Intelligent loading equipment for metal coils

Abstract

The utility model discloses intelligent loading equipment for metal rolls, and belongs to the technical field of metal roll loading. The equipment comprises a guide unit which comprises a guide rail, and at least one starting position and at least one terminal position are arranged along the guide rail; the at least one work station is used for placing a containing device, is positioned on one side, close to the terminal position, of the guide unit, and is provided with a sensing part for positioning the containing device; the loading unit is located on the guiding unit and comprises at least one loading vehicle capable of being electrically controlled, and the loading vehicle can transfer the metal coils from the starting position to the terminal position along the guiding unit and stack the metal coils in a containing device; and the control unit is used for controlling linkage of the sensing part and the loading vehicle.

Description

Technical Field

[0001] This utility model belongs to the field of metal coil loading technology, and more specifically, it relates to an intelligent loading device for metal coils, which can not only be used for loading metal coils, but also for unloading metal coils in certain situations. Background Technology

[0002] Currently, the specifications for heavy steel coils are: outer diameter 2000mm, inner diameter (approximately) 1200mm, width 1530mm, and weight 22-24 tons. Transporting these heavy steel coils presents a significant challenge, particularly determining the appropriate loading and unloading equipment.

[0003] To address the aforementioned issues, a search revealed Chinese patent CN118908112A, which discloses a forklift for transporting coiled steel. This forklift can transport different types of goods (including steel coils) and is convenient to use. Another example is Chinese patent CN108128734A, which discloses a heavy-duty steel coil handling vehicle that can easily load heavy steel coils into containers. Yet another example is Chinese patent CN112479087A, which discloses a lifting and loading device for a steel coil factory. This patent utilizes the extension and retraction of a telescopic rod to drive a sliding strip, with a short plate, adjusting rod, and grippers working together to clamp the steel coil. An electric adjusting screw prevents the steel coil from falling during the clamping process. For example, Chinese patent CN212403370U discloses a loading and unloading device suitable for copper and aluminum coil materials. The loading and unloading device includes a connecting rod, a front plate, and a hanging chain plate. Vertically arranged roller mounting plates are provided on the left and right sides of the rear side of the front plate, and a horizontally arranged hanging chain plate is provided between the two roller mounting plates. The hanging chain plate is connected to the lifting system of the trolley. Rollers are provided at the upper and lower ends of the outer sides of the two roller mounting plates. The rollers are in rolling contact with the U-shaped groove rails set on the opposite side of the trolley gantry. A connecting rod is provided on the center line of the front side of the front plate. The rear end of the connecting rod is fixedly connected to the front plate, and the front end of the connecting rod extends horizontally away from the front plate. Under the action of the lifting system, the hanging chain plate can move up and down relative to the gantry. The movement of the hanging chain plate drives the connecting rod to move up and down relative to the gantry. The connecting rod with the U-shaped structure is equivalent to surface contact with the drum.

[0004] Analysis of the aforementioned patents reveals that not only is security not guaranteed, but work efficiency also needs improvement. Summary of the Invention

[0005] 1. The problem to be solved

[0006] In view of the technical problems existing in the prior art, this utility model provides an intelligent loading device for metal coils, which realizes intelligent loading of heavy metal coils, improves work efficiency, and is safe and reliable to use.

[0007] 2. Technical Solution

[0008] To solve the above problems, the technical solution adopted by this utility model is as follows:

[0009] The first aspect of this utility model provides an intelligent loading device for metal coils, comprising:

[0010] A guiding unit includes a guide rail, along which at least one starting position and at least one ending position are provided;

[0011] At least one workstation for placing the container is located on the side of the guide unit near the end position and is equipped with a sensing component for positioning the container. The sensing component is a 3D laser scanner that can obtain the cross-sectional dimensions, depth, and parking position of the container.

[0012] The loading unit located on the guide unit includes at least one electrically controllable loading vehicle capable of transferring the metal coil along the guide unit from the starting position to the terminal position and stacking the metal coil in the holding device.

[0013] And a control unit (PLC controller) that controls the sensing components and the linkage of the loading vehicle.

[0014] According to any embodiment of the first aspect of the present invention, the guiding unit further includes a cross connecting block, and the guide rail is vertically and cross-connected through the cross connecting block, so that the loader carrying the metal coil can travel along the guide rail from the starting position to the end position, and the direction of travel is not easily deviated; in addition, the structure of the guide rail is flat, and the weight of the metal coil is not only transferred to the guide rail, but the loader runs more smoothly, effectively avoiding damage to the metal coil caused by shaking.

[0015] According to any embodiment of the first aspect of the present invention, the metal coil includes steel coil (e.g., stainless steel coil), aluminum coil, or copper coil. These metal coils are relatively heavy, and there are significant safety hazards in loading and unloading them. Therefore, the equipment of the present invention can safely load and unload heavy metal coils.

[0016] According to any embodiment of the first aspect of the present invention, the guiding unit includes at least one starting position 11 and multiple terminal positions. The multiple terminal positions can correspond to metal coils of various sizes, such as 0.8m, 1.2m, and 1.5m in width. Due to the different sizes, the terminal positions corresponding to the loading vehicle are also different. This design can better adapt to the loading and unloading requirements of metal coils.

[0017] According to any embodiment of the first aspect of the present invention, the container includes a container, a truck flatbed or a train carriage, and the container has a flat surface on which metal rolls are stacked and then fixed by fasteners.

[0018] According to any embodiment of the first aspect of the present invention, the intelligent loading device for the metal coil further includes a transport unit capable of transporting the metal coil between the holding device and the loading vehicle. The transport unit includes at least one transport device, which includes a traveling crane, an RGV (rail shuttle) transport vehicle, a forklift, a crane, or a trailer. The transport device is capable of being linked with the sensing components and the loading vehicle. The traveling crane and crane transport the metal coil from above (at a higher height relative to the loading vehicle), while the RGV transport vehicle, forklift, or trailer transports the metal coil in a parallel direction (at the same height relative to the loading vehicle).

[0019] Preferably, the transport device is an RGV transport vehicle, located on the guide unit. The RGV transport vehicle can be linked with the sensing component and the loading vehicle. The RGV transport vehicle can transport the metal roll along the guide unit. After the loading vehicle picks up the metal roll, the RGV transport vehicle returns to pick up the next metal roll. The RGV transport vehicle includes a vehicle body and a mounting bracket located on the vehicle body. The metal roll is placed on the mounting bracket.

[0020] According to any embodiment of the first aspect of the present invention, the loading vehicle includes a vehicle body, at least one position detection mechanism, a traveling mechanism, and an execution mechanism; the position detection mechanism, the traveling mechanism, and the execution mechanism are disposed on the vehicle body;

[0021] The vehicle body includes a base, a lifting frame, a counterweight, a tie rod, and a lifting assembly: the front and rear ends of the base are provided with buffer pads and limit switches; the counterweight and the lifting frame are respectively provided on both sides of the base; one end of the tie rod is connected to the top side of the lifting frame, and the other end is connected to the base;

[0022] The lifting assembly includes a lifting arm, a transverse guide wheel, a longitudinal guide wheel, a lifting hydraulic cylinder, and a hydraulic station. The hydraulic station is mounted on the base. The tail of the lifting arm is equipped with transverse and longitudinal guide wheels. The longitudinal guide wheel moves up and down close to the lifting frame. The transverse guide wheel is engaged with both sides of the lifting frame in the transverse direction. The bottom of the lifting hydraulic cylinder is connected to the base (hinged), and its telescopic rod is fixedly connected to the lifting arm. A joint (heavy-duty hydraulic cylinder configuration structure) is fitted at the front end of the telescopic arm. The height of the lifting arm is controlled by a stroke limiter built into the lifting hydraulic cylinder. The transverse guide wheel is only present on one side, serving to prevent load-bearing deviation. There are two longitudinal guide wheels on each side.

[0023] According to any embodiment of the first aspect of the present invention, the position detection mechanism includes an X-direction sensor, a Y-direction sensor, and a Z-direction sensor. The X-direction sensor is disposed on a base near the counterweight side, the Y-direction sensor is disposed on a base near the bottom of the lifting arm, and the Z-direction sensor is disposed on the lifting arm and directly opposite the connecting beam. The X-direction sensor is a laser rangefinder or a wire encoder; the Y-direction sensor is a wire encoder; and the Z-direction sensor is an ultrasonic displacement sensor.

[0024] According to any embodiment of the first aspect of the present invention, the actuator includes a drive assembly, a support assembly, and a load-bearing assembly. The load-bearing assembly includes a cantilever cylinder and an anti-collision device. The anti-collision device includes at least one first distance sensor (e.g., the SL-5000 series laser displacement sensor commercially available from UKC) and at least one first displacement sensor (the ODT3CL1-2M first displacement sensor commercially available from Leuze). The first distance sensor is disposed inside the cantilever cylinder and is capable of detecting obstacles in front (when the cylinder is being rolled up) in real time. The object is a metal coil; during coil feeding, the obstacle is a container, including a container, a flatbed truck, or a train carriage. All of these containers have a flat surface on which the metal coil is stacked and then fixed. The distance between the coil and the inner wall of the metal coil is measured. The first displacement sensor is installed on the top of the inner arc of the cantilever cylinder. During coil feeding, it detects the distance between the cantilever cylinder and the inner wall of the metal coil, ensuring that the cantilever cylinder and the inner wall of the metal coil are within a safe distance range, thus avoiding collisions. It is also used to trigger and measure the width of the metal coil during feeding and to verify its accuracy.

[0025] According to any embodiment of the first aspect of the present invention, the anti-collision device further includes a pair of second distance sensors symmetrically arranged on the left and right sides of the base. During loading, the left and right positions of the cantilever cylinder within the loading device are detected; if the detected distance is less than a set value, an alarm signal is issued.

[0026] According to any embodiment of the first aspect of the present invention, the bearing assembly further includes a buffer device, which includes an anti-collision ring, a connecting rod, a spring, and a base; the anti-collision ring is fixed to the connecting rod, and the spring is sleeved on the connecting rod; the cylindrical base is connected to the end cap of the cantilever cylinder, and the bottom of the base has a through hole for the connecting rod to pass through; the spring is placed in the base and is limited by the end cap; the design of this structure can effectively avoid rigid contact between the cantilever cylinder and the inner wall of the container.

[0027] According to any embodiment of the first aspect of the present invention, the connecting rod is hollow, the anti-collision ring has a through hole in the center, a base plate is provided at the tail of the base, the first ranging sensor is disposed on the base plate, and it can measure distance through the hollow part of the connecting rod.

[0028] According to any embodiment of the first aspect of the present invention, a safety monitoring device is further included. The safety monitoring device includes at least one tilt angle sensor, at least one second displacement sensor, and a 3D imaging camera. The tilt angle sensor is disposed inside the cantilever cylinder and can detect the tilt angle of the cantilever cylinder during winding to avoid large tilt angle problems during overload. The second displacement sensor is disposed above the tilt angle sensor and installed on the top of the inner arc of the cantilever cylinder. During unwinding, the distance between the second displacement sensor and the inner wall of the metal coil is detected to determine the timing of the cantilever cylinder removal, effectively ensuring that the cantilever cylinder is removed after the metal coil is placed stably. The 3D imaging camera is disposed on the end cap, with its head extending outside the end cap, and can perform 3D scanning of the environment at the front end of the cantilever cylinder to ensure safe loading.

[0029] According to any embodiment of the first aspect of the present invention, the buffer device further includes a proximity switch; the proximity switch is disposed on one side of the tail of the connecting rod and fixed on the base, and when the anti-collision ring contacts the inner wall of the container, the anti-collision ring can compress the spring and move towards the inside of the cantilever cylinder, and the connecting rod touches the proximity switch, forcing the cantilever cylinder to stop moving.

[0030] According to any embodiment of the first aspect of the present invention, a rubber sleeve is fitted on the outside of the cantilever cylinder, and the rubber sleeve wraps around the cantilever cylinder (by strapping), which not only prevents wear on the inner wall of the steel coil, but also prevents the steel coil from wearing down the cantilever cylinder. The rubber sleeve has a through hole corresponding to the position of the sensor.

[0031] According to any embodiment of the first aspect of the present utility model, the support assembly includes a front suspension bracket, a rear suspension bracket, a connecting beam and a moving device, the two ends of the connecting beam are respectively connected to the front suspension bracket and the rear suspension bracket, the guide sleeve is fixed on the connecting beam, and the front suspension bracket and the rear suspension bracket are assembled with the cantilever cylinder.

[0032] The moving device includes a front guide rail, a front roller, a fixed base, a rear guide rail, and a clamping wheel; the front guide rail and the rear guide rail are respectively fixed on the lifting arm, the front roller is mounted on the fixed base and placed on the front guide rail, the front suspension bracket is connected and fixed to the fixed base and can move along the front guide rail; the clamping wheel is mounted on the rear suspension bracket and cooperates with the rear guide rail.

[0033] According to any embodiment of the first aspect of the present invention, the drive assembly includes a bidirectional drive servo motor, a reducer, a coupling, a lead screw, and a guide sleeve. The bidirectional drive servo motor, reducer, and coupling are fixed on the lifting arm, and the lead screw cooperates with the guide sleeve.

[0034] According to any embodiment of the first aspect of the present invention, the diameter of the anti-collision ring is consistent with the outer diameter of the cantilever cylinder, the anti-collision ring has a plurality of relief holes, and at least one of the relief holes corresponds to the first ranging sensor, so as to ensure that the first ranging sensor is not affected by the obstruction of the anti-collision ring.

[0035] According to any embodiment of the first aspect of the present invention, the cantilever cylinder has a built-in cable conduit, and the wiring harnesses of the first distance sensor, the first displacement sensor, the second distance sensor, the proximity switch, the second displacement sensor, the tilt angle sensor, and the 3D imaging camera are all passed through the cable conduit and connected to the control system of the loader.

[0036] According to any embodiment of the first aspect of the present invention, the centerlines of the first displacement sensor, the second displacement sensor, and the tilt angle sensor are located in the same vertical plane as the central axis of the cantilever cylinder.

[0037] According to any embodiment of the first aspect of the present invention, the first displacement sensor is one of a laser sensor, a diffuse reflection sensor, and an ultrasonic sensor; the second displacement sensor is one of a laser sensor, a diffuse reflection sensor, and an ultrasonic sensor; the first ranging sensor is one of a laser sensor, a diffuse reflection sensor, and an ultrasonic sensor; and the second ranging sensor is one of a laser sensor, a diffuse reflection sensor, and an ultrasonic sensor.

[0038] According to any embodiment of the first aspect of the present invention, the traveling mechanism includes a geared motor, a pair of drive wheels connected to the geared motor, and at least a pair of driven wheels; the drive wheels and driven wheels are respectively placed on the guide unit and are capable of moving along the direction of the guide unit. Mechanical limiting plates are provided at both the winding position and the winding loading position of the transverse guide rail to further ensure positioning.

[0039] 3. Beneficial effects

[0040] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0041] (1) The intelligent loading equipment for metal coils of this utility model adopts an electrically controlled loading vehicle, sensing components, etc., to realize intelligent loading of heavy metal coils and improve work efficiency;

[0042] (2) The intelligent loading device for metal coils of this utility model enables the loading vehicle carrying the metal coil to travel along the guide rail from the starting position to the end position, and the direction of travel is not easily deviated; in addition, the structure of the guide rail is flat, and the weight of the metal coil is not only transferred to the guide rail, but the loading vehicle runs more smoothly, effectively avoiding damage to the metal coil caused by shaking.

[0043] (3) The intelligent loading device for metal coils of this utility model is safe and reliable to use, and reduces the incidence of safety accidents. Attached Figure Description

[0044] The technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that these drawings are designed for illustrative purposes only and are not intended to limit the scope of this utility model. In addition, unless otherwise specified, these drawings are intended only to conceptually illustrate the structural construction described herein and are not necessarily drawn to scale.

[0045] Figure 1 This is a schematic diagram of the structure of an intelligent loading device for metal coils according to this utility model;

[0046] Figure 2 This is a schematic diagram of another loading vehicle structure for the intelligent loading device for metal coils according to this utility model;

[0047] Figure 3 This is a schematic diagram of the guide rail structure of the intelligent loading device for metal coils according to this utility model;

[0048] Figure 4 for Figure 1 Enlarged view of part A;

[0049] Figure 5 for Figure 1 Enlarged view of part B;

[0050] Figure 6 This is a schematic diagram of the loading vehicle structure of the intelligent loading equipment for metal coils according to this utility model;

[0051] Figure 7 This is a partial structural diagram of the loading vehicle of the intelligent loading equipment for metal coils according to this utility model;

[0052] Figure 8 This is a partial three-dimensional structural diagram of the loading vehicle of the intelligent loading equipment for metal coils according to this utility model;

[0053] Figure 9 This is a schematic diagram of the actuator of the intelligent loading device for metal coils according to this utility model;

[0054] Figure 10 for Figure 9 A magnified view of a portion of the image;

[0055] Figure 11 This is a partially omitted structural schematic diagram of the actuator of the intelligent loading device for metal coils according to this utility model;

[0056] Figure 12 for Figure 11 A magnified view of a portion of the image;

[0057] Figure 13 This is a partial structural schematic diagram of the lifting component of the intelligent loading device for metal coils according to this utility model;

[0058] Figure 14 This is a schematic diagram of the connection structure between the support component and the load-bearing component of the intelligent loading device for metal coils according to this utility model;

[0059] Figure 15 This is a partial structural schematic diagram of the load-bearing component of the intelligent loading device for metal coils according to this utility model;

[0060] Figure 16 This is a front view of the connection structure between the anti-collision device and the buffer device of the intelligent loading equipment for metal coils of this utility model.

[0061] Figure 17 for Figure 16 Sectional view along line CC.

[0062] Explanation of reference numerals in the attached figures:

[0063] 10. Guide rail; 11. Starting position; 12. End position; 13. Cross connector block;

[0064] 20. Workstation; 21. Container; 22. Sensing component;

[0065] 30. Loading vehicle;

[0066] 31. Vehicle body; 311. Base; 312. Lifting frame; 313. Counterweight; 314. Tie rod; 315. Lifting assembly; 3151. Lifting arm; 3152. Lateral guide wheel; 3153. Longitudinal guide wheel; 3154. Lifting hydraulic cylinder; 3155. Hydraulic station;

[0067] 32. Position detection mechanism; 321. X-direction sensor; 322. Y-direction sensor; 323. Z-direction sensor;

[0068] 33. Traveling mechanism; 331. Gear motor; 332. Drive wheel; 333. Driven wheel;

[0069] 34. Implementing agency;

[0070] 341. Drive assembly; 3411. Bidirectional drive servo motor; 3412. Reducer; 3413. Coupling; 3414. Lead screw; 3415. Guide sleeve; 3416. Protective cover;

[0071] 342. Support assembly; 3421. Front suspension bracket; 3422. Rear suspension bracket; 3423. Connecting crossbeam; 3424. Moving device; 34241. Front guide rail; 34242. Front roller; 34243. Fixed base; 34244. Rear guide rail; 34245. Clamping roller;

[0072] 343. Load-bearing component; 3431. Cantilever cylinder; 34311. Rubber sleeve; 34312. Cable conduit; 34313. End cap; 3432. Anti-collision device; 34321. First ranging sensor; 34322. First displacement sensor; 34323. Second ranging sensor; 3433. Buffer device; 34331. Anti-collision ring; 34332. Connecting rod; 34333. Spring; 34334. Base; 34335. Base plate; 34336. Proximity switch; 34337. Lightening hole; 3434. Safety monitoring device; 34341. Tilt angle sensor; 34342. Second displacement sensor; 34343. 3D imaging camera;

[0073] 40. Transportation equipment;

[0074] 50. Metal coils. Detailed Implementation

[0075] The following detailed description of exemplary embodiments of the present invention refers to the accompanying drawings, which form part of the description, illustrating exemplary embodiments in which the present invention may be implemented. Although these exemplary embodiments have been described in sufficient detail to enable those skilled in the art to implement the present invention, it should be understood that other embodiments may be implemented and various changes may be made to the present invention without departing from the spirit and scope thereof. The more detailed description of embodiments of the present invention below is not intended to limit the scope of the claimed invention, but is merely illustrative and does not limit the description of the features and characteristics of the invention, in order to suggest the best mode for carrying out the invention and sufficient to enable those skilled in the art to implement it. Therefore, the scope of the present invention is defined only by the appended claims.

[0076] The following detailed description and exemplary embodiments of the present invention can be better understood in conjunction with the accompanying drawings, wherein the elements and features of the present invention are identified by reference numerals.

[0077] like Figure 1 and Figure 2As shown, the intelligent loading device for the metal coil 50 in this embodiment includes: a guiding unit, which includes a guide rail 10, along which at least one starting position 11 and at least one terminal position 12 are provided; at least one workstation 20 for placing the container 21, the workstation 20 being located on the side of the guiding unit near the terminal position 12, and equipped with a sensing component 22 for positioning the container 21; a loading unit located on the guiding unit, which includes at least one electrically controllable loading vehicle 30, the loading vehicle 30 being able to transfer the metal coil 50 along the guide rail 10 from the starting position 11 to the terminal position 12, and stack the metal coil 50 in the container 21; and a control unit (PLC controller, built into the electrical cabinet) for controlling the linkage of the sensing component 22 and the loading vehicle 30.

[0078] The aforementioned sensing component 22 is a 3D laser scanner (such as the commercially available KSCAN-Magic). The 3D laser scanner can obtain the cross-sectional dimensions, depth, and parking position of the container on the workstation, and then feed the relevant container data back to the control unit. The loading vehicle 30 moves along the guide rail 10 to the starting position 11. After the loading vehicle automatically matches with the metal coil, it will lift the metal coil to a safe height. The loading vehicle moves to a position suitable for the interior of the container (a certain terminal position) and lowers the coil. The loading vehicle returns to the initial position to wait for the next instruction, realizing the intelligent loading of the metal coil.

[0079] The aforementioned metal coil 50 includes steel coils (e.g., stainless metal coils 50), aluminum coils, or copper coils. These metal coils 50 are relatively heavy, posing significant safety hazards during loading and unloading. Therefore, the equipment of this utility model can safely load and unload heavy metal coils 50.

[0080] In this embodiment, as Figure 3 As shown, the guiding unit also includes a cross connecting block 13. The guide rails 10 are vertically connected through the cross connecting block 13, so that the loading vehicle 30 carrying the metal coil 50 can travel along the guide rail 10 from the starting position 11 to the end position 12, and the direction of travel is not easily deviated. In addition, the structure of the guide rail 10 is flat, and the weight of the metal coil 50 is not only transferred to the guide rail 10, but the loading vehicle 30 also runs more smoothly, effectively avoiding damage to the metal coil 50 caused by shaking.

[0081] Furthermore, the guiding unit may also include at least one starting position 11 and multiple terminal positions 12. The multiple terminal positions 12 can correspond to various sizes of metal coils 50, such as widths of 0.8m, 1.2m, and 1.5m. Due to the different sizes, the terminal positions 12 corresponding to the loading vehicle 30 are also different. This design can better adapt to the loading and unloading requirements of the metal coils 50.

[0082] For the application objects of this utility model, the container 21 includes a container, a truck flatbed or a train carriage. The container 21 has a flat surface, on which the metal rolls 50 are stacked and then fixed by fasteners, thereby facilitating transportation.

[0083] The intelligent loading device for the metal coil 50 of this utility model also includes a transport unit capable of transporting the metal coil 50 between the holding device 21 and the loading vehicle 30. The transport unit includes at least one transport device 40, which includes a trolley, RGV transport vehicle, forklift, crane or trailer. The transport device 40 can be linked with the sensing component 22 and the loading vehicle 30.

[0084] like Figure 1 As shown, a crane or gantry crane transports the metal coil 50 from above (at a higher height relative to the loading vehicle 30) and then places it on a support frame; a crane is preferred. Figure 2 As shown, the metal coil 50 is transported in a parallel direction (at the same height as the loading vehicle 30), preferably by an RGV transport vehicle, a forklift, or a trailer.

[0085] exist Figure 2 In this context, the transport device 40 is an RGV transport vehicle, which is a commercially available product, such as a HEGERLS intelligent RGV, and is located on the guide unit. The RGV transport vehicle can be linked with the sensing component 22 and the loading vehicle 30. The RGV transport vehicle can transport the metal roll 50 along the guide unit. After the loading vehicle 30 receives the metal roll 50, the RGV transport vehicle returns to receive the next metal roll 50. The RGV transport vehicle includes a vehicle body and a mounting bracket located on the vehicle body, and the metal roll 50 is placed on the mounting bracket.

[0086] like Figure 2 , Figure 5 , Figure 6 and Figure 7 As shown, in some embodiments of this utility model, the loading vehicle 30 includes a vehicle body 31, at least one position detection mechanism 32, a traveling mechanism 33, and an execution mechanism 34; the position detection mechanism 32, the traveling mechanism 33, and the execution mechanism 34 are disposed on the vehicle body 31; the vehicle body 31 includes a base 311, a lifting frame 312, a counterweight 313, a pull rod 314, and a lifting assembly 315; the front and rear ends of the base 311 are provided with buffer pads (not shown in the figure) and limit switches (not shown in the figure); the counterweight 313 and the lifting frame 312 are respectively disposed on both sides of the base 311; one end of the pull rod 314 is connected to one side of the top of the lifting frame 312, and the other end is connected to the base 311.

[0087] like Figure 4As shown, a tensioning device (not marked in the figure) is provided on the pull rod 314; the tensioning device includes a nut with positive and negative threads, and the pull rod 314 is provided with matching threads. The tension of the pull rod 314 can be adjusted by adjusting the tightness of the nut.

[0088] Furthermore, in combination Figures 8 to 13 As shown, the lifting assembly 315 includes a lifting arm 3151, a transverse guide wheel 3152, a longitudinal guide wheel 3153, a lifting hydraulic cylinder 3154, and a hydraulic station 3155. The hydraulic station 3155 is mounted on the base 311. The tail of the lifting arm 3151 is provided with the transverse guide wheel 3152 and the longitudinal guide wheel 3153. The longitudinal guide wheel 3153 moves up and down close to the lifting frame 312. The transverse guide wheel 3152 is engaged on both sides of the lifting frame 312 in the transverse direction. The bottom of the lifting hydraulic cylinder 3154 is connected to the base 311 (hinged), and its telescopic rod is fixedly connected to the lifting arm 3151. A joint (heavy-duty cylinder configuration structure) is fitted at the front end of the telescopic arm. The height of the lifting arm 3151 is controlled by the stroke limiter of the lifting hydraulic cylinder 3154. The transverse guide wheel 3152 is only present on one side, which plays a role in preventing load deviation. There are two longitudinal guide wheels on each side.

[0089] like Figure 2 As shown, the position detection mechanism 32 includes an X-direction sensor 321, a Y-direction sensor 322, and a Z-direction sensor 323. The X-direction sensor 321 is mounted on the base 311 near the counterweight 313. The Y-direction sensor 322 is mounted on the base 311 near the bottom of the lifting arm 3151. The Z-direction sensor 323 is mounted on the lifting arm 3151 and faces the connecting beam 3423. The X-direction sensor 321 is a laser rangefinder or a wire encoder; the Y-direction sensor 322 is a wire encoder; and the Z-direction sensor 323 is an ultrasonic displacement sensor.

[0090] Combination Figure 11 , Figure 12 , Figure 14 , Figure 15As shown, the actuator 34 includes a drive assembly 341, a support assembly 342, and a load-bearing assembly 343. The load-bearing assembly 343 includes a cantilever cylinder 3431 and an anti-collision device 3432. The anti-collision device 3432 includes at least one first distance sensor 34321 (e.g., the SL-5000 series laser displacement sensor commercially available from UKC) and at least one first displacement sensor 34322 (the ODT3CL1-2M diffuse reflection sensor commercially available from Leuze). The first distance sensor 34321 is located inside the cantilever cylinder 3431 and can detect the distance to obstacles in front in real time (when threading the roll, the obstacle is the metal roll 50; when feeding the roll, the obstacle is the container 21, which includes a container, a flatbed truck, or a train carriage. All of the above-mentioned container 21 have a plane, on which the metal roll 50 is stacked and then fixed by fasteners).

[0091] It should be noted that, in Figure 15 In this configuration, the first displacement sensor 34322 is installed on the top of the inner arc of the cantilever cylinder 3431. During the winding process, it detects the distance between the cantilever cylinder 3431 and the inner wall of the metal roll 50, thereby ensuring that the cantilever cylinder 3431 and the inner wall of the metal roll 50 are within a safe distance range and avoiding collision between the cantilever cylinder 3431 and the inner wall of the metal roll 50; and is used to trigger the measurement and verification of the width of the metal roll 50 during winding.

[0092] In addition, such as Figure 17 As shown, the anti-collision device 3432 also includes a pair of second distance sensors 34323, which are symmetrically arranged on the left and right sides of the base 34334. During loading, the left and right positions of the cantilever cylinder 3431 within the container 21 are detected. When the detection distance is less than a set value, for example, a set distance of 10mm, or a detection distance of 9.5mm, the corresponding value is triggered, and an alarm signal is issued.

[0093] Furthermore, such as Figure 17 As shown, the bearing assembly 343 further includes a buffer device 3433, which includes an anti-collision ring 34331, a connecting rod 34332, a spring 34333, and a base 34334. The anti-collision ring 34331 is fixed to the connecting rod 34332, and the spring 34333 is sleeved on the connecting rod 34332. The cylindrical base 34334 is connected to the end cap 34313 of the cantilever cylinder 3431. The bottom of the base 34334 has a through hole that allows the connecting rod 34332 to pass through. The spring 34333 is placed in the base 34334 and is limited by the end cap 34313. This structure design can effectively avoid rigid contact between the cantilever cylinder 3431 and the inner wall of the container 21.

[0094] In order to reduce the weight of the load-bearing component 343, Figure 15 In this design, the diameter of the anti-collision ring 34331 is consistent with the outer diameter of the cantilever cylinder 3431. The anti-collision ring 34331 has a plurality of relief holes 34337, and at least one of the relief holes 34337 corresponds to the first ranging sensor 34321, which can ensure that the first ranging sensor 34321 is not affected by the obstruction of the anti-collision ring 34331.

[0095] In this embodiment, the connecting rod 34332 is hollow, the anti-collision ring 34331 has a through hole in the center, a base plate 34335 is provided at the tail of the base 34334, the first ranging sensor 34321 is provided on the base plate 34335, and it can measure distance through the hollow part of the connecting rod 34332.

[0096] When the equipment of this utility model is applied to the container 21 with a box-like structure, such as Figure 15 As shown, the bearing assembly 343 also includes a safety monitoring device 3434. The safety monitoring device 3434 includes at least one tilt angle sensor 34341, at least one second displacement sensor 34342, and a 3D imaging camera 34343. The tilt angle sensor 34341 is located inside the cantilever cylinder 3431 and can detect the tilt angle of the cantilever cylinder 3431 during winding, preventing large tilt angle problems during overload. The second displacement sensor 34342 is located at the tilt angle... Above the degree sensor 34341 and installed on the top of the inner arc of the cantilever cylinder 3431, during unloading, the second displacement sensor 34342 detects the distance to the inner wall of the metal coil 50 and determines the timing for the cantilever cylinder 3431 to be pulled away, effectively ensuring that the cantilever cylinder 3431 is pulled away after the metal coil 50 is placed stably; the 3D imaging camera 34343 is installed on the end cover 34313, and its head extends out of the outside of the end cover 34313, which can perform 3D scanning of the environment at the front end of the cantilever cylinder 3431 to ensure safe loading.

[0097] In actual use, the cantilever cylinder 3431 will inevitably collide with the wall of the container 21. Figure 16 and Figure 17 In the buffer device 3433, a proximity switch 34336 is also included. The proximity switch 34336 is disposed on one side of the tail of the connecting rod 34332 and fixed on the base 34334. When the anti-collision ring 34331 contacts the inner wall of the container 21, the anti-collision ring 34331 can compress the spring 34333 and move towards the inside of the cantilever cylinder 3431. The connecting rod 34332 touches the proximity switch 34336, forcing the cantilever cylinder 3431 to stop moving.

[0098] In addition, such as Figure 15 As shown, a rubber sleeve 34311 is fitted on the outside of the cantilever cylinder 3431. The rubber sleeve 34311 wraps around the cantilever cylinder 3431, which not only prevents wear on the inner wall of the metal coil 50, but also prevents the metal coil 50 from wearing down the cantilever cylinder 3431.

[0099] like Figure 12 and Figure 14 As shown, the support assembly 342 includes a front suspension bracket 3421, a rear suspension bracket 3422, a connecting beam 3423, and a moving device 3424. The two ends of the connecting beam 3423 are respectively connected to the front suspension bracket 3421 and the rear suspension bracket 3422. The guide sleeve 3415 is fixed on the connecting beam 3423. The front suspension bracket 3421 and the rear suspension bracket 3422 are assembled with the cantilever cylinder 3431.

[0100] exist Figure 12 In this device, the moving device 3424 includes a front guide rail 34241, a front roller 34242, a fixed base 34243, a rear guide rail 34244, and a clamping wheel 34245. The front guide rail 34241 and the rear guide rail 34244 are respectively fixed on the lifting arm 3151. The front roller 34242 is mounted on the fixed base 34243 and placed on the front guide rail 34241. The front suspension bracket 3421 is connected and fixed to the fixed base 34243 and can move along the front guide rail 34241. The clamping wheel 34245 is mounted on the rear suspension bracket 3422 and cooperates with the rear guide rail 34244.

[0101] like Figure 12 As shown, a structure of the drive assembly 341 is presented, which includes a bidirectional drive servo motor 3411, a reducer 3412, a coupling 3413, a lead screw 3414, and a guide sleeve 3415. The bidirectional drive servo motor 3411, reducer 3412, and coupling 3413 are fixed on the lifting arm 3151, and the lead screw 3414 cooperates with the guide sleeve 3415. Driven by the bidirectional drive servo motor 3411, reducer 3412, and coupling 3413, the lead screw 3414 rotates, causing relative movement between the lead screw 3414 and the guide sleeve 3415. The guide sleeve 3415 carries the support assembly 342 and moves along the X direction.

[0102] The cooperation between the lead screw 3414 and the guide sleeve 3415 ensures high precision in the Z direction. At the same time, the cooperation between the double lead screw 3414 and the guide sleeve 3415 makes the movement of the cantilever cylinder 3431 smoother and more precise.

[0103] For the structure of the drive component 341 described above, some existing high-precision components, such as electro-hydraulic cylinders, can also be used.

[0104] In addition, to reduce the impact of external dust on the lead screw and guide sleeve, such as Figure 2 As shown, the drive assembly is also equipped with a protective cover 3416; the protective cover is fixed on the lifting arm, and the protective cover has ventilation holes, which can dissipate the heat generated inside the bidirectional drive servo motor and prevent the bidirectional drive servo motor from overheating.

[0105] Furthermore, such as Figure 15 As shown, the cantilever cylinder 3431 has a built-in cable conduit 34312. The wiring harnesses of the first distance sensor 34321, the first displacement sensor 34322, the second distance sensor 34323, the proximity switch 34336, the second displacement sensor 34342, the tilt angle sensor 34341, and the 3D imaging camera 34343 all pass through the cable conduit 34312 and are connected to the control system of the loading vehicle 30.

[0106] Combination Figure 15 As shown, the center lines of the first displacement sensor 34322, the second displacement sensor 34342, and the tilt angle sensor 34341 are located in the same vertical plane as the central axis of the cantilever cylinder 3431.

[0107] The first displacement sensor 34322 is one of a laser sensor, a diffuse reflection sensor, and an ultrasonic sensor; the second displacement sensor 34342 is one of a laser sensor, a diffuse reflection sensor, and an ultrasonic sensor; the first ranging sensor 34321 is one of a laser sensor, a diffuse reflection sensor, and an ultrasonic sensor; and the second ranging sensor 34323 is one of a laser sensor, a diffuse reflection sensor, and an ultrasonic sensor.

[0108] like Figure 2 and Figure 8 As shown, one embodiment is provided, wherein the walking mechanism 33 includes a reduction motor 331, a pair of drive wheels 332 connected to the reduction motor 331, and at least a pair of driven wheels 333; the drive wheels 332 and driven wheels 333 are respectively placed on the guide unit and can move along the direction of the guide unit. Mechanical limit plates are provided at the starting position 11 and the end position 12 of the transverse guide rail 10 to further limit the movement.

[0109] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the figures shown are only one embodiment of the present invention; the actual structure is not limited thereto. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. An intelligent loading device for metal coils, characterized in that, include: The guide unit includes a guide rail (10) along which at least one start position (11) and at least one end position (12) are provided. At least one workstation (20) for placing the container (21), the workstation (20) being located on the side of the guide unit near the terminal position and being equipped with a sensing element (22) for positioning the container (21). The loading unit located on the guide unit includes at least one electrically controllable loading vehicle (30) capable of transferring the metal coil (50) along the guide unit from the starting position (11) to the terminal position (12) and stacking the metal coil (50) in the holding device (21); And a control unit that controls the linkage between the sensing component (22) and the loading vehicle (30).

2. The intelligent loading device for metal coils according to claim 1, characterized in that, It also includes a transport unit capable of transporting metal coils (50) between a container (21) and a loading vehicle (30), the transport unit including at least one transport device (40), the transport device (40) including a trolley, RGV transport vehicle, forklift, crane or trailer, the transport device (40) being able to be linked with the sensing component (22) and the loading vehicle (30).

3. The intelligent loading device for metal coils according to claim 1, characterized in that, The guiding unit also includes a cross connecting block, through which the guide rail (10) is vertically and cross-connected, so that the loader (30) carrying the metal coil (50) can travel along the guide rail (10) from the starting position (11) to the terminal position.

4. The intelligent loading device for metal coils according to any one of claims 1-3, characterized in that, The loading vehicle (30) includes a vehicle body (31), at least one position detection mechanism (32), a traveling mechanism (33), and an execution mechanism (34); the position detection mechanism (32), the traveling mechanism (33), and the execution mechanism (34) are mounted on the vehicle body (31); The vehicle body (31) includes a base (311), a lifting frame (312), a counterweight (313), a tie rod (314), and a lifting assembly (315): the front and rear ends of the base (311) are provided with buffer pads and limit switches; the counterweight (313) and the lifting frame (312) are respectively provided on both sides of the base (311); one end of the tie rod (314) is connected to the top side of the lifting frame (312), and the other end is connected to the base (311). The lifting assembly (315) includes a lifting arm (3151), a transverse guide wheel (3152), a longitudinal guide wheel (3153), a lifting hydraulic cylinder (3154), and a hydraulic station (3155). The hydraulic station (3155) is mounted on the base (311). The tail of the lifting arm (3151) is provided with a transverse guide wheel (3152) and a longitudinal guide wheel (3153). The longitudinal guide wheel (3153) moves up and down close to the lifting frame (312). The transverse guide wheel (3152) is engaged on both sides of the lifting frame (312) in the transverse direction. The bottom of the lifting hydraulic cylinder (3154) is fixed to the base (311), and its telescopic rod is fixedly connected to the lifting arm (3151).

5. The intelligent loading device for metal coils according to claim 4, characterized in that, The actuator (34) includes a drive assembly (341), a support assembly (342), and a load-bearing assembly (343). The load-bearing assembly (343) includes a cantilever cylinder (3431) and an anti-collision device (3432). The anti-collision device (3432) includes at least one first distance sensor (34321) and at least one first displacement sensor (34322). The first distance sensor (34321) is disposed inside the cantilever cylinder (3431) and can detect the distance to obstacles in front in real time. The first displacement sensor (34322) is installed on the top of the inner arc of the cantilever cylinder (3431).

6. The intelligent loading device for metal coils according to claim 5, characterized in that, The load-bearing component (343) further includes a buffer device (3433), which includes an anti-collision ring (34331), a connecting rod (34332), a spring (34333), and a base (34334); the anti-collision ring (34331) is fixed to the connecting rod (34332), and the spring (34333) is sleeved on the connecting rod (34332); the cylindrical base (34334) is connected to the end cap (34313) of the cantilever cylinder, and the bottom of the base (34334) has a through hole that allows the connecting rod (34332) to pass through. The spring (34333) is placed in the base (34334) and is limited by the end cap (34313).

7. The intelligent loading device for metal coils according to claim 6, characterized in that, The connecting rod (34332) is hollow, and the anti-collision ring (34331) has a through hole in the center. A base plate (34335) is provided at the tail of the base (34334). The first distance sensor (34321) is provided on the base plate (34335) and can measure distance through the hollow part of the connecting rod (34332).

8. The intelligent loading device for metal coils according to claim 7, characterized in that, The support assembly (342) includes a front suspension bracket (3421), a rear suspension bracket (3422), a connecting beam (3423), and a moving device (3424). The two ends of the connecting beam (3423) are respectively connected to the front suspension bracket (3421) and the rear suspension bracket (3422). The front suspension bracket (3421) and the rear suspension bracket (3422) are assembled with the cantilever cylinder (3431). The moving device (3424) includes a front guide rail (34241), a front roller (34242), a fixed base (34243), a rear guide rail (34244), and a clamping wheel (34245). The front guide rail (34241) and the rear guide rail (34244) are respectively fixed on the lifting arm (3151). The front roller (34242) is mounted on the fixed base (34243) and placed on the front guide rail (34241). The front suspension bracket (3421) is connected and fixed to the fixed base (34243) and can move along the front guide rail (34241). The clamping wheel (34245) is mounted on the rear suspension bracket (3422) and cooperates with the rear guide rail (34244).

9. The intelligent loading device for metal coils according to claim 8, characterized in that, The drive assembly (341) includes a bidirectional drive servo motor (3411), a reducer (3412), a coupling (3413), a lead screw (3414), and a guide sleeve (3415). The bidirectional drive servo motor (3411), the reducer (3412), and the coupling (3413) are fixed on the lifting arm (3151), and the lead screw (3414) cooperates with the guide sleeve (3415).

10. The intelligent loading device for metal coils according to claim 9, characterized in that, The anti-collision device (3432) also includes a pair of second ranging sensors (34323), which are symmetrically arranged on the left and right sides of the base (34334).

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