Steel strip coil stacking method

Abstract

The present invention discloses a method for stacking steel strip coils, which includes the following steps: S1, adjusting the positioning and unloading platform of the stacking device; S2, using a manipulator to horizontally drag the steel strip coils that have been separated and located on the steel strip coil receiving platform to the unloading plate; S3, moving the right push plate and the rear push plate so that the steel strip coils abut against the left positioning plate and the front positioning plate, thereby positioning the steel strip coils; S4, moving or opening the unloading plate, and allowing the steel strip coils to freely fall onto the lifting platform under the action of gravity; S5, repeating steps S2 to S4, so that multiple steel strip coils are stacked into a stack. The steel strip coil stacking method of the present invention solves the safety hazard of the steel strip coils falling during the clamping process of the mechanical clamp by using a manipulator to horizontally drag the steel strip coils, thereby horizontally moving the steel strip coils to the unloading plate.

Description

Technical Field

[0001] The invention belongs to the technical field of steel strip coil palletizing, and particularly relates to a steel strip coil palletizing method. Background Art

[0002] Currently, due to process requirements, the steel strip production industry (such as saw belts) requires the strip to be cut into coils of desired lengths and then palletized. There are two primary methods for palletizing in this industry: manual and automatic. Other industries typically use vacuum or electromagnetic suction cups for palletizing coils. The most primitive manual method involves dragging the coil to the palletizing point, quickly releasing the grip, and allowing the coil to fall onto a lift platform under its own weight. Automatic palletizing uses mechanical grippers to grasp the coil by its edge and move it horizontally to the palletizing location for stacking. Vacuum or electromagnetic suction cups use suction cups to rotate and move the coil horizontally to the designated location for palletizing. However, these stacking methods all have their own shortcomings: the manual stacking method consumes too much physical strength and is unsafe, especially for wide-specification coils weighing up to 150 kg, which cannot be dragged at all; the mechanical gripper method directly grabs the edge of the steel strip from the material receiving machine and moves it horizontally to the stacking area for stacking. This method only grabs the edge of the material coil, which is prone to safety hazards such as the steel coil loosening and falling; the vacuum suction cup cannot absorb the steel strip coil because the surface of the steel strip coil is not very flat and is not enough to form a vacuum; and the electromagnetic suction cup method cannot be used for steel strip coil stacking, because the steel strip coil will be magnetized after being sucked by the electromagnet for a period of time, which seriously affects subsequent processing. Summary of the Invention

[0003] To solve the above problems, the present invention aims to provide a method for stacking steel strip coils, which uses a robot to horizontally drag the steel strip coils, thereby moving the steel strip coils horizontally to a discharge plate, thereby solving the safety hazard of the steel strip coils falling during the clamping process of the mechanical clamps.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A method for stacking steel strip coils, comprising the following steps:

[0006] S1. Adjust the positioning and unloading platform of the palletizing device, wherein the positioning and unloading platform includes a unloading frame, on which are provided a left positioning plate and a right pushing plate arranged opposite to each other on the left and right sides, a front positioning plate and a rear pushing plate arranged opposite to each other on the front and back sides, and a unloading plate, wherein the height of the upper surface of the unloading plate is lower than the height of the upper surfaces of the left positioning plate and the right pushing plate; move the left positioning plate and the front positioning plate until the distance between the center line AA of the lifting platform below the positioning and unloading platform and the left positioning plate and the distance between the center line AA and the front positioning plate are both equal to the radius of the steel strip coil;

[0007] S2. Use a manipulator to horizontally drag the separated steel strip coil on the steel strip coil receiving platform to the unloading plate, wherein the manipulator is located above the steel strip coil receiving platform and the positioning unloading platform;

[0008] S3, moving the right push plate and the rear push plate so that the steel strip coil abuts against the left positioning plate and the front positioning plate to position the steel strip coil, at which point the center line of the steel strip coil coincides with the center line AA of the lifting platform;

[0009] S4. Move or open the unloading plate, and the steel strip coil falls freely onto the lifting platform under the action of gravity;

[0010] S5. Repeat steps S2 to S4 to stack the multiple steel strips into a stack.

[0011] The height difference between the left positioning plate and the right push plate and the unloading plate ensures that the unloading plate can be retracted below the left positioning plate and the right push plate when unloading the steel strip coil. On the other hand, after the steel strip coil reaches the unloading plate, the left positioning plate can serve as the rear push plate and the right push plate to push the steel strip coil to the positioning plate of the unloading center, ensuring the center of each unloading is consistent, thereby ensuring neat stacking. The steel strip coil stacking method of the present invention uses a robot to horizontally drag the steel strip coil, thereby moving the steel strip coil horizontally to the unloading plate, eliminating the safety hazard of the steel strip coil falling during the clamping process of the mechanical clamp.

[0012] Preferably, a weighing device is provided between the steel strip coil receiving platform and the left positioning plate. The weighing device is provided with a weighing roller, the upper surface of which is flush with the upper surfaces of the left positioning plate and the steel strip coil receiving platform. The weighing device facilitates weighing the steel strip coil, and the weighing roller prevents the steel strip coil from being scratched by friction.

[0013] Specifically, in step S2, the robot drives the steel strip coil to move horizontally onto the weighing roller. After the weighing equipment finishes weighing the steel strip coil, the robot drives the steel strip coil to move horizontally to the right onto the unloading plate.

[0014] Preferably, the weighing device is further provided with a control system, which is electrically connected to the manipulator. After the weighing device completes weighing the steel strip coil, the control system sends a signal, and the manipulator continues to drive the steel strip coil to move toward the unloading plate.

[0015] Preferably, in step S2, the manipulator includes a manipulator frame, which is provided with a manipulator finger, a horizontal drive mechanism connected to the manipulator finger, and a vertical drive mechanism; the vertical drive mechanism and the horizontal drive mechanism are activated so that the lower end of the manipulator finger extends into the inner ring of the steel strip coil; the horizontal drive mechanism is activated so that the manipulator finger drives the steel strip coil to move horizontally onto the discharge plate, and the manipulator finger retracts. The manipulator finger extends into the inner ring of the steel strip coil and applies a horizontal thrust to the inner ring surface of the steel strip coil, thereby moving the steel strip coil horizontally onto the discharge plate.

[0016] Preferably, in step S2, when the steel strip coil enters the unloading plate, the vertical drive mechanism is activated, causing the robotic finger to continue to move downward and always contact the inner ring of the steel strip coil. After the steel strip coil is in place on the unloading plate, the robotic finger retracts. Since the height of the upper surface of the unloading plate is lower than the height of the upper surface of the left positioning plate, in order to ensure that the robotic finger always contacts the inner ring of the steel strip coil, when the steel strip coil enters the unloading plate, the vertical drive mechanism is activated, causing the robotic finger to continue to move downward.

[0017] Preferably, the robotic arm frame extends along the length of the discharge frame, and the end of the robotic arm frame away from the steel coil receiving platform is connected to the end of the discharge frame; the robotic arm frame is provided with a limit stop, which is arranged between the center line of the lifting platform and the right push plate. The provision of the limit stop facilitates limiting the horizontal movement of the robotic finger.

[0018] Preferably, in step S4, the lifting platform is a hydraulic lifting platform. The initial position of the lifting platform is adjusted to the highest point. After each roll of steel strip is stacked, the lifting platform is lowered by one roll of steel strip to ensure that the height difference of each stacking is consistent. The hydraulically driven lifting platform allows the lifting platform to be freely raised and lowered to any position within its travel range.

[0019] Preferably, the rear push plate is connected to the rear push mechanism, the right push plate is connected to the right push mechanism, and the discharge plate is connected to the discharge mechanism. The rear push mechanism, the right push mechanism, and the discharge mechanism are all arranged on the discharge frame. The rear push plate is driven to move by the rear push mechanism, the right push mechanism is driven to move the right push plate, and the discharge mechanism is driven to move the discharge plate. The right push mechanism, the discharge mechanism, and the rear push mechanism can adopt a cylinder piston mechanism.

[0020] Preferably, the upper surfaces of the stripper plate and the left positioning plate are provided with a plurality of holes, wherein universal balls are provided in the holes and the universal balls can rotate in the holes. The provision of the universal balls can prevent the steel strip from being scratched due to friction when it moves on the stripper plate and the left positioning plate.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1. The steel strip coil stacking method of the present invention utilizes mechanical fingers that extend into the inner coil of the steel strip coil and apply a horizontal thrust to the inner coil surface, thereby moving the steel strip coil horizontally onto the unloading plate. This eliminates the potential safety hazard of the steel strip coil falling during the gripping process of the mechanical grippers.

[0023] 2. The steel strip coil stacking method of the present invention uses a stacking device with a simple structure, convenient and compact layout, and small space occupation;

[0024] 3. The steel strip coil stacking method of the present invention is easy to operate, weighs conveniently and accurately, and stacks neatly. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the three-dimensional structure of the stacking device used in the steel strip coil stacking method of the present invention;

[0026] Figure 2 for Figure 1 Schematic diagram of the main structure;

[0027] Figure 3 for Figure 1 Schematic diagram of the top view structure;

[0028] Figure 4 for Figure 1 Schematic diagram of the position structure of the left positioning plate and the front positioning plate before unloading the middle steel strip coil;

[0029] Figure 5 for Figure 1 Schematic diagram of the movement direction of the right push plate and the rear push plate when the middle steel strip coil moves to the unloading plate.

[0030] In the figure:

[0031] 1-Steel strip coil receiving table, 2-Manipulator, 21-Manipulator finger, 22-First level lifting plate, 23-First level lifting guide, 24-First level cylinder, 25-Travel plate, 26-Drag chain and mounting plate, 27-Travel drive, 28-Second level lifting and guide, 29-Second level cylinder, 210-Travel gear and rack, 211-Travel guide, 212-Limit block, 213-Manipulator mobile phone holder, 3-Weighing equipment, 31-Weighing roller, 32-Weighing Heavy sensor, 33-touch screen, 34-manual control panel, 4-positioning unloading platform, 41-left positioning plate, 42-unloading plate, 43-rear push cylinder, 44-rear push plate, 45-right push plate, 46-unloading cylinder, 47-right push cylinder, 48-left positioning guide, 49-front positioning plate, 410-right push guide, 411-unloading guide, 412-unloading rack, 413-universal ball, 5-lifting platform, 6-steel strip coil. DETAILED DESCRIPTION

[0032] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments and features of the embodiments may be combined unless they conflict. For ease of description, the words "upper," "lower," "left," and "right" appear below merely to indicate the directions of upper, lower, left, and right in the accompanying drawings and do not limit the structure.

[0033] like Figure 1As shown, the palletizing device used in the steel strip coil palletizing method of the present invention includes a steel strip coil receiving platform 1, a manipulator 2, a weighing device 3, a positioning and unloading platform 4, and a lifting platform 5. The manipulator 2 includes a manipulator frame 213, which is positioned above the steel strip coil receiving platform 1 and the positioning and unloading platform 4. The manipulator frame 213 is equipped with a manipulator finger 21 and a horizontal drive mechanism and a vertical drive mechanism connected to the manipulator finger 21. The positioning and unloading platform 4 includes a discharge frame 412, which is equipped with a left positioning plate 41, a discharge plate 42, and a right push plate 45 from left to right. The discharge plate 42 is lower than the left positioning plate 41 and the right push plate 45. The weighing device 3 is equipped with a weighing roller 31. The steel strip coil receiving platform 1 and the left positioning plate 41 are respectively positioned on the left and right sides of the weighing roller 31. The upper surfaces of the steel strip coil receiving platform 1, the upper surfaces of the weighing roller 31, and the upper surfaces of the left positioning plate 41 are flush. The lifting platform 5 is located below the unloading plate 42 and is hydraulically driven. The lifting platform 5 is hydraulically raised and lowered, allowing it to be freely moved up and down to any position within its travel range. The mechanical handpiece frame 213 extends along the length of the unloading frame 412, with the end of the mechanical handpiece frame 213 away from the steel strip coil receiving platform 1 being connected to the end of the unloading frame 412.

[0034] like Figure 2 As shown, the vertical drive mechanism includes a first-level lifting plate 22, a first-level lifting guide 23, a first-level cylinder 24, a second-level lifting and guide 28, and a second-level cylinder 29. The horizontal drive mechanism includes a walking plate 25, a drag chain and mounting plate 26, a walking drive 27, a second-level lifting and guide 28, a second-level cylinder 29, a walking gear and rack 210, and a walking guide 211. The robotic finger 21 is connected to the first-level lifting plate 22, which is connected to the walking plate 25 through the first-level lifting guide 23. At the same time, the first-level lifting plate 22 is connected to the piston rod of the first-level cylinder 24, the cylinder body of the first-level cylinder 24 is connected to the second-level lifting and guide 28, the second-level lifting and guide 28 is connected to the piston rod of the second-level cylinder 29, the cylinder body of the second-level cylinder 29 is connected to the walking plate 25, and the robotic finger 21 installed on the walking plate 25 can be extended and retracted by the second-level cylinder 29 and the first-level cylinder 24. A travel gear and rack 210 and a travel guide 211 are arranged along the length of the robotic arm frame 213. The drag chain, mounting plate 26, and travel drive 27 are all connected to the travel plate 25. Driven by the travel drive 27, the travel plate 25 is driven horizontally along the travel guide 211 by the gear and rack 210, thereby achieving horizontal movement of the robotic finger 21. A limit stop 212 is provided on the robotic arm frame 213, located between the centerline of the lifting platform 5 and the right push plate 45.

[0035] like Figure 2As shown, the weighing device 3 further includes a weighing sensor 32, a touch screen display 33, and a manual control panel 34. The weighing roller 31 is arranged on top of the weighing sensor 32, the touch screen display 33 is used to display the weight of the object weighed by the weighing sensor 32, and the manual control panel 34 is electrically connected to the travel drive 27.

[0036] like Figure 3 As shown, the stripper plate 42 is also provided with a rear push plate 44 and a front positioning plate 49, which are arranged opposite each other. The stripper frame 412 is also provided with a left positioning guide 48, a right push guide 410, a stripper cylinder 46, a right push cylinder 47, a rear push cylinder 43, and a stripper guide 411. The surfaces of the left positioning plate 41 and the stripper plate 42 are each provided with a plurality of holes, each of which is provided with a universal ball 413 that can rotate within the holes. The left positioning plate 41 can be manually moved left and right along the left positioning guide 48 and locked. The right push plate 45 can be driven by the right push cylinder 47 to move left and right along the right push guide 410. The stripper plate 42 can be driven by the stripper cylinder 46 to move along the stripper guide 411 below the left positioning plate 41 and the right push plate 45. The front positioning plate 49 can be manually moved forward and backward and locked on the stripper plate 42 , and the rear push plate 44 can be driven by the rear push cylinder 43 to move forward and backward along the upper surface of the stripper plate 42 .

[0037] The steel strip coil stacking method of the present invention comprises the following steps:

[0038] S1, such as Figure 4 As shown, the positions of the left positioning plate 41 and the front positioning plate 49 are adjusted until the distance between the center line AA of the lifting platform 5 located below the positioning and unloading platform 4 and the left positioning plate 41 and the distance between the center line AA and the front positioning plate 49 are both equal to the radius of the steel strip coil 6;

[0039] S2. Use the manipulator 2 to drag the steel strip coil 6 that has been divided and is located on the steel strip coil receiving platform 1 horizontally to the unloading plate 42; after the steel strip coil 6 is divided and is located on the steel strip coil receiving platform 1, the manipulator finger 21 moves horizontally and vertically under the drive of the travel drive 27 and the first-stage cylinder 24 until the lower end of the manipulator finger 21 extends into the inner ring of the steel strip coil 6; under the action of the travel drive 27, the gear rack 210 enables the travel plate 25 to slide along the travel guide 211 toward the unloading plate 42, so that the manipulator finger 21 applies a horizontal thrust to the surface of the inner ring of the steel strip coil 6, and moves the steel strip coil 6 from the steel strip coil receiving platform 1 to the weighing roller 31, and the travel drive 27 stops Working; After the weight of the steel strip coil 6 is weighed by the weighing sensor 32 and the weight is displayed on the touch screen 33; the travel drive 27 continues to drive the mechanical finger 21 to move right, and the mechanical finger 21 continues to apply horizontal thrust to the inner ring surface of the steel strip coil 6, and slides to the discharge plate 42 through the universal ball 413 on the left positioning plate 41; due to the certain height difference between the left positioning plate 41 and the right push plate 45 and the discharge plate 42, when the steel strip coil 6 just enters the discharge plate 42, the secondary cylinder 29 is actuated, and the mechanical finger 21 continues to move downward to ensure that the mechanical finger 21 is always in contact with the inner ring of the steel strip coil 6; after the steel strip coil 6 moves to the discharge plate 42 and is in place, the mechanical finger 21 retracts upward;

[0040] S3, such as Figure 5 As shown, the right push cylinder 47 and the rear push cylinder 43 are started, and the steel strip coil 6 is pushed by the right push plate 45 and the rear push plate 44 to abut against the left positioning plate 41 and the front positioning plate 49, thereby positioning the steel strip coil 6. At this time, the center line of the steel strip coil 6 coincides with the center line AA of the lifting platform 5;

[0041] S4, the unloading cylinder 46 is started, and the unloading plate 42 is quickly pulled open and retracted to below the left positioning plate 41 and the right pushing plate 45; the steel strip coil 6 falls freely onto the lifting platform 5 under the action of its own weight. The initial position of the lifting platform 5 is at the highest point. After each roll of steel strip coil 6 is stacked, the lifting platform 5 is lowered by the height of one roll of steel strip coil 6 to ensure that the height difference of each stacking is consistent;

[0042] S5. Repeat steps S2 to S4 in sequence to stack the multiple steel strips into a stack.

[0043] The steel strip coil stacking method of the present invention has a mechanical finger extending into the inner ring of the steel strip coil and applying a horizontal thrust to the surface of the inner ring of the steel strip coil, thereby moving the steel strip coil horizontally to the unloading plate, solving the safety hazard of the steel strip coil falling during the clamping process of the mechanical clamp; the steel strip coil stacking method of the present invention has a simple structure of the stacking device used, which is convenient and compact in layout and occupies a small space; the steel strip coil stacking method of the present invention is easy to operate, weighs conveniently and accurately, and stacks neatly.

[0044] The contents described in the above embodiments should be understood as these embodiments are only used to more clearly illustrate the present invention, and are not used to limit the scope of the present invention. After reading the present invention, various equivalent modifications to the embodiments made by those skilled in the art fall within the scope defined by the claims attached to the present invention.

Claims

1. A method for stacking steel strip coils, characterized in that: The following steps are involved: S1. Adjust the positioning and unloading platform (4) of the stacking device, wherein the positioning and unloading platform (4) includes a unloading frame (412), and the unloading frame (412) is provided with a left positioning plate (41) and a right pushing plate (45) arranged opposite to each other on the left and right, a front positioning plate (49) and a rear pushing plate (44) arranged opposite to each other in the front and back, and a unloading plate (42), wherein the height of the upper surface of the unloading plate (42) is lower than the height of the upper surfaces of the left positioning plate (41) and the right pushing plate (45); move the left positioning plate (41) and the front positioning plate (49) until the distance between the center line AA of the lifting platform (5) located below the positioning and unloading platform (4) and the left positioning plate (41) and the distance between the center line AA and the front positioning plate (49) are both equal to the radius of the steel strip coil (6); S2. Using a manipulator (2) to horizontally drag the steel strip coil (6) after being divided and located on the steel strip coil receiving platform (1) to the unloading plate (42), the manipulator (2) being located above the steel strip coil receiving platform (1) and the positioning unloading platform (4); S3, moving the right push plate (45) and the rear push plate (44) so that the steel strip roll (6) abuts against the left positioning plate (41) and the front positioning plate (49) to position the steel strip roll (6), at which point the center line of the steel strip roll (6) coincides with the center line AA of the lifting platform (5); S4, moving or opening the unloading plate (42), and the steel strip coil (6) freely falls onto the lifting platform (5) under the action of gravity; S5. Repeat steps S2 to S4 to stack the plurality of steel strip coils (6) into a stack.

2. The steel strip coil stacking method according to claim 1, characterized in that: A weighing device (3) is further provided between the steel strip coil receiving platform (1) and the left positioning plate (41). The weighing device (3) is provided with a weighing roller (31). The upper surface of the weighing roller (31) is flush with the upper surface of the left positioning plate (41) and the steel strip coil receiving platform (1).

3. The steel strip coil stacking method according to claim 2, characterized in that: In step S2, the manipulator (2) drives the steel strip coil (6) to move horizontally onto the weighing roller (31). After the weighing device (3) finishes weighing the steel strip coil (6), the manipulator (2) drives the steel strip coil (6) to move horizontally to the right onto the unloading plate (42).

4. The steel strip coil stacking method according to claim 2, characterized in that: The weighing device (3) is also provided with a control system, which is electrically connected to the manipulator (2).

5. The steel strip coil palletizing method according to claim 1, characterized in that: In step S2, the manipulator (2) includes a manipulator frame (213), on which a manipulator finger (21), a horizontal drive mechanism connected to the manipulator finger (21), and a vertical drive mechanism; the vertical drive mechanism and the horizontal drive mechanism are activated so that the lower end of the manipulator finger (21) extends into the inner circle of the steel strip roll (6); the horizontal drive mechanism is activated so that the manipulator finger (21) drives the steel strip roll (6) to move horizontally onto the discharge plate (42), and the manipulator finger (21) retracts.

6. The steel strip coil palletizing method according to claim 5, characterized in that: In step S2, when the steel strip coil (6) enters the unloading plate (42), the vertical drive mechanism is started, so that the mechanical finger (21) continues to move downward and is always in contact with the inner ring of the steel strip coil (6). After the steel strip coil (6) is in place on the unloading plate (42), the mechanical finger (21) retracts.

7. The steel strip coil palletizing method according to claim 5, characterized in that: The mechanical mobile phone frame (213) extends along the length direction of the discharge frame (412), and the end of the mechanical mobile phone frame (213) away from the steel strip coil receiving platform (1) is connected to the end of the discharge frame (412); the mechanical mobile phone frame (213) is provided with a limit block (212), and the limit block (212) is set between the center line of the lifting platform (5) and the right push plate (45).

8. The steel strip coil palletizing method according to claim 1, characterized in that: In step S4, the lifting platform (5) is a hydraulic lifting platform, and the initial position of the lifting platform (5) is adjusted to the highest point. After each stacking of a steel strip roll (6), the lifting platform (5) is lowered by the height of a steel strip roll (6), so as to ensure that the height difference of each stacking is consistent.

9. The steel strip coil palletizing method according to claim 1, characterized in that: The rear push plate (44) is connected to the rear push mechanism, the right push plate (45) is connected to the right push mechanism, and the discharge plate (42) is connected to the discharge mechanism. The rear push mechanism, the right push mechanism, and the discharge mechanism are all arranged on a discharge frame (412).

10. The steel strip coil palletizing method according to claim 1, characterized in that: A plurality of holes are provided on the upper surfaces of the discharge plate (42) and the left positioning plate (41), and universal balls (413) are provided in the holes. The universal balls (413) can rotate in the holes.

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