Automatic blanking and stacking system for large copper pipe coils

Abstract

The invention discloses an automatic discharging and stacking system for large copper pipe coils. The automatic discharging and stacking system comprises a stacking mechanical arm used for stacking a lifting tray, a stacking lifting device used for bearing the stacked large copper pipe coils, a side pulling supporting device used for supporting the large copper pipe coils to be stacked and a lifting device used for lifting the large copper pipe coils. According to the automatic discharging and stacking system for the large copper pipe coils, automation of discharging, tray stacking and stacking can be achieved. According to the system, a large mechanical arm is not needed to assist in stacking, so that the cost of the whole system is greatly reduced, and the production efficiency is also remarkably improved after automation is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of copper tube production, and in particular relates to an automatic unloading and stacking system for large coils of copper tubes in an annealing furnace. Background Art

[0002] Precision copper tubes are often used in refrigeration or heating pipes and can be used in different environments. They are especially widely used in the field of white appliances. For example, they are one of the best connecting pipes in the condenser of the air conditioner.

[0003] After the copper tube is wound into a coil, it needs to be annealed to release stress. Annealing also requires the copper tube coil to be stacked (of course, other processes may also require stacking). Due to site limitations, this process cannot accommodate multiple workers, making it a bottleneck for the entire annealing process. In addition, there are huge safety hazards during hoisting and stacking.

[0004] In order to solve the above problems, the prior art CN202323537122.8 discloses a precision copper tube coil annealing unloading mechanism, including an unloading robot for carrying copper tube coils, a recycling station for recycling copper strips and annealing gaskets, and a circulating stacking station for stacking and plugging the ends of copper tubes; in order to avoid the danger of being hit by a mechanical arm when recycling copper strips and annealing gaskets, the utility model is provided with a multifunctional trolley that can move forward and backward. In order not to damage the copper tube coil when grabbing it, a method for grabbing the copper tube coil by expanding outward is specially designed. This method has a large contact area with the copper tube to avoid damage to the copper tube. At the same time, the internal expansion grabbing method does not require a grabbing space to be set at the bottom of the copper tube coil. The circulating stacking station can greatly improve the space utilization rate, and the stacking work can be completed in a narrow space.

[0005] In the above-mentioned prior art, the stacking of large copper tube coils is completed by a robotic arm, and manual replacement of the tray is also required. The cost of a six-axis robotic arm, especially a large six-axis robotic arm that can support large copper tube coils, is very high, which is difficult for ordinary factories to afford. In addition, the control of the six-axis robotic arm is relatively complex and difficult to implement. Summary of the invention

[0006] In view of this, the present invention provides an automatic unloading and stacking system for large copper tube coils, which is simple and efficient and can realize full automation of unloading and stacking of large copper tube coils.

[0007] In order to solve the above technical problems, the technical solution of the present invention is: an automatic unloading and stacking system for large copper tube coils, including a stacking manipulator for stacking material trays, a stacking lifting device for carrying the stacked large copper tube coils, a side-drawing support device for supporting the large copper tube coils for stacking, and a lifting device for lifting the large copper tube coils;

[0008] The side-drawing support device comprises two slides arranged opposite to each other; an embracing mechanism which can move along the slide is arranged on the slide, and the two embracing mechanisms can clamp and hold the large copper tube coil tightly by moving toward each other; a horizontally retractable support mechanism is arranged below the embracing mechanism, and the two support mechanisms can support the large copper tube coil by extending and approaching each other; a cardboard embracing mechanism is arranged below the support mechanism, and the two cardboard embracing mechanisms can position the corrugated paper pad by moving toward each other;

[0009] The stacking steps include:

[0010] S1 The stacking lifting device carries the transport pallet from the manual operation position and then stops at the stacking position under the support device; the stacking robot extends between the stacking lifting device and the support mechanism; the support mechanism of the side-drawing support device is brought together to support the large copper tube coil placed on the material hanging pallet delivered by the lifting device from the previous process; when the lifting device is released, the material hanging pallet passes between the two support mechanisms to the stacking robot, and the large copper tube coil is supported by the support mechanism; the stacking robot withdraws and stacks the material hanging pallet; the stacking lifting device rises to the bottom surface of the side-drawing support mechanism, and the large copper tube coil is clamped and held tightly by the embracing mechanism, and the support mechanism retracts; the embracing mechanism releases the large copper tube coil, causing it to fall onto the transport pallet supported by the stacking lifting device;

[0011] S2 The stacking lifting device returns to the manual operation position, and a corrugated paper pad is placed on the top of the copper tube coil on the stacking lifting device; the stacking robot extends to the bottom of the support mechanism; the support mechanism of the side-drawing support device is close to support the copper tube coil that the lifting device has transported from the previous process and is placed on the material tray; when the lifting device is released, the material tray falls to the stacking robot through the two support mechanisms, and the copper tube coil is supported by the support mechanism; after the stacking robot withdraws, the material tray is stacked; the stacking lifting device descends and moves to the bottom of the support mechanism and then rises, so that the corrugated paper pad on the copper tube coil rises to the bottom surface of the side-drawing support device; the two cardboard hugging mechanisms move toward each other to position the corrugated paper pad; after the copper tube coil is clamped and held tightly by the hugging mechanism, the side-drawing support device retracts; the hugging mechanism releases the copper tube coil, causing it to fall onto the corrugated paper pad on the top of the copper tube coil supported by the stacking lifting device;

[0012] S3 repeats step S2 until the number of stacking layers is reached.

[0013] As an improvement, the lifting device includes a frame and a longitudinal track horizontally arranged on the frame; the longitudinal track is provided with a transverse track that can move along the longitudinal track, and the transverse track is provided with a lifting trolley that can move along the transverse track; the lifting trolley is provided with a lifting device for lifting a large coil of copper pipe with a lifting tray.

[0014] As an improvement, the palletizing robot includes a ground track and a palletizing trolley arranged on the ground track and capable of running along the ground track, wherein the palletizing trolley is vertically provided with a column; and further includes a beam capable of moving up and down along the column, wherein a clamp for clamping a hanging material pallet is installed on the beam, and the clamp can rotate around the axis of the beam.

[0015] As a preferred embodiment, the clamp is provided with a plurality of suction cups for adsorbing the hanging material tray.

[0016] As an improvement, the stacking lifting device includes a top plate and a conveyor belt arranged on the top plate; a lifting mechanism is provided below the top plate; a sliding mechanism is provided at the bottom of the lifting mechanism, so that the stacking lifting device can move between the manual operation position and the stacking position.

[0017] As a preference, a weighing device is provided between the top plate and the lifting mechanism.

[0018] As an improvement, the sliding mechanism is covered with a telescopic shield.

[0019] As an improvement, the front end face of the embracing mechanism is provided with an arc-shaped depression, and the curvature of the depression is consistent with the curvature of the side wall of the large coil of the copper tube.

[0020] As an improvement, the support mechanism is plate-shaped; when the left and right support mechanisms are brought together, a gap is left in the middle for the hanging material tray to fall; the width of the gap is greater than the width of the hanging material tray and smaller than the diameter of the large copper tube judgement roll.

[0021] As an improvement, an arc-shaped depression is provided on the front end face of the cardboard hugging mechanism, and the curvature of the depression is consistent with the curvature of the corrugated paper pad; so that when the two cardboard hugging mechanisms move toward the middle at the same time, the corrugated paper pad can be positioned in the middle of the top surface of the copper tube large coil.

[0022] The present invention is beneficial in that:

[0023] The automatic unloading and stacking system for large copper tube coils with the above mechanism can realize automation in unloading, palletizing and stacking. This system does not require large-scale mechanical arms to assist in stacking, which greatly reduces the cost of the entire system, and after automation is realized, the production efficiency is also significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the present invention.

[0025] Figure 2 It is a structural schematic diagram of the palletizing robot in the present invention.

[0026] Figure 3 It is a structural schematic diagram of the stacking lifting device in the present invention.

[0027] Figure 4 It is a schematic structural diagram of the side-drawing support device in the present invention.

[0028] Figure 5 It is a schematic diagram of the structure of the hanging material tray.

[0029] Markings in the figure: 1 lifting device, 2 stacking robot, 3 stacking lifting device, 4 side pull-out support device.

[0030] 11 lifting device, 21 ground track, 22 stacking trolley, 23 column, 24 beam, 25 clamp, 31 conveyor belt, 32 weighing device, 33 lifting mechanism, 34 telescopic cover, 35 manual operation position, 41 slide, 42 embracing mechanism, 43 supporting mechanism, 44 cardboard embracing mechanism, 5 hanging material tray. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with specific implementation methods.

[0032] like Figure 1 As shown, the present invention provides an automatic unloading and stacking system for large copper tube coils, including a stacking robot 2 for stacking a material hoisting tray 5, a stacking lifting device 3 for carrying the stacked large copper tube coils, a side-drawing support device 4 for supporting the large copper tube coils for stacking, and a lifting device 1 for lifting the large copper tube coils.

[0033] Specifically, the lifting device 1 includes a frame and a longitudinal track horizontally arranged on the frame; the longitudinal track is provided with a transverse track that can move along the longitudinal track, and the transverse track is provided with a lifting trolley that can move along the transverse track; the lifting trolley is provided with a lifting device 11 for lifting a large copper tube coil with a hanging material tray. The large copper tube coil itself has no fulcrum and is not easy to be lifted, so in this embodiment, the large copper tube coil is indirectly lifted by lifting the hanging material tray 5.

[0034] like Figure 4 As shown, the side-drawing support device 4 includes two slides 41 arranged opposite to each other; an embracing mechanism 42 which can move along the slide 41 is arranged on the slide 41, and the two embracing mechanisms 42 can move towards each other to clamp and hold the large copper tube coil; a horizontally retractable support mechanism 43 is arranged below the embracing mechanism 42, and the two support mechanisms 43 can extend and close together to support the large copper tube coil; a cardboard embracing mechanism 44 is arranged below the support mechanism 43, and the two cardboard embracing mechanisms 44 can move towards each other to position the corrugated paper pad.

[0035] In this embodiment, the material hanging tray 5 is in the shape of a long strip, which is supported at the bottom of the large copper tube coil, so that the lifting device 1 can transfer the large copper tube coil from the previous process. Figure 5 As shown, it is convenient for it to fall from the gap between the two supporting mechanisms 43 and thus be separated from the large copper tube coil.

[0036] More specifically, the front end face of the embracing mechanism 42 is provided with an arc-shaped depression, and the arc of the depression is consistent with the arc of the side wall of the copper tube coil. It is understandable that a layer of rubber can be laid in the depression to avoid scratching the copper tube and increase friction to prevent the copper tube from slipping.

[0037] The support mechanism 43 in this embodiment is plate-shaped; when the left and right support mechanisms are brought together, a gap is left in the middle for the material tray 5 to fall; the width of the gap is greater than the width of the material tray 5 and smaller than the diameter of the large copper tube coil. The function of the support mechanism is to serve as a transfer to facilitate the connection between the embracing mechanism and the hanging mechanism, and to prevent the large copper tube coil from falling during the connection process.

[0038] In addition, in this embodiment, an arc-shaped depression is provided on the front end surface of the cardboard hugging mechanism 44, and the arc of the depression is consistent with the arc of the corrugated paper pad; so that when the two cardboard hugging mechanisms 44 are simultaneously moved toward the middle, the corrugated paper pad can be positioned in the middle of the top surface of the copper tube large coil. The function of the cardboard hugging mechanism 44 is to position the corrugated paper pad. During the stacking process, a corrugated paper pad needs to be placed between the copper tube large coils. Since the corrugated paper pad is not fixed, a cardboard hugging mechanism is required to position it to avoid deflection during the stacking process.

[0039] like Figure 2 As shown, the function of the stacking robot 2 in the present invention is to receive the material tray 5 at the bottom of the copper tube coil and stack the material trays 5. Its specific structure includes a ground track 21 and a stacking trolley 22 arranged on the ground track 21 and capable of running along the ground track 21, and a column 23 is vertically arranged on the stacking trolley 22; it also includes a crossbeam 24 that can move up and down along the column 23, and a clamp 25 for clamping the material tray 5 is installed on the crossbeam 24, and the clamp 25 can rotate around the axis of the crossbeam 24. In order to facilitate the grabbing of the material tray 5, a plurality of suction cups for adsorbing the material tray 5 are arranged on the clamp 25.

[0040] When working, the stacking robot 2 extends the crossbeam 24 to the bottom of the support mechanism 43, and faces the suction cup upward to receive the hanging material tray falling from between the support mechanisms 43. After receiving the hanging material tray, the stacking trolley 22 travels to the stacking location and stacks by turning the clamp 25 and lifting.

[0041] like Figure 3As shown, the stacking lifting device 3 includes a top plate and a conveyor belt 31 arranged on the top plate; a lifting mechanism 33 is provided below the top plate; a sliding mechanism is provided at the bottom of the lifting mechanism 33, so that the stacking lifting device 3 can move between the manual operation position 35 and the stacking position.

[0042] In addition, a weighing device 32 is provided between the top plate and the lifting mechanism 33, which can weigh the assembled copper tube coils. The sliding mechanism is covered with a telescopic shield 34 to prevent foreign objects from being drawn in.

[0043] The stacking lifting device 3 is used to carry the copper tube coils after stacking, and transport the copper tube coils to the manual operation position 5 to place corrugated paper pads, arrange the upper copper tubes, cut the tube heads, put on the tube caps, etc. After the stacking is completed, the copper tube coils need to be transported to the next process through a conveyor belt.

[0044] The working steps of the stacking of the present invention are as follows:

[0045] S1 The stacking lifting device carries the transport pallet from the manual operation position and then stops at the stacking position under the support device; the stacking robot extends between the stacking lifting device and the support mechanism; the support mechanism of the side-drawing support device is brought together to support the large copper tube coil placed on the material hanging pallet delivered by the lifting device from the previous process; when the lifting device is released, the material hanging pallet passes between the two support mechanisms to the stacking robot, and the large copper tube coil is supported by the support mechanism; the stacking robot withdraws and stacks the material hanging pallet; the stacking lifting device rises to the bottom surface of the side-drawing support mechanism, and the large copper tube coil is clamped and held tightly by the embracing mechanism, and the support mechanism retracts; the embracing mechanism releases the large copper tube coil, causing it to fall onto the transport pallet supported by the stacking lifting device;

[0046] S2 The stacking lifting device returns to the manual operation position, and a corrugated paper pad is placed on the top of the copper tube coil on the stacking lifting device; the stacking robot extends to the bottom of the support mechanism; the support mechanism of the side-drawing support device is close to support the copper tube coil that the lifting device has transported from the previous process and is placed on the material tray; when the lifting device is released, the material tray falls to the stacking robot through the two support mechanisms, and the copper tube coil is supported by the support mechanism; after the stacking robot withdraws, the material tray is stacked; the stacking lifting device descends and moves to the bottom of the support mechanism and then rises, so that the corrugated paper pad on the copper tube coil rises to the bottom surface of the side-drawing support device; the two cardboard hugging mechanisms move toward each other to position the corrugated paper pad; after the copper tube coil is clamped and held tightly by the hugging mechanism, the side-drawing support device retracts; the hugging mechanism releases the copper tube coil, causing it to fall onto the corrugated paper pad on the top of the copper tube coil supported by the stacking lifting device;

[0047] S3 repeats step S2 until the number of stacking layers is reached. Generally, the number of stacking layers is 3. If the number of stacking layers is too high, there is a risk of tipping. After the stacking is completed, the stacking lifting device sends the stacked copper tube coils to the next process through the conveyor belt on the top.

[0048] The above are only preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be regarded as limiting the present invention, and the protection scope of the present invention should be based on the scope defined by the claims. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the spirit and scope of the present invention, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. An automatic unloading and stacking system for large copper tube coils, characterized in that: It includes a stacking manipulator for stacking material trays, a stacking lifting device for carrying the copper tube coils after stacking, a side-drawing support device for supporting the copper tube coils for stacking, and a lifting device for lifting the copper tube coils; The side-drawing support device comprises two slides arranged opposite to each other; an embracing mechanism which can move along the slide is arranged on the slide, and the two embracing mechanisms can clamp and hold the large copper tube coil by moving towards each other; a horizontally retractable supporting mechanism is arranged under the embracing mechanism, and the two supporting mechanisms can support the large copper tube coil by extending and approaching each other; A cardboard hugging mechanism is arranged below the supporting mechanism, and the two cardboard hugging mechanisms can position the corrugated paper pad by moving toward each other; The stacking steps include: S1 The stacking lifting device carries the transport pallet from the manual operation position and then stops at the stacking position under the support device; the stacking robot extends between the stacking lifting device and the support mechanism; the support mechanism of the side-drawing support device is brought together to support the large copper tube coil placed on the material hanging pallet delivered by the lifting device from the previous process; when the lifting device is released, the material hanging pallet passes between the two support mechanisms to the stacking robot, and the large copper tube coil is supported by the support mechanism; the stacking robot withdraws and stacks the material hanging pallet; the stacking lifting device rises to the bottom surface of the side-drawing support mechanism, and the large copper tube coil is clamped and held tightly by the embracing mechanism, and the support mechanism retracts; the embracing mechanism releases the large copper tube coil, causing it to fall onto the transport pallet supported by the stacking lifting device; S2 The stacking lifting device returns to the manual operation position, and a corrugated paper pad is placed on the top of the copper tube coil on the stacking lifting device; the stacking robot extends to the bottom of the support mechanism; the support mechanism of the side-drawing support device is close to support the copper tube coil that the lifting device has transported from the previous process and is placed on the material tray; when the lifting device is released, the material tray falls to the stacking robot through the two support mechanisms, and the copper tube coil is supported by the support mechanism; after the stacking robot withdraws, the material tray is stacked; the stacking lifting device descends and moves to the bottom of the support mechanism and then rises, so that the corrugated paper pad on the copper tube coil rises to the bottom surface of the side-drawing support device; the two cardboard hugging mechanisms move toward each other to position the corrugated paper pad; after the copper tube coil is clamped and held tightly by the hugging mechanism, the side-drawing support device retracts; the hugging mechanism releases the copper tube coil, causing it to fall onto the corrugated paper pad on the top of the copper tube coil supported by the stacking lifting device; S3 repeats step S2 until the number of stacking layers is reached.

2. The automatic unloading and stacking system for large copper tube coils according to claim 1 is characterized in that: The lifting device includes a frame and a longitudinal track horizontally arranged on the frame; the longitudinal track is provided with a transverse track that can move along the longitudinal track, and the transverse track is provided with a lifting trolley that can move along the transverse track; the lifting trolley is provided with a lifting device for lifting a large coil of copper pipes with a lifting tray.

3. The automatic unloading and stacking system for large copper tube coils according to claim 1 is characterized in that: The stacking robot includes a ground track and a stacking trolley arranged on the ground track and can run along the ground track, the stacking trolley is vertically provided with a column; it also includes a beam that can move up and down along the column, the beam is equipped with a clamp for clamping a hanging material pallet, and the clamp can rotate around the axis of the beam.

4. The automatic unloading and stacking system for large copper tube coils according to claim 1 is characterized in that: The clamp is provided with a plurality of suction cups for adsorbing the hanging material tray.

5. The automatic unloading and stacking system for large copper tube coils according to claim 1 is characterized in that: The stacking lifting device includes a top plate and a conveyor belt arranged on the top plate; a lifting mechanism is arranged below the top plate; a sliding mechanism is arranged at the bottom of the lifting mechanism, so that the stacking lifting device can move between a manual operation position and a stacking position.

6. The automatic unloading and stacking system for large copper tube coils according to claim 5, characterized in that: A weighing device is arranged between the top plate and the lifting mechanism.

7. The automatic unloading and stacking system for large copper tube coils according to claim 5, characterized in that: The sliding mechanism is covered with a telescopic shield.

8. The automatic unloading and stacking system for large copper tube coils according to claim 1 is characterized by: The front end surface of the embracing mechanism is provided with an arc-shaped depression, and the curvature of the depression is consistent with the curvature of the side wall of the large copper tube coil.

9. The automatic unloading and stacking system for large copper tube coils according to claim 1, characterized in that: The support mechanism is plate-shaped; when the left and right support mechanisms are brought together, a gap is left in the middle for the material hanging tray to fall; the width of the gap is greater than the width of the material hanging tray and smaller than the diameter of the large copper tube coil.

10. The automatic unloading and stacking system for large copper tube coils according to claim 1, characterized in that: The front end surface of the cardboard hugging mechanism is provided with an arc-shaped depression, and the curvature of the depression is consistent with the curvature of the corrugated paper pad; so that when the two cardboard hugging mechanisms move toward the middle at the same time, the corrugated paper pad can be positioned in the middle of the top surface of the copper tube large coil.

Images