A device and method for processing the problem of loose coil in inner hole of cold-rolled steel coil

Abstract

The present invention relates to a device and method for handling the problem of loose coils in the inner hole of a cold-rolled steel coil, comprising a mechanical arm and a reset tool. The mechanical arm is installed on a foundation, and the mechanical arm drives the reset tool to realize the detection of the spatial position of the steel coil, the detection of the actual shape of the inner hole of the steel coil, the reset of the loose steel strip in the inner hole, and the labeling operation; the reset tool comprises a square tube, a laser distance measuring mechanism, a pneumatic reset mechanism, a roller reset mechanism, and a labeling mechanism; the square tube is fixedly connected to the flange, an air cavity is provided in the upper part of the square tube, and nozzles are evenly fixed along the same straight line on the top of the air cavity, and an air source quick-plug connector connected to the air cavity is connected to one side of the square tube, and a labeling mechanism is connected to the other side. The advantages are: automatic operation is realized, the efficiency of handling the problem of loose coils in the inner hole of the cold-rolled steel coil is high, and the steel coil will not be damaged. The high-pressure gas sprayed from the nozzle and the roller directly contact the steel strip to realize the reset of the loose steel strip in the inner hole of the steel coil, avoid damaging the surface of the steel strip, and ensure the surface quality of the steel strip.

Description

Technical Field

[0001] The invention belongs to the field of strip steel production, and in particular relates to a device and a method for processing the problem of loose coiling in the inner hole of a cold-rolled steel coil. Background Art

[0002] In the production process of cold-rolled strip steel, in the intermediate process, after the steel coil is unloaded from the coiler, usually only a strapping tape is tied on the outer circumference, and there is no strapping tape or mandrel to fix the inner hole. For thin steel plates (≤1mm), the inner hole often becomes loose, which brings certain difficulties to the next process of coiling. At present, the common practice is to manually handle the loose part of the inner hole, and then fix the tail of the strip by welding, and then reinstall it to the coiler to enter the next process. Manual handling of loose coils affects production efficiency, and the welding process will cause damage to the thin steel plate. At the same time, this process has certain safety hazards, so an effective treatment method is needed. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the present invention provides a device and method for dealing with the problem of loose coils in the inner hole of a cold-rolled steel coil, thereby efficiently and safely resetting the spirally loose steel strip in the inner hole of the steel coil, and fixing the relocated strip end through a self-adhesive label with the steel coil information.

[0004] To achieve the above object, the present invention is implemented through the following technical solutions:

[0005] A device for processing the problem of loose coils in the inner hole of a cold-rolled steel coil, comprising a mechanical arm and a resetting tool, wherein the mechanical arm is installed on a foundation, and the mechanical arm drives the resetting tool to realize the detection of the spatial position of the steel coil, the detection of the actual shape of the inner hole of the steel coil, the resetting of the loose steel strip in the inner hole, and the labeling operation;

[0006] The reset tool includes a square tube, a laser distance measuring mechanism, a pneumatic reset mechanism, a roller reset mechanism, and a labeling mechanism; the square tube is fixedly connected to the flange, an air cavity is provided in the upper part of the square tube, nozzles are evenly fixed along the same straight line on the top of the air cavity, one side of the square tube is connected to an air source quick-connect connector connected to the air cavity, and the other side is connected to the labeling mechanism; guide blocks are fixed at both ends of the square tube, and the roller reset mechanism can move up and down along the guide blocks; one end face of the square tube is fixedly connected to the end of the robot arm through a flange, and the other end face is installed with a laser distance measuring mechanism; the laser distance measuring mechanism is used for detecting the outer contour position of the steel coil and the actual shape of the inner hole of the steel coil; the pneumatic reset mechanism and the roller reset mechanism are used for resetting the loose steel strip in the inner hole of the steel coil; the labeling mechanism is used to label the end of the steel strip after reset.

[0007] The laser ranging mechanism comprises a servo motor, a fixed cover, an L-shaped mounting plate, and a laser ranging sensor. The servo motor is fixedly connected to the square tube through the fixed cover, the L-shaped mounting plate is fixedly connected to the servo motor output shaft, and the L-shaped mounting plate is fixedly connected to the laser ranging sensor.

[0008] The roller resetting mechanism includes a bracket, an axle, a roller, a spring, and a guide column. The roller is connected to the top of the bracket through the axle. Two guide columns are fixedly connected to the lower end surface of the bracket in parallel. The guide column passes through a square tube and is threadedly connected to a nut. The spring is sleeved on the guide column. One end of the spring rests on the bracket, and the other end rests on the square tube.

[0009] The labeling mechanism includes a ladder frame, a guide cylinder, a label suction cup, and a sponge. The guide cylinder body is fixedly connected to the square tube through the ladder frame, the piston rod of the guide cylinder is fixedly connected to the label suction cup, the label suction cup is connected to a quick-connect connector, the upper surface of the label suction cup is connected to a sponge, and the upper surface of the sponge is an arc surface with the same arc as the inner hole of the cold-rolled steel coil.

[0010] The included angle between the guide cylinder body and the square tube is 15° to 70°.

[0011] The two ends of the side surface of the square tube are connected with two groups of labeling mechanisms arranged parallel to each other through a ladder frame.

[0012] The flange is fixed with a square boss, and the square boss is connected to the square tube by bolts.

[0013] A method for processing the problem of loose coiling in the inner hole of a cold-rolled steel coil comprises the following steps:

[0014] 1) After the steel coil arrives at the workstation, the laser distance measuring mechanism is driven by the robotic arm to measure the arc of the actual outer surface of the steel coil along the detection path, and the coordinates of more than three measuring points are taken to calculate the coordinates of the outer contour position of the actual steel coil, and then the coordinates of the center point B of the inner hole of the actual steel coil when it is not unwound are calculated; then a point is measured at any position on the end face of the steel coil to determine the position of the axis direction of the steel coil; during measurement, the direction of the laser beam is perpendicular to the measuring surface;

[0015] 2) Detect the actual shape of the inner hole of the steel coil after unwinding

[0016] According to the position coordinates of point B obtained above, the robot arm drives the reset tool to insert into the center of the inner hole of the steel coil, so that the rotation center of the laser distance sensor coincides with the center of the inner hole. Then the servo motor starts to work, driving the laser distance sensor to rotate 360 ​​degrees. By measuring the distance change, the shape of the inner hole of the steel coil after unwinding is obtained, and the starting point of unwinding is determined.

[0017] 3) Remove the label and reset the loose coil part of the inner hole of the steel coil

[0018] The robotic arm drives the labeling mechanism on the reset tool to move to the printing position on the label machine, and adsorbs the label onto the sponge; the robotic arm drives the rollers on both sides of the reset tool to press at the start position of the unwinding, opens the gas source, and sprays high-pressure gas to the loose strip through the nozzle. The robotic arm drives the reset tool to move along the reset path. During the movement, the axis direction of the nozzle is always along the radius direction of the inner hole of the steel coil. The rolling of the rollers and high-pressure gas realizes the gradual reset of the unwinding; the measuring point of the laser distance sensor is always in front of the forward direction of the roller rolling point, and the distance data is continuously collected during this period;

[0019] 4) Attach a label to the end of the inner hole of the steel coil

[0020] When the robot arm drives the reset tool to move to the tail position of the inner hole of the steel coil detected by the laser ranging sensor, the robot arm stops moving, and the guide cylinder of the labeling mechanism is pushed out to stick the self-adhesive label placed on the sponge to the reset tail of the tape. The robot arm drives the reset tool to repeatedly rotate at a small angle to make the sponge press the label, so as to fix the reset tail of the tape.

[0021] The detection path described in step 1) is a 120° outer arc line at half the range of the laser ranging sensor outside the outer contour of the steel coil at the theoretical position.

[0022] The reset path described in step 3) is the calculated equidistant arc line of the inner hole contour when the coil is not unwound.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention uses a motor and a cylinder as a power source to realize automatic operation, and has a high efficiency in dealing with the problem of loose coils in the inner hole of cold-rolled steel coils, and will not cause damage to the steel coils. The present invention integrates the function of labeling steel coils, which is convenient for tracking steel coil information and greatly reduces production costs. The present invention uses high-pressure gas sprayed from a nozzle and a roller to directly contact the steel strip to reset the loose steel strip in the inner hole of the steel coil, avoid damaging the surface of the steel strip, and ensure the surface quality of the steel strip. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The figure is a schematic diagram of the overall structure of a device for dealing with the problem of loose coils in the inner hole of a cold-rolled steel coil.

[0026] Figure 2 A schematic diagram of the structure of the reset tool.

[0027] Figure 3 It is a schematic diagram of the structure of a square tube.

[0028] Figure 4 It is a structural schematic diagram of the roller resetting mechanism.

[0029] Figure 5 It is a structural diagram of the labeling mechanism.

[0030] Figure 6 It is a structural schematic diagram of the laser ranging mechanism.

[0031] Figure 7 This is a schematic diagram of the reset operation.

[0032] Figure 8 Schematic diagram of the detection path.

[0033] In the figure: 1-robotic arm, 2-reset tool, 3-flange, 4-square tube, 5-nozzle, 6-air source quick plug connector, 7-axle, 8-roller, 9-bracket, 10-roller reset mechanism, 11-laser distance measurement mechanism, 12-labeling mechanism, 13-ladder frame, 14-guide cylinder, 15-label suction cup, 16-sponge, 17-guide block, 18-air cavity, 19-installation cavity, 20-spring, 21-quick plug connector, 22-servo motor, 23-fixed cover, 24-L-type mounting plate, 25-laser distance measurement sensor, 26-starting point, 27-reset path, 28-detection path, 29-actual detection arc, 30-theoretical position of steel coil, 31-actual position of steel coil, 32-actual center point B of steel coil, 33-theoretical center point A of steel coil. DETAILED DESCRIPTION

[0034] The present invention is described in detail below in conjunction with the accompanying drawings, but it should be noted that the implementation of the present invention is not limited to the following embodiments.

[0035] See Figure 1-Figure 6 A device for dealing with the problem of loose coils in the inner hole of a cold-rolled steel coil comprises a robot arm 1 and a resetting tool 2. The robot arm 1 is installed on a foundation. The robot arm 1 drives the resetting tool 2 to detect the spatial position of the steel coil, detect the actual shape of the inner hole of the steel coil, reset the loose steel strip in the inner hole, and label the steel coil.

[0036] See Figure 1-Figure 6 The reset tool 2 includes a square tube 4, a laser distance measuring mechanism 11, a pneumatic reset mechanism, a roller reset mechanism 10, and a labeling mechanism 12; the square tube 4 is a welded structure, the square tube 4 is fixedly connected to the flange 3, an air cavity 18 is provided at the upper part of the square tube 4, and an installation cavity 19 is provided at the lower part, and the installation cavity 19 is used to install a servo motor 22, and nozzles 5 are evenly fixed on the top of the air cavity 18 along the same straight line, such as Figure 2As shown, there are 18 nozzles 5, one side of the square tube 4 is connected to an air source quick-connect connector 6 connected to the air cavity 18, and the other side is connected to a labeling mechanism 12; guide blocks 17 are fixed at both ends of the square tube 4, and the roller reset mechanism 10 can move up and down along the guide blocks 17; the guide blocks 17 are arranged on both sides of the roller reset mechanism 10 and fixed on the inner wall of the square tube 4, which are used to guide the roller reset mechanism 10 up and down, so that the roller reset mechanism 10 can reciprocate smoothly. The end face of one end of the square tube 4 is fixedly connected to the end of the robot arm 1 through the flange 3, and the other end face is installed with a laser distance measuring mechanism 11; the laser distance measuring mechanism 11 is used for detecting the spatial position of the steel coil and the actual shape of the inner hole of the steel coil; the pneumatic reset mechanism and the roller reset mechanism 10 are used to reset the loose steel strip in the inner hole of the steel coil; the labeling mechanism 12 is used to label the end of the reset steel strip. The two ends of the side of the square tube 4 are connected to two sets of labeling mechanisms 12 arranged parallel to each other through a ladder frame 13, and the ladder frame 13 can be a trapezoidal steel plate with mounting holes; the flange 3 is fixed with a square boss, and the square boss is connected to the square tube 4 by bolts.

[0037] See Figure 6 The laser distance measuring mechanism 11 includes a servo motor 22, a fixed cover 23, an L-shaped mounting plate 24, and a laser distance measuring sensor 25. The servo motor 22 is fixedly connected to the square tube 4 through the fixed cover 23, the L-shaped mounting plate 24 is fixedly connected to the output shaft of the servo motor 22, and the L-shaped mounting plate 24 is fixedly connected to the laser distance measuring sensor 25. Specifically, two threaded holes are arranged diagonally on the end face of the fixed cover 23 for installing the servo motor 22, and four threaded holes are arranged on the four sides for connecting with the square tube 4; after the laser distance measuring sensor 25 is connected to the servo motor 22, it is used in conjunction with the robot arm 1 to realize the spatial position detection of the cold-rolled steel coil and the actual shape detection of the inner hole.

[0038] See Figure 4 The roller resetting mechanism 10 includes a bracket 9, an axle 7, a roller 8, a spring 20, and a guide column. The roller 8 is connected to the top of the bracket 9 through the axle 7. Two guide columns are fixedly connected to the lower end surface of the bracket 9 in parallel with each other. The guide column passes through the square tube 4 and is threadedly connected to the nut. The spring 20 is sleeved on the guide column. One end of the spring 20 abuts against the bracket 9, and the other end abuts against the square tube 4 to achieve the resetting and buffering of the roller 8.

[0039] See Figure 5The labeling mechanism 12 includes a ladder frame 13, a guide cylinder 14, a label sucker 15, and a sponge 16. The cylinder body of the guide cylinder 14 is fixedly connected to the square tube 4 through the ladder frame 13. The piston rod of the guide cylinder 14 is fixedly connected to the label sucker 15. The label sucker 15 is connected to a quick connector 21. The upper surface of the label sucker 15 is connected to a sponge 16. The upper surface of the sponge 16 is an arc surface with the same arc as the inner hole of the cold-rolled steel coil, so as to achieve reliable labeling. The angle between the cylinder body of the guide cylinder 14 and the square tube 4 is 15° to 70°, so that the arc surface of the sponge 16 is coaxial with the inner hole of the steel coil.

[0040] See Figure 7 , Figure 8 , a method for processing the problem of loose coiling in the inner hole of a cold-rolled steel coil, comprising the following steps:

[0041] 1) After the steel coil arrives at the workstation, the laser distance measuring mechanism 11 is driven by the robot 1 to measure the arc of the outer surface of the actual steel coil along the detection path 28, and the coordinates of more than three measuring points (for example: the coordinates of P1, P2, P3, and P4) are taken to calculate the coordinates of the actual outer contour position of the steel coil, and then the coordinates of the center point B when the inner hole of the actual steel coil is not loosened are calculated; then a point is measured at any position on the end face of the steel coil to determine the position of the steel coil axis direction; during measurement, the direction of the laser beam is perpendicular to the measuring surface; the detection path 28 is the 120° outer arc line at half the range of the laser distance measuring sensor 25 outside the outer contour of the steel coil at the theoretical position. If the range of the laser distance measuring sensor 25 is 120mm, the detection path 28 is the 120° arc line 60mm outside the outer contour of the steel coil at the theoretical position.

[0042] 2) Detect the actual shape of the inner hole of the steel coil after unwinding

[0043] According to the position coordinates of point B obtained above, the robot arm 1 drives the reset tool 2 to insert into the center of the inner hole of the steel coil, so that the rotation center of the laser distance sensor 25 coincides with the inner hole center point B, and then the servo motor 22 starts to work, driving the laser distance sensor 25 to rotate 360 ​​degrees. By measuring the distance change, the shape of the inner hole of the steel coil after unwinding is obtained, and the starting point 26 of unwinding is determined;

[0044] 3) Remove the label and reset the loose coil part of the inner hole of the steel coil

[0045] The robot arm 1 drives the labeling mechanism 12 on the resetting tool 2 to move to the printing position on the labeling machine, and uses the negative pressure principle to adsorb the self-adhesive label onto the sponge 16.

[0046] The robot arm 1 drives the rollers 8 on both sides of the reset tool 2 to press at the starting position of the unwinding (starting point 26), opens the gas source, and sprays high-pressure gas to the loose steel strip through the nozzles 5 (18). The robot arm 1 drives the reset tool 2 to move along the reset path 27. The reset path 27 is an equidistant arc line of the calculated inner hole contour (unwinding). During the movement, the axial direction of the nozzle 5 is always along the radius of the inner hole of the steel coil. The rolling of the rollers 8 and the high-pressure gas realizes the gradual reset of the unwinding. The measuring point of the laser distance sensor 25 is always in front of the forward direction of the rolling point of the rollers 8, and the distance data is continuously collected during this period.

[0047] 4) Attach a label to the end of the inner hole of the steel coil

[0048] When the robot arm 1 drives the reset tool 2 to move to the position of the inner hole of the steel coil detected by the laser distance sensor 25, the robot arm 1 stops moving, and the guide cylinder 14 of the labeling mechanism 12 is pushed out to stick the self-adhesive label placed on the sponge 16 to the reset tail of the tape, and the robot arm 1 drives the reset tool 2 to repeatedly rotate at a small angle so that the sponge 16 presses the label to fix the reset tail of the tape. After the whole process is completed, the device is reset and ready for the next operation.

Claims

1. A method for dealing with the problem of loose coils in the inner hole of a cold-rolled steel coil, characterized in that: The following steps are involved: 1) After the steel coil arrives at the workstation, the mechanical arm drives the laser distance measuring mechanism to measure the arc of the outer surface of the actual steel coil along the detection path, take the coordinates of more than three measuring points, calculate the coordinates of the outer contour position of the actual steel coil, and then calculate the coordinates of the center point B of the inner hole of the actual steel coil when it is not unwound; then measure a point at any position on the end face of the steel coil to determine the position of the axis direction of the steel coil; during measurement, the direction of the laser beam is perpendicular to the measuring surface; 2) Detect the actual shape of the inner hole of the steel coil after unwinding According to the position coordinates of point B obtained above, the robot arm drives the reset tool to insert into the center of the inner hole of the steel coil, so that the rotation center of the laser distance sensor coincides with the center of the inner hole. Then the servo motor starts to work, driving the laser distance sensor to rotate 360 ​​degrees. By measuring the distance change, the shape of the inner hole of the steel coil after unwinding is obtained, and the starting point of unwinding is determined. 3) Remove the label and reset the loose coil part of the inner hole of the steel coil The robotic arm drives the labeling mechanism on the reset tool to move to the printing position on the label machine, and adsorbs the label onto the sponge; the robotic arm drives the rollers on both sides of the reset tool to press at the start position of the unwinding, opens the gas source, and sprays high-pressure gas to the loose strip through the nozzle. The robotic arm drives the reset tool to move along the reset path. During the movement, the axis direction of the nozzle is always along the radius direction of the inner hole of the steel coil. The rolling of the rollers and high-pressure gas realizes the gradual reset of the unwinding; the measuring point of the laser distance sensor is always in front of the forward direction of the roller rolling point, and the distance data is continuously collected during this period; 4) Attach a label to the end of the inner hole of the steel coil When the mechanical arm drives the reset tool to move to the position of the inner hole of the steel coil detected by the laser distance sensor, the mechanical arm stops moving, and the guide cylinder of the labeling mechanism is pushed out to stick the self-adhesive label placed on the sponge to the reset tail of the tape. The mechanical arm drives the reset tool to repeatedly rotate at a small angle to make the sponge press the label, so as to fix the reset tail of the tape; The device for processing the problem of loose coils in the inner hole of a cold-rolled steel coil according to the method described herein comprises a mechanical arm and a resetting tool, wherein the mechanical arm is installed on a foundation, and the mechanical arm drives the resetting tool to detect the spatial position of the steel coil, detect the actual shape of the inner hole of the steel coil, reset the loose steel strip in the inner hole, and label the steel coil; The reset tool includes a square tube, a laser distance measuring mechanism, a pneumatic reset mechanism, a roller reset mechanism, and a labeling mechanism; the square tube is fixedly connected to the flange, an air cavity is provided in the upper part of the square tube, nozzles are evenly fixed along the same straight line on the top of the air cavity, one side of the square tube is connected to an air source quick-connect connector connected to the air cavity, and the other side is connected to the labeling mechanism; guide blocks are fixed at both ends of the square tube, and the roller reset mechanism can move up and down along the guide blocks; one end face of the square tube is fixedly connected to the end of the robot arm through a flange, and the other end face is installed with a laser distance measuring mechanism; the laser distance measuring mechanism is used for detecting the outer contour position of the steel coil and the actual shape of the inner hole of the steel coil; the pneumatic reset mechanism and the roller reset mechanism are used for resetting the loose steel strip in the inner hole of the steel coil; the labeling mechanism is used to label the end of the steel strip after reset.

2. A method for treating the problem of loose coils in the inner hole of a cold-rolled steel coil according to claim 1, characterized in that: The laser ranging mechanism comprises a servo motor, a fixing cover, an L-shaped mounting plate, and a laser ranging sensor. The servo motor is fixedly connected to the square tube through the fixing cover, the L-shaped mounting plate is fixedly connected to the servo motor output shaft, and the L-shaped mounting plate is fixedly connected to the laser ranging sensor.

3. A method for treating the problem of loose coils in the inner hole of a cold-rolled steel coil according to claim 1, characterized in that: The roller resetting mechanism includes a bracket, an axle, a roller, a spring, and a guide column. The roller is connected to the top of the bracket through the axle. Two guide columns are fixedly connected to the lower end surface of the bracket in parallel. The guide column passes through a square tube and is threadedly connected to a nut. The spring is sleeved on the guide column. One end of the spring rests on the bracket, and the other end rests on the square tube.

4. A method for treating the problem of loose coils in the inner hole of a cold-rolled steel coil according to claim 1, characterized in that: The labeling mechanism includes a ladder frame, a guide cylinder, a label suction cup, and a sponge. The guide cylinder body is fixedly connected to the square tube through the ladder frame, the piston rod of the guide cylinder is fixedly connected to the label suction cup, the label suction cup is connected to a quick-connect connector, the upper surface of the label suction cup is connected to a sponge, and the upper surface of the sponge is an arc surface with the same arc as the inner hole of the cold-rolled steel coil.

5. A method for treating the problem of loose coils in the inner hole of a cold-rolled steel coil according to claim 4, characterized in that: The included angle between the guide cylinder body and the square tube is 15° to 70°.

6. A method for treating the problem of loose coils in the inner hole of a cold-rolled steel coil according to claim 4, characterized in that: The two ends of the side surface of the square tube are connected with two groups of labeling mechanisms arranged parallel to each other through a ladder frame.

7. A method for treating the problem of loose coils in the inner hole of a cold-rolled steel coil according to claim 1, characterized in that: The flange is fixed with a square boss, and the square boss is connected to the square tube by bolts.

8. A method for treating the problem of loose coils in the inner hole of a cold-rolled steel coil according to claim 1, characterized in that: The detection path described in step 1) is a 120° outer arc line at half the range of the laser ranging sensor outside the outer contour of the steel coil at the theoretical position.

9. A method for treating the problem of loose coils in the inner hole of a cold-rolled steel coil according to claim 1, characterized in that: The reset path described in step 3) is the calculated equidistant arc line of the inner hole contour when the coil is not loosened.

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