Automatic blanking method for coil material

Abstract

The invention relates to the technical field of pipe production, and particularly discloses an automatic blanking method of a coil stock, which comprises the following steps: S1, placing the coil stock to be blanked on two support plates close to each other by adopting an inner lifting appliance together with a lifting tray, and after the coil stock is placed on the support plates, lifting the coil stock to be blanked with the lifting tray; the lifting tray falling between the two supporting plates is taken away through a part taking mechanical arm; the middle part of the material lifting tray used in the step 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 material lifting tray; 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, two upper embracing rings located above the supporting plate get close to each other to embrace the periphery of the coiled material; and 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 the interlayer pad or the wood tray on the lifting table. 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; and S6, after assembly and stacking are completed, the lifting table is driven by a linear driver to be away from the lifting appliance lifting area. 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 method 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 aims to provide an automatic unloading method 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 method for coiled material comprises the following steps:

[0009] S1. Use an inner sling to place the coiled material to be unloaded together with the material tray on two support plates that are close to each other. After the coiled material is placed on the support plates, a pick-up robot is used to take away the material tray that falls between the two support plates. The material tray used in this step is hollow in the middle, and the inner sling is used with at least two outwardly extending arms, which are used to hold up the material tray.

[0010] 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;

[0011] S3, make the two upper hugging rings located above the support plate approach each other to hug the outer periphery of the coiled material;

[0012] 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 onto the interlayer pad or wooden pallet on the lifting platform.

[0013] S5, the upper hugging ring retreats, the lifting platform drives the coil material down, and the subsequent stacking cycle S1-S4 is completed until the stacking is completed;

[0014] S6. After the stacking is completed, the lifting platform is driven away from the lifting area of ​​the sling through the linear drive.

[0015] The advantages of this solution are: First, the internal lifting device and the matching lifting pallet used in this solution can unload loose coiled materials that do not need to be tied with straps, and automatically stack them after unloading. After stacking is completed, the stacked coiled materials do not have binding straps, and can ensure that the lifting pallet used during lifting can be circulated in the factory and will not be sent to the next process / downstream with the coiled materials.

[0016] 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 of the support plate, thereby reducing the friction and mutual squeezing force between the support plate and the bottom pipe during the withdrawal of the support plate, 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.

[0017] Thirdly, when the coiled material falls onto 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 lifting it. The upper embracing rings are close to each other to correct the position of the coiled material, thus ensuring the stability after stacking.

[0018] Fourth, when using this solution, since the support plate only needs to leave space for the hanging material 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 is larger.

[0019] Preferably, as an improvement, the coiled material to be unloaded is placed on the unloading rack, and the unloading rack is transferred from the previous process to the unloading position via the output line. An auxiliary pad group is fixed on the unloading rack, and each auxiliary pad group includes 2 auxiliary pads, and the auxiliary pads have multiple through holes. The auxiliary pads and the hanging material tray are both made of metal. The spacing between the two auxiliary pads of each auxiliary pad group is used to place the hanging material tray. After the hanging material tray is placed on the unloading rack, the top surface height is consistent with the top surface height of the auxiliary pad. This solution allows the coiled material to be transferred to the unloading position via the output line, and the internal hanger directly removes the coiled material supported by the hanging material tray from the unloading rack, which facilitates the transfer of the coiled material.

[0020] Preferably, as an improvement, step S2 also includes using two lower hugging rings located below the support plate to approach each other to achieve positioning of the interlayer pad or wooden pallet, ensuring the consistency of the projected positions of all interlayer pads and wooden pallets in the stack on the lifting platform, and facilitating subsequent wrapping and packaging after stacking.

[0021] Preferably, as an improvement, the support plates that can be separated from each other are fixed on the corresponding support slides, the support slides are driven to move by the side-drawing drive, and the lower hugging ring is installed at the bottom of the support slide. This solution forms a counterweight through the lower hugging ring and is arranged at the bottom of the support slide to avoid the problem that the support plate is too heavy and affects the stability, reliability and safety of the mechanism where the support plate is located.

[0022] Preferably, as an improvement, the lower embracing ring is fixed on the corresponding lower sliding seat, the number of the lower embracing rings is consistent with the number of the support plates, and the lower sliding seat is slidably connected to the bottom of the support slide seat on the corresponding side, so that the overall weight formed by the lower embracing ring and the lower sliding seat is larger, which helps to provide a larger counterweight for the side drawer structure formed by the support plate and the support slide seat.

[0023] Preferably, as an improvement, the upper embracing ring and the lower embracing ring are attached to the support plate from the top and bottom, so that the upper embracing ring can directly embrace the bottom layer of metal pipe, reducing the friction and other mutual forces between the bottom layer of metal pipe and the support plate, which helps to reduce the probability of wear or damage to the bottom of the metal pipe.

[0024] 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, and the elastic pad can adapt to and embrace the layers of pipes on the outer peripheral side of the coiled material.

[0025] 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.

[0026] Preferably, as an improvement, the lifting platform is installed in a pit on the ground so that the installation height of the inner sling can be lower, the lifting height of the inner sling can be smaller and the lifting distance can be shorter, which helps to improve the lifting efficiency and improve the lifting safety.

[0027] Preferably, as an improvement, a transfer conveyor line is installed on the top of the lifting platform, a discharging conveyor line is provided on one side of the output end of the transfer conveyor line, and a telescopic cover is provided between the transfer conveyor line and the discharging conveyor line. After the telescopic cover is retracted, the lifting platform can, under the drive of the linear drive and the lifting control of itself, connect the output end of the transfer conveyor line to the input end of the discharging conveyor line, so as to realize the timely delivery of the stacked products in S6;

[0028] In S1, each time a coil is placed, the linear drive is controlled to drive the lifting platform to move toward the unloading conveyor line until the lifting platform is moved out of the working area of ​​the spreader, and the interlayer pads on the stacked coils are placed outside the working area. During this process, the telescopic cover retracts to provide space for the movement of the lifting platform.

[0029] After the interlayer pad is placed, the linear drive drives the lifting platform to move to the stacking position again, and the telescopic cover covers the remaining length between the lifting platform and the discharge conveyor line again.

[0030] Beneficial effect: After each coil (i.e., the stacked product) is placed on the lifting platform, the linear drive is controlled to drive the lifting platform to move to the area where the telescopic cover was originally deployed. 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 accidentally falling into the pit during the stacking process, ensuring safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the three-dimensional structure of the automatic unloading system after annealing used in an embodiment of the present invention.

[0032] 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.

[0033] Figure 3 for Figure 2 Front cross-sectional view.

[0034] 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.

[0035] 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).

[0036] Figure 6 for Figure 5 3D diagram after adjusting the angle.

[0037] 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).

[0038] Figure 8 for Figure 7 3D diagram after adjusting the angle.

[0039] Fig. 9 for Figure 2 A 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.

[0040] Fig.10 for Fig. 9 Main cross-sectional diagram.

[0041] 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.

[0042] Fig.12 for Fig.11 Right cross-sectional diagram of .

[0043] 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.

[0044] 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.

[0045] 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.

[0046] Fig.16 Schematic diagram of the three-dimensional structure of the four-axis palletizing robot in an embodiment of the present invention.

[0047] Fig.17 FIG. 4 is a top view of an annealing rack in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following is further described in detail through specific implementation methods:

[0049] 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.

[0050] Example

[0051] Combination Figure 1 An automatic unloading method for coiled materials requires the use of an automatic unloading system after annealing. The automatic unloading system after annealing includes an output line 1000, an inner hanger 400, an upper embracing mechanism 10, a side withdrawal mechanism 20, a lower embracing mechanism 30, a lifting platform 40, a telescopic shield 50, a discharging conveyor line 60 and a picking robot 70.

[0052] The output line 1000 is used to transmit the annealing rack 1001 sent out after annealing. The annealing rack 1001 is a material unloading rack 1001 for placing the coiled material to be unloaded. 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. After the tray 201 is placed on the annealing rack 1001, the top surface height is consistent with the top surface height of the auxiliary pad 1002. 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 an avoidance hole 1003 for facilitating the arm of the inner hanger 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 it is convenient for the inner hanger 400 to lift the coiled material on the annealing rack 1001 and supported by the material hanging tray 201.

[0053] 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.

[0054] 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.

[0055] The specific structure is as follows:

[0056] 1. Upper hugging mechanism 10 and lower hugging mechanism 30

[0057] Combination Figures 2 to 10 The 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 2. Side drawer mechanism 20

[0063] 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.

[0064] 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 close contact with 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 and avoiding the problem of position displacement of the bottom tube of the coiled material 200 when the support plate 21 is pulled out. The lower hugging ring 31 is in close contact with the bottom surface of the support plate 21.

[0065] 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.

[0066] 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 .

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 3. Lifting platform 40, telescopic cover 50 and discharge conveyor line 60

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 4. Internal lifting device 400 and four-axis palletizing robot 70

[0075] 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.

[0076] 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 sling center. 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.

[0077] 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.

[0078] 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 .

[0079] An automatic unloading method for coiled material comprises the following steps:

[0080] S1. Use 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] S6. 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.

[0087] 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.

[0088] The advantages of this embodiment are as follows:

[0089] 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.

[0090] 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.

[0091] 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 of 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, so that the weight of the heavy weight can be effectively controlled. Copper tube coils 200 weighing up to 500kg 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 coils 200 falling onto the interlayer pad 302 / wooden pallet 301, the upper embracing rings 11 clamp the multi-layer tube material 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 making the upper embracing rings 11 approach each other to correct the position of the coils.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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 method for coiled material, characterized in that: The steps include: S1. Use an inner sling to place the coiled material to be unloaded together with the material tray on two support plates that are close to each other. After the coiled material is placed on the support plates, a pick-up robot is used to take away the material tray that falls between the two support plates. The material tray used in this step is hollow in the middle, and the inner sling is used with at least two outwardly extending arms, which are used to hold up the material tray. 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, make the two upper hugging rings located above the support plate approach each other to hug the outer periphery of the coiled material; 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 onto the interlayer pad or wooden pallet on the lifting platform. S5, the upper hugging ring retreats, the lifting platform drives the coil material down, and the subsequent stacking cycle S1-S4 is completed until the stacking is completed; S6. After the stacking is completed, the lifting platform is driven away from the lifting area of ​​the sling through the linear drive.

2. The automatic unloading method of coiled material according to claim 1, characterized in that: The coiled material to be unloaded is placed on the unloading rack, which is transmitted from the previous process to the unloading position via the output line. An auxiliary pad group is fixed on the unloading rack, each auxiliary pad group includes 2 auxiliary pads, the auxiliary pads have multiple through holes, the auxiliary pads and the hanging material tray are both made of metal, and the distance between the two auxiliary pads of each auxiliary pad group is used to place the hanging material tray. After the hanging material tray is placed on the unloading rack, the top surface height is consistent with the top surface height of the auxiliary pad.

3. The automatic unloading method of coiled material according to claim 1, characterized in that: Step S2 also includes positioning the interlayer pad or wooden pallet by bringing two lower hugging rings located below the support plate closer to each other.

4. The automatic unloading method of coiled material according to claim 3, characterized in that: The supporting plates which can be separated from each other are fixed on the corresponding supporting slides, the supporting slides are driven to move by the provided side-drawing driving machine, and the lower hugging ring is installed at the bottom of the supporting slides.

5. The automatic unloading method of coiled material according to claim 4, characterized in that: The lower hugging ring is fixed on the corresponding lower sliding seat, the number of the lower hugging ring is consistent with the number of the supporting plates, and the lower sliding seat is slidably connected to the bottom of the supporting sliding seat on the corresponding side.

6. The automatic unloading method of coiled material according to claim 5, characterized in that: The upper hugging ring and the lower hugging ring are attached to the support plate from upper and lower sides.

7. The automatic unloading method of coiled material according to claim 6, characterized in that: An elastic pad is fixed on the hugging surface of the upper hugging ring.

8. The automatic unloading method of coiled material according to claim 6, characterized in that: The height of the upper embracing ring embracing the coiled material shall not be less than 1 / 4 of the height of the coiled material.

9. An automatic unloading method for coiled material according to any one of claims 1 to 8, characterized in that: The lifting platform is installed in a pit in the ground.

10. The automatic unloading method of coiled material according to claim 9, characterized in that: A transfer conveyor line is installed on the top of the lifting platform. A discharging conveyor line is provided on one side of the output end of the transfer conveyor line. A telescopic cover is provided between the transfer conveyor line and the discharging conveyor line. After the telescopic cover is retracted, the lifting platform can connect the output end of the transfer conveyor line with the input end of the discharging conveyor line under the drive of the linear drive and the lifting control of itself, so as to realize the timely delivery of the stacked products in S6. In S1, each time a coil is placed, the linear drive is controlled to drive the lifting platform to move toward the unloading conveyor line until the lifting platform is moved out of the working area of ​​the spreader, and the interlayer pads on the stacked coils are placed outside the working area. During this process, the telescopic cover retracts to provide space for the movement of the lifting platform. After the interlayer pad is placed, the linear drive drives the lifting platform to move to the stacking position again, and the telescopic cover covers the remaining length between the lifting platform and the discharge conveyor line again.

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