Safety protection material transfer method

Abstract

The invention relates to the technical field of pipe production, and particularly discloses a safety protection material transfer method which comprises the following steps: S1, stacked coil materials are placed on a lifting platform to be stacked, and the lifting platform is arranged in a pit; 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 platform scale is used for weighing in the stacking process; and S2, after stacking is completed, the lifting table is controlled to ascend and descend to the output end of the transfer conveying line to be in butt joint with the input end of a discharging conveying line, and the stacked materials are conveyed out in time. 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 method with safety protection. 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, the forklift enters the truss area to transfer the stacked coils 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, after the lifting stroke of the hoist is high, when the metal pipe is already very heavy (taking copper pipes as an example, the coiled material of copper pipes after winding can reach 300kg, 400kg or even 500kg), the high stroke increases the safety hazard of 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 method with safety protection, so as to solve the problem that the current technology has a high stroke and increases the safety risk when using a sling to stack coiled materials.

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

[0009] A material transfer method with safety protection comprises the following steps:

[0010] S1. The coiled materials to be stacked are placed on a lifting platform for stacking. The lifting platform is arranged in a pit. The coiled materials are stacked on the lifting platform. The lifting function of the lifting platform is used to lower the lifting height of the spreader.

[0011] 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. The platform scale is used for weighing during the stacking process.

[0012] S2. After the stacking is completed, the lifting platform is controlled to rise and fall to the output end of the transfer conveyor line and dock with the input end of the discharging conveyor line, so as to realize the timely delivery of the stacked materials.

[0013] The principles and advantages of this solution are: when this solution is adopted, the lifting action of the lifting platform can be used to control the lifting of the lifting platform 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 large height of the stack; and the lifting platform is arranged in a pit, so that the multi-axis truss that drives the hoist to move can be directly installed on the ground, ensuring that the installation height and lifting height of the hoist are within a safe range.

[0014] 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.

[0015] 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.

[0016] 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, and the lifting platform is installed at the output end of the linear drive;

[0017] After S1 places a coil of material each time, the linear drive is controlled to drive the lifting platform to move toward the material discharging conveyor line until the lifting platform moves out of the working area of ​​the spreader, and the interlayer pads on top of 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;

[0018] 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.

[0019] 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.

[0020] Preferably, as an improvement, in step S1, the specific steps are as follows:

[0021] Step 1: Use the inner lifting device to place the coiled material supported by the material tray on two support plates that are close to each other, and let the material tray fall down and take it away from the gap between the support plates;

[0022] Step 2: 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;

[0023] Step 3: 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.

[0024] 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.

[0025] Preferably, as an improvement, the inner sling utilizes at least two outward-movable lifting arms on the inner sling to support the bottom of the material tray when lifting the coiled material, and utilizes an outward-movable arc-shaped elastic pad on the inner sling to press against the inner hole wall of the coiled material to ensure that the coiled material will not move relative to the inner sling during the process of lifting the coiled material by the inner sling, thereby ensuring the safety of lifting and the stability of movement.

[0026] Preferably, as an improvement, before controlling the two support plates to move away from each other in step three, at least two upper embracing rings of the upper embracing mechanism are used to embrace the outer periphery of the coiled material, so that the upper embracing rings provide falling resistance during the falling process of the coiled material.

[0027] 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.

[0028] 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.

[0029] 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, and the upper embracing rings can be used to correct the position of the coiled material by approaching each other.

[0030] Preferably, as an improvement, after the interlayer pad / wooden pallet in step two rises to be in contact with / close to the bottom surface of the support plate, a plurality of lower hugging rings that can approach each other are used to hug the center to position the interlayer pad / wooden pallet.

[0031] Preferably, as an improvement, the upper embracing ring and the lower embracing ring are close to the support plate from the top and bottom, the lower embracing ring is installed on the corresponding lower sliding seat, the upper support plate is fixed on the support slide, the support slide slides on the frame, and the lower sliding seat is slidably connected to the bottom of the support slide, so that the lower embracing ring and the lower sliding seat form a counterweight when supporting the support plate, which helps to balance the force on the support plate.

[0032] 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.

[0033] 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.

[0034] In step one, a four-axis palletizing robot with a suction cup on the output arm is used to suck the falling hanging material pallet and transfer it to the periphery of the side extraction mechanism to further improve the degree of automation of material transfer.

[0035] Preferably, as an improvement, the height of the coil material falling from the support plate to the wooden pallet / interlayer pad below is no more than 15 mm, and the impact of the coil material falling is ensured to be small by controlling the falling height.

[0036] 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.

[0037] Beneficial effect: The support plate adopts a metal base to ensure the support strength of the support plate. The smooth surface of the plastic plate can 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the three-dimensional structure of the material stack transfer system used in an embodiment of the present invention.

[0039] 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.

[0040] Figure 3 for Figure 2 The front sectional view (the pit on the ground and the inner hanger above are added to this view).

[0041] Figure 4 for Figure 3A locally enlarged schematic diagram is shown in FIG. 1 , wherein the diagram also includes a locally enlarged structure of a support plate.

[0042] 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).

[0043] Figure 6 for Figure 5 3D diagram after adjusting the angle.

[0044] 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).

[0045] Figure 8 for Figure 7 3D diagram after adjusting the angle.

[0046] 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.

[0047] Fig.10 for Fig. 9 Main cross-sectional diagram.

[0048] 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.

[0049] Fig.12 for Fig.11 Right cross-sectional diagram of .

[0050] 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.

[0051] 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.

[0052] 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.

[0053] Fig.16 Schematic diagram of the three-dimensional structure of the four-axis palletizing robot in an embodiment of the present invention.

[0054] Fig.17 is a flow chart of an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The following is further described in detail through specific implementation methods:

[0056] 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 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, sling 400, hanging arm 401, arc-shaped elastic pad 402, three-axis truss 500, ground 600, pit 601.

[0057] Example

[0058] Combination Figure 1 A material transfer method with safety protection requires the use of a material stacking transfer system, which includes an upper embracing mechanism 10, a side extraction mechanism 20, a lower embracing mechanism 30, a lifting platform 40, a telescopic shield 50, a discharge conveyor line 60, an inner sling 400 and a four-axis stacking robot 70.

[0059] 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.

[0060] 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 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.

[0061] The specific structure is as follows:

[0062] 1. Upper hugging mechanism 10 and lower hugging mechanism 30

[0063] Combination Figures 2 to 10The structures of the upper embracing mechanism 10 and the lower embracing mechanism 30 are similar. The upper embracing mechanism 10 includes an upper embracing drive machine, two upper sliding seats 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.

[0064] The two upper embracing rings 11 are symmetrically arranged about the coiled 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 to slide along the frame 100. The upper embracing rings 11 are fixed on the upper sliding seat. 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 coiled material 200.

[0065] 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.

[0066] 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.

[0067] Metal steel frames are provided inside the lower sliding seat 32 and the upper sliding seat to ensure the strength of the sliding seats.

[0068] 2. Side drawer mechanism 20

[0069] 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.

[0070] The distance between the upper hugging ring 11 and the support plate 21 is smaller than the radius of the tube of the coil. 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 coil 200 is not less than one-fourth of the height of the coil 200, so that the upper hugging ring 11 and the coil 200 have a sufficiently large contact area, thereby ensuring that the clamping force can meet the requirements and avoiding the problem of the bottom metal tube of the coil 200 being deflected when the bottom tube of the coil 200 is pulled out of the support plate 21. The lower hugging ring 31 is in close contact with the bottom surface of the support plate 21.

[0071] 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.

[0072] 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 .

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 3. Lifting platform 40, telescopic cover 50 and discharge conveyor line 60

[0077] 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.

[0078] 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.

[0079] 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.

[0080] 4. Internal lifting device 400 and four-axis palletizing robot 70

[0081] 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 suspension device of this embodiment adopts an inner suspension device 400, which is installed on a three-axis truss 500. The three-axis truss 500 drives the inner suspension device 400 to move along the X-axis, Y-axis, and Z-axis, thereby ensuring that the coiled material 200 is directly suspended on the support plate 21 of the side drawer mechanism 20 with the material tray 201.

[0082] 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.

[0083] 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.

[0084] 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 .

[0085] Combination Fig.17 , a material transfer method with safety protection, comprising the following steps:

[0086] S1. Place the coiled materials to be stacked on the lifting platform for stacking. The specific steps are as follows:

[0087] S11, using the inner lifting device 400 to place the coiled material 200 to be transferred on the production line together with the lifting material tray 201 on two supporting plates 21 that are close to each other.

[0088] 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.

[0089] S12, control the lifting platform 40 below the support plate 21 to rise until the interlayer pad 302 or wooden pallet 301 used for stacking on the lifting platform 40 is in contact with / close to the bottom surface of the support plate 21; after the interlayer pad 302 or wooden pallet 301 is close to / against the bottom surface of the support plate 21, control the two lower embracing rings 31 of the lower embracing mechanism 30 to approach each other to position the interlayer pad 302 or wooden pallet 301.

[0090] S13, make the two upper hugging rings 11 on the upper hugging mechanism 10 approach each other to hug the outer periphery of the coiled material 200; the height of the upper hugging rings 11 hugging the coiled material 200 is not less than 1 / 4 of the height of the coiled material 200.

[0091] S14, control the two support plates 21 to move away from each other, so that the coiled material 200 loses the support of the support plate 21 and falls on the interlayer pad 302 or the wooden pallet 301 on the lifting platform 40 (the friction force generated by the upper embracing ring 11 clamping the coiled material is less than the dead weight of the coiled material, so that the coiled material can still fall under the clamping); in the falling process, because the interlayer pad 302 / wooden pallet 301 is attached to the bottom surface of the support plate 21, the falling height of the entire coiled material 200 is very small, and the falling height can be controlled within 15 mm. In this embodiment, since the support plate 21 is clamped by the U-shaped bottom plate 23 and the U-shaped structure of the metal frame 221, the support strength of the support plate 21 is high, and the thickness of the support plate 21 can be set to be relatively small. In addition, the upper embracing ring 11 clamps and supports the coil material 200, so that the thickness of the support plate 21 can be set to be even smaller. In a specific embodiment, the thickness of the support plate 21 can be designed to be no more than 8 mm while still meeting the requirements of stacking stability and reliability, and the falling height of the coil material 200 is exactly the thickness of the support plate 21. It can be seen that the falling height is very small, and the coil material 200 will not become loose or tilted.

[0092] S15, the upper embracing ring 11 retreats, and the lifting platform 40 drives the coiled material 200 to descend, and the subsequent stacking cycle S11-S14 is repeated until the stacking is completed.

[0093] S2. After the stacking is completed, the linear drive is used to drive the lifting platform 40 to move along the slide rail until the transfer conveyor line 42 on the lifting platform 40 is docked with the discharge conveyor line 60 in the pit 601, so that the transfer conveyor line 42 can deliver the stacked multi-roll coil 200 to the discharge conveyor line 60 to facilitate the subsequent use of film for wrapping and packaging.

[0094] 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.

[0095] The advantages of this embodiment are as follows:

[0096] First, the present embodiment uses the lifting function of the lifting platform 40 to control the lifting of the lifting platform 40 so that each time the sling 400 places the stacked coiled materials 200, the lifting height is the same, which can avoid the potential safety hazard caused by the need for a long lifting stroke of the sling due to the large height of the stack. 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 heavy copper coiled materials, which saves equipment costs and improves safety.

[0097] Second, 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. There is no 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.

[0098] Third, in this embodiment, during the process of the coil 200 falling from the support plate 21, the upper hugging mechanism 10 still maintains the state of 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.

[0099] Fourth, in this embodiment, the upper hugging mechanism 10 and the lower hugging mechanism 30 clamp the support plate 21 from top to bottom in a manner equivalent to clamping, which can ensure the force stability of the support plate 21, especially the lower hugging mechanism 30 is directly installed on the support slide 22 of the side drawer mechanism 20 to form a counterweight 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 reduced. 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.

[0100] Fifth, 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.

[0101] The above is only an embodiment of the present invention, and the common knowledge such as the known specific technical solutions and / or characteristics in the solution is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A material transfer method with safety protection, characterized in that: The steps include: S1. The coiled materials to be stacked are placed on a lifting platform for stacking, and the lifting platform is set in a pit; 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. The platform scale is used for weighing during the stacking process. S2. After the stacking is completed, the lifting platform is controlled to rise and fall to the output end of the transfer conveyor line and dock with the input end of the discharging conveyor line, so as to realize the timely delivery of the stacked materials.

2. A safe material transfer method according to claim 1, characterized in that: The length of the pit is greater than the length of the transfer conveyor line, a telescopic cover is provided between the transfer conveyor line and the discharge conveyor line, and the lifting platform is installed at the output end of the linear drive; After S1 places a coil of material each time, the linear drive is controlled to drive the lifting platform to move toward the material discharging conveyor line until the lifting platform moves out of the working area of ​​the spreader, and the interlayer pads on top of 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.

3. A safe material transfer method according to claim 1, characterized in that: In step S1, the details are as follows: Step 1: Use the inner lifting device to place the coiled material supported by the material tray on two support plates that are close to each other, and let the material tray fall down and take it away from the gap between the support plates; Step 2: 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; Step 3: 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.

4. A safe material transfer method according to claim 3, characterized in that: When lifting the coiled material, the inner lifting device uses at least two outwardly movable lifting arms on the inner lifting device to support the bottom of the material lifting tray, and uses the arc-shaped elastic pad on the inner lifting device that can move outward to press against the inner hole wall of the coiled material.

5. A safe material transfer method according to claim 3, characterized in that: Before controlling the two support plates to move away from each other in step three, at least two upper hugging rings of the upper hugging mechanism are used to hug the outer periphery of the coiled material, so that the upper hugging rings provide falling resistance during the falling process of the coiled material.

6. A safe material transfer method according to claim 5, characterized in that: After the interlayer pad / wooden pallet in step 2 rises to be in contact with / close to the bottom surface of the support plate, the interlayer pad / wooden pallet is positioned by using a plurality of lower hugging rings that are close to each other to hug the center.

7. A safe material transfer method according to claim 6, characterized in that: The upper embracing ring and the lower embracing ring are close to the support plate from the upper and lower sides, the lower embracing ring is installed on the corresponding lower sliding seat, the upper support plate is fixed on the support sliding seat, the support sliding seat slides on the frame, and the lower sliding seat is slidably connected to the bottom of the support sliding seat.

8. A safe material transfer method according to any one of claims 5 to 7, 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. A safe material transfer method according to any one of claims 5 to 7, characterized in that: An elastic pad is fixed on the hugging surface of the upper hugging ring.

10. A safe material transfer method according to any one of claims 3 to 9, characterized in that: In step one, a four-axis palletizing robot with a suction cup on the output arm is used to suck the falling hanging material tray and transfer it to the periphery of the side extraction mechanism.

Images