A steel coil adaptive feeding unwinding and conveying device and a working method thereof

Abstract

This invention relates to the field of intelligent manufacturing equipment technology, and particularly to an adaptive feeding, uncoiling, and conveying device for steel coils and its working method. The device includes a conveying system, an uncoiling unit, and a handling system. The conveying system includes a track, a carrying trolley, a carrying mechanism, an auxiliary clamping device, and a positioning device. The carrying trolley is slidably mounted on the track, and the carrying mechanism, auxiliary clamping device, and positioning device are all mounted on the carrying trolley. The uncoiling unit includes a supporting mechanism, a pressing mechanism, an uncoiler, a lateral limiting mechanism, and a supporting mechanism. The supporting mechanism is located at the end of the uncoiler's main shaft, the pressing mechanism is located on one side of the uncoiler and outside the steel coil, the lateral limiting mechanism is located on the side of the uncoiler, and the supporting mechanism is located in front of the uncoiler. The handling system includes a robotic arm and a robotic gripper, with the robotic gripper mounted on the actuator end of the robotic arm. This invention improves the automation level, processing accuracy, and safety of the uncoiling process.

Description

Technical Field

[0001] This invention relates to the field of intelligent manufacturing equipment technology, and in particular to a steel coil adaptive feeding, uncoiling and conveying device and its working method. Background Technology

[0002] Uncoiling steel coils is the first step in the deep processing of sheet metal, such as in production lines for motor housings, automotive parts, and electrical appliances. Typically, steel coils are transported to the vicinity of the uncoiler by handling equipment. After manual alignment, the uncoiler's main shaft extends and expands to tighten the inner coil. Subsequently, the main shaft rotates, causing the steel coil to unwind, providing sheet material for subsequent leveling, stamping, and other processes.

[0003] A typical steel coil loading and uncoiling device uses a rail-based conveyor trolley with a fixed receiving seat and manually adjustable side baffles. The uncoiler spindle has no auxiliary support at the end, relying solely on a cantilevered bearing seat for support. The clamping mechanism is a fixed swing arm, requiring manual adjustment of the swing arm angle according to the coil diameter. Transport is achieved using a crane or ordinary mechanical grippers, with operator visual alignment. During operation, the steel coil is hoisted onto the trolley receiving seat, and the side baffles are manually pushed to limit their movement. The trolley moves to the uncoiler, where the operator manually aligns the spindle with the inner hole of the coil. The spindle hydraulically expands to tighten the coil, and then the operator manually lowers the clamping arm to contact the outer ring of the coil. Finally, the spindle rotates to uncoil.

[0004] However, due to significant variations in the diameter, width, and weight of the steel coils from batch to batch, the fixed receiving seat and side baffles cannot adaptively adjust the support position and clamping force. During transport, the steel coil is prone to rolling and shifting, leading to difficulties in alignment with the main shaft and even damage to the coil edges. During uncoiling, as the coil diameter gradually decreases, the manually adjusted clamping arm cannot compensate for the contact pressure in real time, causing the outer ring of the coil to loosen and potentially burst open instantly under centrifugal force, posing a safety hazard. Furthermore, the main shaft, bearing the heavy steel coils on a cantilever for extended periods without adaptive auxiliary support, is prone to bending deformation, affecting uncoiling accuracy. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a steel coil feeding and uncoiling device capable of adaptive support, dynamic clamping, and intelligent handling. This addresses the problems of difficult alignment, clamping failure, spindle damage, and low handling reliability in existing equipment when handling steel coils of varying specifications, thereby improving the automation level, processing accuracy, and safety of the uncoiling process.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions: In a first aspect, embodiments of the present invention provide an adaptive feeding, uncoiling, and conveying device for steel coils, comprising a conveying system, an uncoiling unit, and a handling system; the conveying system includes a track, a carrying trolley, a carrying mechanism, an auxiliary clamping device, and a positioning device, wherein the carrying trolley is slidably mounted on the track, and the carrying mechanism, the auxiliary clamping device, and the positioning device are all mounted on the carrying trolley; the uncoiling unit includes a supporting mechanism, a pressing mechanism, an uncoiler, a lateral limiting mechanism, and a supporting mechanism, wherein the supporting mechanism is located at the end of the uncoiler spindle, the pressing mechanism is located on one side of the uncoiler and on the outside of the steel coil, the lateral limiting mechanism is located on the side of the uncoiler, and the supporting mechanism is located in front of the uncoiler; the handling system includes a robotic arm and a robotic gripper, wherein the robotic gripper is mounted on the execution end of the robotic arm.

[0007] As a further technical solution, the bearing mechanism includes a height adjusting cylinder, a receiving seat, and a rubber pad. The height adjusting cylinder drives the receiving seat to rise and fall, and the rubber pad is located on the upper surface of the receiving seat. The auxiliary clamping device includes a first swing cylinder, a connecting rod, a rotating shaft, a hook connecting plate, and a steel coil clamping plate. The first swing cylinder drives the rotating shaft to rotate through the connecting rod. The hook connecting plate is fixed to the rotating shaft, and the steel coil clamping plate is integrated with the hook connecting plate. The positioning device includes a laser emitter, a laser receiver, an alignment shaft, and an alignment sleeve. The alignment sleeve has a built-in piezoelectric sensor.

[0008] As a further technical solution, the support mechanism includes a support mounting frame, a hinge cylinder, a hinge arm, a support arm, and a support assembly. The hinge cylinder is mounted on the support mounting frame, the output end of the hinge cylinder is hinged to the hinge arm, the end of the hinge arm away from the hinge cylinder is hinged to the support arm, the support arm is connected to a pin mounted on the support mounting frame, and the support assembly is mounted on the top of the support arm and has a built-in pressure sensor.

[0009] As a further technical solution, the clamping mechanism includes a fixed block, an ear-type support, a second swing cylinder, a swing connecting rod, a transmission shaft, a clamping swing arm, and a first roller. The ear-type support is fastened to the fixed block, the second swing cylinder is installed on the ear-type support, the swing connecting rod is connected to the output end of the second swing cylinder, the transmission shaft passes through the swing connecting rod and is assembled on the bearing support, the end of the transmission shaft is connected to the clamping swing arm, and two rows of first rollers arranged in an array are installed on the clamping swing arm. The first rollers have built-in pressure sensors.

[0010] As a further technical solution, the uncoiler includes a geared motor, a flange-type toothed hollow shaft, a hydraulic rotary joint, a direct-acting two-position three-position normally closed solenoid valve, a piston rod, an arc-shaped support plate, and a double-bearing sleeve. The geared motor drives the flange-type toothed hollow shaft to rotate via chain transmission. The hydraulic rotary joint supplies oil to the piston rod. The direct-acting two-position three-position normally closed solenoid valve controls the on / off switching of the oil circuit. The piston rod drives the arc-shaped support plate to extend and retract radially. The double-bearing sleeve is sleeved on the outside of the third deep groove ball bearing of the uncoiler hanging head. The double-bearing sleeve is adapted to the support component of the support mechanism. The uncoiler unit also includes a locking mechanism, which is a friction lock that cooperates with the flange-type brake bushing on the uncoiler.

[0011] As a further technical solution, the lateral limiting mechanism includes a trapezoidal block, an expansion cylinder, a linear motion platform, a second roller, and a limit sensor. The trapezoidal block is fastened to the side of the machine body shell. The linear motion platform is hinged to the bearing support on the trapezoidal block through a rotating shaft. The cylinder end of the expansion cylinder is installed on the trapezoidal block, and the output end is hinged to the side of the linear motion platform. The second roller is installed on the upper end of the slider of the linear motion platform, and the limit sensor is located on the linear motion platform.

[0012] As a further technical solution, the support mechanism includes a column, an arc-shaped structural component, a support cylinder, and a second roller. The column is fixed to the ground, and a guide column is fixedly connected to the lower end of the arc-shaped structural component. The guide column and the column are fitted with a clearance. The support cylinder drives the arc-shaped structural component to rise and fall. The second roller is arranged in an array along the inner arc surface of the arc-shaped structural component. The support mechanism is also equipped with a pressure detection element.

[0013] As a further technical solution, the lateral limiting mechanism includes a servo motor, forward and reverse ball screws, a linear guide rail, a slider, a roller, and a position sensor. The torque output by the servo motor is transmitted to the forward and reverse ball screws via a coupling. The sliders are distributed at both ends of the forward and reverse ball screws, and the rollers are installed on the upper end of the sliders. The sliders move synchronously in opposite directions or in opposite directions along the linear guide rail.

[0014] As a further technical solution, the mechanical gripper of the handling system includes a frame plate, a telescopic cylinder, a triangular support, a rotating connector, a push-pull rod, a vacuum suction cup, and a vision sensor. The frame plate is installed on the execution end of the robotic arm. Two rows of triangular supports are symmetrically arranged on both sides of the frame plate. The inner triangular support is hinged to the cylinder end of the telescopic cylinder, and the outer triangular support is hinged to the middle of the rotating connector. The push rod of the telescopic cylinder is hinged to the rotating connector. One end of the push-pull rod is hinged to the rotating connector, and the other end is connected to the vacuum suction cup through a bolt connector. The vision sensor is installed at the front end of the frame plate.

[0015] Secondly, embodiments of the present invention also provide a method for operating the aforementioned adaptive feeding, uncoiling, and conveying device for steel coils, including: The trolley runs along the track. The laser emitter and laser receiver work together to complete the initial positioning. The alignment shaft and alignment sleeve contact the trigger signal to stop the trolley. The height adjustment cylinder of the bearing mechanism raises the receiving seat to the preset height. The steel coil clamping plate of the auxiliary clamping device swings to clamp the steel coil. The robotic arm moves the robotic gripper above the steel coil. The vision sensor collects the position information of the steel coil. The telescopic cylinder drives the rotating connecting part to swing so that the vacuum suction cup is attached to the surface of the steel coil. The vacuum system is activated to adsorb the steel coil. The robotic arm transfers the steel coil to the receiving seat of the carrying mechanism. The trolley transports the steel coil to the uncoiler station, and then returns to its original position. The support cylinder of the support mechanism drives the arc-shaped structural component to rise, so that the second roller is in contact with the bottom of the steel coil. The hinge cylinder of the support mechanism drives the support arm to swing, so that the support component contacts and supports the main shaft of the uncoiler. The piston rod of the uncoiler drives the arc-shaped support plate to extend radially and tighten the inner ring of the steel coil. The expansion cylinder of the lateral limiting mechanism drives the linear moving platform to rise and move laterally, so that the second roller is in contact with the side of the steel coil. The second swing cylinder of the pressing mechanism drives the pressing swing arm to swing, so that the first roller presses the outer side of the steel coil. The uncoiler spindle rotates to unwind the coil. During the unwinding process, the pressure sensor collects the contact pressure between the first roller and the steel coil in real time. The PLC dynamically adjusts the stroke of the second swing cylinder according to the change in the diameter of the steel coil to keep the first roller under constant pressure. The locking mechanism rubs to lock the flange brake bushing when the uncoiler stops.

[0016] One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages: The conveying system's carrying mechanism, in conjunction with an auxiliary clamping device, provides flexible support and active clamping for the steel coil, preventing rolling deviation during transport. The positioning device achieves dual laser and mechanical positioning, ensuring precise alignment between the carrying trolley and the uncoiler spindle, avoiding collisions and scratches. The supporting mechanism in the uncoiler unit, located at the end of the spindle, provides adaptive auxiliary support, preventing bending deformation caused by long-term cantilever loads. The clamping mechanism, located on the outside of the steel coil, dynamically clamps the outer ring during uncoiling, responding to diameter changes with pressure feedback and reducing the risk of coil bursting. Lateral limiting and supporting mechanisms constrain the steel coil from the side and bottom, respectively, preventing lateral deviation and providing additional support. The handling system uses a robotic arm with robotic grippers to replace manual lifting. Adaptive gripping is achieved through the robotic grippers at the execution end, improving the adaptability and automation level of handling. This invention integrates the conveying system, uncoiler unit, and handling system into an automated operation chain, eliminating the need for manual intervention throughout the entire process from receiving to uncoiling the steel coil, systematically improving stability, safety, and precision.

[0017] Advantages of additional aspects of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. The drawings described below are only some embodiments recorded in the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. In addition, the dimensions or spacing between the components are exaggerated to show the position of each component, and the schematic diagrams are for illustrative purposes only.

[0019] Figure 1 This is an isometric view of the overall structure of an embodiment of the present invention; Figure 2 This is an isometric view of the conveying system according to an embodiment of the present invention; Figure 3 This is a partial cross-sectional view of the conveying system according to an embodiment of the present invention; Figure 4 This is an isometric view of the unwinding unit according to an embodiment of the present invention; Figure 5 This is an isometric view of the support mechanism according to an embodiment of the present invention; Figure 6 This is an isometric view of the clamping mechanism according to an embodiment of the present invention; Figure 7 This is an isometric view of an uncoiler according to an embodiment of the present invention; Figure 8 This is a cross-sectional view of an uncoiler according to an embodiment of the present invention; Figure 9 This is an isometric view of the lateral limiting mechanism according to an embodiment of the present invention; Figure 10 This is an isometric view of the support mechanism according to an embodiment of the present invention; Figure 11 This is an isometric view of the material handling system according to an embodiment of the present invention; Figure 12 An isometric view of another lateral limiting mechanism provided in an embodiment of the present invention; In the diagram: Ⅰ. Conveying system; Ⅰ-1. Track; Ⅰ-2. Carrying trolley; Ⅰ-3. Laser emitter; Ⅰ-4. Fixed bracket; Ⅰ-5. Fixed seat; Ⅰ-5-1. Guide cylinder; Ⅰ-5-2. Height adjustment cylinder; Ⅰ-5-3. Flange; Ⅰ-5-4. First guide sleeve; Ⅰ-6. Steel coil clamping plate; Ⅰ-7. Guide shaft; Ⅰ-8. Rubber pad; Ⅰ-9. Receiving seat; Ⅰ-10. Steel coil; Ⅰ-11. Rotating shaft; Ⅰ-12. Bearing seat; Ⅰ-13. Grab hook connecting plate; Ⅰ-14. Connecting rod; Ⅰ-15. First swing cylinder; Ⅰ-16. Cylinder mounting support; Ⅰ-17. Alignment shaft; Ⅱ-1. Support mechanism; Ⅱ-1-1. Support mounting frame; Ⅱ-1-2. First deep groove ball bearing; Ⅱ-1-3. Spring Ⅱ-1-4, Cylindrical ring; Ⅱ-1-5, Base; Ⅱ-1-6, Pin; Ⅱ-1-7, Articulated cylinder; Ⅱ-1-8, Support arm; Ⅱ-1-9, Articulated arm; Ⅱ-1-10, Support assembly; Ⅱ-2, Clamping mechanism; Ⅱ-2-1, Ear support; Ⅱ-2-2, Second swing cylinder; Ⅱ-2-3, Fixing block; Ⅱ-2-4, Swinging connecting rod; Ⅱ-2-5, First bearing support; Ⅱ-2-6, Connecting flange; Ⅱ-2-7, Drive shaft; Ⅱ-2-8, Clamping swing arm; Ⅱ-2-9, First drum; Ⅱ-3, Uncoiler; Ⅱ-3-1, Gear motor; Ⅱ-3-2, Direct-acting two-position three-position normally closed solenoid valve; Ⅱ-3-3, Bearing sleeve; Ⅱ-3-4, Second deep groove ball bearing; Ⅱ-3 -5. Oil pipe; II-3-6. Flanged brake bushing; II-3-7. Bearing end cover; II-3-8. Flanged toothed hollow shaft; II-3-9. First pressure sensor; II-3-10. Machine body housing; II-3-11. Double-ended flange; II-3-12. Baffle; II-3-13. Pressure cap; II-3-14. Piston rod; II-3-15. Arc-shaped support plate; II-3-16. Double bearing sleeve; II-3-17. Threaded locking retaining ring; II-3-18. Upper pressure oil pipe; II-3-19. Third deep groove ball bearing; II-3-20. Lower pressure oil pipe; II-3-21. First O-ring seal; II-3-22. Piston sealing ring; II-3-23. Second O-ring seal; II-3-24. Dustproof rubber ring; II-3-25, Hexagonal locating shaft; II-3-26, Uncoiling and hanging head; II-3-27, Hydraulic pipe joint; II-3-28, Hexagonal head bolt; II-3-29, Hydraulic rotary joint; II-4, Locking mechanism; II-5, Lateral limiting mechanism; II-5-1, Trapezoidal block; II-5-2, Bearing support; II-5-3, Rotating shaft; II-5-4, Linear moving platform; II-5-5, Drum; II-5-6, Expansion cylinder; II-5-7, Hinge support; II-6, Alignment sleeve; II-7, Laser receiver; II-8, Angle iron bracket; II-9, Support mechanism; II-9-1, Lifting ring bracket; II-9-2, Flange seat; II-9-3, Column; II-9-4, Arc-shaped structural component; II-9-5, Second drum;II-9-6, Support Cylinder; III, Handling System; III-1, Robotic Arm; III-2, Frame Stand; III-3, Vision Sensor; III-4, Steel Coil; III-5, Telescopic Cylinder; III-6, Triangular Support; III-7, Rotating Connector; III-8, Push-Pull Rod; III-9, Bolt Connector; III-10, Vacuum Suction Cup; XIV-1, Linear Drive Module; XIV-2, Roller. Detailed Implementation

[0020] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the linguistic context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0021] Generally speaking, the terms "comprising" and "including" only indicate that the steps and elements are explicitly identified, and these steps and elements do not constitute an exclusive list. The method or apparatus may also include other steps or elements.

[0022] Example The background technology mentions that existing equipment lacks precise positioning and flexible support when conveying and feeding steel coils. Rolling deviation is prone to occur during the transfer process, making it difficult to align with the main shaft of the uncoiler. Furthermore, the handling process relies on manual intervention and has poor adaptability.

[0023] Therefore, in a typical embodiment of this disclosure, an adaptive feeding, uncoiling, and conveying device for steel coils is provided, such as... Figure 1 As shown.

[0024] The conveying system includes a track, a carrying trolley, a carrying mechanism, an auxiliary clamping device, and a positioning device. The carrying trolley is slidably installed on the track, and all the above components are integrated on the carrying trolley, so that the steel coil can be flexibly supported and clamped to prevent rolling throughout the entire process from receiving the material to transporting it to the uncoiler station, and can also achieve precise stopping through dual positioning.

[0025] The uncoiling unit includes a support mechanism, a clamping mechanism, an uncoiler, a lateral limiting mechanism, and a support mechanism. The support mechanism is located at the end of the uncoiler spindle to support it. The clamping mechanism is located on one side of the uncoiler, outside the steel coil, to dynamically clamp the outer ring of the coil. The lateral limiting mechanism is located on the side of the uncoiler to prevent lateral deviation of the steel coil. The support mechanism is located in front of the uncoiler to assist in supporting the bottom of the steel coil. These components form a multi-directional, multi-functional support and limiting system around the uncoiler, solving the problems of insufficient adaptive auxiliary support for the spindle, easy loosening and bursting of the steel coil, and lateral deviation.

[0026] The handling system includes a robotic arm and a robotic gripper. The robotic gripper is installed at the execution end of the robotic arm, which realizes automated gripping and posture adjustment of steel coils, replacing manual hoisting or simple clamps, and improving the adaptability and efficiency of handling.

[0027] Each system operates independently yet collaboratively. The conveying system transports the steel coils to the uncoiler, the handling system transfers the coils from the storage area to the conveying system, and the uncoiler unit completes the pre-uncoiler preparation and the uncoiling process. Compared to the dispersed, semi-automatic equipment combinations in existing technologies, this solution integrates adaptive support, dynamic clamping, automatic conveying, and intelligent handling into a single system through a redesigned overall architecture. This eliminates the need for manual intervention throughout the entire process from receiving the steel coil to uncoiling, systematically improving stability, safety, and accuracy.

[0028] In some further specific examples disclosed herein, the load-bearing mechanism, auxiliary clamping device, and positioning device of the conveying system are described: Existing conveyor trolleys mostly use fixed-height receiving seats, which cannot adapt to changes in the center of gravity height of steel coils of different diameters, and rely solely on manual limiting by side baffles, making the steel coils prone to rolling during conveying. Therefore, in this embodiment, the bearing mechanism includes a height-adjusting cylinder, a receiving seat, and a rubber pad. The height-adjusting cylinder drives the receiving seat to rise and fall, and the rubber pad is located on the upper surface of the receiving seat. The height-adjusting cylinder automatically adjusts the height of the receiving seat according to the steel coil diameter, aligning the center of the steel coil as closely as possible with the center of the uncoiler spindle, while the rubber pad prevents scratches on the surface of the steel coil. The auxiliary clamping device includes a first swing cylinder, a connecting rod, a rotating shaft, a grabbing hook connecting plate, and a steel coil clamping plate. The first swing cylinder drives the rotating shaft to rotate via the connecting rod, the grabbing hook connecting plate is fixed to the rotating shaft, and the steel coil clamping plate is integrated with the grabbing hook connecting plate. This structure converts the rotational motion of the swing cylinder into the swinging clamping motion of the clamping plate, achieving active clamping of the steel coil's side and preventing rolling and deviation during conveying. The positioning device includes a laser emitter, a laser receiver, an alignment shaft, and an alignment sleeve, with a built-in piezoelectric sensor in the alignment sleeve. Laser positioning provides coarse positioning, while mechanical contact between the alignment shaft and the alignment sleeve triggers the piezoelectric sensor signal for precise positioning and docking. This dual positioning ensures the alignment accuracy between the trolley and the uncoiler spindle. These three sub-modules work together: the height adjustment cylinder first raises the steel coil to a suitable height, then the coil clamping plate clamps the sides of the coil to prevent swaying, and then the trolley moves, with the laser and mechanical triggering working sequentially to ensure accurate docking.

[0029] Specifically, such as Figure 2 , Figure 3As shown, the conveying system I consists of track I-1, a carrying trolley I-2, a fixed seat I-5, a carrying mechanism, an auxiliary clamping device, and a positioning device. The carrying mechanism comprises a guide shaft I-7, a rubber pad I-8, a receiving seat I-9, a guide cylinder I-5-1, a height adjusting cylinder I-5-2, a flange I-5-3, and a first guide sleeve I-5-4. The auxiliary clamping device comprises a steel coil clamping plate I-6, a steel coil I-10, a rotating shaft I-11, a bearing seat I-12, a hook connecting plate I-13, a connecting rod I-14, a first swing cylinder I-15, and a cylinder mounting support I-16. The positioning device comprises a laser emitter I-3, a fixed bracket I-4, and an alignment shaft I-17. Track I-1 is fixed to the ground with bolts. The trolley I-2 is slidably mounted on the track I-1, and is powered by the trolley I-2 to transfer the steel coil I-10. The carrying mechanism, auxiliary clamping device, and positioning device are all integrated on the trolley I-2. The carrying mechanism adjusts the working height via the height adjusting cylinder I-5-2 and is bolted to the fixed seat I-5 of the trolley I-2. The push rod of the height adjusting cylinder I-5-2 is guided by the first guide sleeve I-5-4. The receiving seat I-9 is connected to the output end of the height adjusting cylinder I-5-2 via the flange I-5-3. The guide shaft I-7 is clearance-fitted with the guide cylinder I-5-1 to provide auxiliary guidance. The rubber pad I-8 is bolted to the upper surface of the receiving seat I-9. To provide flexible support for the steel coil and prevent scratches on the surface of coil I-10, the auxiliary clamping device is welded to the side of the fixed base I-5 via a cylinder mounting bracket I-16. The first swing cylinder I-15 is connected to the cylinder mounting bracket I-16 via a pin and an elastic retaining ring, providing power for the auxiliary clamping action. The output end of the first swing cylinder I-15 is connected to the rotating shaft I-11 via a connecting rod I-14. Both ends of the rotating shaft I-11 are positioned and installed via bearing seats I-12. The hook connecting plate I-13 is welded to the rotating shaft I-11 and welded to the steel coil clamping plate as a whole. The first swing cylinder I-15 drives the connecting rod I-14 to drive the rotating shaft I-11 to rotate, thereby enabling the steel coil clamping plate to clamp and loosen the steel coil I-10. The opening mechanism effectively prevents steel coil I-10 from shifting or rolling during transport. The fixed bracket I-4 and the alignment shaft I-17 of the positioning device are respectively installed on the housing of the fixed base I-5. The laser emitter I-3 is bolted to the fixed bracket I-4 and cooperates with the corresponding laser receiver II-7 (installed on the bracket angle iron II-8) to achieve initial positioning. The alignment shaft I-17 is adapted to the alignment sleeve II-6. The alignment sleeve II-6 has a built-in piezoelectric sensor. When the alignment shaft I-17 moves with the carrying trolley I-2 to contact the piezoelectric sensor, the sensor will transmit a trigger signal to the electrical control cabinet. After processing by the PLC program, the feedback control will stop the carrying trolley I-2 and return it to its original position, completing one steel coil transport operation and waiting for the next transfer instruction.By combining laser positioning and mechanical triggering positioning, precise and stable transport of steel coils to the uncoiler can be achieved, with fully automated operation requiring no manual intervention.

[0030] In some further specific examples in this disclosure, the specific structure of the support mechanism is illustrated: Background technology indicates that when the cantilever of an uncoiler spindle cantilever carries heavy steel coils, the end lacks effective auxiliary support, making it prone to bending and deformation over long-term operation. Existing support mechanisms are mostly fixed and cannot be dynamically adjusted according to the actual load and position of the spindle. Therefore, in this embodiment, the support mechanism includes a support mounting frame, a hinged cylinder, a hinged arm, a support arm, and a support assembly. The hinged cylinder is mounted on the support mounting frame, with its output end hinged to the hinged arm. The end of the hinged arm away from the hinged cylinder is hinged to the support arm. The support arm is also connected to a pin mounted on the support mounting frame, forming a four-bar linkage. The support assembly is mounted on the top of the support arm and has a built-in pressure sensor. During operation, the extension and retraction of the hinged cylinder drives the hinged arm to swing, which in turn causes the support arm to swing around the pin, raising or lowering the support assembly. When the support assembly contacts the uncoiler spindle and the pressure reaches a preset threshold, the pressure sensor sends a feedback signal to stop the hinged cylinder, achieving adaptive support.

[0031] The advantages of this mechanism are: the stroke of the articulated cylinder can control the swing angle of the support arm, thus adapting to different spindle positions; the closed-loop control of the pressure sensor ensures that the support force is just right, providing stable support without damaging the spindle. The support mounting bracket is fixed to the ground with anchor bolts, and deep groove ball bearings are embedded in the cylinders on both sides to cooperate with the pin shaft rotation, ensuring smooth swing.

[0032] Specifically, such as Figure 4 , Figure 5As shown, the support mechanism II-1 consists of a support mounting frame II-1-1, a first deep groove ball bearing II-1-2, an elastic retaining ring II-1-3, a cylinder II-1-4, a base II-1-5, a pin II-1-6, a hinged cylinder II-1-7, a support arm II-1-8, a hinged arm II-1-9, and a support assembly II-1-10. The support mounting frame II-1-1 is fixed to the ground with anchor bolts, and the base II-1-5 is welded to the upper surface of the support mounting frame II-1-1. The hinged cylinder II-1... -7 is assembled onto the base II-1-5 via pin II-1-6 and axially limited by elastic retaining ring II-1-3; a cylindrical II-1-4 is welded and fixed to each side of the support mounting bracket II-1-1, and the first deep groove ball bearing II-1-2 is respectively embedded inside the cylindrical II-1-4 on both sides, and axial positioning is achieved by elastic retaining rings; the output end of the hinge cylinder II-1-7 is hinged to the hinge arm II-1-9 via pin II-1-6, and the hinge arm II-1-9 is away from the hinge cylinder II-1-7. One end of the support arm is hinged to the support arm II-1-8 via pin II-1-6, and the support arm II-1-8 is also connected to pin II-1-6 mounted on the support mounting bracket. The working process is as follows: when the hinge cylinder II-1-7 extends or retracts, it drives the hinge arm II-1-9 in conjunction, thereby causing the support arm II-1-8 to swing circumferentially around pin II-1-6 on the support mounting bracket II-1-1 to adjust the spatial position of the support arm II-1-8. The support assembly II-1-10 is mounted on top of the support arm II-1-8. At the end, the support component II-1-10 has a built-in pressure sensor. When the support component II-1-10 swings with the support arm II-1-8 to contact the main shaft of the uncoiler II-3, and the contact pressure reaches a preset threshold, the pressure sensor transmits the pressure signal to the control cabinet. After analysis and processing by the PLC processor, a control command is immediately issued to stop the articulated cylinder II-1-7 from moving, so that the support component II-1-10 can stably maintain the support state of the main shaft of the uncoiler II-3, realizing the automated and precise control of the support action.

[0033] In some further specific examples of this disclosure, the specific structure of the clamping mechanism is described: In the background technology, the diameter of the steel coil gradually decreases during the uncoiling process. Traditional fixed or manually adjustable clamping mechanisms cannot compensate for the contact pressure in real time, which can easily lead to the steel coil becoming loose or even bursting. In this embodiment, the clamping mechanism includes a fixed block, an ear-type support, a second swing cylinder, a swing connecting rod, a drive shaft, a clamping swing arm, and a first roller. The ear-type support is fastened to the fixed block, the second swing cylinder is installed on the ear-type support, the swing connecting rod is connected to the output end of the second swing cylinder, the drive shaft passes through the swing connecting rod and is mounted on a bearing support, and the end of the drive shaft is connected to the clamping swing arm. The clamping swing arm is equipped with two rows of first rollers arranged in an array, and the first rollers have built-in pressure sensors. The second swing cylinder drives the swing connecting rod to rotate, causing the drive shaft and the clamping swing arm to swing synchronously, so that the first rollers clamp the outer ring of the steel coil. The arrayed rollers increase the contact points and the pressure distribution is more uniform. The built-in pressure sensors monitor the contact pressure in real time, and the PLC dynamically adjusts the extension and retraction stroke of the second swing cylinder according to the trend of the decreasing steel coil diameter, so that the clamping swing arm swings adaptively, ensuring that the pressure is maintained within a preset range. This closed-loop control achieves constant pressure clamping, effectively preventing coil bursting. The selection of rollers reduces sliding friction with the steel coil surface, avoiding scratches.

[0034] Specifically, such as Figure 6As shown, the clamping mechanism II-2 consists of an ear-type support II-2-1, a second swing cylinder II-2-2, a fixed block II-2-3, a swing connecting rod II-2-4, a first bearing support II-2-5, a connecting flange II-2-6, a transmission shaft II-2-7, a clamping swing arm II-2-8, and a first roller II-2-9; the fixed block II-2-3 is welded and fixed to the outer shell II-3-10 of the machine body, and the ear-type support II-2-1 is fastened to the fixed block II-2-3 by welding or bolt connection. The second swing cylinder II-2-2 is connected by a pin and positioned and fixed on the lug support II-2-1 using an elastic retaining ring. The swing connecting rod II-2-4 is connected to the output end of the second swing cylinder II-2-2 via a connecting joint. The drive shaft II-2-7 passes through the swing connecting rod II-2-4 and is assembled on the first bearing support II-2-5. The first bearing support II-2-5 is fixed to the fixing block II-2-3 by bolts. The right end of the drive shaft II-2-7 is connected to the clamping swing arm II-2-8, and... The clamping swing arm II-2-8 is equipped with two rows of first rollers II-2-9 arranged in an array. The first rollers II-2-9 have built-in pressure sensors. The working process is as follows: the second swing cylinder II-2-2 drives the swing connecting rod II-2-4 to rotate the transmission shaft II-2-7, which in turn drives the clamping swing arm II-2-8 to swing synchronously, so that the first rollers II-2-9 on the arm are pressed against the outside of the steel coil. The pressure sensor collects the contact pressure value between the first rollers II-2-9 and the steel coil in real time and transmits the signal to the control cabinet. After analysis and processing by the PLC processor, the extension and retraction stroke of the second swing cylinder II-2-2 is adjusted in real time according to the trend of the diameter gradually decreasing during the uncoiling process of the steel coil. This drives the clamping swing arm II-2-8 to swing adaptively, ensuring that the contact pressure between the first rollers II-2-9 and the steel coil is always maintained within the preset range. This allows the first rollers II-2-9 to continuously press against the steel coil, effectively preventing the steel coil from bursting during the uncoiling operation and realizing the automated and precise control of the clamping action.

[0035] In some further specific examples of this disclosure, the uncoiler includes a geared motor, a flanged toothed hollow shaft, a hydraulic rotary joint, a direct-acting two-position three-normally closed solenoid valve, a piston rod, an arc-shaped support plate, and a double-bearing sleeve. The geared motor drives the flanged toothed hollow shaft to rotate via chain drive, a chain drive method suitable for heavy loads and allowing for a certain center distance error. The hydraulic rotary joint supplies oil to the piston rod, solving the dynamic sealing problem between the rotating parts and the fixed oil pipe. The direct-acting two-position three-normally closed solenoid valve controls the on / off switching of the oil circuit, realizing the extension and retraction of the piston rod. The piston rod drives the arc-shaped support plate to extend and retract radially, and the arc-shaped support plate fits against the inner wall of the steel coil to achieve expansion and tightening. The double-bearing sleeve is sleeved on the outside of the third deep groove ball bearing of the uncoiler hanging head, and the double-bearing sleeve is adapted to the support assembly of the support mechanism, that is, the support assembly supports the double-bearing sleeve, providing end support for the main shaft. In addition, the uncoiler unit also includes a locking mechanism, which is a friction lock that cooperates with the flanged brake bushing on the uncoiler. During intermittent operation or when the machine stops for coil changing, the locking mechanism activates, using a friction-locking flange-type brake bushing to prevent the main shaft from rotating. This solves the safety hazard caused by the rotation of the steel coil due to inertia or external force when the existing equipment stops. The uncoiler, support mechanism, and locking mechanism work together: the support mechanism supports the end of the main shaft to prevent bending, the uncoiler is responsible for rotation and expansion, and the locking mechanism brakes when necessary.

[0036] Specifically, such as Figure 4 , Figure 7 and Figure 8 As shown, the uncoiler II-3 consists of a geared motor II-3-1, a direct-acting two-position three-position normally closed solenoid valve II-3-2, a bearing sleeve II-3-3, a second deep groove ball bearing II-3-4, an oil pipe II-3-5, a flange-type brake bushing II-3-6, a bearing end cover II-3-7, a flange-type toothed hollow shaft II-3-8, a first pressure sensor II-3-9, a machine body housing II-3-10, a double-headed flange II-3-11, a baffle II-3-12, a pressure cap II-3-13, a piston rod II-3-14, an arc-shaped support plate II-3-15, a double bearing sleeve II-3-16, and a threaded locking retaining ring II. The system consists of: upper pressure oil pipe II-3-17, third deep groove ball bearing II-3-19, lower pressure oil pipe II-3-20, first O-ring seal II-3-21, piston sealing ring II-3-22, second O-ring seal II-3-23, dustproof rubber ring II-3-24, internal hexagonal positioning shaft II-3-25, hydraulic pipe joint II-3-27, uncoiling hanging head II-3-26, hexagonal head bolt II-3-28, hydraulic rotary joint II-3-29, and locking mechanism II-4. It integrates power transmission, hydraulic expansion, and collaborative support functions to achieve automated and stable uncoiling of steel coils.

[0037] The power system is driven by a geared motor II-3-1, which drives the flange-type toothed hollow shaft II-3-8 to rotate via a chain drive. The flange-type toothed hollow shaft II-3-8 features a boss design. The bearing sleeves II-3-3 are welded to both ends of the outer casing II-3-10. The second deep groove ball bearings II-3-4 on both sides contact the bosses on the bearing sleeves II-3-3 and the flange-type toothed hollow shaft II-3-8, respectively, providing rightward and leftward limit for the second deep groove ball bearings II-3-4. The bearing end caps... II-3-7 is connected to the bearing sleeve II-3-3 by bolts and contacts the second deep groove ball bearing II-3-4 to achieve left and right limit; the bottom end of the flange-type toothed hollow shaft II-3-8 is fastened to the flange-type brake shaft sleeve II-3-6 by bolts and nuts, and the top end is fixed to the double-headed flange II-3-11 by screws and nuts. The baffle II-3-12 is clamped between the end face of the double-headed flange II-3-11 and the uncoiling hanging head II-3-26, and is locked with hexagonal head bolts II-3-28 and nuts to ensure the coaxiality and reliability of the transmission of each component.

[0038] The hydraulic expansion system consists of an oil circuit transmission unit and an expansion execution unit. The oil circuit transmission unit includes oil pipe II-3-5, a first pressure sensor II-3-9, a hydraulic rotary joint II-3-29, a hydraulic pipe connector II-3-27, a direct-acting two-position three-position normally closed solenoid valve II-3-2, an upper pressure oil pipe II-3-18, and a lower pressure oil pipe II-3-20. The core function of the hydraulic rotary joint II-3-29 is to continuously supply oil to the expansion execution unit while simultaneously satisfying the rotation of the flange-type toothed hollow shaft II-3-8 and the uncoiling head II-3-26. To meet the motion requirements, the direct-acting two-position three-position normally closed solenoid valve II-3-2 is responsible for precisely controlling the opening and closing and reversing of the oil circuit; the first pressure sensor II-3-9 is responsible for detecting the oil pressure; the expansion actuator consists of a pressure cap II-3-13, a piston rod II-3-14, an arc-shaped support plate II-3-15, a double bearing sleeve II-3-16, a first O-ring II-3-21, a piston sealing ring II-3-22, a second O-ring II-3-23, a dustproof rubber ring II-3-24, an internal hexagonal locating shaft II-3-25, and an uncoiling and hanging head II-3-2. The uncoiling and feeding head consists of six components. Inside, movable cavities are arranged in a linear array along the circumference. A piston rod II-3-14 is embedded within one of these cavities. A first O-ring II-3-21 and a piston sealing ring II-3-22 are fitted between the inner wall of the cavity and the piston rod II-3-14 to ensure a leak-proof seal for the hydraulic oil. A pressure cap II-3-13 is fitted onto the upper end of the piston rod II-3-14 and is fixedly connected to the uncoiling and feeding head II-3-26 by bolts. A second O-ring II-3-21 is built into the mating point between the pressure cap II-3-13 and the uncoiling and feeding head II-3-26. 3-23 and dustproof rubber ring II-3-24 ensure sealing and prevent external impurities from entering; upper pressure oil pipe II-3-18 and lower pressure oil pipe II-3-20 are both arranged in the movable cavity of uncoiling head II-3-26. Driven by the pressure of the hydraulic system and monitored in real time by the first pressure sensor II-3-9, the piston rod II-3-14 moves radially, which in turn drives the arc support plate II-3-15 to move radially in sync, so that the arc support plate II-3-15 fits tightly against the inner wall of the steel coil, thus completing the support and expansion of the steel coil.

[0039] A third deep groove ball bearing II-3-19 is embedded in the groove of the uncoiling head II-3-26. A double bearing sleeve II-3-16 is sleeved on the outside of the two third deep groove ball bearings II-3-19. One end of the double bearing sleeve II-3-16 is axially limited by a boss, and the other end is fixed by two threaded locking rings II-3-17. The double bearing sleeve II-3-16 is compatible with the support component II-1-10 in the aforementioned support machine II-1, realizing the connection between the uncoiling machine II-3 and the support mechanism II-1-10. Precise docking and collaborative operation; the entire uncoiling process can be integrated and controlled by the PLC control system. The speed of the geared motor II-3-1 is adjustable to adapt to the uncoiling speed of steel coils of different specifications. The direct-acting two-position three-position normally closed solenoid valve II-3-2 receives the electrical control signal to realize the automatic switching of hydraulic expansion and contraction. In conjunction with the oil pressure signal fed back by the first pressure sensor II-3-9, the PLC processes the signal and controls the stroke of the piston rod II-3-14 to ensure that the expansion force of the steel coil is precisely controllable and realizes the fully automated operation of the uncoiling operation.

[0040] The locking mechanism II-4 works in conjunction with the flange brake sleeve II-3-6 on the uncoiler through a friction lock. By utilizing the friction generated by their contact, the rotational movement of the flange brake sleeve II-3-6 is precisely restricted, thereby achieving the braking and locking of the uncoiler spindle. Whether the uncoiler II-3 operates intermittently according to a preset program—rotating a distance of one disc diameter at intervals and locking quickly at the moment of stopping to prevent the spindle from rotating on its own, or during roll changing, shutdown, or equipment maintenance, this mechanism can keep the steel coil in a stable and stationary state at all times, effectively avoiding safety hazards such as steel coil slippage and spindle rotation, and ensuring the safe and orderly conduct of the uncoiling process.

[0041] In some further specific examples of this disclosure, a specific structure of the lateral limiting mechanism is described: During the conveying and uncoiling process, steel coils are prone to lateral deviation, causing the steel strip to run off-track and affecting subsequent leveling and stamping accuracy. In this embodiment, the lateral limiting mechanism includes a trapezoidal block, an expanding cylinder, a linear motion platform, a second roller, and a limit sensor. The trapezoidal block is fixed to the side of the machine casing as a reference. The linear motion platform is hinged to the bearing support on the trapezoidal block via a rotating shaft. The cylinder end of the expanding cylinder is mounted on the trapezoidal block, and its output end is hinged to the side of the linear motion platform. The second roller is mounted on the upper end of the slider of the linear motion platform, and the limit sensor is located on the linear motion platform. The expanding cylinder first drives the linear motion platform to rise around the rotating shaft to a preset height. Then, the slider inside the linear motion platform drives the second roller to move towards the side of the steel coil until the second roller is in contact with the steel coil and reaches a preset alignment position. The limit sensor triggers a signal to stop the action. This mechanism automates lateral alignment and limiting, and the linear motion platform can be raised and lowered, avoiding interference with the steel coil when not in operation.

[0042] Specifically, such as Figure 9 As shown, the lateral limiting mechanism II-5 consists of trapezoidal block II-5-1, bearing support II-5-2, rotating shaft II-5-3, linear moving platform II-5-4, roller II-5-5, expansion cylinder II-5-6, and hinge support II-5-7. The expansion cylinder II-5-6 and the linear moving platform II-5-4 are used to realize the posture adjustment and alignment functions. Trapezoidal block II-5-1 is fastened to the side of outer shell II-3-10 by bolts. Bearing support II-5-2 is welded and fixed to the upper end face of trapezoidal block II-5-1. Linear moving platform II-5-4 is hinged to bearing support II-5-2 through rotating shaft II-5-3. The cylinder end of expansion cylinder II-5-6 is installed on trapezoidal block II-5-1 through hinge support II-5-7, and the output end is hinged to the side of linear moving platform II-5-4 through connecting joint. With the extension and retraction of expansion cylinder II-5-6, linear moving platform II-5-4 can be driven to complete the attitude switching of lifting and lowering around rotating shaft II-5-3. Roller II-5-5 is threaded onto the upper end of the slider. Linear moving platform II-5-4 can drive the slider to move linearly back and forth, thereby achieving precise adjustment of the steel coil position. During operation, expansion cylinder II-5-6 first drives linear moving platform II-5-4 to rise to the preset working height. Then, the slider of linear moving platform II-5-4 drives roller II-5-5 to move to the side of the steel coil until roller II-5-5 is in contact with the steel coil and reaches the preset alignment position. The limit sensor on linear moving platform II-5-4 then triggers a signal and transmits it to the control cabinet. After analysis and processing by the PLC processor, the PLC processor controls linear moving platform II-5-4 to stop operating. This achieves lateral alignment and limit of the steel coil, ensuring that the steel coil is always in the appropriate working position and ensuring the stable operation of subsequent processes.

[0043] In another specific example of this disclosure, an alternative structure for the lateral limiting mechanism is presented. Unlike the cylinder-driven swing lifting method described above, this structure employs a servo motor-driven linear motion module with forward and reverse ball screws. Specifically, it includes a servo motor, forward and reverse ball screws, a linear guide rail, sliders, rollers, and a position sensor. The servo motor output torque is transmitted to the forward and reverse ball screws via a coupling. Sliders are distributed at both ends of the forward and reverse ball screws, and rollers are mounted on the upper end of the sliders. The sliders move synchronously in opposite directions or in opposite directions along the linear guide rail. This structure is suitable for applications requiring frequent adjustment of the limiting width and high positional accuracy. The forward and reverse screws ensure that the sliders on both sides move synchronously to the center, automatically pushing the steel coil to the center position without the need for an additional lifting mechanism. The position sensor provides feedback on the slider displacement, forming a closed-loop control that can adapt to steel coils of different widths. This solution and the aforementioned solution can be chosen interchangeably, each with its own advantages: the cylinder solution has a simple structure and low cost; the servo screw solution offers higher accuracy and a wider adjustment range.

[0044] Specifically, such as Figure 12As shown, the lateral limiting mechanism consists of a linear drive module XIV-1 and a roller XIV-2. The sliders are distributed at both ends of the positive and negative ball screws, and the mechanism is equipped with position sensors to form a stable "screw-guide rail" guiding transmission structure. The cylindrical surface of the roller is adapted to contact the side of the steel coil, which can reduce frictional damage to the steel coil during the limiting process. The automated operation process of this mechanism is as follows: After receiving the arrival signal of the steel coil from the preceding conveying mechanism, the PLC control system automatically starts the servo motor. The output torque of the servo motor is transmitted to the positive and negative ball screws through the coupling, driving the screws to rotate synchronously. Due to the positive and negative thread design of the screws, the sliders on both sides move synchronously in opposite directions along the linear guide rail, thereby driving the roller XⅣ-2 to move laterally synchronously, forming a flexible limit on the steel coil and pushing the steel coil to gradually move to the preset centering position. The system uses position sensors to provide real-time feedback of slider displacement data, realizing closed-loop precise control of the steel coil's centering position. After the steel coil is in the appropriate position, the servo motor stops running and self-locks, and the roller maintains the lateral limit state on the steel coil, effectively preventing the steel coil from shifting in subsequent processes. Moreover, this mechanism can be adapted to steel coils of different widths and specifications, and has good versatility and adaptability.

[0045] In some further specific examples in this disclosure, the specific structure of the support mechanism is described: During the uncoiling process, the steel coil is heavy, requiring additional support at the bottom of the coil besides the main shaft to prevent bending of the main shaft or deformation of the coil due to gravity. In this embodiment, the support mechanism includes a column, an arc-shaped structural component, a support cylinder, and a second roller. The column is fixed to the ground, and a guide column is fixed to the lower end of the arc-shaped structural component. The guide column and column are fitted together to guide the lifting and lowering. The support cylinder drives the arc-shaped structural component to rise and fall. The second roller is arranged in an array along the inner arc surface of the arc-shaped structural component and is equipped with a pressure detection element. During operation, the support cylinder pushes the arc-shaped structural component upward, causing the second roller to contact the bottom of the steel coil. The pressure detection element stops when the contact pressure reaches a preset threshold. The inner arc surface of the arc-shaped structural component matches the outer contour of the steel coil, and the arrayed rollers reduce friction and distribute pressure. This support mechanism, together with the support mechanism and the clamping mechanism, forms a three-dimensional support for the steel coil: the support mechanism supports the main shaft, the support mechanism supports the bottom of the steel coil, and the clamping mechanism clamps the outer side of the steel coil. The three mechanisms work together without interference.

[0046] Specifically, such as Figure 10As shown, the support mechanism II-9 consists of a lifting ring bracket II-9-1, a flange seat II-9-2, a column II-9-3, an arc-shaped structural component II-9-4, a second roller II-9-5, and a support cylinder II-9-6. The column II-9-3 is fixed to the ground via the flange seat II-9-2. The support cylinder II-9-6 and the lifting ring bracket II-9-1 are both bolted to the ground. The lifting ring bracket II-9-1 and the column II-9-3 are rigidly connected to each other to improve the stability of the overall structure. Four guide columns are fixed to the lower end of the arc-shaped structural component II-9-4. The guide columns are clearance-fitted with the column II-9-3 to provide precise guidance for the lifting and lowering movement of the arc-shaped structural component II-9-4. The second roller II-9-5 is arranged in an array along the inner arc surface of the arc-shaped structural component II-9-4. To adapt to the curved contour of the steel coil, the mechanism operates as follows: the output shaft of the support cylinder II-9-6 extends and retracts, driving the curved structural component II-9-4 upward along the guide direction of the column II-9-3 until the second roller II-9-5 on the curved structural component II-9-4 contacts the surface of the steel coil. This mechanism is equipped with a pressure detection element. When the contact pressure between the roller and the steel coil reaches a preset threshold, the pressure signal is transmitted to the control cabinet in real time. After analysis and processing by the PLC processor, a control command is immediately issued to stop the support cylinder II-9-6, thus ensuring that the second roller II-9-5 stably supports the steel coil. This provides reliable support for the steel coil while preventing damage to the surface due to excessive pressure, achieving automated and precise control of the support action.

[0047] In some further specific examples of this disclosure, the specific structure of the mechanical gripper in the handling system is described: Existing robotic grippers have a fixed structure and cannot adaptively adjust the gripping angle and suction position, often resulting in unstable gripping or suction cup leakage. In this embodiment, the robotic gripper includes a frame plate, telescopic cylinders, triangular supports, a rotating connector, a push-pull rod, a vacuum suction cup, and a vision sensor. The frame plate is mounted on the actuator end of the robotic arm, with two rows of triangular supports symmetrically arranged on both sides. The inner triangular support is hinged to the cylinder body of the telescopic cylinder, and the outer triangular support is hinged to the middle of the rotating connector. The push rod of the telescopic cylinder is hinged to the rotating connector. One end of the push-pull rod is hinged to the rotating connector, and the other end is connected to the vacuum suction cup via a bolt. The vision sensor is mounted on the front end of the frame plate. The two sets of telescopic cylinders are hinged to different joints of the rotating connector. By controlling the stroke difference between the two sets of cylinders, the rotating connector can be driven to swing around the outer triangular support, simultaneously driving the push-pull rod to achieve lifting, lowering, and angle fine-tuning, thus enabling the vacuum suction cup to parallelly adhere to the surface of the steel coil at different tilt angles. The vision sensor identifies the position and posture of the steel coil in real time, providing data for cylinder stroke adjustment. This robotic gripper has two degrees of freedom, which, combined with the multiple degrees of freedom of the robotic arm itself, allows it to adapt to steel coils in various orientations.

[0048] Specifically, such as Figure 11 As shown, the handling system III consists of a robotic arm III-1 and a robotic gripper. The robotic gripper is composed of a frame plate III-2, a vision sensor III-3, a steel coil III-4, a telescopic cylinder III-5, a triangular support III-6, a rotating connector III-7, a push-pull rod III-8, a bolt connector III-9, and a vacuum suction cup III-10. The frame plate III-2 is fastened to the actuator of the robotic arm III-1 by bolts. Two rows of triangular supports III-6 are symmetrically arranged on both sides of the frame plate III-2 along its center line. The inner triangular supports III-6 closest to the center line are connected to the telescopic cylinder III-5. The cylinder body is hinged at the end, and the outer triangular support Ⅲ-6, which is away from the center line, is hinged to the middle of the rotating connector Ⅲ-7. The push rod of the inner telescopic cylinder Ⅲ-5 is hinged to the joint of the rotating connector Ⅲ-7. The push rod of another set of telescopic cylinders Ⅲ-5 is hinged to the top of the rotating connector Ⅲ-7. One end of the push-pull rod Ⅲ-8 is hinged to the middle position of the rotating connector Ⅲ-7, and the other end is rigidly connected to the vacuum suction cup Ⅲ-10 through the bolt connector Ⅲ-9. The vision sensor Ⅲ-3 is mounted on the front end of the robotic arm Ⅲ-1 through the bracket and is used to identify the position and attitude information of the steel coil in real time. Its working process is as follows: After the PLC control system issues the handling command, the robotic arm Ⅲ-1 moves the robotic gripper to the steel coil working area. The vision sensor Ⅲ-3 collects the spatial coordinate information of the steel coil in real time and transmits it to the control cabinet. After analysis and calculation by the processor, the extension and retraction strokes of the two sets of telescopic cylinders Ⅲ-5 are precisely controlled. When the inner telescopic cylinder Ⅲ-5 extends or retracts, it drives the rotating connecting piece Ⅲ-7 to complete the swing of the first joint around the hinge point of the outer triangular support Ⅲ-6. When the top telescopic cylinder Ⅲ-5 extends or retracts, it drives the push-pull rod Ⅲ-8 to perform synchronous lifting and angle fine-tuning movements, thereby enabling the vacuum suction cup Ⅲ- 10. The vacuum suction cup is kept parallel and in contact with the surface of the steel coil. After the suction cup is adjusted to the correct position, the vacuum system is activated, creating a negative pressure cavity between the vacuum suction cup Ⅲ-10 and the steel coil to achieve stable adsorption. Then, the robotic arm Ⅲ-1 moves the steel coil to the predetermined position of the angle adjustment mechanism according to the preset trajectory. After the steel coil is adjusted, the vacuum suction cup Ⅲ-10 releases the negative pressure, and the PLC system immediately issues a reset command to control the robotic arm Ⅲ-1 to automatically return the robotic claw to the initial standby position, waiting for the next handling task. The entire process is automated and precise, effectively improving the efficiency and safety of steel coil handling.

[0049] Example 2 This embodiment provides a method for operating the above-described device: In the first stage, the conveyor system's carrying trolley moves and positions itself. Dual positioning via laser and mechanical triggering ensures the trolley stops accurately. A height-adjusting cylinder lifts the receiving seat, and an auxiliary clamping device secures the steel coil. It is important to note that the clamping action must be completed before transfer to prevent the steel coil from rolling during transport.

[0050] In the second stage, the handling system transfers the steel coils from the storage area to the receiving seat of the carrying mechanism. Vision sensors guide the robotic gripper to adaptively adsorb the steel coils, which are then vacuum-adsorbed before being transported by the robotic arm, avoiding potential damage from direct gripping.

[0051] In the third stage, the trolley delivers the steel coil to the uncoiler station and then retreats to make room for subsequent uncoiling.

[0052] In the fourth stage, the support mechanism, bearing mechanism, uncoiler expansion, lateral limiting mechanism, and clamping mechanism operate sequentially or simultaneously, fixing and supporting the steel coil from the bottom, the end of the spindle, the inner ring, the side, and the outer ring, respectively. First, the bottom and the end of the spindle are supported, then the inner ring is expanded, then the lateral limiting is applied, and finally the outer ring is clamped, ensuring that the steel coil is constrained in all degrees of freedom without being over-positioned.

[0053] In the fifth stage, the uncoiler rotates to unwind the coil. During the unwinding process, the pressure sensor provides real-time feedback on the contact pressure between the first roller and the steel coil. The PLC dynamically adjusts the stroke of the second swing cylinder based on changes in the steel coil diameter to maintain constant pressure. The locking mechanism brakes when the machine stops.

[0054] The entire method achieves full automation from steel coil feeding to uncoiling, with each step connected by sensors and PLC, requiring no manual intervention.

[0055] While the specific embodiments of the present invention have been described above, they are not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A self-adaptive feeding, uncoiling, and conveying device for steel coils, characterized in that, Includes a conveying system, an unwinding unit, and a handling system; The conveying system includes a track, a carrying trolley, a carrying mechanism, an auxiliary clamping device, and a positioning device. The carrying trolley is slidably mounted on the track, and the carrying mechanism, the auxiliary clamping device, and the positioning device are all mounted on the carrying trolley. The uncoiling unit includes a support mechanism, a pressing mechanism, an uncoiler, a lateral limiting mechanism, and a support mechanism. The support mechanism is located at the end of the uncoiler spindle, the pressing mechanism is located on one side of the uncoiler and on the outside of the steel coil, the lateral limiting mechanism is located on the side of the uncoiler, and the support mechanism is located in front of the uncoiler. The handling system includes a robotic arm and a robotic gripper, with the robotic gripper mounted on the actuator end of the robotic arm.

2. The adaptive feeding, uncoiling, and conveying device for steel coils as described in claim 1, characterized in that, The bearing mechanism includes a height adjusting cylinder, a receiving seat, and a rubber pad. The height adjusting cylinder drives the receiving seat to rise and fall, and the rubber pad is located on the upper surface of the receiving seat. The auxiliary clamping device includes a first swing cylinder, a connecting rod, a rotating shaft, a hook connecting plate, and a steel coil clamping plate. The first swing cylinder drives the rotating shaft to rotate through the connecting rod. The hook connecting plate is fixed to the rotating shaft, and the steel coil clamping plate is integrated with the hook connecting plate. The positioning device includes a laser emitter, a laser receiver, an alignment shaft, and an alignment sleeve. The alignment sleeve has a built-in piezoelectric sensor.

3. The adaptive feeding, uncoiling, and conveying device for steel coils as described in claim 1, characterized in that, The support mechanism includes a support mounting frame, a hinge cylinder, a hinge arm, a support arm, and a support assembly. The hinge cylinder is mounted on the support mounting frame, and the output end of the hinge cylinder is hinged to the hinge arm. The end of the hinge arm away from the hinge cylinder is hinged to the support arm. The support arm is connected to a pin mounted on the support mounting frame. The support assembly is mounted on the top of the support arm and has a built-in pressure sensor.

4. The adaptive feeding, uncoiling, and conveying device for steel coils as described in claim 1, characterized in that, The clamping mechanism includes a fixed block, an ear-type support, a second swing cylinder, a swing connecting rod, a drive shaft, a clamping swing arm, and a first roller. The ear-type support is fastened to the fixed block, the second swing cylinder is installed on the ear-type support, the swing connecting rod is connected to the output end of the second swing cylinder, the drive shaft passes through the swing connecting rod and is assembled on a bearing support, and the end of the drive shaft is connected to the clamping swing arm. Two rows of first rollers are arranged in an array on the clamping swing arm, and the first rollers have built-in pressure sensors.

5. The adaptive feeding, uncoiling, and conveying device for steel coils as described in claim 1, characterized in that, The uncoiler includes a geared motor, a flange-type toothed hollow shaft, a hydraulic rotary joint, a direct-acting two-position three-position normally closed solenoid valve, a piston rod, an arc-shaped support plate, and a double-bearing sleeve. The geared motor drives the flange-type toothed hollow shaft to rotate via chain drive. The hydraulic rotary joint supplies oil to the piston rod. The direct-acting two-position three-position normally closed solenoid valve controls the on / off switching of the oil circuit. The piston rod drives the arc-shaped support plate to extend and retract radially. The double-bearing sleeve is sleeved on the outside of the third deep groove ball bearing of the uncoiler hanging head. The double-bearing sleeve is adapted to the support component of the support mechanism. The uncoiler unit also includes a locking mechanism, which is a friction lock that cooperates with the flange-type brake bushing on the uncoiler.

6. The adaptive feeding, uncoiling, and conveying device for steel coils as described in claim 1, characterized in that, The lateral limiting mechanism includes a trapezoidal block, an expansion cylinder, a linear motion platform, a second roller, and a limit sensor. The trapezoidal block is fastened to the side of the machine body shell. The linear motion platform is hinged to the bearing support on the trapezoidal block via a rotating shaft. The cylinder end of the expansion cylinder is installed on the trapezoidal block, and the output end is hinged to the side of the linear motion platform. The second roller is installed on the upper end of the slider of the linear motion platform, and the limit sensor is located on the linear motion platform.

7. The adaptive feeding, uncoiling, and conveying device for steel coils as described in claim 1, characterized in that, The support mechanism includes a column, an arc-shaped structural component, a support cylinder, and a second roller. The column is fixed to the ground, and a guide column is fixed to the lower end of the arc-shaped structural component. The guide column and the column are fitted with a clearance. The support cylinder drives the arc-shaped structural component to rise and fall. The second roller is arranged in an array along the inner arc surface of the arc-shaped structural component. The support mechanism is also equipped with a pressure detection element.

8. The adaptive feeding, uncoiling, and conveying device for steel coils as described in claim 1, characterized in that, The lateral limiting mechanism includes a servo motor, forward and reverse ball screws, a linear guide rail, a slider, a roller, and a position sensor. The torque output by the servo motor is transmitted to the forward and reverse ball screws via a coupling. The sliders are distributed at both ends of the forward and reverse ball screws, and the rollers are installed on the upper end of the sliders. The sliders move synchronously in opposite directions or in opposite directions along the linear guide rail.

9. The adaptive feeding, uncoiling, and conveying device for steel coils as described in claim 1, characterized in that, The mechanical gripper of the handling system includes a frame plate, a telescopic cylinder, triangular supports, a rotating connector, a push-pull rod, a vacuum suction cup, and a vision sensor. The frame plate is installed at the execution end of the robotic arm. Two rows of triangular supports are symmetrically arranged on both sides of the frame plate. The inner triangular support is hinged to the cylinder end of the telescopic cylinder, and the outer triangular support is hinged to the middle of the rotating connector. The push rod of the telescopic cylinder is hinged to the rotating connector. One end of the push-pull rod is hinged to the rotating connector, and the other end is connected to the vacuum suction cup through a bolt connector. The vision sensor is installed at the front end of the frame plate.

10. A method for operating the adaptive feeding, uncoiling, and conveying device for steel coils according to any one of claims 1-9, characterized in that, include: The trolley runs along the track. The laser emitter and laser receiver work together to complete the initial positioning. The alignment shaft and alignment sleeve contact the trigger signal to stop the trolley. The height adjustment cylinder of the bearing mechanism raises the receiving seat to the preset height. The steel coil clamping plate of the auxiliary clamping device swings to clamp the steel coil. The robotic arm moves the robotic gripper above the steel coil. The vision sensor collects the position information of the steel coil. The telescopic cylinder drives the rotating connecting part to swing so that the vacuum suction cup is attached to the surface of the steel coil. The vacuum system is activated to adsorb the steel coil. The robotic arm transfers the steel coil to the receiving seat of the carrying mechanism. The trolley transports the steel coil to the uncoiler station, and then returns to its original position. The support cylinder of the support mechanism drives the arc-shaped structural component to rise, so that the second roller is in contact with the bottom of the steel coil. The hinge cylinder of the support mechanism drives the support arm to swing, so that the support component contacts and supports the main shaft of the uncoiler. The piston rod of the uncoiler drives the arc-shaped support plate to extend radially and tighten the inner ring of the steel coil. The expansion cylinder of the lateral limiting mechanism drives the linear moving platform to rise and move laterally, so that the second roller is in contact with the side of the steel coil. The second swing cylinder of the pressing mechanism drives the pressing swing arm to swing, so that the first roller presses the outer side of the steel coil. The uncoiler spindle rotates to unwind the coil. During the unwinding process, the pressure sensor collects the contact pressure between the first roller and the steel coil in real time. The PLC dynamically adjusts the stroke of the second swing cylinder according to the change in the diameter of the steel coil to keep the first roller under constant pressure. The locking mechanism rubs to lock the flange brake bushing when the uncoiler stops.

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