Unmanned warehouse area driving coil taking method and coil taking mechanism

Abstract

The invention provides an unmanned warehouse area traveling coil taking method and a coil taking mechanism. The unmanned warehouse area traveling coil taking method comprises the following steps that a traveling mechanism drives a clamp to move to a set position, and a safety sensor set installed at the bottom of the clamp detects the position of a to-be-taken steel coil relative to the clamp in the left-right direction; and the safety sensor group feeds back detection information to the PLC control system, and when it is detected that the to-be-taken steel coil deviates relative to the position of the clamp in the left-right direction, the PLC control system controls the operation state of a movement mechanism of the traveling crane so as to drive the clamp to move in the left-right direction, and the steel coil is taken out. The relative position of the clamp and the to-be-taken steel coil in the left-right direction meets the set requirement; and the clamp descends until the bread block of the clamp corresponds to the cavity in the middle of the to-be-taken steel coil, and the clamp executes the clamping action. According to the unmanned warehouse area driving coil taking method and the coil taking mechanism, the safety, the accuracy and the efficiency of coil taking operation are improved.

Description

Technical Field

[0001] The invention relates to the technical field of crane driving, and in particular to an unmanned warehouse area crane coiling method and a coiling mechanism. Background Art

[0002] With the advancement of industrial technology, more and more equipment is developing in the direction of intelligence and unmanned operation, and unmanned crane and warehouse management system are the representative technologies. The automated lifting of steel coils is the most critical link, which undertakes the tasks of loading steel coils from the unit entrance, unloading at the unit exit, entering the unit exit, leaving the unit exit, sending finished products from the warehouse, entering the frame car product warehouse, loading the frame car unit, and unloading materials in the warehouse. The complex working conditions on site cause the crane to avoid possible dangers in the operating area during the coiling process, which will inevitably cause irregular shaking of the clamp. When the clamp descends to the center of the steel coil to take the coil, the actual position and target position will deviate. A series of chain reactions will inevitably cause the clamp operation time to be extended, or the coiling fails, or the more serious phenomenon is that the clamp legs scrape against the steel coil, or even the clamp tilts and damages the warehouse equipment, affecting the automatic operation of the unmanned crane and causing property losses. In addition, when the steel coil is manually placed on the saddle in the storage area, the actual position of the steel coil may be offset from the set position. At this time, the crane still lifts the steel coil according to the set position information, and the clamp may scrape against the steel coil when it descends. In short, the above situations will make it difficult for the crane to accurately take the coil, causing the clamp to scrape against the steel coil, which will in turn damage the clamp or the steel coil or other equipment, resulting in low safety of the coiling operation, and interruption of the coiling operation process, requiring manual intervention to continue the operation, which in turn leads to low efficiency of the coiling operation. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is to provide an unmanned warehouse area driving and retrieving coil method which can improve the safety, accuracy and efficiency of the operation.

[0004] To achieve the above object, the present invention provides an unmanned warehouse area driving and reeling method, comprising the following steps:

[0005] The motion mechanism of the crane drives the clamp to move to the set position, and the safety sensor group installed at the bottom of the clamp detects the position of the steel coil to be taken relative to the clamp in the left-right direction, and the safety sensor group feeds back the detection information to the PLC control system. When it is measured that the steel coil to be taken is offset relative to the position of the clamp in the left-right direction, the PLC control system controls the operating state of the motion mechanism of the crane to drive the clamp to move in the left-right direction until the relative position of the clamp and the steel coil to be taken in the left-right direction meets the set requirements. At this time, the cavity in the middle of the clamp corresponds to the steel coil to be taken in the left-right direction; the clamp descends until the bread block of the clamp corresponds to the cavity in the middle of the steel coil to be taken, the clamp performs the clamping action, and the bread block of the clamp is embedded in the cavity in the middle of the steel coil, and the motion mechanism drives the clamp and the steel coil to move to the set position.

[0006] Furthermore, in the process of the clamp descending until the bread block of the clamp corresponds to the cavity in the middle of the steel coil to be taken, the centering sensor installed on the inner wall of the lower end of the clamp performs detection and feeds back the detection information to the PLC control system. When the PLC control system receives the signal that the centering sensor detects the end face of the steel coil and then receives the signal that the centering sensor detects the cavity in the middle of the steel coil, the PLC control system controls the clamp to perform the clamping action.

[0007] Furthermore, a plurality of centering sensors distributed in sequence along the up-down direction are installed on the inner side wall of the lower end of the clamp. When the PLC control system receives information that all the centering sensors have detected the cavity in the middle of the steel coil, the PLC control system controls the clamp to perform the clamping action.

[0008] Further, at least one centering sensor is mounted on a base at the lower end of the clamp, and the bread block is mounted on the base.

[0009] Furthermore, at least one centering sensor is installed above the base.

[0010] Furthermore, the clamp includes two clamp legs, which are a left clamp leg and a right clamp leg respectively, and the safety sensor group includes multiple safety sensors, at least one safety sensor is a left safety sensor, which is installed at the bottom of the left clamp leg, and at least one safety sensor is a right safety sensor, which is installed at the bottom of the right clamp leg; when the left safety sensor senses the steel coil, the PLC control system controls the motion mechanism to perform corresponding movement to drive the clamp to move to the left until the left safety sensor can no longer sense the steel coil; when the right safety sensor senses the steel coil, the PLC control system controls the motion mechanism to perform corresponding movement to drive the clamp to move to the right until the right safety sensor can no longer sense the steel coil.

[0011] As described above, the unmanned warehouse area driving and coiling method according to the present invention has the following beneficial effects:

[0012] The unmanned warehouse area driving coil-taking method installs a safety sensor group at the bottom of the clamp, and uses the safety sensor group to detect the position of the steel coil to be taken relative to the clamp along the left-right direction. When it is measured that the position of the steel coil to be taken relative to the clamp along the left-right direction deviates, the PLC control system adjusts the position of the clamp along the left-right direction by regulating the motion mechanism, so that the clamp corresponds to the position of the steel coil to be taken along the left-right direction, and then the clamp descends until the bread block corresponds to the cavity in the middle of the steel coil. The clamp performs a clamping action, which can ensure that the bread block accurately enters the cavity in the middle of the steel coil, and then the motion mechanism drives the clamp to move. The bread block contacts the inner wall of the steel coil and drives the steel coil to move together until the steel coil is transferred to the set position, thereby realizing the coiling operation. This coiling method adjusts the position of the clamp according to the actual position of the steel coil, thereby effectively avoiding the problem that when the actual placement position of the steel coil deviates from the set position, the clamp still descends according to the set position and performs the coiling operation, resulting in a collision between the clamp and the steel coil, or when the clamp is offset due to avoidance action, the clamp directly descends, resulting in a collision between the clamp and the steel coil. This unmanned warehouse area crane coiling method improves the safety and accuracy of the operation, thereby also improving the efficiency of the coiling operation.

[0013] Another technical problem to be solved by the present invention is to provide a reeling mechanism that can improve the safety, accuracy and efficiency of the reeling operation.

[0014] To achieve the above-mentioned purpose, the present invention provides a coiling mechanism for realizing the unmanned warehouse area crane coiling method, comprising a clamp, a safety sensor group is installed at the bottom of the clamp, and the safety sensor group is used to detect the position of the steel coil to be taken relative to the clamp in the left and right direction.

[0015] Furthermore, the clamp includes two clamp legs, which are a left clamp leg and a right clamp leg respectively; the safety sensor group includes multiple safety sensors, at least one safety sensor is a left safety sensor, which is installed at the bottom of the left clamp leg; and at least one safety sensor is a right safety sensor, which is installed at the bottom of the right clamp leg.

[0016] Furthermore, a centering sensor is installed on the inner side wall of the lower end of the clamp.

[0017] Furthermore, at least one centering sensor is mounted on a base at the lower end of the clamp, and the bread block is mounted on the base; and at least one centering sensor is located above the base.

[0018] As described above, the reeling mechanism according to the present invention has the following beneficial effects:

[0019] The coiling mechanism, based on the unmanned warehouse area driving coiling method, improves the safety and accuracy of the coiling operation, thereby improving the efficiency of the coiling operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the structure of the reel-taking mechanism in an embodiment of the present invention.

[0021] Figure 2 It is a structural schematic diagram of an embodiment of the present invention when the clamp moves to a set position in both the left-right direction and the up-down direction relative to the steel coil, and the base and bread block of the clamp in the figure correspond to the cavity in the middle of the steel coil.

[0022] Figure 3 It is a structural schematic diagram of an embodiment of the present invention when the position of the clamp is offset to the right relative to the steel coil, and there is a left safety sensor in the figure that can sense the end of the steel coil.

[0023] Figure 4 It is a structural schematic diagram of the clamp in the embodiment of the present invention when the position is offset to the left relative to the steel coil. In the figure, both right safety sensors can sense the end of the steel coil.

[0024] Component number description

[0025] 1 Clamp

[0026] 11 Bread cubes

[0027] 12 Base

[0028] 13 Leg clamp

[0029] 131 Left Leg Clamp

[0030] 132 Right Leg Clamp

[0031] 2 Safety sensor groups

[0032] 21 Safety Sensor

[0033] 211 Left safety sensor

[0034] 212 Right safety sensor

[0035] 3 Steel Coil

[0036] 4 Centering sensor DETAILED DESCRIPTION

[0037] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0038] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportion relationship, or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0039] like Figures 1 to 4 As shown, this embodiment provides a coil taking mechanism, including a clamp 1, a safety sensor group 2 is installed at the bottom of the clamp 1, and the safety sensor group 2 is used to detect the position of the steel coil 3 to be taken relative to the clamp 1 along the left and right direction.

[0040] At the same time, if Figures 1 to 4 As shown, this embodiment provides an unmanned warehouse area driving coil taking method using the above coil taking mechanism, comprising the following steps:

[0041] The motion mechanism of the crane drives the clamp 1 to move to the set position, and the safety sensor group 2 installed at the bottom of the clamp 1 detects the position of the steel coil 3 to be taken relative to the clamp 1 along the left-right direction, and the safety sensor group 2 feeds back the detection information to the PLC control system. When it is measured that the steel coil 3 to be taken is offset relative to the position of the clamp 1 along the left-right direction, the PLC control system controls the operating state of the motion mechanism of the crane to drive the clamp 1 to move along the left-right direction until the relative position of the clamp 1 and the steel coil 3 to be taken along the left-right direction meets the set requirements. At this time, the cavity in the middle of the clamp 1 corresponds to the steel coil 3 to be taken along the left-right direction; the clamp 1 descends until the bread block 11 of the clamp 1 corresponds to the cavity in the middle of the steel coil 3 to be taken, the clamp 1 performs the clamping action, and the bread block 11 of the clamp 1 is embedded in the cavity in the middle of the steel coil 3, and the motion mechanism drives the clamp 1 and the steel coil 3 to move to the set position.

[0042] The unmanned warehouse area driving coil taking method is provided by installing a safety sensor group 2 at the bottom of the clamp 1, and using the safety sensor group 2 to detect the position of the steel coil 3 to be taken relative to the clamp 1 along the left-right direction. When it is measured that the position of the steel coil 3 to be taken relative to the clamp 1 along the left-right direction deviates, the PLC control system adjusts the position of the clamp 1 along the left-right direction by regulating the motion mechanism, so that the clamp 1 corresponds to the position of the steel coil 3 to be taken along the left-right direction, and then the clamp 1 descends until the bread block 11 corresponds to the cavity in the middle of the steel coil 3. The clamp 1 performs a clamping action, which can ensure that the bread block 11 accurately enters the cavity in the middle of the steel coil 3, and then under the action of the motion mechanism , driving the clamp 1 to move, the bread block 11 contacts the inner wall of the steel coil 3, and drives the steel coil 3 to move together, until the steel coil 3 is transferred to the set position, thereby realizing the coiling operation; and this coiling method will adjust the position of the clamp 1 according to the actual position of the steel coil 3, so as to effectively avoid the problem that when the actual placement position of the steel coil 3 deviates from the set position, the clamp 1 still descends according to the set position and performs the coiling operation, resulting in the clamp 1 colliding with the steel coil 3, or when the clamp 1 is offset due to avoidance action, etc., the clamp 1 directly descends, resulting in the clamp 1 colliding with the steel coil 3; the unmanned warehouse area driving coiling method improves the safety and accuracy of the operation.

[0043] like Figure 1 and Figure 2As shown, in this embodiment, a centering sensor 4 is installed on the inner side wall of the lower end of the clamp 1. When the clamp 1 descends to the point where the bread block 11 of the clamp 1 corresponds to the cavity in the middle of the steel coil 3 to be taken, the centering sensor 4 installed on the inner side wall of the lower end of the clamp 1 performs detection and feeds back the detection information to the PLC control system. When the PLC control system receives the signal that the centering sensor 4 detects the end surface of the steel coil 3 and then receives the signal that the centering sensor 4 detects the cavity in the middle of the steel coil 3, it means that the bread block 11 of the clamp 1 descends to the position corresponding to the cavity in the middle of the steel coil 3. At this time, the PLC control system controls the clamp 1 to perform the clamping action, and the bread block 11 will enter the cavity of the steel coil 3. At the same time, in this embodiment, a plurality of centering sensors 4 are installed on the inner side wall of the lower end of the clamp 1, which are sequentially distributed in the up-down direction. When the PLC control system receives the signal that all the centering sensors 4 detect the cavity in the middle of the steel coil 3, the PLC control system controls the clamp 1 to perform the clamping action. Specifically, there is a centering sensor 4 mounted on a base 12 at the lower end of the clamp 1, and the bread block 11 is mounted on the base 12. Two centering sensors 4 are mounted above the base 12. In this way, during the descent of the clamp 1, when the base 12 corresponds to the end face of the steel coil 3, the centering sensor 4 installed on the base 12 will sense the end face of the steel coil 3. As the clamp 1 descends, the other two centering sensors 4 will also sense the end faces of the steel coil 3 in turn. When the base 12 descends to correspond to the cavity in the middle of the steel coil 3, the centering sensor 4 installed on the base 12 will sense the cavity. As the clamp 1 continues to descend, the other two centering sensors 4 will also sense the cavity of the steel coil 3 in turn. At this time, it will ensure that the overall contours of the base 12 and the bread block 11 correspond to the cavity of the steel coil 3, and then the PLC control system controls the clamp 1 to perform the clamping action, so that the base 12 and the bread block 11 can smoothly enter the cavity of the steel coil 3, avoiding the base 12 and the bread block 11 not falling into place, resulting in the base 12 or the bread block 11 interfering with the inner wall of the steel coil 3 during the process of entering the cavity of the steel coil 3. In this embodiment, the centering sensor 4 can be a laser centering sensor, including a transmitter and a receiver, for detecting the end of the steel coil 3. In this embodiment, based on the centering sensor 4, the clamp leg 13 of the clamp 1 can safely and smoothly enter the cavity in the middle of the steel coil 3, thereby ensuring that the clamp leg 13 can effectively carry the steel coil 3.

[0044] In this embodiment, the clamp 1 includes two clamp legs 13, which are respectively a left clamp leg 131 and a right clamp leg 132. The safety sensor group 2 includes a plurality of safety sensors 21, two of which are left safety sensors 211, which are installed at the bottom of the left clamp leg 131, and two of which are right safety sensors 212, which are installed at the bottom of the right clamp leg 132. When the left safety sensor 211 senses the steel coil 3, it means that the actual position of the steel coil 3 to be taken is offset to the left relative to the set position, then the PLC control system controls the motion mechanism to perform corresponding motion to drive the clamp 1 to move to the left until the left safety sensor 211 cannot sense the steel coil 3. When the right safety sensor 212 senses the steel coil 3, it means that the actual position of the steel coil 3 to be taken is offset to the right relative to the clamp 1, then the PLC control system controls the motion mechanism to perform corresponding motion to drive the clamp 1 to move to the right until the right safety sensor 212 cannot sense the steel coil 3. When the left safety sensor 211 and the right safety sensor 212 cannot sense the steel coil 3, it means that the steel coil 3 to be taken is just located in the gap between the left clamp leg 131 and the right clamp leg 132 in the left-right direction. At this time, the PLC control system will control the motion mechanism to perform corresponding actions to drive the clamp 1 to descend, and can effectively ensure that the clamp 1 will not collide with the steel coil 3 during the process. In this embodiment, the safety sensor 21 can be a distance detection sensor, or other types of sensors.

[0045] In this embodiment, the safety sensor 21 is specifically responsible for detecting whether there is a foreign object in the 500mm area below the clamp 1. In this embodiment, the motion mechanism of the crane includes a large car and a small car. At the same time, in this embodiment, the safety sensor 21 and the centering sensor 4 send the detection information to the PLC control system of the crane through the Profibus DP network. After the program processing of the PLC control system, the current coordinates of the large car and the small car of the crane are reasonably adjusted to achieve the adjustment of the position of the clamp 1, meet the on-site needs of the clamp 1 coiling and lifting operation, and are suitable for the needs of the unmanned warehouse area crane to automatically adjust the position of the clamp 1 for coiling operations. Correspondingly, the program of the PLC control system is programmed accordingly, so that it can control the large car and the small car to perform corresponding actions according to the detection signals of the safety sensor 21 and the centering sensor 4, thereby achieving the adjustment of the position of the clamp 1. In this embodiment, the two sets of centering sensors 4 located at the top are located 30mm above the upper surface of the bread block 11, and the centering sensor 4 located at the bottom is located 30mm below the lower surface of the bread block 11. The two outer safety sensors 21 are installed at the rear side of the bottom of the pliers leg 13, 10 mm away from the outer side of the bottom of the pliers arm, and the two inner safety sensors 21 are installed at the front side of the bottom of the pliers leg 13, 10 mm away from the inner side of the bottom of the pliers leg 13.

[0046] The coiling method in this embodiment can be applied to the field of metallurgical production technology. The coiling method for unmanned warehouse crane in this embodiment includes a method for automatically adjusting the position of the clamp 1, which solves the problem that during the process of the unmanned warehouse crane automatically lifting the steel coil 3, after making an avoidance action, the main lifting and descending to perform the coiling process, the clamp 1 cannot accurately find the steel coil 3 and its coil core, causing the coiling operation process to be interrupted. In addition, when an abnormality occurs in the crane unit and the information data cannot be tracked normally, and when the steel coil 3 is manually placed on the unmanned warehouse saddle, a coordinate offset occurs, resulting in the crane automatically taking the coil according to the steel coil 3 coordinates provided by the WMS. There is a deviation between the actual position of the steel coil 3 and the set target position, which not only prolongs the operation time, but also affects the single hook speed of the crane. In severe cases, the clamp leg 13 of the clamp 1 will scrape against the steel coil 3, requiring the main operator to intervene remotely, which increases the extra workload, poses a certain safety risk, and also reduces the unmanned automation rate of the warehouse. The unmanned warehouse area driving coil taking method in this embodiment, based on the above method of automatically adjusting the position of the clamp 1, can effectively solve the problem that when the actual position of the steel coil 3 deviates from the set target position, the clamp 1 still performs the descending and clamping action according to the set position information, and will scratch the steel coil 3. The coil core of the steel coil 3 is the cavity in the middle of the steel coil 3.

[0047] In the unmanned warehouse area driving coiling method of this embodiment, during the coiling process, according to the relative position relationship between the clamp 1 and the steel coil 3 to be taken, the current position of the trolley and the small car is adjusted to adjust the position of the clamp 1, so as to ensure that the clamp legs 13 of the clamp 1 can accurately enter the coil core of the steel coil 3 and perform the coiling operation. And based on the two groups of safety sensors 21 at the front and rear of the bottom of the clamp legs 13, it is detected whether there is a steel coil 3 at a safe distance below the clamp legs 13, combined with the detection of the steel coil 3 by the centering sensor 4 located on the base 12 of the clamp legs 13 and the two groups of centering sensors 4 located above the bread block 11, the running state of the large car and the small car is regulated, and then the position of the clamp 1 is adjusted to ensure that the clamp legs 13 can smoothly clamp the steel coil 3. In this embodiment, the three groups of centering sensors 4 are arranged in a triangle.

[0048] The unmanned warehouse area crane coiling method in this embodiment reduces the risk of scratching between the clamp 1 and the steel coil 3, effectively shortens the single hook operation time, increases the crane automation rate by 0.3%, and ensures the normal operation of the unmanned warehouse area.

[0049] During the coiling process, when the traveling clamp 1 moves to above the target position, the main lifting descends to below the anti-sway position, and the empty hook is below the 5000mm position, the clamp 1 moves to the set target position, thereby meeting the necessary detection conditions. During the descent of the clamp 1, the left safety sensor 211, the right safety sensor 212, and the centering sensor 4 perform corresponding detection on the steel coil 3 to be taken, and feed back the detection information to the PLC control system. The PLC control system determines the relative position relationship between the clamp 1 and the steel coil 3 based on the detection results. The end face of the steel coil 3 is parallel to the running direction of the trolley or the trolley, thereby adjusting the running state of the trolley and the trolley to adjust the position of the clamp 1 to the required position. Subsequently, the clamp legs 13 of the clamp 1 are closed and clamp the steel coil 3, and the main lifting action performs the next automatic operation. Specifically, when the clamp 1 descends to the target position, the safety sensor 21 installed on the clamp legs 13 detects the bottom. When the detection signal of one left safety sensor 211 is 1 and the detection signal of the other left safety sensor 211 is "0", as shown in FIG. Figure 3 As shown, when the detection signals of the two left safety sensors 211 are both "1", it means that the left safety sensor 211 detects that there is a part of the steel coil 3 below, and the clamp 1 is offset to the right relative to the steel coil 3 to be taken. The PLC control system adjusts the current coordinate position of the large and small vehicles according to whether the core direction of the steel coil 3 is consistent with the parallel direction of the large and small vehicles, so that the clamp 1 moves to the left until the detection signals of the two left safety sensors 211 are both "0", indicating that the clamp 1 is adjusted to the left. Similarly, when the detection signal of one right safety sensor 212 or two right safety sensors 212 is "1", as shown Figure 4 As shown, it means that there is a part of the steel coil 3 below the right safety sensor 212, and the clamp 1 is offset to the left relative to the steel coil 3. The PLC control system will control the large and small vehicles to perform corresponding movements to drive the clamp 1 to move to the right until the detection signals of the two right safety sensors 212 are both "0", indicating that the clamp 1 is adjusted to the right. When the detection signals of the four safety sensors 21 are all "0", it means that the steel coil 3 to be taken is located directly below the clamp 1, that is, the steel coil 3 corresponds to the cavity in the middle of the clamp 1, and the PLC control system will control the clamp 1 to descend. When the clamp 1 descends to the target position, the three groups of centering sensors 4 installed on the clamp legs 13 detect the position of the winding core. When the detection signal of the centering sensor 4 located on the base 12 is "1" and the detection signal of one of the other two groups of centering sensors 4 is "0", the PLC control system adjusts the current coordinate position of the large and small cars according to whether the winding core direction of the steel coil 3 is consistent with the parallel direction of the large and small cars. When the detection signals of the three groups of centering sensors 4 are all "1", it means that the three groups of centering sensors 4 correspond to the winding core. At this time, the PLC control system controls the clamp 1 to perform the clamping and winding operation.

[0050] The unmanned warehouse area driving coiling method in this embodiment can adjust the coordinates of the large and small vehicles according to the different positions of the steel coil 3 to be taken, so as to adjust the clamp 1 to the required position, and take the coil after the clamp 1 is adjusted in place. Compared with the previous driving coiling abnormality, the manual remote control and intervention operation mode are adopted. The driving coiling method is safer and more reliable. It can automatically adjust the coordinate positions of the large and small vehicles directly through the sensor signal combination state, realize the precise adjustment of the position of the clamp 1, and then realize accurate coiling, reduce the workload of the operator's intervention, and avoid the equipment and property losses caused by the operator's misoperation. The driving coiling method improves the accuracy of the clamp 1 coiling, avoids the abnormal centering of the clamp 1 during coiling, such as the steel coil 3 part under the clamp leg 13 affecting the coiling accuracy, reduces the possibility of the clamp 1 and the outer and end surface of the steel coil 3 being scratched, reduces the probability of abnormal damage to the equipment, and improves the stability of the safe operation of the unmanned area driving; and reduces the single hook operation time, improves the operation efficiency, reduces the frequency of manual remote control intervention, and improves the automation rate.

[0051] In summary, the present invention effectively overcomes various shortcomings of the prior art and has high industrial utilization value.

[0052] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. An unmanned warehouse area driving coil taking method, characterized in that: The steps include: The motion mechanism of the crane drives the clamp (1) to move to a set position, and a safety sensor group (2) installed at the bottom of the clamp (1) detects the position of the steel coil (3) to be taken relative to the clamp (1) in the left-right direction, and the safety sensor group (2) feeds back the detection information to the PLC control system. When it is detected that the position of the steel coil (3) to be taken relative to the clamp (1) in the left-right direction is offset, the PLC control system controls the operating state of the motion mechanism of the crane to drive the clamp (1) to move in the left-right direction until the steel coil (3) to be taken is offset. The relative positions of the clamp (1) and the steel coil (3) to be taken in the left-right direction meet the set requirements. At this time, the cavity in the middle of the clamp (1) corresponds to the steel coil (3) to be taken in the left-right direction; the clamp (1) is lowered until the bread block (11) of the clamp (1) corresponds to the cavity in the middle of the steel coil (3) to be taken, the clamp (1) performs a clamping action, the bread block (11) of the clamp (1) is embedded in the cavity in the middle of the steel coil (3), and the motion mechanism drives the clamp (1) and the steel coil (3) to move to the set position.

2. The unmanned warehouse area crane reeling method according to claim 1 is characterized in that: When the clamp (1) descends until the bread block (11) of the clamp (1) corresponds to the cavity in the middle of the steel coil (3) to be taken, the centering sensor (4) installed on the inner wall of the lower end of the clamp (1) performs detection and feeds back the detection information to the PLC control system. When the PLC control system receives the signal that the centering sensor (4) detects the end face of the steel coil (3) and then receives the signal that the centering sensor (4) detects the cavity in the middle of the steel coil (3), the PLC control system controls the clamp (1) to perform the clamping action.

3. The unmanned warehouse area crane reeling method according to claim 2 is characterized in that: A plurality of centering sensors (4) distributed in sequence in the up-down direction are installed on the inner side wall of the lower end of the clamp (1); when the PLC control system receives information that all the centering sensors (4) have detected a cavity in the middle of the steel coil (3), the PLC control system controls the clamp (1) to perform a clamping action.

4. The unmanned warehouse area crane reeling method according to claim 2 is characterized in that: At least one centering sensor (4) is mounted on a base (12) at the lower end of the clamp (1), and the bread block (11) is mounted on the base (12).

5. The unmanned warehouse area crane reeling method according to claim 4 is characterized in that: At least one centering sensor (4) is installed above the base (12).

6. The unmanned warehouse area crane reeling method according to claim 1 is characterized in that: The clamp (1) comprises two clamp legs (13), the two clamp legs (13) are respectively a left clamp leg (131) and a right clamp leg (132); the safety sensor group (2) comprises a plurality of safety sensors (21), at least one safety sensor (21) is a left safety sensor (211), the left safety sensor (211) is mounted at the bottom of the left clamp leg (131), and at least one safety sensor (21) is a right safety sensor (212), the right safety sensor (212) is mounted at the bottom of the right clamp leg (132); when the left safety sensor (211) senses a steel coil (3), the PLC control system controls the motion mechanism to perform a corresponding motion to drive the clamp (1) to move to the left until the left safety sensor (211) cannot sense the steel coil (3); when the right safety sensor (212) senses the steel coil (3), the PLC control system controls the motion mechanism to perform a corresponding motion to drive the clamp (1) to move to the right until the right safety sensor (212) cannot sense the steel coil (3).

7. A coiling mechanism for realizing the unmanned warehouse area crane coiling method as claimed in claim 1, comprising a clamp (1), characterized in that: A safety sensor group (2) is installed at the bottom of the clamp (1), and the safety sensor group (2) is used to detect the position of the steel coil (3) to be taken relative to the clamp (1) in the left-right direction.

8. The reeling mechanism according to claim 7, characterized in that: The clamp (1) comprises two clamp legs (13), the two clamp legs (13) are respectively a left clamp leg (131) and a right clamp leg (132); the safety sensor group (2) comprises a plurality of safety sensors (21), at least one safety sensor (21) is a left safety sensor (211), the left safety sensor (211) is mounted at the bottom of the left clamp leg (131), and at least one safety sensor (21) is a right safety sensor (212), the right safety sensor (212) is mounted at the bottom of the right clamp leg (132).

9. The reeling mechanism according to claim 7, characterized in that: A centering sensor (4) is installed on the inner side wall of the lower end of the clamp (1).

10. The reeling mechanism according to claim 9, characterized in that: At least one centering sensor (4) is mounted on a base (12) at the lower end of the clamp (1), the bread block (11) is mounted on the base (12); and at least one centering sensor (4) is located above the base (12).

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