Steel coil fastening structure

Abstract

The application relates to a steel coil fastening structure, a support, an X-axis sliding module, a first Y-axis sliding module, a first Z-axis sliding module and a welding manipulator, the X-axis sliding module is fixed on the upper surface of the support, the first Y-axis sliding module is located at the front end of the X-axis sliding module and slides forward and backward on the X-axis sliding module, the first Z-axis sliding modules are vertically arranged on the left and right sides of the first Y-axis sliding module respectively and move up and down on the first Y-axis sliding module, the upper ends of the first Z-axis sliding modules on the left and right sides are fixed with rotating fixing assemblies which can make a steel belt adhere to the steel coil, and the welding manipulator is located on the two side edges of the steel coil. The application can fix the position of the packing wire on the steel coil and reduce the packing cost.

Description

Technical Field

[0001] This invention relates to steel coil packaging technology, and in particular to a steel coil fastening structure. Background Technology

[0002] After steel wire is produced in coils, the coiled steel wire needs to be bundled and packaged. Rigid bundling wire is used to bind the coils, with each bundle secured axially at 90-degree intervals along its diameter from four points. However, during handling or transportation, the bundling wire at the four axial points can shift to the same axis, causing the bundled steel wire to scatter or break, potentially spilling out of the train carriages and severely impacting railway safety. To ensure secure bundling of the coiled steel wire, a large amount of bundling wire must be used for multiple tight wraps to reduce the probability of these issues. However, this results in significant waste of bundling wire, greatly increasing packaging costs. Summary of the Invention

[0003] The purpose of this invention is to provide a steel coil fastening structure that can solve the problems of unstable packaging, easy scattering, and high cost when packaging steel coils with packaging wire, and can achieve fast, stable, and economical packaging.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a steel coil fastening structure comprising a bracket, an X-axis sliding module, a first Y-axis sliding module, a first Z-axis sliding module, and a welding robot. The X-axis sliding module is fixed to the upper surface of the bracket. The first Y-axis sliding module is located at the front end of the X-axis sliding module and slides back and forth on the X-axis sliding module. The first Z-axis sliding module is vertically arranged on the left and right sides of the first Y-axis sliding module and moves up and down on the first Y-axis sliding module. The upper ends of the first Z-axis sliding modules on both the left and right sides are fixed with rotating fixing components that allow the steel strip to adhere to the steel coil. The welding robot is located on both sides of the steel coil.

[0005] Furthermore, the rotating fixing assembly includes a rotating cylinder, a fixing plate, and a pneumatic finger cylinder. The rotating cylinder is fixed to the upper end of the first Z-axis sliding module. The fixing plate is connected to the output end of the rotating cylinder. The pneumatic finger cylinder is fixed to the end of the fixing plate away from the rotating cylinder. The fixing limiting member is fixed on both grippers of the pneumatic finger cylinder.

[0006] Furthermore, it also includes a second Y-axis sliding module and a second Z-axis sliding module. The second Y-axis sliding module is located at the rear end of the X-axis sliding module and slides back and forth on the X-axis sliding module. The second Z-axis sliding module is vertically arranged on the left and right sides of the second Y-axis sliding module and moves up and down on the second Y-axis sliding module. The upper ends of the second Z-axis sliding modules on the left and right sides are fixed with the rotating fixing component that allows the steel strip to adhere to the steel coil.

[0007] Furthermore, the fixing limiting component is a fixing block, and the inner surface of the fixing block is provided with a groove that can limit the steel strip, and the inner wall of the groove is fixed with an anti-slip rubber block.

[0008] Furthermore, four welding robots are provided, with two robots located on one side of the steel coil. Each welding robot includes a base, a robotic arm, a fixed base, and positive and negative welding torches. The robotic arm is fixed on the base, the fixed base is fixed on the robotic arm, and the positive and negative welding torches are fixed on the fixed base by springs. The welding needles of the positive and negative welding torches are separated by partitions.

[0009] Furthermore, a laser rangefinder is provided behind the positive and negative electrode welding gun, and a tension sensor is fixed to the side of the laser rangefinder. A magnet is connected to the output end of the tension sensor.

[0010] The beneficial effects of this invention are as follows: This invention enables the initial packaging of the steel strip, which is axially secured at 90-degree intervals along its diameter from four points using steel coils. The strip is then lifted using hoisting tools and transported to the device structure of this invention. A rotating fixing assembly clamps and secures the steel strip. The first and second Y-axis sliding modules transport the steel strip to the area below the steel coil where welding is required. The first and second Z-axis sliding modules feed both ends of the steel strip upwards towards the steel coil. The steel strip wraps around the bottom three-quarters of the steel coil, forming a "U" shape. Finally, the rotating fixing assembly rotates the clamped steel strip towards the direction of the steel coil, adhering the steel strip to the packaging line. The process begins with a welding robot welding steel strips onto the packing line. Each steel strip contacts one of the four circumferentially intersecting packing lines, securing them with spot welding. This fixes the packing line in place, preventing the steel coil from shifting and becoming disorganized. Furthermore, only the four axes of the steel coil need to be bundled together, minimizing material waste and reducing costs. After welding, a tension sensor and magnet at the rear of the welding torch on the robot pull the steel strip outwards. The tension sensor detects the tension value to determine if the steel strip follows the magnet, thus indicating a successful weld. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the structure in the rear-view direction of the present invention;

[0012] Figure 2 This is a schematic diagram of the structure in the front view direction of the present invention;

[0013] Figure 3 This is a layout view of the X-axis sliding module, the first Y-axis sliding module, and the first Z-axis sliding module in this invention;

[0014] Figure 4 for Figure 3 A magnified view of point A in the image;

[0015] Figure 5 This is a partial top view of the welding gun part of the welding robot in this invention;

[0016] Figure 6 This is a partial view of the welding gun part of the welding robot in this invention from a bottom-view perspective.

[0017] The components are as follows: 1. Support frame; 2. X-axis sliding module; 3. First Y-axis sliding module; 4. First Z-axis sliding module; 5. Welding robot; 51. Base; 52. Robotic arm; 53. Fixed seat; 54. Positive and negative electrode welding gun; 55. Partition plate; 56. Tension sensor; 57. Laser rangefinder sensor; 58. Magnet; 59. Spring; 6. Steel coil; 7. Steel strip; 8. Rotary fixing assembly; 81. Rotary cylinder; 82. Fixed plate; 83. Pneumatic finger cylinder; 84. Fixed block; 85. Slot; 9. Second Y-axis sliding module; 10. Second Z-axis sliding module; 11. C-hook; 12. Packing rope. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings. For better understanding, the orientation of the present invention is described according to the orientation shown in the accompanying drawings and should not be construed as a limitation of this application; the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0019] Please see Figures 1 to 5The present invention provides an embodiment of a steel coil fastening structure, comprising a bracket 1, an X-axis sliding module 2, a first Y-axis sliding module 3, a first Z-axis sliding module 4, and a welding robot 5. The X-axis sliding module 2 is fixed to the upper surface of the bracket 1. The first Y-axis sliding module 3 is located at the front end of the X-axis sliding module 2 and slides back and forth on the X-axis sliding module 2. The first Z-axis sliding module 4 is vertically arranged on the left and right sides of the first Y-axis sliding module 3 and moves up and down on the first Y-axis sliding module 3. The upper ends of the first Z-axis sliding modules 4 on both the left and right sides are fixed with rotating fixing components 8 that allow the steel strip 7 to adhere to the steel coil 6. The welding robot 5 is located on both sides of the steel coil 6. The bracket 1 serves as the component supporting the entire structure. The X-axis sliding module 2, the first Y-axis sliding module 3, and the first Z-axis sliding module 4 are all existing linear sliding modules, familiar to those skilled in the art, and will not be described in detail here. The steel coil 6 is suspended above the fastening structure of the steel coil 6 using a lifting tool, such as a C-hook 11. The first Y-axis sliding module 3, carrying the first Z-axis sliding module 4, moves back and forth on the X-axis sliding module 2. The first Z-axis sliding module 4 can carry a rotating... The rotating fixing component 8 moves up and down, and after the rotating fixing components 8 on both sides fix the steel strip 7, the steel strip 7 is transported to the position below the steel coil 6 to be welded by the first Y-axis sliding module 3. The two ends of the steel strip 7 to be welded are fed upwards to the steel coil 6 by the first Z-axis sliding module 4. The steel strip 7 is wrapped around the bottom three-quarters of the steel coil 6, forming a "U" shape. The first Y-axis sliding module 3 and the first Z-axis sliding module 4 can be set as a separate set, or additional components with the same structure as the first Y-axis sliding module 3 and the first Z-axis sliding module 4 can be added. The second Y-axis sliding module 9 and the second Z-axis sliding module 10 slide together on the X-axis sliding module 2 to transport the steel strip 7. Therefore, the X-axis sliding module 2 needs to be equipped with two sliding linear modules moving in opposite directions. Then, the rotating fixing component 8 on the first Z-axis sliding module 4 rotates the clamped steel strip 7 towards the inner side of the steel coil 6, adhering the steel strip 7 to the packing line 12. The welding robot 5 is positioned in front of the point where the packing line 12 and the steel strip 7 intersect and adhere. Four welding robots 5 are provided, located on both sides of the steel coil 6. Two welding robots 5 are installed on one side. The welding robots 5 move to different positions via a track-moving platform. The welding robots 5 weld the steel strip 7 to the packing line 12 by electric welding. One steel strip 7 contacts the packing line 12 at four circumferential intersections and is fastened by spot welding. This allows the packing line 12 to be fixed and limited by the steel strip 7, preventing the steel coil 6 from becoming scattered due to the displacement of the packing line 12. Furthermore, only the four axes of the steel coil 6 need to be bundled together by packing, which does not cause waste of packing materials and can reduce the cost of packing.

[0020] Please continue reading. Figure 5 As shown, in one embodiment of the present invention, the rotating fixing assembly 8 includes a rotating cylinder 81, a fixing plate 82, and a pneumatic finger cylinder 83. The rotating cylinder 81 is fixed to the upper end of the first Z-axis sliding module 4. The fixing plate 82 is connected to the output end of the rotating cylinder 81. The pneumatic finger cylinder 83 is fixed to the end of the fixing plate 82 that is far higher than the rotating cylinder 81. The fixing limiting member is fixed on both grippers of the pneumatic finger cylinder 83. The rotary cylinder 81 can drive the fixed plate 82 to rotate towards the inside of the steel coil 6. The pneumatic finger cylinder 83 is fixed on the fixed plate 82 and can rotate together with the rotary cylinder 81. Fixed limit blocks are fixed on the two grippers of the pneumatic finger cylinder 83. After the two grippers of the pneumatic finger cylinder 83 open, the steel strip 7 is put into the gripper and clamped by the gripper. The position of the steel strip 7 is limited by the fixed limit block, and the steel strip 7 is rotated towards the position of the packing line 12. The steel strip 7 can be tightly packed, which is convenient for the welding robot 5 to perform welding.

[0021] Please continue reading. Figure 5 As shown, in one embodiment of the present invention, a second Y-axis sliding module 9 and a second Z-axis sliding module 10 are further included. The second Y-axis sliding module 9 is located at the rear end of the X-axis sliding module 2 and slides back and forth on the X-axis sliding module 2. The second Z-axis sliding module 10 is vertically arranged on the left and right sides of the second Y-axis sliding module 9 and moves up and down on the second Y-axis sliding module 9. The upper ends of the second Z-axis sliding modules 10 on both sides are fixed with the rotating fixing component 8, which allows the steel strip 7 to adhere to the steel coil 6. The second Y-axis sliding module 9 can slide back and forth on the X-axis sliding module 2 with the second Z-axis sliding module 10, and the second Z-axis sliding module 10 can move up and down with the rotating fixing component 8. The first Y-axis sliding module 3 and the first Z-axis sliding module 4 are the same components as the second Y-axis sliding module 9 and the second Z-axis sliding module 10, except that their positions are different. Adding an extra set can improve the welding efficiency of the steel strip 7.

[0022] Please continue reading. Figure 5 As shown, in one embodiment of the present invention, the fixing and limiting member is a fixing block 84. The inner surface of the fixing block 84 is provided with a slot 85 that can limit the steel strip 7. The inner wall of the slot 85 is fixed with an anti-slip rubber block. The slot 85 can fix the position of the steel strip 7 when it is fixed in the gripper of the pneumatic finger cylinder 83. By providing an anti-slip rubber block on the inner wall of the slot 85, the friction between the steel strip 7 and the slot 85 can be increased, preventing the steel strip 7 from sliding in the slot 85 when the first Z-axis module and the second Z-axis module drive the steel strip 7 to move upward.

[0023] Please continue reading. Figure 5 As shown, in one embodiment of the present invention, four welding robots 5 are provided, two of which are provided on one side of the steel coil 6. Each welding robot 5 includes a base 51, a robotic arm 52, a fixed seat 53, and positive and negative electrode welding guns 54. The robotic arm 52 is fixed on the base 51, the fixed seat 53 is fixed on the robotic arm 52, and the positive and negative electrode welding guns 54 are fixed on the fixed seat 53 by springs 59. The welding needles of the positive and negative electrode welding guns 54 are separated by partitions 55. Positive and negative electrode welding guns 54 are used to weld the steel strip 7 and the packing wire 12. Because the surfaces of the packing wire 12 and the steel strip 7 are not very smooth, the positive and negative electrode welding guns 54 are fixed with springs 59 to ensure a closer fit during welding and to provide a certain buffering effect. The welding needles of the positive and negative electrode welding guns 54 are separated by partitions 55 to prevent short circuits. The number of welding robots 5 corresponds to the number of welding positions. As shown in the figure, there are a total of 8 welding points. The robot on one side of the steel coil 6 is responsible for four welding points, and one welding robot 5 is responsible for the upper and lower welding points on the same packing wire 12.

[0024] Please continue reading. Figure 5 As shown, in one embodiment of the present invention, a laser rangefinder sensor 57 is disposed behind the positive and negative electrode welding torch 54, and a tension sensor 56 is fixed to the side of the laser rangefinder sensor. The output end of the tension sensor 56 is connected to a magnet 58. The laser rangefinder sensor 57 can scan the area to be welded in the horizontal and vertical directions to obtain the position and data of the welding point. After welding, the steel strip 7 at the welded location is attracted by the magnet 58. Since the tension sensor 56 measures the tension value, the measured tension value is used to determine whether the steel strip 7 and the packing wire 12 are welded together.

[0025] The present invention has the following working principle: The packaged steel coil is hoisted by a hoisting tool and transported to the top of the device structure. The rotating fixing component clamps and fixes the steel strip. The steel strip is transported to the position below the steel coil to be welded by the first Y-axis sliding module and the second Y-axis sliding module. The two ends of the steel strip are fed upwards to the steel coil by the first Z-axis sliding module and the second Z-axis sliding module. Then, the rotating fixing component rotates the clamped steel strip in the direction of the steel coil to attach the steel strip to the packaging line. Then, the steel strip is spot welded to the packaging line by a welding robot. After welding, the tension sensor at the rear end of the positive and negative electrode welding gun on the robot works with a magnet to attract the iron strip and pull it outwards. The tension value sensed by the tension sensor is used to determine whether the iron strip is pulled out with the magnet, and thus whether it is welded.

[0026] The above description is only a preferred embodiment of the present invention and should not be construed as a limitation of this application. All equivalent changes and modifications made in accordance with the scope of the patent application of the present invention should be covered by the present invention.

Claims

1. A steel coil fastening structure, characterized in that: The system comprises a support frame, an X-axis sliding module, a first Y-axis sliding module, a first Z-axis sliding module, and a welding robot. The X-axis sliding module is fixed to the upper surface of the support frame. The first Y-axis sliding module is located at the front end of the X-axis sliding module and slides back and forth on the X-axis sliding module. The first Z-axis sliding module is vertically arranged on the left and right sides of the first Y-axis sliding module and moves up and down on the first Y-axis sliding module. The upper ends of the first Z-axis sliding modules on both sides are fixed with rotating fixing components that allow the steel strip to adhere to the steel coil. The welding robot is located on both sides of the steel coil. The rotating fixing components include a rotary cylinder, a fixing plate, and a pneumatic finger cylinder. The rotary cylinder is fixed to the upper end of the first Z-axis sliding module. The fixing plate is connected to the output end of the rotary cylinder. The pneumatic finger cylinder is fixed to the end of the fixing plate away from the rotary cylinder. Fixed limiting components are fixed to the two grippers of the pneumatic finger cylinder. The welding robot is provided in four parts, with two parts on one side of the steel coil. Each welding robot includes a base, a robotic arm, a fixed base, and positive and negative welding guns. The robotic arm is fixed on the base, the fixed base is fixed on the robotic arm, and the positive and negative welding guns are fixed on the fixed base by springs. The welding needles of the positive and negative welding guns are separated by partitions. A laser rangefinder is installed behind the positive and negative electrode welding guns, and a tension sensor is fixed to the side of the laser rangefinder. A magnet is connected to the output end of the tension sensor. The steel strip held by the rotating fixing component is rotated in the direction of the steel coil, and the steel strip is attached to the packing line. Then, the steel strip is spot welded to the packing line by a welding robot. After welding, the tension sensor at the rear of the positive and negative welding gun on the robot works with the magnet to attract the steel strip and pull it outward. The tension value sensed by the tension sensor is used to determine whether the steel strip is pulled out with the magnet, and thus whether it is welded.

2. The steel coil fastening structure according to claim 1, characterized in that: It also includes a second Y-axis sliding module and a second Z-axis sliding module. The second Y-axis sliding module is located at the rear end of the X-axis sliding module and slides back and forth on the X-axis sliding module. The second Z-axis sliding module is vertically arranged on the left and right sides of the second Y-axis sliding module and moves up and down on the second Y-axis sliding module. The upper ends of the second Z-axis sliding modules on the left and right sides are fixed with the rotating fixing component that allows the steel strip to adhere to the steel coil.

3. The steel coil fastening structure according to claim 1, characterized in that: The fixing limiting component is a fixing block. The inner surface of the fixing block has a groove that can limit the steel strip. The inner wall of the groove is fixed with an anti-slip rubber block.

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