Overground type strip steel coil manipulator
By designing a ground-mounted steel coil robot, which utilizes a gantry moving frame and a picking robot, the problem of insufficient height of the steel coil cart was solved, achieving automated feeding, reducing costs and improving production efficiency.
Patent Information
- Application Number
- CN202423257622.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-10-24
- Estimated Expiration
- 2034-12-30
AI Technical Summary
Existing steel coil trucks cannot meet the needs of modern high-speed fully automated production because the steel coils are delivered at a low height relative to the ground. Furthermore, underground designs suffer from high excavation costs and inconvenient maintenance.
Design a ground-mounted strip steel coil robot, which uses a gantry moving frame and a picking robot, combined with a slide rail and a lifting drive, to realize the automatic picking and transfer of strip steel coils. Through the cooperation of pressure rollers and picking rollers to clamp and rotate, efficient feeding without underground extension is achieved.
It achieves highly efficient automated material feeding without underground extension, reducing costs, improving production efficiency, and simplifying maintenance and repair processes.
Smart Images
Figure CN223466312U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the technical field of strip steel coil transportation and transfer and uncoiling, and particularly relates to an above-ground strip steel coil manipulator used with an uncoiler. BACKGROUND
[0002] An uncoiler is a very common device in the field of production and processing using strip steel as raw material. Placing the strip steel on the uncoiler cannot be completed by manual work and must be realized by using corresponding installation equipment, such as a forklift or a coil car. In order to realize modern high-speed automatic production requirements, a full-automatic feeding coil car has become a new development trend. However, the existing coil car has a low height relative to the ground when the strip steel is fed, so the conventional design scheme extends the coil car to the ground to meet the requirements of the structural design. However, with the gradual diversification of customer requirements, an above-ground coil car has become a new requirement. The above-ground coil car has advantages such as no need to dig a pit and convenient maintenance and observation, so in order to meet such market requirements, the development of an above-ground strip steel coil manipulator that can completely realize the extension to the ground and has the functions of saving cost and being simple and convenient to realize has become a trend in the industry. SUMMARY
[0003] The utility model aims at meeting customer requirements and develops an above-ground strip steel coil manipulator that can completely realize the extension to the ground. The strip steel coil is picked up and transferred by setting up a gantry moving frame and a picking manipulator installed therein. The technical scheme has the advantages of simple structure, easy maintenance and wide application range, and saves cost and improves efficiency.
[0004] Specifically, the utility model aims at realizing the following technical scheme. On the one hand, an above-ground strip steel coil manipulator is used to automatically take down the strip steel coil d from the storage rack c and install it on the uncoiler k in alignment. A gantry moving frame py and a picking manipulator sj in the gantry moving frame py are further provided. The gantry moving frame py is provided below with a slide rail hh to enable movement on the ground. The picking manipulator sj and the gantry moving frame py are installed in cooperation through a vertical linear slide rail zs and driven by a lifting drive sq to make the picking manipulator sj move up and down vertically relative to the gantry moving frame py along the linear slide rail zs. The picking manipulator sj is further provided with a picking roller gz, a picking frame kz, a pressing roller yz and a clamping device jj. The pressing roller yz and the picking roller gz are arranged on the picking frame kz. The clamping device jj can drive the pressing roller yz and the picking roller gz to pick up and clamp the strip steel coil d. The lifting drive sq drives the strip steel coil d up and down, and the movement of the gantry moving frame py realizes the transfer and installation of the strip steel coil d.
[0005] According to an aspect of the embodiment of the first embodiment of the utility model, the gantry movable frame py is further provided with a stabilizing beam pyw and a main beam pyz extending in the vertical direction, the pickup frame kz is arranged on the main beam pyz through a linear slide rail zs, the clamping device jj is arranged in a swing arm structure and is swingingly matched with the pickup frame kz through a hinged manner, and the compression roller yz is installed at the maximum swing arm end of the clamping device jj, and the compression roller yz is clamped with the pickup roller gz through the swing action of the clamping device jj.
[0006] According to an aspect of the embodiment of the second embodiment of the utility model, the two ends of the gantry movable frame py are respectively provided with vertical beams pys, the clamping device jj is arranged in two groups and is a horizontal linear pushing mechanism and is arranged on the two vertical beams pys at the two ends through a linear slide rail zs, the pickup frame kz is also arranged in two groups and is arranged on the two clamping devices jj, the compression roller yz is arranged at the upper end of the pickup frame kz, the pickup roller gz is arranged at the lower end of the pickup frame kz and is only arranged in one, and the two clamping devices jj and the two pickup frames kz are oppositely arranged, the two pickup frames kz can be close to or away from each other under the synchronous linear pushing action of the two clamping devices jj to drive the compression roller yz and the pickup roller gz to be close to or away from each other synchronously.
[0007] According to an aspect of the embodiment of the utility model, the compression roller yz and the pickup roller gz are both arranged as driving rollers capable of providing torque, and the strip coil d can be rotated under the torque action of the compression roller yz and the pickup roller gz. BRIEF DESCRIPTION OF DRAWINGS
[0008] The features, advantages, and technical effects of the exemplary embodiments of the utility model will be described below with reference to the drawings.
[0009] Serial number: storage rack c, strip coil d, decoiler k, gantry movable frame py, stabilizing beam pyw, main beam pyz, vertical beam pys, pickup manipulator sj, pickup roller gz, pickup frame kz, compression roller yz, clamping device jj, slide rail hh, linear slide rail zs, lifting driver sq.
[0010] Figure 1 It is the basic structure overall layout schematic view of the embodiment of the utility model.
[0011] Figure 2 It is the side view basic structure schematic view of the first embodiment of the utility model.
[0012] Figure 3 It is the pickup manipulator sj working schematic view of the first embodiment of the utility model.
[0013] Figure 4It is the second embodiment side view basic structure schematic diagram of the utility model.
[0014] Figure 5 It is the second embodiment pickup manipulator sj work schematic diagram of the utility model.
[0015] In the drawings, the same components use the same reference numerals. The drawings are not drawn according to actual proportion. DETAILED DESCRIPTION
[0016] The embodiment of the utility model is further described in detail below in combination with the drawings and examples. The detailed description of the following examples and drawings are used to exemplarily illustrate the principle of the utility model, but cannot be used to limit the scope of the utility model, that is, the utility model is not limited to the preferred embodiment described, and the scope of the utility model is defined by the claims.
[0017] In the description of the embodiment of the utility model, it needs to be explained that, unless otherwise stated, "vertical", "parallel" is not only the absolute sense in mathematical sense, and can be understood as "approximately vertical", "approximately parallel".
[0018] Figure 1 It is the embodiment basic structure overall layout schematic diagram of the utility model.
[0019] Figure 2 It is the first embodiment side view basic structure schematic diagram of the utility model.
[0020] As Figure 1 And Figure 2 As shown in the detailed structure of the first embodiment of the utility model, specifically, the utility model aims to meet the needs of customers, and develops an above-ground strip steel coil manipulator which can completely realize no need to extend to the underground, and realizes picking and transferring of strip steel coil by setting up a gantry moving frame and a pickup manipulator installed in it. The technical scheme has simple structure, easy maintenance and maintenance, wide application range, cost saving and improved efficiency. In the specific structure, there is a frame type steel structure gantry moving frame py and a pickup manipulator sj arranged in the gantry moving frame py. The gantry moving frame py is provided below the sliding rail hh installed on the ground, which can move on the ground, the sliding rail hh is arranged between the storage rack c and the decoiler k, the strip steel coil d is hung on the cantilever of the storage rack c through the central hole, the cantilever of the storage rack c is arranged in the same direction as the axis direction of the decoiling shaft arranged on the decoiler k, the length direction of the sliding rail hh extends along the axis direction of the decoiling shaft, and the gantry moving frame py can move between the storage rack c and the decoiler k when sliding on the sliding rail hh.
[0021] According to one aspect of the specific embodiment of the first embodiment of the utility model, the gantry mobile frame py is further provided with a stable beam pyw and a main beam pyz extending in the vertical direction, the stable beam pyw and the main beam pyz form a semi-closed gate shape, and a linear slide rail zs is arranged on the main beam pyz extending in the vertical direction.
[0022] According to one aspect of the specific embodiment of the first embodiment of the utility model, the pickup manipulator sj is further provided with a pickup roller gz, a pickup frame kz, a pressing roller yz and a clamping device jj. The pickup frame kz is arranged as a downwardly curved hook-shaped steel structure beam, which is arranged on the main beam pyz through the linear slide rail zs. The clamping device jj is arranged as a swing arm structure and is swingingly connected to the upper end of the pickup frame kz. The pressing roller yz and the pickup roller gz are arranged on the pickup frame kz, and the pressing roller yz is arranged at the maximum swing arm end of the clamping device jj. The clamping device jj is swingingly connected to the pickup roller gz to clamp the steel coil d. The pickup frame kz is further provided with a lifting driver sq, which can drive the pickup manipulator sj to move up and down relative to the gantry mobile frame py along the linear slide rail zs.
[0023] Figure 3 is a working schematic view of the pickup manipulator sj of the first embodiment of the utility model.
[0024] As shown in Figure 3 According to one aspect of the specific embodiment of the first embodiment of the utility model, the first gantry mobile frame py moves to the side of the storage rack c, the clamping device jj swings upward to drive the pressing roller yz to move away from the pickup roller gz at the lower end. At the same time, the lifting driver sq drives the pickup frame kz to move downward to drive the pickup roller gz to pass over the lowermost edge of the steel coil d hung on the storage rack c, and then the gantry mobile frame py continues to move to place the pickup roller gz and the pressing roller yz at the center of the steel coil d. Then synchronously, the pickup frame kz moves upward under the drive of the driver sq, the clamping device jj swings downward to drive the pressing roller yz to move downward, and the pickup roller gz and the pressing roller yz cooperate to clamp the steel coil d. Then the pickup frame kz continues to rise by a certain distance to make the steel coil d separate from the cantilever of the storage rack c, and then the gantry mobile frame py moves to the side of the decoiler k until the hole in the center of the steel coil d is sleeved on the decoiling shaft arranged on the decoiler k. Then the pickup frame kz moves downward to place the steel coil d on the decoiling shaft and stabilize it, and then the pickup frame kz continues to move downward by a certain distance, and synchronously, the clamping device jj swings upward to make the pickup roller gz and the pressing roller yz synchronously separate from the steel coil d. Thus, the feeding process is completed.
[0025] Figure 1It is the embodiment of the utility model basic structure overall layout schematic diagram.
[0026] Figure 4 It is the second embodiment of the utility model side view basic structure schematic diagram.
[0027] As Figure 1 And Figure 4 As shown in one aspect of the specific embodiment of the second embodiment of the utility model, the difference from the above embodiment is that the two ends of the portal moving frame py are respectively provided with vertical beams pys, the clamping devices jj are provided as two groups and are both horizontal linear pushing mechanisms and are arranged on the vertical beams pys at the two ends through linear slide rails zs, the pickup frames kz are provided as crescent-shaped steel structure beams curved towards the center, the pickup frames kz are also provided as two groups and are arranged on the two clamping devices jj respectively, and the compression rollers yz are arranged on the upper ends of the pickup frames kz, and the pickup rollers gz are arranged on the lower ends of the pickup frames kz and are both provided as only one. The two clamping devices jj and the two pickup frames kz are relatively arranged, and the two pickup frames kz can move close to or away from each other under the synchronous linear pushing action of the two clamping devices jj to drive the compression rollers yz and the pickup rollers gz on them to move close to or away from each other synchronously. The clamping devices jj are also provided with lifting drivers sq, and the lifting drivers sq can drive the pickup manipulator sj to move up and down vertically relative to the portal moving frame py along the linear slide rails zs.
[0028] Figure 5 It is the working schematic diagram of the pickup manipulator sj of the second embodiment of the utility model.
[0029] As Figure 5 As shown in one aspect of the specific embodiment of the second embodiment of the utility model, the specific working process is that first, the portal moving frame py moves to the side of the storage rack c, the clamping devices jj move to the two sides to drive the two pickup frames kz to separate to the two sides. Then the portal moving frame py continues to move to make the pickup rollers gz and the compression rollers yz be arranged at the center position of the strip steel roll d. Then synchronously, the two pickup frames kz merge to the center, the pickup rollers gz and the compression rollers yz cooperate to clamp the strip steel roll d, then the pickup frames kz continue to rise by a certain distance to make the strip steel roll d separate from the cantilever on the storage rack c, then the portal moving frame py moves to the side of the decoiler k, until the hole in the center of the strip steel roll d is sleeved on the decoiling shaft arranged on the decoiler k, then the pickup frames kz move downward to place the strip steel roll d on the decoiling shaft and stabilize, then the clamping devices jj move to the two sides to drive the two pickup frames kz to separate to the two sides, so that the pickup rollers gz and the compression rollers yz synchronously separate from the strip steel roll d, and the feeding process ends.
[0030] According to one aspect of the specific embodiment of the utility model, the compression roller yz and the pickup roller gz are both set as driving rollers capable of providing torque, and the strip steel roll d can rotate under the torque action of the compression roller yz and the pickup roller gz.
[0031] It should be understood that the description of the specification for the specific embodiment of the utility model is exemplary, and should not be interpreted as improper limitation on the protection scope of the utility model. The protection scope of the utility model is defined by its claims, and covers all embodiments falling within its scope and obvious equivalent examples thereof.
Claims
1. A floor type coil handler for automatically taking down a coil (d) from a storage rack (c) and aligning and mounting it on an uncoiler (k), characterized in that The movable frame (py) is provided below with a slide rail (hh) capable of moving on the ground, and the pickup manipulator (sj) is installed in the movable frame (py) through a vertical linear slide rail (zs) and is driven by a lifting driver (sq) to move up and down relative to the movable frame (py) along the linear slide rail (zs). The pickup manipulator (sj) is further provided with a pickup roller (gz), a pickup frame (kz), a pressing roller (yz) and a clamping device (jj). The pressing roller (yz) and the pickup roller (gz) are arranged on the pickup frame (kz), and the clamping device (jj) can drive the pressing roller (yz) and the pickup roller (gz) to pick up and clamp the strip coil (d). The lifting driver (sq) drives the strip coil (d) to move up and down, and the movable frame (py) moves to realize the transfer and installation of the strip coil (d).
2. An overground strip steel coil handling machine according to claim 1, characterized in that The movable frame (py) is further provided with a stabilizing beam (pyw) and a vertical main beam (pyz). The pickup frame (kz) is arranged on the main beam (pyz) through the linear slide rail (zs). The clamping device (jj) is arranged in a swing arm structure and is swingingly connected to the pickup frame (kz). The pressing roller (yz) is arranged at the maximum swing arm end of the clamping device (jj), and the clamping device (jj) swings to clamp the strip coil (d) with the pressing roller (yz) and the pickup roller (gz).
3. An overground coil-handling robot according to claim 1, characterized in that The movable frame (py) is further provided with a stabilizing beam (pyw) and a vertical main beam (pyz). The pickup frame (kz) is arranged on the main beam (pyz) through the linear slide rail (zs). The clamping device (jj) is arranged in a swing arm structure and is swingingly connected to the pickup frame (kz). The pressing roller (yz) is arranged at the maximum swing arm end of the clamping device (jj), and the clamping device (jj) swings to clamp the strip coil (d) with the pressing roller (yz) and the pickup roller (gz).
4. An over-the-ground strip steel coil handling machine according to claim 1 or claim 2, characterized in that The movable frame (py) is further provided with a stabilizing beam (pyw) and a vertical main beam (pyz). The pickup frame (kz) is arranged on the main beam (pyz) through the linear slide rail (zs). The clamping device (jj) is arranged in a swing arm structure and is swingingly connected to the pickup frame (kz). The pressing roller (yz) is arranged at the maximum swing arm end of the clamping device (jj), and the clamping device (jj) swings to clamp the strip coil (d) with the pressing roller (yz) and the pickup roller (gz). The movable frame (py) is further provided with a stabilizing beam (pyw) and a vertical main beam (pyz). The pickup frame (kz) is arranged on the main beam (pyz) through the linear slide rail (zs). The clamping device (jj) is arranged in a swing arm structure and is swingingly connected to the pickup frame (kz). The pressing roller (yz) is arranged at the maximum swing arm end of the clamping device (jj), and the clamping device (jj) swings to clamp the strip coil (d) with the pressing roller (yz) and the pickup roller (gz).