Automatic sleeve conveying system and method for cold rolling recoiling machine

Abstract

The invention discloses an automatic sleeve conveying system and method for a cold rolling coiler, and the system comprises a sleeve conveying device and an upper sleeve trolley arranged corresponding to a mandrel of the coiler, and one end of the sleeve conveying device is provided with a sleeve turnover mechanism corresponding to the upper sleeve trolley; the sleeve storage rack is used for storing sleeves; and the industrial robot is used for hoisting and transferring the sleeves on the sleeve storage rack onto the sleeve conveying device. According to the automatic sleeve conveying system and method for the cold rolling coiler, the design is reasonable, the sleeves are automatically managed, the sleeve storage and use links are simplified, the sleeves are precisely managed and used, the sleeve use efficiency is improved, the safety risk caused by manual sleeve carrying is avoided, and the labor intensity of operators is relieved.

Description

Technical Field

[0001] The invention relates to the technical field of cold rolling coiling, and in particular to an automatic conveying system and method for a cold rolling coiling machine sleeve. Background Art

[0002] The cold rolling industry's acid rolling combined unit is in continuous production. The mill export steel coils are cut by flying shears, and the coiler adopts a double-core fast-switching Carassell coiler. The coiler has a compact structure and occupies a small area. The inner ring of a steel coil with a thickness of ≤0.4mm is prone to collapse after being unloaded from the coiler, which is not conducive to the subsequent process of coiling the uncoiler. Therefore, it is required that the steel coil with a thickness of ≤0.4mm be put on a steel sleeve before the coiler is threaded and coiled, thereby reducing the risk of the inner ring of the thin-gauge steel coil collapsing.

[0003] In order to avoid the inner ring of the steel coil being embossed by the steel sleeve, the length of the steel sleeve should be slightly larger than the width of the steel coil, but not too much larger than the width of the steel coil. If the length of the steel sleeve is too long, it will protrude too far from the end of the steel coil, which will affect the hoisting of the steel coil by the crane fixture. Therefore, the appropriate length of the steel sleeve should be selected according to the width of the steel coil. The steel sleeve is transported to the upper sleeve trolley by the sleeve conveying structure, or the sleeve is transported to the site manually and placed on the upper sleeve trolley by a cantilever crane.

[0004] At present, the steel sleeve is transported to the upper sleeve trolley by the sleeve conveying mechanism, or the sleeve is transported to the site manually and placed on the upper sleeve trolley by a cantilever crane. In both methods, the source of steel sleeves is the concentrated stacking area of ​​sleeves. When using the sleeve conveying device, it is also necessary to manually select and transport the steel sleeves to the sleeve conveying device, and use a crane or a cantilever crane to place the steel coil at the entrance of the sleeve conveying device. Both methods do not solve the problem of automatically selecting the appropriate length of steel sleeves according to the width of the production steel coil and manually transporting the steel sleeve. Even if a trolley is used to transport the sleeve, the intermediate links and workload such as manual measurement of the sleeve length and the sleeve getting on and off the trolley are not small, and the efficiency is not high. There is no automatic management and use of steel sleeves. The traditional sleeve conveying mechanism does not have a sleeve positioning structure, and uses hydraulic flipping to deliver the steel sleeve. The sleeve is prone to deviation and jamming, and cannot be smoothly transported to the end of the conveying line, and the steel sleeve is flipped to the sleeve conveying trolley, resulting in the abandonment of the sleeve conveying device.

[0005] For example, patent CN108160746A discloses a sleeve device on a hot rolling coiler, which includes a sleeve storage rack and a coil unloading trolley. A track frame is installed near the coil unloading trolley, and the track frame is provided with a trolley track that is basically perpendicular to the traveling direction of the coil unloading trolley. A traveling trolley is installed on the trolley track, and the traveling trolley is provided with a cantilever extending toward the coil unloading trolley. The front end of the cantilever is connected to a slide plate, and two hook devices arranged opposite to each other are installed on the slide plate. The hook devices are connected to a hook power cylinder that drives them to move on the slide plate; the sleeve storage rack is installed below the traveling trolley. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a cold rolling coiler sleeve automatic conveying system and method, so as to achieve the purpose of accurately managing and using the sleeve and improving the efficiency of sleeve use.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0008] A cold rolling coiler sleeve automatic conveying system comprises a sleeve conveying device and an upper sleeve trolley arranged corresponding to the core shaft of the coiler, one end of the sleeve conveying device is provided with a sleeve turning mechanism corresponding to the upper sleeve trolley, and also comprises a sleeve storage rack for storing sleeves and an industrial robot for hoisting the sleeve on the sleeve storage rack to the sleeve conveying device.

[0009] A robot moving linear guide rail is arranged side by side corresponding to the sleeve storage rack, and the industrial robot is movably arranged on the robot moving linear guide rail.

[0010] The sleeve storage racks are arranged in two rows side by side, and the robot moving linear guide rail is arranged between the two rows of sleeve storage racks.

[0011] One end of a row of sleeve storage racks is aligned with the other end of the sleeve conveying device.

[0012] It also includes a fence, in which the sleeve storage rack, the robot moving linear guide rail, the sleeve conveying device and the industrial robot are all located, and a safety door is arranged on the fence.

[0013] The sleeve storage rack is provided with a monitoring camera for monitoring the conditions of the sleeves on the sleeve storage rack.

[0014] It also includes a sleeve transfer trolley for removing sleeves from the transfer production line, a trolley guide rail for guiding and positioning the sleeve transfer trolley corresponding to the end of the sleeve storage rack, and a sleeve transfer trolley detector is provided on the trolley guide rail.

[0015] The industrial robot is provided with a robot arm, and the robot arm is provided with a scanning measuring device for scanning sleeve identification.

[0016] A control method for the automatic sleeve conveying system of the cold rolling coiler comprises the following steps:

[0017] The robot PLC system establishes communication with the production line PLC system. When the production line produces steel coils with a thickness of ≤0.4mm and the coiler needs to put on a sleeve, the robot PLC system compares the steel coil width with the length of all sleeves stored on the sleeve rack based on the steel coil width sent by the production line PLC system, automatically selects a sleeve with a length close to the steel coil width from the sleeve database, and sends the sleeve position coordinates and length data to the robot;

[0018] When there is no sleeve at the inlet sleeve position of the sleeve conveying device, the robot automatically takes the sleeve with corresponding coordinate data from the sleeve storage rack and transports the sleeve to the inlet sleeve position of the sleeve conveying device; when there is no sleeve at the outlet of the sleeve conveying device, the sleeve conveying device automatically transports the sleeve from the inlet to the outlet of the sleeve conveying device;

[0019] When the interlocking conditions such as the upper sleeve trolley is in the original position and the unloading trolley is in the safe position are met, the outlet sleeve of the sleeve conveying device is pushed onto the upper sleeve trolley.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] The cold rolling coiler sleeve automatic conveying system and method are reasonably designed, automatically manage the sleeve, simplify the sleeve storage and use links, and accurately manage and use the sleeve, thereby improving the sleeve use efficiency, avoiding the safety risks caused by manual handling of the sleeve, and reducing the labor intensity of the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The following is a brief description of the contents and symbols in the drawings of this specification:

[0023] Figure 1 Schematic diagram of the system of the present invention.

[0024] In the figure:

[0025] 1. Coiler, 2. Coiler mandrel, 3. Upper sleeve trolley, 4. Unloading trolley pit, 5. Sleeve conveying device, 6. Sleeve turning mechanism, 7. Sleeve pushing trolley, 8. Bridge, 9. Sleeve storage rack, 10. Monitoring camera I, 11. Electric control cabinet, 12. Safety door, 13. Robot moving linear guide, 14. Industrial robot, 15. Sleeve for next process, 16. Sleeve storage operation box, 17. Sleeve transfer trolley detector, 18. Robot arm, 19. Monitoring camera II. DETAILED DESCRIPTION

[0026] The specific implementation modes of the present invention will be further explained in detail below through the description of embodiments with reference to the accompanying drawings.

[0027] like Figure 1As shown, the cold rolling coiler sleeve automatic conveying system includes a sleeve conveying device 5, a sleeve storage rack 9 for storing sleeves, and an industrial robot 14 for lifting the sleeves on the sleeve storage rack to the sleeve conveying device; and an upper sleeve trolley 3 arranged corresponding to the coiler core shaft 2 of the coiler 1.

[0028] One end of the sleeve conveying device is provided with a sleeve turning mechanism 6 and a sleeve pushing trolley 7 corresponding to the upper sleeve trolley. Both the sleeve turning mechanism and the sleeve pushing trolley can adopt the existing hydraulic cylinder pushing structure; the sleeve at the outlet of the sleeve conveying device can be pushed onto the upper sleeve trolley.

[0029] Specifically, the sleeve conveying device includes a sleeve saddle, a steel sleeve detection element, a motor drive, a hydraulic flipping mechanism and a hydraulic pushing mechanism, which can successfully convey the steel sleeve to the upper steel sleeve trolley opposite the coil unloading trolley pit 4 of the coiler.

[0030] Corresponding sleeve storage racks are arranged side by side with robot moving linear guides 13, and the industrial robot is movably arranged on the robot moving linear guides; the sleeve storage racks 9 are arranged in two rows side by side, and the robot moving linear guides are arranged between the two rows of sleeve storage racks; the structure is compact, occupies little space, and is easy to arrange in the workshop.

[0031] One end of a row of sleeve storage racks is aligned with the other end of the sleeve conveying device, and they are connected together by a bridge frame 8, and the structure is stable and reliable. The sleeve storage rack, the robot moving linear guide rail, the sleeve conveying device and the industrial robot are all located in the fence, and the fence is provided with a safety door 12 and an electric control cabinet 11, which is safe and reliable during operation.

[0032] The sleeve storage rack is provided with a monitoring camera for monitoring the condition of the sleeves on the sleeve storage rack; specifically, a monitoring camera Ⅰ10 is provided on one end of the sleeve storage rack, and a monitoring camera Ⅱ19 is provided on the other end of the sleeve storage rack, which can monitor the condition of the sleeves on the storage rack.

[0033] The present invention also includes a sleeve transfer trolley for removing sleeves from the transfer production line. A trolley guide rail for guiding and positioning the sleeve transfer trolley is provided at the corresponding end of the sleeve storage rack. A sleeve transfer trolley detector 17 is provided on the trolley guide rail, and a sleeve storage operation box 16 is provided on the fence here. The sleeve transfer trolley can select an AGV trolley to realize automatic transfer of the sleeve.

[0034] The industrial robot is provided with a robot arm 18, on which a scanning measuring device for scanning sleeve identification is provided; preferably, the scanning measuring device is a 3D laser scanning measuring device, and the robot automatically performs 3D laser scanning measurement on the sleeve sent from the next process production line to obtain the sleeve coordinate position and sleeve length measurement calculation value, and automatically stores the sleeve on the sleeve storage rack according to the sleeve rack position information and coordinate value provided by the robot system PLC.

[0035] The control method of the cold rolling coiler sleeve automatic conveying system of the present invention comprises the following steps:

[0036] The robot PLC system establishes communication with the production line PLC system. When the production line produces steel coils with a thickness of ≤0.4mm and the coiler needs to put on a sleeve, the robot PLC system compares the steel coil width with the length of all sleeves stored on the sleeve rack based on the steel coil width sent by the production line PLC system, automatically selects a sleeve with a length close to the steel coil width from the sleeve database, and sends the sleeve position coordinates and length data to the robot;

[0037] When there is no sleeve at the inlet sleeve position of the sleeve conveying device, the robot automatically takes the sleeve with corresponding coordinate data from the sleeve storage rack and transports the sleeve to the inlet sleeve position of the sleeve conveying device; when there is no sleeve at the outlet of the sleeve conveying device, the sleeve conveying device automatically transports the sleeve from the inlet to the outlet of the sleeve conveying device;

[0038] When the interlocking conditions such as the upper sleeve trolley is in the original position and the unloading trolley is in the safe position are met, the outlet sleeve of the sleeve conveying device is pushed onto the upper sleeve trolley.

[0039] The cold rolling coiler sleeve automatic conveying system and method of the present invention are reasonably designed, automatically manage the sleeve, simplify the sleeve storage and use links, accurately manage and use the sleeve, improve the sleeve use efficiency, avoid the safety risks caused by manual handling of the sleeve, and reduce the labor intensity of the operator.

[0040] Preferred embodiments of the present invention are:

[0041] At the appropriate position of the coiler outlet, a sleeve automatic conveying device is set. The sleeve conveying device is parallel to the production line, and the center line is perpendicular to the upper sleeve trolley. When the upper sleeve trolley is in the original position, the sleeve on the sleeve conveying device can be conveyed and turned onto the upper sleeve trolley. A sleeve storage rack and a robot moving device parallel to the sleeve conveying device are set next to the sleeve conveying device, such as Figure 1 shown.

[0042] Firstly, the robot teaching pendant is used to calibrate the coordinate values ​​of the position of each sleeve storage position on the sleeve rack (X-axis in the length direction of the sleeve rack and Z-axis in the height direction). The robot system PLC stores the calibration values. The robot system PLC manages the coordinate position information and sleeve information (empty position, occupied position and storage length of the sleeve rack) of each sleeve position on the sleeve rack.

[0043] An industrial six-axis robot is used to transport the sleeve. When the sleeve is put into storage, the robot moves from the original position to the sleeve measurement and grasping position at the entrance of the sleeve rack. The robot automatically performs 3D laser scanning measurement on the sleeve 15 of the next process sent from the next process production line to obtain the sleeve coordinate position and sleeve length measurement calculation value. According to the sleeve rack position information and coordinate value provided by the robot system PLC, the sleeve is automatically stored in the sleeve rack, and the position coordinate data of the sleeve entering the warehouse (Y-axis in the length direction of the sleeve) and the sleeve length measurement data are fed back to the robot PLC system. The robot system PLC automatically manages the sleeve. After the sleeve is successfully put into storage, the robot will continue to execute the next sleeve storage (if there are still sleeves that need to be put into storage) or perform the outbound operation (if there is an outbound task). After all storage or outbound tasks are completed, the robot returns to the original position and waits.

[0044] In order to improve efficiency and reduce the length of the linear guide rail and the robot's moving distance when entering and leaving the warehouse, the steel sleeve storage rack adopts a double-row five-layer structure. The double-row sleeve storage rack reduces the length of the linear guide rail, reduces the robot's moving distance when entering and leaving the warehouse, and improves the robot's efficiency.

[0045] According to the width of the steel coil produced by the production line, the robot PLC compares the width of the steel coil with the length of all the sleeves stored on the sleeve rack, automatically selects the sleeve with the most appropriate length from the sleeve rack, and sends the selected sleeve position coordinate value and sleeve length data to the robot, which then completes the precise sleeve outbound operation.

[0046] The present invention adopts a robot system to automatically manage the sleeve, simplifies the storage and use of the sleeve, and accurately manages and uses the sleeve, improves the efficiency of sleeve use, avoids the safety risks caused by manual handling of the sleeve, and reduces the labor intensity of the operator.

[0047] The above is only an explanation of the preferred embodiments of the present invention, and the above technical features can be arbitrarily combined to form multiple embodiments of the present invention.

[0048] The present invention is described above by way of example in conjunction with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as various non-substantial improvements are made using the concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the protection scope of the present invention.

Claims

1. An automatic sleeve conveying system for a cold rolling coiler, comprising a sleeve conveying device and an upper sleeve trolley arranged corresponding to the mandrel of the coiler, one end of the sleeve conveying device corresponding to the upper sleeve trolley is provided with a sleeve turning mechanism, characterized in that: It also includes a sleeve storage rack for storing sleeves and an industrial robot for hoisting and transferring the sleeves on the sleeve storage rack to the sleeve conveying device.

2. The cold rolling coiler sleeve automatic conveying system according to claim 1, characterized in that: A robot moving linear guide rail is arranged side by side corresponding to the sleeve storage rack, and the industrial robot is movably arranged on the robot moving linear guide rail.

3. The cold rolling coiler sleeve automatic conveying system as claimed in claim 2, characterized in that: The sleeve storage racks are arranged in two rows side by side, and the robot moving linear guide rail is arranged between the two rows of sleeve storage racks.

4. The cold rolling coiler sleeve automatic conveying system as claimed in claim 3, characterized in that: One end of a row of sleeve storage racks is aligned with the other end of the sleeve conveying device.

5. The cold rolling coiler sleeve automatic conveying system as claimed in claim 3, characterized in that: It also includes a fence, in which the sleeve storage rack, the robot moving linear guide rail, the sleeve conveying device and the industrial robot are all located, and a safety door is arranged on the fence.

6. The cold rolling coiler sleeve automatic conveying system as claimed in claim 1, characterized in that: The sleeve storage rack is provided with a monitoring camera for monitoring the conditions of the sleeves on the sleeve storage rack.

7. The cold rolling coiler sleeve automatic conveying system as claimed in claim 1, characterized in that: It also includes a sleeve transfer trolley for removing sleeves from the transfer production line, a trolley guide rail for guiding and positioning the sleeve transfer trolley corresponding to the end of the sleeve storage rack, and a sleeve transfer trolley detector is provided on the trolley guide rail.

8. The cold rolling coiler sleeve automatic conveying system as claimed in claim 1, characterized in that: The industrial robot is provided with a robot arm, and the robot arm is provided with a scanning measuring device for scanning sleeve identification.

9. A control method for the automatic sleeve conveying system of a cold rolling coiler according to any one of claims 1 to 8, characterized in that: The following steps are involved: The robot PLC system establishes communication with the production line PLC system. When the production line produces steel coils with a thickness of ≤0.4mm and the coiler needs to put on a sleeve, the robot PLC system compares the steel coil width with the length of all sleeves stored on the sleeve rack based on the steel coil width sent by the production line PLC system, automatically selects a sleeve with a length close to the steel coil width from the sleeve database, and sends the sleeve position coordinates and length data to the robot; When there is no sleeve at the inlet sleeve position of the sleeve conveying device, the robot automatically takes the sleeve with corresponding coordinate data from the sleeve storage rack and transports the sleeve to the inlet sleeve position of the sleeve conveying device; when there is no sleeve at the outlet of the sleeve conveying device, the sleeve conveying device automatically transports the sleeve from the inlet to the outlet of the sleeve conveying device; When the interlocking conditions such as the upper sleeve trolley is in the original position and the unloading trolley is in the safe position are met, the outlet sleeve of the sleeve conveying device is pushed onto the upper sleeve trolley.

Images