Truck loading system and process for intelligently loading steel coils into container

Abstract

The invention discloses a loading system for intelligently loading a steel coil into a container, which comprises an X-direction RGV track, an RGV vehicle, an unstacker and a boxing device, the X-direction RGV track is provided with an automatic unstacker station, a steel coil receiving protection frame station, a loading equipment material taking station and a steel coil hoisting station; the unstacker transports a steel coil protection frame from the automatic unstacker station to the steel coil protection frame receiving station, the RGV transports the steel coil protection frame from the steel coil protection frame receiving station to the steel coil hoisting station, and after a steel coil is placed on the steel coil protection frame, the steel coil protection frame is hoisted by the RGV. The RGV transports the steel coil protection frame to the material taking station of the loading equipment, and the boxing device loads the steel coil protection frame into a container. The invention further discloses a loading process for intelligently loading the steel coils into the container by using the system. Automatic loading of the steel coils is achieved, and the working efficiency and quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of steel coil production and transportation, and in particular to a loading system and process for intelligently loading steel coils into containers. Background Art

[0002] After steel coils are produced in the workshop, they are typically loaded into containers before being shipped to customers. Some steel coils have strict surface protection requirements and must be transported in standard containers. However, since the top and side panels of standard containers cannot be opened, cranes or mobile cranes cannot load the steel coils into the containers.

[0003] In order to load steel coils into standard containers, most companies use large-tonnage forklifts to manually pick up the inner holes of the steel coils and deliver them into the containers. This requires a large number of operators, which increases the burden on the company's personnel. Traditional large forklifts emit large amounts of gas pollution when working, which will cause poor air quality in the workshop and affect the health of workers. In addition, manual operation will inevitably accidentally scratch the surface of the steel coils, affecting product quality. If customers return the products, it will cause losses to the company. Summary of the Invention

[0004] In order to solve the problems raised by the above background technology, this solution provides a loading system and process for intelligently loading steel coils into containers, realizing automated loading, improving the workshop environment, and improving work efficiency and quality.

[0005] The technical solution adopted by the present invention to solve its technical problems is: a loading system for intelligently loading steel coils into containers, including a destacker, an automatic steel coil lifting crane, an X-direction RGV track, an RGV car (rail-guided vehicle) and a packing device, wherein the RGV car is movably installed on the X-direction RGV track, the front end of the RGV track is provided with an automatic destacker station and a steel coil protection frame station, the end of the RGV track is provided with a loading equipment material taking station, the RGV track is also provided with a steel coil lifting station, the steel coil protection frame is stacked at the automatic destacker station, the destacker and the packing device are respectively Installed at the steel coil protection frame receiving station and the loading equipment retrieving station, the destacker can move the steel coil protection frame from the automatic destacker station to the RGV car at the steel coil protection frame receiving station, and the RGV car can transport the steel coil protection frame from the steel coil protection frame receiving station to the steel coil lifting station. After the steel coil automatic lifting crane (referred to as the crane) places the steel coil on the steel coil protection frame, the RGV car can transport the steel coil protection frame and the steel coil together to the loading equipment retrieving station, and the packing device can load the steel coil protection frame and the steel coil into a container as a whole.

[0006] Furthermore, the destacking machine includes a destacking machine frame, a Y-direction destacking translation mechanism, a Z-direction destacking lifting mechanism and a destacking robot. The moving direction of the Y-direction destacking translation mechanism is arranged perpendicularly to the X-direction RGV track in the horizontal plane. The Y-direction destacking translation mechanism is installed on the destacking machine frame, and the Z-direction destacking lifting mechanism is installed on the Y-direction destacking translation mechanism. The Y-direction destacking translation mechanism can drive the Z-direction destacking lifting mechanism to move between the automatic destacking machine station and the steel coil receiving protection frame station. The destacking robot is installed on the Z-direction destacking lifting mechanism. The Z-direction destacking lifting mechanism can drive the destacking robot to grab the steel coil protection frame from the automatic destacking machine station to the steel coil receiving protection frame station.

[0007] Furthermore, the destacking robot includes a destacking bracket, a clamp, a destacking slide rail and a destacking drive device. The destacking bracket is installed on the destacking Z-direction lifting mechanism, and the destacking Z-direction lifting mechanism can drive the destacking bracket to perform lifting and lowering movements. The destacking slide rail and the destacking drive device are installed on the destacking bracket, and the clamp is slidably installed on the destacking slide rail. The destacking drive device is connected to and can drive the clamp to slide on the destacking slide rail, thereby clamping or releasing the steel coil protection frame.

[0008] Furthermore, the Y-direction destacking translation mechanism includes a Y-direction destacking slide, a Y-direction destacking track, and a Y-direction destacking drive device. The Y-direction destacking track and the Y-direction destacking drive device are mounted on the destacking frame. The Y-direction destacking slide is slidably mounted on the Y-direction destacking track via rollers. The Y-direction destacking drive device is connected to and can drive the Y-direction destacking slide to move along the Y-direction destacking track. Preferably, the Y-direction track is a flat rail, and the Y-direction drive device is preferably a motor-driven screw transmission mechanism or a motor-driven rack and pinion transmission mechanism.

[0009] Furthermore, the Z-direction destacking lifting mechanism includes a Z-direction destacking track, a Z-direction destacking roller, and a Z-direction destacking drive. The Z-direction destacking track and the Z-direction destacking drive are mounted on the X-direction destacking slide. The Z-direction destacking roller is slidably mounted on the Y-direction destacking slide. The Z-direction destacking roller is connected to the destacking bracket. The Z-direction destacking drive is connected to and can drive the Z-direction destacking slide to move up and down along the Z-direction destacking track. The Z-direction drive preferably adopts a screw transmission mechanism or a rack and pinion transmission mechanism driven by a motor or a cylinder.

[0010] Furthermore, the packaging device includes a moving device and a cantilever barrel. The moving device includes an X-axis packaging moving mechanism, a Y-axis packaging lifting mechanism, and a Z-axis packaging translation mechanism. The Y-axis packaging lifting mechanism is mounted on the X-axis packaging moving mechanism, and the Z-axis packaging translation mechanism is mounted on the Y-axis packaging lifting mechanism. The cantilever barrel is mounted on the Z-axis packaging translation mechanism. A first sensor for detecting the inner hole of the steel coil is mounted on the cantilever barrel to ensure a safe distance between the cantilever barrel and the inner hole wall of the steel coil. A second sensor for real-time detection of obstacles ahead is mounted on the end of the cantilever barrel. The first sensor is a position sensor, and the second sensor is a displacement sensor.

[0011] Furthermore, the steel coil protection frame includes a protection frame base, a saddle and a movable barrier rod, and jacks are respectively installed at the left and right ends of the protection frame base, and the jacks are connected to a top plate, and the jacks can drive the top plate to extend to the left or right side so that it conflicts with the side wall of the container; the saddle is installed on the base, and the saddle is provided with a "V"-shaped groove for fixing the left and right sides of the steel coil, and the movable barrier rod includes a connecting rod, a front adjustment rod, a rear adjustment rod, a front barrier rod and a rear barrier rod, and the connecting rod is connected to the base, and the front adjustment rod and the rear adjustment rod are adjustable in the front and rear directions and are respectively installed at the front and rear ends of the connecting rod, and the front barrier rod and the rear barrier rod are installed on the front adjustment rod and the rear adjustment rod for fixing the front and rear sides of the steel coil.

[0012] Furthermore, the jack is a screw jack, which has the advantages of high load, low cost and strong adaptability.

[0013] Furthermore, the protection frame base is composed of a front bottom bar, a rear bottom bar, a left bottom bar, and a right bottom bar, which are connected to form a rectangle, and the jacks are respectively installed on the left bottom bar and the right bottom bar. The number of the jacks is preferably four, and they are respectively arranged at the four corners of the protection frame base.

[0014] Furthermore, a positioning hole is provided on the lower surface of the protection frame base, and a guide column is provided on the upper surface of the protection frame base to match the positioning hole, which is used to guide the bracket to be stacked up and down to prevent the bracket from tilting or collapsing during the stacking process.

[0015] Furthermore, the saddle includes a left baffle bracket and a right baffle bracket, and the left baffle bracket and the right baffle bracket are respectively provided with an inclined left baffle and a right baffle, and the "V"-shaped groove is formed between the left baffle and the right baffle.

[0016] Furthermore, the left baffle bracket and the right baffle bracket are detachably mounted on the protection frame base, and the left baffle bracket and the right baffle bracket of different sizes or inclinations can be replaced according to needs.

[0017] Furthermore, anti-slip pads are provided on the left baffle and the right baffle.

[0018] Furthermore, a rubber pad is provided on the top plate. When the top plate contacts and squeezes the wood, the rubber pad can be slightly compressed and deformed, thereby playing a role of buffering and increasing the contact surface to make the force uniform.

[0019] Furthermore, a label identification device is installed at the steel coil hoisting station, and the label identification device is used to check whether the steel coil label information is correct after the steel coil is hoisted.

[0020] Furthermore, the X-direction RGV track is also provided with a packaging station between the steel coil lifting station and the loading equipment retrieving station. The packaging station is provided with a strapping machine, which is used to bundle and fix the steel coil protection frame and the steel coil into a whole. The RGV vehicle transports the bundled and fixed steel coil protection frame and steel coil together to the loading equipment retrieving station, and the packing device can load the steel coil protection frame and steel coil into a container as a whole.

[0021] This solution also discloses a process for intelligently loading steel coils into containers. The process uses the above-mentioned system for intelligently loading steel coils into containers and performs the following steps:

[0022] S1. Manually transport the steel coil protection frame to the automatic destacking machine station; after the RGV car stops at the steel coil protection frame station, the destacking machine transports the steel coil protection frame from the automatic destacking machine station onto the RGV car;

[0023] S2. The RGV transports the steel coil protection rack to the steel coil lifting station;

[0024] S3. The crane places the coil on the coil protection rack;

[0025] S4. The label recognition device reads the labels on both sides of the steel coil and verifies whether the information is consistent with the actual product. If not, manual verification is performed and the material is confirmed for return or loading.

[0026] S5. The RGV transports the coils to the packaging station, where the strapping machine secures the coil protection frame and coils relative to each other using steel straps. After the strapping operation is completed, the RGV transports the coil protection frame and coils to the loading equipment reclaiming station.

[0027] S6. Park the vehicle correctly and ensure the container's rear door is open and secure.

[0028] S7. The loading equipment forklift steel coils into the container and returns to the waiting station, and the RGV returns to the steel coil protection rack station;

[0029] S8. The operator gets on the vehicle to manually fix the steel coil protection frame.

[0030] The beneficial effects of the present invention are as follows: the loading system of the present solution for intelligently loading steel coils into containers adopts RGV technology, combined with an automatic destacking machine and an intelligent loading device, to realize the automatic loading of steel coils into containers, facilitate shipment, reduce the handling work of large forklifts, reduce diesel combustion emission gas pollution, and improve the workshop environment. The loading device of the present solution can accurately move and position the steel coils, adopt a cantilever barrel structure to fork-transport the steel coils, can efficiently and smoothly transport the steel coils, avoid handling damage to the steel coils, and effectively improve the efficiency of the steel coil packing work. The destacking machine of the present solution can stably destacking and grasp the steel coil protection frame. By setting a Z-direction destacking lifting mechanism and an X-direction destacking translation mechanism, and using sensors, the destacking robot can accurately move to the working position to clamp the steel coil protection frame, thereby realizing efficient and accurate destacking of the steel coil protection frame. This solution features a steel coil protection rack equipped with screw jacks on its sides, allowing it to be securely fixed within the container. V-shaped saddles can accommodate steel coils of varying specifications and securely position them on the rack, preventing them from rolling or shifting during transport. A movable lever supports the front and rear sides of the steel coils, further preventing them from moving during transport. This effectively improves their stability and avoids damage during transport. This solution also discloses a process for intelligently loading steel coils into containers, significantly improving both efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the plan layout of the loading system of the present invention;

[0032] Figure 2-4 It is a structural schematic diagram of the destacker of the present invention;

[0033] Figure 5-9 It is a structural schematic diagram of the packing device of the present invention;

[0034] Figure 10-13 This is a schematic structural diagram of the steel coil protection frame of the present invention;

[0035] Figure 14 It is a logic block diagram of the loading process flow of the present invention. DETAILED DESCRIPTION

[0036] The present invention will be further described below with reference to the following examples. It should be noted that these specific examples are only representative examples of the present invention, wherein the specific methods, devices, conditions, materials, etc. exemplified are not intended to limit the present invention or the corresponding specific examples.

[0037] A loading system for intelligently loading steel coils into containers, such as Figure 1 As shown, it includes an X-direction RGV track, an RGV car 5, an automatic steel coil lifting crane (hereinafter referred to as the crane), a destacker 1, a boxing device 2, a label recognition device 3 and a strapping machine 4. The X-direction RGV track is arranged in a straight line, and the RGV car 5 is movably installed on the X-direction RGV track. The front end of the RGV track is provided with an automatic destacker station and a steel coil protection frame station, and the end of the RGV track is provided with a loading equipment retrieving station. The RGV track is connected between the automatic destacker station and the loading equipment There are also steel coil lifting stations and packaging stations in sequence between the material preparation and retrieving stations. The factory is equipped with a steel coil protection rack storage A for stacking steel coil protection racks on the front side of the X-direction RGV track, which is convenient for manual transportation and placement of the steel coil protection racks at the automatic destacker station. The factory is equipped with steel coil placement area B for stacking steel coils on the upper and lower sides of the X-direction RGV track, which is convenient for the crane to lift the steel coils to the steel coil lifting station. The strapping machine 4 adopts the conventional automatic strapping equipment on the market. In order to prevent equipment failure, a manual strapping machine can also be configured. The destacker 1 and the boxing device 2 are respectively installed at the steel coil protection rack receiving station and the loading equipment retrieving station. The destacker 1 can transport the steel coil protection rack from the automatic destacker station to the steel coil protection rack receiving station, and the RGV car 5 can transport the steel coil protection rack from the steel coil protection rack receiving station to the steel coil lifting station. After the steel coil is placed on the steel coil protection rack, the label identification device 3 checks whether the steel coil label information is correct; the RGV car 5 then transports the steel coil protection rack to the packaging station. After the strapping machine 4 bundles and fixes the steel coil protection rack and the steel coil, the RGV car 5 transports the steel coil to the loading equipment retrieving station, and the boxing device 2 can load the steel coil protection rack and the steel coil into a container.

[0038] like Figure 2-Figure 4As shown, the destacker 1 includes a destacker frame 14, a Y-direction destacker translation mechanism 13, a Z-direction destacker lifting mechanism 12 and a destacker robot 11. The destacker frame 14 is composed of a left column, a right column and a crossbeam. The two ends of the crossbeam are connected to the top of the left column and the right column to form a gantry structure. The working area corresponding to the automatic destacker station and the steel coil protection frame station is formed below the crossbeam. In this embodiment, the number of automatic destacker stations is 2, which are symmetrically arranged on both sides of the Y-direction of the steel coil protection frame station. The Y-direction destacking translation mechanism 13 is installed on the crossbeam, and the Y-direction destacking translation mechanism 13 includes a Y-direction destacking slide 130, a Y-direction destacking rail 132 and a Y-direction destacking drive device 133. The Y-direction destacking rail 132 and the Y-direction destacking drive device 133 are installed on the destacking frame 14. The Y-direction destacking slide 30 is slidably installed on the Y-direction destacking rail 132 through the destacking roller 131. The Y-direction destacking drive device 133 is connected to and can drive the Y-direction destacking slide 130 to move left and right along the Y-direction destacking rail 132. The Z-direction destacking lifting mechanism 12 includes a Z-direction destacking rail 125, a Z-direction destacking roller 120 and a Z-direction destacking drive device. The Z-direction destacking drive device 121 is installed on the Y-direction destacking slide 130. The Z-direction destacking rail 124 is installed on the Z-direction destacking roller 120. The Y-direction destacking slide 130 is provided with a roller seat 125 that cooperates with the Z-direction destacking rail 124. The Z-direction destacking rail 125 and the roller seat 125 are both "V"-shaped. The Z-direction destacking roller 120 is installed on the Y-direction destacking slide 130 so as to slide up and down through the Z-direction destacking rail 125 and the roller seat 125. The Z-direction destacking drive device is connected to and can drive the Z-direction destacking slide 120 to move up and down along the Z-direction destacking rail 125. The destacking robot 11 includes a destacking bracket 110, a clamping jaw 111, a destacking slide 115, and a destacking drive 114. The destacking bracket 110 is mounted at the lower end of the Z-direction destacking roller 120. The destacking slide 115 and the destacking drive 114 are mounted on the destacking bracket 110. The clamping jaw 111 is slidably mounted on the destacking slide 115. The destacking drive 114 is connected to and can drive the clamping jaw 111 to slide on the destacking slide 115. The destacking robot 111 is brought to a designated position by the Z-direction destacking lifting mechanism 12 and the Y-direction destacking translation mechanism 13. The destacking drive 114 drives the clamping jaw 111 to extend and clamp, completing the clamping of the steel coil protection rack, thereby achieving efficient and precise destacking and transportation of the steel coil protection rack in an automated manner. In this embodiment, the movement direction of the Y-direction destacking translation mechanism 13 is arranged perpendicularly to the X-direction RGV track in a horizontal plane.

[0039] Furthermore, in this embodiment, the Y-direction destacking rail 132 preferably adopts a flat rail, and the Y-direction destacking drive device 133 preferably adopts a gear rack transmission mechanism driven by a motor or a rotary cylinder. It can also adopt a screw transmission mechanism driven by a motor or a rotary cylinder or a linear motion drive device such as a cylinder or a hydraulic cylinder or an electric telescopic rod mechanism.

[0040] Furthermore, in this embodiment, the Z-direction destacking drive device includes a Z-direction destacking drive cylinder 121, a Z-direction destacking gear 122 and a Z-direction destacking rack 123, the Z-direction destacking rack 123 is installed on the Z-direction destacking slide 120, and the Z-direction destacking gear 122 and the Z-direction destacking rack 123 are engaged, the Z-direction destacking drive cylinder 121 adopts a rotary cylinder, the Z-direction destacking drive cylinder 121 is connected to the Z-direction destacking gear 122 to rotate, thereby driving the Z-direction destacking rack 123 and the Z-direction destacking slide 120 to move up and down.

[0041] Furthermore, in order to ensure the guidance and stability of the transmission and protect the equipment pipelines, the Z-direction lifting mechanism also includes a tank chain, and the two ends of the tank chain are respectively connected to the Z-direction destacking roller 120 and the Y-direction destacking slide 130.

[0042] Furthermore, in this embodiment, the clamping jaw 111 includes a left clamping jaw and a right clamping jaw, and the left clamping jaw and the right clamping jaw are in an "L" shape. The left clamping jaw and the right clamping jaw have hook portions for clamping the steel coil protection frame. The destacking slide rail 115 includes a left destacking slide rail and a right destacking slide rail. The destacking drive device 114 includes a left cylinder and / or a right cylinder. The left destacking slide rail and the right destacking slide rail are symmetrically arranged on both sides of the bottom surface of the destacking bracket 110. The left clamping jaw and / or the right clamping jaw are respectively slidably installed on the left destacking slide rail and / or the right destacking slide rail. The left cylinder and / or the right cylinder are respectively connected to the left clamping jaw and / or the right clamping jaw, and can drive the left clamping jaw and / or the right clamping jaw to be relatively close to or away from each other. A left synchronization rod and a right synchronization rod 113 are respectively installed on the left clamping jaw and the right clamping jaw, and a synchronization gear 112 is installed on the destacking bracket 110. The left synchronization rod and the right synchronization rod 113 are arranged in parallel on the front and rear sides of the synchronization gear 112. One end of the left synchronization rod and the right synchronization rod 114 are respectively connected to the left clamping jaw and the right clamping jaw, and the other end of the left synchronization rod and the right synchronization rod 114 is provided with a rack engaged with the synchronization gear 112. When the left cylinder (or right cylinder) drives the left clamping jaw (or right clamping jaw) to move, due to the meshing transmission relationship between the synchronization gear and the rack, the right clamping jaw (or left clamping jaw) will be driven to move relatively closer or farther away synchronously.

[0043] Furthermore, the left and right clamping jaws are provided with position sensors 116 and / or pressure sensors for detecting the position and / or state of the clamping jaws, so as to determine whether the clamping jaws are gripping the steel coil protection frame to be transported.

[0044] When the destacking machine 1 of this scheme is in use, after receiving the signal, the Y-direction destacking translation mechanism 13 moves along the Y-direction destacking track 132, driving the Z-direction destacking lifting mechanism 12 to move above the steel coil protection frame. After the sensor sends a signal to determine the distance, the Z-direction destacking drive cylinder 121 drives the Z-direction destacking gear 122 to rotate, thereby driving the Z-direction destacking rack 123 to move up and down, so that the Z-direction destacking slide 120 depends on the Z-direction destacking track 125 and the roller seat 125 to descend, driving the destacking robot 11 to reach the designated position, and the grasping part of the robot adopts a clamping method to control the clamping and release of the gripper through the extension and retraction of the clamping cylinder 114, so that the clamping claw 111 grabs the steel coil protection frame and transports it to the designated position, completing the destacking process.

[0045] like Figure 5-Figure 9 As shown, the packing device 2 includes a moving device, an audible and visual alarm, and a cantilever barrel 24. The moving device is composed of an X-direction packing moving mechanism 21, a Z-direction packing lifting mechanism 22, and a Y-direction packing translation mechanism 23. The Z-direction packing lifting mechanism 22 is arranged on the X-direction packing moving mechanism 21, and the Y-direction packing translation mechanism 23 is arranged on the Z-direction packing lifting mechanism 22. The cantilever barrel 24 is made of a cylindrical barrel body 241, and the cantilever barrel 24 is installed on the Y-direction packing translation mechanism 23. A first sensor 243 for detecting the inner hole of the steel coil is installed on the cantilever barrel 24 to ensure a safe distance between the cantilever barrel 24 and the inner hole wall of the steel coil. A second sensor 242 for real-time detection of obstacles in front is installed at the end of the cantilever barrel. The sound and light alarm is installed on the mobile device, and the signals of the first sensor 243 and the second sensor 242 are connected to the sound and light alarm. When the distance detected by the first sensor 243 and the second sensor 242 is less than the set value, an sound and light alarm is issued and the movement of the mobile device is stopped, thereby ensuring the safety of the device operation and solving the problems of insufficient safety and intelligence of existing loaders.

[0046] Furthermore, the first sensor 243 and the second sensor 242 are placed on the upper portion and the end portion of the cantilever barrel 24. The first sensor 243 is a position sensor, and the second sensor 242 is a displacement sensor.

[0047] Furthermore, the X-direction packing moving mechanism 21 includes an X-direction packing guide rail 25, a packing base 211 and an X-direction packing drive mechanism. The X-direction packing guide rail 25 is laid on the factory floor in a front-to-back direction parallel to the X-direction RGV track. In some embodiments, the X-direction packing guide rail 25 can also directly select one end of the X-direction RGV track. The packing base 21 is installed on the X-direction packing guide rail 25, and the X-direction packing drive mechanism can drive the packing base 21 to reciprocate along the X-direction packing guide rail 25. In this embodiment, the X-direction packing drive mechanism includes wheels 212 and an X-direction packing drive motor 213 installed on the packing base 21. The X-direction packing drive motor 213 is connected through a transmission shaft 214 and drives the wheels 212 to roll, thereby driving the packing base 211 to move back and forth on the X-direction packing guide rail 25.

[0048] Furthermore, the Z-direction box lifting mechanism 22 includes a box frame 221, a Z-direction box guide rail 223, a box lifting arm 222, and a Z-direction box driving mechanism. The box frame 221 is mounted on the front end of the box base 21, and the rear end of the box base 21 is provided with a counterweight 215. For structural stability, the box base 21 is also provided with a plurality of inclined rods, the ends of which are respectively connected to the box frame 221 and the box base 21. This makes the box base 21 have a stronger load capacity and better stability, and is not prone to overturning. The Z-direction box guide rail 223 is vertically mounted on the box frame 221, and the lifting arm 222 is mounted on the Z-direction box guide rail 223 via a Z-direction pulley. The Z-direction box driving mechanism is connected and can drive the lifting arm 222 to move up and down along the Z-direction box guide rail 223. Among them, in this embodiment, the Z-direction packaging drive mechanism adopts a hydraulic cylinder 224, the piston rod 225 of the hydraulic cylinder 224 is connected to the lifting arm 222, and the piston rod 225 of the hydraulic cylinder 224 is provided with a third sensor and a fourth sensor. The third sensor and the fourth sensor respectively adopt a displacement sensor and a pressure sensor. The displacement sensor can detect the extension and contraction amount of the piston rod 225 during operation, and the pressure sensor detects the load of the piston rod 225. The weight data of the steel coil is compared by converting the pressure value. When the pressure reaches the set value, the liquid pressure is transmitted to the piston rod 225 through the piston, thereby driving the lifting arm 222 to move vertically up and down along the Z-direction packaging guide rail 23.

[0049] Furthermore, the Y-direction packing translation mechanism 23 includes a packing bracket, a barrel rack 231, a Y-direction packing guide rail 233 and a Y-direction packing drive mechanism. The bracket is installed on the lifting arm 222, and the Y-direction packing guide rail 233 and the Y-direction packing drive mechanism are installed on the packing bracket. The barrel rack 231 is installed on the Y-direction packing guide rail 233 through a roller 232. The barrel rack 231 is provided with a mounting hole for mounting the cantilever barrel 24. The Y-direction packing drive mechanism is connected to and can drive the barrel rack 231 to move along the Y-direction packing guide rail. Among them, the Y-direction packing drive mechanism includes a Y-direction packing drive motor 236, a screw rod 234 and a nut 235. The Y-direction packing drive motor 236 and the screw rod 234 are installed on the packing bracket. The screw rod 234 is arranged parallel to the Y-direction packing guide rail 233. The barrel rack 231 is installed on the Y-direction packing guide rail 233 through a pulley 235, and the barrel rack 231 is connected to the nut 235. The nut 235 is installed on the screw rod 234. The Y-direction packing drive motor 236 is connected and can drive the screw rod 234 to rotate, thereby driving the barrel rack 231 on the nut 235 to move along the Y-direction packing guide rail 233. In this embodiment, the number of the Y-direction packing translation mechanism 23 is two, namely the front side Y-direction packing translation mechanism unit and the rear side Y-direction packing translation mechanism unit. The structure of the rear side Y-direction packing translation mechanism unit is as follows: Figure 8 As shown, the structure of the front Y-direction packing translation mechanism unit is similar to that of the rear Y-direction packing translation mechanism unit, both of which include a packing bracket, a barrel rack 31, a Y-direction packing guide rail 233 and a Z-direction packing drive mechanism, which controls the front and rear Z-direction packing drive mechanisms to work synchronously to achieve Z-direction translation of the barrel rack 31 and the cantilever barrel 4. The difference between the front Z-direction packing translation mechanism unit and the rear Z-direction packing translation mechanism unit is that: since the cantilever barrel 4 installed on the barrel rack 31 is subjected to the downward force of the steel coil, the roller 232 in the front Z-direction packing translation mechanism unit is arranged above the Z-direction packing guide rail 233 to withstand the downward pressure. Due to the principle of leverage, the roller 232 in the rear Z-direction packing translation mechanism unit will be arranged below the Z-direction packing guide rail 233, which has better load-bearing capacity and a more stable structure. The front Z-direction translation mechanism unit and the rear Z-direction translation mechanism unit are distributed on the lifting arm 22 at intervals in front and back, which can better connect and drive the cantilever barrel to work.

[0050] When in use, the mobile device receives the position signal of the steel coil to be transported, and the X-direction packing moving mechanism 21 drives the packing base 21 to move along the X-direction packing guide rail 25, adjusts the Z-direction packing lifting mechanism 22 to control the cantilever barrel 24 to extend into the inner hole of the steel coil to be transported, and moves the steel coil to the specified position through the Y-direction packing translation mechanism 23. Finally, combined with the mechanism movements in the X, Y, and Z directions, the steel coil packing and transportation work can be completed quickly and accurately without damaging the steel coil.

[0051] like Figure 10-13 As shown, the steel coil protection rack includes a protection rack base 61, a saddle 62, and a movable stop bar 63. The protection rack base 1 is composed of a front bottom bar 6101, a rear bottom bar 6102, a left bottom bar 6103, and a right bottom bar 6104. The front bottom bar 6101, the rear bottom bar 6102, the left bottom bar 6103, and the right bottom bar 6104 are connected to form a rectangle. Two jacks 611 are mounted at each end of the left bottom bar 6103 and the right bottom bar 6104. The jacks 611 are connected to a top plate, which is provided with a rubber pad 612. The jacks 612 can drive the top plate and the rubber pad 612 to extend to the left and right. After the steel coil fixing rack is placed in a container, the jacks 611 on both sides extend outward, causing the rubber pad 612 on the top plate to contact the wooden blocks inside the container, pushing the wooden blocks against the container sidewalls. The rubber pad 612 is slightly deformed before the container is secured. The saddle 62 is installed on the protection frame base 61. The saddle 62 is provided with a "V"-shaped groove arranged in the horizontal left and right directions for fixing the left and right sides of the steel coil. The gradually larger opening of the "V"-shaped groove can accommodate steel coils of different specifications and place them firmly on the protection frame base 1 to prevent the steel coil from rolling or shifting during transportation. The movable blocking rod 63 includes two connecting rods 630, two front adjusting rods 634, two rear adjusting rods 635, a front blocking rod 632 and a rear blocking rod 633. One end of the two front adjusting rods 634 and the rear adjusting rod 635 can be adjusted in the longitudinal front and rear directions and are respectively sleeved on the front and rear ends of the two connecting rods 630. The other ends of the two front adjusting rods 634 and the rear adjusting rod 635 are respectively connected to the two ends of the front adjusting rod 632 and the two ends of the rear adjusting rod 633. The front adjusting rod 632 and the rear adjusting rod 633 are used to fix the front and rear sides of the steel coil. The connecting rod 630, the front adjusting rod 634, the rear adjusting rod 635, the front blocking rod 632 and the rear blocking rod 633 form a rectangle. Two mounting posts 6105 are respectively provided on the front bottom bar 6101 and the rear bottom bar 6102. The bottom ends of the two connecting rods 630 are respectively provided with mounting grooves 6301 that match the mounting posts 6105. The two connecting rods 630 intersect with the front bottom bar 6101 and the rear bottom bar in a cross shape. The connecting rods 630 can be detachably mounted on the protective frame base 61.

[0052] Furthermore, a positioning hole 614 is provided on the lower surface of the protection frame base 61, and a guide column 613 is provided on the upper surface of the protection frame base 61 to match the positioning hole 614, for guiding the brackets to be stacked up and down to prevent the brackets from tilting or collapsing during the stacking process.

[0053] Furthermore, the jack 611 is a screw jack, which has the advantages of high load, low cost and strong adaptability.

[0054] Furthermore, the saddle 62 includes a left fender bracket and a right fender bracket 622 symmetrically arranged on both sides. There are two of each, with a certain spacing between the two left fender brackets and the two right fender brackets 622. The left and right fender brackets 622 are respectively provided with an inclined left fender and a right fender, forming a "V"-shaped groove between the left and right fenders 622. Anti-slip pads 621 are provided on each of the left and right fender brackets 622. The left and right fender brackets 622 are welded from carbon steel pipes. This structure can accommodate steel coils of different specifications and securely place them on the protective frame base 61, preventing the steel coils from rolling or shifting during transportation. The anti-slip pads 21 increase the friction between the steel coils and the left and right fender brackets 622, ensuring a more stable placement of the steel coils on the saddle 62.

[0055] Furthermore, the left and right baffle brackets 622 are detachably mounted on the protective frame base, allowing replacement of left and right baffle brackets 622 with different sizes or inclinations as needed. In this embodiment, the protective frame base 61 is provided with a reinforcing rib 6106. The front and rear sides of the left baffle bracket are respectively clipped onto the left bottom bar 6103 and the reinforcing rib 6106. The front and rear sides of the right baffle bracket 622 are respectively clipped onto the reinforcing rib 106 and the right bottom bar 6104. The front and rear sides of the left and right baffle brackets 22 are respectively provided with a snap-fit ​​portion that engages with the protective frame base 61. In other embodiments, the saddle 62 may also be installed using screws or a snap-fit ​​method.

[0056] Furthermore, a positioning pin 631 is installed on the connecting rod 630 to fix the front adjustment rod 634 and the rear adjustment rod 635. The front adjustment rod 634 and the rear adjustment rod 635 are provided with a plurality of pin holes arranged at intervals. The positioning pin 631 can be inserted into the pin holes at the corresponding position to fix the front adjustment rod 634 and the rear adjustment rod 635.

[0057] Furthermore, the front block rod 632 and the rear block rod 633 are detachably mounted on the connecting seat by screws, and the connecting seat is connected to the front adjustment rod 634 and the rear adjustment rod 635. When the front block rod 632 and the rear block rod 633 are severely worn, they can be disassembled and replaced.

[0058] In this embodiment, the left and right directions of the steel coil protection frame are arranged parallel to the Y-axis direction of the Y-axis destacking translation mechanism 13 of the destacking machine 1, that is, when the steel coil protection frame is placed at the automatic destacking machine station and the steel coil protection frame receiving station, the front and rear directions of the steel coil protection frame are arranged parallel to the front and rear directions of the X-axis RGV track. When in use, the steel coil is placed on the saddle 62 of the new steel coil fixing bracket of this solution, and the length position of the front and rear bars 632 and 633 on the movable baffle 63 are adjusted so that the front and rear bars 632 and 633 support the front and rear sides of the steel coil, and the positioning pin 631 is positioned in the hole to fix the steel coil. By adjusting the jack 611 of the protection frame base 61, the rubber pad 612 on the top plate is brought into contact with the wooden blocks in the container, and the wooden blocks are pushed into squeeze contact with the side walls of the container, thereby completing the stable placement of the steel coil fixing frame in the container and ensuring the fixation of the steel coil in the container transportation project. This solution is equipped with a jack 611 on the side of the protective frame base 61 so that it can be firmly fixed in the container; this solution is provided with a "V"-shaped saddle 62, which can accommodate steel coils of different specifications and place them firmly on the fixed bracket to prevent the steel coils from rolling or shifting during transportation; this solution is provided with a movable lever 63 to support the front and rear sides of the steel coils, further preventing the steel coils from moving during transportation, effectively improving the stability of the steel coils during transportation and avoiding transportation damage to the steel coils.

[0059] This solution also discloses a loading process for intelligently loading steel coils into containers, which uses the above-mentioned loading system and controller for intelligently loading steel coils into containers. The controller includes an intelligent loading management system, a crane management system, and a steel coil outbound management system. The intelligent loading management system manages and controls the signals of the RGV loading process, the crane management system manages and controls the signals of the crane lifting the steel coils, and the steel coil outbound management system is responsible for registering the steel coil entry and exit records. Figure 14 As shown, the loading process of this scheme performs the following steps:

[0060] S1. A manual forklift transports the standard, qualified, and stacked steel coil protection frames to the automatic destacker station; after the RGV car 5 stops at the steel coil protection frame receiving station, the destacker 1 transports the steel coil protection frame from the automatic destacker station to the RGV car 5.

[0061] S2. The RGV vehicle 5 transports the steel coil protection rack to the steel coil lifting station, and the intelligent loading management system sends an RGV vehicle arrival signal to the driving management system.

[0062] S3. The crane management system controls the crane to place the steel coil on the steel coil protection rack, and the crane management system sends a loading completion signal to the intelligent loading management system.

[0063] S4. The label recognition device 3 reads the labels on both sides of the steel coil and then feeds the information back to the intelligent loading management system to check whether the pre-stored information of the steel coil required by the customer is consistent with the actual steel coil. If not, manual confirmation is performed again and the handling method is confirmed: return the material or allow loading. If the material is returned, a request is sent to the driving management system to remove the steel coil that does not meet the requirements and re-transport the appropriate steel coil.

[0064] S5. RGV 5 rotates the coil 90 degrees and transports it to the packaging station. The strapping machine 4 uses steel straps to fix the coil protection frame and the coil relative to each other. After the strapping operation is completed, RGV 5 transports the coil protection frame and the coil to the intelligent loading equipment retrieving station.

[0065] S6. Determine that the vehicle is parked correctly and that the container's rear door is open and secure;

[0066] S7. The loading equipment 2 forks and lifts the steel coil, so that the steel coil protection frame is separated from the RGV car 5, and the RGV car 5 returns to the receiving steel coil protection frame station. The loading equipment 2 automatically loads the steel coil into the container and returns to the waiting station;

[0067] S8. The operator presses the button to get on the vehicle (there is an intelligent infrared monitoring device to detect whether there are people in the container). At this time, the loading equipment 2 is locked, and the operator gets on the vehicle to manually fix the steel coil protection frame. After completion, the operator gets off the vehicle and unlocks the vehicle. After completing the loading operation of the first steel coil, the signal is fed back to the steel coil outbound management system for registration to facilitate verification.

[0068] S9. Repeat the above steps to complete other steel coil loading operations.

[0069] The above description is only a preferred embodiment of the present invention and should not be used to limit the scope of implementation of the present invention. In other words, any simple equivalent changes and modifications made according to the scope of the patent application and the content of the invention description are still within the scope of the patent of the present invention.

Claims

1. A loading system for intelligently loading steel coils into containers, characterized in that: It includes an X-direction RGV track, an RGV car, a destacker and a packing device. The RGV car is movably installed on the X-direction RGV track. The X-direction RGV track is provided with an automatic destacker station, a steel coil protection frame station, a loading equipment material taking station and a steel coil lifting station. The destacker and the packing device are respectively installed at the steel coil protection frame station and the loading equipment material taking station; the destacker transports the steel coil protection frame from the automatic destacker station to the steel coil protection frame station, and the RGV car transports the steel coil protection frame from the steel coil protection frame station to the steel coil lifting station. After the steel coil is placed on the steel coil protection frame, the RGV car transports the steel coil protection frame to the loading equipment material taking station, and the packing device loads the steel coil protection frame into a container.

2. The intelligent loading system for steel coils into containers according to claim 1 is characterized in that: The destacking machine includes a destacking machine frame, a Y-direction destacking translation mechanism, a Z-direction destacking lifting mechanism and a destacking robot. The Y-direction destacking translation mechanism is installed on the destacking machine frame, and the Z-direction destacking lifting mechanism is installed on the Y-direction destacking translation mechanism. The Y-direction destacking translation mechanism can drive the Z-direction destacking lifting mechanism to move between the automatic destacking machine station and the steel coil receiving protection rack station. The destacking robot is installed on the Z-direction destacking lifting mechanism. The Z-direction destacking lifting mechanism can drive the destacking robot to grab the steel coil protection rack from the automatic destacking machine station to the steel coil receiving protection rack station.

3. The intelligent loading system for steel coils into containers according to claim 2, characterized in that: The destacking robot includes a destacking bracket, a clamping claw, a destacking slide rail and a destacking drive device. The destacking bracket is installed on the destacking Z-direction lifting mechanism, and the destacking Z-direction lifting mechanism can drive the destacking bracket to perform lifting and lowering movements. The destacking slide rail and the destacking drive device are installed on the destacking bracket, and the clamping claw is slidably installed on the destacking slide rail. The destacking drive device is connected to and can drive the clamping claw to slide on the destacking slide rail.

4. The intelligent loading system for steel coils into containers according to claim 3 is characterized in that: The Y-direction destacking translation mechanism includes a Y-direction destacking slide, a Y-direction destacking track and a Y-direction destacking driving device. The Y-direction destacking track and the Y-direction destacking driving device are installed on the destacking frame. The Y-direction destacking slide is slidably installed on the Y-direction destacking track through rollers. The Y-direction destacking driving device is connected to and can drive the Y-direction destacking slide to move along the Y-direction destacking track; the Z-direction destacking lifting mechanism includes a Z-direction destacking track, a Z-direction destacking roller and a Z-direction destacking driving device. The Z-direction destacking track and the Z-direction destacking driving device are installed on the Y-direction destacking slide. The Z-direction destacking roller is slidably installed on the Y-direction destacking slide. The Z-direction destacking roller is connected to the destacking bracket, and the Z-direction destacking driving device is connected to and can drive the Z-direction destacking slide to move up and down along the Z-direction destacking track.

5. The intelligent loading system for steel coils into containers according to claim 4 is characterized in that: The Y-direction drive device and the Z-direction drive device adopt a screw transmission mechanism or a gear rack transmission mechanism driven by a motor or a cylinder.

6. The intelligent loading system for steel coils into containers according to claim 1, characterized in that: The packing device includes a moving device and a cantilever gun barrel. The moving device includes an X-direction packing moving mechanism, a Z-direction packing lifting mechanism and a Y-direction packing translation mechanism. The Z-direction packing lifting mechanism is arranged on the X-direction packing moving mechanism, and the Y-direction packing translation mechanism is arranged on the Z-direction packing lifting mechanism; the cantilever gun barrel is installed on the Y-direction packing translation mechanism, and a first sensor for detecting the inner hole of the steel coil is installed on the cantilever gun barrel to ensure a safe distance between the cantilever gun barrel and the inner hole wall of the steel coil. The end of the cantilever gun barrel is installed with a second sensor for real-time detection of obstacles in front.

7. The intelligent loading system for steel coils into containers according to claim 6, characterized in that: The steel coil protection frame includes a base, a saddle and a movable barrier rod, and jacks are respectively installed at the left and right ends of the base, and the jacks are connected to a top plate. The jacks can drive the top plate to extend to the left or right side so that it conflicts with the side wall of the container; the saddle is installed on the base, and the saddle is provided with a "V"-shaped groove for fixing the left and right sides of the steel coil, and the movable barrier rod includes a connecting rod, a front adjusting rod, a rear adjusting rod, a front barrier rod and a rear barrier rod, and the connecting rod is connected to the base, and the front adjusting rod and the rear adjusting rod are adjustable in the front and rear directions and are respectively installed on the front and rear ends of the connecting rod, and the front barrier rod and the rear barrier rod are installed on the front adjusting rod and the rear adjusting rod for fixing the front and rear sides of the steel coil.

8. The intelligent loading system for steel coils into containers according to claim 1, characterized in that: A label identification device is also installed at the steel coil lifting station.

9. The intelligent loading system for steel coils into containers according to claim 1, characterized in that: The X-direction RGV track is further provided with a packaging station between the steel coil lifting station and the loading equipment retrieving station, and a strapping machine is provided at the packaging station.

10. A process for intelligently loading steel coils into containers, characterized in that: Using the loading system for intelligently loading steel coils into a container according to any one of claims 1 to 9, the following steps are performed: S1. Manually transport the steel coil protection frame to the automatic destacking machine station; after the RGV car stops at the steel coil protection frame station, the destacking machine transports the steel coil protection frame from the automatic destacking machine station onto the RGV car; S2. The RGV transports the steel coil protection rack to the steel coil lifting station; S3. The crane places the coil on the coil protection rack; S4. The label recognition device reads the labels on both sides of the steel coil and verifies whether the information is consistent with the actual product. If not, manual verification is performed and the material is confirmed for return or loading. S5. The RGV transports the coils to the packaging station, where the strapping machine secures the coil protection frame and coils relative to each other using steel straps. After the strapping operation is completed, the RGV transports the coil protection frame and coils to the loading equipment reclaiming station. S6. Park the vehicle correctly and ensure the container's rear door is open and secure. S7. The loading equipment forklift steel coils into the container and returns to the waiting station, and the RGV returns to the steel coil protection rack station; S8. The operator gets on the vehicle to manually fix the steel coil protection frame.

Images