Stacking method for coil materials

Abstract

The invention relates to the technical field of pipe production, and particularly discloses a coil material stacking method which comprises the following steps: S1, coil materials supported by a material lifting tray are placed on two support plates which are close to each other by adopting an inner lifting appliance, and the material lifting tray falls and is taken away from the space between the support plates; s2, a lifting table below the supporting plate is controlled to ascend until the interlayer pad or the wood tray used for stacking on the lifting table is attached to / close to the bottom face of the supporting plate; s3, at least two upper embracing rings on the upper embracing mechanism are used for embracing the periphery of the coiled material; s4, the two supporting plates are controlled to be far away from each other, so that the coil materials are not supported by the supporting plates and fall on an interlayer pad or a wood tray on the lifting table; and S5, the upper embracing ring retreats, the lifting table drives the coil material to descend, and the steps S1 to S4 are circulated in the follow-up assembly and stacking process till assembly and stacking are completed. According to the scheme, the problem that in the prior art, coil materials are prone to inclining during stacking is solved.

Description

Technical Field

[0001] The invention relates to the technical field of pipe production, and in particular to a method for stacking coiled materials. Background Art

[0002] Some metal pipes need to be sent to an annealing furnace for annealing to eliminate the internal stress of the metal. In order to achieve high production efficiency of annealing of metal pipes for packaging, it is often necessary to roll the metal pipes into coils and then send them into the annealing furnace. After annealing, the coils are stacked layer by layer and then wrapped and packaged.

[0003] However, in the process of transportation, in order to ensure that the annealed coiled materials do not disperse, the coiled materials will be packed with copper tape before annealing to prevent the coiled materials from dispersing during transportation, and to facilitate the lifting of the coiled materials by stretching them from the inner hole of the coiled materials during transportation (such lifting equipment is a grabbing tool in patent announcement No. CN221397962U). However, in this way, the copper tape tied on the coiled materials will also be packaged, which increases the cost of the product. In order to reduce the cost, in the existing production, the annealed coiled materials will be transferred to the wooden pallet, and then the copper tape will be manually cut off and recycled. In this process, there are processes of tying and cutting the copper tape, which increases the labor cost.

[0004] In order to solve the above-mentioned problem, a lifting device for a multi-layer spiral wire coil with patent publication number CN221521792U has been proposed. This lifting method is realized in conjunction with a metal pallet under the coil. During the transfer of the coil, the pallet is lifted by the pallet lifter to lift the coil. The lifter does not touch the coil during the transfer process, so that the coil can be transferred even if the copper strip is not bundled. However, there is a problem with this method in that the metal pallet needs to be sent to downstream merchants with the product after annealing. After the downstream merchants use it up, the pallet is shipped back for reuse. This turnover method requires a huge number of metal pallets and it also costs money to send them back.

[0005] Therefore, the prior art has proposed a hard super-large coil production and transfer device and its operation method with patent publication number CN114455480A. In this technology, it is proposed to first use the inner sling to transfer the annealed coiled material with the metal pallet to the soft coil pallet (the metal pallet used to hold up the metal material can also be called a material pallet or a material pallet), and then use the outer sling to extend the long tongue plate to directly lift the metal tube from the bottom of the coiled material and transfer it to the wooden pallet. This method does not require the coiled material to be bundled before annealing, nor does it require the material pallet to be sent to downstream manufacturers together with the coiled material. However, this method also has problems:

[0006] First, the metal coil is heavy. For example, the weight of the copper tube after annealing is about 300kg, 400kg or even 500kg. When the long tongue of the external hanger is pulled out from the bottom of the coil, the coil loses strength from the inside to the outside. Under the action of gravity, the further the bottom of the metal tube is separated from the support, the greater the pressure it bears, which can easily cause deformation and wear of the bottom metal tube.

[0007] Second, due to the large number of long tongue plates, it is difficult to ensure that the extraction speed is completely consistent. In the case that the coiled material is not bound with copper tape, it is very easy to tilt at an angle.

[0008] After the coil is delivered to the wooden pallet by the external hanger with the long tongue, the long tongue needs to be pulled out of the bottom of the coil at a speed that is completely consistent, thereby minimizing the tilting of the coil.

[0009] If the coils are tilted, it will affect the height of the subsequent stacking of the coils (they are separated by interlayer pads during stacking, such as cardboard, paper pads, wooden boards, wooden pads, metal plates, metal pads, etc.), and safety can only be ensured by stacking at a low height. However, a low stacking height requires more stacks for the same amount of coils, which means more turnover wooden pallets are used at the bottom, and the number of pallets for each transfer is reduced, increasing costs. A high stacking height greatly increases the risk of tipping and increases safety hazards. Summary of the invention

[0010] The present invention is intended to provide a method for stacking coiled materials to solve the problem in the prior art that the coiled materials are prone to tilting during stacking.

[0011] In order to achieve the above object, the present invention adopts the following technical scheme:

[0012] A method for stacking coiled materials comprises the following steps:

[0013] S1. Use the inner lifting device to place the coiled material supported by the material tray on two support plates that are close to each other, and let the material tray fall and be taken away from the gap between the support plates;

[0014] S2. Control the lifting platform below the support plate to rise until the interlayer pad or wooden pallet used for stacking on the lifting platform is in contact with / close to the bottom surface of the support plate;

[0015] S3, using at least two upper hugs of the upper hugging mechanism to hug the outer periphery of the coiled material;

[0016] S4, control the two support plates to move away from each other, so that the coiled material loses the support of the support plates and falls on the interlayer pad or wooden pallet on the lifting platform;

[0017] S5, the upper hugging ring retreats, the lifting platform drives the coiled material down, and the subsequent stacking cycle S1-S4 is repeated until the stacking is completed.

[0018] The principles and advantages of this solution are: first, by using the inner hoist to lift the bottom hoisting tray of the coiled material, the coiled material that is not bound by the metal belt can be placed on the support plate that has been close together, so the coiled material does not need to be bound in advance, nor does it need to be untied in the subsequent process.

[0019] Secondly, in this solution, the upper embracing mechanism still maintains the state of holding the coiled material during the falling process, and the outer diameter of the coil is basically the same. Therefore, during the falling process when the support plate no longer supports the coiled material, the upper embracing ring forms a certain support and circumferential limitation for the coiled material, which can not only avoid the problem of tilting of the coiled material after falling, but also form a certain lifting force for the coiled material during the withdrawal process of the support plate of the side withdrawal mechanism, thereby reducing the friction and mutual squeezing force between the support plate and the bottom pipe during the withdrawal process, which can not only reduce or even avoid the problem of compression deformation of the bottom pipe of the coiled material, but also reduce or even avoid the problem of severe wear of the pipe due to excessive friction between the bottom pipe and the support plate.

[0020] Thirdly, the arrangement of the lifting platform of the present invention enables the lifting platform to be lowered to a position convenient for placing the next coil of material after the coil is placed, thereby facilitating the automation of stacking.

[0021] Fourth, when the coiled material falls to the interlayer pad / wooden pallet, the upper embracing ring clamps the multi-layer coiled material at a certain height at the bottom of the coiled material, which can avoid the coiled material from falling apart due to a sudden drop under gravity. It can also avoid the situation where there is a difference in the position of the coiled material when the hoist is hoisted and placed. The upper embracing rings are close to each other to correct the position of the coiled material, ensuring the stability after stacking.

[0022] Preferably, as an improvement, a lower embracing mechanism is provided under the support plate, and two lower embracing rings on the lower embracing mechanism that can move closer to / away from each other are used to position the interlayer mat or wooden pallet on the lifting platform so that the interlayer mat or wooden pallet is always placed properly.

[0023] Preferably, as an improvement, support plates that can move away from each other are fixed on corresponding support slides, and the support slides are driven to move by a side-drawing drive motor. The lower embracing mechanism is installed at the bottom of the support slide, so that a counterweight is formed by the lower embracing mechanism and is arranged at the bottom of the support slide, so as to avoid the problem that the support plates bear too much weight and affect the operating stability, reliability and safety of the mechanism where the support plates are located.

[0024] Preferably, as an improvement, the height of the upper embracing ring embracing the coiled material is not less than 1 / 4 of the height of the coiled material, so that the upper embracing ring has a sufficiently large lifting force on the coiled material.

[0025] Preferably, as an improvement, an elastic pad is fixed on the embracing surface of the embracing ring to ensure that the embracing process will not produce a hard collision with the embraced object, thereby reducing damage to the embraced object (coiled material / interlayer pad or wooden pallet), and the elastic pad can adapt to and embrace the layers of pipes on the outer peripheral side of the coiled material.

[0026] Preferably, as an improvement, the lower embracing ring is in contact with the bottom surface of the support plate, and the spacing between the upper embracing ring and the support plate is smaller than the radius of the pipe of the coil, so that the interlayer pad or wooden pallet below that is prepared to support the coil is very close to the top surface of the support plate, which greatly reduces the falling height of the coil after losing the support of the support plate, thereby further avoiding the tilting of the coil; and the upper embracing ring is very close to the support plate, and can be designed to be close to the upper surface of the support plate in actual use, so that when the upper embracing mechanism embraces the coil, the multi-layer pipes at the bottom section of the coil are clamped and lifted, further reducing the probability of damage or wear of the bottom pipe of the coil, and also avoiding the problem of the bottom pipe of the coil deviating the metal pipe when the support plate is pulled out.

[0027] Preferably, as an improvement, the support plate adopts a double-layer structure, and the support plate includes a metal base and a plastic plate placed on the metal base, the plastic plate is used to directly contact the coil material, and the side edge of the plastic plate facing the center of the coil material is provided with an arc-shaped transition surface, and the arc-shaped transition surface is bent downward.

[0028] Beneficial effect: The metal base is used to ensure the support strength of the support plate, and the smooth plastic plate is used to reduce the friction with the bottom pipe of the coil material, and it is also convenient to replace it after wear and tear, thereby reducing the replacement cost.

[0029] The setting of the arc-shaped transition surface prevents the edge of the support plate from causing indentations on the bottom of the coiled material. It also facilitates the side-drawing mechanism to control the support plates to move away from each other and gradually detach from the support for the coiled material, further reducing or even avoiding indentations on the bottom of the coiled material during the process of pulling the support plates out.

[0030] Preferably, as an improvement, a platform scale is provided on the lifting platform, and the platform scale weighs the coiled material on the lifting platform.

[0031] Preferably, as an improvement, the lifting platform is provided with a transfer conveyor line, and after the stacking is completed, the transfer conveyor line is used to promptly deliver the stacked coiled materials to facilitate subsequent packaging.

[0032] Preferably, as an improvement, the inner sling utilizes at least two outward-movable lifting arms on the inner sling to support the bottom of the material tray when lifting the coiled material, and utilizes an outward-movable arc-shaped elastic pad on the inner sling to press against the inner hole wall of the coiled material to ensure that the coiled material will not move relative to the inner sling during the process of lifting the coiled material by the inner sling, thereby ensuring the safety of lifting and the stability of movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a flow chart of Embodiment 1 of the present invention.

[0034] Figure 2 It is a schematic diagram of the three-dimensional structure of the coil material stacking device used in the first embodiment of the present invention.

[0035] Figure 3 for Figure 2 Front cross-sectional view.

[0036] Figure 4 for Figure 3 A locally enlarged schematic diagram is shown in FIG. 1 , wherein the diagram also includes a locally enlarged structure of a support plate.

[0037] Figure 5 for Figure 1 Schematic diagram of the exploded structure of the upper middle hugging mechanism, side pull-out mechanism, and lower hugging mechanism (the drive motor is not shown).

[0038] Figure 6 for Figure 5 3D diagram after adjusting the angle.

[0039] Figure 7 for Figure 5 The figure shows the three-dimensional structure of the side-drawing mechanism after the explosion (the side-drawing drive machine is not shown).

[0040] Figure 8 for Figure 7 3D diagram after adjusting the angle.

[0041] Fig. 9 A schematic diagram of the three-dimensional structure of the hanger and the material hanging tray used in an embodiment of the present invention.

[0042] Fig.10 It is a main cross-sectional schematic diagram of the lifting device according to the embodiment of the present invention when the lifting material tray is not lifted.

[0043] Fig.11 It is a main cross-sectional schematic diagram of the lifting device according to an embodiment of the present invention lifting a material tray and the arc-shaped elastic pad abutting against the inner wall of the coil material hole.

[0044] Fig.12 It is a schematic diagram of the three-dimensional structure of the second embodiment of the present invention.

[0045] Fig.13 for Fig.12 The three-dimensional structural schematic diagram does not show the upper hugging mechanism, the side drawing mechanism and the lower hugging mechanism.

[0046] Fig.14 for Fig.13 Right cross-sectional diagram of .

[0047] Fig.15 This is a schematic diagram of the three-dimensional structure of the third embodiment of the present invention.

[0048] Fig.16 This is a schematic diagram of the three-dimensional structure of the third embodiment of the present invention without displaying the four-axis palletizing robot.

[0049] Fig.17 Schematic diagram of the three-dimensional structure of the four-axis palletizing robot in an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The following is further described in detail through specific implementation methods:

[0051] The figure marks in the drawings of the specification include: upper embracing mechanism 10, upper embracing ring 11, upper sliding seat 12, elastic pad 110, side withdrawal mechanism 20, support plate 21, metal base 211, plastic plate 212, support slide 22, metal frame 221, U-shaped bottom plate 23, lower embracing mechanism 30, lower embracing ring 31, lower sliding seat 32, elastic pad 110, lifting platform 40, platform scale 41, transfer conveyor line 42, telescopic shield 50, discharging conveyor line 60, four-axis palletizing robot 70, frame 100, coil material 200, hanging material pallet 201, wooden pallet 301, interlayer pad 302, inner sling 400, hanging arm 401, arc-shaped elastic pad 402, three-axis truss 500, ground 600, pit 601.

[0052] Embodiment 1

[0053] Combination Figures 1 to 11 A method for stacking coiled materials requires the use of a coiled material stacking device, which includes a sling, an upper embracing mechanism 10, a side withdrawal mechanism 20, a lower embracing mechanism 30 and a lifting platform 40 arranged in sequence from top to bottom, the lifting platform 40 is used to hold up the coiled material 200, the side withdrawal mechanism 20 is used to temporarily support the coiled material 200 to be stacked by the sling, and the lifting platform 40 is directly below the side withdrawal mechanism 20, the upper embracing mechanism 10 is used to embrace the coiled material 200 when the side withdrawal mechanism 20 is ready to withdraw the support for the coiled material 200, and the lower embracing mechanism 30 is used to embrace an interlayer pad 302 or a wooden pallet 301 placed on the lifting platform 40, and the interlayer pad 302 or the wooden pallet 301 is used to position the material.

[0054] 1. Upper hugging mechanism 10 and lower hugging mechanism 30

[0055] Combination Figures 2 to 8 The upper embracing mechanism 10 and the lower embracing mechanism 30 are similar in structure. The upper embracing mechanism 10 includes an upper embracing drive motor, two upper sliding seats 12 and two upper embracing rings 11, and the lower embracing mechanism 30 includes a lower embracing drive motor, two lower sliding seats 32 and two lower embracing rings 31.

[0056] The two upper embracing rings 11 are symmetrically arranged about the coil material 200, and the upper embracing driving machine is fixed on the frame 100. The upper embracing driving machine is used to drive the upper sliding seat 12 to slide along the frame 100. The upper embracing rings 11 are fixed on the upper sliding seat 12. The upper embracing rings 11 can move away from or approach each other under the corresponding upper embracing driving machine. The two upper embracing rings 11 are used to hold the coil material 200.

[0057] The two lower hugging rings 31 are symmetrically arranged about the coil material 200, and the lower hugging driving machine is fixed on the side withdrawal mechanism 20. The lower hugging driving machine is used to drive the lower sliding seat 32 to slide on the side withdrawal mechanism 20. The lower hugging rings 31 are fixed on the lower sliding seat 32. The lower hugging rings 31 can move away from or approach each other under the corresponding lower hugging driving machine. The two lower hugging rings 31 are used to hold the insulation pad 302 or the wooden pallet 301 on the lifting platform 40 to position the insulation pad 302 or the wooden pallet 301.

[0058] Elastic pads 110 are fixed on the embracing surfaces of the upper embracing ring 11 and the lower embracing ring 31. The elastic pads 110 are made of rubber pads or silicone pads to ensure that there will be no hard collision with the embraced object during the embracing process, thereby reducing damage to the embraced object (coiled material 200 / interlayer pad 302 or wooden pallet 301), and the elastic pads 110 can adapt to and embrace the layers of pipes on the outer peripheral side of the coiled material 200.

[0059] Metal steel frames are provided inside the lower sliding seat 32 and the upper sliding seat 12 to ensure the strength of the sliding seats.

[0060] 2. Side drawer mechanism 20

[0061] Combination Figures 2 to 8 The side-drawing mechanism 20 includes a side-drawing driving machine, two support slides 22 and two support plates 21. The side-drawing driving machine is fixed on the frame 100, the support slide 22 is slidably connected to the frame 100, each support plate 21 is fixed on the corresponding support slide 22, and the two support plates 21 are symmetrically arranged about the coil 200. The side-drawing driving machine is used to drive the support slide 22 to slide so as to achieve the mutual distance or proximity between the support plates 21, and there is a falling space for the hanging material tray 201 between the support plates 21. The lower sliding seat 32 of the lower hugging mechanism 30 corresponds to the support slide 22 one by one, and the lower sliding seat 32 is slidably connected to the bottom of the support slide 22, so that the lower hugging mechanism 30 forms a counterweight of the side-drawing mechanism 20.

[0062] The distance between the upper hugging ring 11 and the support plate 21 is smaller than the radius of the tube of the coiled material. In this embodiment, the upper hugging ring 11 is in contact with / close to the top surface of the support plate 21, and the height of the upper hugging ring 11 hugging the coiled material 200 is not less than one-fourth of the height of the coiled material 200, so that the upper hugging ring 11 and the coiled material 200 have a sufficiently large contact area, thereby ensuring that the clamping force can meet the requirements. The lower hugging ring 31 is in contact with the bottom surface of the support plate 21.

[0063] A metal frame 221 is fixed on the support slide 22. The metal frame 221 is formed by a plurality of mutually perpendicular steel pipes fixedly connected. The area of ​​the metal frame 221 facing the opposite support plate 21 is U-shaped, and also includes a U-shaped bottom plate 23 arranged at the bottom of the metal frame 221. The U-shaped structure of the U-shaped bottom plate 23 is aligned with the U-shaped structure of the metal frame 221. The support plate 21 is fixedly clamped on the U-shaped bottom plate 23 and the U-shaped structure of the metal frame 221, so that the support plate 21 is subjected to more uniform force, which helps to improve the supporting strength of the support plate 21 and extend the service life of the support plate 21.

[0064] The lower sliding seat 32 is slidably connected to a side of the metal frame 221 away from the U-shaped structure, and the lower embracing ring 31 can extend to below the U-shaped structure of the metal frame 221 .

[0065] The support plate 21 includes a metal base 211 and a plastic plate 212 fixed on the metal base 211. The plastic plate 212 is used to directly contact the coiled material 200. The side edge of the plastic plate 212 facing the center of the coiled material 200 is provided with an arc-shaped transition surface, which is bent downward.

[0066] In the present embodiment, there are two upper embracing rings 11, two lower embracing rings 31 and two supporting plates 21, so the moving directions of the upper embracing rings 11, two lower embracing rings 31 and two supporting plates 21 are all parallel.

[0067] In this embodiment, the upper hugging drive machine, the lower hugging drive machine and the side pulling drive machine are not shown in the accompanying drawings. The upper hugging drive machine, the lower hugging drive machine and the side pulling drive machine can all adopt the output of the driving source capable of linear reciprocating movement in the prior art, such as the output of a hydraulic cylinder, a gear driven by a motor and a rack.

[0068] Combination Figures 9 to 11 The material tray 201 of this embodiment is in the shape of a long strip, and a hollow area is provided in the middle of the material tray 201 for the upper suspension arm 401 of the suspension device to pass through. The suspension device of this embodiment adopts an inner suspension device 400, which is installed on a three-axis truss 500. The three-axis truss 500 drives the inner suspension device 400 to move along the X-axis, Y-axis, and Z-axis, thereby ensuring that the coiled material 200 is directly suspended on the support plate 21 of the side drawer mechanism 20 with the material tray 201.

[0069] The inner sling 400 includes at least two arms 401 and a plurality of arc-shaped elastic pads 402 protruding outwards, which are arranged on the sling pillars. In this embodiment, there are two arms 401, which are symmetrically arranged about the center of the sling. The two arms 401 are slidably connected to the pillars of the inner sling 400. A first driver and a second driver are arranged on the pillars. The first driver is used to drive the two arms 401 to move away from each other. The arms 401 are used to extend into the hollow area of ​​the material tray 201 and lift the material tray 201 after moving away from each other. The plurality of arc-shaped elastic pads 402 are evenly distributed around the center of the sling. The second driver can drive the plurality of arc-shaped elastic pads 402 to move closer or further away at the same time. The plurality of arc-shaped elastic pads 402 are used to abut against the inner hole side wall of the coil 200 after moving away from each other, so as to ensure that the coil 200 is lifted by the arms 401 during the lifting process, and the arc-shaped elastic pads 402 are used to prevent the coil 200 from shaking during the lifting process.

[0070] The method for stacking the coiled material 200 using the stacking device includes the following specific steps:

[0071] S1. Use the inner hanger 400 to place the coiled material 200 supported by the material tray 201 on two support plates 21 that are close to each other, let the material tray 201 fall from the gap between the support plates 21, and take away the fallen material tray 201.

[0072] Specifically, the material tray 201 can be removed by the four-axis stacking robot 70. Before the four-axis stacking robot 70 takes the material tray 201, the four-axis stacking robot 70 first moves to below the gap between the support plates 21 to prepare for receiving the falling material tray 201. The four-axis stacking robot 70 takes the material tray 201 and stacks the material trays 201.

[0073] S2. Control the lifting platform 40 below the support plate 21 to rise until the interlayer pad 302 or wooden pallet 301 used for stacking on the lifting platform 40 is in contact with / close to the bottom surface of the support plate 21; after the interlayer pad 302 or wooden pallet 301 is close to / against the bottom surface of the support plate 21, control the two lower embracing rings 31 of the lower embracing mechanism 30 to approach each other to position the interlayer pad 302 or wooden pallet 301.

[0074] S3. Make the two upper hugging rings 11 on the upper hugging mechanism 10 approach each other to hug the outer periphery of the coiled material 200; the height of the upper hugging rings 11 hugging the coiled material 200 is not less than 1 / 4 of the height of the coiled material 200.

[0075] S4. Control the two support plates 21 to move away from each other, so that the coil 200 loses the support of the support plate 21 and falls on the interlayer pad 302 or the wooden pallet 301 on the lifting platform 40 (the friction force generated by the upper embracing ring 11 clamping the coil is less than the dead weight of the coil, so that the coil can still fall under the clamping); in the falling process, because the interlayer pad 302 / wooden pallet 301 is attached to the bottom surface of the support plate 21, the falling height of the entire coil 200 is very small, and the falling height can be controlled within 15 mm. In this embodiment, since the support plate 21 is clamped by the U-shaped bottom plate 23 and the U-shaped structure of the metal frame 221, the support strength of the support plate 21 is high, and the thickness of the support plate 21 can be set to be relatively small. In addition, the upper embracing ring 11 clamps and supports the coil material 200, so that the thickness of the support plate 21 can be set to be even smaller. In a specific embodiment, the thickness of the support plate 21 can be designed to be no more than 8 mm while still meeting the requirements of stacking stability and reliability, and the falling height of the coil material 200 is exactly the thickness of the support plate 21. It can be seen that the falling height is very small, and the coil material 200 will not become loose or tilted.

[0076] S5, the upper hugging ring 11 retreats, and the lifting platform 40 drives the coiled material 200 to descend, and the subsequent stacking cycle S1-S4 is repeated until the stacking is completed.

[0077] After the stacking is completed, the linear drive is used to drive the lifting platform 40 to move along the slide rail until the transfer conveyor line 42 on the lifting platform 40 is connected with the discharge conveyor line 60 in the pit 601, so that the transfer conveyor line 42 can deliver the stacked multi-roll coil 200 to the discharge conveyor line 60 to facilitate the subsequent use of film for wrapping and packaging.

[0078] When the lifting platform 40 approaches the discharge conveyor line 60, the telescopic shield 50 retracts toward the bottom of the discharge conveyor line 60 to provide space for the lifting platform 40 to approach the discharge conveyor line 60. After the lifting platform 40 is reset, the telescopic shield 50 covers the empty space between the discharge conveyor line 60 and the transfer conveyor line 42 to avoid problems caused by workers accidentally falling.

[0079] In this embodiment, during the process of the coil 200 falling from the support plate 21, the upper embracing mechanism 10 still maintains the state of embracing the coil 200, and the outer diameter of the coil is basically the same. Therefore, during the falling process when the support plate 21 no longer supports the coil 200, the upper embracing ring 11 forms a certain support and circumferential limitation for the coil 200, which can not only avoid the problem of the coil 200 tilting after falling, but also form a certain lifting force for the coil 200 during the withdrawal process of the support plate 21 of the side withdrawal mechanism 20, thereby reducing the friction with the support plate 21 during the withdrawal process. The friction and mutual squeezing force between the bottom pipes can reduce or even avoid the problem of compression deformation of the bottom pipe of the coil 200, and can also reduce or even avoid the problem of severe pipe wear caused by excessive friction between the bottom pipe and the support plate 21. In addition, the double-layer structure of the support plate 21 is provided with a plastic plate 212 with a very high smoothness and a different material from the coil 200, which also helps to reduce the friction between the support plate 21 and the bottom pipe of the coil 200, thereby reducing or even avoiding the problem of wear of the bottom pipe of the coil 200.

[0080] The upper hugging mechanism 10 and the lower hugging mechanism 30 clamp the support plate 21 from top to bottom in a manner equivalent to clamping, which can ensure the force stability of the support plate 21, especially the lower hugging mechanism 30 is directly installed on the support slide 22 of the side drawer mechanism 20 to form a counterweight for the side drawer mechanism 20, and the pressure on the support plate 21 is balanced by the counterweight, and the lower hugging ring 31 is located below the support plate 21 and is in contact with the support plate 21, so that the force of the support plate 21 after being compressed can be transmitted to the lower slide seat 32 through the lower hugging ring 31, further dispersing the force on the support plate 21, so that the copper pipe weighing up to 500KG can be stabilized. The coiled material 200 can also be stacked in a loose state without tipping over, and the stability and reliability of the entire stacking device are ensured. In the process of the coiled material 200 falling onto the interlayer pad 302 / wooden pallet 301, the upper embracing ring 11 clamps the multi-layered tube material at a certain height at the bottom of the coiled material 200, thereby preventing the coiled material 200 from suddenly falling under gravity and causing the coiled material 200 to become loose / tilted. It can also prevent the position of the coiled material from being different when the sling 400 is placed, and the upper embracing rings 11 are brought close to each other to correct the position of the coiled material, thereby ensuring the stability after stacking.

[0081] In addition, the arrangement of the lifting platform 40 of the present embodiment allows the lifting platform 40 to be lowered to a position convenient for placing the next roll of coil 200 after the coil 200 is placed, thereby facilitating the automation of stacking.

[0082] In addition, when the present embodiment is adopted, since the support plate 21 of the side-drawing mechanism 20 only needs to leave space for the material hanging tray 201, the two support plates 21 can be designed to be larger, thereby achieving large-area support for the bottom of the coiled material 200 by the support plate 21, reducing or even avoiding the problem of compression and deformation of the bottom of the coiled material 200 due to the small supporting area.

[0083] Embodiment 2

[0084] Embodiment 2 is further improved on the basis of Embodiment 1 to improve the degree of automation, as follows:

[0085] Combination Figure 12 to Figure 14 The lifting platform 40 is arranged in a pit 601 on the ground 600 so that there is a larger space between the lifting platform 40 and the sling 400, thereby ensuring that the sling 400 can suspend the coiled material 200 on the support plate 21 each time for stacking. A platform scale 41 is fixed on the top of the lifting platform 40, and the platform scale 41 is used to facilitate weighing the coiled material 200 stacked each time. A transfer conveyor line 42 is installed on the top of the platform scale 41.

[0086] A discharge conveyor line 60 is installed on the top of the pit 601. The length of the pit 601 is greater than the length of the transfer conveyor line 42 and the outgoing conveyor line. The discharge conveyor line 60 is located on the side of the lifting platform 40. A linear drive is installed in the pit 601. The linear drive is used to drive the lifting platform 40 to move away from or close to the discharge conveyor line 60 along the slide rail fixed in the pit 601. The slide rail is parallel to the output direction of the discharge conveyor line 60 and the transfer conveyor line 42. The height of the transfer conveyor line 42 is consistent with the height of the discharge conveyor line 60.

[0087] A telescopic shield 50 is arranged below the discharge conveyor line 60, and the telescopic shield 50 is used to cover the spare length between the lifting platform 40 and the discharge conveyor line 60, so that when the lifting platform 40 is far away from the discharge conveyor line 60, the telescopic shield 50 extends to cover the distance between the lifting platform 40 and the discharge conveyor line 60, to prevent people from falling into the pit 601, thereby ensuring safety; when the lifting platform 40 moves toward the discharge conveyor line 60, the telescopic shield 50 retracts, to ensure that the stacked coiled material 200 on the transfer conveyor line 42 can be stably transferred to the discharge conveyor line 60, thereby realizing automated material delivery.

[0088] Embodiment 3

[0089] Combination Figures 15 to 17In order to further improve the degree of automation of stacking, the third embodiment of the present invention also provides a four-axis stacking robot 70 for receiving the hanging material tray 201. The output arm of the four-axis stacking robot 70 can move along the X-axis, Y-axis, and Z-axis, and also has a rotation function of the output arm. A plurality of suction cups are installed on the output arm to facilitate the direct stacking of the removed hanging material tray 201 by utilizing the rotation function.

[0090] The four-axis palletizing robot 70 is used to receive the material trays 201 between the support plates 21 , and is also used to stack the material trays 201 .

[0091] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A method for stacking coiled materials, characterized in that: The steps include: S1. Use the inner lifting device to place the coiled material supported by the material tray on two support plates that are close to each other, and let the material tray fall and be taken away from the gap between the support plates; S2. Control the lifting platform below the support plate to rise until the interlayer pad or wooden pallet used for stacking on the lifting platform is in contact with / close to the bottom surface of the support plate; S3, using at least two upper hugs on the upper hugging mechanism to hug the outer circumference of the coil; S4, control the two support plates to move away from each other, so that the coiled material loses the support of the support plates and falls on the interlayer pad or wooden pallet on the lifting platform; S5, the upper hugging ring retreats, the lifting platform drives the coiled material down, and the subsequent stacking cycle S1-S4 is repeated until the stacking is completed.

2. A method for stacking coiled materials according to claim 1, characterized in that: A lower hugging mechanism is provided under the supporting plate, and two lower hugging rings on the lower hugging mechanism which can move closer to / away from each other are used for positioning the interlayer pad or wooden pallet on the lifting platform.

3. A method for stacking coiled materials according to claim 2, characterized in that: The supporting plates that can be separated from each other are fixed on corresponding supporting slides, the supporting slides are driven to move by a side-drawing driving machine, and the lower hugging mechanism is installed at the bottom of the supporting slides.

4. A method for stacking coiled materials according to claim 3, characterized in that: The height of the upper embracing ring embracing the coiled material is not less than 1 / 4 of the height of the coiled material.

5. A method for stacking coiled materials according to claim 4, characterized in that: An elastic pad is fixed on the hugging surface of the hugging ring.

6. A method for stacking coiled materials according to claim 3, characterized in that: The lower embracing ring is in contact with the bottom surface of the support plate, and the distance between the upper embracing ring and the support plate is smaller than the radius of the tube of the coiled material.

7. A method for stacking coiled materials according to any one of claims 1 to 6, characterized in that: The support plate adopts a double-layer structure, and includes a metal base and a plastic plate placed on the metal base. The plastic plate is used to directly contact the coil material. The side edge of the plastic plate facing the center of the coil material is provided with an arc transition surface, and the arc transition surface is bent downward.

8. A method for stacking coiled materials according to any one of claims 1 to 6, characterized in that: The lifting platform is provided with a platform scale, and the platform scale weighs the coiled material on the lifting platform.

9. A method for stacking coiled materials according to any one of claims 1 to 6, characterized in that: The lifting platform is provided with a transfer conveyor line, and after the stacking is completed, the transfer conveyor line is used to deliver the stacked coiled materials in time.

10. A method for stacking coiled materials according to any one of claims 1 to 6, characterized in that: When lifting the coiled material, the inner lifting device uses at least two outwardly movable lifting arms on the inner lifting device to support the bottom of the material lifting tray, and uses the arc-shaped elastic pad on the inner lifting device that can move outward to press against the inner hole wall of the coiled material.

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