铁5-17、传感器模块18连接的中央处理器4，能够接收所述传感器模块18发送的信息，然后调节流入所述电磁铁5-17的电流/电压大小，从而调整所述电磁铁5-17对钢板1-3施加的电磁铁吸引力大小。
本发明的优选实施方式中，所述中间传输模块的电磁铁7-14与水平面的夹角为0°-60°，具体地可以根据生产需要调节。
具体地可以理解为，本发明传送装置主要包括中央处理器4和电磁铁5-17，电磁铁5-17沿钢板1-3的传送路径分布，每隔一段距离分布一个，电磁铁5-17与中央处理器4连接，并受中央处理器4控制，可将整个传送装置分为三段，分别为初始悬浮模块、中间传输模块和尾端卸载模块。
初始悬浮模块的电磁铁5-6与水平放置的轧机平行，中间传输模 块的电磁铁7-14与水平放置的轧机存在夹角，尾端卸载模块的电磁铁15-17与水平放置的轧机平行，位于钢板卸载区上方。
本发明的优选实施方式中，相邻两个所述电磁铁5-17之间的安装距离为200-4000mm。
本发明的优选实施方式中，所述传感器模块18包括位移传感器、速度传感器和温度传感器，通过位移传感器和速度传感器检测钢板与电磁铁5-17之间的距离以及检测钢板1-3的运行速度，进一步通过温度传感器检测钢板1-3表面温度，能够避免发生意外烫伤烧烧事故。
本发明的优选实施方式中，所述初始悬浮模块、中间传输模块和尾端卸载模块使得所述钢板1-3悬浮于所述电磁铁5-17下方150-3000mm内。
本发明的优选实施方式中，所述电磁铁5-17使得钢板1-3传送速度为0.01m/s-10m/s。
本发明的优选实施方式中，所述初始悬浮模块、中间传输模块和尾端卸载模块依次连接形成直线布局或者螺旋线布局，本发明装置的传送线长度，可按照生产需要进行调整，它的总长度在200-60000mm，传送线的初始悬浮模块、中间传输模块和尾端卸载模块的长度，根据钢板1-3的长度、宽度和厚度进行调节，每个模块的长度为50-10000mm，本发明装置需要传送的钢板1-3的长度在10-7000mm，宽度在5-10000mm，厚度为0.1mm-500mm。
本发明的优选实施方式中，所述轧机轧辊与水平面的夹角为-60°～60°。
通过本发明钢板悬浮传送装置将利用悬浮传送轧制后钢板1-3，相比于现有技术中的接触传送钢板1-3容易在接触轧辊的面形成浪形、拱形、划痕和潜在的缺陷，本发明悬浮传送在传送过程中使钢板1-3充分冷却，能够使钢板1-3晶粒大小和晶粒分布更加均匀，增强钢板1-3一致性，提升钢板1-3的性能。
本发明还提供了一种钢板的悬浮传送方法，该方法利用上述钢板悬浮传送装置进行，所述方法包括以下步骤：
S1、将所述初始悬浮模块与轧机出料口连接，通过轧机带动钢板1进入所述初始悬浮模块，然后所述传感器模块18协同所述中央处理器4调整所述初始悬浮模块的电磁铁5-6产生电磁力吸引力，以控制钢板1进行悬浮；
S2、利用钢板1的惯性或轧机的带动使得悬浮的钢板1进入所述中间传输模块，然后所述传感器模块18协同所述中央处理器4调整所述中间传输模块的电磁铁7-14产生电磁力吸引力，控制钢板2向所述尾端卸载模块的方向运动；
S3、所述中间传输模块控制钢板2进入所述尾端卸载模块后，所述传感器模块18协同所述中央处理器4调节所述尾端卸载模块的电磁铁15-17的电磁力吸引力大小，使得钢板3卸载降落。
在进行步骤S1时，位于初始悬浮模块的钢板1，生产实际使用的钢板1，对于热轧，此时温度较高；在进行步骤S2时，位于中间传输模块的钢板2，生产实际使用的钢板2，对于热轧，在中间传输模块的钢板2向前传送的途中温度不断降低；在进行步骤S3时，位 于尾端卸载模块的钢板3，生产实际使用的钢板3，对于热轧，在尾端卸载模板的钢板3已经冷却到需要的温度。
本发明钢板悬浮传送装置在磁性材料运输中的应用，该装置不仅仅可以传送钢板，也可以传送所有具有磁性的材料，包括铁、钴和镍等材料。
本发明装置的工作方式：
钢板1从轧机被传出，电磁铁5-6上传感器模块18检测有钢板1传送时，把钢板1的位置和速度信息传送至中央处理器4，中央处理器4根据电磁铁5-6与钢板2的位置和速度，控制流入电磁铁5-6的电流，从而调节电磁铁5-6对钢板1的吸引力，在电磁铁5-6协同作用下，使得钢板1所受的电磁铁吸引力合力和自身重力相等，方向相反，在电磁铁5-6的下方悬浮，由轧机带动钢板1向前运动，直至钢板1完全脱离轧机，进入电磁铁5-8的作用区域。
当钢板1传送到初始悬浮模块与中间传输模块转弯位置时，中央处理器4控制电磁铁5-8共同作用，中央处理器4根据电磁铁5-8的传感器模块18传递过来的位置和速度信息，控制流入电磁铁5-8的电流，调节电磁铁5-8对钢板1的吸引力，控制钢板1向前传送的同时，整体旋转一个角度，完成钢板1的转向。此时的钢板1与中间传输模块的电磁铁7-14平行，与水平放置轧机之间存在夹角a。在重力与电磁铁7-14的吸引力共同作用下悬浮，边冷却边缓慢向前传送。
当钢板2传送到中间传输模块与尾端卸载模块转弯位置时，中间传输模块和尾端卸载模块的电磁铁13-16共同作用，根据电磁铁13-16 的传感器模块18传递给中央处理器4的位置和速度信息，中央处理器4调节流入电磁铁13-16的电流，从而调节电磁铁13-16对钢板2的吸引力，控制钢板2向前传送的同时，整体旋转一个角度，由中间传输模块过渡到尾端卸载模块，对于热轧的钢板，此时已经冷却充分冷却。
钢板3在尾端卸载模块时，中央处理器4根据电磁铁15-17的传感器模块18传递过来的位置和速度信息，控制流入电磁铁15-17的电流，调节电磁铁15-17对钢板4的吸引力，控制钢板3缓慢的向下运动，最终使得钢板3平稳的落入卸载区，传送完成。
进一步地，如果在钢板1/2/3的传送过程中，所述传感器模块18检测到钢板1/2/3位置不对中、与所述电磁铁5-17之间有距离偏差或者钢板1/2/3运动速度不满足要求时，传感器模块18立即将检测到的偏离信息传送到所述中央处理器4，然后所述中央处理器4控制流入所述电磁铁5-17的电流，从而调节所述电磁铁5-17对钢板1/2/3的电磁铁吸引力以恢复钢板1/2/3的运动状态。
以下结合具体的实施例进行详细说明。
实施例1
参阅图1所示，该传送装置用来传送长2500mm，宽为1500mm，厚度为10mm的钢板1-3。整个传送装置分为三个模块，分别为初始悬浮段、中间传输模块和尾端卸载模块。初始悬浮模块与水平放置的轧机平行，总长度为3000mm，目的是让轧制完钢板1悬浮，初始悬浮模块的电磁铁5-6与水平放置的轧机平行，相邻两个相距1200mm。 中间传输模块与水平放置的轧机夹角为10°，中间传输模块的总长度为40000mm，目的是向前传送钢板2，对于热轧后的钢板2，边冷却边向前传送，中间传输模块的电磁铁7-14，每隔1200mm安装一个，与水平放置的轧机有一个10°的夹角。尾端卸载模块与水平放置的轧机平行，末尾段卸载段的总长度4000mm，目的是将钢板3轻轻的传送到地面，对于热轧，是将冷却好的钢板3传送至地面，尾端卸载模块的电磁铁15-17与水平放置的轧机平行，相邻两个相距1200mm。
详细过程如下：
钢板1从轧机被传送出来后，电磁铁5-6上的传感器模块18检测有钢板1传送时，把钢板1的位置和速度信息传送至中央处理器4，中央处理器4根据电磁铁5-6与钢板1的位置，控制流入电磁铁5-6的电流I＝4.5A，从而调节带电磁铁5-6对钢板1的吸引力的合力F 合＝Mg＝2962.5N，方向竖直向上，在电磁铁5-6共同作用下，保证钢板1平行于水平放置的轧机，并在电磁铁5-6下方2500mm由惯性对中向前传送；
当钢板1传送至初始悬浮模块与中间传输模块转弯位置时，中央处理器4控制电磁铁5-8共同作用。中央处理器4根据电磁铁5-8的传感器模块18传递过来的位置和速度信息，控制流入电磁铁5-8的电流I＝2.25A，调节电磁铁5-8对钢板1的吸引力合力F 合＝2962.5N，方向与水平方向夹角为70°，其中F 合与钢板1重力G的合力F1＝1028.9N，方向与水平方向的夹角为10°，控制钢板1向前传送的同时，整体转动一个10°的夹角，完成钢板1转弯。此时的钢板1 与中间传输模块的电磁铁7-14平行，与水平放置的轧机有一个10°的夹角。在中间传输模块传送途中，保证钢板2与电磁铁9-12平行，并在电磁铁7-14的下方2500mm处，先以a1＝F1/m＝3.5m/s2加速运行，当加速到V＝0.1m/s时，电磁铁9-14控制电流I＝2.25A，此时钢板2的重力G和电磁铁的吸引力F 合大小相等，方向相反，使得钢板2保持0.1m/s的速度向前对中传送，对于热轧的钢板3，边冷却边向前传送。
当钢板2传送至中间传输模块与尾端卸载模块转弯位置时，中央控制器4控制电磁铁13-16共同作用。中央处理器4根据电磁铁13-16的传感器模块18传递过来的位置和速度信息控制流入电磁铁13-16的电流I＝2.25A，调节电磁铁13-16对钢板2的吸引力F 合＝2962.5N，方向与水平方向夹角为70°，其中F 合与重力的合力F1＝1028.9N，方向与水平方向的夹角为10°，控制钢板2向前减速传送的同时，整体转动一个10°的夹角，完成钢板2转向。位于尾端卸载模块的钢板3与电磁铁15-17平行，与水平放置的轧机也平行。在尾端卸载模块传送途中，中央处理器4控制流入电磁铁15-17的电流I＝3A，调节电磁铁15-17对钢板3的吸引力F 合＝2962.5N，保证钢板3与电磁铁15-17平行，在竖直方向上缓慢的向下运动，使得钢板3接触地面时速度为0，对于热轧的钢板3，此时已经冷却到需要的温度。
实施例2
该传送装置用来传送长2500mm，宽为1500mm，厚度为10mm的钢板1-3。整个传送装置分为三个模块，分别为初始悬浮段、中间 传输模块和尾端卸载模块。初始悬浮模块与水平放置的轧机平行，总长度为3000mm，目的是让轧制完钢板1悬浮，初始悬浮模块的电磁铁5-6与水平放置的轧机平行，相邻两个相距1200mm。中间传输模块与水平放置的轧机夹角为10°，中间传输模块的总长度为40000mm，目的是向前传送钢板2，对于热轧后的钢板2，边冷却边向前传送，中间传输模块的电磁铁7-14，每隔1200mm安装一个，与水平放置的轧机有一个10°的夹角。尾端卸载模块与水平放置的轧机平行，末尾段卸载段的总长度4000mm，目的是将钢板3轻轻的传送到地面，对于热轧，是将冷却好的钢板3传送至地面，尾端卸载模块的电磁铁15-17与水平放置的轧机平行，相邻两个相距1200mm。
钢板1-3在传送时出现位置不对中，钢板1-3中心线偏离对中心线30°时，传感器18立即将偏离信息传送给中央处理器4，中央处理器4根据钢板1-3的位置，中央处理器4调整对应的电磁铁5-17的电流I＝2.5A，调节电磁铁5-17对钢板的吸引力F 合的方向，使得钢板1-3不对中的部分受到力的作用，直到钢板1-3恢复到对中位置。
钢板1-3在传送装置的中间传输模块传送时，钢板1-3的传输速度为0.08m/s时，中央处理器4增大对应的电磁铁5-17的电流I＝2.4A，增大电磁铁5-17对钢板1-3的吸引力F 合，使得速度V恢复到设定值0.1m/s；钢板1-3的传输速度为0.12m/s时，中央处理器4减小对应的电磁铁5-17的电流I＝2.1A，从而减小电磁铁5-17对钢板的吸引力F 合，使得速度V恢复到设定值0.1m/s。
钢板1-3在传送时与电磁铁5-17之间的距离为2400mm时，传 感器18将位置信息送给中央处理器4，中央处理器4减小对应的电磁铁5-17的电流I＝1.5A，从而减小电磁铁5-17对钢板的吸引力F 合，使得钢板1-3向下运动一段距离，直到距离恢复到2500mm。与电磁铁5-17之间的距离为2600mm时，传感器18将位置信息传送给中央处理器4，中央处理器4增大对应的电磁铁5-17的电流I＝1.9A，从而增大电磁铁5-17对钢板的吸引力F 合，使得钢板1-3向上运动一段距离，直到恢复到2500mm。
以上结合附图详细描述了本发明的优选实施方式，但是，本发明并不限于此。在本发明的技术构思范围内，可以对本发明的技术方案进行多种简单变型，包括各个具体技术特征以任何合适的方式进行组合，为了避免不必要的重复，本发明对各种可能的组合方式不再另行说明。但这些简单变型和组合同样应当视为本发明所公开的内容，均属于本发明的保护范围。

Claims (10)

  1. 一种钢板悬浮传送装置，其特征在于，所述悬浮传送装置包括：
    水平安装的初始悬浮模块和尾端卸载模块；
    安装于所述初始悬浮模块和尾端卸载模块之间的中间传输模块，所述中间传输模块与水平面之间存在夹角；
    所述初始悬浮模块、中间传输模块和尾端卸载模块分别安装有多个能够对钢板施加电磁铁吸引力的电磁铁，通过所述初始悬浮模块的电磁铁控制钢板悬浮，通过所述中间传输模块的电磁铁控制钢板向所述尾端卸载模块运动，通过所述尾端卸载模块的电磁铁控制钢板降落；
    传感器模块，安装于各个所述电磁铁上，能够检测所述电磁铁传送的钢板的位置、速度和温度信息；
    与所述电磁铁、传感器模块连接的中央处理器，能够接收所述传感器模块发送的信息，然后调节流入所述电磁铁的电流/电压大小，从而调整所述电磁铁对钢板施加的电磁铁吸引力大小。
  2. 根据权利要求1所述的悬浮传送装置，其特征在于，所述中间传输模块的电磁铁与水平面的夹角为0°-60°。
  3. 根据权利要求1所述的悬浮传送装置，其特征在于，相邻两个所述电磁铁之间的安装距离为200-4000mm。
  4. 根据权利要求1所述的悬浮传送装置，其特征在于，所述传感器模块包括位移传感器、速度传感器和温度传感器。
  5. 根据权利要求1所述的悬浮传送装置，其特征在于，所述初 始悬浮模块、中间传输模块和尾端卸载模块使得所述钢板悬浮于所述电磁铁下方150-3000mm内。
  6. 根据权利要求1所述的悬浮传送装置，其特征在于，所述电磁铁使得钢板传送速度为0.01m/s-10m/s。
  7. 根据权利要求1所述的悬浮传送装置，其特征在于，所述初始悬浮模块、中间传输模块和尾端卸载模块依次连接形成直线布局或者螺旋线布局；和/或，传送的钢板的长度为10-7000mm，宽度为5-10000mm，厚度为0.1-500mm；和/或，所述悬浮传送装置的总长度为200-60000mm。
  8. 一种钢板的悬浮传送方法，其特征在于，该方法在权利要求1-7中任一项的悬浮传送装置中进行，包括以下步骤：
    S1、将所述初始悬浮模块与轧机出料口连接，通过轧机带动钢板进入所述初始悬浮模块，然后所述传感器模块协同所述中央处理器调整所述初始悬浮模块的电磁铁产生电磁力吸引力，以控制钢板进行悬浮；
    S2、利用钢板的惯性或轧机的带动使得悬浮的钢板进入所述中间传输模块，然后所述传感器模块协同所述中央处理器调整所述中间传输模块的电磁铁产生电磁力吸引力，控制钢板向所述尾端卸载模块的方向运动；
    S3、所述中间传输模块控制钢板进入所述尾端卸载模块后，所述传感器模块协同所述中央处理器调节所述尾端卸载模块的电磁铁的电磁力吸引力大小，使得钢板卸载降落。
  9. 根据权利要求8所述的悬浮传送方法，其中，所述传感器模块检测到钢板位置不对中、钢板与所述电磁铁之间有距离偏差或者钢板运动速度不满足要求时，传感器模块立即将检测到的偏离信息传送到所述中央处理器，然后所述中央处理器控制流入所述电磁铁的电流，从而调节所述电磁铁对钢板的吸引力，以恢复矫正钢板的运动状态。
  10. 权利要求1-7中任一项所述的钢板悬浮传送装置在磁性材料运输中的应用。
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