An air overturning automatic stabilizing type steel roll electric permanent magnetic lifting appliance and a use method thereof

Abstract

This invention belongs to the field of lifting equipment technology, and specifically relates to an automatic stabilizing electro-permanent magnet lifting device for steel coils with aerial tilting and its usage method. It includes a lifting beam, a tilting disc, a center-of-gravity adjustment mechanism, a thickness adaptation mechanism, a load identification device, a tilting mechanism, a control system, and a magnetic attraction module. The tilting disc is rotatably mounted on the lifting beam, and the magnetic attraction module is located at the bottom of the tilting disc. The tilting mechanism is mounted on the lifting beam and connected to the tilting disc. The center-of-gravity adjustment mechanism and the thickness adaptation mechanism are located on the upper tilting disc. The center-of-gravity adjustment mechanism adjusts the center of gravity, and the thickness adaptation mechanism positions the steel coil and adapts to its thickness. The load identification device and the control system are located on the lifting beam. The load identification device identifies the load information of the steel coil, and the control system controls the center-of-gravity adjustment mechanism, the thickness adaptation mechanism, the tilting mechanism, and the magnetic attraction module. This invention has a compact structure, saves space, has a high degree of automation, a fast operating cycle, and possesses self-stabilizing characteristics for the aerial tilting center.

Description

Technical Field

[0001] This invention belongs to the field of lifting equipment technology, and specifically relates to an automatic stabilizing electro-permanent magnet lifting equipment for aerial flipping of steel coils and its usage method. Background Technology

[0002] The formed steel is in coil form, typically weighing 2 to 30 tons, and is loaded and unloaded using a crane. When the steel coil's axis is horizontal, hoisting is safe and close to the working condition. However, in actual use, the steel coil is likely to be in a vertical position, requiring it to be flipped to a horizontal position. Existing technology uses a ground-based flipping machine, lifting equipment, and crane for the flipping, which is time-consuming, labor-intensive, and inefficient. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide an automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils and its usage method, thereby solving the problems of time-consuming, labor-intensive, and inefficient operation in the prior art that relies on ground-mounted flipping machines, lifting devices, and cranes for flipping.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] An embodiment of the present invention provides an automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils, comprising a lifting beam, a flipping disc, a center of gravity adjustment mechanism, a thickness adaptation mechanism, a load identification device, a flipping mechanism, a control system, and a magnetic attraction module. The flipping disc is rotatably mounted on the lower end of the lifting beam, and the magnetic attraction module is disposed at the bottom of the flipping disc for attracting steel coils. The flipping mechanism is disposed on the lifting beam and connected to the flipping disc, and is used to drive the flipping disc to rotate. Both the center of gravity adjustment mechanism and the thickness adaptation mechanism are disposed on the upper flipping disc. The center of gravity adjustment mechanism adjusts the center of gravity by adjusting the distance between itself and the flipping disc, and the thickness adaptation mechanism is used to position the steel coil and adapt to the thickness of the steel coil. Both the load identification device and the control system are disposed on the lifting beam. The load identification device identifies the load information of the steel coil and transmits it to the control system, which controls the center of gravity adjustment mechanism, the thickness adaptation mechanism, the flipping mechanism, and the magnetic attraction module.

[0006] In one possible implementation, the tilting disc includes a base plate, a guide cylinder, lifting pipes, and an upper crossbeam, wherein the opposite sides of the base plate are rotatably connected to the lifting beam via a tilting shaft; two lifting pipes are provided on the top of the base plate, and the upper crossbeam is connected to the top of the two lifting pipes; the guide cylinder is located at the center of the base plate; and an inclinometer is provided on the upper crossbeam.

[0007] In one possible implementation, the thickness adaptation mechanism includes a servo linear drive mechanism I and a stop cylinder, wherein the stop cylinder is slidably inserted into the guide cylinder along the axial direction, the servo linear drive mechanism I is connected between the upper crossbeam and the stop cylinder, and the servo linear drive mechanism I is used to drive the stop cylinder to extend or retract.

[0008] In one possible implementation, the magnetic module includes a plurality of electro-permanent magnets disposed at the bottom of the base plate, the plurality of electro-permanent magnets being arranged around the guide cylinder.

[0009] In one possible implementation, the center of gravity adjustment mechanism includes a configuration block, a bracket, and a servo linear drive mechanism II, wherein the bracket is slidably connected to the lifting tube, and the configuration block is provided on the bracket; the servo linear drive mechanism II is connected between the base plate and the bracket, and is used to drive the bracket to slide on the lifting tube.

[0010] In one possible implementation, the base plate is an octagonal steel plate, and a flip shaft mounting plate is vertically welded to the bottom of the octagonal steel plate on opposite sides. The flip shaft is mounted on the flip shaft mounting plate, and the axis of the flip shaft is orthogonal to the axis of the guide cylinder.

[0011] In one possible implementation, the tilting mechanism includes a tilting drive, a forearm, and a boom, wherein the tilting drive is hinged to the top of the lifting beam, the output end of the tilting drive is hinged to one end of the forearm and the boom, the other end of the boom is hinged to the lower end of the lifting beam via a boom hinge shaft, and the other end of the forearm is hinged to the base plate via a forearm hinge shaft.

[0012] In one possible implementation, the tilting drive is a tilting electric cylinder, the tail of which is hinged to the lifting beam via a tail hinge shaft, and the electric rod of the tilting electric cylinder is hinged to one end of the forearm and the upper arm via a head hinge shaft. The upper arm hinge shaft and the tail hinge shaft of the electric cylinder are respectively located on two connecting rods provided on one side of the lifting beam.

[0013] In one possible implementation, the lifting beam includes a crossbeam and leg beams vertically connected to both ends of the crossbeam, with the tilting disc disposed between the lower ends of the two leg beams; the load identification device and the control system are both disposed on the crossbeam; and a lifting lug assembly is provided on the top of the crossbeam.

[0014] Another embodiment of the present invention provides a method for using the above-described automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils, the method comprising the following steps:

[0015] 1) The crane is connected to the lifting beam by a flexible steel wire rope and a hook, and the tilting plate is placed close to the steel coil placed on the ground. At this time, the axis of the stop cylinder of the tilting plate is perpendicular to the ground.

[0016] 2) The steel coil is attracted by the magnetic module at the bottom of the flip plate;

[0017] 3) The thickness adaptation mechanism extends from the center of the steel coil, and the extension length reaches the thickness of the steel coil;

[0018] 4) The crane lifts the entire lifting gear and steel coil off the ground;

[0019] 5) The load identification device detects the weight and center of gravity information of the steel coil and transmits the obtained weight and center of gravity information to the control system.

[0020] 6) The control system controls the center of gravity adjustment mechanism, which adjusts the center of gravity of the flipping part to be closer to the flipping axis of the flipping disk;

[0021] 7) The tilting mechanism drives the tilting disc to rotate, making the axis of the tilting disc's stop cylinder parallel to the ground;

[0022] 8) The crane lifts the entire lifting device and steel coil to the designated position.

[0023] The advantages and beneficial effects of the present invention are as follows: The present invention provides an automatic stabilizing electro-permanent magnet lifting device for air-lifting steel coils, which is used for lifting and transporting steel coil equipment. Compared with the steel coil lifting and turning method of ground turning machine, it saves ground space, has a high degree of automation, fast operation cycle, and saves the time cycle of lifting the steel coil onto the turning machine and lifting the steel coil from the turning machine.

[0024] Compared to the steel coil flipping clamp lifting device, this invention reduces damage to the steel coil by the lifting device. The electro-permanent magnet avoids the risk of slippage due to friction failure of the steel coil flipping clamp lifting device, resulting in a high safety factor and high work efficiency. It reduces manual labor and realizes automated lifting, flipping and other operations.

[0025] This invention features a compact structure, light weight, and servo electric cylinder drive, eliminating the need for hydraulics and facilitating standardization and cost reduction. Compared to electric rotating drives that use two steel chains for tipping, this invention has a self-stabilizing characteristic at the aerial tipping center. The lifting device only requires a single lifting point, eliminating the need for dual lifting points, thus possessing self-stabilizing properties.

[0026] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0027] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0028] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0029] Figure 1 This is an isometric view of an automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils according to the present invention;

[0030] Figure 2 This is a cross-sectional view of an automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils according to the present invention;

[0031] Figure 3 This is an isometric view of the lifting beam in this invention;

[0032] Figure 4 This is an isometric view of the flip disk in this invention;

[0033] Figure 5 This is a schematic diagram of the positive 7° rotation of an automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils according to the present invention;

[0034] Figure 6 This is a schematic diagram of the lifting state of an automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils according to the present invention;

[0035] Figure 7 This is a schematic diagram of the horizontal flipping of an automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils according to the present invention;

[0036] Figure 8 This is a schematic diagram of the reverse 170° rotation of an automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils according to the present invention.

[0037] In the diagram: 1 is the lifting beam, 101 is the crossbeam, 102 is the leg beam, 103 is the spindle, 104 is the lifting lug assembly, 2 is the tilting plate, 201 is the base plate, 202 is the guide cylinder, 203 is the triangular rib, 204 is the tilting shaft mounting plate, 205 is the tilting shaft, 206 is the tilting hinge shaft, 207 is the lifting tube, 208 is the upper crossbeam, 3 is the center of gravity adjustment mechanism, 301 is the configuration block, 302 is the bracket, 303 is the servo electric cylinder I, 4 is the thickness adaptation mechanism, 401 is the thickness adaptation mechanism. 402 is the servo electric cylinder II, 5 is the stop cylinder, 6 is the load identification device, 6 is the tilting mechanism, 601 is the tail hinge shaft of the electric cylinder, 602 is the tilting electric cylinder, 603 is the head hinge shaft of the electric rod, 604 is the forearm, 605 is the forearm hinge shaft, 606 is the boom, 607 is the boom hinge shaft, 7 is the control system, 8 is the steel coil, 9 is the lifting ring, 10 is the electro-permanent magnet, 11 is the inclinometer, 12 is the lifting beam axis, 13 is the tilting axis, and 14 is the stop cylinder axis. Detailed Implementation

[0038] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0040] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0042] One embodiment of the present invention provides an automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils, which features space-saving design, high degree of automation, fast operation cycle, and high self-stabilizing characteristics. See also... Figure 1 , Figure 2As shown, this type of automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils includes a lifting beam 1, a flipping disc 2, a center of gravity adjustment mechanism 3, a thickness adaptation mechanism 4, a load identification device 5, a flipping mechanism 6, a control system 7, and a magnetic attraction module. The flipping disc 2 is rotatably mounted on the lower end of the lifting beam 1, and the magnetic attraction module is located at the bottom of the flipping disc 2 for attracting steel coils 8. The flipping mechanism 6 is located on the lifting beam 1 and connected to the flipping disc 2, and is used to drive the flipping disc 2 to rotate. The center of gravity adjustment mechanism 3 and the thickness adaptation mechanism 4 are both located on the upper flipping disc 2. The center of gravity adjustment mechanism 3 adjusts the center of gravity by adjusting the distance between itself and the flipping disc 2, and the thickness adaptation mechanism 4 is used to position the steel coil 8 and can adapt to the thickness of the steel coil 8. The load identification device 5 and the control system 7 are both located on the lifting beam 1. The load identification device 5 identifies the load information of the steel coil 8 and transmits it to the control system 7. The control system 7 controls the center of gravity adjustment mechanism 3, the thickness adaptation mechanism 4, the flipping mechanism 6, and the magnetic attraction module.

[0043] See Figure 3 As shown, in an embodiment of the present invention, the lifting beam 1 includes a crossbeam 101 and leg beams 102 vertically connected to both ends of the crossbeam 101. The lower ends of the two leg beams 102 are provided with coaxial spindles 103. A flipping disk 2 is disposed between the lower ends of the two leg beams 102 and is rotatably connected to the two spindles 103. The flipping disk 2 can rotate around the flipping axis 13. The load identification device 5 and the control system 7 are both disposed on the crossbeam 101. A lifting lug assembly 104 is provided at the top center of the crossbeam 101. The lifting beam axis 12 at the center of the lifting lug assembly 104 is perpendicular to the flipping axis 13. A lifting ring 9 is provided on the lifting lug assembly 104.

[0044] Specifically, the crossbeam 101 is preferably made of rectangular steel, and the lifting lug assembly 104 is preferably made of steel plate and steel bar. The lifting lug assembly 104 is connected to the lifting ring 9 via a detachable steel bar. The crane lifts the air-twisting automatic stabilizing electro-permanent magnet lifting device and the attracted steel coil 8 from the ground plane via a flexible steel wire rope and a hook from the lifting ring 9. The leg beams 102 are preferably made of rectangular steel, and one end of each leg beam 102 is welded to both ends of the crossbeam 101. The crossbeam 101 and the two leg beams 102 are orthogonal, and the two leg beams 102 are parallel to each other. A mandrel 103 is provided at the other end of the leg beam 102. The lifting beam axis 12 is a ray, starting from the center point of the crossbeam 101 and extending along the length of the leg beam 102, pointing away from the lifting ring 9.

[0045] See Figure 4 As shown, in an embodiment of the present invention, the tilting plate 2 includes a base plate 201, a guide cylinder 202, a lifting pipe 207, and an upper crossbeam 208. The opposite sides of the base plate 201 are rotatably connected to the hanging beam 1 via a tilting shaft 205. Two lifting pipes 207 are provided on the top of the base plate 201, and the upper crossbeam 208 is connected to the top of the two lifting pipes 207. The guide cylinder 202 is located at the center of the base plate 201.

[0046] Furthermore, an inclinometer 11 is installed on the upper crossbeam 208.

[0047] Specifically, the guide tube 202 is connected to the base plate 201 through multiple triangular ribs 203 to improve the stability of the structure.

[0048] In an embodiment of the present invention, the magnetic attraction module includes a plurality of electro-permanent magnets 10 disposed at the bottom of the base plate 201, and the plurality of electro-permanent magnets 10 are arranged around the guide cylinder 202.

[0049] Preferably, the base plate 201 is an octagonal steel plate, and a flip shaft mounting plate 204 is vertically welded to the bottom of the octagonal steel plate on both opposite sides. The flip shaft 205 is disposed on the flip shaft mounting plate 204, and the axis of the flip shaft 205 is orthogonal to the axis of the guide cylinder 202. In this embodiment, four electro-permanent magnets 10 are evenly distributed on the bottom of the base plate 201.

[0050] Specifically, the octagonal steel plate is preferably an octagonal steel plate with a through hole in the middle. A guide cylinder 202 is welded to one side of the octagonal steel plate and reinforced by four evenly distributed triangular ribs 203. One side of the triangular rib 203 is welded to the guide cylinder 202, and the other side of the triangular rib 203 is welded to the octagonal steel plate, pointing towards the midpoint of one side of the octagonal steel plate. Four electro-permanent magnets 10 are evenly distributed and bolted to the octagonal steel plate. One side of the electro-permanent magnet 10 is close to the outside of the guide cylinder 202, and the other side of the electro-permanent magnet 10 is flush with one side of the octagonal steel plate. Two sets of steel plate assemblies 204 are welded to opposite sides of the octagonal steel plate. The flipping shafts 205 on the steel plate assemblies 204 pass through the central axis of the guide cylinder 202. The two flipping shafts 205 are collinear and on the flipping axis 13. The two flipping shafts 205 form hinge pairs with the two spindles 103 respectively, thereby forming a rotation pair around the flipping axis 13 between the lifting beam 1 and the flipping disk 2. The octagonal steel plate has flip hinge shafts 206 on both sides. The flip hinge shafts 206 and the hinges of the flipping mechanism 6 correspond to form a hinge pair that is spatially parallel to the flipping axis 13. One end of the two lifting tubes 207 is welded to the other end face of the flipping disk 2, and the other end of the two lifting tubes 207 is welded to the crossbeam 208.

[0051] See Figure 2 As shown, in an embodiment of the present invention, the thickness adaptation mechanism 4 includes a servo linear drive mechanism I and a servo linear drive mechanism 202, which is slidably inserted into the guide cylinder 202 along the axial direction. The servo linear drive mechanism I is connected between the upper crossbeam 208 and the guide cylinder 202, and the servo linear drive mechanism I is used to drive the telescopic movement.

[0052] Specifically, in this embodiment, the servo linear drive mechanism I includes a servo electric cylinder II 401, which is housed within the upper crossbeam 208 and its tail is connected to the bottom of the upper crossbeam. The output rod of the servo electric cylinder II 401 is connected to the upper crossbeam 208. The servo electric cylinder II 401 drives the extension and retraction.

[0053] Furthermore, the outer cylindrical surface of the hollow cylinder 202 and the inner cylindrical surface of the guide cylinder 202 form a linear motion cylindrical pair. The extension and retraction of the servo electric cylinder II 401 ensures that the length of the extended end adsorbed by the electro-permanent magnet 10 basically matches the thickness of the steel coil 8. The thickness adaptation mechanism 4 adapts to the thickness of the steel coil 8 with different thicknesses. The servo electric cylinder II 401 can sense the load. When the extended length reaches the thickness of the steel coil 8, the lower end of the coil will touch the ground. Therefore, the servo motor inside the servo electric cylinder II 401 will be stalled. The driver matched with the servo motor will sense the abnormal drive current, and then the manually programmed program of the servo driver will control the coil to stop. This allows the extended end length to adapt to the thickness of the steel coil 8, which has hundreds of thickness specifications. Therefore, the control system 7 allows the thickness adaptation mechanism 4 to adapt to the thickness of the steel coil 8, with the centerline of the coil being the axis of the stop cylinder 14. During the air flipping process of the steel coil 8, radial slippage of the steel coil 8 is effectively prevented, thus playing a positioning role.

[0054] See Figure 5 As shown, in an embodiment of the present invention, the center of gravity adjustment mechanism 3 includes a configuration block 301, a bracket 302, and a servo linear drive mechanism II. The bracket 302 is slidably connected to the lifting tube 207, and two sets of configuration blocks 301 are symmetrically arranged on the bracket 302. The servo linear drive mechanism II is connected between the base plate 201 and the bracket 302, and is used to drive the bracket 302 to slide on the lifting tube 207.

[0055] Specifically, the servo linear drive mechanism II includes two symmetrically arranged servo electric cylinders I 303. The cylinder body of the servo electric cylinder I 303 is fixedly connected to the bracket 302, and the lever end of the servo electric cylinder I 303 is connected to the base plate 201. The servo electric cylinder I 303 drives the lever to extend and retract, thereby causing the bracket 302 and its mounting block 301 to slide on the lifting tube 207. The extension and retraction movement of the servo electric cylinder 203 keeps the center of gravity of the flipping part near the flipping axis 13.

[0056] See Figure 5 As shown, in an embodiment of the present invention, the flipping mechanism 6 includes a flipping drive, a forearm 604 and a boom 606. The flipping drive is hinged to the top of the lifting beam 1. The output end of the flipping drive is hinged to one end of the forearm 604 and the boom 606. The other end of the boom 606 is hinged to the lower end of the lifting beam 1 through a boom hinge shaft 607. The other end of the forearm 604 is hinged to the base plate 201 through a forearm hinge shaft 605.

[0057] In an embodiment of the present invention, the tilting drive is a tilting electric cylinder 602. The tail of the tilting electric cylinder 602 is hinged to the lifting beam 1 via a tail hinge shaft 601. The electric rod of the tilting electric cylinder 602 is hinged to one end of the forearm 604 and the upper arm 606 via a head hinge shaft 603. The upper arm hinge shaft 607 and the tail hinge shaft 601 are respectively located on two connecting rods provided on one side of the lifting beam 1.

[0058] See Figure 6 As shown, the plane formed by the lifting beam axis 12 and the tilting axis 13 is the mid-plane, and the stop cylinder axis 14 is vertical to the ground plane. The tail of the tilting electric cylinder 602 forms a hinge joint with the leg beam 102 through the electric cylinder tail hinge shaft 601. One end of the forearm 604 forms a hinge joint with the tilting hinge shaft 206 of the tilting disk 2 through the forearm hinge shaft 605, and the other end of the forearm 604 forms a hinge joint with the telescopic head of the tilting electric cylinder 602 through the electric rod head hinge shaft 603. One end of the boom 606 forms a hinge joint with the leg beam 102 through the boom hinge 607, and the other end of the boom 606 forms a hinge joint with the telescopic head of the tilting electric cylinder 602 through the electric rod head hinge shaft 603.

[0059] With the lifting beam 1 as a reference, during the rotation of the tilting disc 2 relative to the lifting beam 1, the tail hinge shaft 601 of the electric cylinder and the boom hinge shaft 607 are fixed axes. The head hinge shaft 603 of the electric boom and the forearm hinge shaft 605 are movable axes, with the forearm 604 being shorter than the boom 606. The axes of the tail hinge shaft 601, boom hinge shaft 607, head hinge shaft 603, and forearm hinge shaft 605 are parallel to the tilting axis 13. The head hinge shaft 603 is located on one side of the plane formed by the axes of the tail hinge shaft 601 and boom hinge shaft 607, thus the extension and retraction of the tilting electric cylinder 602 drives the tilting disc 2 to rotate relative to the lifting beam 1.

[0060] In embodiments of the present invention, the steel coil 8 contains various specifications, including different thicknesses, outer diameters, and inner diameters, thus resulting in different centers of gravity. A crane, using a flexible steel wire rope and hook, lifts the automatically stabilizing electro-permanent magnet lifting device for the aerial tilting of the steel coil and the adsorbed steel coil 8 from the ground plane via a lifting ring 9. To ensure that the center of gravity of the tilting portion is located near the tilting axis 13, the load identification device 5, the control system 7, and the center of gravity adjustment mechanism 3 must work together.

[0061] In embodiments of the present invention, the load identification device 5 includes multiple methods for calculating the weight and center of gravity of the steel coil 8. One method is that the load identification device 5 is a strain gauge, which is attached to the crossbeam 101. When the crane lifts the automatically stabilized electro-permanent magnet lifting device for aerial flipping of the steel coil and the adsorbed steel coil 8 from the ground plane via a flexible steel wire rope and a hook from the lifting ring 9, the strain gauge senses the strain of the crossbeam 101, and thus senses and calculates the weight and center of gravity of the steel coil 8. A second method is to check the weight marked on the label of the steel coil 8. A third method is to measure the inner diameter, outer diameter, and thickness of the steel coil 8, and calculate its volume and density. These methods will not be listed individually. The control system 7 includes a PLC system, a battery, a servo control unit, etc., and any commonly used electrical structure capable of completing this type of automatically stabilized electro-permanent magnet lifting device for aerial flipping of the steel coil will not be described in detail here.

[0062] See Figures 5 to 8 As shown, the reference rotation angle between the stop cylinder axis 14 and the ground plane in this embodiment ranges from -7° to 170°. Therefore, the range of the reference rotation angle between the stop cylinder axis 14 and the ground plane includes both the stop cylinder axis 14 being perpendicular to the ground plane and the stop cylinder axis 14 being parallel to the ground plane. The stop cylinder axis 14 being perpendicular to the ground plane is defined as 0°, and the stop cylinder axis 14 being parallel to the ground plane is defined as 90°. However, the reference rotation angle between the stop cylinder axis 14 and the ground plane is not limited to this 90° range. In addition to both sides of this 90° range, two extensions are required to realize the implementation principle and application scope of this invention. One side of the extension is an upward tilt of the stop cylinder axis 14 towards the ground plane at a certain engineering angle, which in this embodiment is an acute angle of 40°. The purpose of this extension is to implement the automatic leveling principle of aerial rotation. The other side of the extension is a negative angle, which in this embodiment is -7°. The significance of the negative engineering angle range of the stop cylinder axis 14 is to adapt to the uneven ground conditions at the steel coil 8 station.

[0063] See Figure 2As shown, the outer cylindrical line of the stop cylinder 402 is different from the inner hole line of the steel coil 8. This gap is intended to facilitate the insertion of the stop cylinder 402 into the steel coil 8. In practice, the outer cylindrical line of the stop cylinder 402 is made tangent to the inner hole of the steel coil 8 to prevent lateral slippage during the electromagnetic adsorption and flipping process. Therefore, during the air flipping process, the stop cylinder 402 effectively prevents the steel coil 8 from radially slipping. This structure facilitates the insertion of the stop cylinder 402 into the steel coil 8, but it causes the center of gravity of the flipped part to be located near the flipping axis 13. Therefore, the control system 7 drives the flipping mechanism 6 to rotate the axis 14 of the stop cylinder from 0° to 90°. Since the air flipping automatic stabilizing steel coil electro-permanent magnet hanger adsorbs the steel coil 8 and lifts it from the ground, and the crane is suspended from the lifting ring 9 by a flexible steel wire rope and hook, it is in a flexible suspension application environment. The axis 14 of the stop cylinder is not at the 90° position, so automatic leveling is implemented during air flipping. Inclinometer 11 senses the uneven angle of stop cylinder axis 14, and control system 7 drives flipping mechanism 6 to compensate, thereby flipping stop cylinder axis 14 to a 90° position.

[0064] This invention provides an automatic, stabilizing electro-permanent magnet lifting device for aerial coil flipping, used for lifting and transporting steel coils. Compared to ground-based coil flipping machines, it saves ground space, has a high degree of automation, and a fast operating cycle, reducing the time required to place the coil onto the flipping machine and to lift it off. The use of electro-permanent magnets to attract the steel coil avoids the risk of slippage due to friction failure in traditional coil-flipping clamps, resulting in a high safety factor, high efficiency, and high security. It also reduces manual labor and automates lifting and flipping operations. Driven by a servo electric cylinder, the lifting device requires only a single lifting point and possesses self-stabilizing characteristics at the center of the aerial flipping point.

[0065] Another embodiment of the present invention provides a method for using the aerial flipping automatic stabilizing electro-permanent magnet lifting device for steel coils as described in the above embodiment, the method comprising the following steps:

[0066] 1) The crane is connected to the lifting beam 1 via a flexible steel wire rope and a hook, and the tilting disc 2 is brought close to the steel coil 8 placed on the ground. At this time, the axis 14 of the stop cylinder of the tilting disc 2 is perpendicular to the ground. Figure 6 As shown;

[0067] 2) The steel coil 8 is attracted by the magnetic module at the bottom of the flip plate 2;

[0068] 3) The thickness adaptation mechanism 4 extends from the center of the steel coil 8, and the extension length reaches the thickness of the steel coil 8;

[0069] 4) The crane lifts the entire lifting device and steel coil 8 off the ground;

[0070] 5) The load identification device 5 detects the weight and center of gravity information of the steel coil 8 and transmits the obtained weight and center of gravity information to the control system 7.

[0071] 6) The control system 7 controls the center of gravity adjustment mechanism 3, which adjusts the center of gravity of the flipping part to be closer to the flipping axis 13 of the flipping disk 2;

[0072] 7) The tilting mechanism 6 drives the tilting disc 2 to rotate, making the stop cylinder axis 14 of the tilting disc 2 parallel to the ground. (See below) Figure 7 As shown;

[0073] 8) The crane lifts the entire lifting device and steel coil 8 to the designated position.

[0074] This invention provides an automatic stabilizing electro-permanent magnet lifting device for air-lifting steel coils, used for lifting and transporting steel coil equipment. Compared with the ground-based steel coil lifting and turning method, it saves ground space, has a high degree of automation, and a fast operation cycle, saving the time of placing the steel coil on the turning machine and the time of lifting the steel coil from the turning machine.

[0075] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A type of automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils, characterized in that, The system includes a lifting beam (1), a tilting disc (2), a center of gravity adjustment mechanism (3), a thickness adaptation mechanism (4), a load identification device (5), a tilting mechanism (6), a control system (7), and a magnetic attraction module. The tilting disc (2) is rotatably mounted on the lower end of the lifting beam (1), and the magnetic attraction module is located at the bottom of the tilting disc (2) to attract steel coils (8). The tilting mechanism (6) is located on the lifting beam (1) and connected to the tilting disc (2). The tilting mechanism (6) is used to drive the tilting disc (2) to rotate. Both the center of gravity adjustment mechanism (3) and the thickness adaptation mechanism (4) are equipped with... Placed on the upper flipping plate (2), the center of gravity adjustment mechanism (3) adjusts the center of gravity by adjusting the distance between itself and the flipping plate (2). The thickness adaptation mechanism (4) is used to position the steel coil (8) and can adapt to the thickness of the steel coil (8). The load identification device (5) and the control system (7) are both set on the lifting beam (1). The load identification device (5) is used to identify the load information of the steel coil (8) and transmit it to the control system (7). The control system (7) is used to control the center of gravity adjustment mechanism (3), the thickness adaptation mechanism (4), the flipping mechanism (6), and the magnetic suction module. The tilting disc (2) includes a base plate (201), a guide cylinder (202), a lifting pipe (207), and an upper crossbeam (208). The opposite sides of the base plate (201) are rotatably connected to the hanging beam (1) via a tilting shaft (205). Two lifting pipes (207) are provided on the top of the base plate (201), and the upper crossbeam (208) is connected to the top of the two lifting pipes (207). The guide cylinder (202) is located at the center of the base plate (201). An inclinometer (11) is provided on the upper crossbeam (208). The thickness adaptation mechanism (4) includes a servo linear drive mechanism I and a stop cylinder (402), wherein the stop cylinder (402) is slidably inserted into the guide cylinder (202) along the axial direction, the servo linear drive mechanism I is connected between the upper crossbeam (208) and the stop cylinder (402), and the servo linear drive mechanism I is used to drive the stop cylinder (402) to extend and retract; The center of gravity adjustment mechanism (3) includes a configuration block (301), a bracket (302) and a servo linear drive mechanism II. The bracket (302) is slidably connected to the lifting tube (207), and the configuration block (301) is provided on the bracket (302). The servo linear drive mechanism II is connected between the base plate (201) and the bracket (302), and is used to drive the bracket (302) to slide on the lifting tube (207).

2. The automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils according to claim 1, characterized in that, The magnetic attraction module includes multiple electro-permanent magnets (10) disposed at the bottom of the base plate (201), and the multiple electro-permanent magnets (10) are arranged around the guide cylinder (202).

3. The automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils according to claim 1, characterized in that, The base plate (201) is an octagonal steel plate, and a flip shaft mounting plate (204) is vertically welded to the bottom of the octagonal steel plate on both sides. The flip shaft (205) is set on the flip shaft mounting plate (204), and the axis of the flip shaft (205) is orthogonal to the axis of the guide cylinder (202).

4. The automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils according to claim 1, characterized in that, The flipping mechanism (6) includes a flipping drive, a forearm (604) and a boom (606), wherein the flipping drive is hinged to the top of the lifting beam (1), the output end of the flipping drive is hinged to one end of the forearm (604) and the boom (606), the other end of the boom (606) is hinged to the lower end of the lifting beam (1) through the boom hinge shaft (607), and the other end of the forearm (604) is hinged to the base plate (201) through the forearm hinge shaft (605).

5. The automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils according to claim 4, characterized in that, The flipping drive is a flipping electric cylinder (602). The tail of the flipping electric cylinder (602) is hinged to the lifting beam (1) through the electric cylinder tail hinge shaft (601). The electric rod of the flipping electric cylinder (602) is hinged to one end of the forearm (604) and the upper arm (606) through the electric rod head hinge shaft (603). The upper arm hinge shaft (607) and the electric cylinder tail hinge shaft (601) are respectively located on two connecting rods provided on one side of the lifting beam (1).

6. The automatic stabilizing electro-permanent magnet lifting device for aerial flipping of steel coils according to claim 1, characterized in that, The lifting beam (1) includes a crossbeam (101) and leg beams (102) vertically connected to both ends of the crossbeam (101). The flip plate (2) is located between the lower ends of the two leg beams (102). The load identification device (5) and the control system (7) are both located on the crossbeam (101). The top of the crossbeam (101) is provided with a lifting lug assembly (104).

7. A method of using the aerial tilting and stabilizing electro-permanent magnet lifting device for steel coils as described in any one of claims 1-6, characterized in that, The method of use includes the following steps: 1) The crane is connected to the lifting beam (1) by a flexible steel wire rope and a hook, and the tilting plate (2) is placed close to the steel coil (8) placed on the ground. At this time, the stop cylinder axis (14) of the tilting plate (2) is perpendicular to the ground. 2) The steel coil (8) is attracted by the magnetic module at the bottom of the flip plate (2); 3) The thickness adaptation mechanism (4) extends from the center of the steel coil (8) and the extension length reaches the thickness of the steel coil (8); 4) The crane lifts the entire lifting device and steel coil (8) off the ground; 5) The load identification device (5) detects the weight and center of gravity information of the steel coil (8) and transmits the obtained weight and center of gravity information to the control system (7). 6) Control system (7) Control center of gravity adjustment mechanism (3), the center of gravity adjustment mechanism (3) adjusts the center of gravity of the flipping part to be close to the flipping axis (13) of the flipping disk (2). 7) The flipping mechanism (6) drives the flipping disk (2) to rotate, so that the stop cylinder axis (14) of the flipping disk (2) is parallel to the ground; 8) The crane lifts the entire lifting device and steel coil (8) to the designated position.

Images