Steel coil scanning and centering equipment and crane trolley

Abstract

The utility model provides a steel coil scanning centering equipment and crane trolley, including metal frame, laser emitter, laser receiver, galvanometer, galvanometer drive device and circuit board, metal frame internal form a plurality of chamber, circuit board respectively with laser emitter, laser receiver, galvanometer drive device electrical connection, the metal frame internal form a plurality of chamber, the metal frame internal form a plurality of chamber, the circuit board is respectively with the laser emitter, laser receiver, galvanometer drive device electrical connection. The galvanometer driving device is in driving connection with the galvanometer, the galvanometer can rotate around the center axis of the galvanometer, a laser beam emitted by the laser emitter vertically irradiates the axis position of the galvanometer, the laser beam is reflected to a steel coil placing area through the galvanometer, and the laser receiver can receive a reflected beam of the steel coil placing area. According to the utility model, the laser beam is emitted to the target position, the reflected beam is received to measure the distance, a plurality of groups of distance data at different angles are obtained through the deflection galvanometer, and the condition of the target position can be obtained through geometric operation, so that the operation efficiency, the reliability, the accuracy and the safety of steel coil hoisting are greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of steel coil lifting, in particular to a steel coil scanning and centering device and a crane trolley. Background Art

[0002] The penetration rate of automated cranes in the metallurgical industry is increasing, especially for automated cranes used for lifting steel coils. However, due to unavoidable factors such as manual intervention, offline operation, and coil rolling, the actual position of the coil is inconsistent with the data in the system, resulting in inconsistencies in centering, coil collisions, and coil overlap accidents during automated lifting.

[0003] The existing Chinese patent publication number is CN219675851U, which discloses a steel coil center abnormality detection device involving the field of steel coil lifting technology, including a shell, a galvanometer, a stepper motor, a laser transmitter, a laser receiver, a reflector, a circuit board and a cover plate. The galvanometer, stepper motor, laser transmitter, laser receiver, reflector and circuit board are respectively embedded and installed in the shell, and the cover plate is sealed and connected to the shell that is compatible with it; the galvanometer is connected to the stepper motor, the reflector is connected to the laser receiver, the stepper motor, the laser transmitter and the laser receiver are respectively connected to the circuit board, the laser beam emitted by the laser transmitter is reflected by the reflector to the galvanometer for secondary reflection, and the secondary reflected laser beam is diffusely reflected and reflected back to the laser receiver.

[0004] In existing steel coil inspection center equipment, the laser beam emitted by the laser transmitter needs to be reflected by a reflector to the galvanometer, and then the galvanometer performs a second reflection. This requires relying on the reflector to adjust the angle of the laser emission light. This not only makes the optical path of the laser beam complicated, but also makes it difficult to adjust the angle of the laser emission light. Utility Model Content

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a steel coil scanning and centering device and a crane trolley.

[0006] According to the utility model, a steel coil scanning and centering device is provided, comprising: a metal frame, a laser transmitter, a laser receiver, a galvanometer, a galvanometer drive device, and a circuit board. A plurality of compartments are formed inside the metal frame, including an electrical compartment located at the upper portion, a receiving compartment located at the lower portion, and a transmitting compartment. The circuit board is installed in the electrical compartment, the laser transmitter is installed in the transmitting compartment, and the laser receiver is installed in the receiving compartment.

[0007] The circuit board is electrically connected to the laser emitter, the laser receiver, and the galvanometer drive device respectively. The galvanometer drive device is connected to the galvanometer drive. The galvanometer can rotate around its central axis. The laser beam emitted by the laser emitter is vertically projected onto the axis position of the galvanometer. The laser beam is reflected by the galvanometer to the steel coil placement area. The laser receiver can receive the reflected beam from the steel coil placement area.

[0008] Preferably, a horizontal partition and a vertical partition are provided inside the metal frame, the internal space of the metal frame is divided into an upper chamber and a lower chamber by the horizontal partition, and the internal space of the lower chamber is divided into a receiving chamber and a transmitting chamber by the vertical partition.

[0009] Preferably, the galvanometer drive device includes a galvanometer motor and a worm gear transmission mechanism, the worm gear transmission mechanism includes a vertically arranged worm and a galvanometer drive gear, the galvanometer motor is transmission-connected to the worm, and the worm is transmission-connected to the galvanometer drive gear.

[0010] Preferably, the galvanometer motor is installed above the horizontal partition, and the output shaft of the galvanometer motor vertically passes through the horizontal partition and extends to the receiving chamber. The galvanometer motor is connected to the worm gear through a coupling, and the worm gear can rotate around its axis.

[0011] Preferably, the central axis of the galvanometer driving gear horizontally passes through the vertical partition and extends to the emission chamber. The central axis of the galvanometer driving gear is transmission-connected to the rotating handle of the galvanometer, and the galvanometer can rotate around the axial direction of the rotating handle.

[0012] Preferably, the tail of the laser emitter passes through the horizontal partition and is fastened to the horizontal partition by a mounting nut, and the tail of the laser emitter is connected to the circuit board through an electric wire.

[0013] Preferably, the vertical partitions are metal partitions.

[0014] Preferably, the laser receiver is fastened to a laser receiver mounting plate in the receiving chamber by means of a mounting nut.

[0015] Preferably, a receiving end of the laser receiver is equipped with a spherical lens with a coating filter.

[0016] According to a crane trolley provided by the utility model, the above-mentioned steel coil scanning and centering device is adopted, and the steel coil scanning and centering device is installed at the bottom of the crane trolley.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The utility model uses a laser emitter to emit a laser beam to the target position of the steel coil placement area, and the laser beam emitted by the laser emitter is perpendicular to the axis position of the galvanometer. The galvanometer drive device drives the galvanometer to rotate to adjust the angle of the laser emission light, thereby realizing the light scanning function; the laser receiver receives the reflected light beam to measure the distance from the emission point to the target point, and obtains multiple sets of distance data at different angles by deflecting the galvanometer.

[0019] 2. The utility model drives the galvanometer to rotate through the cooperation of the galvanometer motor and the worm gear transmission structure. The rotation angle of the galvanometer motor has a simple linear proportional relationship with the rotation angle of the galvanometer. The galvanometer motor adopts a stepper motor, which can further subdivide the step angle, thereby making the control angle more subtle and precise, thereby making the scanning light more detailed, ensuring the sampling correctness and improving the sampling accuracy.

[0020] 3. The utility model can expand the light receiving range and filter the environmental interference light by installing a coated filter spherical lens at the receiving end of the laser receiver, thereby improving the receiving sensitivity. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Other features, objects and advantages of the present invention will become more apparent from the detailed description of the non-limiting embodiments with reference to the following drawings:

[0022] Figure 1 This is a bottom view of the steel coil scanning and centering device mainly embodied in the utility model;

[0023] Figure 2 This utility model mainly embodies Figure 1 Schematic diagram of the middle section BB;

[0024] Figure 3 This is a top view of the steel coil scanning and centering device mainly embodied in the utility model;

[0025] Figure 4 This is the right side view of the steel coil scanning and centering device mainly embodied in the utility model;

[0026] Figure 5 This is the left view of the steel coil scanning and centering device mainly embodied in the utility model;

[0027] Figure 6 This is the optical path diagram of the steel coil scanning and centering device when unwinding the coil;

[0028] Figure 7 This utility model mainly embodies the optical path diagram of the steel coil scanning and centering equipment during unwinding.

[0029] Reference numerals:

[0030] Frame 1 Laser transmitter 2 Laser receiver 3

[0031] Galvanometer 4 Circuit board 5 Horizontal partition 11

[0032] Vertical partition 12 Laser receiver mounting plate 31 Spherical lens 32

[0033] Galvanometer motor 41 Coupling 42 Worm 43

[0034] Galvanometer drive gear 44 DETAILED DESCRIPTION

[0035] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art further understand the present invention, but are not intended to limit the present invention in any way. It should be noted that a person skilled in the art may make various variations and improvements without departing from the scope of the present invention. Such variations and improvements are all within the scope of protection of the present invention.

[0036] Example 1

[0037] like Figure 1-5 As shown, a steel coil scanning and centering device provided by the utility model includes: a frame 1, a laser emitter 2, a laser receiver 3, a galvanometer 4, a galvanometer drive device and a circuit board 5. A plurality of chambers are formed inside the frame 1, including an electrical chamber located at the upper part, a receiving chamber located at the lower part and a transmitting chamber. The circuit board 5 is installed in the electrical chamber, the laser emitter 2 is installed in the transmitting chamber, and the laser receiver 3 is installed in the receiving chamber; the circuit board 5 is electrically connected to the laser emitter 2, the laser receiver 3 and the galvanometer drive device respectively, and the galvanometer drive device is driven and connected to the galvanometer 4. The galvanometer 4 can rotate around its central axis. The laser beam emitted by the laser emitter 2 is vertically projected at the axis position of the galvanometer 4. The laser beam is reflected by the galvanometer 4 to the steel coil placement area, and the laser receiver 3 can receive the reflected beam from the steel coil placement area.

[0038] This application measures the distance between the target location and the target point by emitting a laser beam at the target location in the coil storage area and receiving the reflected beam. The system then uses a galvanometer 4 to obtain multiple sets of distance data at different angles. Through geometric calculations, the system determines the target location: whether a coil exists, whether the coil matches the target coil data, and whether the target location is safe and unobstructed. If safety requirements are met, the center coordinates of the coil are calculated and fed back to the automation system, which then operates based on the actual measured coordinates, effectively improving safety, accuracy, and operational efficiency.

[0039] The frame 1 is generally a metal frame, and a horizontal partition 11 and a vertical partition 12 are provided inside the frame 1. The internal space of the frame 1 is divided into an upper chamber and a lower chamber by the horizontal partition 11, and the internal space of the lower chamber is divided into a receiving chamber and a transmitting chamber by the vertical partition 12. The vertical partition 12 is isolated by a metal partition. The isolation of transmission and reception can effectively avoid calculation errors caused by close-range light interference.

[0040] The galvanometer drive device includes a galvanometer motor 41 and a worm gear transmission mechanism. The worm gear transmission mechanism includes a vertically arranged worm 43 and a galvanometer drive gear 44 . The galvanometer motor 41 is transmission-connected to the worm 43 , and the worm 43 is transmission-connected to the galvanometer drive gear 44 .

[0041] The galvanometer motor 41 is installed above the horizontal partition 11. The output shaft of the galvanometer motor 41 vertically passes through the horizontal partition 11 and extends to the receiving chamber. The galvanometer motor 41 is connected to the worm 43 through a coupling 42. The worm 43 can rotate around its axial direction, that is, the rotation of the output shaft of the galvanometer motor 41 will directly drive the rotation of the worm 43.

[0042] The central axis of the galvanometer drive gear 44 horizontally passes through the vertical partition 12 and extends to the launch chamber. The central axis of the galvanometer drive gear 44 is connected to the rotating handle of the galvanometer 4. The galvanometer 4 can rotate around the axial direction of the rotating handle, that is, the rotation of the galvanometer drive gear 44 will drive the rotation of the galvanometer 4, and thus the output shaft of the galvanometer motor 41 will drive the galvanometer 4 to rotate through the worm gear transmission mechanism.

[0043] The laser emitter 2 is installed in the lower emission chamber. The tail of the laser emitter 2 passes through the horizontal partition 11 and is fastened to the horizontal partition 11 by a mounting nut. The tail of the laser emitter 2 is directly connected to the corresponding connector of the circuit board 5 through an electric wire.

[0044] The laser beam emitted by the laser emitter 2 is perpendicular to the axis of the galvanometer 4, so the rotation of the galvanometer 4 directly controls the angle of the reflected laser beam. Therefore, the rotation angle of the galvanometer motor 41 is in a simple linear proportional relationship with the rotation angle of the galvanometer 4.

[0045] This application uses a galvanometer drive device to adjust the angle of laser emission light, thereby realizing the light scanning function, and combines the support of reasonable hardware circuits to realize femtosecond time detection, thereby realizing the detection of the emission and reception time of laser light, thereby realizing the laser ranging function.

[0046] The galvanometer motor 41 uses a small stepper motor, which can achieve precise angle control. The worm gear transmission structure can further subdivide the stepping angle of the stepper motor, making the control angle more subtle and precise, thereby making the scanning light more detailed and ensuring the accuracy of sampling.

[0047] The laser receiver 3 is installed in the receiving chamber, and the laser receiver 3 is fastened to the laser receiver mounting plate 31 in the receiving chamber by means of mounting nuts.

[0048] The receiving end of the laser receiver 3 is equipped with a coated filter spherical lens 32 to expand the light receiving range and filter out environmental interference light, thereby improving the receiving sensitivity.

[0049] The lower part of the application is actually an arc-shaped transparent protective structure that can pass through the laser light without any obstacles. Protective covers are set on both sides and the upper part of the application to seal and protect the structure of the application.

[0050] In this application, a galvanometer motor 41 drives a worm 43 to rotate the galvanometer gear 44, thereby driving the galvanometer 4 to rotate. The laser emitter 2 emits a laser beam vertically to the axis position of the galvanometer 4. Therefore, according to the reflection principle of light, the angle of the galvanometer 4 will determine the angle of the reflected light. Therefore, the rotating galvanometer 4 can directly adjust the angle of the reflected light. This angle is known, and the reflected light will be received by the laser receiver 3. The emission time and reception time of the laser are recorded, and then the distance between the light emission point and the reflection point object can be calculated based on the speed of light.

[0051] The present application is installed at the bottom of the crane trolley and moves with the trolley. The coordinates of the crane trolley are known, so the coordinates of the present application are known. Based on this, by controlling the laser emission light to scan from top to bottom, a set of distance and emission angle data can be obtained, thereby calculating a set of coordinate data of the reflection point. Combined with the target data given by the upstream automation system and discarding invalid data, it can be determined whether these data are a set of circular surface data, and the coordinates of the center of the circle, that is, the center coordinates of the steel coil, can be calculated. A plane rectangular coordinate system is established with the plane where the laser emission light is scanned from top to bottom, with the horizontal direction as the x-axis and the vertical direction as the y-axis. (x, y) represents the coordinates of the points on the outer circle of the steel coil. According to the equation of the circle (xa) 2 +(yb) 2 =r 2, and the theorem that three points can determine a circle. By substituting the coordinates of the three points on the outer circle of the steel coil into the equation of the circle, the center coordinates (a, b) of the steel coil and the outer diameter r of the steel coil can be calculated. Then, the center coordinate data of the target steel coil of the upstream automation system is compared. If it is within a reasonable range, the coordinates of the target position of the operation of the automation system are corrected based on the measured data, and the lifting is carried out. If the deviation is too large, it is judged that the lifting is unsafe, there is an obstacle, or the steel coil is abnormal, and the lifting operation is stopped to avoid the occurrence of safety accidents. If the target is an empty space, the automated crane is performing the steel coil placement operation, and the target location must be the ground plane or the saddle. If it is the ground plane, the vertical coordinates of the reflection points must also be almost the same. If it is a saddle, two sets of reflection coordinate points must be arranged symmetrically around the center position. In any case, there cannot be a large number of points above the safety threshold at the target position, otherwise it means there is an obstacle and the steel coil placement operation cannot be carried out.

[0052] More specifically, Figure 6 As shown, the solid circle P represents the outer circumference of the actual steel coil, and point A represents the laser emission point for this application. Laser scanning is performed from top to bottom, so the line connecting the point of first contact with the target coil and the emission point is necessarily a tangent to the outer circumference of the coil. Point P0 is the first contact point of the scan, and AP0 is the tangent to circle P. Due to the complex working conditions and numerous obstacles on site, confirming that AP0 is the actual tangent to the coil is crucial.

[0053] First of all, we must confirm that if a steel coil can be lifted normally and safely, its top must be completely exposed and unobstructed. Therefore, AP0 must be measurable. If it cannot be obtained, it is unsafe and cannot be lifted.

[0054] Therefore, the area above the AP0 scan line should be blank, but at point P0, a sudden change occurs, with the distance suddenly shortening. Based on this condition, it can be determined that the scan has contacted the steel coil or an obstacle. To confirm whether AP0 is on the target steel coil, it is necessary to determine based on the coordinates provided by the upstream automation system. The dotted circle in the figure shows the steel coil position given by the automation system, with its center at P'. AB is the tangent of circle P'. Based on the data from the automation system, the coordinates of P' are known, the steel coil diameter is known, and the coordinates of point A are known. Therefore, the length of AP' can be calculated. AB is the tangent of circle P', so the length of AB can also be calculated. Comparing the length of AB with the length of AP0, when the difference is less than 100 to 300 mm, lifting is generally possible. This deviation can be adjusted according to actual working conditions.

[0055] Therefore, after AP0 is initially confirmed, P1, P2, and so on will be collected. The more points collected, the longer the collection time, but the more accurate it is. The number of points to be collected can be adjusted according to the actual working conditions. In theory, according to the general equation of a circle, collecting three points can confirm the center of the circle. Therefore, when collecting point P2, the coordinates of the center of the actual steel coil can be confirmed, and the diameter of the steel coil can be calculated. The coordinates of the center of the circle and the diameter are compared with the data provided by the automation system. If the error is within the allowable range (usually the diameter does not allow a deviation of 100 mm, and the horizontal or vertical coordinates of the center of the circle do not allow a deviation of 100 to 300 mm), then the lifting can be carried out; otherwise, the lifting cannot be carried out. Only when the steel coil at the target location is normal and unobstructed can the accurate coordinates be collected and the coordinates of the actual steel coil be calculated. Otherwise, due to the influence of obstacles, the calculated coordinates will exceed the allowable range, or even the center of the circle data cannot be calculated. At this time, it will be judged that the lifting is prohibited.

[0056] The above is the reeling process, which is also the stage where accidents of automated cranes frequently occur. Another stage of automated cranes is the unreeling process. Although the accident rate is relatively low compared to the reeling process, accidents such as roll collision or roll overlap may occur. However, this process is relatively easy to judge, and preliminary prevention can be achieved by relying on clamp sensors. However, clamp sensors can only stop operation at the initial stage of an accident, and can only minimize the accident losses, but cannot prevent accidents from happening.

[0057] During unwinding, the target location must be clear of coils or other objects, and the ground level must be consistent with the height determined by the automation system. Otherwise, accidents may occur. Therefore, during unwinding, the target location must be scanned in real time to ensure it is clear of the ground level and meet the unwinding requirements. If an obstacle is detected, unwinding is prohibited.

[0058] like Figure 7 As shown, the dotted circle P represents the target location for the coil. A saddle is present on the ground, a common condition in coil warehouses. When light is emitted from point A and scans points P0-P3, the ground contour is scanned. As long as the coordinates of each scanned point are calculated to be outside the target coil circle P or not excessively intruding into circle P, the target location is considered safe. Otherwise, it is unsafe and unwinding is prohibited. If there is a coil or an obstacle at the target location, the scanned points will obviously intrude excessively into circle P. This characteristic is very obvious, allowing accurate prevention of coil collision and overlap accidents.

[0059] This application uses a simple laser ranging scanning function combined with a hardware circuit to achieve external contour scanning of the target position. According to the mathematical properties of the circle, the center position of the target can be quickly calculated, and whether the target position meets the safety requirements can be judged. The target position and operating behavior of the automated crane can be controlled in a timely manner, thereby greatly improving the efficiency, reliability, accuracy and safety of the automated crane's steel coil lifting.

[0060] Example 2

[0061] Based on Example 1, according to a crane trolley provided by the present invention, the steel coil scanning and centering device is installed at the bottom of the crane trolley.

[0062] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0063] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A steel coil scanning and centering device, characterized in that: include: A frame (1), a laser transmitter (2), a laser receiver (3), a galvanometer (4), a galvanometer drive device, and a circuit board (5); a plurality of chambers are formed inside the frame (1), including an electrical chamber located at an upper portion, a receiving chamber located at a lower portion, and a transmitting chamber; the circuit board (5) is installed in the electrical chamber, the laser transmitter (2) is installed in the transmitting chamber, and the laser receiver (3) is installed in the receiving chamber; The circuit board (5) is electrically connected to the laser emitter (2), the laser receiver (3), and the galvanometer drive device respectively. The galvanometer drive device is drive-connected to the galvanometer (4). The galvanometer (4) is capable of rotating around its central axis. The laser beam emitted by the laser emitter (2) is vertically projected onto the axis of the galvanometer (4). The laser beam is reflected by the galvanometer (4) to the steel coil placement area. The laser receiver (3) is capable of receiving the reflected beam from the steel coil placement area. A horizontal partition (11) and a vertical partition (12) are provided inside the frame (1); the internal space of the frame (1) is divided into an upper chamber and a lower chamber by the horizontal partition (11); and the internal space of the lower chamber is divided into a receiving chamber and a transmitting chamber by the vertical partition (12); The galvanometer drive device comprises a galvanometer motor (41) and a worm gear transmission mechanism, wherein the worm gear transmission mechanism comprises a vertically arranged worm (43) and a galvanometer drive gear (44), wherein the galvanometer motor (41) is in transmission connection with the worm (43), and the worm (43) is in transmission connection with the galvanometer drive gear (44).

2. The steel coil scanning and centering device according to claim 1, characterized in that: The galvanometer motor (41) is installed above the horizontal partition (11), and the output shaft of the galvanometer motor (41) vertically penetrates the horizontal partition (11) and extends to the receiving chamber. The galvanometer motor (41) is connected to the worm (43) through a coupling (42), and the worm (43) can rotate around its axial direction.

3. The steel coil scanning and centering device according to claim 2, characterized in that: The central axis of the galvanometer driving gear (44) horizontally passes through the vertical partition (12) and extends to the launch chamber. The central axis of the galvanometer driving gear (44) is transmission-connected to the rotating handle of the galvanometer (4), and the galvanometer (4) can rotate around the axial direction of the rotating handle.

4. The steel coil scanning and centering device according to claim 1, characterized in that: The tail of the laser emitter (2) passes through the horizontal partition (11) and is fastened to the horizontal partition (11) by a mounting nut. The tail of the laser emitter (2) is connected to the circuit board (5) via an electric wire.

5. The steel coil scanning and centering device according to claim 1, characterized in that: The vertical partition (12) is a metal partition.

6. The steel coil scanning and centering device according to claim 1, characterized in that: The laser receiver (3) is fastened and mounted on a laser receiver mounting plate (31) in the receiving chamber via a mounting nut.

7. The steel coil scanning and centering device according to claim 1, characterized in that: A coating filter spherical lens (32) is installed at the receiving end of the laser receiver (3).

8. A crane trolley, characterized in that: The steel coil scanning and centering device according to any one of claims 1 to 7 is used, and the steel coil scanning and centering device is installed at the bottom of the crane trolley.

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