Bidirectional docking automatic feeding and discharging silicon steel coil transfer mother-son vehicle and control method thereof

Abstract

This invention discloses a bidirectional docking automatic loading and unloading silicon steel coil transfer trolley and its control method, belonging to the field of transformer silicon steel coil production. The trolley includes a mother trolley and a daughter trolley. The mother trolley can travel in a first direction, while the daughter trolley can be detachably mounted on the mother trolley and can move away or return in a second direction. The daughter trolley includes a rotatable lower frame and upper frame, a slewing device, a coil carrying device, a lifting mechanism, and a detection mechanism. The coil carrying device supports the coil while rounding its inner hole to accommodate easily deformable thin coils. The detection mechanism acquires detection data of the daughter trolley and the docking target in the second and third directions, and the controller controls the movement of the daughter trolley accordingly. The mother trolley includes a mother trolley frame, a traveling device, a power harvesting device, a daughter trolley power supply device, and a mother trolley positioning and fixing device. Through coordinated operation and slewing functions, this trolley system achieves automated transfer and loading / unloading of silicon steel coils between multiple production lines, with a single unit capable of handling docking operations on both sides of the track.

Description

Technical Field

[0001] This invention belongs to the field of transformer silicon steel coil production, specifically relating to a bidirectional docking automatic loading and unloading silicon steel coil transfer trolley and its control method. Background Technology

[0002] Silicon steel coils are the raw material for producing silicon steel sheets for transformer cores. The process of processing silicon steel coils into silicon steel sheets for transformer cores involves longitudinal slitting of the raw material coils, transportation and storage of the finished coils after slitting, and distribution of the coils from the automated warehouse to the various silicon steel cross-cutting lines.

[0003] The current coil transportation and distribution solution involves setting up a separate coil transportation and docking device at each docking point between the slitting line or cross-slitting line and the automated storage and retrieval system (AS / RS). When the number of production lines requiring docking is large, the number of coil transportation and docking devices increases accordingly, leading to higher costs and occupying valuable storage space in multiple AS / RS units. Furthermore, the coil-bearing mechanism of the loading trolley uses either a V-shaped bracket or a single-arm cantilever structure. While the V-shaped bracket allows for left-right centering, the center height of the coil changes depending on its outer diameter, making it difficult to control. The other option is a single-arm cantilever, where the inner coil rests on the cantilever arm for hanging, which can result in the coil being misaligned during hanging.

[0004] In addition, when transporting coils with insufficient compactness or with a small outer diameter (thin coil thickness), the silicon steel coils have poor rigidity and are prone to deformation. The inner circle of the coil changes from a circle to an ellipse, which may cause collisions during docking and affect the smooth docking of the trolley with other equipment.

[0005] Chinese patent CN219488653U discloses an automatic width and diameter measuring mother-daughter trolley. Besides its coil transport function, it can also set the traveling distance of the daughter trolley and the lifting height of the support plate in real time according to the specifications of the steel coils to be transported, preventing the steel coils from extending outside the mother trolley or scraping against the mother trolley body during transport. However, this solution has the following shortcomings: firstly, it can only be used on one side, and cannot handle operations on both sides of the mother trolley track; secondly, it can only transport coils and cannot perform loading and unloading operations for silicon steel cross-cutting line uncoilers. Summary of the Invention

[0006] The purpose of this invention is to provide a bidirectional docking automatic loading and unloading silicon steel coil transfer mother and daughter trolley and its control method to overcome the above-mentioned technical defects.

[0007] To solve the above-mentioned technical problems, the present invention provides a bidirectional docking automatic loading and unloading silicon steel coil transfer mother-daughter trolley, comprising: The mother car can travel in the first direction; The subcar is detachably mounted on the mother car and can travel away from or return to the mother car in a second direction, which intersects with the first direction; The sub-vehicle includes: The frame mechanism includes a lower frame and an upper frame that can rotate relative to each other; A vehicle travel device for driving the vehicle to travel along the second direction; The trolley rotation device is used to drive the lower frame and the upper frame to rotate relative to each other, so that the trolley can dock with docking targets located on different sides; A coil bearing device is installed on the upper frame to bear silicon steel coils; A lifting mechanism is used to drive the coil carrying device to lift and lower. The detection mechanism is used to acquire detection data of the sub-vehicle and the docking target in the second direction and / or a third direction, wherein the third direction intersects with the second direction; The controller is connected to the vehicle travel device, the vehicle rotation device and the lifting mechanism, and controls the vehicle to move to the target docking position based on the detection data obtained by the detection mechanism.

[0008] According to the bidirectional docking automatic loading and unloading silicon steel coil transfer trolley, the detection mechanism includes: The first detection unit is used to acquire distance information between the subcarriage and the docking target in the second direction, and to acquire distance information between the subcarriage and the outer side of the target coil in the second direction; The second detection unit is used to scan the two end faces of the target roll material along the third direction when the trolley moves along the second direction, and calculate the width of the target roll material based on the time difference between scanning the two end faces and the traveling speed of the trolley. When the trolley is loaded with material, the target coil is the silicon steel coil on the coil carrying device; when the trolley is unloaded, the target coil is the coil at the docking target.

[0009] According to the bidirectional docking automatic loading and unloading silicon steel coil transfer mother and daughter trolley, the mother trolley includes: A mother car frame, on which a first part of a track for the daughter car to travel is provided; A mother car traveling device is used to drive the mother car to travel along the first direction; An energy harvesting device is used to obtain electrical energy from the power supply system and provide working power to the mother vehicle; The power supply device for the subcar is electrically connected to the energy harvesting device and is used to transmit the electrical energy obtained by the energy harvesting device to the subcar that has left the mother car. The mother car positioning and fixing device is used to position and fix the mother car at the docking station.

[0010] According to the bidirectional docking automatic loading and unloading silicon steel coil transfer trolley, the power supply device of the daughter trolley includes: A retractable cable assembly that extends the cable when the vehicle leaves and retracts the cable when the vehicle returns, so that the vehicle maintains an electrical connection with the energy harvesting device during the departure process.

[0011] The bidirectional docking automatic loading and unloading silicon steel coil transfer mother-daughter trolley also includes: The mother car track is laid along the first direction for the mother car to travel on; A mother car power supply device is installed corresponding to the mother car track to provide electrical energy to the mother car; The subcar track is laid along the second direction. The subcar track includes at least a first part set on the mother car frame and a second part set at the docking station. The first part is the first part of the subcar track for the subcar to travel. The subcar can drive away from the mother car to the docking station along the subcar track.

[0012] According to the bidirectional docking automatic loading and unloading silicon steel coil transfer trolley, the lifting mechanism includes: A linear drive unit is connected to the roll carrier device for driving the roll carrier device to lift and lower. A linear distance measuring device is used to detect the lifting height of the roll material carrying device in real time and feed the detected height information back to the controller. The controller controls the linear drive unit to drive the roll material carrying device to lift to the target height based on the height information.

[0013] The present invention also provides a control method for a bidirectional docking automatic loading and unloading silicon steel coil transfer mother-daughter trolley, comprising the following steps: Step 100: Control the mother car to move along the first direction to the docking station, and fix the mother car in position; Step 200: Based on the location of the docking target, drive the upper frame of the frame mechanism to rotate relative to the lower frame through the trolley rotation device, so that the coil carrying device is aligned with the docking target, and control the trolley to drive out from the mother car along the second direction; Step 300: Obtain detection data of the sub-vehicle and the docking target in the second direction and / or the third direction through the detection mechanism, and control the sub-vehicle to move closer to the docking target based on the detection data; Step 400: Control the subcarriage to perform the roll transfer action with the docking target; Step 500: Control the child vehicle to return to the mother vehicle.

[0014] According to a control method for a bidirectional docking automatic loading and unloading silicon steel coil transfer trolley, step 400 includes a sub-step in the material handling mode: Step 410, Material insertion and width measurement: Control the roll material carrying device to insert into the inner hole of the target roll material. During this process, the detection mechanism obtains the detection data of both ends of the target roll material along the third direction, and calculates the width of the target roll material by combining the travel speed of the trolley traveling device. Step 420, Material Picking, Tightening, and Lifting: Determine the center position of the target roll material based on the target roll material width, control the trolley to move to the picking position, tighten and fix the target roll material using the roll material carrying device, and adjust the height of the roll material carrying device using the lifting mechanism to lift the target roll material away from the docking target.

[0015] According to a control method for a bidirectional docking automatic loading and unloading silicon steel coil transfer trolley, step 400 includes a sub-step in the loading mode: Step 430, feeding approach and positioning: The detection mechanism obtains the detection data of the subcarriage and the docking target in the second direction, determines the deviation value between the target position point on the docking target and the actual position of the target roll material carried by the subcarriage, and controls the movement of the subcarriage; Step 440, Material Loading, Insertion and Release: Control the roll material carrier to insert into the docking target. After the trolley moves to the target docking position, release the target roll material carried by the roll material carrier, and adjust the height of the roll material carrier by the lifting mechanism to pull out the roll material carrier.

[0016] The beneficial effects of this invention are as follows: (1) The mother car can travel in the first direction, carrying the daughter car to switch between multiple production lines; the daughter car can drive away from the mother car in the second direction and independently complete the handover of the coil material with the docking target. Through the division of labor and cooperation between the mother car and the daughter car, a single mother car and daughter car can serve multiple production lines, avoiding the drawback of each production line needing to be configured with a separate transfer device in the traditional solution, and greatly reducing the number of transfer devices and investment costs. At the same time, the frame mechanism of the daughter car includes a lower frame and an upper frame that can rotate relative to each other. The upper frame is driven to rotate relative to the lower frame through the daughter car rotation device, so that the coil material carrying device can operate on the docking targets located on different sides of the mother car track. One daughter car can take care of all the equipment on both sides of the mother car track, solving the limitation of the existing technology that can only be used on one side, and the docking position arrangement is more flexible.

[0017] (2) In terms of detection and control, the present invention obtains the distance information between the trolley and the docking target in the second direction, as well as the distance information between the trolley and the outer side of the target coil, through the first detection unit. The second detection unit scans the two end faces of the target coil in the third direction when the trolley moves in the second direction. The width of the target coil is calculated based on the time difference between scanning the two end faces and the trolley's walking speed. The controller controls the trolley to move to the target docking position based on these detection data. In particular, the second detection unit uses the trolley's own walking motion to provide the scanning action, without the need for additional scanning mechanisms. The structure is simple and the cost is low. Moreover, the non-contact measurement can adapt to the harsh environment of the silicon steel coil production site with a lot of oil and dust, and the detection reliability is high. The lifting mechanism realizes the closed-loop control of the lifting height of the coil carrying device through the cooperation of the linear drive unit and the linear distance measuring device. It can match docking targets with different center heights and ensure the smooth and reliable loading and unloading process.

[0018] (3) In terms of energy supply, the mother car obtains electrical energy from the mother car power supply device through the energy harvesting device, and at the same time transmits electrical energy to the departing daughter car through the daughter car power supply device. The retractable cable assembly automatically releases the cable when the daughter car leaves and automatically retracts the cable when returning, so that the daughter car always maintains electrical connection with the energy harvesting device during the departure process. It can operate continuously for a long time without carrying a bulky battery, which significantly reduces the weight of the daughter car and improves the load-bearing capacity and operational flexibility.

[0019] (4) The control method of the present invention realizes the fully automatic delivery and loading and unloading of silicon steel coils from the automated warehouse to each slitting line and cross-slitting line through a series of automated steps such as positioning of the mother car, driving out and turning of the daughter car, detection and adjustment, loading and unloading, and returning of the daughter car. The whole process does not require manual intervention, which not only reduces labor costs, but also avoids the safety hazards and coil damage that may be caused by manual operation. It is particularly suitable for automated production scenarios of thin and easily deformable coils with high requirements for coil quality.

[0020] (5) Regarding the coil bearing method, this invention differs from the commonly used V-shaped bracket or single cantilever structure in the prior art, and adopts a unique combination design of "cantilever arm + two side support arms". Among them, the cantilever arm is used to directly support the inner hole of the coil and bear the main weight of the coil; the two side support arms can actively open and close, and after the material is picked up, they can round the inner hole of the coil to form a centered circle, which effectively solves the technical problem that thin-gauge, easily deformable silicon steel coils cannot be accurately connected with the uncoiling machine mandrel due to the deformation of the inner hole during the transfer and feeding process. It is particularly suitable for automated production scenarios with high requirements for maintaining the shape of the coil.

[0021] Meanwhile, since the inner diameter of the steel coil varies within a small range while the outer diameter varies within a large range, this invention uses a cantilever arm to directly support the inner diameter of the coil. Compared to the traditional V-shaped bracket method that supports the outer circumference of the coil, the center height of the coil is only related to the inner diameter, with a small range of variation and is easy to control and adjust. The center height of the lateral cantilever at each docking target can be measured in advance and stored in the controller. When the trolley performs material picking and loading operations, the lifting mechanism only needs to make minor adjustments based on the preset height data to achieve a smooth handover of the coil. Unlike the V-shaped bracket method, it does not require real-time calculation and significant adjustment of the center height based on the outer diameter of the coil. This significantly improves the transfer efficiency and adaptability to multiple specifications of coils, providing a reliable guarantee for the automated loading and unloading of equipment such as slitting lines and cross-slitting lines.

[0022] (6) Based on the above-mentioned "cantilever arm + side support arm" coil bearing method, the present invention designs a rotary structure on the subcarriage. Since the cantilever arm directly bears the inner hole of the coil, the coil always maintains a stable center height on the subcarriage. This allows the subcarriage to rotate towards docking equipment on different sides without needing to readjust the coil posture or height. Bidirectional docking can be achieved simply by driving the upper frame to rotate relative to the lower frame through the rotary device. This design effectively solves the technical limitation of traditional mother-daughter carts, which can only be used on one side and cannot take care of equipment on both sides of the mother cart track. This allows a single mother-daughter cart to serve multiple production lines, greatly improving equipment utilization and production flexibility. At the same time, it provides a reliable guarantee for the automated loading and unloading of equipment such as slitting lines and cross-slitting lines.

[0023] To make the above description of the present invention more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of a bidirectional docking automatic loading and unloading silicon steel coil transfer mother and daughter car.

[0025] Figure 2 This is a structural diagram of the mother car.

[0026] Figure 3 This is a structural diagram of the sub-car.

[0027] Figure 4 This is a schematic diagram of the structure of the coil bearing device.

[0028] Explanation of reference numerals in the attached figures: 1. Mother car; 1-1. Mother car frame; 1-2. Mother car running gear; 1-3. Energy harvesting device; 1-4. Sub-car power supply device; 2. Sub-carriage; 2-1. Lower frame; 2-2. Upper frame; 2-2-1. Base frame; 2-2-2. Column; 2-3. Sub-carriage traveling device; 2-4. Sub-carriage slewing device; 2-5. Coil material carrying device; 2-5-1. Upper cantilever arm; 2-5-2. Side support arm; 2-5-3. Frame; 2-5-4. Side support arm drive unit; 2-5-5. Linear guide rail slider mechanism; 2-5-6. Side support arm movement limit device; 2-6. Linear drive unit; 2-7. Linear distance measuring device; 2-8. Ball bearing linear guide rail slider mechanism; 3. Mother car track; 4. Carriage track; 5. Mother car positioning and fixing device; 6. Composite detection and positioning device; 6-1. Cart positioning and ranging sensor; 6-2. Roll material width measuring sensor; 6-3. Sensor bracket; 7. Mother vehicle power supply device; 8. Silicon steel coils. Detailed Implementation

[0029] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0030] It should be noted that, in this invention, the top, bottom, left, and right in the figure are considered to be the top, bottom, left, and right of the bidirectional docking automatic loading and unloading silicon steel coil transfer mother and daughter car described in this specification.

[0031] Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. These embodiments are provided to fully and completely disclose the invention and to fully convey its scope to those skilled in the art. The terminology used in the exemplary embodiments illustrated in the drawings is not intended to limit the invention. In the drawings, the same units / elements are referred to by the same reference numerals.

[0032] Unless otherwise stated, the terms used herein (including technical terms) have their common meaning as understood by one of ordinary skill in the art. Furthermore, it is understood that terms defined in commonly used dictionaries should be understood to have a meaning consistent with the context of their relevant field, and not to be interpreted as having an idealized or overly formal meaning.

[0033] In the bidirectional docking automatic loading and unloading silicon steel coil transfer mother and daughter car, (1) docking target refers to the specific object that the daughter car 2 needs to hand over the coil with in the current operation. It can be the docking equipment in the loading mode. The docking equipment refers to the fixed facilities that hand over the coil with the daughter car 2, including the cross-cutting line uncoiler, the slitting line loading buffer rack, the coil warehouse outlet and other specific production equipment. It can also be the location of the coil to be picked up in the picking mode; (2) docking station refers to a certain space range extending along the daughter car track 4 in front of these docking targets. It is the area that the daughter car 2 can enter and prepare for operation after leaving the mother car 1; (3) the target docking position refers to the specific point where the daughter car 2 should finally stop. This point is located within the docking station range and is the final positioning point for the daughter car 2 to perform the coil handover action.

[0034] It should be noted that in this invention, the docking target at the material pick-up point uses a transverse cantilever as the medium for carrying the coil material. The coil material is transferred between the cantilever of the trolley (including the upper cantilever 2-5-1 and the two side support arms 2-5-2) and the transverse cantilever. Since the center height variation range of the transverse cantilever at each material pick-up point is small and has been measured and stored in advance in the controller, when the trolley 2 performs the material pick-up operation, the lifting mechanism only needs to make minor adjustments according to the preset height data to achieve a smooth handover of the target coil material. Unlike the traditional V-shaped bracket transfer method, there is no need to make large-scale height adjustments each time, thus significantly improving the transfer efficiency and the accuracy of height matching.

[0035] In this invention, the first direction refers to the laying direction of the mother car track 3, i.e. the traveling direction of the mother car 1, and the second direction refers to the laying direction of the daughter car track 4, i.e. the traveling direction of the daughter car 2 as it leaves the mother car 1. The first direction and the second direction intersect in the horizontal plane; the third direction is perpendicular to the first direction and the second direction.

[0036] This implementation method involves a bidirectional docking automatic loading and unloading silicon steel coil transfer mother-daughter trolley (hereinafter referred to as the mother-daughter trolley). Please refer to [link to relevant documentation]. Figure 1 This includes mother car 1 and daughter car 2.

[0037] The mother car 1 can travel in the first direction. Specifically, the mother car 1 moves along the mother car track 3 laid on the ground via the mother car traveling device 1-2, thereby transporting the daughter car 2 to different working positions. The function of the mother car 1 is to undertake the long-distance transfer of the daughter car 2 between different production lines, so as to realize the purpose of one mother car serving multiple production lines.

[0038] The subcar 2 is detachably mounted on the mother car 1 and can travel in a second direction to leave or return to the mother car 1, which intersects with the first direction. The subcar 2 is the execution unit that directly performs the operations of loading, transferring, and unloading the coiled material. When the mother car 1 reaches the target position, the subcar 2 leaves the mother car 1 and independently completes the handover of the coiled material to the docking target. After the operation is completed, it returns to the mother car 1 to wait for the next task.

[0039] The trolley 2 includes a frame mechanism comprising a lower frame 2-1 and an upper frame 2-2 that can rotate relative to each other. The lower frame 2-1 serves as the base of the trolley 2, supporting the trolley traveling device 2-3 and the trolley slewing device 2-4; the upper frame 2-2 is mounted above the lower frame 2-1 and supports the coil material carrying device 2-5. The relative rotation function of the lower frame 2-1 and the upper frame 2-2 allows the trolley 2 to adjust the orientation of the coil material carrying device 2-5 to accommodate docking targets on different sides.

[0040] In some embodiments, refer to Figure 3 The upper frame 2-2 consists of a base frame 2-2-1 and a column 2-2-2. The base frame 2-2-1 is fixedly connected to the slewing bearing movable ring of the trolley slewing device 2-4 and rotates relative to the lower frame 2-1 as the trolley slewing device 2-4 is driven. The column 2-2-2 stands on the base frame 2-2-1 and is slidably connected to the coil material carrying device 2-5 through a ball linear guide slider mechanism 2-8 or a roller guide mechanism. This sliding connection structure provides guidance for the lifting and lowering movement of the coil material carrying device 2-5, ensuring that the coil material carrying device 2-5 remains stable and directional accurately during the lifting and lowering process.

[0041] The subcarriage 2 also includes a subcarriage traveling device 2-3, which is used to drive the subcarriage 2 to travel in the second direction. The subcarriage traveling device 2-3 usually uses a motor reducer to drive the wheels, so that the subcarriage 2 can move smoothly along the subcarriage track 4 and control the distance traveled out and back.

[0042] The subcarriage 2 also includes a subcarriage slewing device 2-4, which drives the lower frame 2-1 and the upper frame 2-2 to rotate relative to each other, enabling the subcarriage 2 to dock with docking targets located on different sides. The subcarriage slewing device 2-4 typically includes a slewing bearing, a drive gear, and a drive motor. By driving the upper frame 2-2 to rotate, the coil carrier 2-5 can be aligned with the docking target on the left or right side of the mother car track 3, achieving bidirectional docking functionality and overcoming the limitation of traditional mother-daughter cars being usable only on one side.

[0043] In some embodiments, the slewing device 2-4 further includes a slewing locking device. The slewing locking device is installed on the slewing device 2-4 and is used to lock the upper frame 2-2 relative to the lower frame 2-1 after the upper frame 2-2 has slew to the target angle, so as to prevent accidental rotation during operation.

[0044] Specifically, the slewing device 2-4 uses a variable frequency motor and a reducer as the drive unit. A small gear is installed on the output shaft of the reducer, which meshes with the large gear of the slewing bearing. When the controller issues a slewing command, the variable frequency motor starts, and the torque is increased by the reducer to drive the small gear to rotate. The small gear drives the large gear of the slewing bearing to rotate, thereby driving the upper frame 2-2, which is fixedly connected to the movable ring of the slewing bearing, to rotate smoothly relative to the lower frame 2-1. An encoder is installed on the slewing device 2-4. The encoder is connected to the output shaft of the variable frequency motor or the rotating part of the slewing bearing to detect the slewing angle of the upper frame 2-2 in real time and feed the angle information back to the controller. The controller controls the start, stop, and speed of the variable frequency motor according to the comparison result between the preset target angle and the feedback angle, so that the upper frame 2-2 rotates to the target angle. Once the upper frame 2-2 reaches the target angle, the cylinder on the trolley slewing device 2-4 is activated, pushing the V-block into the corresponding V-groove on the upper frame 2-2. The mechanical engagement of the V-block and the V-groove locks the upper frame 2-2 and the lower frame 2-1 together, preventing the upper frame 2-2 from rotating unexpectedly due to external forces or vibrations during subsequent travel and loading / unloading operations, thus ensuring the stable and reliable docking posture of the trolley 2.

[0045] The trolley 2 also includes coil carrying devices 2-5, please refer to [link / reference]. Figure 4 The coil support device 2-5 is installed on the upper frame 2-2 and is used to support the silicon steel coil 8. In conjunction with the published patent CN222728763U, the coil support device 2-5 adopts a special structural design, which can stably support the silicon steel coil 8 and complete the tensioning and release actions of the coil during the loading and unloading process. It is particularly suitable for easily deformable thin-gauge silicon steel coils.

[0046] In some embodiments, such as Figure 4 As shown, the coil bearing device 2-5 uses the frame 2-5-3 as the mounting base. A linear guide slider mechanism 2-5-5 is provided on the frame 2-5-3. The side support arm 2-5-2 is slidably mounted on the linear guide slider mechanism 2-5-5. The side support arm drive unit 2-5-4 is drivenly connected to the side support arm 2-5-2 to drive the opening and closing movement of the side support arm 2-5-2. The side support arm movement limit device 2-5-6 is provided on the frame 2-5-3 to limit the movement limit position of the side support arm 2-5-2. The upper arm 2-5-1 is fixedly mounted on the frame 2-5-3 between the two side support arms 2-5-2 and is used to lift the silicon steel coil 8 from the bottom.

[0047] like Figure 3 As shown, the trolley 2 also includes a lifting mechanism, which drives the coil carrier 2-5 to rise and fall. The function of the lifting mechanism is to adjust the height of the coil carrier 2-5 to match the docking targets with different center heights, ensuring height alignment during coil handover and avoiding collisions and damage.

[0048] In some embodiments, the lifting mechanism includes a linear drive unit 2-6 and a linear ranging device 2-7. The linear drive unit 2-6 is driven by the coil carrier device 2-5 and is used to drive the coil carrier device 2-5 to lift. The linear drive unit 2-6 can be implemented in the form of a hydraulic cylinder, an electric push rod, or a linear module, etc. One end of it is hinged to the base frame 2-2-1 of the upper frame 2-2, and the other end is hinged to the coil carrier device 2-5. When the controller issues a lifting command, the linear drive unit 2-6 extends or retracts, pushing the coil carrier device 2-5 to smoothly lift and lower along the ball linear guide slider mechanism 2-8 or roller guide mechanism on the column 2-2-2. The function of the linear drive unit 2-6 is to provide lifting power to the coil carrier device 2-5, enabling it to flexibly adjust its position according to the height requirements of the docking target.

[0049] Linear distance measuring device 2-7 is used to detect the lifting height of the coil carrier 2-5 in real time. Linear distance measuring device 2-7 can be implemented using a wire encoder, laser rangefinder, or magnetic ruler, and is installed between the upper frame 2-2 and the coil carrier 2-5. Linear distance measuring device 2-7 continuously detects the vertical position change of the coil carrier 2-5 relative to the upper frame 2-2 and feeds the detected height information back to the controller in real time. The function of linear distance measuring device 2-7 is to provide the controller with accurate real-time height data, enabling the controller to grasp the current position status of the coil carrier 2-5.

[0050] Based on the height information fed back by the linear ranging device 2-7, the controller controls the linear drive unit 2-6 to drive the coil material carrier 2-5 to rise and fall to the target height. Specifically, the controller pre-stores target height values ​​corresponding to each docking target. When the trolley 2 needs to perform loading or unloading operations, the controller retrieves the corresponding target height based on the current docking target and compares it with the actual height fed back by the linear ranging device 2-7. If the actual height is lower than the target height, the controller controls the linear drive unit 2-6 to extend, driving the coil material carrier 2-5 to rise; if the actual height is higher than the target height, the controller controls the linear drive unit 2-6 to retract, driving the coil material carrier 2-5 to fall. During the lifting and lowering process, the linear ranging device 2-7 continuously feeds back the real-time height, and the controller performs closed-loop adjustment until the coil material carrier 2-5 reaches the target height and then stops driving.

[0051] Through the cooperation of the linear drive unit 2-6 and the linear ranging device 2-7, the lifting mechanism achieves closed-loop control of the lifting height of the coil carrier device 2-5. This control method has the following effects: First, it can match the center height of different docking targets, ensuring height alignment during coil handover and avoiding collisions or handover failures caused by height mismatch; second, real-time height feedback allows the controller to monitor the position status of the coil carrier device 2-5 at any time, improving the reliability and safety of the lifting movement; third, the closed-loop control method can compensate for position deviations caused by factors such as load changes and hydraulic oil temperature changes, ensuring lifting accuracy.

[0052] The sub-carriage 2 also includes a detection mechanism, which is used to acquire detection data of the sub-carriage 2 and the docking target in a second direction and / or a third direction, where the third direction intersects with the second direction. The detection mechanism is used to realize the automated operation of the sub-carriage 2 by detecting the relative position of the sub-carriage 2 and the docking target in real time, providing control basis for the controller.

[0053] The sub-carriage 2 also includes a controller, which is connected to the sub-carriage traveling device 2-3, the sub-carriage slewing device 2-4, and the lifting mechanism. Simultaneously, the controller controls the sub-carriage 2 to move to the target docking position based on the detection data obtained by the detection mechanism. The controller receives feedback signals from the detection mechanism, processes them, and then sends commands to the execution units such as the sub-carriage traveling device 2-3, the sub-carriage slewing device 2-4, and the lifting mechanism to achieve automated control of the sub-carriage 2.

[0054] Through the coordinated operation of the above structures, the bidirectional docking automatic loading and unloading silicon steel coil transfer mother and daughter trolleys of this embodiment can realize a series of functions such as the mother trolley 1 traveling along the first direction to switch production lines, the daughter trolley 2 driving out along the second direction to perform operations, the daughter trolley 2 docking with equipment on different sides through the daughter trolley rotation device 2-4, the detection mechanism providing real-time feedback of detection data, and the controller controlling the movement path. Ultimately, it completes the fully automatic transfer and loading and unloading operations of silicon steel coil 8 from the automated warehouse to each slitting line and cross-slitting line.

[0055] In this embodiment, the detection mechanism includes a first detection unit and a second detection unit, which work together to provide the controller with complete detection data required for the positioning of the vehicle 2. As a preferred implementation, the detection mechanism integrates the above functions using a composite detection and positioning device 6.

[0056] like Figure 3 As shown, the composite detection and positioning device 6 includes a trolley positioning and ranging sensor 6-1, a roll width measuring sensor 6-2, and a sensor bracket 6-3. The sensor bracket 6-3 is fixedly installed on the roll bearing device 2-5 to support and fix the trolley positioning and ranging sensor 6-1 and the roll width measuring sensor 6-2, ensuring that the installation position of each sensor is stable and reliable, and the measurement direction is accurate.

[0057] The first detection unit is implemented by the trolley positioning and ranging sensor 6-1. The trolley positioning and ranging sensor 6-1 uses two laser ranging sensors, which are fixedly mounted on the coil-carrying device 2-5 via sensor brackets 6-3. Their measurement direction is parallel to the second direction, i.e., the direction of the trolley track 4. These two laser ranging sensors work in tandem: one laser ranging sensor measures the distance from the trolley 2 to the outermost surface of the docking target, which refers to the outermost vertical surface of the docking target facing the trolley 2; the other laser ranging sensor measures the distance to the outer surface of the target coil, which refers to the end face of the target coil in the axial direction. It should be noted that the specific meaning of the target coil varies depending on the operating state of the trolley 2: when the trolley 2 is loaded with material, that is, when the trolley 2 is performing a loading operation, the target coil is the silicon steel coil 8 already loaded on the coil carrying device 2-5, and the outer side of the silicon steel coil 8 is measured at this time; when the trolley 2 is unloaded, that is, when the trolley 2 is performing a picking or unloading operation, the target coil is the coil to be picked or unloaded at the docking target, and the outer side of the coil at the docking target is measured at this time.

[0058] The second detection unit, the coil width measuring sensor 6-2, uses a laser sensor. Its measurement direction is a third direction that is simultaneously perpendicular to both the mother carriage track 3 and the daughter carriage track 4. It is used to detect the edge positions of the two end faces of the silicon steel coil. When the daughter carriage 2 moves at a constant speed along the second direction, the coil width measuring sensor 6-2 continuously emits a laser beam. When the laser beam scans the first end face of the coil, the controller records time T1. When the laser beam scans the second end face of the coil, the controller records time T2. The controller combines the time interval data T2-T1 between the detected two end faces with the traveling speed data v of the daughter carriage 2, and calculates the actual width of the silicon steel coil 8 in the second direction using the formula width = v × (T2-T1). This measurement method utilizes the traveling motion of the daughter carriage 2 itself to provide the scanning action, converting the width dimension of the silicon steel coil 8 in the second direction into a time difference for measurement, without the need for an additional scanning mechanism.

[0059] Please see Figure 2 In this embodiment, the mother car 1 serves as the carrying platform and mobile carrier for the daughter car 2, responsible for transporting the daughter car 2 to different docking stations and providing the daughter car 2 with the electrical energy required for operation. The mother car 1 includes a mother car frame 1-1, a mother car traveling device 1-2, an energy harvesting device 1-3, a daughter car power supply device 1-4, and a mother car positioning and fixing device 5.

[0060] The mother car frame 1-1 is the basic load-bearing structure of the mother car 1, on which the first part of the daughter car track 4 for the daughter car 2 to travel is set. This first part of the daughter car track 4 is laid on the mother car frame 1-1, providing the daughter car 2 with a track section for parking and initial departure on the mother car 1. When the daughter car 2 needs to perform work, it can drive off the mother car 1 along this first part of the track; when the daughter car 2 completes its work and returns, it also returns to its parking position on the mother car 1 along this first part of the track. The function of the mother car frame 1-1 is to provide a stable load-bearing foundation and a running track for the daughter car 2, ensuring the safe parking of the daughter car 2 on the mother car 1 and the smooth entry and exit of the daughter car 2.

[0061] The mother car traveling device 1-2 is mounted on the mother car frame 1-1 and is used to drive the mother car 1 to travel in the first direction. The mother car traveling device 1-2 typically uses a motor reducer to drive the wheels. By controlling the forward and reverse rotation and the speed of the motor, the mother car 1 can smoothly move along the mother car track 3 to different docking positions. The function of the mother car traveling device 1-2 is to enable the mother car 1 to switch positions between multiple production lines, allowing a single mother car to serve multiple docking targets, thereby improving equipment utilization and production efficiency.

[0062] The mother car power supply device 7 is laid parallel to the mother car track 3 and can be implemented using a sliding contact line, i.e., an electrified rail laid along the track, to provide working power to the mother car 1. Energy harvesting devices 1-3 are installed on the mother car 1 and are connected to the mother car power supply device 7 through sliding contact or non-contact coupling via current collectors, etc., to obtain power from the mother car power supply device 7 in real time, providing power to the mother car 1's own equipment and to the daughter car 2 via the daughter car power supply device 1-4. Through the cooperation of the mother car power supply device 7 and the energy harvesting devices 1-3, the mother car 1 can travel and operate continuously along the mother car track 3 for extended periods without carrying bulky batteries.

[0063] The slave vehicle power supply device 1-4 is installed on the mother vehicle 1 and electrically connected to the energy harvesting device 1-3. It is used to transmit the electrical energy harvested by the energy harvesting device 1-3 to the slave vehicle 2 as it departs from the mother vehicle 1. The slave vehicle power supply device 1-4 can be implemented using a retractable cable assembly. This retractable cable assembly automatically extends the cable when the slave vehicle 2 departs and automatically retracts the cable when the slave vehicle 2 returns, ensuring that the slave vehicle 2 maintains an electrical connection with the energy harvesting device 1-3 throughout its departure process. The function of the slave vehicle power supply device 1-4 is to provide continuous power to the slave vehicle 2 as it departs from the mother vehicle 1, allowing the slave vehicle 2 to complete operations independently without carrying a battery, reducing its weight, and improving its load-bearing capacity and operational flexibility.

[0064] The mother car positioning and fixing device 5 is installed on the mother car 1 to position and fix the mother car 1 at the docking station. The mother car positioning and fixing device 5 consists of two parts: a positioning detection unit and a fixing execution unit. The positioning detection unit can be a laser rangefinder or a barcode navigation system, etc., used to detect the running position of the mother car 1 on the mother car track 3 in real time and send the detection data to the controller. The controller controls the mother car traveling device 1-2 to drive the mother car 1 to stop according to the preset target position. The fixing execution unit can be an electric adjusting clamp, etc., which operates after the mother car 1 arrives at the docking station, clamping the mother car track 3 to mechanically fix the mother car 1, preventing it from moving when the daughter car 2 drives out, returns, or is used for loading and unloading operations. The function of the mother car positioning and fixing device 5 is to ensure that the mother car 1 can accurately stop at the docking station and remain stable during operation, providing a reliable foundation for the docking of the daughter car 2.

[0065] In a preferred embodiment, the positioning detection unit is implemented using a laser rangefinder, which is arranged at one end of the mother car track 3. It emits a laser beam towards a reflector mounted on the mother car 1 and receives the reflected signal to detect the real-time running position of the mother car 1 on the mother car track 3, and sends the detection data to the controller. Based on the comparison between the preset docking station position and the real-time detection data, the controller controls the mother car traveling device 1-2 to drive the mother car 1 to stop at the docking station.

[0066] Please see Figure 1 In this embodiment, the bidirectional docking automatic loading and unloading silicon steel coil transfer mother and daughter car also includes a mother car track 3, a mother car power supply device 7, and a daughter car track 4. These infrastructures provide necessary support and protection for the movement of the mother car 1 and the departure of the daughter car 2.

[0067] The mother car track 3 is laid along the first direction, that is, along the direction of travel of the mother car, on the ground for the mother car 1 to travel on. The mother car track 3 is usually in the form of steel rails, providing a flat and stable running surface for the mother car traveling device 1-2, ensuring that the mother car 1 can run smoothly. The function of the mother car track 3 is to provide travel guidance and a load-bearing foundation for the mother car 1, enabling the mother car 1 to move accurately to different docking positions along a predetermined path, which is the basic guarantee for the mother car 1 to switch between multiple production lines.

[0068] The mother car power supply device 7 is installed corresponding to the mother car track 3 to provide electrical energy to the mother car 1. The mother car power supply device 7 can be implemented in the form of a sliding contact line, that is, a live conductor rail laid parallel to the mother car track 3, which slides into contact or couples with the energy harvesting device 1-3 installed on the mother car 1, supplying electrical energy to the mother car 1 in real time. The function of the mother car power supply device 7 is to serve as a fixed power supply facility, enabling the mother car 1 to continuously obtain working power from the outside without carrying a bulky battery, ensuring that the mother car 1 can travel and work continuously for a long time, while reducing the weight of the mother car 1 and improving its load-bearing capacity and operating efficiency.

[0069] The subcar track 4 is laid along the second direction, that is, along the direction in which the subcar departs, to guide the subcar 2 from the mother car 1 and to the docking target. The subcar track 4 includes at least a first part set on the mother car frame 1-1 and a second part set at the docking station. The first part of the subcar track 4 is fixedly installed on the mother car frame 1-1, serving as the track section for the subcar 2 to park on the mother car 1 and initially depart; the second part of the subcar track 4 is fixedly laid on the ground at the docking station, extending to the front of the docking target, serving as the track section for the subcar 2 to continue traveling to the docking target after leaving the mother car 1. After the mother car 1 is positioned and fixed at the docking station, the first part and the second part of the subcar track 4 connect to form a complete travel path, enabling the subcar 2 to smoothly depart from the mother car 1 along the subcar track 4 to the front of the docking target at the docking station.

[0070] Through the coordination of the mother car track 3, the mother car power supply device 7, and the daughter car track 4, this embodiment achieves the following functions: the mother car track 3 provides travel guidance for the mother car 1, enabling it to move accurately to each docking station along the first direction; the mother car power supply device 7 provides a continuous power supply for the mother car 1, ensuring that it can operate continuously for extended periods; the daughter car track 4 provides the daughter car 2 with a complete travel path from the mother car 1 to the docking target, enabling it to smoothly and accurately leave the mother car 1 and reach the work position. These infrastructure components together constitute the operational foundation of the mother-daughter car system, providing reliable support and guarantee for the automated operation of the mother car 1 and the daughter car 2.

[0071] In some embodiments, a limit switch is installed on the underframe 2-1 of the subcar along the travel direction. This limit switch cooperates with a signal block located at the limit of the subcar track 4 to provide limit protection for the subcar 2. Specifically, the signal block is fixedly installed at the end limit position of the subcar track 4. When the subcar 2 travels to the end of the track in the second direction, the limit switch on the underframe 2-1 of the subcar is triggered by contact with the signal block. The limit switch immediately sends a limit position signal to the controller. Upon receiving the signal, the controller quickly cuts off the power output of the subcar traveling device 2-3, causing the subcar 2 to stop moving forward and preventing the subcar 2 from derailing or colliding due to loss of control or control error. This limit protection mechanism serves as a safety redundancy guarantee for the travel control of the subcar 2, and works in conjunction with the conventional positioning control performed by the controller based on the detection mechanism to jointly ensure the safe and reliable operation of the subcar 2 within the track range.

[0072] This embodiment provides a control method for a bidirectional docking automatic loading and unloading silicon steel coil transfer mother and daughter car. The control method realizes the coordinated operation of the mother car 1 and the daughter car 2 through a series of automated steps to complete the automatic transfer and loading and unloading of silicon steel coil 8.

[0073] Step 100: Control the mother car 1 to move along the first direction to the docking station and fix the mother car 1 in position. Specifically, the controller controls the mother car traveling device 1-2 to drive the mother car 1 along the mother car track 3 to the docking station based on preset production line detection data. During the movement, the positioning detection unit of the mother car positioning and fixing device 5 detects the running position of the mother car 1 in real time. When the mother car 1 reaches the docking station, the controller controls the mother car traveling device 1-2 to stop and simultaneously controls the fixing execution unit of the mother car positioning and fixing device 5 to mechanically lock the mother car 1 at the docking station, preventing it from moving around in subsequent operations. The purpose of step 100 is to accurately transport the daughter car 2 to the front of the target production line, providing a stable foundation for the departure and docking operation of the daughter car 2.

[0074] Step 200: Based on the side where the docking target is located, drive the upper frame 2-2 of the frame mechanism to rotate relative to the lower frame 2-1 through the trolley rotation device 2-4, so that the coil carrying device 2-5 is aligned with the docking target, control the trolley 2 to drive out from the mother car 1 along the second direction, and according to the side where the docking target is located.

[0075] Specifically, firstly, the controller sends a rotation command to the trolley slewing device 2-4 based on whether the docking target is located on the left or right side of the mother car track 3. The trolley slewing device 2-4 drives the upper frame 2-2 to rotate relative to the lower frame 2-1 to the target angle, so that the coil material carrying device 2-5 installed on the upper frame 2-2 is directly facing the docking target. Then, the controller controls the trolley traveling device 2-3 of the trolley 2 to start, so that the trolley 2 can smoothly drive off the mother car 1 along the trolley track 4. The purpose of step 200 is to realize the bidirectional docking function of the trolley 2, so that one trolley 2 can serve different equipment on both sides of the mother car track 3, thereby improving equipment utilization.

[0076] Step 300: Obtain detection data of the subcar 2 and the docking target in the second direction and / or third direction through the detection agency, and control the subcar 2 to move closer to the docking target based on the detection data.

[0077] Specifically, the first detection unit of the detection mechanism measures in real time the distance between the subcarrier 2 and the docking target in the second direction, as well as the distance between the subcarrier 2 and the outer side of the target roll. The second detection unit scans both ends of the target roll in the third direction as the subcarrier 2 moves along the second direction, calculating the width of the target roll based on the time difference between scanning the ends and the travel speed of the subcarrier traveling device 2-3. The controller integrates the distance information obtained by the first detection unit and the width information calculated by the second detection unit to determine the position of the target roll center in the second direction. It then compares this position with the target position of the docking target, calculates the final position the subcarrier 2 needs to move, and controls the subcarrier traveling device 2-3 to drive the subcarrier 2 to the target docking position along the second direction. Simultaneously, based on the height information fed back by the linear ranging device 2-7, the controller controls the lifting mechanism to adjust the roll-bearing device 2-5 to the target height matching the docking target. Step 300 aims to achieve the positioning of the subcarrier 2 in the horizontal and vertical directions, ensuring that the roll-bearing device 2-5 and the docking target are accurately aligned in three-dimensional space, preparing for subsequent roll handover.

[0078] Step 400: Control the subcarriage 2 to perform the roll material handover action with the docking target.

[0079] Specifically, the operation modes are divided into material handling mode and material feeding mode.

[0080] When the current mode is material handling, step 400 includes sub-steps within the material handling mode: Step 410, Material insertion and width measurement: Control the roll material carrying device 2-5 to insert into the inner hole of the target roll material. During this process, the detection mechanism obtains the detection data of the two end faces of the target roll material along the third direction, and calculates the width of the target roll material by combining the travel speed of the trolley traveling device 2-3. Step 420, Material Retrieval, Tightening, and Lifting: Determine the center position of the target roll material based on the target roll material width, control the trolley 2 to move to the material retrieval position, tighten and fix the target roll material through the roll material carrying device 2-5, and adjust the height of the roll material carrying device 2-5 through the lifting mechanism to lift the target roll material to detach it from the docking target.

[0081] When the current mode is loading, step 400 includes sub-steps under the loading mode: Step 430, feeding approach and positioning: The detection mechanism obtains the detection data of the subcarriage 2 and the docking target in the second direction, determines the deviation value between the target position point on the docking target and the actual position of the target roll material carried by the subcarriage 2, and controls the movement of the subcarriage 2; Step 440, Material insertion and release: Control the roll material carrier device 2-5 to insert into the docking target. After the trolley 2 moves to the target docking position, release the target roll material carried by the roll material carrier device 2-5, and adjust the height of the roll material carrier device 2-5 by the lifting mechanism, and pull out the roll material carrier device 2-5.

[0082] Step 500: Control the daughter car 2 to return to the mother car 1.

[0083] Specifically, after the roll material handover is completed, the controller controls the reverse drive of the trolley 2's traveling device 2-3, causing the trolley 2 to return to the mother car 1 from the docking station along the trolley track 4 and accurately park at the predetermined position on the mother car frame 1-1, awaiting the next work instruction. The purpose of step 500 is to ensure that the trolley 2 returns to its original position promptly after completing the work, preparing for the mother car 1 to move to the next docking station.

[0084] The following is the complete process of loading silicon steel coils onto the bidirectional docking automatic loading and unloading silicon steel coil transfer trolley: Step 1, positioning of the mother car: According to the superior dispatching instructions, control the mother car 1 to move along the first direction to the docking station. During this process, the positioning detection unit of the mother car positioning and fixing device 5 measures the position of the mother car 1 in real time. After arriving at the docking station, the mother car 1 is positioned and fixed.

[0085] Step 2, Material Picking Cart Preparation and Departure: Based on the location of the docking target, drive the upper frame 2-2 to rotate relative to the lower frame 2-1 via the cart rotation device 2-4, so that the coil material carrying device 2-5 is aligned with the docking target; control the cart 2 to drive out from the mother cart 1 along the second direction. At this time, the side support arm of the coil material carrying device 2-5 is in the closed state, and the lifting mechanism adjusts the height of the coil material carrying device 2-5 so that it is slightly lower than the height of the target coil material at the picking point.

[0086] Step 3, Material Approach and Detection Step: The detection mechanism obtains the detection data of the subcarriage 2 and the docking target in the second direction. First, it detects whether there is any roll material on the subcarriage cantilever (including the upper arm 2-5-1 and the two side support arms 2-5-2) of the roll material carrying device 2-5 of the docking target. At the same time, it determines the distance of the nearest target roll material (multiple roll materials are hung side by side along the center line on the subcarriage cantilever, and there is a gap between the roll materials). Then, it controls the subcarriage 2 to approach the selected target roll material.

[0087] Step 4, Material Insertion and Width Measurement: As the trolley 2 approaches, the upper arm 2-5-1 and side support arm 2-5-2 of the roll material carrying device 2-5 are inserted into the inner hole of the target roll material. During this process, the second detection unit scans the two end faces of the target roll material along the third direction. The width of the target roll material is calculated based on the time difference between scanning the two end faces and the traveling speed of the trolley traveling device 2-3, and then checked against the width data in the information system. The relative position of the center of the target roll material width and the reference point of the roll material carrying device 2-5 is obtained based on the measurement results.

[0088] Step 5, Material Picking, Supporting and Lifting: After detecting the next end face of the target roll, the trolley 2 stops moving. The side support arm 2-5-2 of the roll bearing device 2-5 opens to round the inner hole of the target roll. The lifting mechanism adjusts the height of the roll bearing device 2-5 to be higher than the original height of the picking point, and lifts the target roll to separate it from the docking target.

[0089] Step 6, Subcarriage Return Step: Control the subcarriage 2 carrying the target roll of material to return to the mother car 1.

[0090] Step 7, Positioning of the loading mother car: Control the mother car 1 to move along the first direction to the docking station and fix the mother car 1 in position.

[0091] Step 8, Preparation and Departure of the Loading Cart: Based on the location of the docking target, drive the upper frame 2-2 to rotate relative to the lower frame 2-1 via the cart rotation device 2-4, so that the coil carrying device 2-5 is aligned with the docking target (such as the unwinding head of the uncoiler); control the cart 2 to drive out from the mother car 1 along the second direction. At this time, the side support arm 2-5-2 of the coil carrying device 2-5 is in the open state, and the lifting mechanism adjusts the height of the coil carrying device 2-5 to be higher than the height of the docking target.

[0092] Step 9, feeding approach and positioning steps: The detection mechanism obtains the detection data of the subcarriage 2 and the docking target (such as the unwinding head of the uncoiler) in the second direction, determines the deviation value between the center of the target position point on the docking target and the actual center of the target roll material carried on the subcarriage 2, and controls the movement of the subcarriage 2.

[0093] Step 10, Material Insertion and Release Steps: As the subcarriage 2 approaches, the upper arm 2-5-1 and side support arm 2-5-2 of the coil bearing device 2-5 are inserted into the holes on the uncoiling head. After the subcarriage 2 moves to the target docking position, it stops. The side support arm 2-5-2 of the coil bearing device 2-5 closes to release the target coil. The lifting mechanism adjusts the height of the coil bearing device 2-5 to be lower than the center height of the uncoiling head, and then the coil bearing device 2-5 is pulled out.

[0094] Step 11, Subcart Return Step: Control the subcart 2, which has completed loading, to return to the mother car 1.

[0095] In summary, this invention provides a bidirectional docking automatic loading and unloading silicon steel coil transfer mother and daughter trolley and its control method. Through the collaborative operation of the mother trolley 1 and daughter trolley 2, the rotation function of daughter trolley 2, multi-dimensional detection and positioning, and automated control, it realizes efficient and automated transfer and loading / unloading of silicon steel coil 8 between multiple production lines. The control method, through a series of automated steps such as mother trolley positioning, daughter trolley departure and rotation, detection and adjustment, loading and unloading, and daughter trolley return, realizes fully automated delivery and loading / unloading of silicon steel coil 8 from the automated warehouse to various slitting and cross-cutting lines. The entire process requires no manual intervention, which not only reduces labor costs but also avoids the safety hazards and coil damage that may be caused by manual operation. It is particularly suitable for automated production scenarios of thin and easily deformable coils with high coil quality requirements.

[0096] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of the present invention.

Claims

1. A bidirectional docking automatic loading and unloading silicon steel coil transfer trolley, characterized in that, include: The mother car (1) can travel in the first direction; The subcar (2) is detachably mounted on the mother car (1) and can travel away from or return to the mother car (1) in a second direction, which intersects with the first direction; The sub-vehicle (2) includes: The frame mechanism includes a lower frame (2-1) and an upper frame (2-2) that can rotate relative to each other. The subcart traveling device (2-3) is used to drive the subcart (2) to travel along the second direction; The subcart rotation device (2-4) is used to drive the lower frame (2-1) and the upper frame (2-2) to rotate relative to each other so that the subcart (2) can dock with docking targets located on different sides; A coil bearing device (2-5) is installed on the upper frame (2-2) and is used to carry silicon steel coils (8). A lifting mechanism is used to drive the coil carrying device (2-5) to lift. The detection agency is used to acquire detection data of the sub-vehicle (2) and the docking target in the second direction and / or a third direction, wherein the third direction intersects with the second direction; The controller is connected to the vehicle walking device (2-3), the vehicle turning device (2-4) and the lifting mechanism, and controls the vehicle (2) to move to the target docking position according to the detection data obtained by the detection mechanism.

2. The bidirectional docking automatic loading and unloading silicon steel coil transfer trolley according to claim 1, characterized in that, The testing organization includes: The first detection unit is used to obtain the distance information between the subcarriage (2) and the docking target in the second direction, and to obtain the distance information between the subcarriage (2) and the outer side of the target coil in the second direction; The second detection unit is used to scan the two end faces of the target roll material along the third direction when the subcart (2) moves along the second direction, and calculate the width of the target roll material based on the time difference between scanning the two end faces and the walking speed of the subcart (2). When the subcart (2) is loaded with material, the target coil is the silicon steel coil (8) on the coil bearing device (2-5); when the subcart (2) is unloaded, the target coil is the coil at the docking target.

3. The bidirectional docking automatic loading and unloading silicon steel coil transfer trolley according to claim 1, characterized in that, The mother car (1) includes: The mother car frame (1-1) is provided with the first part of the daughter car track (4) for the daughter car (2) to travel on; Mother car traveling device (1-2) is used to drive the mother car (1) to travel along the first direction; Energy harvesting device (1-3) is used to obtain electrical energy from the power supply system and provide working power for the mother car (1); The power supply device (1-4) for the subcar is electrically connected to the energy harvesting device (1-3) and is used to transmit the electrical energy obtained by the energy harvesting device (1-3) to the subcar (2) that has left the mother car (1). The mother car positioning and fixing device (5) is used to position and fix the mother car (1) at the docking station.

4. The bidirectional docking automatic loading and unloading silicon steel coil transfer trolley according to claim 3, characterized in that, The vehicle power supply device (1-4) includes: A retractable cable assembly that extends the cable when the vehicle (2) leaves and retracts the cable when the vehicle (2) returns, so that the vehicle (2) maintains an electrical connection with the energy harvesting device (1-3) during the departure process.

5. The bidirectional docking automatic loading and unloading silicon steel coil transfer trolley according to claim 1, characterized in that, Also includes: The mother car track (3) is laid along the first direction for the mother car (1) to travel on; A mother car power supply device (7) is provided corresponding to the mother car track (3) and is used to provide electrical energy to the mother car (1); The subcar track (4) is laid along the second direction. The subcar track (4) includes at least a first part set on the mother car frame (1-1) and a second part set at the docking station. The first part is the first part of the subcar track (4) for the subcar (2) to travel as described in claim 4. The subcar (2) can drive away from the mother car (1) to the docking station along the subcar track (4).

6. The bidirectional docking automatic loading and unloading silicon steel coil transfer trolley according to claim 1, characterized in that, The lifting mechanism includes: A linear drive unit (2-6) is connected to the roll material carrier (2-5) for driving the roll material carrier (2-5) to lift up and down; The linear distance measuring device (2-7) is used to detect the lifting height of the roll material carrying device (2-5) in real time and feed back the detected height information to the controller. The controller controls the linear drive unit (2-6) to drive the roll material carrying device (2-5) to lift to the target height according to the height information.

7. A control method for a bidirectional docking automatic loading and unloading silicon steel coil transfer trolley as described in any one of claims 1 to 6, characterized in that, Includes the following steps: Step 100: Control the mother car (1) to move along the first direction to the docking station, and fix the mother car (1) in position; Step 200: Based on the side where the docking target is located, drive the upper frame (2-2) of the frame mechanism to rotate relative to the lower frame (2-1) through the trolley rotation device (2-4), so that the coil carrying device (2-5) is aligned with the docking target, and control the trolley (2) to drive out from the mother car (1) along the second direction; Step 300: Obtain detection data of the sub-vehicle (2) and the docking target in the second direction and / or the third direction through the detection mechanism, and control the sub-vehicle (2) to move closer to the docking target based on the detection data; Step 400: Control the subcart (2) to perform the roll transfer action with the docking target; Step 500: Control the subcar (2) to return to the mother car (1).

8. The control method for the bidirectional docking automatic loading and unloading silicon steel coil transfer mother-daughter trolley according to claim 7, characterized in that, Step 400 includes sub-steps in the material handling mode: Step 410, Material insertion and width measurement: Control the roll material carrying device (2-5) to insert into the inner hole of the target roll material. During this process, the detection mechanism obtains the detection data of the two end faces of the target roll material along the third direction, and calculates the width of the target roll material by combining the travel speed of the trolley traveling device (2-3). Step 420, Material Picking, Tightening and Lifting: Determine the center position of the target roll material according to the target roll material width, control the trolley (2) to move to the picking position, tighten and fix the target roll material through the roll material carrying device (2-5), and adjust the height of the roll material carrying device (2-5) through the lifting mechanism to lift the target roll material to detach it from the docking target.

9. The control method for the bidirectional docking automatic loading and unloading silicon steel coil transfer mother-daughter trolley according to claim 7, characterized in that, Step 400 includes sub-steps in the material feeding mode: Step 430, feeding approach and positioning: the detection mechanism obtains the detection data of the subcart (2) and the docking target in the second direction, determines the deviation value between the target position point on the docking target and the actual position of the target roll material carried by the subcart (2), and controls the subcart (2) to move; Step 440, Material insertion and release: Control the roll material carrier (2-5) to insert into the docking target. After the subcarriage (2) moves to the target docking position, the target roll material is released through the roll material carrier (2-5). The height of the roll material carrier (2-5) is adjusted through the lifting mechanism, and the roll material carrier (2-5) is pulled out.

Images