Overground type strip steel coil manipulator

Abstract

A ground type strip steel coil mechanical arm is provided with a gantry moving frame and a picking mechanical arm arranged in the gantry moving frame, and a sliding rail is arranged below the gantry moving frame so that the gantry moving frame can move on the ground. The picking manipulator and the gantry moving frame are installed in a matched mode through a linear sliding rail in the vertical direction, the picking manipulator is driven by a lifting driver to vertically move up and down relative to the gantry moving frame along the linear sliding rail, and a picking roller, a picking frame, a pressing roller and a clamping device are further arranged in the picking manipulator. The pressing roller and the picking roller are both arranged on the picking frame, the clamping device can drive the pressing roller and the picking roller to pick and clamp a strip steel coil, and transfer and installation of the strip steel coil are achieved through vertical driving of the lifting driver and moving action of the gantry moving frame. According to the technical scheme, strip steel coils are picked up and transferred by arranging the gantry moving frame and the picking manipulator installed in the gantry moving frame.

Description

Technical Field

[0001] The invention relates to the technical field of transport, transfer and uncoiling of strip steel coils, and in particular to a ground-type strip steel coil manipulator used in conjunction with an uncoiler. Background Art

[0002] The uncoiler is a very common equipment in the field of production and processing using strip steel as raw material. Placing the strip steel on the uncoiler cannot be done manually, and must be achieved with corresponding installation equipment, such as forklifts or steel coil cars. In order to meet the needs of modern high-speed and fully automatic production, fully automatic loading steel coil cars have become a new development trend. However, due to the low height of the existing steel coil cars relative to the ground when the steel coils are incoming, the conventional design scheme is to extend part of the steel coil car underground to meet the needs of its structural design. However, as some customers gradually diversified their needs, ground-type steel coil cars have become a new demand. Ground-type steel coil cars have advantages such as no need to dig pits and convenient inspection and observation and maintenance. Therefore, in order to meet such market needs, technical personnel in this field have developed a ground-type strip steel coil manipulator that is both cost-saving and can simply and conveniently achieve the above functions. It has become an industry trend. Summary of the invention

[0003] The present invention aims to meet the needs of customers and develop an above-ground strip steel coil manipulator that can completely realize the need for underground extension. The strip steel coil is picked up and transferred by setting a gantry moving frame and a picking manipulator installed therein. The technical solution has a simple structure, is easy to repair and maintain, has a wide range of applications, saves costs and improves efficiency.

[0004] Specifically, the purpose of the present invention is achieved by adopting the following technical solutions: on the one hand, a ground-type strip steel coil manipulator is used to automatically take the strip steel coil d from the storage rack c and install it on the uncoiler k in a proper position; a gantry moving frame py and a picking manipulator sj arranged in the gantry moving frame py are also provided; a slide rail hh is provided below the gantry moving frame py to enable it to move on the ground; the picking manipulator sj and the gantry moving frame py are installed in cooperation with each other through a vertical linear slide rail zs and are lifted and lowered. The driver sq drives the picking robot sj to make vertical movements up and down relative to the gantry moving frame py along the linear slide rail zs. The picking robot sj is also provided with a picking roller gz, a picking frame kz, a pressure roller yz and a clamping device jj. The pressure roller yz and the picking roller gz are both arranged on the picking frame kz. The clamping device jj can drive the pressure roller yz and the picking roller gz to pick up and clamp the strip steel coil d. The transfer and installation of the strip steel coil d are realized by the up and down driving of the lifting driver sq and the moving action of the gantry moving frame py.

[0005] According to one aspect of the specific implementation of the first embodiment of the present invention, a stabilizing beam pyw and a main beam pyz extending in the vertical direction are also provided on the gantry moving frame py, the picking frame kz is arranged on the main beam pyz through a linear slide rail zs, the clamping device jj is arranged as a swing arm structure and swings with the picking frame kz through a hinged manner, the pressure roller yz is installed at the maximum swing arm end of the clamping device jj, and the swinging action of the clamping device jj realizes the pressure roller yz and the picking roller gz clamping the strip steel coil d.

[0006] According to one aspect of the specific implementation of the second embodiment of the present invention, vertical beams pys are respectively provided at both ends of the gantry moving frame py, the clamping device jj is set into two groups and both are horizontal linear pushing mechanisms and are respectively arranged on the vertical beams pys at both ends through linear slide rails zs, the picking frame kz is also set into two groups and are respectively arranged on the two clamping devices jj and the pressure roller yz is arranged at the upper end of the picking frame kz, the picking roller gz is arranged at the lower end of the picking frame kz and only one is arranged, the two clamping devices jj and the two picking frames kz are arranged relative to each other, and the two picking frames kz can approach or move away from each other under the synchronous linear pushing action of the two clamping devices jj, so as to drive the pressure roller yz and the picking roller gz thereon to approach or move away from each other synchronously.

[0007] According to one aspect of a specific implementation of an embodiment of the present invention, the pressure roller yz and the pick-up roller gz are both configured as active rollers capable of providing torque, and the strip steel coil d can be rotated under the torque of the pressure roller yz and the pick-up roller gz. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Features, advantages, and technical effects of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings.

[0009] Description of the serial numbers: storage rack c, strip coil d, uncoiler k, gantry moving frame py, stabilizing beam pyw, main beam pyz, vertical beam pys, picking manipulator sj, picking roller gz, picking frame kz, pressure roller yz, clamping device jj, slide rail hh, linear slide rail zs, lifting drive sq.

[0010] Figure 1 It is a schematic diagram of the overall layout of the basic structure of an embodiment of the present invention.

[0011] Figure 2 It is a schematic diagram of the basic structure of the first embodiment of the present invention from a side view.

[0012] Figure 3 It is a working schematic diagram of the picking robot SJ according to the first embodiment of the present invention.

[0013] Figure 4 It is a schematic diagram of the basic structure of the second embodiment of the present invention from a side view.

[0014] Figure 5 It is a working schematic diagram of the picking robot SJ according to the second embodiment of the present invention.

[0015] In the drawings, the same reference numerals are used for the same components. The drawings are not drawn to scale. DETAILED DESCRIPTION

[0016] The following detailed description of the embodiments of the present invention is further described in detail in conjunction with the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to exemplarily illustrate the principles of the present invention, but cannot be used to limit the scope of the present invention, that is, the present invention is not limited to the preferred embodiments described, and the scope of the present invention is defined by the claims.

[0017] In the description of the embodiments of the present invention, it should be noted that, unless otherwise specified, “vertical” and “parallel” do not just have absolute meanings in a mathematical sense, but can be understood as “approximately vertical” and “approximately parallel”.

[0018] Figure 1 It is a schematic diagram of the overall layout of the basic structure of an embodiment of the present invention.

[0019] Figure 2 It is a schematic diagram of the basic structure of the first embodiment of the present invention from a side view.

[0020] like Figure 1 and Figure 2 As shown, according to the specific detailed structure of the first embodiment of the present invention, specifically, the present invention aims to develop an above-ground strip steel coil manipulator that can completely realize the need for extending underground in order to meet the needs of customers, and the strip steel coil is picked up and transferred by setting a gantry moving frame and a picking manipulator installed therein. The technical solution has a simple structure, is easy to repair and maintain, has a wide range of applications, saves costs and improves efficiency. In terms of specific structure, a frame-type steel structure gantry moving frame py and a picking manipulator sj arranged in the gantry moving frame py are provided. A slide rail hh installed on the ground is provided below the gantry moving frame py to enable it to move on the ground. The slide rail hh is arranged between the storage rack c and the uncoiler k. The strip steel coil d is hung on the cantilever on the storage rack c through the central hole. The cantilever of the storage rack c extends in the same direction as the axial direction of the uncoiler shaft provided on the uncoiler k. The length direction of the slide rail hh extends along the axial direction of the uncoiler shaft. The gantry moving frame py can move between the storage rack c and the uncoiler k when sliding on the slide rail hh.

[0021] Among them, according to one aspect of the specific implementation of the first embodiment of the present invention, the gantry moving frame py is also provided with a stabilizing beam pyw and a main beam pyz extending in the vertical direction, and the stabilizing beam pyw and the main beam pyz are combined to form a semi-closed door shape, and the main beam pyz extending in the vertical direction is also provided with a linear slide rail zs arranged and installed along its extension direction.

[0022] According to one aspect of the specific implementation of the first embodiment of the present invention, the picking manipulator sj is further provided with a picking roller gz, a picking frame kz, a pressure roller yz and a clamping device jj. The picking frame kz is configured as a hook-shaped steel structure beam that is bent downward, and is arranged on the main beam pyz through a linear slide rail zs. The clamping device jj is configured as a swing arm structure and is swung and coordinated with the upper end of the picking frame kz in a hinged manner. The pressure roller yz and the picking roller gz are both arranged on the picking frame kz, wherein the pressure roller yz is installed at the maximum swing arm end of the clamping device jj, and the pressure roller yz cooperates with the picking roller gz to clamp the strip steel coil d through the swinging action of the clamping device jj. The picking frame kz is also provided with a lifting drive sq, and the lifting drive sq can drive the picking manipulator sj to make vertical movements up and down relative to the gantry moving frame py along the linear slide rail zs.

[0023] Figure 3 It is a working schematic diagram of the picking robot SJ according to the first embodiment of the present invention.

[0024] like Figure 3 As shown, according to one aspect of the specific implementation of the first embodiment of the present invention, the specific working process is as follows: first, the gantry moving frame py moves to the side of the storage rack c, and the clamping device jj swings upward to drive the pressure roller yz away from the lower end of the pick-up roller gz. At the same time, the lifting driver sq drives the pick-up frame kz to move downward to drive the pick-up roller gz to pass over the lower edge of the strip steel coil d suspended on the storage rack c, and then the gantry moving frame py continues to move to place the pick-up roller gz and the pressure roller yz at the center plane position of the strip steel coil d. Then synchronously, the picking frame kz moves upward under the drive of the driver sq, and the clamping device jj swings downward to drive the pressure roller yz to move downward, the picking roller gz and the pressure roller yz cooperate with each other to clamp the strip steel coil d, and then the picking frame kz continues to rise a certain distance to make the strip steel coil d separate from the cantilever on the storage rack c, and then the gantry moving frame py moves toward one side of the uncoiler k until the hole in the center of the strip steel coil d is inserted into the uncoiler shaft set on the uncoiler k, and then the picking frame kz moves downward to place the strip steel coil d on the uncoiler shaft and stabilize it, and then the picking frame kz continues to move downward a certain distance, and synchronously, the clamping device jj swings upward, so that the picking roller gz and the pressure roller yz are synchronously separated from the strip steel coil d, and from then on, the loading process is completed.

[0025] Figure 1It is a schematic diagram of the overall layout of the basic structure of an embodiment of the present invention.

[0026] Figure 4 It is a schematic diagram of the basic structure of the second embodiment of the present invention from a side view.

[0027] like Figure 1 and Figure 4 As shown, according to one aspect of the specific implementation of the second embodiment of the present invention, its distinguishing technical feature from the previous embodiment is that the two ends of the gantry moving frame py are respectively provided with vertical beams pys, the clamping device jj is set in two groups and both are horizontal linear driving mechanisms and are respectively arranged on the vertical beams pys at both ends through linear slide rails zs, the picking frame kz is set in two groups and is respectively arranged on two clamping devices jj, and the pressure roller yz is arranged at the upper end of the picking frame kz, and the picking roller gz is arranged at the lower end of the picking frame kz and only one is arranged. The two clamping devices jj and the two picking frames kz are arranged relative to each other, and the two picking frames kz can approach or move away from each other under the synchronous linear driving action of the two clamping devices jj to drive the pressure roller yz and the picking roller gz thereon to approach or move away from each other synchronously. The clamping device jj is also provided with a lifting driver sq, and the lifting driver sq can drive the picking robot sj to make up and down vertical movements relative to the gantry moving frame py along the linear slide rail zs.

[0028] Figure 5 It is a working schematic diagram of the picking robot SJ according to the second embodiment of the present invention.

[0029] like Figure 5 As shown, according to one aspect of the specific implementation of the second embodiment of the present invention, its specific working process is as follows: first, the gantry moving frame py moves to the side of the storage rack c, and the clamping device jj moves to both sides to drive the two picking frames kz to separate to both sides. Then the gantry moving frame py continues to move so that the picking roller gz and the pressure roller yz are placed at the center surface position of the strip steel coil d. Then synchronously, the two picking frames kz merge toward the center, and the picking roller gz and the pressure roller yz cooperate with each other to clamp the strip steel coil d, and then the picking frame kz continues to rise a certain distance to make the strip steel coil d separate from the cantilever on the storage rack c, and then the gantry moving frame py moves toward one side of the uncoiler k until the hole in the center of the strip steel coil d is inserted into the unwinding shaft set on the unwinding machine k, and then the picking frame kz moves downward to place the strip steel coil d on the unwinding shaft and stabilize it, and then the clamping device jj moves to both sides to drive the two picking frames kz to separate to both sides, so that the picking roller gz and the pressure roller yz are synchronously separated from the strip steel coil d, and from then on, the feeding process is completed.

[0030] According to one aspect of a specific implementation of an embodiment of the present invention, the pressure roller yz and the pick-up roller gz are both configured as active rollers capable of providing torque, and the strip steel coil d can be rotated under the torque of the pressure roller yz and the pick-up roller gz.

[0031] It should be understood that the description of the specific embodiments of the present invention is exemplary and should not be interpreted as an improper limitation on the scope of protection of the present invention. The scope of protection of the present invention is defined by its claims and covers all embodiments and obvious equivalent variations falling within its scope.

Claims

1. A ground-type steel coil manipulator, used to automatically take a steel coil (d) from a storage rack (c) and install it on a uncoiler (k) in an aligned manner, characterized in that A gantry moving frame (py) and a picking robot (sj) arranged in the gantry moving frame (py) are provided, a slide rail (hh) is provided under the gantry moving frame (py) to enable it to move on the ground, the picking robot (sj) and the gantry moving frame (py) are installed in cooperation with each other through a vertical linear slide rail (zs) and a lifting driver (sq) is used to drive the picking robot (sj) to move vertically up and down relative to the gantry moving frame (py) along the linear slide rail (zs). The picking robot (sj) is also provided with a picking roller (gz), a picking frame (kz), a pressure roller (yz) and a clamping device (jj). The pressure roller (yz) and the picking roller (gz) are both arranged on the picking frame (kz). The clamping device (jj) can drive the pressure roller (yz) and the picking roller (gz) to pick up and clamp the strip steel coil (d). The transfer and installation of the strip steel coil (d) are realized by the up and down driving of the lifting drive (sq) and the moving action of the gantry moving frame (py).

2. The above-ground strip steel coil manipulator according to claim 1, characterized in that The gantry moving frame (py) is also provided with a stabilizing beam (pyw) and a main beam (pyz) extending in the vertical direction. The picking frame (kz) is arranged on the main beam (pyz) through a linear slide rail (zs). The clamping device (jj) is arranged as a swing arm structure and is swung and coordinated with the picking frame (kz) by a hinged manner. The pressure roller (yz) is installed at the maximum swing arm end of the clamping device (jj). The swinging action of the clamping device (jj) enables the pressure roller (yz) to cooperate with the picking roller (gz) to clamp the strip steel coil (d).

3. The above-ground strip steel coil robot according to claim 1, characterized in that Vertical beams (pys) are respectively provided at both ends of the gantry moving frame (py), the clamping device (jj) is arranged in two groups and both are horizontal linear driving mechanisms and are respectively arranged on the vertical beams (pys) at both ends through linear slide rails (zs), the picking frame (kz) is also arranged in two groups and are respectively arranged on the two clamping devices (jj), and the pressure roller (yz) is arranged at the upper end of the picking frame (kz), and the picking roller (gz) is arranged at the lower end of the picking frame (kz) and only one is arranged, the two clamping devices (jj) and the two picking frames (kz) are arranged relatively, and the two picking frames (kz) can approach or move away from each other under the synchronous linear driving action of the two clamping devices (jj), so as to drive the pressure roller (yz) and the picking roller (gz) thereon to approach or move away from each other synchronously.

4. A ground-type strip steel coil manipulator according to claim 1 or claim 2, characterized in that The pressure roller (yz) and the pick-up roller (gz) are both configured as active rollers capable of providing torque, and the strip steel coil (d) can be rotated under the torque of the pressure roller (yz) and the pick-up roller (gz).

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