Steel banding apparatus

Abstract

The application discloses a steel strip tightening device. The steel strip tightening device comprises a steel strip rack, a steel coil supporting table, a steel strip conveying line, a first robot and a second robot, the steel strip rack is used for supporting a steel strip, the steel coil supporting table is used for supporting a steel coil, the steel strip conveying line comprises a feeding position and a taking position, the feeding position is arranged close to the steel strip rack, the taking position is arranged close to the steel coil supporting table, the steel strip can move along the steel strip conveying line from the feeding position to the taking position, the first robot is used for moving the steel strip located on the steel strip rack to the feeding position, and the second robot is used for grabbing the steel strip located on the taking position and tightening the steel strip on the steel coil located on the steel coil supporting table. According to the steel strip tightening device, the steel strip can be tightened on the steel coil, manual operation is replaced, and the efficiency of steel coil bundling is improved.

Description

Technical Field

[0001] This application belongs to the field of steelmaking technology, and in particular relates to a steel strip clamping device. Background Technology

[0002] In the traditional steel coil manufacturing process, the produced steel coils need to be manually bundled for convenient subsequent storage and transportation. Since the steel coils are not completely cooled down during bundling, and their temperature is still between 300℃ and 600℃, workers need to wear protective clothing and gloves to perform the bundling work. Because the protective clothing and gloves are heavy and the environment is relatively hot, it is not advisable to work for a long time, as it can easily lead to heatstroke, dehydration, and other health problems. Workers need to hold heavy steel strips and large bundling bolt guns. A single steel strip can weigh up to 30kg, and the large bundling bolt gun is used to tighten the bundling bolts on the steel strip. The bundling bolt gun is also quite heavy. It can be seen that bundling for a long time requires a high level of physical strength, and it is difficult for workers to endure this working environment for extended periods. Summary of the Invention

[0003] This application provides a steel strip tightening device that can tighten steel strips onto steel coils, replacing manual labor and improving the efficiency of steel coil bundling.

[0004] This application provides a steel strip clamping device, including a steel strip platform, a steel coil support platform, a steel strip conveyor line, a first robot, and a second robot. The steel strip platform is used to support the steel strip; the steel coil support platform is used to support the steel coil; the steel strip conveyor line includes a loading position and a unloading position, the loading position is located near the steel strip platform, and the unloading position is located near the steel coil support platform. The steel strip can move along the steel strip conveyor line from the loading position to the unloading position; the first robot is used to move the steel strip located on the steel strip platform to the loading position; the second robot is used to grab the steel strip located at the unloading position and clamp it to the steel coil located on the steel coil support platform.

[0005] According to an embodiment of this application, the steel strip platform includes a base and a plurality of positioning posts. The plurality of positioning posts are spaced apart along the circumference of the base. The base is used to support the steel strip, and the steel strip is sleeved on the plurality of positioning posts.

[0006] According to any of the foregoing embodiments of this application, the steel strip conveyor line further includes a feeding conveyor line and a picking conveyor line connected together. The feeding position is located on the feeding conveyor line, and the picking position is located on the picking conveyor line. The steel strip moves from the feeding position to the picking position by passing through the feeding conveyor line and the picking conveyor line in sequence.

[0007] According to any of the foregoing embodiments of this application, the first robot includes a first clamping part and a first body part. The first clamping part includes a first main body part and a plurality of first grippers located on the first main body part. The first grippers are used to grip the steel strip. The first body part is connected to the first main body part and the first body part is movable to adjust the position of the first clamping part so as to place the steel strip at the loading position.

[0008] According to any of the foregoing embodiments of this application, at least one first gripper is movable along the first body portion to accommodate steel strips of different sizes.

[0009] According to any of the foregoing embodiments of this application, a stud positioning module is further provided on the first main body for positioning the bolts and nuts on the steel strip so that the steel strip is placed in a preset direction on the steel strip conveyor line.

[0010] According to any of the foregoing embodiments of this application, the second robot includes a second clamping part, a second body part, and a fastening device. The second clamping part includes a second body part and a plurality of second grippers located on the second body part. The second grippers are used to grip the steel strip. The second body part is connected to the second body part and is movable to adjust the position of the second clamping part to fit the steel strip onto the steel strip. The fastening device is located on the second body part and is used to fasten bolts and nuts on the steel strip.

[0011] According to any of the foregoing embodiments of this application, at least one second gripper is movable along the second body portion to accommodate steel strips of different sizes.

[0012] According to any of the foregoing embodiments of this application, the fastening device includes a first sleeve, a second sleeve, and a torque device. The first sleeve, the second sleeve, and the torque device are movably disposed on the second main body. The first sleeve is used for a bolt fitted onto a steel strip, the second sleeve is used for a nut fitted onto a steel strip, and the torque device is connected to the first sleeve or the second sleeve to fasten the bolt and the nut.

[0013] According to any of the foregoing embodiments of this application, the steel strip tightening device further includes a steel strip pushing and positioning device. The steel strip pushing and positioning device is disposed near the steel coil support platform. The steel strip pushing and positioning device includes a guide rail, a pressing plate, a driving component, and a magnetic scale. The pressing plate is placed on the guide rail and disposed near the steel coil support platform. The pressing plate is used to abut against the steel coil to position the steel coil and to push the steel strip to a preset position. The driving component is connected to the pressing plate to drive the pressing plate to move along the guide rail. The magnetic scale extends along the moving direction of the pressing plate and is used to detect the position of the pressing plate.

[0014] According to any of the foregoing embodiments of this application, the steel strip clamping device further includes a visual recognition device, which is disposed on the second robot and is used to identify the outline of the steel coil to obtain the outer diameter of the steel coil.

[0015] According to any of the foregoing embodiments of this application, the surface of the steel strip clamping device is further provided with a protective device. The protective device includes a reflective layer, a heat insulation layer and a sealing layer stacked from the outside to the inside. The reflective layer is used to emit the heat radiation generated by the steel coil, the heat insulation layer is used to block the heat of the steel coil from being transferred to the steel strip clamping device, and cooling air is introduced into the sealing layer to cool the steel strip clamping device.

[0016] The steel strip tightening device of this application includes a steel strip platform, a steel coil support platform, a steel strip conveyor line, a first robot, and a second robot. When the steel strip tightening device is operating, the loading position of the steel strip conveyor line is located near the steel strip platform. The first robot moves the steel strip located on the steel strip platform to the loading position. The steel strip moves along the steel strip conveyor line from the loading position to the unloading position, which is located near the steel coil support platform. The second robot grabs the steel strip located at the unloading position and tightens it onto the steel coil located on the steel coil support platform. This steel strip tightening device can tighten the steel strip onto the steel coil, replacing manual labor, avoiding high-load work for workers in high-temperature environments, and improving the efficiency of steel coil bundling. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a steel band clamping device according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the steel strip structure in the embodiments of this application;

[0020] Figure 3 This is a schematic diagram of the structure of a steel strip platform according to an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of the structure of a steel belt conveyor line according to an embodiment of this application;

[0022] Figure 5 This is a schematic diagram of the structure of a first robot according to an embodiment of this application;

[0023] Figure 6 This is a partial structural schematic diagram of a second robot according to an embodiment of this application;

[0024] Figure 7 This is a schematic diagram of the structure of a steel strip pushing and positioning device according to an embodiment of this application.

[0025] Figure label:

[0026] 10. Steel strip clamping equipment; 1. Steel strip frame; 11. Base; 12. Positioning column; 2. Steel coil support platform; 3. Steel strip conveyor line; 31. Loading position; 32. Unloading position; 33. Loading conveyor line; 34. Unloading conveyor line; 4. First robot; 41. First body part; 42. First clamping part; 421. First main body part; 421a. First bracket; 421b. Second bracket; 422. First gripper; 43. First adjustment device; 44. Stud positioning module; 5. Second robot; 51. Second clamping part; 511. Second main body part; 511a. Third bracket; 511b. Fourth bracket; 512. Second gripper; 52. Fastening device; 521. First sleeve; 522. Second sleeve; 523. Torque device; 53. Second adjustment device; 6. Steel strip pushing and positioning device; 61. Guide rail; 62. Pushing plate; 63. Driving component; 64. Magnetic scale; 20. Steel strip; 21. Belt ring; 22. Bolt; 23. Nut. Detailed Implementation

[0027] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are intended only to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples. In the drawings and the following description, at least some well-known structures and technologies are not shown in order to avoid causing unnecessary ambiguity to this application; and, for clarity, the dimensions of some structures may be exaggerated. Furthermore, the features, structures, or characteristics described below can be combined in any suitable manner in one or more embodiments.

[0028] It should be noted that, unless otherwise stated, "a plurality of" in this document means two or more; the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicating orientation or positional relationships, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application. Furthermore, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0029] The directional terms appearing in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of the embodiments of this application. In the description of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" 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 direct connection or an indirect connection. It should be understood that when describing the structure of a component, when a layer or region is referred to as being "above" or "on top of" another layer or region, it can mean that it is directly above another layer or region, or that other layers or regions are included between it and another layer or region. Furthermore, if the component is flipped, the layer or region will be located "below" or "under" another layer or region. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0030] In the traditional steel coil manufacturing process, the produced steel coils need to be manually bundled for convenient subsequent storage and transportation. Since the steel coils are not completely cooled down during bundling, and their temperature is still between 300℃ and 600℃, workers need to wear protective clothing and gloves to perform the bundling work. Because the protective clothing and gloves are heavy and the environment is relatively hot, it is not advisable to work for a long time, as it can easily lead to heatstroke, dehydration, and other health problems. Workers need to hold heavy steel strips and large bundling bolt guns. A single steel strip can weigh up to 30kg, and the large bundling bolt gun is used to tighten the bundling bolts on the steel strip. The bundling bolt gun is also quite heavy. It can be seen that bundling for a long time requires a high level of physical strength, and it is difficult for workers to endure this working environment for extended periods.

[0031] To address the aforementioned issues, this application provides a steel strip clamping device that can clamp steel strips onto steel coils, replacing manual labor and improving the efficiency of steel coil bundling.

[0032] Please refer to Figure 1 This application provides a steel strip clamping device 10, including a steel strip platform 1, a steel coil support platform 2, a steel strip conveyor line 3, a first robot 4, and a second robot 5. The steel strip platform 1 is used to support the steel strip 20; the steel coil support platform 2 is used to support the steel coil; the steel strip conveyor line 3 includes a loading position 31 and a unloading position 32. The loading position 31 is located near the steel strip platform 1, and the unloading position 32 is located near the steel coil support platform 2. The steel strip 20 can move along the steel strip conveyor line 3 from the loading position 31 to the unloading position 32; the first robot 4 is used to move the steel strip 20 located on the steel strip platform 1 to the loading position 31; the second robot 5 is used to grab the steel strip 20 located at the unloading position 32 and clamp it to the steel coil located on the steel coil support platform 2.

[0033] Please refer to Figure 2 The steel strip 20 includes a loop 21, a bolt 22, and a nut 23. The bolt 22 passes through the loop 21 to connect the two ends of the loop 21. The nut 23 is fixed on the bolt 22 for tightening when clamping the steel coil. Multiple steel strips 20 are placed on the steel strip platform 1 and transported together to the waiting area. Multiple steel coil support platforms 2 can be arranged sequentially at intervals to support multiple steel coils. The upper surface of the steel coil support platform 2 is a concave arc surface to limit the movement of the steel coil and prevent it from rolling.

[0034] In this embodiment of the application, when the steel strip 20 tightening device is in operation, the loading position 31 of the steel strip conveyor line 3 is located near the steel strip platform 1. The first robot 4 moves the steel strip 20 located on the steel strip platform 1 to the loading position 31. The steel strip 20 moves along the steel strip conveyor line 3 from the loading position 31 to the unloading position 32, which is located near the steel coil support platform 2. The second robot 5 grabs the steel strip 20 located at the unloading position 32 and tightens it onto the steel coil located on the steel coil support platform 2. This steel strip 20 tightening device can tighten the steel strip 20 onto the steel coil, replacing manual operation, avoiding workers working under high load in high-temperature environments, and improving the efficiency of steel coil bundling.

[0035] Please refer to the reference. Figures 1 to 3 In some optional embodiments, the steel strip platform 1 includes a base 11 and a plurality of positioning posts 12. The plurality of positioning posts 12 are spaced apart circumferentially along the base 11. The base 11 is used to support the steel strip 20, and the steel strip 20 is sleeved on the plurality of positioning posts 12. Optionally, there are three positioning posts 12, which are equally spaced circumferentially along the base 11.

[0036] In these alternative embodiments, the steel strip 20 is positioned and limited by multiple positioning posts 12, so that the steel strip platform 1 can support multiple steel strips 20 at the same time.

[0037] Please refer to Figure 4 In some optional embodiments, the steel strip conveyor line 3 further includes a connected feeding conveyor line 33 and a picking conveyor line 34. The feeding position 31 is located on the feeding conveyor line 33, and the picking position 32 is located on the picking conveyor line 34. The steel strip 20 moves from the feeding position 31 to the picking position 32 by passing through the feeding conveyor line 33 and the picking conveyor line 34 in sequence. Optionally, the steel strip conveyor line 3 is provided with a slide rail so that the steel strip 20 can slide along the slide rail. Optionally, the picking conveyor line 34 is a circular conveyor line, and the steel strip 20 located on the picking conveyor line 34 can slide cyclically along the picking conveyor belt so that a steel strip 20 of suitable size can move to the picking position 32.

[0038] Please refer to the reference. Figure 1 , Figure 2 and Figure 5In some optional embodiments, the first robot 4 includes a first body portion 41 and a first clamping portion 42. The first clamping portion 42 includes a first main body portion 421 and a plurality of first grippers 422 located on the first main body portion 421. The first grippers 422 are used to grip the steel strip 20. The first body portion 41 is connected to the first main body portion 421, and the first body portion 41 is movable to adjust the position of the first clamping portion 42 to place the steel strip 20 in the loading position 31. Optionally, the first main body portion 421 includes a first support 421a and a second support 421b. The first support 421a and the second support 421b are arranged at an angle. For example, the first support 421a and the second support 421b are arranged in a T-shape. The number of first grippers 422 is three, located at both ends of the first support 421a and the end of the second support 421b away from the first support 421a, respectively. The three first grippers 422 facilitate a more stable gripping of the steel strip 20. The steel strip 20 is gripped by multiple first grippers 422 on the first robot 4 to place the steel strip 20 in the loading position 31, making the gripping more stable.

[0039] In some alternative embodiments, at least one first gripper 422 is movable along the first main body 421 to accommodate steel strips 20 of different sizes. Optionally, at least one first gripper 422 is provided with a first adjustment device 43, which adjusts the position of the first gripper 422 so that multiple first grippers 422 cooperate to grip steel strips 20 of different sizes. For example, the first adjustment device 43 is connected to the first gripper 422 located at the end of the second bracket 421b away from the first bracket 421a. It should be understood that adjusting the position of one of the first grippers 422 is sufficient to grip steel strips 20 of different sizes. Of course, the positions of multiple first grippers 422 can also be adjusted or the first main body 421 can be moved to move the first grippers 422.

[0040] In these alternative test cases, the first robot 4 is able to grip steel strips 20 of different sizes by adjusting the position of at least one first gripper 422, thereby improving the versatility of the first gripper part 42.

[0041] In some optional embodiments, the first main body 421 is further provided with a stud positioning module 44 for positioning the bolts 22 and nuts 23 on the steel strip 20, so that the steel strip 20 is placed on the steel strip conveyor line 3 in a preset direction. Optionally, the bolt 22 positioning module consists of two movable sleeves, respectively used to position the bolts 22 and nuts 23. For example, the preset direction can be the direction in which the bolts 22 and nuts 23 are located at the highest point of the steel strip 20. By positioning the bolts 22 and nuts 23 on the steel strip 20 through the stud positioning module 44, the steel strip 20 is placed on the steel strip conveyor line 3 in a preset direction, so that the first robot 4 can subsequently position and grasp the steel strip 20.

[0042] Please refer to the reference. Figure 1 , Figure 2 and Figure 6 In some alternative embodiments, the second robot 5 includes a second clamping part 51, a second body part, and a fastening device 52. The second clamping part 51 includes a second body part 511 and a plurality of second grippers 512 located on the second body part 511. The second grippers 512 are used to grip the steel strip 20. The second body part is connected to the second body part 511 and is movable to adjust the position of the second clamping part 51 to fit the steel strip 20 onto the steel strip 20. The fastening device 52 is located on the second body part 511 and is used to fasten the bolts 22 and nuts 23 on the steel strip 20.

[0043] Optionally, the second main body 511 includes a third support 511a and a fourth support 511b, which are arranged at an angle. For example, the third support 511a and the fourth support 511b are arranged in a T-shape. There are three second grippers 512, located at both ends of the third support 511a and the end of the fourth support 511b furthest from the third support 511a. The three second grippers 512 facilitate a more stable gripping of the steel strip 20. The steel strip 20 is gripped by multiple second grippers 512 on the second robot 5 to place it at the loading position 31, resulting in a more stable grip. A fastening device 52 can be installed on the third support 511a. Furthermore, the second gripper part 51 is also equipped with a position detection device to detect the position of the steel strip 20 on the steel strip conveyor line 3, enabling the second grippers 512 to grip the steel strip 20 more accurately.

[0044] In some alternative embodiments, at least one second gripper 512 is movable along the second main body 511 to accommodate steel strips 20 of different sizes. Optionally, at least one second gripper 512 is provided with a second adjustment device 53, which adjusts the position of the second gripper 512 so that multiple second grippers 512 cooperate to grip steel strips 20 of different sizes. For example, the second adjustment device 53 is connected to the second gripper 512 located at the end of the fourth bracket 511b away from the third bracket 511a. It should be understood that adjusting the position of one of the second grippers 512 is sufficient to grip steel strips 20 of different sizes. Of course, the positions of multiple second grippers 512 can also be adjusted or the second main body 511 can be moved to move the second grippers 512.

[0045] In some optional embodiments, the fastening device 52 includes a first sleeve 521, a second sleeve 522, and a torque device 523. The first sleeve 521, the second sleeve 522, and the torque device 523 are movably disposed on the second main body 511. The first sleeve 521 is used to fit the bolt 22 onto the steel strip 20, and the second sleeve 522 is used to fit the nut 23 onto the steel strip 20. The torque device 523 is connected to either the first sleeve 521 or the second sleeve 522 to fasten the bolt 22 and the nut 23. Optionally, the bolt 22 is an external hexagonal bolt 22, the nut 23 is an external hexagonal nut 23, and both the first sleeve 521 and the second sleeve 522 are internal hexagonal sleeves. When the second gripper 512 grasps the steel strip 20, the first sleeve 521 and the second sleeve 522 are respectively fitted onto the bolt 22 and the nut 23. The openings of the first sleeve 521 and the second sleeve 522 are chamfered to facilitate the bolt 22 and the nut 23 sliding into the sleeves. Furthermore, the fastening device 52 may also include a position sensor for detecting whether the bolt 22 and the nut 23 have entered the first sleeve 521 and the second sleeve 522.

[0046] In these alternative embodiments, a first sleeve 521, a second sleeve 522, and a torque device 523 are provided. The first sleeve 521 and the second sleeve 522 are used to position and clamp the bolt 22 and the nut 23, and the torque device 523 is used to tighten the nut 23 and the bolt 22.

[0047] Please refer to Figure 1 and Figure 7 In some optional embodiments, the steel strip clamping device 10 further includes a steel strip pushing and positioning device 6, which is located near the steel coil support platform 2. The steel strip pushing and positioning device 6 includes a guide rail 61, a pressing plate 62, a driving member 63, and a magnetic scale 64. The pressing plate 62 is placed on the guide rail 61 and located near the steel coil support platform 2. The pressing plate 62 is used to abut against the steel coil to position the steel coil and to push the steel strip 20 to a preset position. The driving member 63 is connected to the pressing plate 62 to drive the pressing plate 62 to move along the guide rail 61. The magnetic scale 64 extends along the moving direction of the pressing plate 62 and is used to detect the position of the pressing plate 62.

[0048] The steel strip pushing and positioning device 6 is activated. The driving component 63 drives the pushing plate 62 to move along the guide rail 61. After the pushing plate 62 abuts against the end face of the steel coil, the position information on the magnetic scale 64 is read. The distance between the steel coil and the second robot 5 is determined by comparison table analysis. After the steel strip 20 is fitted onto the steel coil, the driving component 63 continues to drive the pushing plate 62 to move, so that the steel strip 20 reaches the preset position relative to the steel coil. Optionally, the preset position is 200mm away from the outer surface of the steel strip 20. Optionally, the driving component 63 is a linear motor or a cylinder.

[0049] In these alternative embodiments, the position of the steel coil is positioned by the steel strip pushing and positioning device 6, and the steel strip 20 is pushed to a preset position relative to the steel coil to bind the steel coil.

[0050] In some optional embodiments, the steel strip tightening device 10 also includes a visual recognition device located on the second robot 5. The visual recognition device is used to identify the outline of the steel coil to obtain its outer diameter. Errors caused by processing, such as varying tension during coiling, result in inconsistent coil tightness, affecting the outer diameter of the steel coil; different bending radii at the cut ends cause variations in the size of the protruding portions of the coil; or insufficient length after tail material winding ultimately reduces the outer diameter of the steel coil, resulting in different outer diameters for different steel coils. By determining the outer diameter of the steel coil using the visual recognition device, a suitable size steel strip 20 can be selected based on the outer diameter, facilitating the fitting of the steel strip 20 onto the steel coil.

[0051] In some optional embodiments, the surface of the steel strip clamping device 10 is further provided with a protective device. The protective device includes, from the outside in, a reflective layer, a heat insulation layer, and a sealing layer stacked together. The reflective layer is used to reflect the heat radiation generated by the steel coil, the heat insulation layer is used to block the heat from the steel coil from being transferred to the steel strip clamping device, and cooling air is introduced into the sealing layer to cool the steel strip clamping device. The protective device can cover the entire outer surface of the steel strip clamping device 10 or only key areas. The reflective layer can reflect more than 90% of the heat, and after cooling air is introduced into the sealing layer, the air can cool the steel strip clamping device 10. Furthermore, due to the presence of the seal, the cooling air can be retained for a long time, improving the high-temperature protection effect.

[0052] The embodiments described above are not exhaustive, nor do they limit the invention to specific embodiments. Clearly, many modifications and variations can be made based on the above description. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of this application, enabling those skilled in the art to effectively utilize this application and its modifications. It should be understood that the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and all such modifications or substitutions should be included within the scope of protection of this application.

Claims

1. A steel band clamping device, characterized in that, include: Steel strip support frame, used to support steel strips; A steel coil support platform, used to support steel coils; The steel strip conveyor line includes a loading position and a unloading position. The loading position is located near the steel strip platform, and the unloading position is located near the steel coil support platform. The steel strip can move from the loading position to the unloading position along the steel strip conveyor line. The first robot is used to move the steel strip located on the steel strip platform to the loading position; The second robot is used to grab the steel strip located at the material picking position and tighten it onto the steel coil located on the steel coil support platform. The first robot includes: The first clamping part includes a first main body and a plurality of first grippers located on the first main body, the first grippers being used to grip the steel strip; A first body portion is connected to the first main body portion. The first body portion is movable to adjust the position of the first clamp portion so as to place the steel strip at the loading position. At least one of the first grippers is movable along the first body portion to accommodate steel strips of different sizes. The second robot includes: The second clamping part includes a second main body and a plurality of second grippers located on the second main body, the second grippers being used to grip the steel strip; The second body part is connected to the second main body part. The second body part is movable to adjust the position of the second clamping part so as to fit the steel strip onto the second clamping jaw. A fastening device is provided in the second main body, and the fastening device is used to fasten the bolts and nuts on the steel strip. The steel strip tightening device further includes a steel strip pushing and positioning device, which is located near the steel coil support platform. The steel strip pushing and positioning device includes: guide; A push plate is placed on the guide rail and positioned close to the steel coil support platform. The push plate is used to abut against the steel coil to position the steel coil and to push the steel strip to a preset position. A driving component is connected to the push plate to drive the push plate to move along the guide rail; A magnetic scale extends along the moving direction of the push plate, and the magnetic scale is used to detect the position of the push plate.

2. The steel strip clamping device according to claim 1, characterized in that, The steel strip platform includes a base and a plurality of positioning posts, which are spaced apart circumferentially along the base. The base is used to support the steel strip, and the steel strip is sleeved on the plurality of positioning posts.

3. The steel strip clamping device according to claim 1, characterized in that, The steel strip conveyor line also includes a feeding conveyor line and a picking conveyor line connected together. The feeding position is located on the feeding conveyor line, and the picking position is located on the picking conveyor line. The steel strip moves from the feeding position to the picking position by passing through the feeding conveyor line and the picking conveyor line in sequence.

4. The steel strip clamping device according to claim 1, characterized in that, The first main body is also provided with a stud positioning module for positioning the bolts and nuts on the steel strip so that the steel strip is placed in a preset direction on the steel strip conveyor line.

5. The steel strip clamping device according to claim 1, characterized in that, At least one of the second grippers is movable along the second body portion to accommodate steel strips of different sizes.

6. The steel strip clamping device according to claim 1, characterized in that, The fastening device includes a first sleeve, a second sleeve, and a torque device. The first sleeve, the second sleeve, and the torque device are all movably disposed on the second main body. The first sleeve is used to fit a bolt on the steel strip, the second sleeve is used to fit a nut on the steel strip, and the torque device is connected to the first sleeve or the second sleeve to fasten the bolt and the nut.

7. The steel strip clamping device according to claim 1, characterized in that, The steel strip tightening device also includes a visual recognition device, which is located on the second robot. The visual recognition device is used to identify the outline of the steel coil to obtain the outer diameter of the steel coil.

8. The steel strip clamping device according to claim 1, characterized in that, The surface of the steel strip clamping device is also provided with a protective device, which includes a reflective layer, a heat insulation layer and a sealing layer stacked from the outside to the inside. The reflective layer is used to reflect the heat radiation generated by the steel coil, the heat insulation layer is used to block the heat of the steel coil from being transferred to the steel strip clamping device, and cooling air is introduced into the sealing layer to cool the steel strip clamping device.

Images