Online coil automatic bagging system and method

Abstract

The invention relates to an online coil automatic bagging system and method, and belongs to the technical field of metallurgical equipment. According to the technical scheme, a roll shape recognition system communicates with a control system, the control system recognizes the overall dimension and axis of a roll and judges an abnormal roll through the roll shape recognition system, and a bag grabbing device is used for automatically grabbing and conveying a roll packaging bag; the outer bag sleeving device is used for opening the packaging bag according to the boundary dimension of a coil, the front half part of the packaging bag is conveyed to the rear end of the coil from the front end of the coil, and automatic outer bag sleeving is achieved. Pushing the rear half part of the packaging bag from the front end of the coil to the rear end of the coil by using an inner bag sleeving device; the control system controls the outer bag sleeving device, the bag grabbing device and the inner bag sleeving device to be in cooperative linkage, and automatic coil bagging and packaging are achieved. The automatic bagging device has the beneficial effects that manual bagging operation is replaced, the labor intensity of workers is greatly reduced, and the personal safety guarantee of the operators is improved. And meanwhile, coil packaging standardization is achieved, and the packaging quality is improved.

Description

Technical Field

[0001] The present invention relates to an online automatic coil bagging system and method. In the online automatic coil bagging system, mechatronics technology and AI image recognition technology are combined to improve the packaging quality and efficiency of high-end wire materials, reduce the labor intensity of workers, and belong to the field of metallurgical equipment technology. Background Art

[0002] High-end wire rod production lines typically produce products with sizes ranging from 5mm to 28mm. After rolling, the rolled product is unrolled from the laying head into coils. After cooling, the wire rod is gathered at the coiling station and transported to the PF line via a vertical coiling mandrel. The PF line plays a vital role in high-speed wire rod production and is widely used as a coil transportation method. The PF line features a lifting platform. Through precise mechanical design and rational layout, the coils are efficiently and stably transported. The PF line then feeds the coils to the bundling machine for bundling into hot-rolled coils. High-end wire rods require high surface quality, and the finished coils must be free of rust and surface damage. To prevent water damage and minimize surface damage during transportation and storage, the hot-rolled coils are bagged online after bundling. Existing high-speed wire rod bagging is performed manually, requiring at least six workers simultaneously. This not only requires extensive labor and harsh working conditions, but also results in low collaboration efficiency, directly impacting the production line's production pace. At the same time, due to the heavy weight of the coil, manual operation is very difficult. Due to the influence of manual skills, physical strength, and emotions, it is difficult to ensure stable packaging quality, and bagging and packaging rework will occur. Therefore, it is very necessary to design an online coil automatic bagging system with high operation efficiency and good packaging quality. Summary of the Invention

[0003] The purpose of the present invention is to provide an online automatic bagging system and method for coiling, which can improve the packaging quality and efficiency of high-end wire materials, reduce the labor intensity of workers, and solve the above-mentioned technical problems existing in the existing technology.

[0004] To achieve the above object, the present invention adopts the following technical solutions: An online automatic bagging system for coils is arranged next to the PF line lifting platform, and includes an outer bagging device, a bag grabbing device, an inner bagging device, a roll shape recognition system and a control system. The outer bagging device is composed of a horizontal slide rail and a bag supporting mechanism. Two horizontal slide rails are provided and installed in parallel on the ground on both sides of the PF line lifting platform; the bag supporting mechanism is slidably installed on the two horizontal slide rails and connected to the horizontal slide rails through a linear drive mechanism controlled by the control system, and the bag supporting mechanism can move back and forth along the horizontal slide rails; the bag grabbing device is composed of a horizontal rail, a vertical rail and a bag grabbing cantilever, and the vertical rail and the bag grabbing cantilever are connected. The arm constitutes a bag grabbing mechanism, and two bag grabbing mechanisms are provided at the front and rear to respectively grab the front and rear bag openings of the packaging bag; the horizontal rail is installed on the ground on one side of the two horizontal slide rails and is parallel to the horizontal slide rails; the lower end of the vertical rail is slidably installed on the horizontal rail and is connected to the horizontal rail through a linear drive mechanism 2 controlled by a control system, and the vertical rail can move forward and backward along the horizontal rail; one end of the bag grabbing cantilever is slidably installed on the vertical rail and is connected to the vertical rail through a linear drive mechanism 3 controlled by a control system, and the bag grabbing cantilever can move up and down along the vertical rail, and a packaging bag suction cup is installed at one end of the bag grabbing cantilever; The inner bag device is composed of a horizontal rail, a vertical slide rail, an inner bag cantilever and an inner bag pushing rod; the vertical slide rail, the inner bag cantilever and the inner bag pushing rod form the inner bag mechanism, the lower end of the vertical slide rail is slidably installed on the horizontal rail and is connected to the horizontal rail through a linear drive mechanism four controlled by a control system, and the vertical slide rail can move back and forth along the horizontal rail; one end of the inner bag cantilever is slidably installed on the vertical slide rail and is connected to the vertical slide rail through a linear drive mechanism five controlled by the control system, and the inner bag cantilever can move up and down along the vertical slide rail; the other end of the inner bag cantilever extends toward the PF line lifting platform workstation, and the four inner bag pushing rods are parallel to the horizontal slide rail, the front end of the inner bag pushing rod is fixedly connected to the inner bag cantilever, and the rear end is opposite to the inner hole of the coil on the PF line lifting platform, and the four inner bag pushing rods are evenly distributed around the axis of the coil.

[0005] The control system collects signals through the roll shape recognition system, which includes a camera bracket, an industrial camera and an industrial computer; the industrial camera is installed on the camera bracket, the industrial camera is connected to the industrial computer, and the industrial computer is connected to the control system; the industrial camera is set on the right front side of the outer bag device, the roll shape recognition system communicates with the control system, and the control system controls the coordinated action of the bag grabbing device, the outer bag device and the inner bag device according to the roll shape discrimination parameters of the roll shape recognition system.

[0006] The lens of the industrial camera faces the coil.

[0007] The bag-supporting mechanism includes a C-shaped frame with an opening facing downward, a support seat, a support slider and multiple tensioning plates. The C-shaped frame coaxially surrounds the outside of the coil on the PF line lifting platform. The two support seats are respectively fixed to the outside of the two ends of the C-shaped frame and are respectively slidably connected to the two horizontal slide rails. Each support seat is connected to the corresponding horizontal slide rail through a linear drive mechanism; multiple tensioning plates are located on the inner side of the C-shaped frame and are evenly distributed around the axis of the C-shaped frame. Each tensioning plate is connected to the C-shaped frame through a radial drive mechanism and can move radially along the C-shaped frame under the drive of the radial drive mechanism.

[0008] The radial drive mechanism includes a tensioning rod, a gear rack mechanism and a tensioning motor. The gear rack mechanism and the tensioning motor are fixed on the C-shaped frame. The output shaft of the tensioning motor is connected to the gear in the gear rack mechanism through a transmission mechanism. The rack in the gear rack mechanism is connected to the tensioning plate through the tensioning rod. A laser rangefinder corresponding to the coil on the PF line lifting platform is also installed on the tensioning plate to measure the distance from the tensioning plate to the coil; the laser rangefinder is connected to the control system.

[0009] One end of the bag grabbing cantilever is slidably mounted on the vertical track through a base slider and is connected to the vertical track through a linear drive mechanism 2 controlled by a control system, and the other end is provided with a horizontal bag grabbing plate corresponding to the packaging bag laid flat on the front of the horizontal slide rail; the packaging bag suction cup is a needle type suction cup, and two needle type suction cups are respectively mounted at both ends of the bag grabbing plate, and 216 evenly distributed suction cup mounting holes are provided on the bag grabbing plate, and the position of the needle type suction cup can be quickly adjusted according to the difference in packaging bags. A packaging bag detection probe is installed in the middle of the bag grabbing plate 31.

[0010] The rear end of the inner bag pushing ejector rod is provided with an ejector rod head, a nylon wheel is installed on the ejector rod head, and the nylon wheel is rotatably connected with the ejector rod head through an axle pin.

[0011] The length of the inner bag pushing rod is greater than the maximum coil length.

[0012] Linear drive mechanisms 1, 2, 3, 4, and 5 are all composed of servo motors and lead screws. The core component of the control system is the PLC control cabinet, which outputs synchronization logic and controls the servo motors of each linear drive mechanism, the tensioning motor of the radial drive mechanism, and the pneumatic solenoid valve of the needle suction cup. The PLC control cabinet also connects to the packaging bag detection probe and the coil in-position sensor (proximity switch) installed on the PF line lifting platform.

[0013] An online automatic bagging method for coils adopts the above-mentioned automatic bagging system for coils, the coil shape recognition system communicates with the control system, the control system recognizes the outer dimensions and axis of the coil and judges abnormal coils through the coil shape recognition system, and uses a bag grabbing device to automatically grab and send the coil packaging bag; uses an outer bagging device to expand the packaging bag according to the outer dimensions of the coil, and sends the front half of the packaging bag from the front end of the coil to the rear end of the coil to realize automatic outer bagging; uses an inner bagging device to push the rear half of the packaging bag from the front end of the coil to the rear end of the coil; and controls the outer bagging device, the bag grabbing device and the inner bagging device to cooperate and link through the control system to realize automatic bagging and packaging of the coil.

[0014] The specific steps include: placing the packaging bag (an unsealed bag) flat in front of a horizontal slide rail; the coil runs to the PF line lift station, where an industrial camera captures an image of the coil, and an industrial computer determines whether the coil shape is normal. If the coil shape is normal, the two bag-grabbing cantilevers are controlled to descend simultaneously, energizing the needle suction cup solenoid valve to attract both the front and rear bag openings; the two bag-grabbing cantilevers simultaneously rise to the elevation, and the two vertical rails move horizontally toward the PF line lift platform to the bag-stretching mechanism; the bag-stretching mechanism's laser rangefinder detects the initial distance between the tensioning plate and the coil outer ring, and the control system compares the distance and determines the displacement parameters. The control system then initiates logical control: expanding the bag outward to complete the outer bag-sleeving operation; the bag-stretching mechanism moves to the initial bag-stretching position, and the two vertical rails move to the initial bag-grabbing position; the PF line lift platform rises, the inner bag cantilever moves downward, and the inner bag pushes the end of the ejector pin to flip the bag, and flexibly twists and feeds the bag to the rear end of the coil, completing the bag turning and feeding; the inner bag lift track and rear vertical track synchronously return to their initial positions, and the inner bag cantilever rises and resets, completing the inner bag-sleeving operation.

[0015] Technical features of the present invention: (1) The present invention uses visual inspection to detect the outer dimensions of the coil, determine the qualified coil type, and locate the coil axis in combination with laser ranging. For coils with qualified coil types, the packaging bag is grabbed by controlling the front and rear bag grabbing devices and sent to the outer bagging device; the outer bagging device is controlled to support and feed the bag, and the front half of the packaging bag is smoothly put on the coil, completing the outer bagging operation; the inner bagging device is controlled to flip and push the second half of the packaging bag through the coil core, completing the inner bagging operation. At this point, the coil bagging operation is automatically completed, replacing the manual bagging and packaging operation, and improving the production line production efficiency.

[0016] (2) The bagging mechanism of the present invention comprises a C-shaped steel frame, and six sets of tensioning plates are evenly distributed on the bagging frame to perform the manual bag-holding operation. According to the size of the coil outer ring detected by visual inspection, the servo motor of each tensioning plate is actuated to adjust the position of the tensioning plate to achieve a consistent distance between the tensioning plate and the coil outer ring, thus ensuring an unimpeded bagging process.

[0017] (3) The present invention comprises two sets of bag grabbing devices, each responsible for grabbing the front and rear bag openings. The two bag grabbing cantilevers move downward synchronously, and the bag grabbing detection probe detects the bag on the ground. The four sets of needle suction cups operate simultaneously, grabbing the front and rear bag openings, lifting them to the elevation, and moving them toward the outer bag device, delivering the front bag opening to the initial position of the outer bag device, thus completing the delivery of the bag.

[0018] (4) After the inner bag device of the present invention receives the action instruction, the inner bag cantilever moves downward, so that the inner bag pushing rod reaches the center position of the coil at the lower end of the C-shaped hook, the inner bag lifting track pushes forward, the end of the inner bag pushing rod flips the packaging bag, and flexibly twists the packaging bag to the rear end of the coil, completing the bag turning and sending action, and realizing automatic inner bag turning.

[0019] (5) The coil shape recognition system of the present invention uses a CCD industrial camera for visual inspection of coils. The industrial computer intelligently determines the external dimensions (including outer diameter and length) and abnormal coils, and locates the coil axis in combination with the tensioning plate laser ranging data, forming a control parameter communication control system. The control system uses S7-1500 to control the coordinated linkage of various devices to complete bagging.

[0020] The present invention has the following beneficial effects: a bag-grabbing device automatically grabs and delivers coil packaging bags; an outer bagging device expands the packaging bag according to the coil's external dimensions, moving the front half of the packaging bag from the front end of the coil to the rear end, achieving automatic outer bagging; and an inner bagging device pushes the rear half of the packaging bag from the front end of the coil to the rear end, replacing manual bagging operations. This significantly reduces labor intensity and improves operator safety. Furthermore, standardization of coil packaging is achieved, improving packaging quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of an embodiment of the present invention; Figure 2 This is a schematic structural diagram of a bag-supporting mechanism according to an embodiment of the present invention; Figure 3 This is a schematic structural diagram of a bag grabbing cantilever according to an embodiment of the present invention; Figure 4 This is a structural diagram of an inner bag pushing ejector rod according to an embodiment of the present invention; Figure 5 Schematic diagram of the roll shape recognition system according to an embodiment of the present invention; The numbers in the figure are as follows: 1. Horizontal slide rail, 2. Bag support mechanism, 3. Horizontal rail, 4. Vertical rail, 5. Bag grabbing cantilever, 6. Vertical slide rail, 7. Inner bag cantilever, 8. Inner bag pushing rod, 9. Camera bracket, 10. Industrial camera, 11. Control system, 12. PF line lifting platform, 13. Coil, 14. C-type hook; 21. C-type frame, 22. Support seat, 23. Support slider, 24. Tensioning plate, 25. Tensioning rod, 26. Gear rack mechanism, 27. Tensioning motor, 28. Laser rangefinder; 31. Bag grabbing plate, 32. Base slider, 33. Needle suction cup, 34. Bag detection probe; 41. Nylon wheel, 42. Push rod head. DETAILED DESCRIPTION

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] Refer to the attached Figure 1 , an online coil automatic bagging system is arranged next to the PF line lifting platform 12, including an outer bag device, a bag grabbing device, an inner bag device, a roll shape recognition system and a control system 11, the outer bag device is composed of a horizontal slide rail 1 and a bag support mechanism 2, the horizontal slide rail 1 is provided with two, and is installed in parallel on the ground on both sides of the PF line lifting platform 12; the bag support mechanism 2 is slidably installed on the two horizontal slide rails 1 and is connected to the horizontal slide rail 1 through a linear drive mechanism controlled by the control system 11, and the bag support mechanism 2 can move back and forth along the horizontal slide rail 1; the bag grabbing device is composed of a horizontal rail 3, a vertical rail 4 and a bag grabbing cantilever 5, the vertical rail 4 and the bag grabbing cantilever The cantilever 5 constitutes a bag grabbing mechanism, and two bag grabbing mechanisms are provided at the front and rear to respectively grab the front and rear bag openings of the packaging bag; the horizontal rail 3 is installed on the ground on one side of the two horizontal slide rails 1 and is parallel to the horizontal slide rail 1, and the lower end of the vertical rail 4 is slidably installed on the horizontal rail 3 and is connected to the horizontal rail 3 through a linear drive mechanism 2 controlled by a control system 11, and the vertical rail 4 can move back and forth along the horizontal rail 3; one end of the bag grabbing cantilever 5 is slidably installed on the vertical rail 4 and is connected to the vertical rail 4 through a linear drive mechanism 3 controlled by the control system 11, and the bag grabbing cantilever 5 can move up and down along the vertical rail 4, and a packaging bag suction cup is installed at one end of the bag grabbing cantilever 5; The inner bag device is composed of a horizontal rail 3, a vertical slide rail 6, an inner bag cantilever 7 and an inner bag pushing rod 8; the vertical slide rail 6, the inner bag cantilever 7 and the inner bag pushing rod 8 form an inner bag mechanism, and the lower end of the vertical slide rail 6 is slidably mounted on the horizontal rail 3 and is connected to the horizontal rail 3 through a linear drive mechanism four controlled by a control system 11, and the vertical slide rail 6 can move back and forth along the horizontal rail 3; one end of the inner bag cantilever 7 is slidably mounted on the vertical slide rail 6 and is connected to the vertical slide rail 6 through a linear drive mechanism five controlled by the control system 11, and the inner bag cantilever 7 can move up and down along the vertical slide rail 6; the other end of the inner bag cantilever 7 extends toward the workstation direction of the PF line lifting platform 12, and the four inner bag pushing rods 8 are parallel to the horizontal slide rail 1, and the front end of the inner bag pushing rod 8 is fixedly connected to the inner bag cantilever 7, and the rear end is opposite to the inner hole of the coil 13 on the PF line lifting platform 12, and the four inner bag pushing rods 8 are evenly distributed around the axis of the coil 13.

[0024] The control system 11 collects signals through the roll shape recognition system, and the roll shape recognition system includes a camera bracket 9, an industrial camera 10 and an industrial computer; the industrial camera 10 is installed on the camera bracket 9, the industrial camera 10 is connected to the industrial computer, and the industrial computer is connected to the control system 11; the industrial camera is set on the right front side of the outer bag device, and the roll shape recognition system communicates with the control system 11. The control system 11 controls the coordinated action of the bag grabbing device, the outer bag device and the inner bag device according to the roll shape discrimination parameters of the roll shape recognition system.

[0025] The lens of the industrial camera 10 faces the coil 13 at a distance of 2-5 m.

[0026] Refer to the attached Figure 2 The bag-supporting mechanism 2 includes a C-shaped frame 21 with an opening facing downward, a support seat 22, a support slider 23 and a plurality of tensioning plates 24. The C-shaped frame 21 coaxially surrounds the outside of the coil 13 on the PF line lifting platform 12. The two support seats 22 are respectively fixed to the outer sides of the two ends of the C-shaped frame 21 and are respectively slidably connected to the two horizontal slide rails 1. Each support seat 22 is connected to the corresponding horizontal slide rail 1 through a linear drive mechanism; a plurality of tensioning plates 24 are located on the inner side of the C-shaped frame 21 and are evenly distributed around the axis of the C-shaped frame 21. Each tensioning plate 24 is connected to the C-shaped frame 21 through a radial drive mechanism and can move radially along the C-shaped frame 21 under the drive of the radial drive mechanism.

[0027] The radial drive mechanism includes a tensioning rod 25, a gear rack mechanism 26 and a tensioning motor 27. The gear rack mechanism 26 and the tensioning motor 27 are fixed on the C-shaped frame 21. The output shaft of the tensioning motor 27 is connected to the gear in the gear rack mechanism 26 through a transmission mechanism. The rack in the gear rack mechanism 26 is connected to the tensioning plate 24 through the tensioning rod 25. A laser rangefinder 28 corresponding to the coil 13 on the PF line lifting platform 12 is also installed on the tensioning plate 24, which is used to measure the distance from the tensioning plate 24 to the coil 13; the laser rangefinder 28 is connected to the control system 11.

[0028] Refer to the attached Figure 3 One end of the bag-grabbing cantilever 5 is slidably mounted on the vertical track 4 via a base slider 32 and connected to the vertical track 4 via a second linear drive mechanism controlled by the control system 11. The other end is equipped with a horizontal bag-grabbing plate 31 corresponding to the bags placed flat in front of the horizontal slide 1. The bag-grabbing suction cups are pin-type suction cups 33, two of which are mounted at each end of the bag-grabbing plate 31. The plate 31 has 216 evenly distributed suction cup mounting holes, allowing for quick adjustment of the position of the pin-type suction cups 33 according to the bag size. A bag detection probe 34 is mounted in the center of the bag-grabbing plate 31. The pin-type suction cups 33 are model ZK-T30x120.

[0029] Refer to the attached Figure 4 The rear end of the inner bag pushing rod 8 is provided with a rod head 42, on which a nylon wheel 41 is mounted, and the nylon wheel 41 is rotatably connected to the rod head 42 via an axle pin.

[0030] The length of the inner bag pushing rod 8 is greater than the maximum coil length.

[0031] The linear drive mechanisms 1, 2, 3, 4, and 5 are all composed of servo motors and lead screws. The core component of the control system 11 is the PLC control cabinet, which outputs synchronous logic to control the servo motors of each linear drive mechanism, the tensioning motor of the radial drive mechanism, and the pneumatic solenoid valve of the needle suction cup 33. The PLC control cabinet also connects to the packaging bag detection probe 34 and the coil position sensor (proximity switch) installed on the PF line lifting platform 12. The PLC control cabinet uses a Siemens 1500PLC standard CPU 1511. The PLC control cabinet controls each servo motor via a Siemens S120 series frequency converter.

[0032] A method for automatic bagging of online coils adopts the above-mentioned automatic bagging system for online coils, wherein the coil shape recognition system communicates with the control system 11, the control system 11 recognizes the outer dimensions and axis of the coil and judges abnormal coils through the coil shape recognition system, and automatically grabs and delivers the coil packaging bag using a bag grabbing device; utilizes an outer bagging device to expand the packaging bag according to the outer dimensions of the coil, and sends the front half of the packaging bag from the front end of the coil to the rear end of the coil to realize automatic outer bagging; utilizes an inner bagging device to push the rear half of the packaging bag from the front end of the coil to the rear end of the coil; and controls the outer bagging device, the bag grabbing device and the inner bagging device to cooperate and link together through the control system to realize automatic bagging and packaging of the coil.

[0033] Specific steps: lay the packaging bag flat in front of the horizontal slide rail 1, the packaging bag is a bag that is not sealed at both ends; the coil runs to the PF line lifting station, the coil shape recognition system collects the coil image through the industrial camera 10, and the industrial computer determines whether the coil shape is normal; if the coil shape is normal, the two bag grabbing cantilevers 5 are controlled to descend at the same time, the needle suction cup 33 solenoid valve is energized, and the front and rear bag openings are both adsorbed; the two bag grabbing cantilevers 5 rise to the elevation at the same time, and the two vertical rails 4 move horizontally to the PF line lifting platform 12 to the bag support mechanism 2; the laser rangefinder 28 of the bag support mechanism 2 detects the initial distance between the tensioning plate 24 and the outer ring of the coil, and the control system 11 compares and obtains the displacement parameter, and the control system 11 starts logical control: open the packaging bag outward, and send the front half of the packaging bag from the front end of the coil to the rear end of the coil to complete the outer bag operation; the bag support mechanism 2 moves to the bag support initial position, and the two vertical rails 4 move to the bag grabbing initial position; The PF line lifting platform 12 rises, the inner bag cantilever 7 moves downward, the inner bag pushes the end of the ejector rod to flip the packaging bag, and flexibly twists the packaging bag to the rear end of the coil, completing the bag flipping and feeding; the inner bag lifting track 6 and the rear vertical track 4 synchronously return to the initial position, the inner bag cantilever 7 rises and resets, and the inner bag action is completed.

[0034] In an embodiment, the specific steps are: The packaging bag is laid flat in front of the horizontal slide rail 1. The packaging bag is a bag that is not sealed at both ends. The coil runs to the PF line lifting station. After the control system 11 receives the coil in place signal, it sends a capture instruction to the industrial camera 10. The industrial camera 10 clearly captures the coil image and transmits it to the industrial computer. The industrial computer processes the image, performs image identification and parameter training through YOLO V8, and intelligently determines the coil size, axis and abnormal coil shape to form coil size, axis and coil status parameters. If the coil shape is abnormal, manual processing is prompted. If the coil shape is normal, the two bag grabbing cantilevers 5 are controlled to descend at the same time until the packaging bag detection probe 34 contacts the packaging bag. The solenoid valve of the needle suction cup 33 is energized, and the front and rear bag openings are both adsorbed. The two bag grabbing cantilevers 5 rise to the elevation at the same time, and the two vertical rails 4 move horizontally toward the PF line lifting platform 12 to the bag supporting mechanism 2. The six laser rangefinders 28 of the bag-stretching mechanism 2 detect the initial distance between the tensioning plate 24 and the outer ring of the coil. The control system 11 compares the coil visual intelligent discrimination parameters with the initial laser rangefinder values ​​to obtain the displacement parameters of the six tensioning plates 24. The control system 11 then initiates logical control: (1) The control system 11 drives the six tensioning motors 27 to operate respectively, and the rack and pinion mechanism 26 drives the tensioning plates 24 to move radially through the tensioning rods 25, causing them to stretch the packaging bag outward; (2) After the bag detection probe 34 of the front bag grabbing cantilever 5 contacts the bag, the control system 11 controls the two needle suction cups 33 of the front bag grabbing cantilever 5 to lose power; the bag support mechanism 2 and the two vertical rails 4 move forward at the same time, and according to the length of the coil, move to the rear end position of the coil and stop; the six tensioning plates 24 are retracted at the same time, and the two needle suction cups 33 of the rear bag grabbing cantilever 5 lose power, and the outer bag operation is completed; (3) The bag-holding mechanism 2 and the two vertical rails 4 move backward simultaneously, the bag-holding mechanism 2 moves to the initial position for holding the bag, and the two vertical rails 4 move to the initial position for grabbing the bag; (4) The PF line lifting platform 12 is raised, and the coil is separated from the C-hook 14. The inner bag cantilever 7 moves downward, so that the inner bag pushing rod 8 reaches the center of the coil at the lower end of the C-hook 14. The inner bag lifting track 6 and the rear vertical track 4 push the coil length forward synchronously. The end of the inner bag pushing rod flips the packaging bag and flexibly twists the packaging bag to the rear end of the coil, completing the bag turning and feeding. The inner bag lifting track 6 and the rear vertical track 4 synchronously return to the initial position, and the inner bag cantilever 7 rises and resets, and the inner bag putting action is completed.

[0035] The installation and adjustment process of each device of the present invention is as follows: Complete the assembly of the horizontal slide rail 1, the bag supporting mechanism 2, the horizontal track 3, the vertical track 4, the bag grabbing cantilever 5, the vertical slide rail 6, the inner bag cantilever 7 and the inner bag pushing rod 8 respectively.

[0036] Taking the ground foundation of the PF line lifting platform 12 as the reference, determine the ground positions of the horizontal slide rail 1 and the horizontal track 3, and install the two types of tracks.

[0037] A bag supporting mechanism 2 is installed on two horizontal slide rails 1.

[0038] Two sets of vertical rails 4 and vertical slide rails 6 are installed on the horizontal rail 3 . The distance between the two sets of vertical rails 4 is set according to the length of the packaging bag. The vertical slide rail 6 is installed on the outside of the rear vertical rail 4 .

[0039] Bag grabbing cantilevers 5 are respectively installed on the vertical rails 4 .

[0040] An inner bag cantilever 7 is installed on the vertical slide rail 6 ; an inner bag pushing rod 8 is installed at the front end of the inner bag cantilever 7 .

[0041] After the mechanical device is installed, the control system 11 is installed, along with electrical wiring and distribution. The roll shape recognition system is then installed. The camera bracket 9 is positioned and installed based on the industrial camera's field of view and the roll's shape. The industrial camera 10 is mounted on top of the bracket. Depending on the selected industrial camera 10 model, a single or multiple cameras 10 can be deployed to capture a clear, panoramic image of the roll.

Claims

1. An online coil automatic bagging system, characterized in that; The invention is arranged beside a PF line lifting platform (12), and comprises an outer bag device, a bag grabbing device, an inner bag device and a control system (11). The outer bag device is composed of a horizontal slide rail (1) and a bag support mechanism (2). Two horizontal slide rails (1) are arranged and are installed in parallel on the ground at both sides of the PF line lifting platform (12); the bag support mechanism (2) is slidably installed on the two horizontal slide rails (1) and is connected to the horizontal slide rails through a linear drive mechanism controlled by the control system, and the bag support mechanism can move forward and backward along the horizontal slide rails; the bag grabbing device is composed of a horizontal rail (3), a vertical rail (4) and a bag grabbing cantilever (5). The vertical track and the bag grabbing cantilever constitute a bag grabbing mechanism, and two bag grabbing mechanisms are arranged in front and back to grab the front and back bag openings of the packaging bag respectively; the horizontal track is installed on the ground on one side of the two horizontal slide rails and is parallel to the horizontal slide rails, the lower end of the vertical track is slidably installed on the horizontal track and connected to the horizontal track through a linear drive mechanism 2 controlled by a control system, and the vertical track can move forward and backward along the horizontal track; one end of the bag grabbing cantilever is slidably installed on the vertical track and connected to the vertical track through a linear drive mechanism 3 controlled by a control system, and the bag grabbing cantilever can move up and down along the vertical track, and a packaging bag suction cup is installed at one end of the bag grabbing cantilever; The bag-in-bag device comprises a horizontal rail (3), a vertical slide rail (6), a bag-in-bag cantilever (7) and a bag-in-bag pushing push rod (8); the vertical slide rail, the bag-in-bag cantilever and the bag-in-bag pushing push rod constitute the bag-in-bag mechanism; the lower end of the vertical slide rail is slidably mounted on the horizontal rail and connected to the horizontal rail via a linear drive mechanism 4 controlled by a control system; the vertical slide rail can move forward and backward along the horizontal rail; one end of the bag-in-bag cantilever is slidably mounted on the vertical slide rail and connected to the vertical slide rail via a linear drive mechanism 5 controlled by a control system (11); the bag-in-bag cantilever can move up and down along the vertical slide rail; the other end of the bag-in-bag cantilever extends in the direction of the PF line lifting platform (12) workstation; four bag-in-bag pushing push rods are parallel to the horizontal slide rail; the front end of the bag-in-bag pushing push rod is fixedly connected to the bag-in-bag cantilever and the rear end is opposite to the inner hole of the coil (13) on the PF line lifting platform; the four bag-in-bag pushing push rods are evenly distributed around the axis of the coil.

2. The online automatic bagging system for coils according to claim 1, characterized in that: The control system (11) collects signals through a roll shape recognition system, wherein the roll shape recognition system comprises a camera bracket (9), an industrial camera (10) and an industrial computer; the industrial camera is mounted on the camera bracket, the industrial camera is connected to the industrial computer, and the industrial computer is connected to the control system (11); the industrial camera is arranged on the right front side of the outer bag device, the roll shape recognition system communicates with the control system, and the control system controls the coordinated actions of the bag grabbing device, the outer bag device and the inner bag device according to the roll shape discrimination parameters of the roll shape recognition system.

3. An online coil automatic bagging system according to claim 1 or 2, characterized in that: The lens of the industrial camera (10) faces the coil (13).

4. An online coil automatic bagging system according to claim 1 or 2, characterized in that: The bag-supporting mechanism (2) comprises a C-shaped frame (21) with an opening facing downward, a support seat (22), a support slider (23) and a plurality of tensioning plates (24); the C-shaped frame coaxially surrounds the outside of the coil (13) on the PF line lifting platform (12); two support seats are respectively fixed to the outer sides of the two ends of the C-shaped frame and are respectively slidably connected to two horizontal slide rails (1); each support seat is connected to a corresponding horizontal slide rail via a linear drive mechanism; the plurality of tensioning plates are located on the inner side of the C-shaped frame and are evenly distributed around the axis of the C-shaped frame; each tensioning plate is connected to the C-shaped frame via a radial drive mechanism and can move radially along the C-shaped frame under the drive of the radial drive mechanism.

5. The online automatic bagging system for coils according to claim 4, characterized in that: The radial drive mechanism comprises a tensioning rod (25), a gear rack mechanism (26) and a tensioning motor (27); the gear rack mechanism and the tensioning motor are fixed on a C-shaped frame (21); the output shaft of the tensioning motor is connected to a gear in the gear rack mechanism through a transmission mechanism; the rack in the gear rack mechanism is connected to a tensioning plate (24) through a tensioning rod; a laser rangefinder (28) corresponding to a coil (13) on a PF line lifting platform (12) is also mounted on the tensioning plate for measuring the distance from the tensioning plate to the coil; the laser rangefinder is connected to a control system (11).

6. An online coil automatic bagging system according to claim 1 or 2, characterized in that: One end of the bag grabbing cantilever (5) is slidably mounted on the vertical track (4) via a base slider (32) and is connected to the vertical track via a linear drive mechanism 2 controlled by a control system (11); the other end is provided with a horizontal bag grabbing plate (31) corresponding to the packaging bag laid flat in front of the horizontal slide rail (1); the packaging bag suction cup is a needle-type suction cup (33), two needle-type suction cups are respectively mounted at both ends of the bag grabbing plate, 216 evenly distributed suction cup mounting holes are provided on the bag grabbing plate, the position of the needle-type suction cup can be quickly adjusted according to the difference in packaging bags, and a packaging bag detection probe (34) is installed in the middle of the bag grabbing plate.

7. An online coil automatic bagging system according to claim 1 or 2, characterized in that: A push rod head (42) is provided at the rear end of the inner bag pushing push rod (8), a nylon wheel (41) is mounted on the push rod head, and the nylon wheel is rotatably connected to the push rod head (42) via an axle pin.

8. An online coil automatic bagging system according to claim 1 or 2, characterized in that: The length of the inner bag pushing push rod (8) is greater than the maximum coil length.

9. An online coil automatic bagging method, using an online coil automatic bagging system according to any one of claims 1 to 8, characterized in that: The roll shape recognition system communicates with the control system. The control system identifies the outer dimensions and axis of the coil and judges abnormal coils through the roll shape recognition system, and uses the bag grabbing device to automatically grab and send the coil packaging bag; uses the outer bag putting device to realize the packaging bag to be expanded according to the outer dimensions of the coil, and sends the front half of the packaging bag from the front end of the coil to the rear end of the coil to realize automatic outer bag putting; uses the inner bag putting device to push the rear half of the packaging bag from the front end of the coil to the rear end of the coil; and controls the outer bag putting device, the bag grabbing device and the inner bag putting device to work together through the control system to realize automatic bagging and packaging of the coil.

10. The method for automatic bagging of an online coil according to claim 9, characterized in that The specific steps include: placing a packaging bag flat in front of a horizontal slide rail (1), wherein the packaging bag is a bag with two ends not sealed; the coil runs to the PF line lifting station, and an industrial camera (10) collects a coil image, and an industrial computer determines whether the coil shape is normal; if the coil shape is normal, the two bag grabbing cantilevers (5) are controlled to descend simultaneously, and the solenoid valve of the needle suction cup (33) is energized, and the front and rear bag openings are both adsorbed; the two bag grabbing cantilevers (5) are simultaneously raised to the elevation, and the two vertical rails (4) are translated to the bag support mechanism (2) toward the PF line lifting platform (12); the laser rangefinder (28) of the bag support mechanism (2) detects the initial distance between the tensioning plate (24) and the outer ring of the coil, and the coil shape recognition system compares and obtains the displacement parameter, and the control system starts logical control: the packaging bag is opened outward, and the front half of the packaging bag is sent from the front end of the coil to the rear end of the coil, completing the outer bag cover action; the bag support mechanism (2) moves to the initial position of the bag support, and the two vertical rails (4) move to the initial position of the bag grab; The PF line lifting platform (12) rises, the inner bag cantilever (7) moves downward, the inner bag push rod (8) is moved to the center of the coil, the vertical slide rail (6) moves forward, the nylon wheel (41) turns over the packaging bag, and flexibly twists and sends the packaging bag to the rear end of the coil, completing the bag turning and sending; the inner bag lifting track (6) and the rear vertical track (4) synchronously return to the initial position, the inner bag cantilever (7) rises and resets, and the inner bag putting action is completed.

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