Automatic coil strip uncoiler and method of uncoiling

Abstract

This invention discloses an automatic steel coil strapping removal device and method, belonging to the field of metallurgical equipment technology. The device includes a robotic arm mounted on a base, with its sixth axis connected to a de-strapping unit via a connecting flange. The de-strapping unit includes opposing clamping and shearing cylinders, clamps, shears, and a strapping position detection component. The robotic arm is equipped with a PLC controller, and the detection component includes multiple distance sensors and proximity protection switches connected to the PLC signal input. The method involves the PLC controlling the detection component to position the strapping. The robotic arm drives the de-strapping unit to press against the steel coil. After clamping by the clamps and cutting by the shears, the strapping is transferred to a collector and reset. This invention automates the removal of steel coil strapping, replacing manual labor and solving the problems of injury, high labor intensity, and low efficiency associated with manual removal. It improves operational safety and production efficiency, is adaptable to steel coils with different arc surfaces, and exhibits strong operational stability.

Description

Technical Field

[0001] This invention relates to the field of metallurgical equipment technology, and in particular to a device and method for automatically removing steel coil strapping. Background Technology

[0002] In the steel production process of the metallurgical industry, the steel coil processing stage requires the removal of the strapping from the steel coils. Currently, this removal is done manually. This presents the following problems: 1. The area where the steel coil strapping is removed is a high-risk area. Manual removal not only increases the risk of injury due to the steel coil's internal stress rebounding and the strapping springing back, but the harsh working environment also negatively impacts the health of the operators; 2. Manual operation is labor-intensive, inefficient, and affects production, increasing costs. Summary of the Invention

[0003] This invention provides an automatic steel coil strapping removal device and method, which can solve the problems of easy injury to the human body, high labor intensity, and low removal efficiency caused by manual removal of steel coil strapping.

[0004] To solve the above problems, the technical solution adopted by the present invention is as follows: The automatic steel coil strapping removal device includes a robotic arm and a strapping collector located on one side of the robotic arm; the robotic arm is rotatably mounted on a base via its first axis, and the sixth axis of the robotic arm is connected to a unbundling unit via a connecting flange; the unbundling unit includes a mounting frame, one side of which is provided with a transverse clamping cylinder, the telescopic end of which extends toward the other side of the mounting frame, the telescopic end of which is connected to a clamping mounting block, and a clamping blade is mounted at the bottom of the clamping mounting block; the other side of the mounting frame is provided with a shearing cylinder, the telescopic end of which is facing the telescopic end of the clamping cylinder, the telescopic end of which is connected to a shearing mounting block, and a shearing blade is mounted at the bottom of the shearing mounting block, the shearing blade being adjacent to the clamping blade; The mounting frame is also equipped with a strapping position detection component; the control end of the robotic arm is equipped with a PLC controller. The strapping position detection component includes a distance sensor and a safety switch. There are three distance sensors: a first distance sensor and two second distance sensors. The two second distance sensors are mounted opposite each other at the front and rear ends of the mounting frame, and the first distance sensor is positioned between the two second distance sensors. There are two safety switches, respectively mounted on both sides of the mounting frame. Both safety switches are proximity sensors. The first distance sensor, the second distance sensors, and the safety switches are respectively connected to the signal input terminals of the PLC controller. The clamping cylinder and the shearing cylinder are both connected to the air source via solenoid valves, and the signal output terminal of the PLC controller is connected to the electrical control terminal of the solenoid valves. The demolition method includes the following steps: a. When the equipment is started, the PLC controller controls the strapping position detection component to start working. The second distance sensor detects the position of the strapping on the steel coil and transmits the position signal to the PLC controller. b. The PLC controller controls the robotic arm to move the unbundling unit to directly above the strapping position based on the received position signal; c. The first distance sensor detects the relative position between the unbundling unit and the steel coil and transmits the distance signal to the PLC controller. The PLC controller controls the robotic arm to drive the unbundling unit to press down, so that the unbundling unit is close to the strapping position of the steel coil. d. The PLC controller controls the solenoid valve to extend the clamping cylinder, which in turn pushes the clamping blade to extend, scooping up and clamping the strapping. e. The PLC controller continues to control the solenoid valve to drive the shearing cylinder to extend. The shearing cylinder pushes the shearing blade to extend and cuts the clamped strap. f. After the strapping is cut, the clamping knife keeps clamping the strapping. The PLC controller controls the robotic arm to drive the unbundling unit to move, pull the cut strapping away from the steel coil, and transfer it to the strapping collector. g. The clamping knife releases the strapping, and the strapping falls into the strapping collection device for collection. The robotic arm drives the unbundling unit to reset, completing one steel coil strapping removal operation.

[0005] A more specific technical solution to the above technical solution may be as follows: a pneumatic booster pump for automatically maintaining stable air supply pressure is connected in series between the solenoid valve and the air source. The medium input end of the pneumatic booster pump is connected to the air source, its high-pressure output end is connected to the air inlet end of the solenoid valve, and its pressure detection end is connected to the signal input end of the PLC controller. The pneumatic booster pump is configured to automatically start when the external air supply pressure is lower than 0.6MPa and automatically stop working after reaching the set pressure.

[0006] Furthermore, multiple springs with circumferentially spaced arc surfaces for adaptive steel coils are provided between the connecting flange and the unbundling unit.

[0007] Furthermore, a robotic arm protection plate is provided at the junction of the upper arm of the robotic arm and its first axis.

[0008] By adopting the above technical solution, the present invention has the following advantages compared with the prior art: 1. Because this robotic arm is rotatably mounted on the base via its first axis, its sixth axis is connected via a connecting flange to a de-bundling unit that integrates a clamping cylinder, a clamping blade, a shearing blade cylinder, a shearing blade, and a strapping position detection component. The clamping blade and the shearing blade are driven by corresponding cylinders and move in opposite directions. The clamping blade can first clamp the strapping, and the shearing blade can then cut it, forming a clamping-shearing linkage operation structure. This realizes the mechanized operation of strapping removal, replacing high-risk manual operations, avoiding the risk of strapping springing up and injuring people due to the internal stress rebound of the steel coil, while simplifying the de-bundling operation process and improving the efficiency of the de-bundling operation.

[0009] 2. With a PLC controller as the control core, the strapping position detection component uses a combination of first and second distance sensors, and is equipped with proximity protection switches on both sides. These detection elements are all electrically connected to the signal input terminal of the PLC controller. This not only ensures accurate detection of the strapping position and precise control of the relative position between the unbundling unit and the steel coil, but also allows the protection switches to provide real-time feedback of abnormal operation signals, making the unbundling action more precise, avoiding invalid operations, and further improving the intelligence and safety of the equipment operation.

[0010] 3. Since both the clamping blade cylinder and the shearing blade cylinder are connected to the air source through solenoid valves, and the signal output terminal of the PLC controller is connected to the solenoid valve's electrical control terminal, a PLC controller is formed to control the pneumatic actuators through an electrical linkage structure. This achieves automated control of the clamping and shearing blade actions, eliminating the need for manual intervention and reducing labor intensity. At the same time, it ensures the continuity and synchronization of clamping and shearing actions, improving the consistency of unbundling operations.

[0011] 4. Because a pneumatic booster pump is connected in series between the solenoid valve and the air source, and its pressure detection end is electrically connected to the signal input end of the PLC controller, and it is configured to automatically start when the external air supply pressure is lower than 0.6MPa, a power supply structure with automatic air pressure stabilization is formed. This can continuously provide stable air pressure power to the cylinder, which can effectively avoid insufficient clamping force of the clamping knife and incomplete cutting of the shearing knife due to insufficient air pressure, thus ensuring the action effect of the pneumatic actuator and the stability and reliability of the overall operation of the device.

[0012] 5. Because multiple springs are circumferentially spaced between the connecting flange and the unbundling unit, forming an adaptive connection structure for the arc surface of the steel coil, the unbundling unit can adaptively adjust the fitting angle according to the arc surface of the steel coil, ensuring effective contact between the clamping blade, the shearing blade and the steel coil strapping. It can be adapted to the unbundling operation of steel coils of different specifications and with different arc surfaces, improving the versatility and adaptability of the device. Attached Figure Description

[0013] Figure 1 This is a structural schematic diagram of an embodiment of the present invention.

[0014] Figure 2This is a three-dimensional structural schematic diagram of an embodiment of the present invention.

[0015] Figure 3 This is a schematic diagram of the unbundling unit according to an embodiment of the present invention.

[0016] Figure 4 yes Figure 3 A bottom view.

[0017] Figure 5 yes Figure 4 Sectional view at point AA.

[0018] Figure 6 yes Figure 4 Sectional view at BB.

[0019] Figure 7 A perspective view of the unbundling unit according to an embodiment of the present invention.

[0020] Figure 8 This is a block diagram illustrating the control principle of an embodiment of the present invention. Detailed Implementation

[0021] To make the above-mentioned objects, features, and advantages of the present invention more readily understood, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Many specific details are set forth in the following description in order to provide a thorough understanding of the present invention; however, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0022] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0023] like Figures 1-8The automatic steel coil strapping removal device shown includes a robotic arm 1 and a strapping collector 2 located on one side of the robotic arm 1. The robotic arm 1 is rotatably mounted on a base 3 via its first shaft 1-1. A robotic arm protection plate 4 is provided at the junction of the upper arm of the robotic arm 1 and the first shaft 1-1. The robotic arm protection plate 4 is used to protect the junction of the upper arm of the robotic arm 1 and the first shaft 1-1, preventing collisions and abrasions from steel coils, strapping, or other debris during operation. The sixth shaft 1-2 of the robotic arm 1 is connected to a de-strapping unit 6 via a connecting flange 5. Multiple circumferentially spaced springs 7 are arranged between the connecting flange 5 and the de-strapping unit 6 to adapt to the arc surface of the steel coil 20. The unbundling unit 6 includes a mounting frame 6-1. A transverse clamping cylinder 6-2 is mounted on one side of the mounting frame 6-1, with its extension end facing the other side of the mounting frame 6-1. A clamping mounting block 6-3 is fixedly connected to the extension end of the clamping cylinder 6-2, and a clamping blade 6-4 is mounted on the bottom of the clamping mounting block 6-3. A shearing cylinder 6-5 is mounted on the other side of the mounting frame 6-1, with its extension end facing the extension end of the clamping cylinder 6-2. A shearing mounting block 6-6 is fixedly connected to the extension end of the shearing cylinder 6-5, and a shearing blade 6-7 is mounted on the bottom of the shearing mounting block 6-6, adjacent to the clamping blade 6-4. A strapping position detection component 8 is also mounted on the mounting frame 6-1. A PLC controller 9 is configured at the control end of the robotic arm 1. The strapping position detection component 8 includes a distance sensor 8-1 and a protection switch 8-2. There are three distance sensors: a first distance sensor 8-1-1 and two second distance sensors 8-1-2. The two second distance sensors 8-1-2 are mounted opposite each other at the front and rear ends of the mounting bracket 6-1, and the first distance sensor 8-1-1 is positioned between the two second distance sensors 8-1-2. There are two protection switches 8-2, respectively mounted on both sides of the mounting bracket 6-1. Both protection switches 8-2 are proximity sensors. The first distance sensor 8-1-1, the second distance sensor 8-1-2, and the protection switches 8-2 are respectively connected to the signal input terminals of the PLC controller 9. The clamping cylinder 6-2 and the shearing cylinder 6-5 are both connected to the air source 11 via a solenoid valve 10. A pneumatic booster pump 12 is connected in series between the solenoid valve 10 and the air source 11 to automatically maintain a stable air supply pressure. The medium input end of the pneumatic booster pump 12 is connected to the air source 11, and the high-pressure output end of the pneumatic booster pump 12 is connected to the air inlet end of the solenoid valve 10. The signal output end of the PLC controller 9 is connected to the electrical control end of the solenoid valve 10. The pressure detection end j of the pneumatic booster pump 12 is connected to the signal input end of the PLC controller 9. The pneumatic booster pump 12 is configured to start automatically when the external air supply pressure is lower than 0.6MPa and stop working automatically after reaching the set pressure. The demolition method includes the following steps: a. When the equipment is started, the PLC controller controls the strapping position detection component to start working. The second distance sensor detects the position of the strapping on the steel coil and transmits the position signal to the PLC controller. b. The PLC controller controls the robotic arm to move the unbundling unit to directly above the strapping position based on the received position signal; c. The first distance sensor detects the relative position between the unbundling unit and the steel coil and transmits the distance signal to the PLC controller. The PLC controller controls the robotic arm to drive the unbundling unit to press down, so that the unbundling unit is close to the strapping position of the steel coil. d. The PLC controller controls the solenoid valve to extend the clamping cylinder, which in turn pushes the clamping blade to extend, scooping up and clamping the strapping. e. The PLC controller continues to control the solenoid valve to drive the shearing cylinder to extend. The shearing cylinder pushes the shearing blade to extend and cuts the clamped strap. f. After the strapping is cut, the clamping knife keeps clamping the strapping. The PLC controller controls the robotic arm to drive the unbundling unit to move, pull the cut strapping away from the steel coil, and transfer it to the strapping collector. g. The clamping knife releases the strapping, and the strapping falls into the strapping collection device for collection. The robotic arm drives the unbundling unit to reset, completing one steel coil strapping removal operation.

[0024] This invention, through the mechanical structure of a robotic arm and unbundling unit, combined with an electrical control and detection system with a PLC controller as the main control core and a pneumatic execution linkage system, along with a pneumatic booster pump to ensure stable air pressure, achieves automated operation of steel coil strapping removal. It completely replaces manual unbundling of steel coil strapping in the metallurgical industry, fundamentally solving the safety hazards and high labor intensity problems of manual unbundling, significantly improving unbundling efficiency and reducing production costs. Simultaneously, through precise position detection, control, and stable power supply, it ensures the accuracy, continuity, and stability of the unbundling operation, meeting the industrial operation requirements of metallurgical production. Furthermore, the device has a reasonable structure and strong linkage of actions, possessing good industrial practicality and promotional value.

[0025] This invention can be modified and varied in various ways. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An automatic steel coil strapping removal device, comprising a robotic arm, the robotic arm being rotatably mounted on a base via its first axis, characterized in that: The sixth axis of the robotic arm is connected to a de-bundling unit via a connecting flange. The de-bundling unit includes a mounting frame. One side of the mounting frame is equipped with a transverse clamping cylinder, the telescopic end of which extends toward the other side of the mounting frame. The telescopic end of the clamping cylinder is connected to a clamping mounting block, and a clamping blade is mounted on the bottom of the clamping mounting block. The other side of the mounting frame is equipped with a shearing cylinder, the telescopic end of which faces the telescopic end of the clamping cylinder. The telescopic end of the shearing cylinder is connected to a shearing mounting block, and a shearing blade is mounted on the bottom of the shearing mounting block. The shearing blade and the clamping blade are arranged adjacent to each other. The mounting frame is also equipped with a strapping position detection component.

2. The automatic steel coil strapping removal device according to claim 1, characterized in that: The control end of the robotic arm is equipped with a PLC controller. The strapping position detection component includes a distance sensor and a safety switch. There are three distance sensors, including a first distance sensor and two second distance sensors. The two second distance sensors are mounted opposite each other at the front and rear ends of the mounting frame, and the first distance sensor is located between the two second distance sensors. There are two safety switches, which are respectively mounted on both sides of the mounting frame. Both safety switches are proximity sensors. The first distance sensor, the second distance sensors, and the safety switches are respectively connected to the signal input terminals of the PLC controller.

3. The automatic steel coil strapping removal device according to claim 2, characterized in that: Both the clamping blade cylinder and the shearing blade cylinder are connected to the air source via solenoid valves, and the signal output terminal of the PLC controller is connected to the electrical control terminal of the solenoid valve.

4. The automatic steel coil strapping removal device according to claim 3, characterized in that: A pneumatic booster pump for automatically maintaining stable air supply pressure is connected in series between the solenoid valve and the air source. The medium input end of the pneumatic booster pump is connected to the air source, its high-pressure output end is connected to the air inlet end of the solenoid valve, and its pressure detection end is connected to the signal input end of the PLC controller.

5. The automatic steel coil strapping removal device according to any one of claims 1-4, characterized in that: Multiple springs with circumferentially spaced arc surfaces for adaptive steel coils are provided between the connecting flange and the unbundling unit.

6. The automatic steel coil strapping removal device according to claim 5, characterized in that: The robotic arm is provided with a robotic arm protection plate at the junction of its upper arm and its first axis.

7. A method for automatically removing steel coil strapping, characterized in that: An automatic steel coil strapping removal device is provided, comprising a robotic arm and a strapping collector located on one side of the robotic arm. The robotic arm is rotatably mounted on a base via its first axis, and a de-strap unit is connected to its sixth axis via a connecting flange. The de-strap unit includes a mounting frame, on one side of which is a transverse clamping cylinder. The telescopic end of the clamping cylinder extends toward the other side of the mounting frame, and a clamping mounting block is connected to the telescopic end of the clamping cylinder. A clamping blade is mounted at the bottom of the clamping mounting block. On the other side of the mounting frame is a shearing cylinder, with its telescopic end facing the telescopic end of the clamping cylinder. A shearing blade mounting block is connected to the telescopic end of the shearing cylinder, and a shearing blade is mounted at the bottom of the shearing mounting block. The shearing blade is adjacent to the clamping blade. The mounting frame is also equipped with... The system includes a strapping position detection component; the control end of the robotic arm is equipped with a PLC controller; the strapping position detection component includes a distance sensor and a safety switch; there are three distance sensors, including a first distance sensor and two second distance sensors, with the two second distance sensors mounted opposite each other at the front and rear ends of the mounting frame, and the first distance sensor positioned between the two second distance sensors; there are two safety switches, respectively mounted on both sides of the mounting frame; both safety switches are proximity sensors; the first distance sensor, the second distance sensors, and the safety switches are respectively connected to the signal input terminals of the PLC controller; the clamping cylinder and the shearing cylinder are both connected to the air source through solenoid valves, and the signal output terminal of the PLC controller is correspondingly connected to the electrical control terminal of the solenoid valve; The demolition method includes the following steps: a. When the equipment is started, the PLC controller controls the strapping position detection component to start working. The second distance sensor detects the position of the strapping on the steel coil and transmits the position signal to the PLC controller. b. The PLC controller controls the robotic arm to move the unbundling unit to directly above the strapping position based on the received position signal; c. The first distance sensor detects the relative position between the unbundling unit and the steel coil and transmits the distance signal to the PLC controller. The PLC controller controls the robotic arm to drive the unbundling unit to press down, so that the unbundling unit is close to the strapping position of the steel coil. d. The PLC controller controls the solenoid valve to extend the clamping cylinder, which in turn pushes the clamping blade to extend, scooping up and clamping the strapping. e. The PLC controller continues to control the solenoid valve to drive the shearing cylinder to extend. The shearing cylinder pushes the shearing blade to extend and cuts the clamped strapping. f. After the strapping is cut, the clamping knife keeps clamping the strapping. The PLC controller controls the robotic arm to drive the unbundling unit to pull the cut strapping away from the steel coil and transfer it to the strapping collector. g. The clamping knife releases the strapping, and the strapping falls into the strapping collection device for collection. The robotic arm drives the unbundling unit to reset, completing one steel coil strapping removal operation.

8. The automatic removal method for steel coil strapping according to claim 7, characterized in that: A pneumatic booster pump for automatically maintaining stable air supply pressure is connected in series between the solenoid valve and the air source. The medium input end of the pneumatic booster pump is connected to the air source, its high-pressure output end is connected to the air inlet end of the solenoid valve, and its pressure detection end is connected to the signal input end of the PLC controller. The pneumatic booster pump is configured to start automatically when the external air supply pressure is lower than 0.6MPa and stop working automatically after reaching the set pressure.

9. The automatic removal method for steel coil strapping according to claim 7 or 8, characterized in that: Multiple springs with circumferentially spaced arc surfaces for adaptive steel coils are provided between the connecting flange and the unbundling unit.

10. The automatic removal method for steel coil strapping according to claim 9, characterized in that: The robotic arm is provided with a robotic arm protection plate at the junction of its upper arm and its first axis.

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