Automatic feeding and stacking system for large copper tube coils

Abstract

This invention discloses an automated unloading and stacking system for large copper tube coils, comprising a stacking robot for palletizing, a stacking lifting device for carrying the stacked large copper tube coils, a side-pull support device for supporting the stacking of the large copper tube coils, and a lifting device for lifting the large copper tube coils. The automated unloading and stacking system for large copper tube coils, incorporating the above mechanisms, automates unloading, pallet stacking, and stacking. This system eliminates the need for large robotic arms to assist in stacking, significantly reducing the overall system cost and substantially improving production efficiency after automation.

Description

Technical Field

[0001] This invention belongs to the field of copper tube production technology, and particularly relates to an automatic feeding and stacking system for large coils of copper tubes in an annealing furnace. Background Technology

[0002] Precision copper tubing is commonly used in refrigeration or heating systems and can be used in various environments. It is especially widely used in the white goods industry, such as in air conditioner condensers, where it is one of the best connecting pipes.

[0003] After the copper tubes are wound into coils, they need to be annealed to release stress. Annealing also requires stacking the copper tube coils (and other processes may also require stacking). Due to space limitations, this process cannot accommodate multiple workers, making it a bottleneck in the entire annealing process. In addition, there are significant safety hazards during hoisting and stacking.

[0004] To address the aforementioned issues, existing technology CN202323537122.8 discloses a precision copper tube coil annealing and unloading mechanism, including an unloading robot for transporting copper tube coils, a recycling station for recovering copper strips and annealing pads, and a circulating stacking station for stacking and plugging the ends of copper tubes. To avoid the danger of being struck by the robotic arm during copper strip and annealing pad recovery, this invention incorporates a retractable multi-functional trolley. To prevent damage to the copper tube coils during gripping, a gripping method using outward expansion is specifically designed. This method provides a large contact area with the copper tube, minimizing damage. Furthermore, the internally expanding gripping method eliminates the need for gripping space at the bottom of the copper tube coil. The circulating stacking station significantly improves space utilization, enabling stacking operations to be completed even in confined spaces.

[0005] In the aforementioned existing technologies, the stacking of large copper tube coils is accomplished by a robotic arm, while manual pallet replacement is still required. Six-axis robotic arms, especially large six-axis robotic arms capable of supporting large copper tube coils, are extremely expensive, making them unaffordable for most factories. Furthermore, controlling a six-axis robotic arm is 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, efficient and can realize full automation of unloading and stacking large copper tube coils.

[0007] To solve the above technical problems, the technical solution of the present invention is as follows: an automatic unloading and stacking system for large copper tube coils, including a stacking robot for stacking pallets, a stacking lifting device for carrying the stacked large copper tube coils, a side-pull support device for supporting the stacking of large copper tube coils, and a lifting device for lifting the large copper tube coils.

[0008] The side-pull support device includes two opposing sliding platforms; each sliding platform is equipped with a hugging mechanism that can move along the platform, and the two hugging mechanisms can clamp and hold the large coil of copper tube tightly when they move towards each other; below the hugging mechanism is a horizontally retractable support mechanism, and the two support mechanisms can extend and come together to support the large coil of copper tube; below the support mechanism is a cardboard hugging mechanism, and the two cardboard hugging mechanisms can position the corrugated cardboard pad when they move towards each other.

[0009] The stacking steps include:

[0010] The stacking lifting device described in S1, after carrying the transport pallet from the manual operation position, stops at the stacking position below the support device; the palletizing robot extends between the stacking lifting device and the support mechanism; the support mechanism of the side-drawing support device moves closer to support the large coil of copper pipe placed on the lifting pallet from the previous process; when the lifting device releases, the lifting pallet passes between the two support mechanisms to the stacking robot, while the large coil of copper pipe is supported by the support mechanism; after the stacking robot withdraws, the lifting pallet is stacked; the stacking lifting device rises to the bottom surface of the side-drawing support mechanism, the large coil of copper pipe is clamped and held tightly by the hugging mechanism, and then the support mechanism retracts; the hugging mechanism releases the large coil of copper pipe, allowing it to fall onto the transport pallet supported by the stacking lifting device;

[0011] The S2 stacking lifting device returns to the manual operation position. A corrugated paper pad is placed on top of the large copper tube coil on the stacking lifting device. The stacking robot extends below the support mechanism. The support mechanism of the side-drawing support device moves closer to support the large copper tube coil placed on the lifting pallet, which is transported from the previous process by the lifting device. When the lifting device releases, the lifting pallet falls between the two support mechanisms onto the stacking robot, while the large copper tube coil is supported by the support mechanism. After the stacking robot withdraws, the lifting pallet is stacked. The stacking lifting device descends and moves below the support mechanism before rising, causing the corrugated paper pad on the large copper tube coil to rise to the bottom of the side-drawing support device. Two cardboard hugging mechanisms move towards each other to position the corrugated paper pad. After the large copper tube coil is clamped and held tightly by the hugging mechanism, the side-drawing support device retracts. The hugging mechanism releases the large copper tube coil, allowing it to fall onto the corrugated paper pad on top of the large copper tube coil supported by the stacking lifting device.

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

[0013] As an improvement, the lifting device includes a frame and a longitudinal rail horizontally arranged on the frame; a transverse rail is provided on the longitudinal rail, and a lifting trolley is provided on the transverse rail; the lifting trolley is provided with a lifting device for lifting large coils of copper pipe with lifting pallets.

[0014] As an improvement, the palletizing robot includes a ground track and a palletizing trolley mounted on the ground track and capable of running along the ground track. The palletizing trolley is vertically mounted with a column. It also includes a crossbeam that can move up and down along the column. The crossbeam is equipped with a clamp for holding the lifting pallet, and the clamp can rotate around the axis of the crossbeam.

[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 mounted on the top plate; a lifting mechanism is located below the top plate; and a sliding mechanism is provided at the bottom of the lifting mechanism, allowing the stacking lifting device to move between a manual operation position and a stacking position.

[0017] As a preferred embodiment, 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 recess, the curvature of which is consistent with the curvature of the side wall of the large coil of copper tube.

[0020] As an improvement, the support mechanism is plate-shaped; when the two support mechanisms are brought together, a gap is left in the middle for the lifting pallet to fall; the width of the gap is greater than the width of the lifting pallet and less than the diameter of the large coil of copper pipe.

[0021] As an improvement, an arc-shaped recess is provided on the front end face of the cardboard hugging mechanism, and the arc of the recess is consistent with the arc 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 at the middle of the top surface of the large copper tube roll.

[0022] The advantages of this invention are:

[0023] The automated copper tube coil unloading and stacking system with the aforementioned mechanisms can automate unloading, pallet stacking, and stacking. This system eliminates the need for large robotic arms to assist in stacking, significantly reducing the overall system cost and substantially increasing production efficiency after automation. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention.

[0025] Figure 2 This is a schematic diagram of the palletizing robot in this invention.

[0026] Figure 3 This is a schematic diagram of the stacking and lifting device in this invention.

[0027] Figure 4 This is a schematic diagram of the side-pull support device in this invention.

[0028] Figure 5 This is a structural diagram of a lifting pallet.

[0029] The diagram shows: 1. Lifting device, 2. Palletizing robot, 3. Stacking lifting device, 4. Side support device.

[0030] 11 Lifting device, 21 Ground track, 22 Palletizing trolley, 23 Column, 24 Crossbeam, 25 Clamp, 31 Conveyor belt, 32 Weighing device, 33 Lifting mechanism, 34 Telescopic cover, 35 Manual operation position, 41 Slide table, 42 Embracing mechanism, 43 Support mechanism, 44 Cardboard embracing mechanism, 5 Lifting pallet. Detailed Implementation

[0031] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to specific embodiments.

[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 pallets 5, a stacking lifting device 3 for carrying the stacked large copper tube coils, a side-pull support device 4 for supporting the stacking of large copper tube coils, and a lifting device 1 for lifting the large copper tube coils.

[0033] Specifically, the lifting device 1 includes a frame and a longitudinal rail horizontally arranged on the frame; a transverse rail is provided on the longitudinal rail, and a lifting trolley is provided on the transverse rail; the lifting trolley is equipped with a lifting device 11 for lifting the large copper tube coil with a lifting pallet. Since the large copper tube coil itself has no point of leverage and is not easily lifted, in this embodiment, the large copper tube coil is indirectly lifted by lifting the lifting pallet 5.

[0034] like Figure 4 As shown, the side-drawing support device 4 includes two opposing slides 41; each slide 41 is provided with a hugging mechanism 42 that can move along the slide 41, and the two hugging mechanisms 42 can clamp and hug the large coil of copper tube by moving towards each other; below the hugging mechanism 42 is a horizontally retractable support mechanism 43, and the two support mechanisms 43 can extend and approach to support the large coil of copper tube; below the support mechanism 43 is a cardboard hugging mechanism 44, and the two cardboard hugging mechanisms 44 can position the corrugated cardboard pad by moving towards each other.

[0035] In this embodiment, the lifting pallet 5 is a long, narrow plate that supports the bottom of the large copper tube coil, facilitating the transfer of the large copper tube coil from the previous process by the lifting device 1. The long, narrow lifting pallet is as follows... Figure 5 As shown, this facilitates its falling through the gap between the two support mechanisms 43, thereby separating it from the large coil of copper tubing.

[0036] More specifically, the front end face of the embracing mechanism 42 is provided with an arc-shaped recess, the curvature of which is consistent with the curvature of the side wall of the large coil of copper tube. It can be understood that a layer of rubber can be applied inside the recess, which can both prevent scratching the copper tube and increase friction to prevent the copper tube from slipping off.

[0037] In this embodiment, the support mechanism 43 is plate-shaped; after the two support mechanisms are brought together, a gap is left in the middle for the lifting tray 5 to fall; the width of the gap is greater than the width of the lifting tray 5 and less than the diameter of the large copper tube coil. The function of the support mechanism is to act as a transfer mechanism, facilitating the connection between the clamping mechanism and the lifting mechanism, and preventing the large copper tube coil from falling during the connection process.

[0038] In addition, in this embodiment, the front end face of the cardboard hugging mechanism 44 is provided with an arc-shaped recess, the curvature of which matches the curvature of the corrugated paper pad; this allows the corrugated paper pad to be positioned at the center of the top surface of the large copper tube coil when the two cardboard hugging mechanisms 44 simultaneously move towards the center. The function of the cardboard hugging mechanism 44 is to position the corrugated paper pad. During the stacking process, corrugated paper pads need to be placed between the large copper tube coils. Since the corrugated paper pads are not fixed, the cardboard hugging mechanism is needed to position them to prevent them from tilting during the stacking process.

[0039] like Figure 2 As shown, the palletizing robot 2 in this invention serves to receive the hanging pallet 5 at the bottom of the large copper tube coil and stack the hanging pallet 5. Its specific structure includes a ground track 21 and a palletizing trolley 22 mounted on the ground track 21 and capable of running along the track 21. The palletizing trolley 22 has a vertically mounted column 23. It also includes a crossbeam 24 that can move up and down along the column 23. A clamp 25 for holding the hanging pallet 5 is mounted on the crossbeam 24, and the clamp 25 can rotate around the axis of the crossbeam 24. To facilitate gripping the hanging pallet 5, the clamp 25 is equipped with several suction cups for adsorbing the hanging pallet 5.

[0040] During operation, the palletizing robot 2 extends its crossbeam 24 below the support mechanism 43, with the suction cup facing upwards to catch the pallet falling from between the support mechanisms 43. After receiving the pallet, the palletizing trolley 22 travels to the palletizing area and performs palletizing using the flipping clamp 25 and lifting mechanism.

[0041] like Figure 3As shown, the stacking lifting device 3 includes a top plate and a conveyor belt 31 set on the top plate; below the top plate is a lifting mechanism 33; the bottom of the lifting mechanism 33 is provided with a sliding mechanism, 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 stacked copper tube coils. The sliding mechanism is covered with a telescopic cover 34 to prevent foreign objects from being caught in.

[0043] The stacking and lifting device 3 is used to carry the stacked copper tube coils and transport them to the manual operation station 5 for placing corrugated paper pads, arranging the upper copper tubes, cutting tube ends, and attaching tube caps. After stacking, the copper tube coils need to be transported to the next process via a conveyor belt.

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

[0045] The stacking lifting device described in S1, after carrying the transport pallet from the manual operation position, stops at the stacking position below the support device; the palletizing robot extends between the stacking lifting device and the support mechanism; the support mechanism of the side-drawing support device moves closer to support the large coil of copper pipe placed on the lifting pallet from the previous process; when the lifting device releases, the lifting pallet passes between the two support mechanisms to the stacking robot, while the large coil of copper pipe is supported by the support mechanism; after the stacking robot withdraws, the lifting pallet is stacked; the stacking lifting device rises to the bottom surface of the side-drawing support mechanism, the large coil of copper pipe is clamped and held tightly by the hugging mechanism, and then the support mechanism retracts; the hugging mechanism releases the large coil of copper pipe, allowing it to fall onto the transport pallet supported by the stacking lifting device;

[0046] The S2 stacking lifting device returns to the manual operation position. A corrugated paper pad is placed on top of the large copper tube coil on the stacking lifting device. The stacking robot extends below the support mechanism. The support mechanism of the side-drawing support device moves closer to support the large copper tube coil placed on the lifting pallet, which is transported from the previous process by the lifting device. When the lifting device releases, the lifting pallet falls between the two support mechanisms onto the stacking robot, while the large copper tube coil is supported by the support mechanism. After the stacking robot withdraws, the lifting pallet is stacked. The stacking lifting device descends and moves below the support mechanism before rising, causing the corrugated paper pad on the large copper tube coil to rise to the bottom of the side-drawing support device. Two cardboard hugging mechanisms move towards each other to position the corrugated paper pad. After the large copper tube coil is clamped and held tightly by the hugging mechanism, the side-drawing support device retracts. The hugging mechanism releases the large copper tube coil, allowing it to fall onto the corrugated paper pad on top of the large copper tube coil supported by the stacking lifting device.

[0047] S3 repeats step S2 until the required stacking layer is reached. Generally, the stacking layer is 3 layers; stacking too high poses a risk of tipping over. After stacking is complete, the stacking lifting device uses a conveyor belt at its top to transport the stacked copper tube coil to the next process step.

[0048] The above are merely preferred embodiments of the present invention. It should be noted that the above preferred embodiments should not be considered as limitations on the present invention, and the scope of protection of the present invention should be determined by the scope defined in the claims. For those skilled in the art, 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 considered within the scope of protection of the present invention.

Claims

1. An automatic unloading and stacking system for large coils of copper tubes, characterized in that: It includes a stacking robot for stacking pallets, a stacking lifting device for carrying stacked copper tube coils, a side-pull support device for supporting the stacking of copper tube coils, and a lifting device for lifting copper tube coils. The side-pull support device includes two slides arranged opposite each other; the slides are provided with a hugging mechanism that can move along the slides, and the two hugging mechanisms can clamp and hug the large coil of copper tube by moving towards each other; a horizontally retractable support mechanism is provided below the hugging mechanism, and the two support mechanisms can extend and come together to support the large coil of copper tube. Below the support mechanism is a cardboard hugging mechanism. The two cardboard hugging mechanisms can be positioned by moving in opposite directions. The stacking steps include: The stacking lifting device described in S1, after carrying the transport pallet from the manual operation position, stops at the stacking position below the support device; the palletizing robot extends between the stacking lifting device and the support mechanism; the support mechanism of the side-drawing support device moves closer to support the large coil of copper pipe placed on the lifting pallet from the previous process; when the lifting device releases, the lifting pallet passes between the two support mechanisms to the stacking robot, while the large coil of copper pipe is supported by the support mechanism; after the stacking robot withdraws, the lifting pallet is stacked; the stacking lifting device rises to the bottom surface of the side-drawing support mechanism, the large coil of copper pipe is clamped and held tightly by the hugging mechanism, and then the support mechanism retracts; the hugging mechanism releases the large coil of copper pipe, allowing it to fall onto the transport pallet supported by the stacking lifting device; The S2 stacking lifting device returns to the manual operation position. A corrugated paper pad is placed on top of the large copper tube coil on the stacking lifting device. The stacking robot extends below the support mechanism. The support mechanism of the side-drawing support device moves closer to support the large copper tube coil placed on the lifting pallet, which is transported from the previous process by the lifting device. When the lifting device releases, the lifting pallet falls between the two support mechanisms onto the stacking robot, while the large copper tube coil is supported by the support mechanism. After the stacking robot withdraws, the lifting pallet is stacked. The stacking lifting device descends and moves below the support mechanism before rising, causing the corrugated paper pad on the large copper tube coil to rise to the bottom of the side-drawing support device. Two cardboard hugging mechanisms move towards each other to position the corrugated paper pad. After the large copper tube coil is clamped and held tightly by the hugging mechanism, the side-drawing support device retracts. The hugging mechanism releases the large copper tube coil, allowing it to fall onto the corrugated paper pad on top of the large copper tube coil supported by the stacking lifting device. S3 repeats step S2 until the stacking layer number is reached.

2. The automatic unloading and stacking system for large copper tube coils according to claim 1, characterized in that: The lifting device includes a frame and a longitudinal rail horizontally arranged on the frame; a transverse rail is provided on the longitudinal rail, and a lifting trolley is provided on the transverse rail; the lifting trolley is provided with a lifting device for lifting large coils of copper pipe with lifting pallets.

3. The automatic unloading and stacking system for large copper tube coils according to claim 1, characterized in that: The palletizing robot includes a ground track and a palletizing trolley that can run along the ground track. The palletizing trolley is vertically mounted with a column. It also includes a crossbeam that can move up and down along the column. The crossbeam is equipped with a clamp for holding the lifting pallet. The clamp can rotate around the axis of the crossbeam.

4. The automatic unloading and stacking system for large copper tube coils according to claim 3, characterized in that: The clamp is equipped with several suction cups for adsorbing the hanging material tray.

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

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

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 two support mechanisms are brought together, there will be a gap in the middle for the lifting pallet to fall; the width of the gap is greater than the width of the lifting pallet and less than the diameter of the large coil of copper tube.

10. The automatic unloading and stacking system for large copper tube coils according to claim 1, characterized in that: The front end face of the cardboard hugging mechanism is provided with an arc-shaped recess, the curvature of which 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 at the middle of the top surface of the large copper tube roll.

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