Steel coil processing device and method

Abstract

The invention relates to a steel coil processing device which comprises a coil turning device, the coil turning device comprises a turning table and a turning driving mechanism, the turning table is connected with the turning driving mechanism so as to have a coil receiving position and a coil turning position, the table top of the turning table is parallel to the horizontal plane at the coil receiving position, and the table top of the turning table is parallel to the vertical direction at the coil turning position; the overturning table is provided with a collapsible winding drum used for supporting an inner hole of a steel coil, and the axis of the collapsible winding drum is perpendicular to the table top of the overturning table. Correspondingly, the invention further provides a steel coil processing method. In the invention, the coil turning device is provided with the collapsible winding drum, so that the inner hole of the steel coil can be supported, the condition of coil collapse after the steel coil is turned into a horizontal coil state can be avoided, the subsequent process treatment quality of the steel coil is ensured, and the subsequent process operation difficulty is reduced. A sleeve does not need to be added in the steel coil treatment process, and therefore the situation that the production cost is increased due to the fact that the steel sleeve is stored, transported, installed on a mandrel of a coiling machine, collected in the later period and the like can be avoided.

Description

Technical Field

[0001] The present invention provides a steel coil processing device and method, and particularly relates to the field of steel coil heat treatment. Background Art

[0002] In the production of cold-rolled products in metallurgical enterprises, according to the heat treatment process requirements, the steel coils need to be heat treated in a vertical state (such as annealing, etc.), and then the vertical coils after heat treatment are flipped into horizontal coils for subsequent production processes.

[0003] After the heat treatment process, the steel coils still maintain their original hollow cylindrical state in the vertical coil state because the interlayer pressure and friction force almost completely disappear; however, after the steel coils are turned over to the horizontal coil state, they will be flattened under the action of their own gravity, and the steel coils and coil cores will be severely deformed, commonly known as collapsed coils. Subsequent production of collapsed coils will be very difficult.

[0004] Thin strip steel coils are generally produced by adding sleeves, that is, before coiling, a steel sleeve is first installed on the coiler mandrel, and then the steel strip is wrapped around the sleeve for coiling to avoid the risk of coil collapse. However, the sleeve-adding method makes the heat treatment quality of the strip close to the sleeve unable to meet the use requirements, reducing the yield rate. At the same time, it brings a series of production equipment and operating procedures such as steel sleeve storage, transportation, installation on the coiler mandrel and subsequent collection, which seriously increases production costs. The loss of steel sleeves will also increase production costs. Summary of the invention

[0005] The present invention relates to a steel coil processing device and method, which can at least solve some of the defects of the prior art.

[0006] The present invention relates to a steel coil processing device, comprising a coiling device, wherein the coiling device comprises a turning table and a turning drive mechanism, wherein the turning table is connected to the turning drive mechanism so as to have a coil receiving position and a coiling position, wherein in the coil receiving position, the table surface of the turning table is parallel to the horizontal plane, and in the coiling position, the table surface of the turning table is parallel to the vertical plane; an expansion and contraction reel for inner hole support of the steel coil is provided on the turning table, and the axis of the expansion and contraction reel is perpendicular to the table surface of the turning table.

[0007] As one of the implementation modes, the steel coil processing device further includes a strap remover and a coil uncoiler, and the strap remover and the coil uncoiler are arranged to match the coil turning position.

[0008] As one of the implementation modes, the expansion and contraction reel is rotatably mounted on the turning platform, and a rotation driving mechanism for driving the reel to rotate is provided on the turning platform.

[0009] As one of the embodiments, the rotation drive mechanism includes a drive motor, a drive gear and a transmission gear, the drive motor is installed on the flip table, the drive gear is installed on the output shaft of the drive motor, and the transmission gear is installed on the expansion and contraction reel and meshes with the drive gear.

[0010] As one of the embodiments, the expansion and contraction reel comprises a plurality of sector plates and an expansion and contraction driving mechanism for driving the sector plates to move synchronously in a radial direction to achieve expansion and contraction;

[0011] The expansion and contraction driving mechanism includes a pyramid sleeve and an expansion and contraction driving structure for driving the pyramid sleeve to move along its own axial direction. The pyramid sleeve has a plurality of driving bevel groups. The number of the driving bevel groups is the same as that of the fan-shaped plates and they are matched one by one. Each driving bevel group includes a plurality of driving bevels distributed in sequence along the axial direction of the pyramid sleeve. The fan-shaped plate is provided with a plurality of bearing drive bevels that match the wedge surfaces of each driving bevel.

[0012] As one of the embodiments, the expansion and contraction drive structure includes a hollow main shaft, a pull rod and an expansion and contraction power unit, the pyramid sleeve is mounted on the hollow main shaft and can move axially along the hollow main shaft, the pull rod is movably arranged in the axial cavity of the hollow main shaft, one end of the pull rod extends out of the hollow main shaft and is connected to the expansion and contraction power unit, and the pyramid sleeve is fixedly connected to the pull rod.

[0013] As one of the implementation modes, a positioning plate is detachably fixedly connected to the cantilever end of the hollow main shaft, the plate surface of the positioning plate is perpendicular to the axis of the hollow main shaft, a plurality of positioning blocks are convexly provided on the periphery of the positioning plate, and matching positioning holes are provided on the fan-shaped plate. The number of positioning blocks is the same as that of the fan-shaped plates and they are arranged one-to-one, each positioning block is inserted into the corresponding positioning hole and the two are guided to cooperate.

[0014] The present invention also relates to a steel coil processing method, which is implemented based on the above-mentioned steel coil processing device, and the method comprises:

[0015] The turning table is placed in the coil receiving position, and the steel coil in the upright state is rolled onto the turning table. During the rolling process, the expansion and contraction reel is first placed in a reduced diameter state. After the reduced diameter reel penetrates into the inner hole of the steel coil and the steel coil is placed on the turning table, the expansion and contraction reel is expanded to support the inner hole of the steel coil.

[0016] The turning table is placed in the turning position, the steel coil is turned into a horizontal state, and subsequent process operations are performed.

[0017] As one of the implementation modes, the subsequent process operations include removing the strapping and unwinding.

[0018] As one of the implementation methods, the coiling operation specifically includes:

[0019] Hoisting the steel coil above the turning table;

[0020] Based on image recognition technology and / or mechanical centering method, the steel coil and the reduction drum are aligned in the axis;

[0021] After the axis is located, the steel coiling operation is performed.

[0022] The present invention has at least the following beneficial effects:

[0023] In the present invention, the coil turning device is equipped with an expansion and contraction reel, which can support the inner hole of the steel coil, avoid the collapse of the steel coil after the steel coil is turned into a horizontal coil state, ensure the quality of subsequent process processing of the steel coil, and reduce the difficulty of subsequent process operation. No sleeve is required during the steel coil processing, thereby avoiding the increase in production costs caused by the storage, transportation, installation of the steel sleeve on the coiler mandrel and the subsequent collection. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of an electromagnetic chuck absorbing a steel coil provided by an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of the assembly of a reel and a reel-turning device provided in an embodiment of the present invention;

[0027] Figure 3 and Figure 4 They are schematic diagrams of the turning table being in the roll receiving position and the roll turning position respectively;

[0028] Figure 5 A schematic diagram of axis alignment (multiple alignments) based on image recognition technology provided by an embodiment of the present invention;

[0029] Figure 6 A schematic diagram of an effective image provided by an embodiment of the present invention;

[0030] Figure 7 A schematic diagram of mechanical alignment provided by an embodiment of the present invention;

[0031] Figure 8 A schematic diagram of the structure of a mechanical centering device provided by an embodiment of the present invention;

[0032] Fig. 9It is a schematic diagram of connecting each centering execution unit in the same centering layer with the same hydraulic synchronous motor;

[0033] Fig.10 A schematic diagram of the structure of a reel provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] Embodiment 1

[0036] like Figure 2-Figure 5 An embodiment of the present invention provides a steel coil processing device, including a coil turning device 5, wherein the coil turning device 5 includes a turning table 501 and a turning drive mechanism 509, wherein the turning table 501 is connected to the turning drive mechanism 509 so as to have a coil receiving position and a coil turning position, wherein in the coil receiving position, the table surface of the turning table 501 is parallel to the horizontal plane, and in the coil turning position, the table surface of the turning table 501 is parallel to the vertical plane; an expansion and contraction reel 6 for inner hole support of the steel coil 1 is provided on the turning table 501, and the axis of the expansion and contraction reel 6 is perpendicular to the table surface of the turning table 501.

[0037] Preferably, the steel coil processing device further comprises a strap remover and a coil uncoiler, and the strap remover and the coil uncoiler are arranged to match the coil turning position.

[0038] Among them, the above-mentioned rolling device 5 can further include a fixed base 502, which is used to be installed on the workshop foundation. The above-mentioned flipping table 501 is rotatably installed on the fixed base 502. Through the drive of the flipping drive mechanism 509, the flipping table 501 rotates relative to the fixed base 502, so that switching between the rolling position and the rolling position can be realized.

[0039] Preferably, the turning table 501 is provided with supporting feet. When the turning table 501 is in the turning position, the supporting feet are just supported on the workshop foundation, which can improve the structural stability and working reliability of the turning device 5.

[0040] The flip driving mechanism 509 includes but is not limited to a flip hydraulic cylinder. Taking the flip hydraulic cylinder as an example, the cylinder body is hingedly installed on the workshop foundation, and the output end is hingedly connected to the flip platform 501.

[0041] Preferably, the bearing point 504 of the turning platform 501 and the rotation point 503 of the turning platform 501 are arranged on both sides of the axis of the winding drum 6, wherein the bearing point 504 is the connection point between the turning drive mechanism 509 and the turning platform 501, and the rotation point 503 is the hinge point between the turning platform 501 and the fixed base 502. In this way, the stability and safety of the turning of the turning platform 501 and the steel coil 1 can be improved.

[0042] In one embodiment, the expansion and contraction reel 6 is rotatably mounted on the turning table 501, and a rotation driving mechanism for driving the expansion and contraction reel 6 to rotate is correspondingly provided on the turning table 501. By driving the expansion and contraction reel 6 to rotate, the expansion and contraction reel 6 can drive the steel coil 1 to rotate, which is convenient for subsequent process operations, such as facilitating the robot to remove the strapping or unwind the coil.

[0043] Alternatively, if Figure 3 The rotation driving mechanism includes a driving motor 506, a driving gear 507 and a transmission gear 508. The driving motor 506 is mounted on the turning table 501, the driving gear 507 is mounted on the output shaft of the driving motor 506, and the transmission gear 508 is mounted on the expansion and contraction reel 6, and the transmission gear 508 is meshed with the driving gear 507; wherein the axis of the transmission gear 508 is parallel to the axis of the reel, and is further preferably coaxially arranged. The driving motor 506, the driving gear 507 and the transmission gear 508 are preferably arranged inside the turning table 501 (taking the coil receiving position as an example, the driving motor 506, the driving gear 507 and the transmission gear 508 are all located below the table of the turning table 501) to avoid interference with the steel coil 1 placed on the table; in addition, a support bearing 505 can be arranged on the turning table 501 to ensure the installation stability and application reliability of the expansion and contraction reel 6.

[0044] All existing expansion and contraction reels are suitable for the present embodiment, wherein the above-mentioned expansion and contraction reel 6 comprises a plurality of fan-shaped plates 601 and an expansion and contraction driving mechanism for driving each fan-shaped plate 601 to move synchronously in the radial direction to achieve expansion and contraction. In the reduced diameter state, each fan-shaped plate 601 is distributed in a small circle (the diameter of the small circle is R1), and in the expanded diameter state, each fan-shaped plate 601 is distributed in a large circle (the diameter of the large circle is R2).

[0045] In one embodiment, if Fig.10The expansion and contraction drive mechanism includes a pyramid sleeve 602 and an expansion and contraction drive structure for driving the pyramid sleeve 602 to move along its own axial direction. The pyramid sleeve 602 has a plurality of drive bevel groups, and the number of the drive bevel groups is the same as that of the sector plates 601 and they are matched one by one. Each drive bevel group includes a plurality of drive bevels 607 distributed in sequence along the axial direction of the pyramid sleeve 602, and the sector plates 601 are provided with a plurality of bearing drive bevels matched with the wedge surfaces of the drive bevels 607. When the pyramid sleeve 602 moves along its own axial direction, based on the wedge surface matching relationship between the drive bevels 607 and the bearing drive bevels, the sector plates 601 can be made to move synchronously in the radial direction, so as to achieve the purpose of expansion and contraction of the reel 6.

[0046] Optionally, the number of sector plates 601 is four, and the pyramid sleeve 602 has four driving inclined surface groups accordingly.

[0047] As a preferred solution, Fig.10 The expansion and contraction driving structure includes a hollow main shaft 603, a pull rod 604 and an expansion and contraction power unit 605. The pyramid sleeve 602 is mounted on the hollow main shaft 603 and can move along the axial direction of the hollow main shaft 603. The pull rod 604 is movably arranged in the axial cavity of the hollow main shaft 603. One end of the pull rod 604 extends out of the hollow main shaft 603 and is connected to the expansion and contraction power unit 605, so that it can move axially in the hollow main shaft 603. The pyramid sleeve 602 is fixedly connected to the pull rod 604, so that the pull rod 604 can drive the pyramid sleeve 602 to move axially.

[0048] The hollow main shaft 603 is the main bearing member of the expansion and contraction reel 6. Figure 3 and Fig.10 , which can cooperate with the support bearing 505 on the turning table 501.

[0049] Preferably, a limiting structure is provided on the hollow main shaft 603 to limit the relative rotation between the pyramid sleeve 602 and the hollow main shaft 603 , including but not limited to the following structure: at least one sliding key is provided between the pyramid sleeve 602 and the hollow main shaft 603 .

[0050] Optionally, the pyramid sleeve 602 is connected to the pull rod 604 via a flat pin 606. A movable window may be correspondingly provided on the hollow main shaft 603, through which the flat pin 606 passes and is respectively connected to the pyramid sleeve 602 and the pull rod 604, wherein the length of the movable window in the axial direction of the hollow main shaft 603 should not be less than the movable stroke of the pull rod 604.

[0051] The expansion and contraction power unit 605 may be a linear drive device such as a hydraulic cylinder or a pneumatic cylinder. Fig.10The hollow main shaft 603 and the expansion and contraction power unit 605 may be connected in a detachable manner by means of a flange connection structure 610 or the like; the output shaft of the expansion and contraction power unit 605 may be connected to the pull rod 604 via a coupling 611 .

[0052] In the structure in which the expansion and contraction reel 6 is rotatably mounted on the turning table 501 , the rotation driving mechanism may be connected to the hollow main shaft 603 , for example, the transmission gear 508 is mounted on the hollow main shaft 603 .

[0053] A corresponding avoidance hole is provided on the turning table 501 for the fan-shaped plate 601 to pass through and extend. In one embodiment, the two ends of the fan-shaped plate 601 are respectively located on both sides of the table surface of the turning table 501, that is, the fan-shaped plate 601 partially extends out of the table surface of the turning table 501, and partially is located inside the turning table 501; the diameter of the avoidance hole is preferably the same as the diameter R2 of the large circle, so that when the winding drum 6 is in an expanded state, the fan-shaped plate 601 contacts the turning table 501, and the force applied to the fan-shaped plate 601 can be more reliably transmitted to the turning table 501, thereby ensuring the application reliability of the above-mentioned rolling device 5.

[0054] In one embodiment, if Fig.10 A positioning plate 608 is provided at the cantilever end of the hollow main shaft 603. The plate surface of the positioning plate 608 is perpendicular to the axis of the hollow main shaft 603. A plurality of positioning blocks are convexly provided on the periphery of the positioning plate 608. Positioning holes are provided on the fan-shaped plate 601 for matching. The number of positioning blocks is the same as that of the fan-shaped plate 601 and they are configured one-to-one. Each positioning block is inserted into the corresponding positioning hole and the two are guided to cooperate (the guiding direction is obviously parallel to the radial movement direction of the fan-shaped plate 601). The protruding length of the positioning block ensures that the reel 6 is still guided to cooperate with the positioning hole when the reel 6 is in the state of expansion. Based on the above design, the fan-shaped plate 601 can be limited to move only in the radial direction to ensure the reliability of the expansion and contraction of the reel 6. In particular, the positioning plate 608 is detachably fixed on the hollow main shaft 603. When the connection between the positioning plate 608 and the hollow main shaft 603 is released, the positioning plate 608 and each sector plate 601 can be removed from the hollow main shaft 603, thereby facilitating the disassembly and maintenance of the sector plate 601 and the reel 6. The positioning plate 608 is preferably mounted on the hollow main shaft 603 by means of a fastening screw 609 or the like; since the positioning plate 608 is fixed on the hollow main shaft 603, when the reel 6 expands or contracts, the fastening screw 609 will not bear axial tension, thereby obtaining reliable structural stability of the positioning plate 608 and a guiding effect on the sector plate 601.

[0055] In one embodiment, the steel coil processing device further includes a coiling device for coiling the steel coil 1 in the upright coil state onto the diameter-reducing reel 6 in the vertical state (correspondingly, the turning table 501 is in the coiling position at this time).

[0056] The steel coil 1 can be lifted by mounting the electromagnetic chuck 2 on a crane, and the steel coil 1 can be lifted and released conveniently by the electromagnetic chuck 2 gaining and losing power, that is, the coiling device includes a crane and the electromagnetic chuck 2 mounted on the crane. Figure 1 A plurality of lifting ears 202 (usually three, but other numbers are also possible) are provided on the electromagnetic chuck 2, and the electromagnetic chuck 2 is mounted on a crane using a chain 203 or the like. The crane may be a manned crane or an unmanned automatic crane.

[0057] Furthermore, the coiling device further comprises a centering mechanism, which is used to align the axis of the steel coil 1 and the reducing drum 6. The axis alignment of the steel coil 1 and the reducing drum 6 is preferably such that the axes of the two coincide with each other. Considering factors such as actual production conditions, the axis alignment can be considered completed when the distance between the axes of the two is within a set range, and the set range can be <10 mm.

[0058] In one embodiment, the centering mechanism includes an image recognition centering module for performing axis alignment based on image recognition technology. Preferably, performing axis alignment based on image recognition technology specifically includes:

[0059] The image is collected from directly above the inner hole 101 of the steel coil;

[0060] The image is recognized and processed to determine whether the current image is a valid image. When the reel 6 is in the current image and is located in the inner hole 101 of the steel coil, the current image is determined to be a valid image; otherwise, it is determined to be an invalid image, and the crane is controlled to move the steel coil 1 until the collected image is a valid image.

[0061] Based on the effective image information, the relative position relationship between the center point of the inner hole 101 of the steel coil and the center point of the drum is calculated and analyzed to determine whether the distance between the axis of the inner hole 101 of the steel coil and the axis of the drum is within the set range. If so, the axis alignment operation is completed; if not, the crane is controlled to move the steel coil 1 so that the two center points are close to each other until the axis alignment operation is completed.

[0062] Since the image is collected from directly above the inner hole 101 of the steel coil, the field of view is limited by the inner hole 101 of the steel coil and the reduced diameter reel 6 is searched, the axis alignment accuracy and efficiency can be correspondingly improved.

[0063] Preferably, if Figure 1 and Figure 5The image acquisition unit 204 is installed on the electromagnetic chuck 2, wherein an image acquisition hole 201 is opened on the electromagnetic chuck 2, and the image acquisition unit 204 can be installed on the electromagnetic chuck 2 through a mounting bracket 206 and is located in the image acquisition hole 201 or directly above the image acquisition hole 201. The image acquisition hole 201 is preferably located at the center of the electromagnetic chuck 2, so as to be directly connected with the inner hole 101 of the steel coil, so as to ensure that the image acquisition unit 204 can acquire images directly above the inner hole 101 of the steel coil. The image acquisition unit 204 uses a visual sensor, which can be a camera or other device. A protective cover 205 can be provided to protect the image acquisition unit 204.

[0064] Correspondingly, the above-mentioned image recognition and centering module includes an image acquisition unit 204 and a processor, and the image acquisition unit 204 and the driving unit are both electrically connected or communicatively connected to the processor; the processor is used to obtain the image information sent by the image acquisition unit 204, recognize and process the image, and control the driving activity to execute the axis alignment strategy. As mentioned above, the axis alignment strategy specifically includes: recognizing and processing the image, judging whether the current image is a valid image, wherein when the reel 6 is in the current image and is located in the inner hole 101 of the steel coil, the current image is judged to be a valid image; otherwise, it is judged to be an invalid image, and the driving is controlled to move the steel coil 1 until the collected image is a valid image; based on the valid image information, the relative position relationship between the center point of the inner hole 101 of the steel coil and the center point of the reel is calculated and analyzed, and it is judged whether the distance between the axis of the inner hole 101 of the steel coil and the axis of the reel is within the set range. If so, the axis alignment operation is completed, and if not, the driving is controlled to move the steel coil 1 so that the two center points are close to each other until the axis alignment operation is completed.

[0065] The processor, when performing image recognition processing, includes:

[0066] like Figure 6 For the effective image, the inner hole 101 of the steel coil, the reduced diameter reel 6 and the direction features of the trolley are identified in the image, and the center O1 of the inner hole 101 of the steel coil and the center O6 of the reduced diameter reel 6 are marked in the effective image respectively, and the distance Lc between O1 and O6 is calculated, and the diameter Dc of the reduced diameter reel 6 in the effective image is calculated at the same time. The actual diameter Dr of the reduced diameter reel 6 is known, and the actual distance Lr=Dr*Lc / Dc between the axis of the inner hole 101 of the steel coil and the axis of the reel is calculated by the similarity principle; therefore, by judging whether Lr is within the set range, the purpose of judging whether the axis is accurately found is achieved.

[0067] The above processor controls the driving activities according to the following control strategy:

[0068] Define a fitting vector from O1 to O6, calculate the vector angle a between the fitting vector and the direction of the vehicle, and decompose the fitting vector into the direction of the vehicle and the direction of the car, and get: L 大车 =Lr*cos(a),L 小车 =Lr*sin(a). Control the moving vehicle L 大车 , the car moves L 小车 , O1 and O6 can be made to coincide, thus realizing accurate axis positioning.

[0069] In one embodiment, if Figure 7 and Figure 8 The centering mechanism includes a mechanical centering module for aligning the axis based on the mechanical centering method. The mechanical centering module includes at least one centering unit, and the centering unit includes two groups of centering execution devices 4 arranged symmetrically relative to the axis of the reel. The two groups of centering execution devices 4 in each group of centering units move toward or away from the reduced diameter reel 6 synchronously.

[0070] Preferably, the mechanical centering module includes multiple groups of centering units, which can improve the axis alignment accuracy.

[0071] Preferably, the mechanical centering module includes a plurality of centering layers arranged sequentially from top to bottom, each centering layer includes at least one group of centering units, and when the centering layer has multiple groups of centering units, the centering execution devices 4 of the centering layer are distributed around the axis of the reel. By using multiple centering layers, the steel coil 1 can be centered sequentially from top to bottom, and / or the centering operation can be performed simultaneously through multiple centering layers, which can effectively improve the accuracy of axis alignment.

[0072] It can be understood that in each group of centering units, the centering execution parts of the two groups of centering execution devices 4 for contacting the steel coil 1 are distributed in a common circle (the center of the circle is located on the axis of the coil).

[0073] In one embodiment, if Figure 8 , a centering roller 401 is used as the centering actuator. The axis of the centering roller 401 is parallel to the horizontal plane, so the centering roller 401 is suitable for rolling contact with the steel coil 1, reducing the friction between the two and avoiding surface defects on the strip. The centering roller 401 is rotatably mounted on a centering roller frame 402, and the centering roller frame 402 is driven by a centering drive structure 403, so that it can approach or move away from the axis of the reel. The centering drive structure 403 can use a hydraulic cylinder, a pneumatic cylinder or other linear drive device. Among them, the synchronous action between the centering actuators 4 can be achieved by a hydraulic synchronous motor; further preferably, as Fig. 9 Each centering execution device 4 in the same centering layer is connected to the same hydraulic synchronous motor to achieve synchronous action of each centering execution device 4 in the same centering layer.

[0074] Furthermore, a guide mechanism 404 may be provided to guide the translational movement of the centering roller frame 402 to improve the centering accuracy and operation reliability. The guide mechanism 404 may be a slide block-slide rail matching guide method, a sleeve-guide rod matching guide method, etc.

[0075] A centering device frame 3 may be provided near the reel 6 , and the centering drive structure 403 , the guide mechanism, etc. may be mounted on the centering device frame 3 via a fixing block 405 .

[0076] Embodiment 2

[0077] An embodiment of the present invention provides a steel coil processing method, which is implemented based on the steel coil processing device provided in the above embodiment 1, and the method includes:

[0078] The turning table 501 is placed in the coil receiving position, and the steel coil 1 in the upright state is rolled onto the turning table 501. During the rolling process, the expansion and contraction reel 6 is first placed in a reduced diameter state. After the reduced diameter reel 6 penetrates into the inner hole 101 of the steel coil and the steel coil 1 has been placed on the turning table 501, the expansion and contraction reel 6 is expanded to support the inner hole 101 of the steel coil.

[0079] The turning table 501 is placed in the turning position, and the steel coil 1 is turned into a horizontal state for subsequent process operations.

[0080] Optionally, the subsequent process operations include unbundling and uncoiling.

[0081] Optionally, the steel coil 1 is a steel coil 1 after heat treatment, wherein during the heat treatment process, the steel coil 1 is in a hollow state without inner hole support, that is, no sleeve or the like is used for support in the inner hole 101 of the steel coil, and during the heat treatment process, no other mechanical facilities are provided in the inner hole 101 of the steel coil. In this solution, the steel coil 1 is heat treated in a hollow state, which can ensure that the strip steel around the inner hole 101 of the steel coil is effectively heat treated, avoiding the situation that the heat treatment quality of the conventional strip steel with inner support cannot meet the standard, effectively improving the quality of the steel coil, improving the yield rate, and reducing the series production cost caused by the use of steel sleeves.

[0082] After the expansion and contraction reel 6 is used to expand the diameter to support the inner hole 101 of the steel coil, the steel coil 1 can be prevented from collapsing, which is convenient for subsequent process processing.

[0083] In one embodiment, the steel coil winding operation specifically includes:

[0084] The steel coil 1 is hoisted to the top of the turning table 501;

[0085] Based on image recognition technology and / or mechanical centering method, the steel coil 1 and the reduction drum 6 are aligned in the axis;

[0086] After the axis is located, the steel coiling operation is performed.

[0087] The steel coil 1 can be lifted by means of a crane mounted electromagnetic chuck 2, and the steel coil 1 can be lifted and released conveniently by the electromagnetic chuck 2 gaining and losing power. Figure 1 A plurality of lifting ears 202 (usually three, but other numbers are also possible) are provided on the electromagnetic chuck 2, and the electromagnetic chuck 2 is mounted on a crane using a chain 203 or the like. The crane may be a manned crane or an unmanned automatic crane.

[0088] Among them, the axis alignment of the steel coil 1 and the reduction reel 6 is preferably that the axes of the two coincide. Taking into account factors such as actual production conditions, the spacing between the axes of the two is within a set range, which can be regarded as completing the axis alignment. The set range can be <10mm.

[0089] The coiling operation specifically includes: lowering the coil 1 to a low point, at which time the shrinking drum 6 passes through the inner drum of the coil. Lowering the coil 1 to a low point may include: placing the coil 1 on a coil platform of the coil turning device 5 .

[0090] In one embodiment, if Figure 5 and Figure 6 , the axis alignment based on image recognition technology specifically includes:

[0091] The image is collected from directly above the inner hole 101 of the steel coil;

[0092] Performing recognition processing on the image to determine whether the current image is a valid image, wherein when the reel 6 is in the current image and is located in the inner hole 101 of the steel coil, the current image is determined to be a valid image; otherwise, it is determined to be an invalid image, and the lifting equipment is controlled to move the steel coil 1 until the collected image is a valid image;

[0093] Based on the effective image information, the relative position relationship between the center point of the inner hole 101 of the steel coil and the center point of the drum is calculated and analyzed to determine whether the distance between the axis of the inner hole 101 of the steel coil and the axis of the drum is within the set range. If so, the axis alignment operation is completed; if not, the lifting equipment is controlled to move the steel coil 1 so that the two center points are close to each other until the axis alignment operation is completed.

[0094] Since the image is collected from directly above the inner hole 101 of the steel coil, the field of view is limited by the inner hole 101 of the steel coil and the reduced diameter reel 6 is searched, the axis alignment accuracy and efficiency can be correspondingly improved.

[0095] Preferably, if Figure 1 and Figure 5The image acquisition unit 204 is installed on the electromagnetic chuck 2, wherein an image acquisition hole 201 is opened on the electromagnetic chuck 2, and the image acquisition unit 204 can be installed on the electromagnetic chuck 2 through a mounting bracket 206 and is located in the image acquisition hole 201 or directly above the image acquisition hole 201. The image acquisition hole 201 is preferably located at the center of the electromagnetic chuck 2, so as to be directly connected with the inner hole 101 of the steel coil, so as to ensure that the image acquisition unit 204 can acquire images directly above the inner hole 101 of the steel coil. The image acquisition unit 204 uses a visual sensor, which can be a camera or other device.

[0096] In the above structure, based on the image acquisition unit 204, it is also possible to determine whether the position of the electromagnetic suction cup 2 to absorb the steel coil 1 is appropriate, thereby improving the stability of the steel coil 1 during lifting and reducing unnecessary shaking, etc., which can also improve the accuracy of axis positioning.

[0097] Among them, the position of the lifting equipment can be located in real time, and the moving direction of the steel coil 1 can be controlled according to the real-time position of the lifting equipment and the position of the winding drum 6. In particular, in the case where the crane includes a crane trolley and a trolley (the trolley moves on the crane trolley), the crane trolley and the trolley are respectively equipped with position detection units, so as to accurately control the moving direction and moving distance of the crane trolley and the trolley.

[0098] Preferably, in the present application, an image recognition method based on a convolutional neural network is adopted, and the convolutional neural network CNN model can be constructed based on the PaddlePaddle deep learning framework.

[0099] For the effective image, the inner hole 101 of the steel coil, the reduced diameter reel 6 and the directional features of the trolley are identified in the image, and the center O1 of the inner hole 101 of the steel coil and the center O6 of the reduced diameter reel 6 are marked in the effective image respectively, and the distance Lc between O1 and O6 is calculated, and the diameter Dc of the reduced diameter reel 6 in the effective image is calculated at the same time. The actual diameter Dr of the reduced diameter reel 6 is known, and the actual distance Lr=Dr*Lc / Dc between the axis of the inner hole 101 of the steel coil and the axis of the reel is calculated by the similarity principle; therefore, by judging whether Lr is within the set range, the purpose of judging whether the axis is accurately found is achieved.

[0100] Define a fitting vector from O1 to O6, calculate the vector angle a between the fitting vector and the direction of the vehicle, and decompose the fitting vector into the direction of the vehicle and the direction of the car, and get: L 大车 =Lr*cos(a),L 小车 =Lr*sin(a). Control the moving vehicle L 大车 , the car moves L 小车 , O1 and O6 can be made to coincide, thus realizing accurate axis positioning.

[0101] In one of the embodiments, during the coiling process, the above-mentioned axis alignment operations are performed sequentially from top to bottom for several times, which can effectively improve the accuracy of the coil 1 being rolled onto the reducing reel 6.

[0102] In one embodiment, if Figure 7 and Figure 8 , the axis alignment based on mechanical alignment method specifically includes:

[0103] Before the shrinking drum 6 penetrates the steel coil 1, or when the shrinking drum 6 has penetrated the suspended steel coil 1, the mechanical centering module acts on the steel coil 1 to center the steel coil 1. The mechanical centering module has been described in the first embodiment above and will not be described again here.

[0104] When image recognition technology and mechanical centering are used simultaneously, the two methods cooperate with each other to significantly improve the accuracy of axis alignment between the steel coil 1 and the shrinking drum 6. Among them, when the steel coil 1 is located above the shrinking drum 6, preliminary axis alignment is performed through image recognition technology or through the cooperation of image recognition technology and the upper centering layer, which can not only improve the accuracy and efficiency of axis alignment, but also prevent abnormal contact / collision between the shrinking drum 6 and the steel coil 1 caused by poor positioning; after the shrinking drum 6 penetrates into the inner hole 101 of the steel coil (at this time, the steel coil 1 is still in a suspended state), the centering operation is performed through the lower centering layer or the centering operation is performed simultaneously by each centering layer, which can ensure the accuracy of axis alignment. At the same time, the two methods can be calibrated with each other. For example, after the preliminary axis alignment is performed through image recognition technology, when further mechanical alignment is performed, the accuracy of the preliminary axis alignment can be judged by detecting the steel coil pressure exerted on the two alignment actuators in the same group, and / or detecting whether the two alignment actuators in the same group contact the steel coil 1 at the same time, thereby calibrating the image recognition technology, which is beneficial to the deep learning and model optimization of the convolutional neural network CNN model.

[0105] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A steel coil processing device, characterized in that: It includes a rolling device, which includes a turning table and a turning drive mechanism. The turning table is connected to the turning drive mechanism so as to have a rolling position and a rolling position. In the rolling position, the table surface of the turning table is parallel to the horizontal plane, and in the turning position, the table surface of the turning table is parallel to the vertical plane. An expansion and contraction reel for inner hole support of the steel coil is provided on the turning table, and the axis of the expansion and contraction reel is perpendicular to the table surface of the turning table.

2. The steel coil processing device according to claim 1, characterized in that: It also includes a strap unbundling machine and a coil unwinding machine, and the strap unbundling machine and the coil unwinding machine are matched with the coil turning position arrangement.

3. The steel coil processing device according to claim 1 or 2, characterized in that: The expansion and contraction reel is rotatably mounted on the turning platform, and a rotation driving mechanism for driving the reel to rotate is provided on the turning platform.

4. The steel coil processing device according to claim 3, characterized in that: The rotation driving mechanism comprises a driving motor, a driving gear and a transmission gear. The driving motor is mounted on the turning table. The driving gear is mounted on the output shaft of the driving motor. The transmission gear is mounted on the expansion and contraction reel and meshes with the driving gear.

5. The steel coil processing device according to claim 1, characterized in that: The expansion and contraction reel comprises a plurality of sector plates and an expansion and contraction driving mechanism for driving the sector plates to move synchronously in the radial direction to achieve expansion and contraction; The expansion and contraction driving mechanism includes a pyramid sleeve and an expansion and contraction driving structure for driving the pyramid sleeve to move along its own axial direction. The pyramid sleeve has a plurality of driving bevel groups. The number of the driving bevel groups is the same as that of the fan-shaped plates and they are matched one by one. Each driving bevel group includes a plurality of driving bevels distributed in sequence along the axial direction of the pyramid sleeve. The fan-shaped plate is provided with a plurality of bearing drive bevels that match the wedge surfaces of each driving bevel.

6. The steel coil processing device according to claim 5, characterized in that: The expansion and contraction driving structure includes a hollow main shaft, a pull rod and an expansion and contraction power unit. The pyramid sleeve is mounted on the hollow main shaft and can move axially along the hollow main shaft. The pull rod is movably arranged in the axial cavity of the hollow main shaft. One end of the pull rod extends out of the hollow main shaft and is connected to the expansion and contraction power unit. The pyramid sleeve is fixedly connected to the pull rod.

7. The steel coil processing device according to claim 6, characterized in that: A positioning plate is detachably fixedly connected to the cantilever end of the hollow main shaft, the plate surface of the positioning plate is perpendicular to the axis of the hollow main shaft, a plurality of positioning blocks are convexly provided on the periphery of the positioning plate, and matching positioning holes are provided on the fan-shaped plate. The number of positioning blocks is the same as that of the fan-shaped plates and they are arranged one-to-one, each positioning block is inserted into the corresponding positioning hole and the two are guided to cooperate.

8. A method for processing a steel coil, characterized in that: Based on the implementation of the steel coil processing device according to any one of claims 1 to 7, the method comprises: The turning table is placed in the coil receiving position, and the steel coil in the upright state is rolled onto the turning table. During the rolling process, the expansion and contraction reel is first placed in a reduced diameter state. After the reduced diameter reel penetrates into the inner hole of the steel coil and the steel coil is placed on the turning table, the expansion and contraction reel is expanded to support the inner hole of the steel coil. The turning table is placed in the turning position, the steel coil is turned into a horizontal state, and subsequent process operations are performed.

9. The steel coil processing method according to claim 8, characterized in that: The subsequent process operations include unbundling and unwinding.

10. The steel coil processing method according to claim 8, characterized in that: The steel coil winding operation specifically includes: hoisting the steel coil to above the turning table; Based on image recognition technology and / or mechanical centering method, the steel coil and the reduction drum are aligned in the axis; After the axis is located, the steel coiling operation is performed.

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