Correcting device and method for non-centering state of steel coil transportation

Abstract

The invention discloses a correction device and method for the non-centering state of steel coil transportation. The correction device comprises an upper transverse moving part, a positioning following part, a lower transverse moving part, a lifting part and a correction part. The upper transverse moving part and the lower transverse moving part are both arranged on the ground, the upper transverse moving part is located over the conveying chain, and the lower transverse moving part is located under the conveying chain. The positioning following part is arranged on the upper transverse moving part; the lifting part and the correcting part are both arranged on the lower transverse moving part. According to the position correcting device, the position of the steel coil deviated on the conveying chain is effectively corrected, it is guaranteed that the steel coil can be accurately moved to the designated position of the packaging machine, and reliable packaging operation is guaranteed.

Description

Technical Field

[0001] The present invention relates to a device and method for correcting the misaligned state of a steel coil during transportation, in particular to a device and method for correcting the misaligned state of a steel coil during the process of the steel coil moving toward a baler on a transport chain, belonging to the technical field of equipment for correcting the misaligned state of a steel coil. Background Art

[0002] The packaging process is the last procedure in the finished product area of ​​the hot-rolled strip steel production line. The main function of hot-rolled strip steel coil packaging is to package the rolled steel coils to avoid loose coils during transportation and protect the steel coils from damage during transportation and storage, so as to ensure normal transportation and sales. The premise of the normal use of the automatic packaging machine is that the center of the inner diameter of the steel coil on the walking beam must be fixed, so that the distance between the center of the inner diameter of the steel coil and the automatic packaging machine can be used to calculate the travel distance of the transport chain, and then complete the packaging work. However, since the hot-rolled production line always maintains production status without special reasons, the weight of the steel coil produced is about 15 to 20 tons, and a walking beam can bear The machine carries 6 steel coils, with a total weight of more than 90 tons, plus its own weight of about 10 tons, and is constantly reciprocating. As the load age increases and the foundation vibrates, the accuracy of the walking beam cannot meet the standard for ensuring the fixed position of the inner diameter center of the steel coil. The inner diameter center position is offset, and the offset can reach ±20mm. As the offsets are superimposed on each other, the landing point of the steel coil on the transport chain is no longer accurate. When the transport chain moves forward as preset, the steel coil cannot move to the designated position of the baler, and the steel coil cannot be normally transported to the designated position of the automatic baler for automatic baling. When the steel coil moves to the baler but the position is incorrect, When the steel coil is in a state of being moved, the on-site staff need to manually adjust the position of the steel coil, and the control panel is set next to the baler. The operator still needs to withstand the high temperature of the steel coil, which not only poses a high safety risk; in addition, the frequency of manual baling is low, which often causes the transportation chain to stop and the production line to stop, seriously affecting the stability and continuity of the hot rolling production line, and causing great pressure on indicators such as production costs and capacity improvement; at the same time, the automatic baler cannot be put into use, which also causes huge waste of resources and economic losses to the enterprise; At present, the solution to the problem of inaccurate steel coil landing point is as follows: a strip steel disclosed in Chinese patent CN202122225176.5 Rapid baling machine, the utility model relates to a rapid baling machine for strip steel, including a fixed frame, a feeding plate, a feeding module, a longitudinal baling mechanism and a transverse baling mechanism. The specific method is to place the circumferential surface of the strip steel horizontally on the feeding module, control the feeding module to slide in the slide groove of the feeding plate, and the feeding module transports the strip steel to the baling processing area. The feeding module cooperates with the baling mechanism to bundle multiple places on the circumferential surface of the strip steel; for example, Chinese patent CN202310835744.4 discloses a roll-up baling device and a baling method. The invention relates to a roll-up baling device and a baling method, which include a baling mechanism, a baling tightening roller mechanism, and a material transfer pressure head mechanism.The strapping mechanism includes a strapping head device, a strapping guide groove of a strapping machine, a strapping head detection rod and a strapping support device of a strapping machine. The strapping head device feeds the strapping into the strapping guide groove of the strapping machine, and the strapping returns to the strapping head device through the strapping guide groove of the strapping machine to form a closed strapping ring. The strapping head device is driven to move relative to the strapping station until it is close to the material roll, and the strapping support device of the strapping machine is driven to press against the surface of the material roll. The strapping head device reverses the strapping wheel to withdraw the strapping so that the strapping ring is tightened and disengaged from the strapping guide groove of the strapping machine. The tightened strapping ring is tightened to the finger on the surface of the material roll under the limiting action of the strapping support device of the strapping machine. Fixed position; the above existing technologies all use a feeding module or a walking beam to transport the steel coil to a fixed packaging position, and only perform packaging operations on the steel coil at the reference position, and do not mention how to deal with the abnormal position of the steel coil that has occurred; therefore, for the abnormal position of the steel coil, such as the problem of deviation in the landing point when the steel coil falls on the transport chain due to the deflection of the walking beam, a correction device and method are needed to correct it before it reaches the packaging machine, thereby ensuring that the packaging machine can smoothly perform packaging operations on the steel coil and ensure the reliable progress of the production schedule. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a device and method for correcting the misaligned state of steel coil transportation, which can effectively correct the position of the offset strip on the transport chain, thereby ensuring the smooth operation of the baler.

[0004] The problem described in the present invention is solved by the following technical solutions: A device for correcting a steel coil in a misaligned transport state comprises an upper transverse moving part, a positioning and following part, a lower transverse moving part, a lifting part and a correcting part; the upper transverse moving part and the lower transverse moving part are both arranged on the ground, and the upper transverse moving part is located directly above the transport chain, and the lower transverse moving part is located directly below the transport chain; the positioning and following part is arranged on the upper transverse moving part; the lifting part and the correcting part are both arranged on the lower transverse moving part.

[0005] The above-mentioned correction device for the misaligned state of steel coil transportation, the lower transverse moving part includes a lower transverse moving mechanism, a lower infrared rangefinder, a lower sliding rail and a lower slider; the lower sliding rail is arranged on the ground, and its center line is parallel to the transportation direction line of the transport chain; a baffle is arranged at the end of the lower sliding rail; the lower infrared rangefinder is arranged on the side wall of the lower slider, and its infrared emitting end points to the baffle at the end of the lower sliding rail; the signal output end of the lower infrared rangefinder is connected to the signal input end of the CPU; the lower slider is slidably arranged on the lower sliding rail; the number of the lower transverse moving mechanisms is two, and they are symmetrically arranged on the ground on both sides of the lower sliding rail.

[0006] The above-mentioned correction device for the misaligned state of steel coil transportation, the lower transverse movement mechanism includes a first motor, a first lead screw, a first lead screw nut and a first support plate; the first motor and the first support plate are both arranged on the ground, and are respectively located at the two ends of the lower slide rail; one end of the first lead screw is connected to the output shaft of the first motor, and the other end is axially connected to the first support plate; the first lead screw nut is arranged on the first lead screw; the first lead screw nut is connected to the lower slider; the axis line of the first lead screw is parallel to the center line of the lower slide rail; the signal input end of the first motor is connected to the signal output end of the CPU.

[0007] The above-mentioned correction device for the misaligned state of steel coil transportation, the lifting part includes two lifting mechanisms, and the two lifting mechanisms are symmetrically arranged at the two ends of the upper end surface of the lower sliding block along the center line direction of the lower sliding rail; the lifting mechanism includes a column, a sliding column, a side hydraulic cylinder, a horizontal plate and a universal ball; the column is arranged at one end of the upper end surface of the lower sliding block, and a hole is arranged on the top surface thereof, and the sliding column is inserted in the vertical hole on the top surface of the column; the number of the side hydraulic cylinders is two, and they are both arranged on the upper end surface of the lower sliding block, the two side hydraulic cylinders are respectively located on both sides of the column, and the ends of the piston rods of the two side hydraulic cylinders are connected to the top of the side wall of the sliding column; the horizontal plate is arranged on the top surface of the side wall of the sliding column, and the top surface of the horizontal plate is flush with the top surface of the sliding column; the top surface of the horizontal plate and the top surface of the sliding column are evenly provided with a plurality of universal balls; the signal input end of the side hydraulic cylinder is connected to the signal output end of the CPU.

[0008] The above-mentioned correction device for the misaligned state of steel coil transportation, the correction part includes a square cylinder, a lifting hydraulic cylinder, a chassis, a rotating disk, a servo motor and a striking mechanism; a square hole is arranged at the center of the top end surface of the lower sliding block; the lifting hydraulic cylinder housing is arranged at the center of the square hole on the top end surface of the lower sliding block; the opening of the square cylinder faces downward, and it is inserted in the square hole of the lower sliding block, and the end of the lifting hydraulic cylinder piston rod is connected to the top end surface of the inner wall of the square cylinder; the chassis is arranged at the center of the top end surface of the outer wall of the square cylinder; a hole is arranged at the center of the upper end surface of the chassis, and the servo motor is arranged in the center hole of the upper end surface of the chassis; an annular strip is arranged on the bottom end surface of the rotating disk, an annular groove is arranged on the upper end surface of the chassis, and the annular strip at the bottom end of the rotating disk is slidably arranged in the annular groove of the chassis; the output shaft of the servo motor is connected to the center of the bottom end surface of the rotating disk; the striking mechanism is arranged on the top end surface of the rotating disk; the signal input ends of the lifting hydraulic cylinder and the servo motor are both connected to the signal output ends of the CPU.

[0009] The above-mentioned correction device for the misaligned state of steel coil transportation, the striking mechanism includes an impact cylinder and an arc-shaped impact plate; the impact cylinder housing is arranged at the center of the upper end surface of the rotating disk through a bracket, and the center line of the impact cylinder piston rod is a horizontal line; the arc-shaped impact plate is arranged at the end of the impact cylinder piston rod; the end of the impact cylinder housing is connected to the upper end surface of the rotating disk through a support frame; the signal input end of the impact cylinder is connected to the signal output end of the CPU.

[0010] The above-mentioned correction device for the misaligned state of steel coil transportation, the upper transverse moving part includes a first crossbeam, a second crossbeam, a slide plate, a second motor, a second support plate, a second lead screw, a second lead screw nut, a first infrared rangefinder and a lifting mechanism; the first crossbeam and the second crossbeam are both set on the ground through a bracket, and the first crossbeam and the second crossbeam are both located directly above the transport chain, and the direction line from the first crossbeam to the second crossbeam is parallel to the transport direction line of the transport chain; the second motor is set on the first crossbeam, the second support plate is set on the second crossbeam, and one end of the second lead screw is connected to the output shaft of the second motor, and the other end of the second lead screw is axially connected to the second support plate; the The second lead screw nut is arranged on the second lead screw; a guide bar is arranged between the first crossbeam and the second crossbeam, and a slide plate is slidably arranged on the guide bar; the second lead screw nut is connected to the slide plate; a first infrared rangefinder is arranged on the side wall of the slide plate, and the infrared emitting end of the first infrared rangefinder points to the first crossbeam; the axis line of the second lead screw is parallel to the center line of the guide bar, and the axis line of the second lead screw is parallel to the transport direction line of the transport chain; the lifting mechanism is arranged on the slide plate; the signal input end of the second motor is connected to the signal output end of the CPU; the signal output end of the first infrared rangefinder is connected to the signal input end of the CPU.

[0011] The above-mentioned correction device for the misaligned state of steel coil transportation, the lifting mechanism includes a guide plate, a lifting plate, a winch and a second infrared rangefinder; the slide plate is provided with a vertical guide hole, and the guide plate is inserted in the vertical guide hole of the slide plate; the bottom end of the guide plate is provided with a lifting plate, and the plane of the lifting plate is a horizontal plane; the winch is arranged on the bottom end surface of the slide plate, and the end of its wire rope is connected to the center of the top end surface of the lifting plate; the second infrared rangefinder is arranged on the bottom end surface of the slide plate, and its infrared transmitting end points to the lifting plate; the signal input end of the winch is connected to the signal output end of the CPU; the signal output end of the second infrared rangefinder is connected to the signal input end of the CPU.

[0012] The above-mentioned correction device for the misaligned state of steel coil transportation, the positioning and following part includes a support, a center column, a third infrared rangefinder and a clamping mechanism; the support is arranged at the center of the bottom end surface of the lifting plate; the center column is arranged at the center of the lower end surface of the support; the number of the third infrared rangefinders is four, and they are respectively arranged on the four side walls of the bottom end of the center column, and the signal output end of the third infrared rangefinder is connected with the signal input end of the CPU; the number of the clamping mechanisms is four, and they are symmetrically arranged on the lower end surface of the lifting plate, and the four third infrared rangefinders are respectively aimed at different clamping mechanisms; the clamping mechanism includes an electric cylinder, a cylinder, a round rod and a long plate; the electric cylinder is arranged on the bottom end surface of the lifting plate, and the end of its piston rod is provided with a cylinder; the end of the cylinder is provided with a hole, the round rod is inserted into the hole at the end of the cylinder, a spring is provided in the cylinder, and the spring is connected to the round rod; the top end of the side wall of the long plate is connected to the end of the round rod away from the cylinder; the four third infrared rangefinders are respectively aimed at different long plates; the signal input end of the electric cylinder is connected to the signal output end of the CPU.

[0013] A method for correcting the misalignment state of steel coil transportation, comprising the following steps: Under ideal conditions, when the walking beam places the steel coil on the transport chain, there is a preset standard position. The strip steel at the preset standard initial position can be smoothly moved to the specified position of the baler. The axis of the steel coil at the standard position is set as the standard axis. In the initial state, the center line of the center column coincides with the standard axis at the initial position, and the center line of the center column coincides with the axis of the rotating disk. When the transport chain moves, the axis of the steel coil will move accordingly, and its axis will also move synchronously. Step 1: The transport chain does not move before the steel coil is in place. After the walking beam places the steel coil on the transport chain, the winch moves to drive the lifting plate downward, and each electric cylinder extends the piston rod. After the lifting plate is lowered into place, each cylinder retracts the piston rod, so that each long plate clamps the circumferential outer wall of the steel coil. Under the action of the spring, the long plate can reliably touch and press on the circumferential outer wall of the steel coil; then four third infrared rangefinders measure the distance between them and each long plate. Since the center line of the center column coincides with the initial standard axis line, if the data measured by the four third infrared rangefinders are completely consistent, it means that the position of the steel coil at this time has no deviation from the preset position and no correction is required. The winch drives the lifting plate upward to reset, and the cylinder resets. The transport chain resumes normal operation without performing other steps; Step 2: If the data measured by the four third infrared rangefinders are found to be deviated, it means that the position of the steel coil has shifted at this time; the lifting plate is not retracted, the long plate is kept clamping the steel coil, the transport chain is started, and it moves at the preset speed. At this time, the second motor drives the slide plate to move, and also drives the clamping mechanism to move synchronously. Under the action of the first infrared rangefinder, the moving speed of the clamping mechanism is ensured to be consistent with the transport speed of the transport chain; at the same time, the first motor drives the lower slider to move, and under the action of the lower infrared rangefinder, the lifting part and the correction part are ensured to move at the same speed as the transport chain; that is, the axis of the rotating disk always coincides with the center line of the center column and moves synchronously; Step 3: While all parts are moving at the same speed as the conveyor chain, the side hydraulic cylinders of the two lifting mechanisms are actuated to drive the horizontal plate and the sliding column to rise synchronously, lifting the strip. The lifted strip still moves synchronously at the speed of the conveyor chain. Then the lifting hydraulic cylinder is actuated to lift the striking mechanism, extending it into the hollow of the strip. Then the servo motor drives the rotating disk to rotate, and adjusts the direction of the impact cylinder. The actual axis of the strip can be determined based on the position of the four long plates and the data of the third infrared rangefinder. The direction of the impact cylinder is adjusted based on the servo motor driving the rotating disk, so that the extension direction of the piston rod of the impact cylinder is consistent with the direction of the actual axis of the strip pointing to the standard axis of the strip. Then the impact cylinder is started to strike the inner wall of the strip. During this process, the actual axis of the strip keeps approaching the standard axis until the actual axis of the strip coincides with the standard axis. Step 4: Wait until the actual axis of the strip coincides with the standard axis; the lifting hydraulic cylinder resets and retracts the impact cylinder, and the side hydraulic cylinder retracts the sliding column and the horizontal plate to place the steel coil back on the transport chain; then the electric cylinder extends the piston rod, and the winch drives the lifting plate upward. After the lifting plate is reset, the electric cylinder resets; then the first motor and the second motor are controlled to move, driving the slide plate and the lower slide block to reset to the initial position, and realign to the preset standard axis position to wait for the next strip to be in place.

[0014] The present invention enables the positioning following part to reliably follow the synchronous movement of the steel coil on the transport chain through the cooperation of the upper transverse moving part and the lower transverse moving part; furthermore, it provides guidance for the steel coil so that it can move and correct to the correct position; the steel coil is lifted by the lifting part, and then the offset steel coil is corrected by the correcting part so that the position of the steel coil can coincide with the preset standard position; the lifting part can reduce the friction force that needs to be overcome when the steel coil moves, so that it can move and correct better. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure at a low angle of the present invention; Figure 2 It is a schematic diagram of the elevation angle stereo structure of the present invention; Figure 3 It is a schematic diagram of a partially enlarged structure of A of the present invention; Figure 4 It is a schematic diagram of the structure of the lifting part and the correction part of the present invention.

[0016] The list of numbers in the figure is: 1. Transport chain, 2. Lower infrared rangefinder, 3. Lower slide rail, 4. Lower slide block, 5. First motor, 6. First screw nut, 7. Column, 8. Sliding column, 9. Side hydraulic cylinder, 10. Horizontal plate, 11. Universal ball, 12. Square cylinder, 13. Chassis, 14. Rotating plate, 15. Impact cylinder, 16. Arc impact plate, 17. First crossbeam, 18. Second crossbeam, 19. Slide plate, 20. Second motor, 21. Second screw nut, 22. First infrared rangefinder, 23. Guide plate, 24. Lifting plate, 25. Winch, 26. Center column, 27. Third infrared rangefinder, 28. Electric cylinder, 29. Cylinder, 30. Long board. DETAILED DESCRIPTION

[0017] See also Figure 1 , 2 , 3 and Figure 4 The present invention includes an upper transverse moving part, a positioning and following part, a lower transverse moving part, a lifting part and a correcting part; the upper transverse moving part and the lower transverse moving part are both arranged on the ground, and the upper transverse moving part is located directly above the transport chain 1, and the lower transverse moving part is located directly below the transport chain 1; the positioning and following part is arranged on the upper transverse moving part; the lifting part and the correcting part are both arranged on the lower transverse moving part; the upper transverse moving part is used to drive the positioning and following part to move synchronously with the steel coil on the transport chain; the lower transverse moving part is used to drive the correcting part and the lifting part to move synchronously with the steel coil on the transport chain; the lifting part is used to lift the steel coil, thereby reducing the force required for the steel coil to move laterally; the steel coil is corrected by the impact of the correcting part.

[0018] The lower transverse moving part includes a lower transverse moving mechanism, a lower infrared rangefinder 2, a lower sliding rail 3 and a lower slider 4; the lower sliding rail 3 is arranged on the ground, and its center line is parallel to the transport direction line of the transport chain 1; this ensures that the lower slider 4 can move synchronously with the transport chain when it moves; a baffle is arranged at the end of the lower sliding rail 3; the lower infrared rangefinder 2 is arranged on the side wall of the lower slider 4, and its infrared emitting end points to the baffle at the end of the lower sliding rail 3; the position of the lower slider 4 can be monitored in real time through the lower infrared rangefinder 2, and the precise positions of the lifting part and the correction part are further known to ensure that the lifting part and the correction part can be located directly below the steel coil; ensure that the correction part can be smoothly inserted into the hollow of the steel coil; the signal output end of the lower infrared rangefinder 2 is connected to the signal input end of the CPU; the lower slider 4 is slidably arranged on the lower sliding rail 3; the number of the lower transverse moving mechanisms is two, and they are symmetrically arranged on the ground on both sides of the lower sliding rail 3.

[0019] The lower transverse movement mechanism includes a first motor 5, a first lead screw, a first lead screw nut 6 and a first support plate; the first motor 5 and the first support plate are both arranged on the ground, and are respectively located at the two ends of the lower slide rail 3; one end of the first lead screw is connected to the output shaft of the first motor 5, and the other end is axially connected to the first support plate; the first motor can drive the first lead screw to rotate, and then drive the first lead screw nut to move, and the first lead screw nut drives the lower slider 4 to move synchronously; the first lead screw nut 6 is arranged on the first lead screw; the first lead screw nut 6 is connected to the lower slider 4; the axis line of the first lead screw is parallel to the center line of the lower slide rail 3; the signal input end of the first motor 5 is connected to the signal output end of the CPU.

[0020] The lifting part includes two lifting mechanisms, and the two lifting mechanisms are symmetrically arranged at the two ends of the upper end surface of the lower slider 4 along the center line direction of the lower sliding rail 3; the two lifting mechanisms cooperate to lift the steel coil, and the lifted steel coil still moves at the speed of the transport chain.

[0021] The lifting mechanism includes a column 7, a slide column 8, a side hydraulic cylinder 9, a horizontal plate 10 and a universal ball 11; the column 7 is arranged at one end of the upper end surface of the lower slider 4, and a hole is arranged on its top surface, and the slide column 8 is inserted into the vertical hole on the top surface of the column 7; the sliding of the slide column 8 at the vertical hole at the top of the column 7 provides a guiding effect; the number of the side hydraulic cylinders 9 is two, and they are both arranged on the upper end surface of the lower slider 4, and the two side hydraulic cylinders 9 are respectively located on both sides of the column 7, and the ends of the piston rods of the two side hydraulic cylinders 9 are both in contact with the side wall of the slide column 8 The top end is connected; the side hydraulic cylinder 9 is used to drive the sliding column 8 to rise and fall vertically; the horizontal plate 10 is arranged on the top end surface of the side wall of the sliding column 8, and the top end surface of the horizontal plate 10 is flush with the top end surface of the sliding column 8; the top end surface of the horizontal plate 10 and the top end surface of the sliding column 8 are evenly provided with a plurality of universal balls 11; the universal ball 11 is in contact with the bottom end of the steel coil, and when the steel coil moves laterally, the universal ball 11 can reduce the friction as much as possible to ensure that the steel coil can smoothly move laterally to correct the position; the signal input end of the side hydraulic cylinder 9 is connected to the signal output end of the CPU.

[0022] The correction part includes a square tube 12, a lifting hydraulic cylinder, a chassis 13, a rotating disk 14, a servo motor and a striking mechanism; a square hole is arranged at the center of the top surface of the lower slider 4; the lifting hydraulic cylinder housing is arranged at the center of the square hole on the top surface of the lower slider 4; the opening of the square tube 12 faces downward, and it is inserted into the square hole of the lower slider 4, and the end of the lifting hydraulic cylinder piston rod is connected to the top surface of the inner wall of the square tube 12; the lifting hydraulic cylinder can drive the square tube 12 to rise and fall vertically, thereby driving the striking mechanism on the square tube 12 to rise and fall synchronously, ensuring that the striking mechanism can extend into the hollow of the steel coil.

[0023] The chassis 13 is arranged at the center of the top end surface of the outer wall of the square tube 12; a hole is arranged at the center of the upper end surface of the chassis 13, and the servo motor is arranged in the center hole of the upper end surface of the chassis 13; the bottom end surface of the rotating disk 14 is provided with an annular bar, the upper end surface of the chassis 13 is provided with an annular groove, and the annular bar at the bottom end of the rotating disk 14 is slidably arranged in the annular groove of the chassis 13; the rotating disk 14 can rotate smoothly on the chassis 13, and under the action of the servo motor, the rotating disk 14 is driven to rotate at a precise angle, thereby accurately controlling the striking direction of the striking mechanism; the output shaft of the servo motor is connected to the center of the bottom end surface of the rotating disk 14; the striking mechanism is arranged on the top end surface of the rotating disk 14; the signal input ends of the lifting hydraulic cylinder and the servo motor are both connected to the signal output ends of the CPU.

[0024] The striking mechanism includes an impact cylinder 15 and an arc-shaped impact plate 16; the shell of the impact cylinder 15 is arranged at the center of the upper end surface of the rotating disk 14 through a bracket, and the center line of the piston rod of the impact cylinder 15 is a horizontal line; the arc-shaped impact plate 16 is arranged at the end of the piston rod of the impact cylinder 15; the impact cylinder 15 drives the arc-shaped impact plate 16 to impact the inner wall of the steel coil, thereby causing the steel coil to move toward the correct preset position, thereby achieving the purpose of correction; the end of the shell of the impact cylinder 15 is connected to the upper end surface of the rotating disk 14 through a support frame; the support frame provides recoil support for the impact cylinder 15 to ensure that the impact cylinder 15 does not move when impacting the inner wall of the steel coil; the signal input end of the impact cylinder 15 is connected to the signal output end of the CPU.

[0025] The upper transverse moving part includes a first beam 17, a second beam 18, a slide plate 19, a second motor 20, a second support plate, a second lead screw, a second lead screw nut 21, a first infrared rangefinder 22 and a lifting mechanism; the first beam 17 and the second beam 18 are both set on the ground through a bracket, and the first beam 17 and the second beam 18 are both located directly above the transport chain 1, and the direction line of the first beam 17 pointing to the second beam 18 is parallel to the transport direction line of the transport chain 1; the second motor 20 is set on the first beam 17, the second support plate is set on the second beam 18, and one end of the second lead screw is connected to the output shaft of the second motor 20, and the other end of the second lead screw is axially connected to the second support plate; the second lead screw nut 21 is set on the second lead screw; the second motor 20 can drive the second lead screw to rotate, and then drive the second lead screw nut 21 to move along the second lead screw; the first beam A guide bar is provided between 17 and the second crossbeam 18, and a slide plate 19 is slidably provided on the guide bar; the second lead screw nut 21 is connected to the slide plate 19; the second lead screw nut drives the slide plate 19 to move synchronously; a first infrared rangefinder 22 is provided on the side wall of the slide plate 19, and the infrared emitting end of the first infrared rangefinder 22 points to the first crossbeam 17; the first infrared rangefinder 22 can monitor the position of the slide plate 19 in real time, and then monitor the real-time position of the positioning following part in real time, and then grasp the actual axial centerline position of the steel coil; the axial centerline of the second lead screw is parallel to the centerline of the guide bar, and the axial centerline of the second lead screw is parallel to the transport direction line of the transport chain 1; the lifting mechanism is provided on the slide plate 19; the signal input end of the second motor 20 is connected to the signal output end of the CPU; the signal output end of the first infrared rangefinder 22 is connected to the signal input end of the CPU.

[0026] The lifting mechanism includes a guide plate 23, a lifting plate 24, a winch 25 and a second infrared rangefinder; a vertical guide hole is provided on the slide plate 19, and the guide plate 23 is inserted into the vertical guide hole of the slide plate 19; a lifting plate 24 is provided at the bottom end of the guide plate 23, and the plane of the lifting plate 24 is a horizontal plane; the guide plate 23 provides a guiding function for the lifting and lowering of the lifting plate 24; the winch 25 is arranged on the bottom end surface of the slide plate 19, and the end of its wire rope is connected to the center of the top surface of the lifting plate 24; the winch 25 drives the lifting plate 24 to rise and fall vertically; the second infrared rangefinder is arranged on the bottom end surface of the slide plate 19, and its infrared transmitting end points to the lifting plate 24; the second infrared rangefinder can monitor the vertical position of the lifting plate 24 in real time, and then know the relative vertical position of the clamping mechanism, so as to ensure that the clamping mechanism can reliably touch the circumferential outer wall of the steel coil; the signal input end of the winch 25 is connected to the signal output end of the CPU; the signal output end of the second infrared rangefinder is connected to the signal input end of the CPU.

[0027] The positioning and following part includes a support, a center column 26, a third infrared rangefinder 27 and a clamping mechanism; the support is arranged at the center of the bottom end surface of the lifting plate 24; the center column 26 is arranged at the center of the lower end surface of the support; the number of the third infrared rangefinder 27 is four, and they are respectively arranged on the four side walls of the bottom end of the center column 26, and the signal output end of the third infrared rangefinder 27 is connected to the signal input end of the CPU; the precise position of the core line of the steel coil can be known through the data of the four third infrared rangefinders 27; the number of the clamping mechanism is four, and they are symmetrically arranged on the lower end surface of the lifting plate 24, and the four third infrared rangefinders 27 are respectively aligned with different clamping mechanisms; the clamping mechanism includes an electric cylinder 28, a cylinder 29, a round rod and a long plate 30; the electric cylinder 28 is arranged on the bottom end surface of the lifting plate 24, and the end of its piston rod is A cylinder 29 is provided; a hole is provided at the end of the cylinder 29, a round rod is inserted into the hole at the end of the cylinder 29, a spring is provided in the cylinder 29, and the spring is connected to the round rod; when the long plate 30 clamps the steel coil, if the position of the steel coil is adjusted subsequently, the steel coil will be displaced, and the long plate 30 will also be displaced at this time, so the existence of the spring enables the long plate 30 to continuously press on the outer wall of the steel coil; the top of the side wall of the long plate 30 is connected to the end of the round rod away from the cylinder 29; the four third infrared rangefinders 27 are respectively aimed at different long plates 30; the four long plates 30 are all pressed on the circumferential outer wall of the steel coil, so the center point of the four long plates 30 is the position of the actual axis of the steel coil, and the position of the actual axis of the steel coil can be converted by the four third infrared rangefinders 27; the signal input end of the electric cylinder 28 is connected to the signal output end of the CPU.

[0028] The steps of the present invention are as follows: Under ideal conditions, when the walking beam places the steel coil on the transport chain 1, there is a preset standard position. The strip steel at the preset standard initial position can be smoothly moved to the specified position of the baler. The axis line of the steel coil at the standard position is set as the standard axis line; the signal output end of the walking beam is connected to the signal input end of the CPU. After the walking beam puts down the steel coil, the CPU knows that the steel coil has been put down; the signal output end of the transport chain is connected to the signal input end of the CPU, and the CPU can know the movement of the transport chain in real time.

[0029] In the initial state, the center line of the center column 26 coincides with the standard axis line at the initial position, and the center line of the center column 26 coincides with the axis line of the rotating disk 14; when the transport chain 1 moves, the axis line of the steel coil will move accordingly, and its axis line will also move synchronously; before the steel coil enters the baler, the position of the center column 26 is always kept above the standard axis line; Step 1: The transport chain 1 does not move before the steel coil is in place. After the walking beam places the steel coil on the transport chain 1, the winch 25 moves to drive the lifting plate 24 downward, and each electric cylinder 28 extends the piston rod. After the lifting plate 24 is lowered into place, each cylinder retracts the piston rod, so that each long plate 30 clamps the circumferential outer wall of the steel coil. Under the action of the spring, the long plate 30 can reliably contact and press on the circumferential outer wall of the steel coil; then the four third infrared rangefinders 27 measure the distance between them and each long plate 30. Since the center line of the center column 26 coincides with the initial standard axis line, if the data measured by the four third infrared rangefinders 27 are completely consistent, it means that the position of the steel coil at this time has no deviation from the preset position and does not need to be corrected. The winch 25 drives the lifting plate 24 to reset upward, and the cylinder is reset. The transport chain 1 resumes normal operation without performing other steps. Step 2: If the data measured by the four third infrared rangefinders 27 are found to be deviated, it means that the position of the steel coil has shifted at this time; the lifting plate 24 is not retracted, the long plate 30 is kept clamping the steel coil, the transport chain 1 is started, and it moves at a preset speed. At this time, the second motor 20 drives the slide plate 19 to move, and also drives the clamping mechanism to move synchronously. Under the action of the first infrared rangefinder 22, the moving speed of the clamping mechanism is ensured to be consistent with the transport speed of the transport chain 1; at the same time, the first motor 5 drives the lower slider 4 to move, and under the action of the lower infrared rangefinder 2, the lifting part and the correction part are ensured to move at the same speed as the transport chain 1; that is, the axis of the rotating disk 14 always coincides with the center line of the center column 26, and moves synchronously and at the same speed with the transport chain; Step 3: In the process of each part moving at the same speed as the conveyor chain 1, the side hydraulic cylinders 9 of the two lifting mechanisms are actuated to drive the horizontal plate 10 and the sliding column 8 to rise synchronously, and lift the strip steel. The lifted strip steel still moves synchronously at the speed of the conveyor chain 1, and then the lifting hydraulic cylinder is actuated to lift the striking mechanism so that it extends into the hollow of the strip steel. Then the servo motor drives the rotating disk 14 to rotate, and adjusts the direction of the impact cylinder 15. The actual axis line position of the strip steel at this time can be known according to the position of the four long plates 30 and the data of the third infrared rangefinder 27. The direction of the impact cylinder 15 is adjusted according to the servo motor driving the rotating disk 14, so that the extension direction of the piston rod of the impact cylinder 15 is consistent with the direction of the actual axis line of the strip steel pointing to the standard axis line of the strip steel, and then the impact cylinder 15 is started to strike the inner wall of the strip steel. In this process, the actual axis line of the strip steel constantly approaches the standard axis line until the actual axis line of the strip steel coincides with the standard axis line. Step 4: Wait until the actual axis of the strip coincides with the standard axis; the lifting hydraulic cylinder resets and retracts the impact cylinder 15, and the side hydraulic cylinder 9 retracts the slide column 8 and the horizontal plate 10, and the steel coil is placed back on the transport chain 1; then the electric cylinder 28 extends the piston rod, and at the same time the winch 25 drives the lifting plate 24 upward, and after the lifting plate 24 is reset, the electric cylinder 28 is reset; then the first motor 5 and the second motor 20 are controlled to move, driving the slide plate 19 and the lower slide block 4 to reset to the initial position, and realign to the preset standard axis position to wait for the next strip to be in place.

[0030] The model of the CPU module in the present invention is 87C196KC.

Claims

1. A device for correcting the misalignment of steel coils during transportation, characterized in that: It comprises an upper transverse moving part, a positioning and following part, a lower transverse moving part, a lifting part and a correcting part; the upper transverse moving part and the lower transverse moving part are both arranged on the ground, and the upper transverse moving part is located directly above the transport chain (1), and the lower transverse moving part is located directly below the transport chain (1); the positioning and following part is arranged on the upper transverse moving part; and the lifting part and the correcting part are both arranged on the lower transverse moving part.

2. The device for correcting the misalignment of the steel coil during transportation according to claim 1, characterized in that: The lower transverse moving part comprises a lower transverse moving mechanism, a lower infrared rangefinder (2), a lower sliding rail (3) and a lower slider (4); the lower sliding rail (3) is arranged on the ground, and its center line is parallel to the transport direction line of the transport chain (1); a baffle is arranged at the end of the lower sliding rail (3); the lower infrared rangefinder (2) is arranged on the side wall of the lower slider (4), and its infrared emitting end points to the baffle at the end of the lower sliding rail (3); the signal output end of the lower infrared rangefinder (2) is connected to the signal input end of the CPU; the lower slider (4) is slidably arranged on the lower sliding rail (3); the number of the lower transverse moving mechanisms is two, and they are symmetrically arranged on the ground at both sides of the lower sliding rail (3).

3. The device for correcting the misalignment of the steel coil during transportation according to claim 2, characterized in that: The lower transverse movement mechanism comprises a first motor (5), a first lead screw, a first lead screw nut (6) and a first support plate; the first motor (5) and the first support plate are both arranged on the ground and are respectively located at two ends of the lower slide rail (3); one end of the first lead screw is connected to the output shaft of the first motor (5), and the other end is axially connected to the first support plate; the first lead screw nut (6) is arranged on the first lead screw; the first lead screw nut (6) is connected to the lower slider (4); the axis of the first lead screw is parallel to the center line of the lower slide rail (3); the signal input end of the first motor (5) is connected to the signal output end of the CPU.

4. The device for correcting the misalignment of the steel coil during transportation according to claim 3 is characterized in that: The lifting part comprises two lifting mechanisms, and the two lifting mechanisms are symmetrically arranged at the two ends of the upper end surface of the lower slider (4) along the center line direction of the lower slide rail (3); the lifting mechanism comprises a column (7), a slide column (8), a side hydraulic cylinder (9), a horizontal plate (10) and a universal ball (11); the column (7) is arranged at one end of the upper end surface of the lower slider (4), and a hole is arranged on the top surface of the column (7), and the slide column (8) is inserted into the vertical hole on the top surface of the column (7); the number of the side hydraulic cylinders (9) is two, and they are both arranged on the lower slide rail (3). On the upper end surface of the block (4), two side hydraulic cylinders (9) are respectively located on both sides of the column (7), and the ends of the piston rods of the two side hydraulic cylinders (9) are connected to the top end of the side wall of the sliding column (8); the horizontal plate (10) is arranged on the top end surface of the side wall of the sliding column (8), and the top end surface of the horizontal plate (10) is flush with the top end surface of the sliding column (8); the top end surface of the horizontal plate (10) and the top end surface of the sliding column (8) are evenly provided with a plurality of universal balls (11); the signal input end of the side hydraulic cylinder (9) is connected to the signal output end of the CPU.

5. The device for correcting the misalignment of the steel coil during transportation according to claim 4, characterized in that: The correction part comprises a square tube (12), a lifting hydraulic cylinder, a chassis (13), a rotating disk (14), a servo motor and a striking mechanism; a square hole is arranged at the center of the top end surface of the lower slider (4); the lifting hydraulic cylinder housing is arranged at the center of the square hole on the top end surface of the lower slider (4); the opening of the square tube (12) faces downward and is inserted into the square hole of the lower slider (4); the end of the lifting hydraulic cylinder piston rod is connected to the top end surface of the inner wall of the square tube (12); the chassis (13) is arranged at the center of the top end surface of the outer wall of the square tube (12); A hole is provided at the center of the upper end surface of the chassis (13), and the servo motor is arranged in the center hole of the upper end surface of the chassis (13); an annular strip is provided at the bottom end surface of the rotating disk (14), an annular groove is provided at the upper end surface of the chassis (13), and the annular strip at the bottom end of the rotating disk (14) is slidably arranged in the annular groove of the chassis (13); the output shaft of the servo motor is connected to the center of the bottom end surface of the rotating disk (14); the striking mechanism is arranged on the top end surface of the rotating disk (14); and the signal input ends of the lifting hydraulic cylinder and the servo motor are both connected to the signal output end of the CPU.

6. The device for correcting the misalignment of the steel coil during transportation according to claim 5, characterized in that: The striking mechanism comprises an impact cylinder (15) and an arc-shaped impact plate (16); the shell of the impact cylinder (15) is arranged at the center of the upper end surface of the rotating disk (14) through a bracket, and the center line of the piston rod of the impact cylinder (15) is a horizontal line; the arc-shaped impact plate (16) is arranged at the end of the piston rod of the impact cylinder (15); the end of the shell of the impact cylinder (15) is connected to the upper end surface of the rotating disk (14) through a support frame; and the signal input end of the impact cylinder (15) is connected to the signal output end of the CPU.

7. The device for correcting the misalignment of the steel coil during transportation according to claim 6, characterized in that: The upper transverse moving part comprises a first crossbeam (17), a second crossbeam (18), a slide plate (19), a second motor (20), a second support plate, a second lead screw, a second lead screw nut (21), a first infrared rangefinder (22) and a lifting mechanism; the first crossbeam (17) and the second crossbeam (18) are both arranged on the ground through a bracket, and the first crossbeam (17) and the second crossbeam (18) are both located directly above the transport chain (1), and a direction line from the first crossbeam (17) to the second crossbeam (18) is parallel to a transport direction line of the transport chain (1); the second motor (20) is arranged on the first crossbeam (17), the second support plate is arranged on the second crossbeam (18), one end of the second lead screw is connected to an output shaft of the second motor (20), and the other end of the second lead screw is axially connected to the second support plate; the The second lead screw nut (21) is arranged on the second lead screw; a guide bar is arranged between the first cross beam (17) and the second cross beam (18), and the slide plate (19) is slidably arranged on the guide bar; the second lead screw nut (21) is connected to the slide plate (19); a first infrared rangefinder (22) is arranged on the side wall of the slide plate (19), and the infrared emitting end of the first infrared rangefinder (22) points to the first cross beam (17); the axis of the second lead screw is parallel to the center line of the guide bar, and the axis of the second lead screw is parallel to the transport direction line of the transport chain (1); the lifting mechanism is arranged on the slide plate (19); the signal input end of the second motor (20) is connected to the signal output end of the CPU; the signal output end of the first infrared rangefinder (22) is connected to the signal input end of the CPU.

8. The device for correcting the misalignment of the steel coil during transportation according to claim 7, characterized in that: The lifting mechanism comprises a guide plate (23), a lifting plate (24), a winch (25) and a second infrared rangefinder; the slide plate (19) is provided with a vertical guide hole, and the guide plate (23) is inserted into the vertical guide hole of the slide plate (19); the bottom end of the guide plate (23) is provided with a lifting plate (24), and the plane of the lifting plate (24) is a horizontal plane; the winch (25) is arranged on the bottom end surface of the slide plate (19), and the end of its steel wire rope is connected to the center of the top end surface of the lifting plate (24); the second infrared rangefinder is arranged on the bottom end surface of the slide plate (19), and its infrared emission end points to the lifting plate (24); the signal input end of the winch (25) is connected to the signal output end of the CPU; the signal output end of the second infrared rangefinder is connected to the signal input end of the CPU.

9. The device for correcting the misalignment of the steel coil during transportation according to claim 8, characterized in that: The positioning and following part comprises a support, a center column (26), a third infrared rangefinder (27) and a clamping mechanism; the support is arranged at the center of the bottom end surface of the lifting plate (24); the center column (26) is arranged at the center of the lower end surface of the support; the number of the third infrared rangefinder (27) is four, and they are respectively arranged on four side walls of the bottom end of the center column (26), and the signal output end of the third infrared rangefinder (27) is connected to the signal input end of the CPU; the number of the clamping mechanisms is four, and they are symmetrically arranged on the lower end surface of the lifting plate (24), and the four third infrared rangefinders (27) are respectively aligned with different clamping mechanisms; The clamping mechanism comprises an electric cylinder (28), a cylinder (29), a round rod and a long plate (30); the electric cylinder (28) is arranged on the bottom end surface of the lifting plate (24), and the end of its piston rod is provided with a cylinder (29); a hole is provided at the end of the cylinder (29), the round rod is inserted into the hole at the end of the cylinder (29), a spring is provided in the cylinder (29), and the spring is connected to the round rod; the top end of the side wall of the long plate (30) is connected to an end of the round rod away from the cylinder (29); four third infrared rangefinders (27) are respectively aimed at different long plates (30); and the signal input end of the electric cylinder (28) is connected to the signal output end of the CPU.

10. A method for correcting misalignment of steel coil transportation according to any one of claims 1 to 9, characterized in that: The steps include: Under ideal conditions, when the walking beam places the steel coil on the transport chain (1), there is a preset standard position, and the steel strip at the preset standard initial position can be smoothly moved to the designated position of the baler, and the axis of the steel coil at the standard position is assumed to be the standard axis; in the initial state, the center line of the center column (26) coincides with the standard axis at the initial position, and the center line of the center column (26) coincides with the axis of the rotating disk (14); when the transport chain (1) moves, the axis of the steel coil moves accordingly, and its axis also moves synchronously; Step 1: The transport chain (1) does not move before the steel coil is in place. After the walking beam places the steel coil on the transport chain (1), the winch (25) moves to drive the lifting plate (24) downward, and each electric cylinder (28) extends a piston rod. After the lifting plate (24) is lowered into place, each cylinder retracts the piston rod, so that each long plate (30) clamps the circumferential outer wall of the steel coil. Under the action of the spring, the long plate (30) can reliably contact and press on the circumferential outer wall of the steel coil. Then, the four third infrared rangefinders (27) measure the distance between themselves and each long plate (30). Since the center line of the center column (26) coincides with the initial standard axis line, if the data measured by the four third infrared rangefinders (27) are completely consistent, it means that the position of the steel coil at this time has no deviation from the preset position and no correction is required. The winch (25) drives the lifting plate (24) to reset upward, and the cylinder is reset. The transport chain (1) resumes normal operation without performing other steps. Step 2: If the data measured by the four third infrared rangefinders (27) are found to be deviated, it means that the position of the steel coil has shifted at this time; the lifting plate (24) is not retracted, the long plate (30) is kept clamping the steel coil, the transport chain (1) is started, and it moves at a preset speed. At this time, the second motor (20) drives the slide plate (19) to move, and also drives the clamping mechanism to move synchronously. Under the action of the first infrared rangefinder (22), it is ensured that the moving speed of the clamping mechanism is consistent with the transport speed of the transport chain (1); at the same time, the first motor (5) drives the lower slider (4) to move. Under the action of the lower infrared rangefinder (2), it is ensured that the lifting part and the correction part keep moving at the same speed as the transport chain (1); that is, the axis of the rotating disk (14) always keeps an overlap with the center line of the center column (26) and moves synchronously; Step 3: While all parts are moving at the same speed as the conveyor chain (1), the side hydraulic cylinders (9) of the two lifting mechanisms are actuated to drive the horizontal plate (10) and the slide column (8) to rise synchronously, thereby lifting the steel strip. The lifted steel strip still moves synchronously at the speed of the conveyor chain (1). Then, the lifting hydraulic cylinder is actuated to lift the striking mechanism so that it extends into the hollow of the steel strip. Then, the servo motor drives the rotating disk (14) to rotate and adjust the direction of the striking cylinder (15). The actual axis of the steel strip can be determined based on the positions of the four long plates (30) and the data of the third infrared rangefinder (27). The direction of the striking cylinder (15) is adjusted based on the servo motor driving the rotating disk (14) so ​​that the extending direction of the piston rod of the striking cylinder (15) is consistent with the direction of the actual axis of the steel strip pointing to the standard axis of the steel strip. Then, the striking cylinder (15) is started to strike the inner wall of the steel strip. During this process, the actual axis of the steel strip continuously approaches the standard axis until the actual axis of the steel strip coincides with the standard axis. Step 4: After the actual axis of the steel strip coincides with the standard axis; the lifting hydraulic cylinder is reset to retract the impact cylinder (15), and the side hydraulic cylinder (9) retracts the slide column (8) and the horizontal plate (10), and the steel coil is placed back on the transport chain (1); then the electric cylinder (28) extends the piston rod, and at the same time the winch (25) drives the lifting plate (24) upward, and after the lifting plate (24) is reset, the electric cylinder (28) is reset; then the first motor (5) and the second motor (20) are controlled to operate, driving the slide plate (19) and the lower slide block (4) to reset to the initial position, realigning to the preset standard axis position and waiting for the next steel strip to be in place.

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