Automatic discharging system for coil materials

Abstract

The invention relates to the technical field of pipe production, and particularly discloses an automatic blanking system for coil materials, which comprises an inner lifting appliance for lifting the coil materials, and further comprises an upper embracing mechanism, a side pulling mechanism and a lifting table which are positioned below the inner lifting appliance and are sequentially arranged from top to bottom, and the upper embracing mechanism comprises at least two upper embracing rings; all the upper embracing rings are uniformly distributed in the circumferential direction, can be far away from each other or close to each other under the corresponding drivers, and are used for embracing coiled materials; the side pulling mechanism comprises at least two supporting plates which can be far away from or close to each other, all the supporting plates are evenly distributed in the circumferential direction, and a falling space for the lifting tray exists between the supporting plates. The middle part of the lifting tray is hollow, the inner lifting appliance adopts at least two lifting arms capable of extending outwards, and the lifting arms are used for lifting the lifting tray; the device further comprises a piece taking manipulator which is used for transferring the lifting trays falling from the falling space out. According to the scheme, the problem that in the prior art, a metal pipe at the bottom of a heavy coil material is prone to deformation or abrasion when a lifting appliance is pulled away from the coil material is solved.

Description

Technical Field

[0001] The invention relates to the technical field of pipe production, and in particular to an automatic unloading system for 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 facilitate the lifting of the coiled materials, the coiled materials are often packed with metal belts before annealing to prevent the coiled materials from spreading during transportation and to facilitate the lifting of the coiled materials by stretching them from the inner hole of the coiled materials during transportation. However, in this way, for light coiled materials, the inner hoisting device can be used to stretch them, but for heavy coiled materials, a great deal of friction is required to lift the coiled materials by stretching the inner hoisting device outwards. However, a large friction force can easily cause the inner hoisting device to crush the metal pipe on the inner hole wall of the coiled materials. When the coiled materials are used downstream, the metal belts used for bundling increase the cost.

[0004] To solve the above problems, the patent publication number CN114455480A is a hard super-large coil production and transfer device and its operation method. In this technology, it is proposed to first use an inner sling to transfer the annealed coiled material with a metal pallet to a soft coil pallet (a metal pallet used to hold up metal materials can also be called a material pallet or a material pallet), and then use an outer sling to extend multiple long tongues to directly lift the metal pipe 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, for heavy coiled materials, such as coiled materials weighing 300kg, 400kg or even 500kg, the metal pipe at the bottom of the coiled material is under great pressure during the process of the long tongue of the outer sling being pulled out from the bottom of the coiled material, which can easily cause deformation or wear of the bottom metal pipe.

[0005] In addition, due to the large number of long tongue plates, it is difficult to ensure that the withdrawal speed is completely consistent. In the case that the coiled material is not bound with copper tape, it is very easy for the angle to tilt. Especially for loose coiled materials that are rolled up in the manner of mosquito coils and then raised layer by layer, once tilting occurs, it is more likely to tilt in the case of heavy weight and easy misalignment between layers. The tilting affects the safety of subsequent coiled material stacking. Summary of the invention

[0006] The present invention is intended to provide an automatic unloading system for coiled materials, so as to solve the problem in the prior art that heavy coiled materials are easily deformed or worn when a sling is pulled out of the coiled materials, causing the metal pipe at the bottom of the coiled materials to be deformed or worn.

[0007] In order to achieve the above object, the present invention adopts the following technical scheme:

[0008] An automatic unloading system for coiled materials includes an inner sling for lifting the coiled materials, and also includes an upper embracing mechanism, a side extraction mechanism and a lifting platform located below the inner sling and arranged in sequence from top to bottom, the upper embracing mechanism includes at least two upper embracing rings, all of which are evenly distributed circumferentially, and all of which can move away from or approach each other under corresponding drivers, and the upper embracing rings are used to hold the coiled materials; the side extraction mechanism includes at least two support plates that can move away from or approach each other, all of which are evenly distributed circumferentially, and there is falling space for a material tray between the support plates; the material tray is hollow in the middle, and the inner sling adopts at least two lifting arms that can extend outward, and the lifting arms are used to hold the material tray; it also includes a picking robot, and the picking robot is used to transfer the material tray that falls from the falling space.

[0009] The principle and advantages of this solution are: when this solution is adopted, the lifting of the coiled materials and the stacking of the coiled materials on the lifting platform are completed. The details are as follows:

[0010] First, the lifting arm of the inner lifting device is extended from the hollow position of the material tray to lift the material tray with the coiled material, and the coiled material that is not bound by the metal belt is placed on the support plate that has been brought close to the side withdrawal mechanism. The coiled material is supported by the support plates that are close to each other, and the material tray originally supported on the bottom of the coiled material falls in the falling space between the support plates. After falling, the material tray is taken away by the picking robot.

[0011] Secondly, the lifting platform is controlled to rise to the material receiving plane (if the bottom layer of coiled material is placed, the material receiving plane is the top surface of the wooden pallet, otherwise it is the top surface of the interlayer pad) close to / against the bottom surface of the support board.

[0012] Third, control the upper hugging ring to hug the coiled material.

[0013] Fourth, finally, the side-drawing mechanism is controlled to make the support plates move away from each other. After the support plates move away, the coiled material loses support and falls onto the lifting platform; fifth, after the fall is completed, all the embracing rings of the upper embracing mechanism move away from each other and reset.

[0014] The advantages of this solution are as follows:

[0015] 1. This solution can unload loose coils that do not need to be tied with straps, and automatically stack them after unloading. After stacking, the stacked coils do not have binding straps, and can ensure that the hoisting pallets used during lifting can be circulated in the factory and will not be sent to the next process / downstream with the coils.

[0016] 2. In this scheme, the upper embracing mechanism still holds 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 reduce or even avoid the problem of compression deformation of the bottom pipe of the coiled material, and can also reduce or even avoid the problem of severe wear of the pipe caused by excessive friction between the bottom pipe and the support plate.

[0017] 3. When the coiled material falls to the interlayer pad / wooden pallet, the upper hugging 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 placed. The upper hugging rings are close to each other to correct the position of the coiled material and ensure the stability after stacking.

[0018] 4. When using this solution, since the support plate of the side-drawing mechanism only needs to leave space for the material hanging tray, the support plate can be designed to be larger, thereby achieving large-area support for the bottom of the coiled material by the support plate, reducing or even avoiding the problem of compression and deformation of the bottom of the coiled material due to the small supporting area, and can also help extend the service life of the support plate when the support plate size is larger.

[0019] Preferably, as an improvement, it also includes a lower embracing mechanism located below the support plate, the lower embracing mechanism includes at least two lower embracing rings, all of which are evenly distributed circumferentially, and all of which can move away from or approach each other under a corresponding drive, and the lower embracing rings are used to embrace the interlayer pads or wooden pallets used for stacking; because the lower embracing mechanism embraces the interlayer pads, no matter whether the interlayer pads are made of corrugated cardboard, metal plates, wooden plates or plastic plates, this solution can ensure that both the coiled materials and the interlayer pads after each layer of stacking are consistent from top to bottom, thereby further improving the stacking quality.

[0020] Preferably, as an improvement, the side-drawing mechanism also includes a supporting slide and a side-drawing driving machine, the supporting plate is fixed on the corresponding supporting slide, the side-drawing driving machine is used to drive the supporting slide to slide so as to achieve the support plates moving away from or approaching each other, and the lower embracing mechanism is installed at the bottom of the supporting slide.

[0021] Beneficial effect: In this solution, the lower embracing ring is arranged at the bottom of the side-drawing mechanism, which is equivalent to providing a counterweight for the side-drawing mechanism, thereby helping to ensure the working stability of the side-drawing mechanism.

[0022] Preferably, as an improvement, a metal frame is fixed on the support slide, and the metal frame is formed by a plurality of mutually perpendicular steel pipes fixedly connected, and the area of ​​the metal frame facing the opposite support plate is U-shaped, and also includes a U-shaped bottom plate arranged at the bottom of the metal frame, and the U-shaped structure of the U-shaped bottom plate is aligned with the U-shaped structure of the metal frame, and the support plate is fixedly clamped on the U-shaped structure of the U-shaped bottom plate and the metal frame, so that the connection area between the support plate, the U-shaped bottom plate and the metal frame is U-shaped, which helps to make the support plate bear the force more evenly, thereby improving the supporting strength of the support plate and extending the service life of the support plate.

[0023] Preferably, as an improvement, the upper embracing ring and the lower embracing ring also include an embracing drive motor and a sliding seat, each embracing ring is fixed on the corresponding sliding seat, and the embracing drive motor is used to drive the sliding seat to move so as to achieve the embracing rings moving away from or approaching each other; the sliding seat of the upper embracing mechanism is slidably connected to the frame, and the sliding seat of the lower embracing mechanism is slidably connected to the bottom of the corresponding metal frame supporting the slide seat.

[0024] Beneficial effect: The setting of the sliding seat not only provides strong support for the hugging ring to ensure the hugging strength of the hugging mechanism, but also utilizes the sliding seat side-drawing mechanism on the lower hugging mechanism to provide a counterweight to ensure the stability and safety of the operation of the side-drawing mechanism.

[0025] Preferably, as an improvement, the sliding seat of the lower embracing mechanism is slidably connected to the side of the metal frame away from the U-shaped structure, and the lower embracing ring can extend to below the U-shaped structure of the metal frame, so that after the lower embracing ring is in contact with the support plate, the pressure on the support plate will be transferred to the lower embracing ring, and then transferred to the corresponding sliding seat by the lower embracing ring, and the sliding seat is suspended and slid on the metal frame, thereby achieving dispersion of the force on the support plate on the entire side drawer mechanism, which helps to extend the service life of the support plate.

[0026] Preferably, as an improvement, the upper embracing ring and the lower embracing ring are in contact with the support plate from the top and bottom directions, so that the interlayer pad or wooden pallet below that is prepared to support the coiled material is at a very small distance from the top surface of the support plate, which greatly reduces the falling height of the coiled material after losing the support of the support plate, thereby further avoiding the tilting of the coiled material; and the upper embracing ring is in contact with the support plate, so that when the upper embracing mechanism embraces the coiled material, the pipe at the bottom of the coiled material that is under the greatest pressure is also clamped and lifted, which can further reduce the probability of damage or wear of the pipe at the bottom of the coiled material, and can also avoid the problem of the pipe at the bottom of the coiled material shifting its position when the support plate is pulled out of the support plate.

[0027] Preferably, as an improvement, the support plate comprises a metal base and a plastic plate placed on the metal base, and the plastic plate is used to directly contact the coiled material.

[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] Preferably, as an improvement, an elastic pad is fixed on the embracing surface of the upper 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 self-adaptively embrace the layers of pipes on the outer peripheral side of the coiled material.

[0030] Preferably, as an improvement, the height of the upper embracing ring embracing the coiled material is not less than one quarter of the height of the coiled material, so that the upper embracing ring and the coiled material have a sufficiently large contact area, thereby ensuring that the clamping force can meet the requirements.

[0031] Preferably, as an improvement, the lifting platform is installed at a pit position on the ground, a transfer conveyor line is installed on the lifting platform, and a discharge conveyor line parallel to the output direction is provided on the output side of the transfer conveyor line, the length of the pit is greater than the length of the transfer conveyor line, a telescopic cover is provided between the transfer conveyor line and the discharge conveyor line, and the lifting platform is installed at the output end of the linear drive, the linear drive is used to drive the lifting platform away from or close to the discharge conveyor line, the telescopic cover is used to cover the spare length between the transfer conveyor line and the discharge conveyor line, and after the telescopic cover is retracted, the transfer conveyor line can dock with the discharge conveyor line.

[0032] Beneficial effect: This solution sets the lifting platform in the pit, so that while meeting the same stacking height, the installation height of the spreader can be set relatively low, which helps to improve the operating stability and safety of the spreader.

[0033] In addition, this solution controls the linear drive to move the lifting platform to the area where the telescopic cover was originally deployed after each coil is placed on the lifting platform. At this time, it is convenient for workers to directly place the interlayer pad in a safe area away from the working area of ​​the sling to ensure the safety of the interlayer pad. The telescopic cover covers the spare length to prevent workers from falling and ensure safety.

[0034] Preferably, as an improvement, the lifting platform is also provided with a platform scale, which is located between the lifting platform and the transfer conveyor line. The platform scale is used to weigh the stacked coils in time after unloading, thereby eliminating the process of the sling first sending the coils to a separate location for weighing and then sending them to the stacking position, thereby reducing the number of transfers of the coils, which not only reduces the operating area of ​​the sling, helps to reduce the scope of the area where safety risks exist, but also helps to improve production efficiency.

[0035] Preferably, as an improvement, the inner sling also includes a plurality of outwardly protruding arc-shaped elastic pads arranged on the sling pillars, all of the arc-shaped elastic pads are also distributed circumferentially about the center of the sling, the arc-shaped elastic pads are located above the boom, and all of the arc-shaped elastic pads can move away from or approach each other; the plurality of arc-shaped elastic pads are used to abut against the side walls of the inner hole of the coiled material after moving away from each other, so as to ensure that the coiled material is lifted by the boom during the lifting process, and the arc-shaped elastic pads are used to prevent the coiled material from shaking during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 Schematic diagram of a three-dimensional structure of an embodiment of the present invention.

[0037] Figure 2 A three-dimensional schematic diagram showing an upper embracing mechanism, a lower embracing mechanism, a side drawer mechanism and a lifting platform according to an embodiment of the present invention.

[0038] Figure 3 for Figure 2 Front cross-sectional view.

[0039] 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.

[0040] 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).

[0041] Figure 6 for Figure 5 3D diagram after adjusting the angle.

[0042] 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).

[0043] Figure 8 for Figure 7 3D diagram after adjusting the angle.

[0044] Fig. 9 for Figure 2A three-dimensional schematic diagram showing the upper hugging ring hugging the coiled material, the support plate supporting the coiled material and the lower hugging ring hugging the interlayer pad.

[0045] Fig.10 for Fig. 9 Main cross-sectional diagram.

[0046] Fig.11 for Figure 1 The schematic diagram of the lifting platform, telescopic cover, discharge conveyor line and the three-dimensional structure on the ground is shown.

[0047] Fig.12 for Fig.11 Right cross-sectional diagram of .

[0048] Fig.13 A schematic diagram of the three-dimensional structure of the hanger and the material hanging tray used in an embodiment of the present invention.

[0049] Fig.14 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.

[0050] Fig.15 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.

[0051] Fig.16 Schematic diagram of the three-dimensional structure of the four-axis palletizing robot in an embodiment of the present invention.

[0052] Fig.17 FIG. 4 is a top view of an annealing rack in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The following is further described in detail through specific implementation methods:

[0054] The figure marks in the drawings of the specification include: upper hugging mechanism 10, upper hugging 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 hugging mechanism 30, lower hugging ring 31, lower sliding seat 32, elastic pad 110, lifting platform 40, platform scale 41, transfer conveyor line 42, telescopic cover 50, discharge conveyor line 60, four-axis palletizing robot 70, frame 100, coil material 200, hanging pallet 201, wooden pallet 301, interlayer pad 302, hanger 400, hanging arm 401, arc elastic pad 402, three-axis truss 500, ground 600, pit 601, output line 1000, annealing rack 1001, auxiliary pad 1002, and air avoidance hole 1003.

[0055] Example

[0056] Combination Figure 1An automatic unloading system for coiled materials includes an output line 1000, an inner hanger 400, an upper embracing mechanism 10, a side extraction mechanism 20, a lower embracing mechanism 30, a lifting platform 40, a telescopic shield 50, a discharging conveying line 60 and a picking robot 70.

[0057] The output line 1000 is used to transmit the annealing rack 1001 sent out after annealing. An auxiliary pad group is fixed on the annealing rack 1001. Each auxiliary pad group includes two auxiliary pads 1002. The auxiliary pads 1002 and the hanging material tray 201 are made of metal materials to have high strength and can be sent into the annealing furnace with the coiled material 200. The spacing between the two auxiliary pads 1002 of each auxiliary pad group is used to place the hanging material tray 201. The hanging material tray 201 is placed on the annealing rack 100 1, the top surface height after being raised is consistent with the top surface height of the auxiliary pad 1002, and each auxiliary pad 1002 is provided with a plurality of through holes. The position of the annealing rack 1001 corresponding to the material hanging tray is provided with a hole 1003 for facilitating the lifting arm of the inner lifting device 400 to extend into the bottom of the material hanging tray 201, so that the coiled material 200 on the annealing rack 1001 has sufficient support without affecting annealing, and the inner lifting device 400 is convenient for lifting the coiled material on the annealing rack 1001 and supported by the material hanging tray 201.

[0058] The upper hugging mechanism 10, the side withdrawal mechanism 20, and the lower hugging mechanism 30 are arranged in sequence from top to bottom and form an integral body, which is referred to as an anti-tilt machine in this embodiment. The side withdrawal mechanism 20 is used to temporarily support the coiled material 200 that is about to be stacked and lifted by the sling 400. The lifting platform 40 is directly below the side withdrawal mechanism 20. The upper hugging mechanism 10 is used to hug the coiled material 200 when the side withdrawal mechanism 20 is about to withdraw the support for the coiled material 200. The lower hugging mechanism 30 is used to hug the interlayer pad 302 or the wooden pallet 301 placed on the lifting platform 40 to position the interlayer pad 302 or the wooden pallet 301.

[0059] The lifting platform 40 is used to place the stacked coiled materials 200. The lifting platform 40, the telescopic shield 50 and the discharge conveyor line 60 are all installed in a pit 601 provided on the ground 600. The inner hoist 400 is installed above the anti-tilt machine. The inner hoist 400 is used to transfer the coiled materials 200 supported by the material tray 201 to the side withdrawal mechanism 20 of the anti-tilt machine. The picking robot 70 adopts a four-axis stacking robot 70. The four-axis stacking robot 70 is used to take the material tray 201 from under the side withdrawal mechanism 20 and transfer it to the outer periphery of the side withdrawal mechanism 20.

[0060] The specific structure is as follows:

[0061] 1. Upper hugging mechanism 10 and lower hugging mechanism 30

[0062] Combination Figures 2 to 10The structures of the upper embracing mechanism 10 and the lower embracing mechanism 30 are similar. The upper embracing mechanism 10 includes an upper embracing drive machine, two upper sliding seats 12 and two upper embracing rings 11, and the lower embracing mechanism 30 includes a lower embracing drive machine, two lower sliding seats 32 and two lower embracing rings 31.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 2. Side drawer mechanism 20

[0068] Combination Figures 2 to 10 The mechanism 20 includes a side-drawing drive, two support slides 22 and two support plates 21. The side-drawing drive 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 drive 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 for the side-drawing mechanism 20.

[0069] 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.

[0070] 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.

[0071] 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 .

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 3. Lifting platform 40, telescopic cover 50 and discharge conveyor line 60

[0076] Combination Figure 11 to Figure 12The 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.

[0077] 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.

[0078] 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.

[0079] 4. Internal lifting device 400 and four-axis palletizing robot 70

[0080] Combination Figures 13 to 15 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 inner suspension device 400 of this embodiment is installed on the three-axis truss 500, and 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.

[0081] 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.

[0082] Combination Fig.16 , which is used to extend under the support plate 21 and catch the hanging material tray 201. The output arm of the four-axis palletizing robot 70 can move along the X-axis, Y-axis and Z-axis, and also has the function of rotating the output arm. A plurality of suction cups are installed on the output arm to facilitate the transfer and stacking of the hanging material tray 201 connected to the rotating function.

[0083] 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 .

[0084] An automatic unloading method for coiled material comprises the following steps:

[0085] S1. Place the coiled materials to be stacked on the lifting platform for stacking. The specific steps are as follows:

[0086] S11, using the inner hanger 400 to place the coiled material 200 to be unloaded together with the hanging material tray 201 on two supporting plates 21 that are close to each other.

[0087] During this process, the output arm of the four-axis palletizing robot 70 is located under the support plate and the suction cup is facing upward to catch the fallen material pallet 201 at any time. When the arm 401 of the inner sling 400 is retracted inward and no longer supports the material pallet 201, the material pallet 201 falls onto the four-axis palletizing robot 70 under its own weight, and the four-axis palletizing robot 70 then sends the material pallet 201 to the stacking area for stacking.

[0088] S12, 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.

[0089] S13, 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.

[0090] S14, control the two support plates 21 to move away from each other, so that the coiled material 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 coiled material is less than the dead weight of the coiled material, so that the coiled material 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 coiled material 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.

[0091] S15, the upper embracing ring 11 retreats, and the lifting platform 40 drives the coiled material 200 to descend, and the subsequent stacking cycle S11-S14 is repeated until the stacking is completed.

[0092] S2. 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 docked 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.

[0093] 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.

[0094] The advantages of this embodiment are as follows:

[0095] First, in this embodiment, the side extraction mechanism 20, the inner lifting device 400, and the material hanging tray 201 are arranged, so that the coiled material 200 does not need to be bundled before annealing. The material hanging tray 201 is directly used to hold the coiled material 200 and place it on the annealing rack, so that the annealing rack can carry the coiled material 200 into the annealing furnace for annealing. After the annealing is completed, the annealing rack is output along the output line to a position where it can be lifted by the inner lifting device 400. The inner lifting device 400 lifts the material hanging tray 201 with the coiled material 200 from the annealing rack, and then transfers the coiled material 200 to the support plate 21 that has been close to the set distance. After the coiled material 200 is supported by the support plate 21, the material hanging tray 201 can fall from the falling space between the support plates 21 and be taken away by the four-axis stacking robot 70. Afterwards, the support plates 21 are driven away from each other by the corresponding side extraction drive motor, and the coiled material 200 is stacked on the lifting platform 40. The entire solution of this embodiment only uses one inner sling 400 to ensure the unloading and transfer of about 500 kg of bulk coiled materials 200; and the stacking is automatically performed, with a high degree of automation.

[0096] Second, in this embodiment, during the process of the coil 200 falling from the support plate 21, the upper hugging mechanism 10 still keeps hugging 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 hugging 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 support plate 21 withdrawal process. The friction and mutual squeezing force between the middle and 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 material different from that of 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.

[0097] Third, the upper hugging mechanism 10 and the lower hugging mechanism 30 of the present embodiment 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 sliding seat 32 through the lower hugging ring 31, further dispersing the force on the support plate 21, making the weight extremely large, For example, copper tube coils 200 weighing more than 500 kg can 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 coils 200 falling onto the interlayer pad 302 / wooden pallet 301, the upper embracing rings 11 clamp the multi-layer coils at a certain height at the bottom of the coils 200, thereby preventing the coils 200 from falling apart / tilting due to a sudden drop under gravity, and also preventing the coils 200 from being placed at different positions by the sling 400, by correcting the position of the coils by making the upper embracing rings 11 approach each other.

[0098] Fourth, when the present embodiment is adopted, since the support plate 21 of the side drawer 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.

[0099] Fifth, the lifting function of the lifting platform 40 arranged in the pit 601 makes it possible to control the lifting of the lifting platform 40 so that the lifting height is the same each time the sling 400 places the stacked coiled materials 200, thereby avoiding the potential safety hazard caused by the high lifting stroke of the sling due to the high height of the stacking. Moreover, because the lifting height of the internal sling 400 is low and the lifting stroke is short, there is no need to use a crane to lift the copper coiled materials weighing about 500KG, which saves equipment costs and improves safety.

[0100] Sixth, the platform scale 41 is used to automatically weigh the coiled material 200, which reduces the number of times the sling transfers the coiled material 200, thereby reducing safety risks and helping to improve production efficiency. The transfer conveyor line 42 set on the top of the lifting platform 40 can be docked with the discharge conveyor line 60, so that after the stacking is completed, the lifting platform 40 is lowered to the transfer conveyor line 42 and aligned with the discharge conveyor line 60, and the stacked materials are directly sent to the discharge conveyor line 60, without the need for a forklift to enter the operating area of ​​the sling 400 to transfer materials, which further improves safety. The existence of the transfer conveyor line 42 can also prevent manual loading and unloading from affecting or damaging the surface of the lifting platform 40 or the platform scale 41.

[0101] 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. An automatic unloading system for coiled materials, comprising an internal lifting device for lifting the coiled materials, characterized in that: It also includes an upper embracing mechanism, a side extraction mechanism and a lifting platform which are located below the inner sling and are arranged in sequence from top to bottom. The upper embracing mechanism includes at least two upper embracing rings, all of which are evenly distributed circumferentially, and all of which can move away from or approach each other under the corresponding drive, and the upper embracing rings are used to hold the coiled material; the side extraction mechanism includes at least two support plates which can move away from or approach each other, all of which are evenly distributed circumferentially, and there is falling space for the material tray between the support plates; the material tray is hollow in the middle, and the inner sling adopts a sling with at least two arms that can extend outward, and the arms are used to lift the material tray; it also includes a picking robot, and the picking robot is used to transfer the material tray that falls from the falling space.

2. The automatic unloading system for coiled materials according to claim 1, characterized in that: It also includes a lower embracing mechanism located below the support plate, the lower embracing mechanism includes at least two lower embracing rings, all of which are evenly distributed circumferentially, and all of which can move away from or approach each other under corresponding drives, and the lower embracing rings are used to embrace the interlayer pads or wooden pallets used for stacking.

3. The automatic unloading system for coiled materials according to claim 2, characterized in that: The side-drawing mechanism also includes a supporting slide and a side-drawing driving machine. The supporting plate is fixed on the corresponding supporting slide. The side-drawing driving machine is used to drive the supporting slide to slide so as to achieve the support plates moving away from or approaching each other. The lower embracing mechanism is installed at the bottom of the supporting slide.

4. The automatic unloading system for coiled materials according to claim 3, characterized in that: A metal frame is fixed on the support slide, and the metal frame is formed by a plurality of mutually perpendicular steel pipes fixedly connected. The metal frame is U-shaped in the area facing the opposite support plate, and also includes a U-shaped bottom plate arranged at the bottom of the metal frame. The U-shaped structure of the U-shaped bottom plate is aligned with the U-shaped structure of the metal frame, and the support plate is fixedly clamped on the U-shaped bottom plate and the U-shaped structure of the metal frame.

5. The automatic unloading system for coiled materials according to claim 3, characterized in that: The upper embracing ring and the lower embracing ring are attached to the support plate from the up and down directions.

6. The automatic unloading system for coiled materials according to claim 3, characterized in that: The support plate comprises a metal base and a plastic plate placed on the metal base, wherein the plastic plate is used for directly contacting the coiled material.

7. The automatic unloading system for coiled materials according to claim 3, characterized in that: An elastic pad is fixed on the hugging surface of the upper hugging ring.

8. An automatic unloading system for coiled materials according to any one of claims 1 to 7, characterized in that: The lifting platform is installed at a pit position on the ground, and a transfer conveyor line is installed on the lifting platform. A discharge conveyor line parallel to the output direction is provided on the output side of the transfer conveyor line. The length of the pit is greater than the length of the transfer conveyor line. A telescopic cover is provided between the transfer conveyor line and the discharge conveyor line. The lifting platform is installed at the output end of the linear drive. The linear drive is used to drive the lifting platform away from or close to the discharge conveyor line. The telescopic cover is used to cover the spare length between the transfer conveyor line and the discharge conveyor line. After the telescopic cover is retracted, the transfer conveyor line can dock with the discharge conveyor line.

9. The automatic unloading system for coiled materials according to claim 8, characterized in that: The lifting platform is also provided with a platform scale, which is located between the lifting platform and the transfer conveyor line.

10. An automatic unloading system for coiled materials according to any one of claims 1 to 8, characterized in that: The inner hanger also includes a plurality of outwardly protruding arc-shaped elastic pads arranged on the hanger pillars, all of which are also circumferentially distributed about the center of the hanger, and the arc-shaped elastic pads are located above the boom, and all of the arc-shaped elastic pads can move away from or approach each other; the plurality of arc-shaped elastic pads are used to abut against the side walls of the inner hole of the coiled material after moving away from each other.

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