Ground primary-secondary steel coil transport vehicle, transport system and transport method

Abstract

The invention discloses a ground primary-secondary steel coil transport vehicle, transport system and transport method.The transport vehicle comprises a secondary transport vehicle body, a primary transport vehicle body and a lifting saddle, the primary transport vehicle body comprises a primary vehicle frame and primary vehicle driving mechanisms, and the primary vehicle driving mechanisms are arranged on the two sides of the primary vehicle frame respectively; the top of the mother vehicle frame is provided with two mutually parallel son vehicle tracks; the sub-transport vehicle is arranged on the sub-vehicle track, the sub-transport vehicle comprises a sub-vehicle frame and a sub-vehicle driving mechanism, and the sub-vehicle frame is a door-shaped frame; and the lifting saddle is arranged in the door-shaped frame. The device has the technical effects that the ground does not need to be excavated, the device can be used by directly erecting corresponding rails on the ground foundation, and the construction cost is low; the secondary transport vehicle and the primary transport vehicle can run independently, so that the steel coil can be quickly transported to an appointed position; automatic coil receiving or coil feeding of the steel coils can be achieved, and inventory steel coils can be automatically arranged according to actual production requirements; and an encircling structure is adopted, so that the transportation is safe and stable, and the overturning risk is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of steel coil transportation, and in particular to a ground mother-and-child steel coil transportation vehicle, a steel coil transportation system and a steel coil transportation method. Background Art

[0002] Steel coil is an important intermediate product in the steel production process and is widely used in various fields such as automobiles, home appliances, construction, machinery, etc. In the steel coil production process, the transportation and storage of steel coil is a crucial link.

[0003] Traditional steel coil transfer mainly includes the following methods:

[0004] 1. Use pit-type mother-and-child steel coil transport vehicles for transfer

[0005] The existing mother-and-child trolleys are usually pit-type, that is, the mother trolley track elevation is -1600mm to -2200mm, and the child trolley track elevation is -1200mm to -1400mm. The civil engineering cost is high, the construction period is long, the sanitation is not easy to clean, and the maintenance is not convenient. At the same time, the existing mother-and-child trolleys use the top to lift the steel coils, which is prone to safety accidents such as rolling over during transportation.

[0006] 2. Use piggyback steel coil transport vehicles for transportation

[0007] The existing ground piggyback steel coil car can only be rolled up and down by a crane or other lifting equipment, and cannot be automatically rolled up and down.

[0008] 3. Use ground-mounted cantilever steel coil transport vehicles for transportation

[0009] The ground-mounted cantilever steel coil transport vehicle has a large moving range, but the density of ground steel coil storage is low; during operation, once the strap breaks, it is easy to cause a safety accident; the positioning accuracy is not high, and the steel coils are prone to bumps during transportation, causing damage to the steel coils; it is difficult to achieve seamless docking with existing equipment; the speed is low, the operating efficiency is not high, and it is difficult to meet the current steel mills' transportation and storage requirements for production.

[0010] Therefore, it is necessary to design a new steel coil transport vehicle and transport system and method to achieve rapid transfer and storage of steel coils and reduce construction and use costs. Summary of the invention

[0011] To this end, the present invention provides a ground mother-and-child type steel coil transport vehicle, a transport system and a transport method to solve the above-mentioned problems in the prior art.

[0012] In order to achieve the above object, the present invention provides the following technical solutions:

[0013] According to a first aspect of the present invention, a ground mother-child type steel coil transport vehicle, transport system and transport method, comprising a child transport vehicle, a mother transport vehicle and a lifting saddle, wherein the mother transport vehicle comprises a mother vehicle frame and a mother vehicle driving mechanism, the mother vehicle driving mechanism is respectively provided on both sides of the mother vehicle frame, and two child vehicle tracks parallel to each other are provided on the top of the mother vehicle frame, the child vehicle tracks are arranged along the width direction of the mother vehicle frame, and both ends of the child vehicle tracks extend to the edge of the mother vehicle frame;

[0014] The sub-transport vehicle is arranged on the sub-vehicle track, and the sub-transport vehicle comprises a sub-vehicle frame and a sub-vehicle driving mechanism. The sub-vehicle frame is a gate-shaped frame, and the sub-vehicle driving mechanisms are respectively arranged on both sides of the bottom of the sub-vehicle frame, and the sub-vehicle driving mechanism is used to drive the sub-transport vehicle to move along the sub-vehicle track;

[0015] The lifting saddle is arranged in the gate-shaped frame, and a lifting drive mechanism is provided on the top of the gate-shaped frame. The lifting drive mechanism is used to control the lifting and lowering of the lifting saddle, and the lifting saddle is used to carry the steel coil.

[0016] Furthermore, the lifting saddle includes two lifting assemblies, and the two lifting assemblies are mirror-imaged and arranged in the door-shaped frame along the central axis of the door-shaped frame;

[0017] The lifting assembly includes a saddle bracket, a mounting seat and a pulley, a slider is provided on one side of the saddle bracket, and the inner side walls on both sides of the gate-shaped frame are respectively provided with slide rails, the slide rails are vertically arranged, and the slider is slidably connected to the slide rails on the corresponding side of the gate-shaped frame; the mounting seat is arranged on the side of the saddle bracket where the slider is provided, and the pulley is arranged on the top of the mounting seat.

[0018] Furthermore, the lifting drive mechanism includes a lifting drive motor, a drum shaft and a wire rope drum, the lifting drive motor is arranged at the top of the gate-shaped frame; the number of the drum shafts is two, the two drum shafts are coaxially arranged along the width direction of the gate-shaped frame, each of the drum shafts is rotatably connected to the gate-shaped frame, one end of the drum shaft is transmission-connected to the lifting drive motor, and the other end of the drum shaft is provided with the wire rope drum, the wire rope drum is located directly above the pulley of the lifting assembly on the corresponding side of the gate-shaped frame, and a wire rope is provided between the wire rope drum and the corresponding pulley.

[0019] Furthermore, a roller is provided on a side of the mounting seat away from the saddle bracket, the roller is rotatably connected to the mounting seat, and rollers are provided at both ends of the roller;

[0020] Two guide bars are vertically arranged on the outer side walls on both sides of the gate-shaped frame, and the guide bars are arranged in a one-to-one correspondence with the rollers. The rollers at both ends of the roller shaft are respectively connected with the corresponding guide bars in a rolling manner.

[0021] Furthermore, sub-vehicle driving frames are provided on both sides of the bottom of the sub-vehicle frame, and the sub-vehicle driving mechanism is arranged on the sub-vehicle driving frames;

[0022] The sub-vehicle driving mechanism includes a sub-vehicle driving motor, a sub-vehicle driving wheel and a sub-vehicle driving shaft. The sub-vehicle driving motor is arranged on the sub-vehicle driving frame, the sub-vehicle driving shaft is rotatably connected to the sub-vehicle driving frame, the sub-vehicle driving wheel is arranged on the sub-vehicle driving shaft, and the sub-vehicle driving shaft is drivingly connected to the output end of the sub-vehicle driving motor.

[0023] Furthermore, a driving sprocket is provided at the output end of the sub-carriage driving motor, and the driving sprocket is drivingly connected to the sub-carriage driving shaft;

[0024] There are multiple sub-carriage drive shafts, which are arranged in parallel along the length direction of the sub-carriage drive frame, and are transmission-connected to each other. Each sub-carriage drive shaft is provided with a sub-carriage drive wheel.

[0025] Furthermore, a mother vehicle driving frame is provided on both sides of the mother vehicle frame, and the mother vehicle driving mechanism is arranged on the mother vehicle driving frame.

[0026] Furthermore, the trolley driving mechanism includes a trolley driving motor, a trolley driving shaft and a trolley driving wheel. The trolley driving motor is arranged on the trolley driving frame. There are two trolley driving shafts, the two trolley driving shafts are coaxially arranged, and each trolley driving shaft is rotatably connected to the trolley driving frame; one end of the trolley driving shaft is transmission-connected to the output end of the trolley driving motor, and the other end of the trolley driving shaft is provided with the trolley driving wheel.

[0027] The present invention has the following advantages: the sub-transport vehicle and the mother transport vehicle are used in coordination with each other, and there is no need to excavate the ground. The corresponding tracks can be directly set up on the ground and can be used, so the construction cost is low; the sub-transport vehicle and the mother transport vehicle can operate independently of each other through the sub-transport vehicle driving mechanism and the mother vehicle driving mechanism respectively, and the steel coils can be quickly transported to the designated position when used in coordination with the corresponding tracks; by setting a lifting saddle, the lifting and lowering of the steel coil can be automatically controlled, and the automatic connection or delivery of the steel coil can be realized, thereby realizing automatic handover with the unit, and the inventory steel coils can be automatically sorted according to actual production needs; the lifting saddle and the gate-shaped frame together form an embracing structure, and the transportation is safe and stable, and there is no risk of rolling over.

[0028] According to a second aspect of the present invention, a steel coil transportation system adopts the transportation vehicle described in the first aspect, and further comprises a mother vehicle ground track, a sub-vehicle ground track and a fixed saddle, wherein the mother vehicle ground track is arranged on a ground foundation, and the top of the mother vehicle ground track is flush with the ground foundation;

[0029] A plurality of sub-carriage ground tracks are respectively arranged on both sides of the mother vehicle ground track, and the sub-carriage ground tracks are arranged in a direction perpendicular to the mother vehicle ground track; when the mother transport vehicle is located on the mother vehicle ground track, the height of the sub-carriage ground track is level with the sub-carriage ground track;

[0030] The fixed saddle is arranged between two adjacent ground tracks of the sub-trolley, and the width of the fixed saddle is smaller than the opening width of the lifting saddle.

[0031] The present invention has the following advantages: the entire system can be directly constructed on the ground foundation, which greatly reduces the construction cost, shortens the construction period, makes the ground easy to clean, and facilitates maintenance; two adjacent fixed saddles can share a track, which further reduces the construction cost; the ground track of the sub-carriage can be extended longitudinally, and transportation in situations such as over-span can be realized; fixed saddles can be arranged at a high density along both sides of the ground track of the mother car, and the invalid space under the pillars of the factory building can be used for storage, and the storage density is not lower than the ground storage location hoisted by the overhead crane, and high-density storage of steel coils can be realized, with each steel coil occupying an average area of ​​less than 5 square meters, which can meet the needs of intermediate storage locations between upstream and downstream; automatic handover with the unit can be realized, and the inventory steel coils can be automatically sorted according to actual production needs.

[0032] According to a third aspect of the present invention, a method for transporting steel coils adopts the transport system described in the second aspect, and the transport method specifically comprises the following steps:

[0033] Step 1: After the transport vehicle receives the operation instruction sent by the control system, the transport vehicle performs a self-check;

[0034] Step 2: The mother transport vehicle moves along the mother vehicle ground track to the handover position. During the operation, the lifting saddle on the sub-transport vehicle rises to the position at the same time, and the sub-transport vehicle confirms the track alignment;

[0035] Step 3: The sub-transport vehicle leaves the mother transport vehicle and drives along the sub-transport vehicle ground track to the handover position, confirms the position, and sends the position information to the control system;

[0036] Step 4: The control system sends a signal to the unit that the sub-transport vehicle is in place. After the unit confirms it, the lifting saddle of the unloading trolley descends, the steel coil is placed on the lifting saddle, and a signal is sent to the sub-transport vehicle through the control system;

[0037] Step 5: The sub-transport vehicle carries the steel coil back to the main transport vehicle;

[0038] Step 6: The mother transport vehicle and the sub-transport vehicle drive to the target position and align the tracks;

[0039] Step 7: The sub-transport vehicle leaves the mother transport vehicle and moves along the sub-transport vehicle ground track to the unwinding position;

[0040] Step 8: The lifting saddle descends and the steel coil is placed on the fixed saddle;

[0041] Step 9: The sub-transport vehicle returns to the mother transport vehicle along the sub-transport vehicle ground track, and the lifting saddle is lowered into place at the same time. The mother transport vehicle returns to the initial position along the mother vehicle ground track, waiting for the next task.

[0042] The present invention has the following advantages: it can easily achieve automatic docking with the upper and lower coil cars of the existing unit equipment, and can automatically complete the handover and transportation of the steel coils; the positioning accuracy within ±5mm can be easily achieved during operation, so the steel coils will not be damaged during the transportation process; the lifting saddle only needs to be lifted once during the transportation process, which saves the time required for lifting, while saving energy consumption and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0044] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantive technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0045] Figure 1 A schematic structural diagram of a ground mother-and-child steel coil transport vehicle loaded with steel coils is provided in some embodiments of the present invention.

[0046] Figure 2 A schematic diagram of the overall structure of a ground mother-and-child steel coil transport vehicle provided in some embodiments of the present invention.

[0047] Figure 3 A first perspective view of a sub-transport vehicle of a ground mother-and-child type steel coil transport vehicle provided in some embodiments of the present invention.

[0048] Figure 4 A second perspective view of a sub-transport vehicle of a ground mother-and-child type steel coil transport vehicle provided in some embodiments of the present invention.

[0049] Figure 5 A third perspective view of a sub-transport vehicle of a ground mother-and-child type steel coil transport vehicle provided in some embodiments of the present invention.

[0050] Figure 6 A schematic structural diagram of a sub-carriage driving mechanism of a ground sub-carriage steel coil transport vehicle provided in some embodiments of the present invention.

[0051] Figure 7 A schematic structural diagram of a lifting saddle of a ground mother-and-child type steel coil transport vehicle provided in some embodiments of the present invention.

[0052] Figure 8 A schematic structural diagram of a mother transport vehicle of a ground mother-and-child type steel coil transport vehicle provided in some embodiments of the present invention.

[0053] Fig. 9 A schematic diagram of the overall structure of a steel coil transportation system provided for some embodiments of the present invention.

[0054] In the figure: 1, mother transport vehicle, 2, sub-transport vehicle, 3, steel coil, 4, mother vehicle driving motor, 5, sub-vehicle driving motor, 6, lifting driving motor, 7, mother vehicle driving wheel, 8, sub-vehicle driving wheel, 9, lifting saddle, 10, sub-vehicle frame, 11, drum shaft, 12, wire rope drum, 13, guide strip, 14, sub-vehicle driving frame, 15, driving sprocket, 16, slide rail, 17, sub-vehicle driving shaft, 18, saddle bracket, 19, slider, 20, roller, 21, mounting seat, 22, pulley, 23, pad, 24, mother vehicle frame, 25, sub-vehicle track, 26, mother vehicle driving shaft, 27, mother vehicle driving frame, 28, ground foundation, 29, fixed saddle, 30, mother vehicle ground track, 31, sub-vehicle ground track. DETAILED DESCRIPTION

[0055] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] Example 1

[0057] like Figures 1 to 8As shown, a ground mother-and-child type steel coil transport vehicle in the embodiment of the first aspect of the present invention comprises a child transport vehicle 2, a mother transport vehicle 1 and a lifting saddle 9, the mother transport vehicle 1 comprises a mother vehicle frame 24 and a mother vehicle driving mechanism, both sides of the mother vehicle frame 24 are provided with mother vehicle driving mechanisms, the top of the mother vehicle frame 24 is provided with two child vehicle tracks 25 parallel to each other, the child vehicle tracks 25 are arranged along the width direction of the mother vehicle frame 24, and both ends of the child vehicle tracks 25 extend to the edge of the mother vehicle frame 24;

[0058] The sub-transport vehicle 2 is arranged on the sub-transport vehicle track 25. The sub-transport vehicle 2 comprises a sub-transport vehicle frame 10 and a sub-transport vehicle driving mechanism. The sub-transport vehicle frame 10 is a gate-shaped frame. The sub-transport vehicle driving mechanisms are respectively arranged on both sides of the bottom of the sub-transport vehicle frame 10. The sub-transport vehicle driving mechanism is used to drive the sub-transport vehicle 2 to move along the sub-transport vehicle track 25.

[0059] The lifting saddle 9 is arranged in the gate-shaped frame, and a lifting drive mechanism is provided on the top of the gate-shaped frame. The lifting drive mechanism is used to control the lifting and lowering of the lifting saddle 9, and the lifting saddle 9 is used to carry the steel coil 3; during operation, when the sub-trolley track 25 is aligned with the sub-trolley ground track 31 set on the ground, the sub-transport vehicle 2 can move to the corresponding sub-trolley ground track 31.

[0060] In this embodiment, it should be noted that the lifting saddle 9 includes two lifting assemblies, which are mirror-imaged in the door-shaped frame along the central axis of the door-shaped frame, and a certain distance is spaced between the two lifting assemblies, and the two lifting assemblies operate synchronously during use;

[0061] The lifting assembly includes a saddle bracket 18, a mounting seat 21 and a pulley 22. A slider 19 is provided on one side of the saddle bracket 18. The slider 19 is provided in two groups. The two groups of sliders 19 are arranged parallel to each other. The inner side walls on both sides of the gate-shaped frame are respectively provided with slide rails 16. The slide rails 16 are arranged vertically. Two slide rails 16 form a group. The two groups of slide rails 16 are arranged parallel to each other, and the slide rails 16 and the sliders 19 are arranged one by one. The slider 19 is slidably connected with the slide rails 16 on the corresponding side of the gate-shaped frame; the mounting seat 21 is arranged on the side of the saddle bracket 18 where the slider 19 is provided, and the pulley 22 is arranged on the top of the mounting seat 21; a pad 23 is provided on the top of the saddle bracket 18; specifically, as Figure 7 As shown, the saddle bracket 18 is L-shaped, and the pad 23 is arranged at one end of the L-shaped arm of the saddle bracket 18, and the pad 23 is made of nylon, and the pad 23 plays the role of anti-slip and wear-resistant;

[0062] The lifting drive mechanism includes a lifting drive motor 6, a drum shaft 11 and a wire rope drum 12. The lifting drive motor 6 is arranged on the top of the gate-shaped frame; there are two drum shafts 11, and the two drum shafts 11 are coaxially arranged along the width direction of the gate-shaped frame. Each drum shaft 11 is rotatably connected to the gate-shaped frame, one end of the drum shaft 11 is transmission-connected to the lifting drive motor 6, and the other end of the drum shaft 11 is provided with a wire rope drum 12, the wire rope drum 12 is located directly above the pulley 22 of the lifting assembly on the corresponding side of the gate-shaped frame, and a wire rope is provided between the wire rope drum 12 and the corresponding pulley 22. The lifting drive motor 6 is driven by a battery. During use, the distance between the wire rope drum 12 and the pulley 22 is adjusted by rotating the wire rope drum 12 to control the lifting and lowering of the lifting saddle 9;

[0063] Furthermore, the pulley 22 is a movable pulley, and the pulley 22 and the mounting seat 21 are hinged.

[0064] The technical effects achieved by this embodiment are as follows: the sub-transport vehicle 2 and the mother transport vehicle 1 cooperate with each other, and there is no need to dig the ground. The corresponding tracks can be directly set up on the ground basis for use, and the construction cost is low; the sub-transport vehicle 2 and the mother transport vehicle 1 can operate independently of each other through the sub-vehicle driving mechanism and the mother vehicle driving mechanism respectively, and the steel coil can be quickly transported to the designated position by using the corresponding tracks; by setting the lifting saddle 9, the lifting and lowering of the steel coil can be automatically controlled, and the automatic connection or delivery of the steel coil can be realized, so as to realize the automatic handover with the unit, and the inventory steel coil can be automatically sorted according to the actual needs of production; the lifting saddle 9 and the gate-shaped frame form an embracing structure together, and the transportation is safe and stable without the risk of rolling over; and the motor control is adopted, which is convenient for realizing precise and automatic control. During the transportation process, only one lifting and lowering is required to realize the winding and unwinding of the steel coil, which can save energy consumption, shorten the operation time, and improve efficiency; and the upper and lower roll trolleys of the unit can achieve seamless docking, without the need for a crane or other equipment to assist in rolling; the sub-transport vehicle 2 can be separated from the mother transport vehicle 1 for a long distance operation to realize transportation and storage covering a large area.

[0065] Example 2

[0066] like Figures 1 to 8 As shown, this embodiment provides another ground mother-and-child steel coil transport vehicle, the structure of which includes all the contents of embodiment 1, and only the different parts are described below.

[0067] In this embodiment, a vertical channel is provided on the side wall of the gate-shaped frame, and the mounting seat 21 is located in the vertical channel. The mounting seat 21 can move up and down along the vertical channel. The side of the mounting seat 21 connected to the saddle bracket 18 is located on the inner side of the gate-shaped frame, and the side of the mounting seat 21 away from the saddle bracket 18 is located on the outer side of the gate-shaped frame, and a roller is provided. The roller is rotatably connected to the mounting seat 21, and rollers 20 are respectively provided at both ends of the roller.

[0068] Two guide bars 13 are vertically provided on the outer walls on both sides of the door-shaped frame. The guide bars 13 are detachably connected to the door-shaped frame. The guide bars 13 and the rollers 20 are arranged in a one-to-one correspondence. The rollers 20 at both ends of the roller shaft are rollingly connected to the corresponding guide bars 13.

[0069] The technical effect achieved by this embodiment is: the roller 20 and the guide bar 13 are used in conjunction with the slider 19 and the slide rail 16, so that the entire lifting saddle 9 is more stable when moving up and down, and the lifting saddle 9 can be guaranteed to move linearly in the vertical direction during operation; by setting the guide bar 13, its guiding function can be achieved, and the roller 20 can be prevented from causing wear to the gate-shaped frame during use.

[0070] Example 3

[0071] like Figures 1 to 8 As shown, this embodiment provides another ground mother-and-child steel coil transport vehicle, the structure of which includes all the contents of Embodiment 2, and only the different parts are described below.

[0072] In this embodiment, a sub-carriage driving frame 14 is provided on both sides of the bottom of the sub-carriage frame 10, and the sub-carriage driving mechanism is arranged on the sub-carriage driving frame 14, and the sub-carriage driving mechanism is used to drive the sub-transportation vehicle 2 to move;

[0073] The sub-carriage driving mechanism includes a sub-carriage driving motor 5, a sub-carriage driving wheel 8 and a sub-carriage driving shaft 17. The sub-carriage driving motor 5 is arranged on the sub-carriage driving frame 14, and the sub-carriage driving shaft 17 is rotationally connected to the sub-carriage driving frame 14. The sub-carriage driving wheel 8 is arranged on the sub-carriage driving shaft 17, and the sub-carriage driving shaft 17 is transmission-connected to the output end of the sub-carriage driving motor 5. The sub-carriage driving motor 5 is driven by a battery.

[0074] In this embodiment, it should be noted that a driving sprocket 15 is provided at the output end of the sub-carriage driving motor 5, and the driving sprocket 15 and the sub-carriage driving shaft 17 are driven by a sprocket chain;

[0075] There are multiple sub-carriage drive shafts 17, and the multiple sub-carriage drive shafts 17 are arranged in parallel along the length direction of the sub-carriage drive frame 14. The multiple sub-carriage drive shafts 17 are connected to each other through transmission, and each sub-carriage drive shaft 17 is provided with a sub-carriage drive wheel 8; specifically, there are four sub-carriage drive shafts 17, and the four drive shafts 17 are driven by a sprocket chain, and two sub-carriage drive shafts 17 form a group.

[0076] The technical effects achieved by this embodiment are as follows: the sub-trolley frame 10 adopts a gate-shaped frame, the entire structure is more stable, and can freely and automatically transfer steel coils with the unit equipment and the ground saddle; the sub-trolley drive mechanism is controlled by a motor, which is convenient for precise and automated control.

[0077] Example 4

[0078] like Figures 1 to 8 As shown, this embodiment provides another ground mother-and-child steel coil transport vehicle, the structure of which includes all the contents of embodiment 1, and only the different parts are described below.

[0079] In this embodiment, a mother vehicle driving frame 27 is provided on both sides of the mother vehicle frame 24 , and a mother vehicle driving mechanism is arranged on the mother vehicle driving frame 27 . The mother vehicle driving mechanism is used to drive the mother transport vehicle 1 to move.

[0080] In the present embodiment, it should be noted that the busbar driving mechanism includes a busbar driving motor 4, a busbar driving shaft 26 and a busbar driving wheel 7. The busbar driving motor 4 is arranged on a busbar driving frame 27. There are two busbar driving shafts 26. The two busbar driving shafts 26 are coaxially arranged, and each busbar driving shaft 26 is rotatably connected to the busbar driving frame 27; one end of the busbar driving shaft 26 is transmission-connected to the output end of the busbar driving motor 4, and the other end of the busbar driving shaft 26 is provided with a busbar driving wheel 7. The busbar driving motor 4 is powered by a battery.

[0081] The technical effect achieved by this embodiment is that the entire mother vehicle driving mechanism is driven by a motor, which facilitates precise and automated control.

[0082] Example 5

[0083] like Fig. 9 As shown, a steel coil transportation system in an embodiment of the second aspect of the present invention adopts the transportation vehicle in the first aspect, and also includes a mother vehicle ground track 30, a sub-vehicle ground track 31 and a fixed saddle 29, the mother vehicle ground track 30 includes two parallel tracks, the mother vehicle ground track 30 is set on the ground foundation 28, and the top of the mother vehicle ground track 30 is flush with the ground foundation 28;

[0084] A plurality of sub-carriage ground tracks 31 are respectively arranged on both sides of the mother vehicle ground track 30. The sub-carriage ground tracks 31 are arranged in a direction perpendicular to the mother vehicle ground track 30. The sub-carriage ground tracks 31 are slightly higher than the ground foundation 28 and are directly laid on the floor. The upper surface elevation of the sub-carriage ground tracks 31 is +150mm to +250mm. When the mother transport vehicle 1 is located on the mother vehicle ground track 30, the height of the sub-carriage ground track 31 is level with the sub-carriage ground track 31.

[0085] A fixed saddle 29 is provided between two adjacent sub-trolley ground rails 31 . The width of the fixed saddle 29 is smaller than the opening width of the lifting saddle 9 . The height of the fixed saddle 29 is +450 mm to +550 mm and is set according to actual needs.

[0086] In this embodiment, it should be noted that the transport system can be used to transport roll materials (including but not limited to steel rolls, aluminum rolls, copper rolls, paper rolls, plastic rolls, etc.) or cylindrical materials with a diameter range of 500mm to 2500mm and a width of 500mm to 2500mm;

[0087] The distances between two adjacent saddles 29 on the same side of the mother vehicle ground track 30 are the same, so that two adjacent fixed saddles 29 can share a track; during operation, the mother transport vehicle 1 runs on the mother vehicle ground track 30, and the child transport vehicle 2 runs on the child transport vehicle ground track 31. The child transport vehicle 2 is loaded with steel coils 3 and runs to the mother transport vehicle 1 with the coils. The mother transport vehicle 1 moves along the mother vehicle ground track 30. After arriving at the destination, the child transport vehicle 2 transports the coils to the target saddle and places the steel coils 3 on the target saddle. During operation, the child transport vehicle 2 only needs to perform one lifting operation. The operation saves the time required for lifting, saves energy and improves efficiency; the sub-transport vehicle 2 can be separated from the mother transport vehicle 1 for a long distance operation, realizing transportation and storage covering a large area; the positioning accuracy within ±5mm can be easily achieved during operation, so the steel coil will not be damaged during the transportation process; the upper and lower steel coil vehicles of the existing unit equipment can easily achieve automatic docking to carry out the delivery of steel coils; like the existing mother-child vehicle system, it can easily achieve 20 transfer tasks in 1 hour. Under the condition of the same transportation distance, its efficiency is much higher than that of the overhead crane and other steel coil transport vehicles, and the energy consumption is low.

[0088] The technical effects achieved by this embodiment are as follows: the entire system can be directly built on the ground. Except for the mother vehicle ground track 30, there is no civil engineering work, which greatly reduces the construction cost, shortens the construction period, makes the ground easy to clean, and facilitates maintenance; two adjacent fixed saddles 29 can share a track, and the sub-car track is nearly half less than that of the traditional pit-type sub-car, which saves investment and further reduces the construction cost; the sub-car ground track 31 can be extended longitudinally, up to 50 meters in length, to achieve transportation in situations such as over-span, and to achieve transportation over longer distances in both the vertical and horizontal directions; along both sides of the mother vehicle ground track 30, fixed saddles 29 can be arranged at a high density, and the plant columns can be used The invalid space under the crane is used for storage, and the storage density is not lower than the ground storage space hoisted by the overhead crane, so that high-density storage of steel coils can be achieved. Each steel coil occupies an average area of ​​less than 5 square meters, which can meet the needs of intermediate storage spaces between upstream and downstream; it can realize automatic handover with the unit, and can automatically sort the inventory steel coils according to the actual needs of production, and it is easy to make automation transformation for completed projects; the width of the fixed saddle 29 is smaller than the opening width of the lifting saddle 9, and it can realize automatic winding and unwinding of steel coils by cooperating with the sub-transport vehicle 2; the embracing transportation method is adopted, which can easily deal with collapsed steel coils or steel coils without strapping, and there is no effect of strapping breakage during operation.

[0089] Example 6

[0090] like Fig. 9 As shown, a steel coil transportation method in an embodiment of the third aspect of the present invention adopts the transportation system in the second aspect, and the transportation method specifically includes the following steps:

[0091] Step 1: After the transport vehicle receives the operation instruction sent by the control system, the transport vehicle performs a self-check;

[0092] Step 2: The mother transport vehicle 1 travels along the mother vehicle ground track 30 to the handover position. During the operation, the lifting saddle 9 on the child transport vehicle 2 rises to the position at the same time, and the child transport vehicle 2 confirms the track alignment;

[0093] Step 3: The sub-transport vehicle 2 leaves the mother transport vehicle 1 and travels along the sub-transport vehicle ground track 31 to the handover position, and confirms the position, and sends the position information to the control system (this process can be used to perform the centering operation of the steel coil according to the needs);

[0094] Step 4: The control system sends a signal to the unit that the sub-transport vehicle 2 is in place. After the unit confirms it, the lifting saddle of the unloading trolley descends, and the steel coil 3 is placed on the lifting saddle 9, and a signal is sent to the sub-transport vehicle 2 through the control system;

[0095] Step 5: The sub-transport vehicle 2 carries the steel coil 3 back to the main transport vehicle 1;

[0096] Step 6: The mother transport vehicle 1 and the sub-transport vehicle 2 drive to the target position and align the tracks;

[0097] Step 7: The sub-transport vehicle 2 leaves the mother transport vehicle 1 and travels along the sub-transport vehicle ground track 31 to the unwinding position;

[0098] Step 8: The lifting saddle 9 is lowered to place the steel coil 3 on the fixed saddle 29;

[0099] Step nine, the sub-transport vehicle 2 returns to the mother transport vehicle 1 along the sub-transport vehicle ground track 31, the lifting saddle 9 simultaneously descends into place, and the mother transport vehicle 1 returns to the initial position along the mother vehicle ground track 30, waiting for the next task.

[0100] In this embodiment, it should be noted that when the transport vehicle performs self-inspection in step 1, the self-inspection content includes whether there is a steel coil at the handover position, whether the unloading trolley is in place, and whether the steel coil information is accurate;

[0101] The above method is for explaining how to transfer the steel coils produced on the equipment production line. If the inventory of steel coils needs to be shifted and sorted, just change step four to: the sub-transport vehicle 2 drives the lifting saddle 9 to move under the steel coil 3 to be transferred, and then the lifting saddle 9 rises and lifts the steel coil 3 to be transferred; the shifting and sorting of the inventory of steel coils can be realized.

[0102] The technical effects achieved by this embodiment are: the upper and lower coil cars of the existing unit equipment can be easily and automatically docked, and the delivery and transfer of the coils can be automatically completed; the positioning accuracy within ±5mm can be easily achieved during operation, so the coils will not be damaged during the transfer process; the lifting saddle only needs to be lifted once during the transfer process, which saves the time required for lifting, saves energy consumption, and improves work efficiency.

[0103] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

[0104] The terms such as "upper", "lower", "left", "right", "middle", etc. cited in this specification are only for the convenience of description and are not intended to limit the scope of implementation of the present invention. Changes or adjustments to their relative relationships should be regarded as within the scope of implementation of the present invention without substantially changing the technical content.

Claims

1. A ground mother-and-child steel coil transport vehicle, characterized in that: The invention comprises a sub-transport vehicle (2), a mother transport vehicle (1) and a lifting saddle (9), wherein the mother transport vehicle (1) comprises a mother vehicle frame (24) and a mother vehicle driving mechanism, wherein the mother vehicle driving mechanisms are respectively arranged on both sides of the mother vehicle frame (24), and the top of the mother vehicle frame (24) is provided with two mutually parallel sub-vehicle tracks (25), wherein the sub-vehicle tracks (25) are arranged along the width direction of the mother vehicle frame (24), and both ends of the sub-vehicle tracks (25) extend to the edge of the mother vehicle frame (24); The sub-transport vehicle (2) is arranged on the sub-transport track (25), and the sub-transport vehicle (2) comprises a sub-transport frame (10) and a sub-transport driving mechanism, the sub-transport frame (10) is a gate-shaped frame, and the sub-transport driving mechanisms are respectively arranged on both sides of the bottom of the sub-transport frame (10), and the sub-transport driving mechanism is used to drive the sub-transport vehicle (2) to move along the sub-transport track (25); The lifting saddle (9) is arranged in the gate-shaped frame, and a lifting drive mechanism is provided on the top of the gate-shaped frame. The lifting drive mechanism is used to control the lifting and lowering of the lifting saddle (9), and the lifting saddle (9) is used to carry the steel coil (3).

2. The ground mother-and-child steel coil transport vehicle according to claim 1, characterized in that: The lifting saddle (9) comprises two lifting assemblies, and the two lifting assemblies are respectively arranged in the door-shaped frame in a mirror-like manner along the central axis of the door-shaped frame; The lifting assembly comprises a saddle bracket (18), a mounting seat (21) and a pulley (22); a slider (19) is provided on one side of the saddle bracket (18); inner side walls on both sides of the gate-shaped frame are respectively provided with slide rails (16); the slide rails (16) are vertically arranged; the slider (19) is slidably connected to the slide rails (16) on the corresponding side of the gate-shaped frame; the mounting seat (21) is arranged on the side of the saddle bracket (18) where the slider (19) is provided; and the pulley (22) is arranged on the top of the mounting seat (21).

3. The ground mother-and-child steel coil transport vehicle according to claim 2, characterized in that: The lifting drive mechanism comprises a lifting drive motor (6), a drum shaft (11) and a wire rope drum (12); the lifting drive motor (6) is arranged at the top of the gate-shaped frame; there are two drum shafts (11), the two drum shafts (11) are coaxially arranged along the width direction of the gate-shaped frame, each drum shaft (11) is rotatably connected to the gate-shaped frame, one end of the drum shaft (11) is transmission-connected to the lifting drive motor (6), the other end of the drum shaft (11) is provided with the wire rope drum (12), the wire rope drum (12) is located directly above the pulley (22) of the lifting assembly on the corresponding side of the gate-shaped frame, and a wire rope is provided between the wire rope drum (12) and the corresponding pulley (22).

4. The ground mother-and-child steel coil transport vehicle according to claim 2, characterized in that: A roller is provided on the side of the mounting seat (21) facing away from the saddle bracket (18), the roller is rotatably connected to the mounting seat (21), and rollers (20) are respectively provided at both ends of the roller; Two guide bars (13) are respectively vertically arranged on the outer side walls of both sides of the gate-shaped frame, and the guide bars (13) are arranged in one-to-one correspondence with the rollers (20). The rollers (20) at both ends of the roller shaft are respectively rollingly connected to the corresponding guide bars (13).

5. The ground mother-and-child steel coil transport vehicle according to claim 2, characterized in that: Sub-vehicle drive frames (14) are provided on both sides of the bottom of the sub-vehicle frame (10), and the sub-vehicle drive mechanism is arranged on the sub-vehicle drive frame (14); The sub-carriage driving mechanism comprises a sub-carriage driving motor (5), a sub-carriage driving wheel (8) and a sub-carriage driving shaft (17); the sub-carriage driving motor (5) is arranged on the sub-carriage driving frame (14); the sub-carriage driving shaft (17) is rotatably connected to the sub-carriage driving frame (14); the sub-carriage driving wheel (8) is arranged on the sub-carriage driving shaft (17); and the sub-carriage driving shaft (17) is drivingly connected to the output end of the sub-carriage driving motor (5).

6. The ground mother-and-child steel coil transport vehicle according to claim 5, characterized in that: The output end of the sub-carriage driving motor (5) is provided with a driving sprocket (15), and the driving sprocket (15) is drivingly connected to the sub-carriage driving shaft (17); The sub-carriage drive shafts (17) are multiple in number, and the multiple sub-carriage drive shafts (17) are sequentially arranged in parallel with each other along the length direction of the sub-carriage drive frame (14). The multiple sub-carriage drive shafts (17) are mutually transmission-connected, and each sub-carriage drive shaft (17) is provided with the sub-carriage drive wheel (8).

7. The ground mother-and-child steel coil transport vehicle according to claim 1, characterized in that: A mother vehicle driving frame (27) is provided on both sides of the mother vehicle frame (24), and the mother vehicle driving mechanism is arranged on the mother vehicle driving frame (27).

8. The ground mother-and-child steel coil transport vehicle according to claim 7, characterized in that: The chariot driving mechanism comprises a chariot driving motor (4), a chariot driving shaft (26) and a chariot driving wheel (7); the chariot driving motor (4) is arranged on the chariot driving frame (27); there are two chariot driving shafts (26); the two chariot driving shafts (26) are coaxially arranged, and each chariot driving shaft (26) is rotatably connected to the chariot driving frame (27); one end of the chariot driving shaft (26) is drivingly connected to the output end of the chariot driving motor (4), and the other end of the chariot driving shaft (26) is provided with the chariot driving wheel (7).

9. A steel coil transportation system, using the transport vehicle according to any one of claims 1 to 8, characterized in that: It also includes a mother vehicle ground track (30), a sub-vehicle ground track (31) and a fixed saddle (29), wherein the mother vehicle ground track (30) is arranged on a ground foundation (28), and the top of the mother vehicle ground track (30) is flush with the ground foundation (28); A plurality of sub-carriage ground tracks (31) are respectively arranged on both sides of the mother car ground track (30), and the sub-carriage ground tracks (31) are arranged in a direction perpendicular to the mother car ground track (30); when the mother transport vehicle (1) is located on the mother car ground track (30), the height of the sub-carriage ground tracks (31) is level with the sub-carriage ground tracks (31); The fixed saddle (29) is provided between two adjacent sub-trolley ground rails (31), and the width of the fixed saddle (29) is smaller than the opening width of the lifting saddle (9).

10. A method for transporting steel coils, using the transport system according to claim 9, characterized in that: The transportation method specifically comprises the following steps: Step 1: After the transport vehicle receives the operation instruction sent by the control system, the transport vehicle performs a self-check; Step 2: The mother transport vehicle (1) travels along the mother vehicle ground track (30) to the handover position. During the operation, the lifting saddle (9) on the child transport vehicle (2) rises to its position at the same time, and the child transport vehicle (2) performs track alignment confirmation; Step 3: The sub-transport vehicle (2) leaves the mother transport vehicle (1) and travels along the sub-transport vehicle ground track (31) to the handover position, confirms the position, and sends the position information to the control system; Step 4: The control system sends a signal to the unit that the sub-transport vehicle (2) is in place. After the unit confirms the signal, the unloading trolley lowers the lifting saddle, places the steel coil (3) on the lifting saddle (9), and sends a signal to the sub-transport vehicle (2) through the control system; Step 5: The sub-transport vehicle (2) carries the steel coil (3) back to the main transport vehicle (1); Step 6: The mother transport vehicle (1) and the sub-transport vehicle (2) travel to the target position and align the tracks; Step 7: The sub-transport vehicle (2) leaves the mother transport vehicle (1) and travels along the sub-transport vehicle ground track (31) to the unwinding position; Step 8: The lifting saddle (9) is lowered to place the steel coil (3) on the fixed saddle (29); Step nine, the sub-transport vehicle (2) returns to the mother transport vehicle (1) along the sub-transport vehicle ground track (31), the lifting saddle (9) is lowered into place at the same time, and the mother transport vehicle (1) returns to the initial position along the mother vehicle ground track (30) to wait for the next task.

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