A truss handling device with a positioning function for barrel-shaped coils

Abstract

The present invention discloses a truss handling device for barrel-shaped coils with a positioning function, which relates to the technical field of barrel-shaped coil handling. The barrel-shaped coils are handled by the truss handling device and placed on a transport vehicle. When placing them, double-layer stacking is carried out to improve the transport efficiency. The truss serves as the main installation basis for installing and fixing other devices. A plurality of conveying tracks are arranged inside it, and each conveying track is provided with a conveyor for conveying the barrel-shaped coils, which is convenient for handling. The driving device serves as the main power unit for handling the barrel-shaped coils. By setting an adjusting device, the attitude of the barrel-shaped coils is adjusted and automatic positioning is carried out, so as to improve the interlocking ability between the two stacked layers of barrel-shaped coils and enhance the stacking stability.

Description

Technical Field

[0001] The present invention relates to the technical field of barrel-shaped coil handling, and specifically to a truss handling device with a positioning function for barrel-shaped coils. Background Art

[0002] Barrel-shaped coils generally refer to the formation of flexible materials by winding, which facilitates storage and transportation. Such flexible materials can be further divided into wire materials, film materials, sheet materials, etc.

[0003] Compared with smooth surfaces such as film materials and sheet materials, after the wire materials are wound, the formed wire materials can have uneven surfaces to improve the axial self-locking performance, thereby enabling stacked handling. However, the currently used truss handling device can only mechanically stack the barrel-shaped coils. After the wire materials are wound, the outermost wire materials are distributed in a non-uniform state. Therefore, the clamping performance between the upper and lower layers of the barrel-shaped coils cannot be guaranteed, affecting the transportation stability of the barrel-shaped coils.

[0004] In addition, during the stacking process of the barrel-shaped coils, it is impossible to ensure that the center lines between the layers of the barrel-shaped coils are parallel, thus affecting the stacking stability. Summary of the Invention

[0005] The purpose of the present invention is to provide a truss handling device with a positioning function for barrel-shaped coils to solve the problems raised in the prior art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A truss handling device with a positioning function for barrel-shaped coils. The truss handling device is used to place the barrel-shaped coils on a transport vehicle. The barrel-shaped coils are stacked in two layers. The truss handling device includes a truss, a driving device, an adjusting device, and a conveyor. There are several conveyors inside the truss. The conveyor is used to escort the barrel-shaped coils. The driving device is connected to the truss, and the adjusting device is connected to the driving device. The adjusting device is used to adjust the placement posture of the barrel-shaped coils.

[0008] The barrel-shaped coils are handled by the truss handling device and placed on the transport vehicle. When placing, double-layer stacking is performed to improve the transportation efficiency. The truss serves as the main installation foundation for installing and fixing other devices. Multiple conveying tracks are arranged inside it, and each conveying track is provided with a conveyor for conveying the barrel-shaped coils, facilitating handling. The driving device serves as the main power unit for handling the barrel-shaped coils. By setting the adjusting device, the posture of the barrel-shaped coils is adjusted and automatically positioned, improving the interlocking ability between the two stacked layers of barrel-shaped coils and enhancing the stacking stability.

[0009] Furthermore, the driving device includes a cross arm, a self-propelled component, a lifting component, a transverse module and a clamping claw. The cross arm is tightly connected to the movable end of the transverse module, the fixed end of the transverse module is tightly connected to the truss, a plurality of cross arms are provided along the length direction of the truss, a self-propelled component is provided on the cross arm, the self-propelled component and the lifting component are tightly connected, the self-propelled component drives the lifting component to move along the length direction of the cross arm, and the lifting component is connected to the clamping claw through the adjusting device;

[0010] The adjusting device includes an angle-changing assembly, which includes an angle-changing motor, a worm, a worm wheel and a fixed seat. The angle-changing motor and the lifting assembly are tightly connected, the output end of the angle-changing motor is transmission-connected to the worm, the end of the worm away from the angle-changing motor is rotatably connected to the lifting assembly, the tooth surfaces of the worm and the worm wheel are meshing, the worm wheel and the fixed seat are tightly connected, and the fixed seat and the clamp are movably connected.

[0011] Crossarms are arranged along the conveying track, for example, in three groups. Each group of crossarms is connected to the truss through a transverse moving module. The transverse moving module adopts a conventional linear drive structure and is fixed on the truss. The movable end is used to drive the crossarm to perform linear displacement. The crossarm is used to slide and guide the lifting assembly, which is driven by the self-propelled assembly. The linear displacement driven by the self-propelled assembly is arranged along the length direction of the crossarm. The lifting assembly is used to generate vertical displacement, so that the transverse moving module, the self-propelled assembly and the lifting assembly generate three-coordinate displacement, which is convenient for driving the clamp to move and place the barrel-shaped coil on the transport vehicle. When the transport vehicle is docked, it cannot be guaranteed that the direction of the entire vehicle is arranged along the length direction of the crossarm, and there will be a certain angle difference. The barrel-shaped coil itself is heavy. When laying the first layer of barrel-shaped coil, an arc-shaped limit groove is set on the truck bed, which can directly fix the first layer of barrel-shaped coil, and the second layer of barrel-shaped coil needs to be placed in the gap between the adjacent first layer of barrel-shaped coil. The first layer of barrel-shaped coil is placed in the limit groove on the truck bed, and it will automatically slide to the lowest point along the wall of the arc-shaped limit groove, so as to perform adaptive positioning. The barrel-shaped coil can be rolled from wire. After rolling, there will be gaps, and when laying the second layer When the barrel-shaped coils are used, the center line offset will occur between the two layers of barrel-shaped coils. Under the action of its own weight, the static friction and clamping force of the second layer of barrel-shaped coil placed on the first layer of barrel-shaped coil are relatively large, and it cannot automatically repair to the center line parallel state. By setting a variable angle component and using a variable angle motor as a power source, the worm is driven to rotate, and the worm cooperates with the worm gear to drive the fixed seat connected to the worm gear to rotate. The fixed seat is used to install the clamping claw, so as to adjust the angle of the clamping claw, so that the center lines of the upper and lower layers of barrel-shaped coils are kept parallel, thereby improving the clamping performance of the lower barrel-shaped coil to the upper barrel-shaped coil, thereby ensuring transportation stability.

[0012] Further, the jaw includes a C-shaped hook and washers. The C-shaped hook is movably connected to the fixed seat. A number of washers are provided on the C-shaped hook. The inner circles of the washers are rotatably connected to the C-shaped hook, and the outer circles of the washers are in contact with the inner circle of the barrel-shaped coil. The adjusting device further includes an induction component, which includes a push rod and an eccentric ring. The eccentric ring is sleeved on the C-shaped hook and is rotatably connected to the C-shaped hook. A pressure-sensing groove is provided on the eccentric ring. A pressure-bearing spring is provided at the lower end of the push rod. The lower end of the push rod is abutted against the pressure-sensing groove through the pressure-bearing spring. The upper end of the push rod is abutted against the upper wall of the inner circle of the barrel-shaped coil. A tuning coil is provided in the pressure-sensing groove. The lower end of the push rod is inserted into the tuning coil to form a tuning circuit. The variable-angle motor is electrically connected to the tuning circuit.

[0013] The jaw is arranged in a split type. The C-shaped hook serves as the main load-bearing unit for supporting the washers. The washers can rotate about a fixed axis on the C-shaped hook, which is convenient for reducing frictional damage during handling. When handling the second layer of barrel-shaped coils, after the C-shaped hook drives multiple washers to insert into the inner circle of the barrel-shaped coil, the barrel-shaped coil is lifted by the lifting component and moved to the transport vehicle. Through three-dimensional coordinate adjustment, the barrel-shaped coil is placed on the first layer of barrel-shaped coils. When the center line of the second layer of barrel-shaped coils is parallel to the center line of the first layer of barrel-shaped coils, the clamping efficiency is the best. And the push rod compresses the pressure-bearing spring under the gravity of the barrel-shaped coil. The push rod extends out of the pressure-sensing groove through the lifting component and abuts against the upper wall of the inner circle of the barrel-shaped coil. The variable-angle motor drives the worm to rotate. The variable-angle motor can rotate forward or backward. Using servo control, for example, the maximum rotation angle of the driven worm gear in both directions is 15°. When driving the second layer of barrel-shaped coils to cross the parallel state of the center lines, as the spatial angle between the two center lines increases, it will drive the second layer of barrel-shaped coils to shift upward along the outer sides of the two barrel-shaped coils on the first layer. Since the C-shaped hook rotates about the vertical axis of the push rod at this time, during the upward movement of the second layer of barrel-shaped coils, the contact point with the washers shifts. At this time, the push rod moves upward under the action of the pressure-bearing spring, and the tuning coil makes a cutting magnetic induction line movement and generates an induced current. The current generated during the upward movement of the push rod is a positive current; when the included angle between the two center lines decreases, the second layer of barrel-shaped coils gradually moves to the calibrated position and generates a displacement downward along the outer wall of the first layer of barrel-shaped coils, pushing the push rod to move downward. The current generated during the downward movement is a reverse current. When the push rod moves to the lowest point, that is, when the reverse current is the largest, the upper and lower layers of barrel-shaped coils enter the parallel state of the center lines, thus realizing automatic positioning.

[0014] Further, the adjusting device further includes a transmission wheel and a driving motor. The driving motor is fixedly connected to the C-shaped hook. The output end of the driving motor is in transmission connection with the transmission wheel. The transmission wheel is rotatably connected to the C-shaped hook. The outer circle of the transmission wheel is in frictional transmission with the inner circle of the barrel-shaped coil;

[0015] The induction component further includes a folding rod, a return spring, and a bias coil. An eccentric groove is provided on the driving wheel. The folding rod is rotatably connected to the eccentric groove. The folding rod is made of a magnet material. The return spring and the bias coil are respectively placed in the eccentric groove. One side of the return spring away from the wall surface of the eccentric groove abuts against the side of the folding rod. The bent section of the folding rod is inserted into the inner ring of the bias coil.

[0016] The driving motor is fixed on the C-shaped hook and is used to drive the driving wheel to rotate. The inner ring of the driving wheel and the barrel-shaped coil are driven by friction, so that the driving wheel can drive the barrel-shaped coil to rotate along its own center line. During the rotation process, auxiliary rotation is carried out through the washer. The driving motor outputs the rated power. At this time, since the second-layer barrel-shaped coil has been placed between the two first-layer barrel-shaped coils, and due to the disorder of the winding of the barrel-shaped coil, the contact area between the two layers of barrel-shaped coils is related to the contact points on the outer ring of the second-layer barrel-shaped coil. The driving motor drives the second-layer barrel-shaped coil to rotate through the driving wheel. The folding rod in the eccentric groove of the driving wheel rotates under the action of centrifugal force and stretches the return spring. When the folding rod rotates into the bias coil, since the folding rod is made of a magnet material, an induced current is generated on the bias coil. When the output power of the driving motor is constant, when the second-layer barrel-shaped coil rotates, it is affected by the contact area with the two first-layer barrel-shaped coils, that is, the contact friction force. The larger the contact area, the greater the frictional resistance, the lower the rotation speed of the driving wheel, and the smaller the centrifugal force received by the folding rod. The folding rod rotates away from the bias coil under the action of the return spring. Since the direction of the current generated on the bias coil is related to the rotation direction of the folding rod, when the second-layer barrel-shaped coil is driven to rotate one circle through the driving wheel, the position with the lowest rotation speed is confirmed, and the second-layer barrel-shaped coil is adjusted to the corresponding position through the driving wheel. At this time, the engagement area between the upper and lower layers of barrel-shaped coils is the largest, so that the axial limit of the first-layer barrel-shaped coil on the second-layer barrel-shaped coil is the largest, improving the subsequent transportation safety.

[0017] Further, there are two driving wheels, and the two driving wheels are respectively located on both sides of the eccentric ring;

[0018] During stacking: The driving motor and the circuit where the bias coil is located are electrically connected.

[0019] By setting two driving wheels, the stability of torque output is improved, so that the two driving wheels respectively drive the barrel-shaped coil to rotate through two points. According to the current fluctuation on the bias coil, the position with the lowest rotation speed of the second-layer barrel-shaped coil is confirmed, and then the driving motor is used for adjustment, so that the engagement performance between the upper and lower levels is the largest.

[0020] Further, the self-propelled component includes a self-propelled motor and a self-propelled rack. The self-propelled motor is fixedly connected to the lifting component. A self-propelled gear is provided at the output end of the self-propelled motor. The self-propelled rack is fixedly connected to the crossbar. The self-propelled gear and the tooth surface of the self-propelled rack are meshed. The lifting component and the crossbar are slidably connected.

[0021] The self-propelled motor is fixed on the lifting assembly and is used to output torque to drive the self-propelled gear to rotate. The self-propelled gear meshes with the self-propelled rack on the crossbar, thereby driving the lifting assembly to move along the length direction of the crossbar, facilitating the handling of the barrel-shaped coil on the conveyor to the transport vehicle, and the crossbar conducts sliding guidance on the lifting assembly.

[0022] Further, the lifting assembly includes a lifting frame, a lifting motor and a wire rope reel. The lifting frame includes a fixed frame and a movable frame. The fixed frame is slidably connected to the crossbar, and the fixed frame is fixedly connected to the self-propelled motor. The lifting motor is fixedly connected to the fixed frame. The output end of the lifting motor is fixedly connected to the wire rope reel. The wire rope reel is rotatably connected to the fixed frame. A wire rope is wound around the wire rope reel. The lower end of the wire rope is fixedly connected to the movable frame. The movable frame is slidably connected to the fixed frame. The lower end of the movable frame is fixedly connected to the angle-changing motor. The worm gear is rotatably connected to the movable frame.

[0023] The lifting frame serves as the installation base of the lifting assembly and at the same time fixes the self-propelled motor, facilitating movement along the length direction of the crossbar during the driving process. The lifting motor is fixed thereon. The lifting motor is used to drive the wire rope reel to rotate. Through the wire rope reel, the wire rope is wound and unwound. During the winding and unwinding process of the wire rope, the movable frame is driven to move up and down. The fixed frame conducts sliding guidance on the movable frame, thereby facilitating the vertical displacement adjustment of the barrel-shaped coil. The movable frame is used to conduct rotational guidance on the worm gear, facilitating angle adjustment.

[0024] Further, the adjusting device further includes a distance-adjusting assembly. The fixed seat is connected to the jaw through the distance-adjusting assembly. The distance-adjusting assembly includes a front mounting seat, a rear mounting seat, a distance-adjusting motor and a transmission chain. The distance-adjusting motor is fixedly connected to the fixed seat. The output end of the distance-adjusting motor is in transmission connection with the transmission chains on both sides. Sprockets are arranged on the inner ring of the transmission chain. The transmission chain is movably connected to the fixed seat through the sprockets. The front mounting seat and the rear mounting seat are respectively fixedly connected to the transmission chain. The lower ends of the front mounting seat and the rear mounting seat are respectively fixedly connected to C-shaped hooks. The front mounting seat, the rear mounting seat and the fixed seat are slidably connected.

[0025] Two C-shaped hooks are arranged on each fixed seat. The two C-shaped hooks are respectively fixed through the transmission chain. Two sprockets are arranged on the inner ring of the transmission chain and are driven by the distance-adjusting motor. When the transmission chain moves, it drives the front mounting seat and the rear mounting seat respectively. The front mounting seat is located in front of the conveying direction of the barrel-shaped coil. When the front mounting seat and the rear mounting seat move, they can drive the C-shaped hooks connected to them to move.

[0026] As an optimization, a through chain slot is provided on the front mounting seat. The lower side of the drive chain passes through the through chain slot. The front mounting seat is fixedly connected to the upper layer of the drive chain, and the rear mounting seat is fixedly connected to the lower layer of the drive chain. Due to the different specifications of the coils, during the double-coil handling process, the front mounting seat is fixed to the upper layer of the drive chain, the rear mounting seat is fixed to the lower layer of the drive chain, and slides with the fixed seat. During the transmission of the drive chain, since the through chain slot of the front mounting seat does not contact the drive chain, it can drive the distance between the C-shaped hooks to increase or decrease with the rotation of the drive chain, facilitating the transportation of barrel-shaped coils of different specifications and preventing interference.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: The barrel-shaped coil on the first layer is placed in the limit slot on the car body and will automatically slide to the lowest point along the arc-shaped wall of the limit slot, so as to achieve adaptive positioning; The variable-angle motor is used as the power source to drive the worm to rotate. The worm is matched with the worm gear, thereby driving the fixed seat connected to the worm gear to rotate. The fixed seat is used to install the clamping jaws, so as to adjust the angle of the clamping jaws, so that the center lines of the barrel-shaped coils on the upper and lower layers are parallel, improving the clamping performance of the barrel-shaped coil on the lower layer on the barrel-shaped coil on the upper layer, thus ensuring the transportation stability; When driving the barrel-shaped coil on the second layer to cross the state where the center lines are parallel, as the spatial angle between the two center lines increases, it will drive the barrel-shaped coil on the second layer to shift upward along the outer sides of the two barrel-shaped coils on the first layer. Since the C-shaped hook rotates around the vertical axis of the ejector rod at this time, during the upward movement of the barrel-shaped coil on the second layer, the contact point with the washer shifts. At this time, the ejector rod moves upward under the action of the pressure spring, and the angle adjustment coil makes a cutting magnetic induction line movement and generates an induced current. The current generated during the upward movement of the ejector rod is a positive current; When the included angle between the two center lines decreases, the barrel-shaped coil on the second layer gradually moves to the calibrated position and generates a downward displacement along the outer wall of the barrel-shaped coil on the first layer, pushing the ejector rod downward. The current generated during the downward movement is a reverse current. When the ejector rod moves to the lowest point, that is, when the reverse current is the largest, the barrel-shaped coils on the upper and lower layers enter the state where the center lines are parallel, so as to achieve automatic positioning; When the output power of the drive motor is constant, when the barrel-shaped coil on the second layer rotates, it is affected by the contact area with the two barrel-shaped coils on the first layer, that is, the contact friction force. The larger the contact area, the greater the frictional resistance, the lower the rotational speed of the transmission wheel, and the smaller the centrifugal force received by the folding rod. The folding rod rotates away from the offset coil under the action of the return spring. When driving the barrel-shaped coil on the second layer to rotate one circle through the transmission wheel, the lowest rotational speed is confirmed, and the barrel-shaped coil on the second layer is adjusted to the corresponding position through the transmission wheel. At this time, the area where the barrel-shaped coils on the upper and lower layers are engaged with each other is the largest, making the axial limit of the barrel-shaped coil on the first layer on the barrel-shaped coil on the second layer the largest, improving the subsequent transportation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is the overall structural schematic diagram of the present invention;

[0029] Figure 2 Schematic diagram of the lifting component structure of the present invention;

[0030] Figure 3 is Figure 1 Enlarged view of partial A of the view;

[0031] Figure 4 is Figure 1 Enlarged view of partial B of the view;

[0032] Figure 5 Schematic diagram of the corner component structure of the present invention;

[0033] Figure 6 Schematic diagram of the jaw structure of the present invention;

[0034] Figure 7 Schematic diagram of the induction component of the present invention;

[0035] Figure 8 Schematic diagram of the driving wheel structure of the present invention;

[0036] Figure 9 is Figure 5 Enlarged view of partial C of the view;

[0037] Figure 10 is Figure 5 Enlarged view of partial D of the view.

[0038] In the figure: 1, truss; 2, driving device; 21, cross arm; 22, self-propelled component; 221, self-propelled motor; 222, self-propelled gear; 223, self-propelled rack; 23, lifting component; 231, lifting frame; 2311, fixed frame; 2312, movable frame; 232, lifting motor; 233, wire reel; 234, wire rope; 24, transverse movement module; 25, jaw; 251, C-shaped hook; 252, washer; 3, adjusting device; 31, driving wheel; 32, induction component; 321, ejector rod; 322, bearing spring; 323, angle-adjusting coil; 324, eccentric ring; 3241, pressure-sensing groove; 325, folding rod; 326, return spring; 327, bias coil; 33, angle-changing component; 331, angle-changing motor; 332, worm; 333, worm gear; 334, fixed seat; 34, distance-adjusting component; 341, front mounting seat; 342, rear mounting seat; 343, distance-adjusting motor; 344, drive chain; 35, driving motor; 4, conveyor; 5, barrel-shaped coil; 6, transport vehicle. Detailed implementation manners

[0039] Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0040] Example: Figures 1-10 As shown, the present invention provides a technical solution for a truss transport device with a positioning function for barrel-shaped coiled materials.

[0041] A truss handling device with a positioning function for barrel-shaped coils, the truss handling device is used to place barrel-shaped coils 5 on a transport vehicle 6, the barrel-shaped coils 5 are stacked in two layers, the truss handling device includes a truss 1, a drive device 2, an adjustment device 3 and a conveyor 4, a plurality of conveyors 4 are arranged inside the truss 1, the conveyor 4 is used to escort the barrel-shaped coils 5, the drive device 2 is connected to the truss 1, the adjustment device 3 is connected to the drive device 2, and the adjustment device 3 is used to adjust the placement posture of the barrel-shaped coils 5.

[0042] The barrel-shaped coil 5 is transported by a truss transport device and placed on a transport vehicle 6. When placing it, it is double-stacked to improve transportation efficiency. The truss 1 serves as the main installation base for installing and fixing other devices. A plurality of conveying tracks are arranged inside the truss, and each conveying track is provided with a conveyor 4 for conveying the barrel-shaped coil 5 to facilitate transportation. The driving device 2 serves as the main power unit for transporting the barrel-shaped coil 5. By providing an adjustment device 3, the barrel-shaped coil 5 is adjusted in posture and automatically positioned, so that the interlocking ability between the two stacked layers of barrel-shaped coils 5 is improved, thereby improving the stability of the stacking.

[0043] Further, the driving device 2 includes a cross arm 21, a self-propelled component 22, a lifting component 23, a transverse module 24 and a clamp 25. The cross arm 21 is tightly connected to the movable end of the transverse module 24, and the fixed end of the transverse module 24 is tightly connected to the truss 1. The cross arm 21 is provided with a plurality of self-propelled components 22 along the length direction of the truss 1. The cross arm 21 is provided with a self-propelled component 22. The self-propelled component 22 and the lifting component 23 are tightly connected. The self-propelled component 22 drives the lifting component 23 to move along the length direction of the cross arm 21. The lifting component 23 is connected to the clamp 25 through the adjusting device 3.

[0044] The adjusting device 3 includes an angle-changing assembly 33, which includes an angle-changing motor 331, a worm 332, a worm wheel 333 and a fixed seat 334. The angle-changing motor 331 is fixedly connected to the lifting assembly 23, the output end of the angle-changing motor 331 is transmission-connected to the worm 332, the end of the worm 332 away from the angle-changing motor 331 is rotationally connected to the lifting assembly 23, the tooth surfaces of the worm 332 and the worm wheel 333 are meshed, the worm wheel 333 and the fixed seat 334 are fixedly connected, and the fixed seat 334 and the clamp 25 are movably connected.

[0045] The cross arm 21 is arranged along the conveying track, for example, arranged in three groups. Each group of cross arms 21 is connected to the truss 1 through a lateral shifting module 24. The lateral shifting module 24 adopts a conventional linear drive structure, is fixed on the truss 1, and its movable end is used to drive the cross arm 21 to perform linear displacement. The cross arm 21 is used to slide-guide the lifting assembly 23 and is driven by the self-propelled assembly 22. The linear displacement driven by the self-propelled assembly 22 is arranged along the length direction of the cross arm 21. The lifting assembly 23 is used to generate vertical displacement, so that the lateral shifting module 24, the self-propelled assembly 22, and the lifting assembly 23 generate three-coordinate displacements, facilitating the driving of the clamping jaw 25 to move and placing the barrel-shaped coil 5 on the transport vehicle 6. Since there will be a certain angular difference when the transport vehicle 6 docks and it cannot ensure that the direction of its whole vehicle is arranged along the length direction of the cross arm, and the barrel-shaped coil 5 is relatively heavy by itself. When laying the first layer of the barrel-shaped coil 5, an arc-shaped limiting groove is provided on the carriage, which can directly fix the first layer of the barrel-shaped coil 5. While the second layer of the barrel-shaped coil 5 needs to be placed in the gap adjacent to the first layer of the barrel-shaped coil 5. The first layer of the barrel-shaped coil 5 is placed in the limiting groove on the carriage and will automatically slide to the lowest point along the arc-shaped limiting groove wall, thus realizing adaptive positioning. The barrel-shaped coil 5 can be made of wire. After winding, there will be gaps. When laying the second layer of the barrel-shaped coil 5, there will be a center line offset between the two layers of the barrel-shaped coil 5. Under the action of its own weight, the static friction and the clamping force between the second layer of the barrel-shaped coil 5 placed on the first layer of the barrel-shaped coil 5 are relatively large, and it cannot automatically return to the state where the center lines are parallel. By setting the angle-changing assembly 33, using the angle-changing motor 331 as the power source to drive the worm 332 to rotate. The worm 332 drives the fixed seat 334 connected to the worm wheel 333 to rotate through cooperation with the worm wheel 333. The fixed seat 334 is used to install the clamping jaw 25, so as to adjust the angle of the clamping jaw 25, so that the center lines of the upper and lower layers of the barrel-shaped coil 5 are parallel, improving the clamping performance of the lower layer of the barrel-shaped coil 5 on the upper layer of the barrel-shaped coil 5, and thus ensuring the transportation stability.

[0046] Further, the jaw 25 includes a C-shaped hook 251 and washers 252. The C-shaped hook 251 is movably connected to the fixed seat 334. A plurality of washers 252 are provided on the C-shaped hook 251. The inner rings of the plurality of washers 252 are rotatably connected to the C-shaped hook 251, and the outer rings of the washers 252 are in contact with the inner ring of the barrel-shaped coil 5. The adjusting device 3 further includes an induction component 32. The induction component 32 includes a push rod 321 and an eccentric ring 324. The eccentric ring 324 is sleeved on the C-shaped hook 251 and is rotatably connected to the C-shaped hook 251. A pressure-sensing groove 3241 is provided on the eccentric ring 324. A pressure-bearing spring 322 is provided at the lower end of the push rod 321. The lower end of the push rod 321 abuts against the pressure-sensing groove 3241 through the pressure-bearing spring 322. The upper end of the push rod 321 abuts against the upper wall of the inner ring of the barrel-shaped coil 5. An angle-adjusting coil 323 is provided in the pressure-sensing groove 3241. The lower end of the push rod 321 is inserted into the angle-adjusting coil 323 to form an angle-adjusting circuit. The angle-changing motor 331 is electrically connected to the angle-adjusting circuit.

[0047] The jaw 25 is provided in a split type. The C-shaped hook 251 serves as the main load-bearing unit for supporting the washer 252. The washer 252 can rotate around a fixed axis on the C-shaped hook 251, which helps to reduce frictional damage during handling. When transporting the second-layer barrel-shaped coil 5, after the C-shaped hook 251 drives multiple washers 252 to insert into the inner ring of the barrel-shaped coil 5, the barrel-shaped coil 5 is lifted by the lifting assembly 23 and moved onto the transport vehicle 6. Through three-coordinate adjustment, the barrel-shaped coil 5 is placed on the first-layer barrel-shaped coil 5. When the center line of the second-layer barrel-shaped coil 5 is parallel to the center line of the first-layer barrel-shaped coil 5, the clamping efficiency is the best. And the ejector rod 321 compresses the pressure-bearing spring 322 under the gravity of the barrel-shaped coil 5. Through the lifting assembly 23, the ejector rod 321 extends out of the pressure-sensing groove 3241 and abuts against the upper wall of the inner ring of the barrel-shaped coil 5. The variable-angle motor 331 drives the worm 332 to rotate. The variable-angle motor 331 can rotate forward or backward. Using servo control, for example, the maximum rotation angle of the driven worm wheel 333 in both directions is 15°. When driving the second-layer barrel-shaped coil 5 to cross the parallel state of the center lines, as the spatial angle between the two center lines increases, it will drive the second-layer barrel-shaped coil 5 to shift upward along the outer sides of the two barrel-shaped coils 5 of the first layer. Since the C-shaped hook 251 rotates around the vertical axis of the ejector rod 321 at this time, during the upward movement of the second-layer barrel-shaped coil 5, the contact point with the washer 252 shifts. At this time, the ejector rod 321 moves upward under the action of the pressure-bearing spring 322, and the angle-adjusting coil 323 makes a cutting magnetic induction line movement and generates an induced current. The current generated during the upward movement of the ejector rod 321 is a positive current; when the included angle between the two center lines decreases, the second-layer barrel-shaped coil 5 gradually moves to the calibrated position and generates a downward displacement along the outer wall of the first-layer barrel-shaped coil 5, pushing the ejector rod 321 to move downward. The current generated during the downward movement is a reverse current. When the ejector rod 321 moves to the lowest point, that is, when the reverse current is the largest, the barrel-shaped coils 5 of the upper and lower layers enter the parallel state of the center lines, thus achieving automatic positioning.

[0048] Further, the adjusting device 3 further includes a transmission wheel 31 and a driving motor 35. The driving motor 35 is fixedly connected to the C-shaped hook 251. The output end of the driving motor 35 is in transmission connection with the transmission wheel 31. The transmission wheel 31 is rotatably connected to the C-shaped hook 251. The outer ring of the transmission wheel 31 is in frictional transmission with the inner ring of the barrel-shaped coil 5.

[0049] The induction assembly 32 further includes a folding rod 325, a return spring 326 and a bias coil 327. An eccentric groove is provided on the transmission wheel 31. The folding rod 325 is rotatably connected to the eccentric groove. The folding rod 325 is made of a magnet material. The return spring 326 and the bias coil 327 are respectively placed in the eccentric groove. One side of the return spring 326 away from the wall surface of the eccentric groove abuts against the side of the folding rod 325. The bent section of the folding rod 325 is inserted into the inner ring of the bias coil 327.

[0050] The drive motor 35 is fixed on the C-shaped hook 251 and is used to drive the transmission wheel 31 to rotate. The transmission wheel 31 and the inner ring of the barrel-shaped coil 5 are driven by friction, so that the transmission wheel 31 can drive the barrel-shaped coil 5 to rotate along its own center line. During the rotation process, the washer 252 is used for auxiliary rotation. The drive motor 35 outputs the rated power. Since the barrel-shaped coil 5 of the second layer has been placed between the two barrel-shaped coils 5 of the first layer at this time, and due to the disorder of the winding of the barrel-shaped coil 5, the contact area between the two layers of barrel-shaped coils 5 is related to the contact points on the outer ring of the barrel-shaped coil 5 of the second layer. The drive motor 35 drives the barrel-shaped coil 5 of the second layer to rotate through the transmission wheel 31. The folding rod 325 in the eccentric groove of the transmission wheel 31 rotates under the action of centrifugal force and stretches the return spring 326. When the folding rod 325 rotates into the bias coil 327, since the folding rod 325 is made of a magnet material, an induced current is generated on the bias coil 327. When the output power of the drive motor 35 is constant, when the barrel-shaped coil 5 of the second layer rotates, it is affected by the contact area with the two barrel-shaped coils 5 of the first layer, that is, the contact friction force. The larger the contact area, the greater the frictional resistance, the lower the rotation speed of the transmission wheel 31, and the smaller the centrifugal force received by the folding rod 325. The folding rod 325 rotates away from the bias coil 327 under the action of the return spring 326. Since the direction of the current generated on the bias coil 327 is related to the rotation direction of the folding rod 325, when the barrel-shaped coil 5 of the second layer is driven by the transmission wheel 31 to rotate one circle, the position with the lowest rotation speed is confirmed, and the barrel-shaped coil 5 of the second layer is adjusted to the corresponding position through the transmission wheel 31. At this time, the mutually engaged area between the upper and lower layers of barrel-shaped coils 5 is the largest, so that the axial limit of the barrel-shaped coil 5 of the first layer on the barrel-shaped coil 5 of the second layer is the largest, improving the subsequent transportation safety.

[0051] Further, there are two transmission wheels 31, and the two transmission wheels 31 are respectively located on both sides of the eccentric ring 324;

[0052] During stacking: The circuit where the drive motor 35 and the bias coil 327 are located is electrically connected.

[0053] By setting two transmission wheels 31, the stability of torque output is improved, so that the two transmission wheels 31 drive the barrel-shaped coil 5 to rotate through two points respectively. According to the current fluctuation on the bias coil 327, the position with the lowest rotation speed of the barrel-shaped coil 5 of the second layer is confirmed, and then the drive motor 35 is used for adjustment, so that the engagement performance between the upper and lower levels is the largest.

[0054] Further, the self-propelled assembly 22 includes a self-propelled motor 221 and a self-propelled rack 223. The self-propelled motor 221 is fixedly connected to the lifting assembly 23. The output end of the self-propelled motor 221 is provided with a self-propelled gear 222. The self-propelled rack 223 is fixedly connected to the cross arm 21. The self-propelled gear 222 and the self-propelled rack 223 are meshed on the tooth surface. The lifting assembly 23 and the cross arm 21 are slidably connected.

[0055] The self-propelled motor 221 is fixed on the lifting assembly 23 and is used to output torque to drive the self-propelled gear 222 to rotate. The self-propelled gear 222 meshes with the self-propelled rack 223 on the cross arm 21, thereby driving the lifting assembly 23 to move along the length direction of the cross arm 21, facilitating the handling of the barrel-shaped coil material 5 on the conveyor 4 to the transport vehicle 6, and the cross arm 21 conducts sliding guidance on the lifting assembly 23.

[0056] Furthermore, the lifting assembly 23 includes a lifting frame 231, a lifting motor 232, and a wire rope reel 233. The lifting frame 231 includes a fixed frame 2311 and a movable frame 2312. The fixed frame 2311 is slidably connected to the cross arm 21, the fixed frame 2311 is firmly connected to the self-propelled motor 221, the lifting motor 232 is firmly connected to the fixed frame 2311, the output end of the lifting motor 232 is firmly connected to the wire rope reel 233, the wire rope reel 233 is rotatably connected to the fixed frame 2311, a wire rope 234 is wound around the wire rope reel 233, the lower end of the wire rope 234 is firmly connected to the movable frame 2312, the movable frame 2312 is slidably connected to the fixed frame 2311, the lower end of the movable frame 2312 is firmly connected to the angle-changing motor 331, and the worm gear 333 is rotatably connected to the movable frame 2312.

[0057] The lifting frame 231 serves as the installation base of the lifting assembly 23 and at the same time fixes the self-propelled motor 221, facilitating the movement along the length direction of the cross arm 21 during the driving process. The lifting motor 232 is fixed thereon. The lifting motor 232 is used to drive the wire rope reel 233 to rotate, and the wire rope 234 is wound and unwound through the wire rope reel 233. During the winding and unwinding process of the wire rope 234, the movable frame 2312 is driven to move up and down, and the fixed frame 2311 conducts sliding guidance on the movable frame 2312, thereby facilitating the vertical displacement adjustment of the barrel-shaped coil material 5. The movable frame 2312 is used to conduct rotational guidance on the worm gear 333, facilitating the angle adjustment.

[0058] Furthermore, the adjusting device 3 further includes a distance-adjusting assembly 34. The fixed seat 334 is connected to the clamping jaw 25 through the distance-adjusting assembly 34. The distance-adjusting assembly 34 includes a front mounting seat 341, a rear mounting seat 342, a distance-adjusting motor 343, and a transmission chain 344. The distance-adjusting motor 343 is firmly connected to the fixed seat 334, the output end of the distance-adjusting motor 343 is in transmission connection with the transmission chains 344 on both sides. The inner ring of the transmission chain 344 is provided with sprockets, and the transmission chain 344 is movably connected to the fixed seat 334 through the sprockets. The front mounting seat 341 and the rear mounting seat 342 are respectively firmly connected to the transmission chain 344. The lower ends of the front mounting seat 341 and the rear mounting seat 342 are respectively firmly connected to the C-shaped hooks 251, and the front mounting seat 341, the rear mounting seat 342 and the fixed seat 334 are slidably connected.

[0059] Two C-shaped hooks 251 are provided on each fixed seat 334. The two C-shaped hooks 251 are respectively fixed by a transmission chain 344. Two sprockets are provided on the inner ring of the transmission chain 344 and are driven by a distance adjustment motor 343. When the transmission chain 344 moves, it drives the front mounting seat 341 and the rear mounting seat 342 respectively. The front mounting seat 341 is located in front of the conveying direction of the barrel-shaped coil 5. When the front mounting seat 341 and the rear mounting seat 342 move, they can drive the C-shaped hooks 251 connected to them to move.

[0060] As an optimization, a through-chain groove is provided on the front mounting seat 341. The lower side of the transmission chain 344 passes through the through-chain groove. The upper layer of the front mounting seat 341 is fixedly connected to the transmission chain 344, and the lower layer of the rear mounting seat 342 is fixedly connected to the transmission chain 344. Due to the different specifications of the coils, during the double-coil handling process, the front mounting seat 341 is fixed on the upper layer of the transmission chain 344, and the rear mounting seat 342 is fixed on the lower layer of the transmission chain and slides with the fixed seat 334. During the transmission of the transmission chain 344, since the through-chain groove of the front mounting seat 341 does not contact the transmission chain 344, as the transmission chain 344 makes a rotary motion, it can drive the distance between the C-shaped hooks 251 to be enlarged or reduced, facilitating the conveyance of barrel-shaped coils 5 of different specifications and preventing interference.

[0061] Working principle of the present invention: The barrel-shaped coil material 5 on the first layer is placed in the limit groove on the truck bed and will automatically slide to the lowest point along the arc-shaped inner wall of the limit groove, so as to achieve self-adaptive positioning; The variable-angle motor 331 is used as the power source to drive the worm 332 to rotate. The worm 332 drives the fixed seat 334 connected to the worm gear 333 to rotate through cooperation with the worm gear 333. The fixed seat 334 is used to install the clamping jaw 25, so as to adjust the angle of the clamping jaw 25, so that the center lines of the barrel-shaped coil materials 5 on the upper and lower layers are parallel, improving the clamping performance of the barrel-shaped coil material 5 on the lower layer to the barrel-shaped coil material 5 on the upper layer, and thus ensuring the transportation stability; When driving the barrel-shaped coil material 5 on the second layer to cross the state where the center lines are parallel, as the spatial angle between the two center lines increases, it will drive the barrel-shaped coil material 5 on the second layer to shift upward along the outer sides of the two barrel-shaped coil materials 5 on the first layer. Since the C-shaped hook 251 rotates around the vertical axis of the ejector rod 321 at this time, during the upward movement of the barrel-shaped coil material 5 on the second layer, the contact point with the washer 252 shifts. At this time, the ejector rod 321 moves upward under the action of the pressure spring 322, and the angle-adjusting coil 323 makes a cutting magnetic induction line movement and generates an induced current. The current generated during the upward movement of the ejector rod 321 is a positive current; When the included angle between the two center lines decreases, the barrel-shaped coil material 5 on the second layer gradually moves to the calibrated position and generates a downward displacement along the outer wall of the barrel-shaped coil material 5 on the first layer, pushing the ejector rod 321 to move downward. The current generated during the downward movement is a reverse current. When the ejector rod 321 moves to the lowest point, that is, when the reverse current is the largest, the barrel-shaped coil materials 5 on the upper and lower layers enter the state where the center lines are parallel, so as to achieve automatic positioning; When the output power of the driving motor 35 is constant, when the barrel-shaped coil material 5 on the second layer rotates, it is affected by the contact area with the two barrel-shaped coil materials 5 on the first layer, that is, the contact friction force. The larger the contact area, the greater the frictional resistance, the lower the rotational speed of the transmission wheel 31, and the smaller the centrifugal force received by the folding rod 325. The folding rod 325 rotates away from the bias coil 327 under the action of the return spring 326. When driving the barrel-shaped coil material 5 on the second layer to rotate one circle through the transmission wheel 31, the position with the lowest rotational speed is confirmed, and the barrel-shaped coil material 5 on the second layer is adjusted to the corresponding position through the transmission wheel 31. At this time, the mutually engaged area between the barrel-shaped coil materials 5 on the upper and lower layers is the largest, making the axial limit of the barrel-shaped coil material 5 on the first layer to the barrel-shaped coil material 5 on the second layer the largest, improving the subsequent transportation safety.

[0062] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A truss handling device with a positioning function for barrel-shaped coils, the truss handling device being used to place the barrel-shaped coils (5) on a transport vehicle (6), the barrel-shaped coils (5) being stacked in two layers, characterized in that: The truss transport device comprises a truss (1), a driving device (2), an adjusting device (3) and a conveyor (4); a plurality of conveyors (4) are provided inside the truss (1); the conveyor (4) is used to escort the barrel-shaped coiled material (5); the driving device (2) is connected to the truss (1); the adjusting device (3) is connected to the driving device (2); and the adjusting device (3) is used to adjust the placement posture of the barrel-shaped coiled material (5); The driving device (2) comprises a cross arm (21), a self-propelled component (22), a lifting component (23), a transverse module (24) and a clamp (25); the cross arm (21) and the movable end of the transverse module (24) are tightly connected; the fixed end of the transverse module (24) and the truss (1) are tightly connected; a plurality of cross arms (21) are provided along the length direction of the truss (1); a self-propelled component (22) is provided on the cross arm (21); the self-propelled component (22) and the lifting component (23) are tightly connected; the self-propelled component (22) drives the lifting component (23) to move along the length direction of the cross arm (21); and the lifting component (23) is connected to the adjusting device (3) and the clamp (25) by transmission; The adjusting device (3) comprises an angle-changing assembly (33), wherein the angle-changing assembly (33) comprises an angle-changing motor (331), a worm (332), a worm wheel (333) and a fixing seat (334); the angle-changing motor (331) and the lifting assembly (23) are tightly connected; the output end of the angle-changing motor (331) is transmission-connected to the worm (332); one end of the worm (332) away from the angle-changing motor (331) is rotationally connected to the lifting assembly (23); the tooth surfaces of the worm (332) and the worm wheel (333) are meshed; the worm wheel (333) and the fixing seat (334) are tightly connected; and the fixing seat (334) and the clamping jaw (25) are movably connected; The clamping claw (25) comprises a C-shaped hook (251) and a washer (252), the C-shaped hook (251) and the fixing seat (334) are movably connected, a plurality of washers (252) are provided on the C-shaped hook (251), the inner rings of the plurality of washers (252) are rotatably connected to the C-shaped hook (251), the outer ring of the washer (252) is in contact with the inner ring of the barrel-shaped coil (5), the adjusting device (3) further comprises a sensing component (32), the sensing component (32) comprises a push rod (321) and an eccentric ring (324), the eccentric ring (324) is sleeved on the C-shaped hook (251), and the eccentric ring (324) is sleeved on the C-shaped hook (251). The ring (324) is rotatably connected to the C-shaped hook (251); a pressure-sensitive groove (3241) is provided on the eccentric ring (324); a pressure-bearing spring (322) is provided at the lower end of the push rod (321); the lower end of the push rod (321) abuts against the pressure-sensitive groove (3241) through the pressure-bearing spring (322); the upper end of the push rod (321) abuts against the upper wall of the inner circle of the barrel-shaped coil (5); an angle adjustment coil (323) is provided in the pressure-sensitive groove (3241); the lower end of the push rod (321) is inserted into the angle adjustment coil (323) to form an angle adjustment circuit; and the angle variable motor (331) is electrically connected to the angle adjustment circuit; The adjusting device (3) further includes a driving wheel (31) and a driving motor (35). The driving motor (35) is fixedly connected to the C-shaped hook (251). The output end of the driving motor (35) is drivingly connected to the driving wheel (31). The driving wheel (31) is rotatably connected to the C-shaped hook (251). The outer ring of the driving wheel (31) is in frictional drive with the inner ring of the barrel-shaped coil (5). The induction assembly (32) further includes a folding rod (325), a return spring (326) and a bias coil (327). An eccentric groove is provided on the driving wheel (31). The folding rod (325) is rotatably connected to the eccentric groove. The folding rod (325) is made of magnet material. The return spring (326) and the bias coil (327) are respectively placed in the eccentric groove. One side of the return spring (326) away from the wall surface of the eccentric groove abuts against the side of the folding rod (325). The bent section of the folding rod (325) is inserted into the inner ring of the bias coil (327). There are two driving wheels (31), and the two driving wheels (31) are respectively located on both sides of the eccentric ring (324). During stacking: The circuit where the driving motor (35) and the bias coil (327) are located is electrically connected. When the driving wheel (31) drives the barrel-shaped coil (5) of the second layer to rotate one circle, confirm the position with the lowest rotational speed, and adjust the barrel-shaped coil (5) of the second layer to the corresponding position through the driving wheel (31). At this time, the area where the upper and lower barrel-shaped coils (5) are engaged with each other is the largest.

2. The truss handling device with positioning function for barrel-shaped coils according to claim 1, characterized in that: The self-propelled assembly (22) includes a self-propelled motor (221) and a self-propelled rack (223). The self-propelled motor (221) is fixedly connected to the lifting assembly (23). A self-propelled gear (222) is provided at the output end of the self-propelled motor (221). The self-propelled rack (223) is fixedly connected to the cross arm (21). The self-propelled gear (222) is in meshing engagement with the tooth surface of the self-propelled rack (223). The lifting assembly (23) is slidably connected to the cross arm (21).

3. The truss handling device with positioning function for barrel-shaped coils according to claim 2, characterized in that: The lifting assembly (23) includes a lifting frame (231), a lifting motor (232) and a wire reel (233). The lifting frame (231) includes a fixed frame (2311) and a movable frame (2312). The fixed frame (2311) is slidably connected to the cross arm (21). The fixed frame (2311) is fixedly connected to the self-propelled motor (221). The lifting motor (232) is fixedly connected to the fixed frame (2311). The output end of the lifting motor (232) is fixedly connected to the wire reel (233). The wire reel (233) is rotatably connected to the fixed frame (2311). A wire rope (234) is wound around the wire reel (233). The lower end of the wire rope (234) is fixedly connected to the movable frame (2312). The movable frame (2312) is slidably connected to the fixed frame (2311). The lower end of the movable frame (2312) is fixedly connected to the angle-changing motor (331). The worm gear (333) is rotatably connected to the movable frame (2312).

4. A truss handling device with a positioning function for barrel-shaped coils according to claim 3, characterized in that: The adjusting device (3) further includes a distance adjusting component (34). The fixed seat (334) is connected to the clamping jaw (25) through the distance adjusting component (34). The distance adjusting component (34) includes a front mounting seat (341), a rear mounting seat (342), a distance adjusting motor (343) and a transmission chain (344). The distance adjusting motor (343) is fixedly connected to the fixed seat (334). The output end of the distance adjusting motor (343) is in transmission connection with the transmission chains (344) on both sides. The inner ring of the transmission chain (344) is provided with sprockets, and the transmission chain (344) is movably connected to the fixed seat (334) through the sprockets. The front mounting seat (341) and the rear mounting seat (342) are respectively fixedly connected to the transmission chain (344). The lower ends of the front mounting seat (341) and the rear mounting seat (342) are respectively fixedly connected to the C-shaped hook (251). The front mounting seat (341), the rear mounting seat (342) and the fixed seat (334) are slidably connected.

5. A truss handling device with a positioning function for barrel-shaped coils according to claim 4, characterized in that: A chain through groove is provided on the front mounting seat (341). The lower side of the transmission chain (344) passes through the chain through groove. The upper layer of the front mounting seat (341) is fixedly connected to the transmission chain (344). The lower layer of the rear mounting seat (342) is fixedly connected to the transmission chain (344).

Images