Steel coil hoisting device and steel coil coiling system

Abstract

The utility model relates to a steel coil hoisting device which comprises hoisting equipment, an image acquisition unit and an electromagnetic chuck used for sucking and releasing a steel coil, the electromagnetic chuck is hung on the hoisting equipment, an image acquisition hole is formed in the electromagnetic chuck, and the image acquisition hole penetrates through the upper surface and the lower surface of the electromagnetic chuck. The image acquisition unit is installed on the electromagnetic chuck through the installation support and located in the image acquisition hole or located over the image acquisition hole. In addition, the utility model further relates to a steel coil feeding system comprising the steel coil hoisting device. The image acquisition unit is mounted on the electromagnetic chuck, so that the steel coil can be conveniently and accurately coiled to a target position, and particularly, when the steel coil is coiled to an inner hole supporting component such as a collapsible winding drum, the axis alignment between the steel coil and the inner hole supporting component can be realized, and the coiling precision and safety of the steel coil are ensured; as the image is acquired from the inner hole of the steel coil, the view field is limited through the inner hole of the steel coil, and the diameter-reducing winding drum is searched, the coiling precision and the coiling efficiency can be correspondingly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of metallurgical production, and particularly relates to a steel coil lifting device and a steel coil loading system including the steel coil lifting device. Background Art

[0002] In the metallurgical industry, the transportation of steel coils in some processes may be completed by lifting; the lifting of steel coils is generally achieved by hanging an electromagnetic chuck on a workshop crane. When the electromagnetic chuck is powered on, it can adsorb and lift the steel coil. After the steel coil is lifted to the designated position, the electromagnetic chuck is powered off and separated from the steel coil to complete the transportation of the steel coil. At present, the lifting of steel coils is mainly completed by the cooperation of the crane driver and the ground commander, which not only consumes labor, but more importantly, the accuracy of the steel coil in place is not high, affecting subsequent production. Summary of the Utility Model

[0003] The utility model relates to a steel coil lifting device and a steel coil loading system including the steel coil lifting device, which can at least solve some defects of the prior art.

[0004] The utility model relates to a steel coil lifting device, including a lifting device, and further includes an image acquisition unit and an electromagnetic chuck for sucking and releasing the steel coil. The electromagnetic chuck is mounted on the lifting device. An image acquisition hole is formed in the electromagnetic chuck, and the image acquisition hole penetrates the upper and lower surfaces of the electromagnetic chuck. The image acquisition unit is mounted on the electromagnetic chuck through a mounting bracket and is located in the image acquisition hole or directly above the image acquisition hole.

[0005] As one of the embodiments, the image acquisition hole is located at the center of the electromagnetic chuck.

[0006] As one of the embodiments, the image acquisition unit uses a vision sensor.

[0007] As one of the embodiments, the optical axis of the vision sensor coincides with the axis of the electromagnetic chuck.

[0008] As one of the embodiments, a protective cover is provided on the mounting bracket, and the protective cover covers the vision sensor.

[0009] As one of the embodiments, the image acquisition hole is a round hole.

[0010] As one of the embodiments, the lifting device is a crane, which includes a crane trolley and a crane car movably arranged on the crane trolley. The crane trolley and the crane car are respectively configured with a walking drive mechanism, and the electromagnetic chuck is mounted on the crane car.

[0011] The present utility model also relates to a steel coil loading system, which includes a coil receiving table and the above-mentioned steel coil lifting device. A telescopic drum for inner hole support of the steel coil is provided on the coil receiving table, and the axis of the telescopic drum is perpendicular to the tabletop of the coil receiving table.

[0012] The present utility model has at least the following beneficial effects:

[0013] In the present utility model, by installing an image acquisition unit on the electromagnetic chuck, the steel coil adsorbed by the electromagnetic chuck can be conveniently and accurately loaded onto the target position. Especially when loading the steel coil onto an inner hole support member such as a telescopic drum, the axis alignment between the steel coil and the inner hole support member can be achieved, ensuring the loading accuracy and safety of the steel coil. Since the image is acquired from the inner hole of the steel coil, the field of view is defined by the inner hole of the steel coil and the reducing drum is searched, which can correspondingly improve the loading accuracy and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0015] Figure 1 Schematic diagram of the electromagnetic chuck adsorbing the steel coil provided by the embodiment of the present utility model;

[0016] Figure 2 Assembly schematic diagram of the drum and the coil turning device provided by the embodiment of the present utility model;

[0017] Figure 3 and Figure 4 Schematic diagrams of the turning table in the coil receiving position and the coil turning position respectively;

[0018] Figure 5 Schematic diagram of the electromagnetic chuck loading the steel coil provided by the embodiment of the present utility model;

[0019] Figure 6 Schematic diagram of the structure of the drum provided by the embodiment of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following clearly and completely describes the technical solutions in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of them. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0021] Embodiment 1

[0022] As Figure 1 and Figure 5 , an embodiment of the present utility model provides a steel coil lifting device, which includes a lifting device, and further includes an image acquisition unit 204 and an electromagnetic chuck 2 for sucking and releasing the steel coil 1. The electromagnetic chuck 2 is mounted on the lifting device. An image acquisition hole 201 is opened on the electromagnetic chuck 2, and the image acquisition hole 201 penetrates through the upper and lower surfaces of the electromagnetic chuck 2. The image acquisition unit 204 is mounted on the electromagnetic chuck 2 through a mounting bracket 206 and is located in the image acquisition hole 201 or directly above the image acquisition hole 201.

[0023] In one embodiment, the above-mentioned lifting device includes a traveling crane, and the electromagnetic chuck 2 is mounted on the traveling crane. Further preferably, the traveling crane includes a traveling crane trolley and a traveling crane car movably arranged on the traveling crane trolley. The traveling crane trolley and the traveling crane car are respectively configured with traveling driving mechanisms, and the electromagnetic chuck 2 is mounted on the traveling crane car; wherein, the traveling directions of the traveling crane trolley and the traveling crane car are perpendicular to each other, which can be considered as the X direction and the Y direction. By driving the electromagnetic chuck 2 two-dimensionally through the traveling crane trolley and the traveling crane car, the positioning accuracy of the electromagnetic chuck 2 and the steel coil 1 can be ensured.

[0024] Optionally, as Figure 1 and Figure 5 , a plurality of lifting lugs 202 (usually three are provided, but other numbers can also be used) are arranged on the electromagnetic chuck 2, and the electromagnetic chuck 2 is mounted on the traveling crane by using a chain 203 or the like. The above-mentioned traveling crane can be an operator-operated traveling crane or an unmanned automatic traveling crane.

[0025] Based on the above-mentioned steel coil lifting device, by installing the image acquisition unit 204 on the electromagnetic chuck 2, the steel coil 1 adsorbed by the electromagnetic chuck 2 can be conveniently and accurately wound onto the target position. Especially when the steel coil 1 is wound onto an inner hole support member such as a telescopic drum 6, the axis alignment between the steel coil 1 and the inner hole support member can be realized, ensuring the winding accuracy and safety of the steel coil 1. Since the image is acquired from the inner hole 101 of the steel coil, the field of view is defined by the inner hole 101 of the steel coil and the reducing drum is searched, which can correspondingly improve the winding accuracy and winding efficiency.

[0026] Preferably, the image acquisition unit 204 uses a vision sensor.

[0027] Preferably, as Figure 1 , the image acquisition hole 201 is located at the center of the electromagnetic chuck 2, which can further improve the positioning and winding accuracy of the steel coil 1.

[0028] Furthermore, the optical axis of the vision sensor coincides with the axis of the electromagnetic chuck 2, which can further improve the positioning and coil loading accuracy of the steel coil 1.

[0029] The above-mentioned image acquisition hole 201 includes but is not limited to a round hole.

[0030] Preferably, a protective cover 205 is provided on the mounting bracket 206, and the protective cover 205 covers the vision sensor therein, which can effectively improve the service life of the vision sensor.

[0031] Preferably, the above-mentioned steel coil handling device further includes a controller, which can be a PC computer, etc., preferably set inside the crane; the image acquisition unit 204 and the crane driving unit are both electrically connected or communicatively connected to the controller. The controller is used to obtain the image information sent by the image acquisition unit 204, identify and process the image, and control the movement of the crane to execute the axis alignment strategy. Among them, the axis alignment strategy specifically includes: identifying and processing the image, calculating and analyzing the relative position relationship between the center point of the inner hole 101 of the steel coil and the center point of the reel, and judging whether the distance between the axis of the inner hole 101 of the steel coil and the axis of the reel is within the set range. If so, the axis alignment operation is completed. If not, the crane is controlled to move the steel coil 1 so that the two center points approach each other until the axis alignment operation is completed. In the above solution, conventional image recognition and processing methods are used, and no additional programming for image recognition and processing is required.

[0032] Embodiment 2

[0033] As Figures 2 - 5 , the embodiment of the present invention provides a steel coil loading system, including a coil receiving device 5 and the steel coil handling device provided in the first embodiment. The coil receiving device 5 includes a coil receiving table 501, and a telescopic reel 6 for inner hole support of the steel coil 1 is provided on the coil receiving table 501. The axis of the telescopic reel 6 is perpendicular to the tabletop of the coil receiving table 501.

[0034] The above-mentioned steel coil handling device is used to load the vertical steel coil 1 onto the coil receiving table 501 for subsequent processing. Therefore, the movement stroke of the crane can cover the coil receiving table 501.

[0035] In one of the embodiments, as Figure 3 and Figure 4 , the above-mentioned coil receiving table 501 can be flipped, and it is configured with a flipping drive mechanism 509. The coil receiving table 501 is connected to the flipping drive mechanism 509 and thus has a coil receiving position and a coil flipping position. In the coil receiving position, the tabletop of the coil receiving table 501 is parallel to the horizontal plane. In the coil flipping position, the tabletop of the coil receiving table 501 is parallel to the vertical direction. In this way, by flipping the coil receiving table 501, the steel coil 1 can be flipped from a vertical position to a horizontal position, which is convenient for subsequent processing of the steel coil 1, such as removing the bundling tape and uncoiling.

[0036] Further, a fixed base 502 can be provided, which is used to be installed on the workshop foundation. The above-mentioned coiling table 501 is rotatably installed on the fixed base 502. Driven by the flipping drive mechanism 509, the coiling table 501 rotates relative to the fixed base 502, so that the switching between the coiling position and the flipping position can be realized.

[0037] Preferably, the coiling table 501 is provided with supporting feet. When the coiling table 501 is in the flipping position, the supporting feet just support on the workshop foundation, which can improve the structural stability and working reliability of the flipping device.

[0038] The flipping drive mechanism 509 includes, but is not limited to, using a flipping hydraulic cylinder. Taking the flipping hydraulic cylinder as an example, the cylinder body is hinged and installed on the workshop foundation, and the output end is hinged with the coiling table 501.

[0039] Preferably, the driving point 504 of the flipping table 501 and the rotating point 503 of the flipping table 501 are relatively arranged on both sides of the axis of the winding drum 6. Among them, the driving point 504 is the connection point between the flipping drive mechanism 509 and the flipping table 501, and the rotating point 503 is the hinge point between the flipping table 501 and the fixed base 502. This can improve the stability and safety of the flipping of the flipping table 501 and the steel coil 1.

[0040] In one embodiment, the expandable and contractible winding drum 6 is rotatably installed on the coiling table 501. Correspondingly, a rotating drive mechanism for driving the expandable and contractible winding drum 6 to rotate is provided on the coiling table 501. By driving the expandable and contractible winding drum 6 to rotate, the expandable and contractible winding drum 6 can drive the steel coil 1 to rotate, which is convenient for subsequent process operations, such as facilitating the robot to remove the bundling tape or unroll the coil, etc.

[0041] Optionally, as Figure 3 and Figure 4 , the rotating drive mechanism includes a drive motor 506, a drive gear 507 and a transmission gear 508. The drive motor 506 is installed on the coiling table 501, the drive gear 507 is installed on the output shaft of the drive motor 506, the transmission gear 508 is installed on the expandable and contractible winding drum 6, and the transmission gear 508 meshes with the drive gear 507; among them, the axis of the transmission gear 508 is parallel to the axis of the winding drum, and it is further preferably coaxially arranged. The above-mentioned drive motor 506, drive gear 507 and transmission gear 508 are all preferably arranged inside the coiling table 501 (taking the coiling position as an example, the above-mentioned drive motor 506, drive gear 507 and transmission gear 508 are all below the tabletop of the coiling table 501), so as to avoid interfering with the steel coil 1 placed on the tabletop; in addition, a support bearing 505 can be provided on the coiling table 501 to ensure the installation stability and application reliability of the expandable and contractible winding drum 6.

[0042] Any existing expandable and contractible winding drum 6 is applicable to this embodiment. Among them, the above-mentioned expandable and contractible winding drum 6 includes multiple sector plates 601 and an expandable and contractible driving mechanism for driving each sector plate 601 to move synchronously in the radial direction to achieve expansion and contraction. In the reduced diameter state, each sector plate 601 is distributed in a common small circle (the diameter of this small circle is R1). In the expanded diameter state, each sector plate 601 is distributed in a common large circle (the diameter of this large circle is R2).

[0043] In one embodiment, as Figure 6 , the above-mentioned expandable and contractible driving mechanism includes a pyramid sleeve 602 and an expandable and contractible driving structure for driving the pyramid sleeve 602 to move axially along itself. The pyramid sleeve 602 has multiple driving inclined plane groups, and the number of driving inclined plane groups is the same as that of the sector plates 601 and they are in one-to-one correspondence and cooperation. Each driving inclined plane group includes multiple driving inclined planes 607 distributed in sequence along the axial direction of the pyramid sleeve 602. Multiple driving receiving inclined planes that are wedge-shapedly matched with each driving inclined plane 607 are provided on the sector plate 601. When the pyramid sleeve 602 moves axially along itself, based on the wedge-shaped cooperation relationship between each driving inclined plane 607 and each driving receiving inclined plane, each sector plate 601 can be made to move synchronously in the radial direction to achieve the purpose of expanding and contracting the winding drum.

[0044] Optionally, the number of sector plates 601 is four, and the pyramid sleeve 602 correspondingly has four driving inclined plane groups.

[0045] As a preferred solution, as Figure 6 , the above-mentioned expandable and contractible driving structure includes a hollow main shaft 603, a pull rod 604, and an expandable and contractible power unit 605. The above-mentioned pyramid sleeve 602 is sleeved on the hollow main shaft 603 and can move axially along the hollow main shaft 603. The pull rod 604 is movably arranged in the axial cavity of the hollow main shaft 603. One end of the pull rod 604 extends out of the hollow main shaft 603 and is connected to the expandable and contractible power unit 605, so that it can move axially in the hollow main shaft 603. The pyramid sleeve 602 is fixedly connected to the pull rod 604, so that the pull rod 604 can drive the pyramid sleeve 602 to move axially.

[0046] The above-mentioned hollow main shaft 603 is the main load-bearing member of the expandable and contractible winding drum 6. As Figure 3 , it can be matched with the support bearing 505 on the winding receiving table 501.

[0047] Preferably, a limiting structure is provided on the hollow main shaft 603 for restricting the relative rotation between the pyramid sleeve 602 and the hollow main shaft 603, including but not limited to adopting the following structure: at least one sliding key is provided between the pyramid sleeve 602 and the hollow main shaft 603.

[0048] Optionally, the pyramid sleeve 602 and the pull rod 604 are connected by a taper pin 606. An activity window can be correspondingly opened on the hollow main shaft 603. The taper pin 606 passes through the activity window and is respectively connected to the pyramid sleeve 602 and the pull rod 604. Among them, the length of the activity window in the axial direction of the hollow main shaft 603 should not be less than the activity stroke of the pull rod 604.

[0049] The above-mentioned expansion and contraction power unit 605 can adopt linear drive devices such as hydraulic cylinders and air cylinders. Optionally, as Figure 6 , a detachable fixed connection form such as a flange connection structure 610 can be adopted between the above-mentioned hollow main shaft 603 and the expansion and contraction power unit 605; the output shaft of the expansion and contraction power unit 605 can be connected to the above-mentioned pull rod 604 through a coupling 611.

[0050] In the structure where the above-mentioned expansion and contraction reel 6 is rotatably installed on the winding table 501, the rotation drive mechanism can be connected to the above-mentioned hollow main shaft 603. For example, a transmission gear 508 is installed on the hollow main shaft 603.

[0051] A relief hole is correspondingly opened on the winding table 501 for the sector plate 601 to pass through and extend. In one embodiment, both ends of the sector plate 601 are respectively located on both sides of the tabletop of the winding table 501, that is, the sector plate 601 partially extends outside the tabletop of the winding table 501 and partially located inside the winding table 501; the diameter of the above-mentioned relief hole is preferably the same as the above-mentioned large circle diameter R2. In this way, in the state where the reel expands in diameter, the sector plate 601 contacts the winding table 501, and the force received by the sector plate 601 can be more reliably transmitted to the winding table 501, ensuring the application reliability of the above-mentioned rolling device.

[0052] In one embodiment, as Figure 6, a positioning plate 608 is provided at the cantilever end of the hollow main shaft 603. The plate surface of the positioning plate 608 is perpendicular to the axis of the hollow main shaft 603. A plurality of positioning blocks protrude from the periphery of the positioning plate 608. Positioning holes are correspondingly provided on the sector plate 601. The number of the positioning blocks is the same as that of the sector plate 601 and they are arranged in one-to-one correspondence. Each positioning block is inserted into the corresponding positioning hole and the two are in guiding cooperation (the guiding direction is obviously parallel to the radial movement direction of the sector plate 601). Among them, the protruding length of the positioning block ensures that it is still in guiding cooperation with the positioning hole under the state of the drum expanding in diameter. Based on the above design, the movement of the sector plate 601 can be limited to the radial direction only, ensuring the reliability of the drum expansion and contraction. In particular, the positioning plate 608 is detachably fixed on the hollow main shaft 603. When the connection between the positioning plate 608 and the hollow main shaft 603 is released, the positioning plate 608 and each sector plate 601 can be removed from the hollow main shaft 603, thus facilitating the disassembly, assembly and maintenance of the sector plate 601 and the drum. The positioning plate 608 is preferably installed on the hollow main shaft 603 through fastening screws 609, etc. Since the positioning plate 608 is fixed on the hollow main shaft 603, the fastening screw 609 will not bear axial tension during the expansion and contraction of the drum, so reliable structural stability of the positioning plate 608 and guiding effect on the sector plate 601 can be obtained.

[0053] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A steel coil lifting device, comprising a lifting device, characterized in that: It also includes an image acquisition unit and an electromagnetic suction cup for sucking and releasing steel coils. The electromagnetic suction cup is mounted on the lifting device. An image acquisition hole is opened on the electromagnetic suction cup. The image acquisition hole runs through the upper and lower surfaces of the electromagnetic suction cup. The image acquisition unit is installed on the electromagnetic suction cup through a mounting bracket and is located in the image acquisition hole or directly above the image acquisition hole.

2. The steel coil lifting device according to claim 1, characterized in that: The image acquisition hole is located at the center of the electromagnetic chuck.

3. The steel coil lifting device according to claim 1, characterized in that: The image acquisition unit adopts a visual sensor.

4. The steel coil lifting device according to claim 3, characterized in that: The optical axis of the visual sensor coincides with the axis of the electromagnetic chuck.

5. The steel coil lifting device according to claim 3, characterized in that: A protective cover is provided on the mounting bracket, and the protective cover covers the visual sensor.

6. The steel coil lifting device according to claim 1, characterized in that: The image collection hole is a circular hole.

7. The steel coil lifting device according to claim 1, characterized in that: The lifting equipment is a crane, which includes a crane trolley and a crane carriage movably arranged on the crane trolley. The crane trolley and the crane carriage are respectively provided with a travel drive mechanism, and the electromagnetic suction cup is mounted on the crane carriage.

8. A steel coil winding system, characterized in that: It comprises a coil receiving platform and a steel coil hoisting device as claimed in any one of claims 1 to 7, wherein the coil receiving platform is provided with an expansion and contraction drum for inner hole support of the steel coil, and the axis of the expansion and contraction drum is perpendicular to the table surface of the coil receiving platform.

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