Safety protection material transfer device and coil material discharging system

Abstract

The invention relates to the technical field of pipe production, and particularly discloses a safety protection material transfer device which comprises a lifting appliance and a lifting table, the lifting appliance is installed on a multi-axis truss or a multi-axis robot to drive the lifting appliance to move spatially, the lifting table is located below the lifting appliance, and a platform scale and a transfer conveying line are installed at the top of the lifting table. The transfer conveying line is located above the platform scale, and the output end of the transfer conveying line can be in butt joint with the input end of the discharge conveying line. The coil material discharging system comprises a material transferring device with a safety protection function and further comprises a side pulling mechanism located above a lifting table, 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 of a material lifting tray for coil material lifting exists between the supporting plates. According to the scheme, the problem that in the prior art, when coil materials are stacked through a lifting appliance, the stroke is high, and the safety risk is increased is solved.

Description

Technical Field

[0001] The invention relates to the technical field of pipe production, and in particular to a material transfer device with safety protection and a coil material unloading system. Background Art

[0002] After the metal pipe is coiled into a coil, it needs to be stacked and then wrapped. In some workshops with a large area and sufficient space for automation, the coils to be stacked can be directly transferred through the conveyor line to the subsequent process, and stacked by a palletizer in the subsequent process. After stacking, it is transported along the assembly line to the wrapping machine for wrapping. For example, the patent publication number CN216233258U is a packaging automation system for copper pipe annealing production.

[0003] The above situation has a high degree of automation, but the space requirement is lower than that in the factory. In the case of insufficient space, the finished products can only be stacked in one place first, and then the forklift will transfer the stacked products to the vicinity of the wrapping machine. At present, for this type of situation where there is no assembly line connection between wrapping and stacking, the technology shown in the patent publication number CN111498406A, an automatic stacking machine and its stacking method, is mostly used. In this technology, a hanger installed on a multi-axis truss is used to transfer the coils one by one to the wooden pallet in the finished product area for stacking. After stacking, a forklift enters the truss area to transfer the stacked products out. However, this direction has the following problems:

[0004] First, when the coiled material is transferred from a single roll to the stacking position, the height increases after stacking, so the lifting stroke of the hoist needs to be set higher, and the height of the multi-axis truss also needs to be higher to meet the stacking requirements. However, when the lifting stroke of the hoist is high, when the metal pipe is already very heavy (taking copper pipe as an example, the coiled material of the copper pipe after winding can reach 300kg, 400kg, or even around 500kg), the high stroke increases the safety hazard for the transfer of the coiled material, and for the scene with a high stacking height, the multi-axis truss cannot meet the requirements and has to use a crane for lifting. After the crane controls the lifting, it not only increases the cost but also still increases the safety risk.

[0005] Second, when coil materials are stacked, they need to be separated by interlayer pads (interlayer pads such as cardboard, paper pads, wooden boards, wooden pads, metal plates, metal pads, etc. are used to separate items). If the interlayer pads are placed manually, it is necessary for people to enter the sling operation area, which increases the safety hazard. If automated equipment is set up for placement, the equipment cost is increased.

[0006] Third, because the coils need to be weighed before stacking, the spreader needs to first send the coils to the weighing table for weighing, and then send the coils to the wooden pallet in the finished product area for stacking. The long moving path of the spreader also reduces production efficiency. Summary of the invention

[0007] The present invention is intended to provide a material transfer device with safety protection to solve the problem of high travel and increased safety risk when using a sling to stack coiled materials in the current technology.

[0008] In order to achieve the above object, the present invention adopts the following technical scheme:

[0009] A safety protection material transfer device includes a sling and a lifting platform. The sling is installed on a multi-axis truss or a multi-axis robot to drive the sling to move in space. The lifting platform is located below the sling. A platform scale and a transfer conveyor line are installed on the top of the lifting platform. The transfer conveyor line is located above the platform scale and also includes a discharge conveyor line. The output end of the transfer conveyor line can be connected to the input end of the discharge conveyor line.

[0010] The principle and advantage of this solution are: when adopting this solution, through the lifting effect of the lifting platform, the lifting and lowering of the lifting platform can be controlled so that the lifting height is the same each time the hoist places the stacked coils, which can avoid the potential safety hazard caused by the high lifting travel of the hoist due to the high height of the stack.

[0011] In addition, in this solution, a platform scale is installed on the lifting platform. The cumulative weighing function of the platform scale and the difference between adjacent weighings can reduce the transfer of the coiled material once, thereby reducing the number of times the sling transfers the coiled material, thereby reducing safety risks and helping to improve production efficiency.

[0012] In addition, the transfer conveyor line installed on the top of the lifting platform can be connected to the discharging conveyor line, so that after the stacking is completed, the lifting platform can be lowered to the transfer conveyor line and aligned with the discharging conveyor line, and the stacked materials can be directly sent to the discharging conveyor line. There is no need for a forklift to enter the sling operation area to transfer materials, which further improves safety.

[0013] Preferably, as an improvement, the lifting platform is arranged in a pit dug on the ground, so that the installation position of the multi-axis truss or the multi-axis robot can be directly installed on the ground without being raised.

[0014] Preferably, as an improvement, the length of the pit is greater than the length of the transfer conveyor line, a telescopic shield 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 shield is used to cover the spare length between the transfer conveyor line and the discharge conveyor line, and after the telescopic shield is retracted, the transfer conveyor line can connect with the discharge conveyor line.

[0015] Beneficial effect: After each coil 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 manual labor 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 manual falls and ensure safety.

[0016] Preferably, as an improvement, the discharge conveyor line is also located in the pit, one section of the telescopic shield is located below the discharge conveyor line, and the telescopic direction of the telescopic shield is the conveying direction of the discharge conveyor line, so that the entire material transfer device occupies a small area and reduces the space requirements for the factory building.

[0017] Preferably, as an improvement, guardrails are provided on both sides of the transfer conveyor line and the discharge conveyor line to further improve safety.

[0018] The present invention also provides a coil material unloading system, comprising the safety protection material transfer device.

[0019] Preferably, as an improvement, it also includes a side-drawing mechanism located above the lifting platform, the side-drawing mechanism includes at least two support plates that can move away from or close to each other, all support plates are evenly distributed circumferentially, and there is falling space for a material tray used for lifting coiled materials between the support plates.

[0020] Beneficial effect: After the side-drawing mechanism is set above the lifting platform, the sling can use an internal sling, and the coiled material can also be a loose disk that does not need to be bound by a binding belt. The sling transfers the coiled material by lifting the material tray. After it is transferred to the support plate that is close together, the material tray loses the support of the sling and falls directly from the falling space formed between the support plates. At this time, it is only necessary to use manual or mechanical arms to receive the fallen material tray, and take the material tray away so that it does not affect the subsequent coiled material falling to the lifting platform. After the support plates move away from each other, the coiled material can fall onto the lifting platform. That is, this solution allows the coiled material to be sent to the stacking without bundling, and there is no need to bring the material tray together with the stacking as in the prior art, thereby reducing the turnover cost of the material tray.

[0021] Preferably, as an improvement, the material tray is in the shape of an elongated strip, and a hollow area is provided in the middle of the material tray for the upper arm of the sling to pass through. The sling adopts an internal sling, and the internal sling includes at least two arms arranged on the sling pillars and a plurality of arc-shaped elastic pads protruding outward, all of which are evenly distributed circumferentially about the center of the sling, and all of which are also distributed circumferentially about the center of the sling, and the arc-shaped elastic pads are located above the arms, and all of which can move away from / approach each other, and all of which can also move away from or approach each other; the arms are used to extend into the hollow area of ​​the material tray after moving away from each other and to support the material tray; 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 arms during the lifting process, and the arc-shaped elastic pads are used to prevent the coiled material from shaking during the lifting process.

[0022] Preferably, as an improvement, it also includes an upper embracing mechanism located above the side withdrawal mechanism, the upper embracing mechanism includes at least two upper embracing rings, all of which are evenly distributed circumferentially, and all of the upper embracing rings can move away from or approach each other under the corresponding drive, and the upper embracing rings are used to embrace the coiled material.

[0023] Beneficial effect: In the prior art, for coils made of heavy metal pipes, the weight of the coils is about 500kg, and the height of the coils is about 0.6 meters. When the coils are in a loose state (that is, they are only wound into coils without being bundled), even at a height of 0.6 meters, after the support plate is pulled out, on the one hand, the coils are prone to tilt due to being in a loose state, and on the other hand, due to the heavy weight of the coils, the friction between the coils and the support plate is very large. During the process of pulling the support plate outward, the contact between the bottom pipe of the coil and the support plate will gradually be disengaged. During the disengagement process, it is easy to cause creases or wear on the bottom pipe.

[0024] The present solution arranges an upper embracing mechanism above the support plate, so that before the support plate is withdrawn, the upper embracing mechanism is first used to embrace the pipe, and the upper embracing ring forms a certain support and circumferential limitation for the coiled material, which can not only avoid the problem of tilting of the coiled material after falling, but also form a certain lifting force for the coiled material during the withdrawal process of the support plate of the side withdrawal mechanism, thereby reducing the friction and mutual squeezing force between the support plate and the bottom pipe during the withdrawal process, which can not only reduce or even avoid the problem of compression deformation of the bottom pipe of the coiled material, but also reduce or even avoid the problem of severe wear of the pipe caused by excessive friction between the bottom pipe and the support plate.

[0025] In addition, when the coiled material falls to the interlayer pad / wooden pallet, the upper embracing ring clamps the multi-layer coiled material at a certain height at the bottom of the coiled material, which can avoid the coiled material from falling apart due to a sudden drop under gravity. It can also avoid the situation where there is a difference in the position of the coiled material when the hoist is lifting it. The upper embracing rings are close to each other to correct the position of the coiled material, ensuring the stability after stacking.

[0026] Preferably, as an improvement, it also includes a lower embracing mechanism located below the side drawer mechanism, 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.

[0027] Beneficial effect: This solution realizes the anti-dumping / anti-tilting setting during the stacking process, ensuring that the stacking can be higher, and the coil material is embraced by the lower embracing mechanism during the free fall process, so the interlayer pad / wooden pallet is positioned. No matter whether the interlayer pad is made of corrugated cardboard, metal plate, wood plate or plastic plate, it can ensure that both the coil material and the interlayer pad are consistent from top to bottom after each layer of stacking, further improving the stacking quality.

[0028] Preferably, as an improvement, the side-drawing mechanism further comprises a support slide and a side-drawing driving machine, the support plate is fixed on the corresponding support slide, the side-drawing driving machine is used to drive the support slide to slide so as to achieve the support plates moving away from or approaching each other, and the lower hugging mechanism is installed at the bottom of the support slide. In this solution, the lower hugging ring is arranged at the bottom of the side-drawing mechanism, which is equivalent to providing a counterweight for the side-drawing mechanism, which helps to ensure the stability of the side-drawing mechanism.

[0029] 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 supporting slide seat.

[0030] 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.

[0031] Preferably, as an improvement, the lower embracing ring is in contact with the bottom surface of the support plate, and the spacing between the upper embracing ring and the support plate is smaller than the radius of the pipe of the coil, so that the interlayer pad or wooden pallet below that is prepared to support the coil is very close to the top surface of the support plate, which greatly reduces the falling height of the coil after losing the support of the support plate, thereby further avoiding the tilting of the coil; and the upper embracing ring is very close to the support plate, and can be designed to be close to the upper surface of the support plate in actual use, so that when the upper embracing mechanism embraces the coil, the multi-layer pipes at the bottom section of the coil are clamped and lifted, further reducing the probability of damage or wear of the bottom pipe of the coil, and also avoiding the problem of the bottom pipe of the coil deviating the metal pipe when the support plate is pulled out.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] Preferably, as an improvement, the side edge of the plastic plate facing the center of the coil is provided with an arc-shaped transition surface, which is bent downward so that the edge of the support plate will not cause indentations on the bottom of the coil. It is also convenient for the support plates to gradually detach from the support for the coil after the side-drawing mechanism controls the support plates to move away from each other, thereby further reducing or even avoiding indentations on the bottom of the coil during the process of pulling the support plates outward.

[0036] 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 Schematic diagram of the three-dimensional structure of the first embodiment of the present invention (the three-axis truss that drives the hanger to move in XYZ is not shown in the figure).

[0038] Figure 2 for Figure 1 The right side section diagram under the sling is not shown.

[0039] Figure 3 A schematic diagram of the three-dimensional structure of the hanger and the material hanging tray used in an embodiment of the present invention.

[0040] Figure 4 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.

[0041] Figure 5 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.

[0042] Figure 6 It is a schematic diagram of the three-dimensional structure of the second embodiment of the present invention.

[0043] Figure 7 This is a schematic diagram of the three-dimensional structure of the second embodiment of the present invention without showing the four-axis palletizing robot.

[0044] Figure 8 Schematic diagram of the three-dimensional structure of the four-axis palletizing robot used in the second embodiment of the present invention.

[0045] Fig. 9 It is a three-dimensional structural schematic diagram showing the relationship between the upper embracing mechanism, the side drawing mechanism, the lower embracing mechanism and the lifting platform in the second embodiment of the present invention.

[0046] Fig.10 for Fig. 9 Front cross-sectional view.

[0047] Fig.11 for Fig.10 A locally enlarged schematic diagram is shown in FIG. 1 , wherein the diagram also includes a locally enlarged structure of a support plate.

[0048] Fig.12 for Fig. 9 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).

[0049] Fig.13 for Fig.12 3D diagram after adjusting the angle.

[0050] Fig.14 for Fig.12 The figure shows the three-dimensional structure of the side-drawing mechanism after the explosion (the side-drawing drive machine is not shown).

[0051] Fig.15 for Fig.14 3D diagram after adjusting the angle. DETAILED DESCRIPTION

[0052] The following is further described in detail through specific implementation methods:

[0053] The figure marks in the drawings of the specification include: upper embracing mechanism 10, upper embracing ring 11, upper sliding seat 12, elastic pad 110, side withdrawal mechanism 20, support plate 21, metal base 211, plastic plate 212, support slide 22, metal frame 221, U-shaped bottom plate 23, lower embracing mechanism 30, lower embracing ring 31, lower sliding seat 32, elastic pad 110, lifting platform 40, platform scale 41, transfer conveyor line 42, telescopic shield 50, discharging conveyor line 60, four-axis palletizing robot 70, frame 100, coil material 200, hanging material pallet 201, wooden pallet 301, interlayer pad 302, inner sling 400, hanging arm 401, arc-shaped elastic pad 402, three-axis truss 500, ground 600, pit 601.

[0054] Embodiment 1

[0055] Combination Figures 1 to 5 A material transfer device with safety protection includes a sling 400 and a lifting platform 40. The sling 400 is installed on a multi-axis truss 500 or a multi-axis robot to drive the sling 400 to move in space.

[0056] In this embodiment, the material tray 201 is in the shape of a long strip, and a hollow area is provided in the middle of the material tray 201 for the upper suspension arm 401 of the suspension device to pass through. The suspension device in this embodiment adopts an inner suspension device 400, which is installed on a three-axis truss 500, and the three-axis truss 500 can drive the inner suspension device 400 to move to realize the transfer of the coiled material 200.

[0057] 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.

[0058] The lifting platform 40 is set in a pit 601 on the ground 600 so that there is a larger space between the lifting platform 40 and the sling 400. A platform scale 41 is fixed on the top of the lifting platform 40. The platform scale 41 is used to weigh the coiled materials 200 stacked each time. A transfer conveyor line 42 is installed on the top of the platform scale 41.

[0059] The 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 discharge conveyor line 60. 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 approach 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 can be consistent with the height of the discharge conveyor line 60 under the control of the lifting platform 40. The output end of the transfer conveyor line 42 can be docked with the input end of the discharge conveyor line 60.

[0060] 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.

[0061] In this embodiment, the lifting function of the lifting platform 40 is used to control the lifting of the lifting platform 40, so that the lifting height is the same each time the hoist places the stacked coiled materials 200, which can avoid the potential safety hazard caused by the high lifting stroke of the hoist due to the high height of the stack. Moreover, because the lifting height of the internal hoist 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 500 kg, which saves equipment costs and improves safety.

[0062] 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.

[0063] In addition, 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.

[0064] Guardrails are arranged around the pit 601 to further improve safety.

[0065] Embodiment 2

[0066] Combination Figures 6 to 15 The second embodiment provides a coil material 200 unloading system, including the material transfer device of the first embodiment, and also includes an upper hugging mechanism 10, a side extraction mechanism 20 and a lower hugging mechanism 30 located above the lifting platform 40 and arranged in sequence from top to bottom. The side extraction mechanism 20 is used to temporarily support the coil material 200 to be stacked on the lifting platform 40, the upper hugging mechanism 10 is used to hug the coil material 200 when the side extraction mechanism 20 is ready to withdraw the support for the coil material 200, and the lower hugging mechanism 30 is used to hug the interlayer pad 302 or the wooden pallet 301 placed on the lifting platform 40, and the interlayer pad 302 or the wooden pallet 301 is used to position the coil material 200.

[0067] 1. Upper hugging mechanism 10 and lower hugging mechanism 30

[0068] Combination Figures 9 to 15 The upper embracing mechanism 10 and the lower embracing mechanism 30 are similar in structure. The upper embracing mechanism 10 includes an upper embracing drive motor, two upper sliding seats 12 and two upper embracing rings 11, and the lower embracing mechanism 30 includes a lower embracing drive motor, two lower sliding seats 32 and two lower embracing rings 31.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 2. Side drawer mechanism 20

[0074] Combination Figures 9 to 15 The side-drawing mechanism 20 includes a side-drawing driving machine, two supporting slides 22 and two supporting plates 21. The side-drawing driving machine is fixed on the frame 100, and the supporting slides 22 are slidably connected to the frame 100. Each supporting plate 21 is fixed on the corresponding supporting slide 22. The two supporting plates 21 are symmetrically arranged about the coil material 200. The side-drawing driving machine is used to drive the supporting slides 22 to slide so as to realize the mutual distance or proximity between the supporting plates 21. There is a falling space for the hanging material tray 201 between the supporting plates 21. The lower sliding seat 32 of the lower hugging mechanism 30 corresponds to the supporting slide 22 one by one, and the lower sliding seat 32 is slidably connected to the bottom of the supporting slide 22, so that the lower hugging mechanism 30 forms a counterweight of the side-drawing mechanism 20.

[0075] 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.

[0076] 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.

[0077] 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 .

[0078] 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.

[0079] 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.

[0080] 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.

[0081] This embodiment adopts a material unloading method of the coil material 200 unloading system, including the following steps:

[0082] S1. Use the inner hanger 400 to place the coiled material 200 supported by the material tray 201 on two support plates 21 that are close to each other, let the material tray 201 fall from the gap between the support plates 21, and take away the fallen material tray 201.

[0083] Specifically, the material tray 201 can be removed by a four-axis palletizing robot 70 (combined with Figure 8 , the output arm of the four-axis palletizing robot 70 can move in 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 direct palletizing of the removed hanging material pallet 201 by using the rotation function. ), before the four-axis palletizing robot 70 takes the hanging material pallet 201, the four-axis palletizing robot 70 first moves to the lower part of the spacing between the support plates 21 to prepare for receiving the falling hanging material pallet 201. The four-axis palletizing robot 70 takes away the hanging material pallet 201 and stacks the hanging material pallet 201.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] S5, the upper embracing ring 11 and the lower embracing ring 31 both retract, and the linear drive is controlled to drive the lifting platform 40 to move to the position of the telescopic shield 50, and then the interlayer pad 302 is placed on the coiled material 200, and then the lifting platform 40 is controlled to drive the coiled material 200 to descend to a height that is convenient for the lifting platform 40 with the coiled material 200 to move to the bottom of the support plate 21 again.

[0088] S6, the subsequent stacking cycle S1-S4, until the stacking is completed.

[0089] S7. After the stacking is completed, the linear drive is used to drive the lifting platform 40 to move toward the discharge conveyor line 60 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 wrapping with film.

[0090] In this embodiment, during the process of the coil 200 falling from the support plate 21, the upper embracing mechanism 10 still maintains the state of embracing the coil 200, and the outer diameter of the coil is basically the same. Therefore, during the falling process when the support plate 21 no longer supports the coil 200, the upper embracing ring 11 forms a certain support and circumferential limitation for the coil 200, which can not only avoid the problem of the coil 200 tilting after falling, but also form a certain lifting force for the coil 200 during the withdrawal process of the support plate 21 of the side withdrawal mechanism 20, thereby reducing the friction with the support plate 21 during the withdrawal process. The friction and mutual squeezing force between the bottom pipes can reduce or even avoid the problem of compression deformation of the bottom pipe of the coil 200, and can also reduce or even avoid the problem of severe pipe wear caused by excessive friction between the bottom pipe and the support plate 21. In addition, the double-layer structure of the support plate 21 is provided with a plastic plate 212 with a very high smoothness and a different material from the coil 200, which also helps to reduce the friction between the support plate 21 and the bottom pipe of the coil 200, thereby reducing or even avoiding the problem of wear of the bottom pipe of the coil 200.

[0091] The upper hugging mechanism 10 and the lower hugging mechanism 30 clamp the support plate 21 from top to bottom in a manner equivalent to clamping, which can ensure the force stability of the support plate 21, especially the lower hugging mechanism 30 is directly installed on the support slide 22 of the side draw mechanism 20 to form a counterweight of the side draw 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 copper pipe weighing up to 500kg can be stabilized. The coiled material 200 can also be stacked in a loose state without tipping over, and the stability and reliability of the entire stacking device are ensured. In the process of the coiled material 200 falling onto the interlayer pad 302 / wooden pallet 301, the upper embracing ring 11 clamps the multi-layered tube material at a certain height at the bottom of the coiled material 200, thereby preventing the coiled material 200 from suddenly falling under gravity and causing the coiled material 200 to become loose / tilted. It can also prevent the position of the coiled material from being different when the sling 400 suspends the coiled material, and the upper embracing rings 11 are brought close to each other to correct the position of the coiled material, thereby ensuring the stability after stacking.

[0092] In addition, the arrangement of the lifting platform 40 of the present embodiment allows the lifting platform 40 to be lowered to a position convenient for placing the next roll of coil 200 after the coil 200 is placed, thereby facilitating the automation of stacking.

[0093] In addition, when the present embodiment is adopted, since the support plate 21 of the side-drawing mechanism 20 only needs to leave space for the material hanging tray 201, the two support plates 21 can be designed to be larger, thereby achieving large-area support for the bottom of the coiled material 200 by the support plate 21, reducing or even avoiding the problem of compression and deformation of the bottom of the coiled material 200 due to the small supporting area.

[0094] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A material transfer device with safety protection, comprising a sling and a lifting platform, wherein the sling is mounted on a multi-axis truss or a multi-axis robot to drive the sling to move in space, characterized in that: The lifting platform is located below the sling, and a platform scale and a transfer conveyor line are installed on the top of the lifting platform. The transfer conveyor line is located above the platform scale and also includes a discharge conveyor line. The output end of the transfer conveyor line can be connected with the input end of the discharge conveyor line.

2. A material transfer device for safety protection according to claim 1, characterized in that: The lifting platform is arranged in a pit dug on the ground.

3. A material transfer device for safety protection according to claim 2, characterized in that: The length of the pit is greater than the length of the transfer conveyor line. A telescopic shield is arranged 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 shield is used to cover the spare length between the transfer conveyor line and the discharge conveyor line. After the telescopic shield is retracted, the transfer conveyor line can connect with the discharge conveyor line.

4. A material transfer device for safety protection according to claim 3, characterized in that: The discharging conveying line is also located in the pit, one section of the telescopic shield is located below the discharging conveying line, and the telescopic direction of the telescopic shield is the conveying direction of the discharging conveying line.

5. A material transfer device for safety protection according to claim 4, characterized in that: Guardrails are arranged on both sides of the transfer conveyor line and the discharging conveyor line.

6. A coil material unloading system, characterized in that: A material transfer device comprising the safety protection as claimed in any one of claims 1-5.

7. A coil material unloading system according to claim 6, characterized in that: It also includes a side-drawing mechanism located above the lifting platform, which includes at least two support plates that can move away from or close to each other, all the support plates are evenly distributed in the circumferential direction, and there is a falling space for a material tray used for lifting coiled materials between the support plates.

8. A coil material unloading system according to claim 7, characterized in that: It also includes an upper embracing mechanism located above the side-drawing mechanism, 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 drives, and the upper embracing rings are used to embrace the coiled material.

9. A coil material unloading system according to claim 8, characterized in that: It also includes a lower embracing mechanism located below the side drawer mechanism, 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.

10. A coil material unloading system according to claim 9, 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.

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