Coil material transfer device and method and cross cut line system

Abstract

The invention discloses a roll material transfer device which comprises a probing part and a moving part, the probing part is connected to the moving part and used for probing into a center hole of a to-be-transferred roll material to penetrate through the roll material, the probing part comprises a plurality of cantilevers which are distributed in parallel, and the cantilevers can move relatively so that the outer contour of the probing part can be expanded to lock the roll material by being far away from one another. The outer contour of the probing part is contracted to release the coiled material through mutual approaching; the moving part is used for supporting the probing part to move, the moving path comprises advancing and retreating in the axial direction of the cantilever, and taking and discharging of the coil stock are achieved in combination with expansion and contraction of the outer contour of the probing part. According to the roll material transfer device, material transfer is achieved through reasonable structural combination, dependence on manpower assistance is avoided, and safety and reliability are improved. The invention further provides a feeding and discharging method, a material storing and taking method and a cut-to-length line system of the roll material transferring device.

Description

Technical Field

[0001] The present invention particularly relates to a coil transfer device, method and a cross-cutting line system. Background Art

[0002] A shear-to-length line is a system used to process thin metal coils. It includes various equipment, including an uncoiler, leveling unit, conveyor and positioning system, shearing and punching units, and material sorting units. It is primarily used to process thin metal coils through processes such as uncoiler, straightening, sizing, and shearing, producing sheets of the desired length and stacking them. It is suitable for processing cold-rolled silicon steel and various metal materials that have undergone surface coating.

[0003] Since the processed materials are initially in the form of coils, their diameter and thickness will change continuously during processing. Therefore, the materials on the shear-to-length line are not as easy to handle automatically as conventional plates and other materials. The current method is to manually assist in transportation beside the transfer device, which is not only labor-intensive, but also prone to human errors and low safety factors. Summary of the Invention

[0004] The present invention addresses the aforementioned deficiencies in the prior art by providing a coil transfer device that automatically transfers materials, eliminating reliance on human assistance and improving safety and reliability. The present invention also provides methods for loading and unloading, storing and retrieving materials, and a shear-to-length line system for the coil transfer device.

[0005] The present invention provides a coil material transfer device, comprising an insertion part and a moving part. The insertion part is connected to the moving part and is used to insert into the central hole of the coil material to be transferred to thread the coil material. The insertion part comprises a plurality of cantilevers distributed in parallel with each other, and each cantilever can move relative to each other, so that the outer contour of the insertion part expands and locks the coil material by moving away from each other, and the outer contour of the insertion part contracts and releases the coil material by moving closer to each other; the moving part is used to support the insertion part to move, and the moving path comprises advancing and retreating along the axial direction of the cantilever, and the coil material is taken in and discharged in combination with the expansion and contraction of the outer contour of the insertion part.

[0006] Furthermore, the multiple cantilevers of the probe part are arranged horizontally, namely a load-bearing arm and two support arms. The load-bearing arm is set above the two support arms, and provides load-bearing for the coiled material by contacting the vertical vertex of the center hole. The two support arms are symmetrically distributed at the same horizontal height on both sides of the load-bearing arm, and the distance from the load-bearing arm in the vertical direction is equal to the radius of the center hole, and radial constraints are provided for the coiled material by contacting the two ends of the horizontal diameter of the center hole.

[0007] Furthermore, the probe part also includes a bracket, a lifting plate, a first driving member and a second driving member. The bracket is connected to the moving part, the lifting plate is slidably connected to the bracket through a sliding pair arranged in the vertical direction, the first driving member is connected to the bracket, and the driving end is connected to the lifting plate to drive the lifting plate to rise and fall, the load-bearing arm and the second driving member are fixedly connected to the lifting plate, the two support arms are slidably connected to the lifting plate through a sliding pair arranged in the horizontal direction, and the driving end of the second driving member is connected to the support arm to drive the two support arms to move relatively close and away.

[0008] Furthermore, each cantilever is an L-shaped rod structure and is connected to the lifting plate via a support rod on one side, and the support rod on the other side serves as the cantilever itself.

[0009] Furthermore, the distribution position of each cantilever is consistent with the position of the gap between each fan-shaped block of the uncoiler drum, so that the insertion part and the uncoiler drum can be staggered, thereby simultaneously inserting into the same coil, and the cross-sectional size of each cantilever is smaller than the cross-sectional size of each gap, so that when the outer contour of the insertion part is expanded and the uncoiler drum is opened, there is a gap between the outer periphery of each cantilever and the gap, and the movement stroke of each cantilever in a certain direction is smaller than the minimum width of each gap in that direction.

[0010] Furthermore, the coil material transfer device also includes a control unit, which is electrically connected to the probe part and the moving part respectively, and is used to control the moving part to hold the probe part and advance along the cantilever axis to reach the target position after receiving the material picking instruction, and control the outer contour of the probe part to expand and lock the coil material after advancing to the position, and control the moving part to hold the probe part and retreat along the cantilever axis after locking to complete the material picking operation; and is also used to control the moving part to hold the probe part and advance along the cantilever axis to reach the target position after receiving the material discharge instruction, and control the outer contour of the probe part to shrink and release the coil material after advancing to the position, and control the moving part to hold the probe part and retreat along the cantilever axis after releasing to complete the material discharge operation.

[0011] Furthermore, the control unit includes a first detection member, the detection end of the first detection member is directed in the same direction as the cantilever end of the probe, and the control unit is used to determine whether there is a coil of material at the target position based on the signal feedback from the first detection member, and is also used to alarm when a material picking instruction is received and there is no coil of material at the target position, and to alarm when a material discharging instruction is received and there is a coil of material at the target position.

[0012] Furthermore, the control unit includes a second detection member, the detection end of the second detection member is oriented perpendicular to the insertion portion, and the control unit is used to identify the axial width and number of each coil at each target position based on the signal feedback from the second detection member and store it as record information.

[0013] Furthermore, the control unit also includes a third detection member, the installation position of the third detection member is flush with the cantilever end of the probe part, and the detection end is oriented perpendicular to the probe part. The control unit is used to select the target coil according to the recorded information after receiving the material picking instruction, control the moving part to move to the target position where the target coil is located, and obtain the two end positions of the target coil according to the signal feedback from the third detection member in the process of the moving part moving towards the target position, and judge whether the moving stroke of the moving part between the two end positions is consistent with the width of the target coil, and continue the material picking operation if it is consistent, and alarm if it is inconsistent.

[0014] Furthermore, the control unit also includes a fourth detection member, the installation position of the fourth detection member exceeds the set distance of the cantilever end of the probe part, and the detection end is oriented perpendicular to the probe part. The control unit is used to select the target position according to the recorded information after receiving the material discharge instruction, control the moving part to move to the target position, and obtain the end position of the existing component at the target position according to the signal feedback from the fourth detection member during the process of the moving part moving towards the target position, and judge whether the moving stroke of the moving part before reaching the end position is consistent with the required space for the coil to be placed, and place the coil at the set distance from the existing coil in the target position if they are consistent, and alarm if they are inconsistent.

[0015] Furthermore, the control unit includes a fifth detection member, the detection end of the fifth detection member is pointed at an acute angle to the cantilever end of the probe part, and the fifth detection member points to the equivalent central axis of the outer contour of the probe part. The control unit is used to judge the distance between the probe part and the roll of material at the target position based on the signal feedback from the fifth detection member, and when the probe part and the roll of material at the target position reach within a preset distance, control the moving part to slow down from the first moving speed to the second moving speed.

[0016] Furthermore, the probe portion also includes a mounting rod, which is parallel to each cantilever and has a spacing with each cantilever that is not less than the maximum radial thickness of the coil, and the detection component of the control unit is mounted on the mounting rod.

[0017] The present invention also provides a loading method for a coil material transfer device, using the above coil material transfer device, the method comprising the following steps:

[0018] After the shear-to-cross line uncoiler sends a loading signal, the coil transfer device carrying the coil moves to the uncoiler and sends a loading request;

[0019] When the coil transfer device receives the unwinding instruction issued by the shear line system after judging that it is safe to load the material, it makes the moving part hold the probe part and move forward along the cantilever axis to put the coil on the probe part onto the reel, and sends the unwinding instruction to the uncoiler;

[0020] After the roll is opened, the outer contour of the probe portion is contracted to release the roll;

[0021] The moving part supports the probe part and moves backward along the cantilever axis to complete the material discharge operation and the loading is completed.

[0022] The present invention also provides a method for unloading a coil material transfer device, using the coil material transfer device described above, the method comprising the following steps:

[0023] After the shear-to-cross line uncoiler sends out the unloading signal, the coil transfer device shrinks the outer profile of the probe, moves to the uncoiler and sends out the unloading request;

[0024] When the coil transfer device receives the material taking instruction issued by the shearing line system after judging that it is safe to unload the material, it makes the moving part hold the probe part and move forward along the cantilever axis to insert the probe part into the coil on the reel, then expands the outer profile of the probe part to lock the coil, and sends a contraction instruction to the uncoiler;

[0025] After the reel shrinks, the moving part supports the probe part and carries the coiled material backward along the cantilever axis to complete the material taking operation and unloading.

[0026] The present invention also provides a material storage method for a coil material transfer device, using the above coil material transfer device, the method comprising the following steps:

[0027] The coil transfer device carrying the coil moves to the material storage cantilever, so that the moving part supports the probe part and moves forward along the cantilever axis to sleeve the coil on the probe part onto the material storage cantilever;

[0028] Make the outer contour of the probe part shrink and release the coil;

[0029] The moving part supports the probing part and moves backward along the cantilever axis to complete the material discharge operation and the material storage is completed.

[0030] The present invention also provides a material taking method of the coil material transfer device, using the above coil material transfer device, the method comprises the following steps:

[0031] The coil transfer device shrinks the outer profile of the probe and moves it to the material storage cantilever;

[0032] The moving part supports the probe part and moves forward along the axial direction of the cantilever to penetrate the coiled material on the material storage cantilever, and then the outer contour of the probe part expands and locks the coiled material;

[0033] The moving part supports the probe part and carries the coiled material backward along the cantilever axis to complete the material picking operation.

[0034] The present invention also provides a cross-cutting line system, including a uncoiler, a material storage cantilever and the above-mentioned coil transfer device. The uncoiler is arranged in the cross-cutting area for processing the coil. The material storage cantilever is used to store the coil and is arranged in the coil storage area. The coil transfer device is used to move between the cross-cutting area and the coil storage area to transfer the coil between the uncoiler and the material storage cantilever.

[0035] The coil transfer device of the present invention grasps the coil by inserting a probe into the center hole of the coil to be transferred. The probe comprises multiple parallel arms, i.e., multiple arms with one end fixed and the other suspended. The arms can move away from each other, causing the probe to expand, thereby opening the inner wall of the center hole to contact the coil and lock the coil. They can also move toward each other, causing the probe to contract, releasing the coil from the inner wall of the center hole and releasing the coil.

[0036] Compared to conventional external radial clamping or end-to-end clamping transfer equipment, this device is particularly suitable for coils with a fixed inner diameter, but radial thickness that varies with processing and has a non-uniform axial width. Because the penetration structure adapts to the consistent inner diameter, it can accurately lock the material being transferred even without manual assistance. Furthermore, compared to conventional external clamping methods, the simultaneous grasping of multiple cantilevers from within the coil ensures the roundness of the coil structure, further preventing the possibility of angular deviation in narrow coils and avoiding the situation where radially narrow coils collapse and cannot be loaded onto the machine.

[0037] The moving part carries the probe part to perform spatial displacement, and the movement of the probe part is combined with the movement of the probe part to realize the material coiling and unloading. Specifically, after the moving part advances to allow the probe part to penetrate the material coil, the probe part expands and locks the material coil, and the moving part retreats to complete the material removal; and after the moving part advances to the target material unloading position, the probe part contracts and releases the material coil, and the moving part retreats to complete the material unloading. It can be seen that it is precisely because of the high adaptability of the probe part to the inner hole of the material coil that the unloading process is significantly simplified. Therefore, the entire set of operations can be completed automatically without manual assistance, avoiding the introduction of human error and greatly improving the safety and reliability of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 1 is a schematic diagram of the main structure of the coil transfer device in Example 1 of the present invention;

[0039] Figure 2 1 is a side structural diagram of the coil transfer device in Example 1 of the present invention;

[0040] Figure 3 1 is a schematic top view of the coil transfer device in Example 1 of the present invention;

[0041] Figure 4 2 is a schematic diagram of the three-dimensional structure of the coil transfer device in Example 1 of the present invention;

[0042] Figure 5 Schematic diagram of the structure of the coil transfer device and the uncoiler adapted in Example 1 of the present invention;

[0043] Figure 6 It is a structural diagram of the adaptation of the coil transfer device and the material storage cantilever in Example 1 of the present invention.

[0044] In the figure: 1. Probe; 11. Load-bearing arm; 12. Support arm; 13. Bracket; 14. Lifting plate; 15. First driving member; 16. Second driving member; 17. Mounting rod; 2. Moving part; 3. Coil; 31. Center hole; 4. Reel; 41. Notch; 42. Gap; 5. Material storage cantilever. DETAILED DESCRIPTION

[0045] The following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of the present invention.

[0046] In the description of the present invention, it should be noted that the terms "upper" and "lower" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience and simplification of the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0047] In the description of the present invention, the terms “first”, “second” and “third” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0048] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connect," "dispose," "install," "fix," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integral connection; they may refer to direct connection, indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0049] Example 1

[0050] like Figures 1 to 4As shown, the coil transfer device of this embodiment includes an insertion portion 1 and a moving portion 2. The insertion portion 1 is connected to the moving portion 2 and is used to insert into the center hole 31 of the coil 3 to be transferred to thread the coil 3. The insertion portion 1 includes a plurality of cantilevers distributed in parallel with each other, and each cantilever can move relative to each other, so as to expand the outer contour of the insertion portion 1 and lock the coil 3 by moving away from each other, and to contract the outer contour of the insertion portion 1 and release the coil 3 by moving closer to each other. Compared with conventional external radial clamping or end-to-end clamping transfer equipment, this device is particularly suitable for coils 3 with a fixed inner hole diameter, but the radial thickness varies with processing and the axial width is not uniform - because the insertion structure adapts to the consistent inner hole radial size, even without manual assistance on the side, it can achieve precise locking of the material to be transferred. Compared with the conventional external clamping method, multiple cantilevers grabbing from the inside of the coil 3 can ensure the roundness of the coil 3 structure, further resist the possibility of angular deviation of the narrow coil 3, and avoid the situation where the coil 3 with a narrow radial thickness cannot be loaded onto the machine due to collapse.

[0051] The moving part 2 is used to support the movement of the probe part 1, and the moving path includes moving forward and backward along the axial direction of the cantilever, combined with the expansion and contraction of the outer contour of the probe part 1 to realize the picking and unloading of the coil 3. Specifically, after the moving part 2 moves forward to allow the probe part 1 to penetrate the coil 3, the probe part 1 expands and locks the coil 3, and the moving part 2 moves backward to complete the picking; and after the moving part 2 moves forward to the target position for unloading, the probe part 1 contracts and releases the coil 3, and the moving part 2 moves backward to complete the unloading. It can be seen that it is precisely because of the high adaptability of the probe part 1 and the inner hole of the coil 3 that the picking and unloading process is significantly simplified, so the whole set of operations can be completed automatically without manual assistance, avoiding the introduction of human errors and greatly improving the safety and reliability of the operation.

[0052] In this embodiment, the multiple cantilevers of the probe part 1 are arranged horizontally, namely a load-bearing arm 11 and two support arms 12. The load-bearing arm 11 is set above the two support arms 12, and provides load-bearing for the coil 3 by contacting the vertical vertex of the center hole 31. The two support arms 12 are symmetrically distributed at the same horizontal height on both sides of the load-bearing arm 11, and the distance from the load-bearing arm 11 in the vertical direction is equal to the radius of the center hole 31, thereby providing radial constraints for the coil 3 by contacting the two ends of the horizontal diameter of the center hole 31.

[0053] Specifically, the probe portion 1 of this embodiment comprises a three-arm coordinated structure consisting of a single-arm suspension and dual-rod internal support. This three-arm coordinated structure achieves a mechanical division of labor through optimized spatial positioning: the load-bearing arm 11, by virtue of its highest position, exclusively occupies the contact surface at the vertex of the center hole 31, ensuring that the weight of the coil 3 is efficiently transmitted along a single vertical path; the two support arms 12 precisely match the horizontal diameter of the center hole 31 at symmetrical heights, forming a self-stabilizing radial constraint through two-point contact. This configuration minimizes the number of cantilevers while simultaneously providing both load-bearing and constraint support functions. This ensures that the coil 3 itself meets the requirements for loading and unloading, while minimizing interference between the cantilevers and other docking equipment. Furthermore, the vertical load-bearing and horizontal limiter functions are spatially decoupled, preventing load interference and enhancing overall rigidity.

[0054] Specifically, the two support arms 12 are dual-supported in the horizontal diameter direction. This not only improves support stability and deformation resistance, but also prevents narrow coils (axial widths) ≤70mm from angularly deviating from the single-arm pick-up coil when the device rotates (i.e., deflecting). Simultaneously, the three-point support directly feeds the coil 3 into the uncoiler. Compared to a method with only a single-arm cantilever, this prevents coils 3 with radial thicknesses ≤12mm from collapsing and being unable to be automatically loaded onto the machine. This device can also be used to load wide coils with axial widths greater than 800mm (specifically, 1200mm).

[0055] In this embodiment, Figures 1 to 3 As shown, the probe portion 1 also includes a bracket 13, a lifting plate 14, a first drive member 15, and a second drive member 16. The bracket 13 is connected to the moving portion 2. The lifting plate 14 is slidably connected to the bracket 13 via a sliding pair arranged in the vertical direction. The first drive member 15 is connected to the bracket 13, and its driving end is connected to the lifting plate 14 to drive the lifting plate 14 to move up and down. The load-bearing arm 11 and the second drive member 16 are fixedly connected to the lifting plate 14. The two support arms 12 are slidably connected to the lifting plate 14 via a sliding pair arranged in the horizontal direction. The installation position of the load-bearing arm 11 is located above the installation position of the support arm 12, and the vertical distance is consistent with the radius of the center hole 31. The lifting plate 14 can drive the three cantilevers to move together, thereby ensuring that the relative positions of the three in the vertical direction are always consistent and do not interfere with the horizontal movement of the support arm 12. The driving end of the second drive member 16 is connected to the support arm 12 to drive the two support arms 12 to move closer and farther. Specifically, a driving component with two driving ends can be used to keep the movement distance of the two support arms 12 consistent. Each driving part can adopt a lifting hydraulic system, and the sliding pair can adopt a slide rail system. Conventional selection can also be made according to the specific use environment and requirements, which will not be elaborated here.

[0056] In this embodiment, in order to obtain docking space with the cross-cutting line uncoiler and avoid mutual interference, both the load-bearing arm 11 and the support arm 12 are slender rod suspended structures. Each cantilever is an L-shaped rod structure, and is connected to the lifting plate 14 through a support rod on one side, and the support rod on the other side serves as the cantilever itself. This L-shaped rod structure can reduce the deformation of the top end of the slender rod suspended structure. In this embodiment, in order to further reduce the deformation of the top end of the slender rod suspended structure, the strength of each cantilever material is not less than Q390. And in order to protect the coiled material, the top of each cantilever slender rod (cantilever end) is processed into an arc consistent with the inner diameter of the coil 3, and at least chamfering or rounding is required.

[0057] In this embodiment, the distribution position of each cantilever is consistent with the position of the gap 41 between each fan-shaped block of the uncoiler drum 4, so that the probe 1 and the uncoiler drum 4 can be staggered, thereby simultaneously probing into the same coil 3. Figure 5 As shown, the four-petal fan-shaped block of the reel 4 or the unwinding head can shrink or expand toward the same center, and there are three gaps 41 on the top and both sides between each petal, corresponding to the load-bearing arm 11 and the support arm 12 of this embodiment.

[0058] The cross-sectional dimensions of each cantilever are smaller than the cross-sectional dimensions of each notch 41, so that when the outer contour of the probe portion 1 is expanded and the uncoiler drum 4 is opened, there is a gap 42 between the outer periphery of each cantilever and the notch 41, and the movement stroke of each cantilever in a certain direction is smaller than the minimum width of each gap 42 in that direction, thereby avoiding interference between the movement stroke and the drum 4. Specifically, Figure 5 As shown, the vertical movement stroke of the lifting plate 14 (driving the load-bearing arm 11 and the support arm 12) driven by the first driving member 15 is smaller than the minimum value of the vertical width of the gap 42 between the load-bearing arm 11 and the top notch 41, and the vertical width of the gap 42 between the support arm 12 and the notches 41 on both sides; the horizontal movement stroke of the (single-sided) support arm 12 driven by the second driving member 16 is smaller than the horizontal width of the gap 42 between the support arm 12 and the notches 41 on both sides.

[0059] Specific as Figure 5 As shown, Figure 5 Dimensions are in millimeters and are for reference only. Adjustments can be made within a range of -10mm to +30mm, depending on the width and weight of the coil. Exceeding +30mm will reduce the rigidity of the uncoiler and increase coil deformation. Excessive clearance (above -10mm) increases the accuracy and strength requirements of the automatic loading device. For example, when docking 400 wires, due to the lighter coil weight, the opening size can be adjusted from 114mm to approximately 140mm.

[0060] In this embodiment, the storage cantilever 5 connected to the device is a double cantilever structure that is spatially adapted to the support arm 12 and the load-bearing arm 11. Figure 6Specifically, the gap between the two cantilevers of the material storage cantilever 5 serves as a clearance for the top center notch of the load-bearing arm 11, and the surfaces of the two cantilevers are both curved, so that the outer contour of the material storage cantilever 5 is consistent with the inner surface of the center hole 31 of the coil 3, thereby better fitting the inner axis of the coil 3 and improving the support effect.

[0061] In this embodiment, the coil transfer device further includes a control unit, which is electrically connected to the probe 1 and the moving part 2, respectively, and is used to control the moving part 2 to hold the probe 1 and advance along the cantilever axis to reach the target position after receiving a material picking instruction, and to control the outer contour of the probe 1 to expand and lock the coil 3 after advancing to the target position, and to control the moving part 2 to hold the probe 1 and retreat along the cantilever axis after locking to complete the material picking operation; and is also used to control the moving part 2 to hold the probe 1 and advance along the cantilever axis to reach the target position after receiving a material discharge instruction, and to control the outer contour of the probe 1 to contract and release the coil 3 after advancing to the target position, and to control the moving part 2 to hold the probe 1 and retreat along the cantilever axis after releasing to complete the material discharge operation. The probe 1 and the moving part 2 can also be provided with a sensor component for position detection electrically connected to the control unit, which is used to sense whether they are locked, retracted, and moved forward or backward.

[0062] In this embodiment, the control unit includes a first detection member, the detection end of the first detection member is oriented in the same direction as the cantilever end of the probe 1. The control unit is used to determine whether there is a coil 3 at the target position based on the signal fed back by the first detection member. It is also used to issue an alarm when a material pickup instruction is received and there is no coil 3 at the target position, and to issue an alarm when a material discharge instruction is received and there is a coil 3 at the target position. The first detection member can be a laser sensor, which senses whether there is material by sensing whether there is an obstruction at the target position and the distance between the obstruction and itself. That is, the first detection member (laser sensor 1) is used to detect the edge of the coil, that is, the presence of material, and detect whether there is a coil 3 on the uncoiler. If no material is detected during unloading, it indicates that the employee has made an operational error, and the system will issue an alarm. On the contrary, if a coil 3 is found on the uncoiler when loading the material, it indicates that the employee has made an operational error, and the system will issue an alarm. This is a necessary safety protection measure for fully automatic loading and unloading, and is executed before controlling the moving part 2 to advance to the target position such as the uncoiler.

[0063] In this embodiment, the control unit includes a second detection member, the detection end of the second detection member is oriented perpendicular to the insertion portion 1, and the control unit is used to identify the axial width and number of each coil 3 at each target position based on the signal fed back by the second detection member and store it as record information. Specifically, the second detection member can be a laser sensor, and the second detection member (laser sensor 2) is oriented to specifically detect the gap between the coils, which can be used to select the required coil 3 on the multi-roll hanging storage cantilever 5, such as scanning multiple rolls of material on a shelf (multiple storage cantilever 5), and after comparing the width with the upper computer system (the record information can be uploaded to the upper computer system), the width and number of the coils are successfully identified, and the width information can be further confirmed by comparison, so as to avoid the safety risks caused by the coils 3 being layered together when picking the coils 3.

[0064] In this embodiment, the control unit also includes a third detection member, the installation position of the third detection member is flush with the cantilever end of the probe part 1, and the detection end is oriented perpendicular to the probe part 1. The control unit is used to select the target roll 3 according to the recorded information after receiving the material picking instruction, control the moving part 2 to move to the target position where the target roll 3 is located, and obtain the two end positions of the target roll 3 according to the signal feedback from the third detection member in the process of the moving part 2 moving towards the target position, and judge whether the moving stroke of the moving part 2 between the two end positions is consistent with the width of the target roll 3, and continue the material picking operation if it is consistent, and alarm if it is inconsistent.

[0065] Specifically, the third detection member can use a laser sensor to detect the coiling position. When the operator issues a material picking instruction, and the material picking instruction includes picking up a coil 3 on the shelf or the uncoiler, it can be moved to the target position based on the laser sensor 2. The moving part 2 moves forward so that the third detection member (laser sensor 3) detects the edges of the front and rear ends of the coil to be picked up. For example, when the coil 3 has not yet been sensed, the laser of the third detection member is not blocked, but is immediately blocked after reaching the front end and is not blocked again after reaching the rear end. That is, the end detection is achieved by switching between on, off, and on. The position data of the encoder at the two nodes on the transfer device (moving part 2) when reaching the front and rear ends are combined to know the distance moved by the moving part 2, thereby obtaining the actual width. After comparing with the width in the recorded information, a lifting action is performed as feedback on whether the fully automatic coiling is correct.

[0066] In this embodiment, the control unit further includes a fourth detection member, which is installed at a set distance beyond the cantilever end of the probe 1, and the detection end is oriented perpendicular to the probe 1. The control unit is configured to select a target position based on the recorded information after receiving a material placement instruction, control the moving portion 2 to move to the target position, and obtain the end position of the existing component at the target position based on the signal fed back by the fourth detection member during the process of the moving portion 2 moving toward the target position, and determine whether the movement stroke of the moving portion 2 before reaching the end position is consistent with the space required for the coil 3 to be placed. If consistent, the coil 3 is placed within the target position at a set distance from the existing coil 3. If inconsistent, an alarm is triggered. The fourth detection member can be a laser sensor.

[0067] Similar to the third detection part, the fourth detection part (laser sensor 4) is used to detect the unwinding position. When the operator issues an unwinding instruction to place the coil on a shelf or uncoiler, it can move to the target position based on the laser sensor 2. The moving part 2 moves forward to allow the fourth detection part to detect the edge of the coil in front of the unwinding shelf (that is, the existing coil) or the existing parts on the uncoiler head. Then, combined with the position data of the encoder on the transfer device (moving part 2), the distance moved by the moving part 2 is known, thereby obtaining the actual space size. After comparing it with the required space, a descending action is performed as feedback on whether the fully automatic unwinding is correct.

[0068] The fourth detection piece ray is perpendicular to the cantilever and is 25 mm away from (exceeds) the end of the cantilever. The 25 mm can be used as a gap from the existing coil parts when unwinding to avoid overlapping.

[0069] In this embodiment, the control unit includes a fifth detection member (laser sensor 5), the detection end of the fifth detection member is pointed at an acute angle to the cantilever end of the probe part 1, and the fifth detection member points to the equivalent central axis of the outer contour of the probe part 1, that is, the ray direction of the fifth detection member points to the front of the probe part 1 and has a certain offset angle, so that it intersects with the equivalent center line of the outer contour of the cantilever. The control unit is used to judge the distance between the probe part 1 and the coil 3 on the target position based on the signal feedback from the fifth detection member, and when the probe part 1 and the coil 3 on the target position reach within a preset distance, control the moving part 2 to slow down from the first speed to the second speed.

[0070] That is, the laser sensor 5 is used for limiting deceleration. The sensor beam is at 45° to the cantilever, and it mainly plays a protective function. Specifically, the detection distance of the laser sensor 5 can be 500mm. When the moving part 2 has not moved to make the coil 3 fall into the detection range of the laser sensor 5, the moving part 2 can move at a first speed (that is, high speed, which is set according to actual conditions). When the coil 3 falls into the detection range of the laser sensor 5, that is, when it is less than 500mm away from the coil 3 in front, the moving part 2 starts to decelerate to ensure safety.

[0071] In this embodiment, the probe 1 further includes a mounting rod 17. The mounting rod 17 is parallel to each cantilever and spaced at a distance no less than the maximum radial thickness of the web 3 to avoid interference with the web 3 on the cantilever. The first through fifth detection elements of the control unit are mounted on the mounting rod 17.

[0072] In general, this embodiment is equivalent to providing a coil transfer device / feeding device with a single-arm pick-up and double-support protection, or an automatic feeding device for silicon steel coils for a shear-to-cross line. It can be used in the field of transformer core processing to realize automatic loading of coils for shear-to-cross lines and retrieval of multi-coil hanging of core coils. The device supports fully automatic docking and loading of shear-to-cross lines, as well as fully automatic storage and retrieval of coils with double-arm single / multi-coil hanging (i.e., storage cantilever 5). The coil 3 can be a silicon steel coil. The main purpose of the load-bearing arm 11 is to support the weight of the silicon steel coil, and to achieve docking with the storage cantilever 5 and the shear-to-cross line unwinder through lifting. The purpose of the support arm 12 is to protect the silicon steel coil and prevent its deformation and displacement. A sensor mounting rod 17 is installed with multiple laser sensors. The device can cooperate with the storage structure of the double-arm cantilever to realize automatic storage of coils according to a certain handover process. This device utilizes a single-arm suspension coupled with dual-rod internal supports, effectively resolving the loading and unloading issues associated with cantilevered storage of multiple coils on a double-arm system and the fully automated feeding of the shear-to-shear uncoiler head. It also avoids coil deformation and narrow coil displacement. This device, combined with the shear-to-shear uncoiler, enables fully automated loading and unloading of coils from the shear-to-shear line, following a specific handover process. For detailed procedures, see Examples 2 through 6.

[0073] Example 2

[0074] This embodiment and embodiment 3 jointly provide a process flow in which a transfer device cooperates with a shear-to-cross line unwinding device or an uncoiler to automatically load and unload the machine.

[0075] The loading method of the coil material transfer device of this embodiment adopts the coil material transfer device of embodiment 1, and the method comprises the following steps:

[0076] After the shear-to-length uncoiler issues a loading signal (the transfer device will first obtain the corresponding coil 3 from the coil storage area as needed), the coil transfer device carrying coil 3 moves to the uncoiler and issues a loading request. At this time, the coil transfer device is facing the shear-to-length uncoiler.

[0077] When the coil transfer device receives the unwinding instruction issued by the shearing line system after judging that it is safe to load the material, it first determines whether there is a coil on the uncoiler through the feedback signal of the first detection part. If so, it will alarm. If not, it will make the moving part 2 hold the probe part 1 and move forward along the cantilever axis to put the coil on the probe part 1 onto the reel 4. It will determine through the feedback signal of the fourth detection part that the moving distance reaches the allowable placement width of the coil (if not, it will alarm) and then send the opening instruction to the uncoiler.

[0078] After the reel 4 is opened, the outer profile of the probe 1 is retracted to release the coil 3. Specifically, the load-bearing arm 11 and the support arm 12 are moved downward, the support arm 12 is retracted, the coil 3 is placed on the uncoiler, and a departure request is sent to the uncoiler.

[0079] After the shear line uncoiler agrees to leave the application, the moving part 2 supports the probe part 1 and moves back along the cantilever axis to complete the unloading operation, and the loading is completed.

[0080] Example 3

[0081] The unloading method of the coil material transfer device of this embodiment adopts the coil material transfer device of embodiment 1, and the method includes the following steps:

[0082] After the shear-to-cross line uncoiler issues a material unloading signal or a material return signal, the coil transfer device shrinks the outer profile of the probe 1, specifically, the load-bearing arm 11 and the support arm 12 are lowered, the support arm 12 is retracted, and the coil transfer device moves to the uncoiler and issues a material unloading request. At this time, the coil transfer device is facing the uncoiler.

[0083] When the coil transfer device receives the material-taking instruction issued by the shearing line system after it determines that it is safe to unload the material, it first uses the first detection part to determine whether there is material on the uncoiler. If there is no material, an alarm is triggered. If there is material, the moving part 2 supports the probe part 1 and moves forward along the cantilever axis to insert the probe part 1 into the coil 3 on the reel 4. During the process, the feedback signal of the third detection part is used to determine whether the moving distance is consistent with the width of the material coil (an alarm is triggered if they are inconsistent). If they are consistent, the outer contour of the probe part 1 is expanded (the load-bearing arm 11 and the support arm 12 rise, and the support arm 12 separates) to lock the coil 3, and a contraction instruction is sent to the uncoiler;

[0084] After the reel 4 shrinks, it receives the permission to leave signal from the cross-cutting line uncoiler, so that the moving part 2 supports the probe part 1 and carries the coil 3 backward along the cantilever axis to complete the material taking operation and the material unloading is completed.

[0085] Example 4

[0086] This embodiment and embodiment 5 together provide a process flow of the transfer device and the coil storage device cooperating to store, retrieve and discharge materials. The storage cantilever 5 of the coil storage device is adapted to the structure of the probe 1, forming a double cantilever structure that avoids the load-bearing arm 11 and the support arm 12, such as Figure 6 shown.

[0087] The material storage method of the coil material transfer device of this embodiment adopts the coil material transfer device of embodiment 1, and the method includes the following steps:

[0088] The coil transfer device carrying the coil 3 moves to the storage cantilever 5. At this time, the coil transfer device is facing the storage cantilever 5. The position of the outermost coil is first determined by the signal fed back by the first detection component pointing to the end of the coil 3 directly in front, and the unloading stroke distance is calculated (an alarm is triggered when the unloading stroke distance does not meet the allowable unloading width of the coil 3). The moving part 2 is then moved forward along the cantilever axis with the probe 1. During the process, the feedback signal from the fourth detection component is used to determine whether the moving distance reaches the allowable placement width of the coil (an alarm is triggered if it does not reach the limit), and then the coil on the probe 1 is placed on the storage cantilever 5.

[0089] The outer profile of the probe 1 is retracted (the load-bearing arm 11 and the support arm 12 are lowered, and the support arm 12 is retracted) to release the coil 3, and the coil 3 is placed on the material storage cantilever 5;

[0090] The moving part 2 supports the probing part 1 and moves backward along the cantilever axis to complete the material discharge operation and the material storage is completed.

[0091] Example 5

[0092] The material taking method of the coil material transfer device of this embodiment adopts the coil material transfer device of embodiment 1, and the method comprises the following steps:

[0093] The coil transfer device shrinks the outer contour of the probe 1 (the load-bearing arm 11 and the support arm 12 descend, and the support arm 12 shrinks), and moves to the storage cantilever 5. At this time, the coil transfer device is facing the storage cantilever 5.

[0094] First, the position of the outermost coil is determined by the signal fed back by the first detection component pointing to the end of the coil 3 directly in front, and the material removal travel distance is calculated. The moving part 2 supports the probe part 1 and moves forward along the cantilever axis to penetrate the coil 3 on the material storage cantilever 5. During this process, the feedback signal from the fourth detection component is used to determine whether the moving distance reaches the width of the coil 3 (an alarm is triggered if it does not reach the width). Then, the outer contour of the probe part 1 is expanded (the load-bearing arm 11 and the support arm 12 rise, and the support arm 12 separates) to lock the coil 3.

[0095] The moving part 2 supports the probe part 1 and carries the coil 3 and moves backward along the cantilever axis to complete the material taking operation.

[0096] Example 6

[0097] The shear-to-cross line system of this embodiment includes a decoiler, a stocking boom 5, and the coil transfer device of Example 1. The decoiler is disposed within the shear-to-cross line area and is used to process the coil 3. The stocking boom 5 is used to store the coil 3 and is disposed within the coil storage area. The coil transfer device is used to move between the shear-to-cross line area and the coil storage area to transfer the coil 3 between the decoiler and the stocking boom 5. The transfer device of this embodiment rationally avoids the shear-to-cross line decoiler head, enabling fully automatic docking and loading according to the handover process. It also cooperates with the dual booms for storing the coils, enabling fully automatic storage and retrieval of the coils according to the handover process. It also avoids deformation and narrow coil displacement during coil transfer.

[0098] In this embodiment, a safety door is provided between the cross-cutting area and the handover area, and a barrier gate is provided between the cross-cutting area and the coil storage area. The barrier gate and the safety door are interlocked or mutually exclusive, that is, only one of them is allowed to be opened at the same time. Combining the specific structure of the coil transfer device in Example 1 and the usage methods in Examples 2 to 5, the cross-cutting line system of this embodiment includes the following process flow related to coil transfer:

[0099] (1) Material unloading / returning / returning to warehouse and retrieving process:

[0100] The cross-cutting uncoiler is ready and sends a return signal (at this time, one notch 41 of the uncoiler drum 4 is directly above, the two notches 41 are on both sides, the uncoiler drum 4 is in the material-opening state, the uncoiler is facing the coil transfer device, and the area safety signal is met);

[0101] The coil transfer device shrinks the outer profile of the probe 1, and after shrinking to the right position, it sends an entry request to the cross-cutting line. Specifically, the load-bearing arm 11 and the support arm 12 are lowered, the support arm 12 is retracted, and it moves to the uncoiler (in front) and sends a material unloading request. At this time, the coil transfer device is facing the uncoiler.

[0102] The shear-to-cross line confirms the safety status (the safety door in the handover area is not opened and the uncoiler is in the correct position), and issues an entry consent signal and a material removal instruction;

[0103] After the coil transfer device receives permission to enter, the gate between the shear-to-slit line and the coil storage area opens. After the gate opening signal is in place, the coil transfer device enters the shear-to-slit area and the gate closes.

[0104] The coil transfer device enters the uncoiler and first uses the first detection part to determine whether there is material on the uncoiler. If there is no material, an alarm is triggered. If there is material, the moving part 2 supports the probe part 1 and moves forward along the cantilever axis to insert the probe part 1 into the coil 3 on the reel 4. During the process, the feedback signal of the third detection part is used to determine whether the moving distance is consistent with the width of the coil (if not, an alarm is triggered). If they are consistent, the outer contour of the probe part 1 is expanded (the load-bearing arm 11 and the support arm 12 rise, and the support arm 12 separates) to lock the coil 3. After it is in place, a signal of arrival is sent to the cross-cutting line and a retraction command is sent to the uncoiler.

[0105] When the shear line receives the in-position signal, the uncoiler retracts. After retracting to the position, it sends a retraction position signal to the coil transfer device and a signal to allow the loading device to leave.

[0106] The coil transfer device receives the signal to leave and the coil exits the uncoiler;

[0107] The coil transfer device exits the uncoiler, the gate between the cross-cutting line and the coil storage area opens, and the coil transfer device enters the coil storage area. The gate closes, safely isolating the cross-cutting area and the coil storage area, and the material withdrawal is completed.

[0108] (2) Loading / unloading process:

[0109] The cross-cutting uncoiler is ready and sends a loading signal (at this time, one notch 41 of the uncoiler drum 4 is directly above, the two notches 41 are on both sides, the uncoiler drum 4 is in a no-material retracted state, the uncoiler is facing the coil transfer device, and the area safety signal is met);

[0110] After the coil transfer device takes the coil 3 from the coil storage area as required, the coil transfer device with the coil moves to the uncoiler and faces the uncoiler (the coil transfer device is in the open state with the coil) and issues an entry / loading request;

[0111] The shear-to-cross line determines that it is safe (the safety door of the handover area is not opened and the uncoiler is in the correct position), and sends an entry application and a discharge instruction;

[0112] After the coil transfer device receives the signal of approval for entry, the gate between the cut-to-length line and the coil storage area opens, and the gate closes after the coil transfer device enters the cut-to-length area;

[0113] The coil transfer device first determines whether there is a coil on the uncoiler through the feedback signal of the first detection part. If so, an alarm is issued. If not, the moving part 2 is moved forward along the cantilever axis to support the probe part 1 so as to sleeve the coil on the probe part 1 onto the reel 4. The fourth detection part is used to determine whether the moving distance reaches the allowable placement width of the coil (if not, an alarm is issued) and then an opening instruction is sent to the uncoiler.

[0114] The shear-to-length line receives the application. The uncoiler opens and sends the opening position instruction.

[0115] The coil transfer device receives the arrival instruction, the load-bearing arm 11 and the support arm 12 move downward, the support arm 12 retracts, the coil 3 is placed on the uncoiler, and a departure request is sent to the uncoiler;

[0116] The shear-to-cross line approves the request to leave, and the coil transfer device exits the uncoiler. The barrier between the shear-to-cross line and the coil storage area opens, and the coil transfer device enters the coil storage area. The barrier closes, and the shear-to-cross area and coil storage area are safely isolated, completing the loading process.

[0117] (3) Material collection process:

[0118] The coil transfer device retracts, the load-bearing arm 11 and the support arm 12 descend, and the support arm 12 retracts;

[0119] Move the coil transfer device to the side of the storage cantilever 5, facing the storage cantilever 5;

[0120] First, the position of the outermost coil is determined by the signal fed back by the first detection member pointing to the end of the coil 3 in front, and the material picking travel distance is calculated;

[0121] The moving part 2 holds the probe part 1 and moves forward along the cantilever axis to insert the probe part 1 into the coil 3 on the material storage cantilever 5. During this process, the feedback signal from the third detection part is used to determine whether the moving distance reaches the width of the coil 3 (if not, an alarm is triggered);

[0122] Then, the outer contour of the probe portion 1 is expanded (the load-bearing arm 11 and the support arm 12 are raised, and the support arm 12 is separated) to pick up the coil 3 from the material storage cantilever 5 and lock the coil 3.

[0123] The coil transfer device exits the material storage cantilever 5, and the material removal is completed.

[0124] (4) Discharging process:

[0125] Move the coil transfer device with the coil to the side of the storage cantilever 5, facing the storage cantilever 5 (the coil transfer device is in the coil, high position, and open state);

[0126] First, the position of the outermost coil is determined by the signal fed back by the first detection member pointing to the end of the coil 3 in front, and the unwinding distance is calculated (an alarm is triggered when the unwinding distance does not meet the allowable unwinding width of the coil 3);

[0127] The moving part 2 holds the probe part 1 and moves forward along the cantilever axis. During the process, the fourth detection part feedback signal is used to determine whether the moving distance reaches the allowable placement width of the coil (if not, an alarm is triggered). Then, the coil on the probe part 1 is placed on the material storage cantilever 5.

[0128] The outer profile of the probe 1 is retracted (the load-bearing arm 11 and the support arm 12 are lowered, and the support arm 12 is retracted) to release the coil 3, and the coil 3 is placed on the material storage cantilever 5;

[0129] The coil transfer device exits the material storage cantilever 5, and the material discharge is completed.

[0130] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A coil transfer device, characterized in that: It comprises an inserting part (1) and a moving part (2), The probe portion (1) is connected to the moving portion (2) and is used to probe into the central hole (31) of the coiled material (3) to be transported to pass through the coiled material (3). The probe portion (1) includes a plurality of cantilever arms distributed parallel to each other. The cantilever arms can move relative to each other so that the outer contour of the probe portion (1) expands and locks the coiled material (3) by moving away from each other, and the outer contour of the probe portion (1) contracts and releases the coiled material (3) by moving closer to each other. The moving part (2) is used to support the movement of the probe part (1), and the moving path includes moving forward and backward along the axial direction of the cantilever, and the expansion and contraction of the outer profile of the probe part (1) are combined to realize the taking and unloading of the coiled material (3).

2. The coil transfer device according to claim 1, characterized in that: The multiple cantilevers of the probe part (1) are arranged horizontally, and are respectively a load-bearing arm (11) and two support arms (12). The load-bearing arm (11) is arranged above the two support arms (12) and provides load-bearing for the coil (3) by contacting the vertical vertex of the central hole (31). The two support arms (12) are symmetrically distributed at the same horizontal height on both sides of the load-bearing arm (11), and the distance between them and the load-bearing arm (11) in the vertical direction is equal to the radius of the center hole (31). They provide radial constraints for the coil (3) by contacting both ends of the horizontal diameter of the center hole (31).

3. The coil transfer device according to claim 2, characterized in that: The probe portion (1) further comprises a bracket (13), a lifting plate (14), a first driving member (15) and a second driving member (16); the bracket (13) is connected to the moving portion (2). The lifting plate (14) is slidably connected to the bracket (13) through a sliding pair arranged in a vertical direction. The first driving member (15) is connected to the bracket (13), and the driving end is connected to the lifting plate (14) to drive the lifting plate (14) to move up and down. The load-bearing arm (11) and the second driving member (16) are fixedly connected to the lifting plate (14); the two support arms (12) are slidably connected to the lifting plate (14) via a sliding pair arranged in a horizontal direction; the driving end of the second driving member (16) is connected to the support arm (12) to drive the two support arms (12) to move relatively closer or farther away.

4. The coil transfer device according to claim 3, characterized in that: Each cantilever is an L-shaped rod structure and is connected to the lifting plate (14) through a support rod on one side, and the support rod on the other side serves as the cantilever itself.

5. The coil transfer device according to any one of claims 1 to 3, characterized in that: The distribution position of each cantilever is consistent with the position of the gap (41) between each fan-shaped block of the uncoiler drum (4), so that the probe (1) and the uncoiler drum (4) can be staggered, thereby simultaneously probing into the same coil (3). The cross-sectional dimensions of each cantilever are smaller than the cross-sectional dimensions of each notch (41), so that when the outer contour of the probe portion (1) is expanded and the uncoiler drum (4) is opened, a gap (42) exists between the outer periphery of each cantilever and the notch (41). The movement stroke of each cantilever in a certain direction is smaller than the minimum width of each gap (42) in the direction.

6. The coil transfer device according to claim 1, characterized in that: It also includes a control unit, which is electrically connected to the probe part (1) and the moving part (2). It is used to control the moving part (2) to hold the probe part (1) and move it forward along the cantilever axis to reach the target position after receiving the material picking instruction, control the probe part (1) to expand the outer profile to lock the coiled material (3) after it moves forward to the target position, and control the moving part (2) to hold the probe part (1) and move it backward along the cantilever axis to complete the material picking operation after it is locked in place; It is also used to control the moving part (2) to hold the probe part (1) and advance along the cantilever axis to reach a target position after receiving a material discharge instruction, control the outer contour of the probe part (1) to shrink and release the coiled material (3) after the material is advanced to the target position, and control the moving part (2) to hold the probe part (1) and retreat along the cantilever axis to complete the material discharge operation after the material is released to the target position.

7. The coil transfer device according to claim 6, characterized in that: The control unit comprises a first detection member, the detection end of the first detection member is directed in the same direction as the cantilever end of the probe (1), The control unit is used to determine whether there is a coil (3) at the target position based on the signal fed back by the first detection member, It is also used to give an alarm when a material taking instruction is received and there is no coil (3) at the target position, and to give an alarm when a material placing instruction is received and there is a coil (3) at the target position.

8. The coil transfer device according to claim 6, characterized in that: The control unit comprises a second detection member, wherein the detection end of the second detection member is oriented perpendicularly to the probe portion (1). The control unit is used for identifying the axial width and number of each coil (3) at each target position according to the signal fed back by the second detection member and storing the information as record information.

9. The coil transfer device according to claim 8, characterized in that: The control unit further comprises a third detection member, the installation position of the third detection member is flush with the cantilever end of the probe (1), and the detection end portion is oriented perpendicularly to the probe (1). The control unit is used to select the target coil (3) according to the recorded information after receiving the material picking instruction, and control the moving part (2) to move to the target position where the target coil (3) is located. The positions of both ends of the target coil (3) are obtained according to the signal fed back by the third detection member during the process of the moving part (2) moving toward the target position, and it is determined whether the moving stroke of the moving part (2) between the two end positions is consistent with the width of the target coil (3). If they are consistent, the material picking operation is continued, and if they are inconsistent, an alarm is issued.

10. The coil transfer device according to claim 8, characterized in that: The control unit further comprises a fourth detection member, the fourth detection member is installed at a position beyond a set distance of the cantilever end of the probe (1), and the detection end portion is oriented perpendicular to the probe (1). The control unit is used to select a target position according to the recorded information after receiving the discharge instruction, and control the moving part (2) to move to the target position. In the process of the moving part (2) moving toward the target position, the end position of the existing component at the target position is obtained based on the signal fed back by the fourth detection member, and it is determined whether the moving stroke of the moving part (2) before reaching the end position is consistent with the required space for the coil (3) to be placed. If consistent, the coil (3) is placed at a set distance from the existing coil (3) in the target position, and an alarm is issued if inconsistent.

11. The coil transfer device according to claim 6, characterized in that: The control unit comprises a fifth detection member, wherein the detection end of the fifth detection member is directed at an acute angle to the cantilever end of the probe (1), and the fifth detection member points to the equivalent central axis of the outer contour of the probe (1). The control unit is used to determine the distance between the probe portion (1) and the coiled material (3) at the target position based on a signal fed back by the fifth detection member, and to control the moving portion (2) to decelerate from a first moving speed to a second moving speed when the probe portion (1) and the coiled material (3) at the target position reach within a preset distance.

12. The coil transfer device according to any one of claims 7 to 11, characterized in that: The probe portion (1) further comprises a mounting rod (17), the mounting rod (17) being parallel to each cantilever and having a spacing with each cantilever that is not less than the maximum radial thickness of the coil (3). The detection member of the control unit is mounted on the mounting rod (17).

13. A method for loading a coil transfer device, characterized in that: Using the coil transfer device according to any one of claims 1 to 12, the method comprises the following steps: After the shear-to-cross line uncoiler issues a loading signal, the coil transfer device carrying the coil (3) moves to the uncoiler and issues a loading request; When the coil transfer device receives the unwinding instruction issued by the shearing line system after judging that the material is safe and approved to be loaded, the moving part (2) supports the probe part (1) and moves forward along the cantilever axis to sleeve the coil on the probe part (1) onto the reel (4), and sends an opening instruction to the uncoiler; After the reel (4) is opened, the outer profile of the probe portion (1) is contracted to release the coil (3); The moving part (2) supports the probing part (1) and moves backward along the cantilever axis to complete the material discharge operation, and the material loading is completed.

14. A material unloading method for a coil material transfer device, characterized in that: Using the coil transfer device according to any one of claims 1 to 12, the method comprises the following steps: After the shearing line uncoiler sends a material unloading signal, the coil transfer device shrinks the outer profile of the probe (1), moves to the uncoiler and sends a material unloading request; When the coil transfer device receives the material taking instruction issued by the shearing line system after judging that it is safe to unload the material, the moving part (2) supports the probe part (1) and moves forward along the cantilever axis to insert the probe part (1) into the coil (3) on the reel (4), then expands the outer profile of the probe part (1) to lock the coil (3), and sends a contraction instruction to the uncoiler; After the reel (4) shrinks, the moving part (2) supports the probe part (1) and carries the coiled material (3) backward along the cantilever axis to complete the material taking operation and material unloading.

15. A material storage method for a coil material transfer device, characterized in that: Using the coil transfer device according to any one of claims 1 to 12, the method comprises the following steps: The coil transfer device carrying the coil (3) moves to the material storage cantilever (5), so that the moving part (2) supports the probe part (1) and moves forward along the cantilever axis to sleeve the coil on the probe part (1) onto the material storage cantilever (5); The outer profile of the probe portion (1) is contracted to release the coiled material (3); The moving part (2) supports the probing part (1) and moves backward along the cantilever axis to complete the material discharge operation, and the material storage is completed.

16. A material taking method for a coil material transfer device, characterized in that: Using the coil transfer device according to any one of claims 1 to 12, the method comprises the following steps: The coil transfer device shrinks the outer profile of the probe (1) and moves it to the material storage cantilever (5); The moving part (2) supports the probe part (1) and moves forward along the axial direction of the cantilever to allow the probe part (1) to penetrate the coil (3) on the material storage cantilever (5), and then the outer contour of the probe part (1) is expanded to lock the coil (3); The moving part (2) supports the probing part (1) and carries the coiled material (3) and moves backward along the cantilever axis to complete the material taking operation.

17. A shear-to-length line system, characterized in that: It comprises an uncoiler, a material storage cantilever (5) and a coil transfer device according to any one of claims 1 to 12, The uncoiler is arranged in the cross-cutting area and is used to process the coil (3). The material storage cantilever (5) is used to store the coiled material (3) and is arranged in the coiled material storage area. The coil transfer device is used to move between the cross-cutting area and the coil storage area to transfer the coil (3) between the unwinder and the storage cantilever (5).

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