High-precision full-automatic steel coil feeding and discharging transport vehicle

Abstract

The utility model relates to the technical field of automatic transportation equipment, and particularly discloses a high-precision full-automatic steel coil loading and unloading transport vehicle. Comprising an intelligent moving chassis, a lifting mechanism arranged on the intelligent moving chassis, a loading positioning table arranged on the lifting mechanism and driven by the lifting mechanism to ascend and descend, a holding mechanism arranged on the loading positioning table and a feeding and discharging positioning module arranged on the intelligent moving chassis. The feeding and discharging positioning module comprises visual equipment erected on the side, opposite to the feeding and discharging side of the steel coil, of the intelligent movable chassis. The outer diameter measuring equipment is arranged at a position capable of measuring the distance from the lowest point of the center of the steel coil on the loading positioning table to the distance measuring starting point; and the width measuring equipment is arranged at a position capable of measuring the distance from one end surface, opposite to the visual equipment, of the steel coil on the loading positioning table to the distance measuring starting point. According to the automatic feeding and discharging transport vehicle, high-precision feeding and discharging positioning can be achieved, and full-automatic transportation of steel coils and automatic feeding and discharging can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic transportation equipment technical field, especially a high accuracy full -automatic steel coil feeding and discharging transport vehicle. BACKGROUND

[0002] The silicon steel coil is an important raw material for transformer production, with hundreds of specifications and sizes. The opening and using of the silicon steel coil is usually carried out by an uncoiler. Taking an uncoiler with an expanding shaft as an example, the outer diameter of the uncoiler is 500 mm in the expanding state and 450 mm in the shrinking state. The uncoiler can adapt to silicon steel coils with an inner diameter of 500 mm, an outer diameter of greater than or equal to 650 mm, and a width of greater than or equal to 80 mm. From these data, it can be seen that the theoretical gap in the circumferential direction between the inner diameter of the silicon steel coil (500 mm) and the outer diameter of the shaft in the shrinking state (450 mm) is only 25 mm. Therefore, the positioning accuracy is very high for the automatic operation of the uncoiler.

[0003] At present, although some automatic technologies for the feeding and discharging of silicon steel coils on an uncoiler have been disclosed, the common feeding and discharging method in the actual environment is still manual operation. The silicon steel coil is lifted by a crown block from a storage area to a feeding and discharging RGV located on a track in front of the expanding shaft of the uncoiler. Then, the operator lifts the table of the feeding and discharging RGV by pressing the operation button of the RGV until the center of the silicon steel coil is concentric with the expanding shaft of the uncoiler as observed by the operator. Then, the feeding and discharging RGV is moved to the designated position by pressing the button, and the lifting mechanism is lowered. The expanding shaft of the uncoiler expands and fixes the inner ring of the silicon steel coil to realize feeding. The discharging process is the reverse of the feeding process. The entire feeding and discharging process relies entirely on manual operation, which is low in work efficiency, high in labor intensity, prone to safety accidents, and seriously affects the equipment layout in an intelligent factory building, which seriously restricts the construction of a smart workshop. Therefore, this feeding and discharging method is relatively backward in the intelligent era.

[0004] Some currently disclosed technologies, such as a silicon steel coil strip feeding and storage automatic docking device disclosed in Chinese patent application No. CN202422099239.0, adopt a fixed RGV track form, which can only realize the feeding of silicon steel coils on a stereoscopic warehouse rack, but cannot realize the feeding and discharging of silicon steel coils on the shaft of an uncoiler. For example, a silicon steel coil feeding device disclosed in Chinese patent application No. CN202123206077.9 and a silicon steel coil automatic feeding equipment disclosed in Chinese patent application No. CN202422232343.2 are only small improvements on the original manual feeding and discharging RGV, and cannot realize the full-automatic feeding and discharging of silicon steel coils from the silicon steel coil storage area to the shaft of the uncoiler. In addition, these technologies cannot realize the full-automatic feeding and discharging of silicon steel coils with various outer diameters and widths.

[0005] With the rapid development of China's economy, the demand for electricity is increasing, and the pressure on the power grid is increasing, the original old transformer is facing a large number of upgrading, and the current silicon steel coil feeding and discharging mode has restricted the production efficiency of various transformer production enterprises in China, and the above problems need to be solved. Practical new type content

[0006] The utility model discloses a high-precision full-automatic steel coil feeding and discharging transport vehicle, which can realize high-precision feeding and discharging positioning and automatic feeding and discharging of full-automatic transportation of steel coils.

[0007] To achieve the above object, the technical scheme of the utility model is: characterized in that a high-precision full-automatic steel coil feeding and discharging transport vehicle, including intelligent mobile chassis, set up on the intelligent mobile chassis lifting mechanism, set up on the lifting mechanism by its driving lifting activity loading positioning table, set up on the loading positioning table and setting up on the intelligent mobile chassis feeding and discharging positioning module, the feeding and discharging positioning module includes the vision equipment that is set up on the opposite side of the steel coil feeding and discharging side of the intelligent mobile chassis, the outer diameter measuring device that is arranged at the position of the distance from the lowest point of the steel coil center on the loading positioning table to the ranging starting point, and the width measuring device that is arranged at the position of the distance from the end face of the steel coil opposite to the vision equipment on the loading positioning table.

[0008] The vision equipment is erected through the support structure that can adjust the orientation relative to the loading positioning table.

[0009] The vision equipment is erected at the position of the shooting range that can cover the axial end face of the steel coil on the loading positioning table.

[0010] The outer diameter measuring device is arranged at multiple intervals along the axial direction of the steel coil.

[0011] The outer diameter measuring device is arranged below the loading positioning table.

[0012] The feeding and discharging spacing measuring device that can measure the distance between the uncoiler and the feeding and discharging positioning module is further included.

[0013] The loading positioning table is configured to enable the steel coil loaded thereon to be automatically centered and positioned.

[0014] The loading positioning table includes a lifting base, a V-shaped positioning groove seat with two symmetrical inclined angles fixedly arranged on the lifting base, and a steel coil loading space formed between the two guide surfaces, the clamping mechanism includes two clamping frames respectively corresponding to the outer sides of the two guide surfaces and a driving cylinder arranged below the V-shaped positioning groove seat, the clamping frame is divided into upper and lower parts at the hinge, the upper part is the clamping part, and the lower part is the tension driving part connected with the driving cylinder to drive the clamping or loosening.

[0015] The driving cylinder is provided with a rated pressure control module, and the driving cylinder drives the holding frame to adjust the angle and force of holding through the rated pressure control module.

[0016] The holding part is provided with a holding protection structure which can adapt to the section close to the outer wall of the steel roll and clamp the axial two ends when the steel roll is held.

[0017] The holding protection structure comprises a cross bar arranged on the holding part in the axial direction of the steel roll and a plurality of circular plates with eccentric holes, the circular plates are arranged on the cross bar through the eccentric holes and are closely arranged, and each circular plate can move around the cross bar.

[0018] By adopting the above technical scheme, the feeding and discharging transport vehicle is formed by integrating an intelligent mobile chassis, a lifting mechanism, a holding mechanism and a feeding and discharging positioning module composed of a visual device, an outer diameter measuring device and a width measuring device, and a full-automatic system capable of autonomous navigation, accurate positioning and automatic loading and transfer of the steel roll is formed, which can completely replace the traditional manual operation, significantly improves the operation efficiency and reduces the labor intensity and safety risk. In addition, the arrangement positions of the visual device, the outer diameter measuring device and the width measuring device in the feeding and discharging positioning module are improved, which makes the feeding and discharging transport vehicle of the utility model automatically and accurately measure the actual outer diameter of the steel roll and the axial position of the steel roll on the vehicle before feeding, provides key data for accurate lifting of the lifting mechanism and automatic compensation of the forward distance of the trolley, makes the transport vehicle adaptively process steel rolls of various outer diameters and width specifications without any manual intervention or mechanical adjustment, and solves the problem of poor equipment compatibility in the prior art. In addition, the visual device can accurately detect the coaxiality of the center of the steel roll and the shaft of the uncoiler in the last stage of feeding, ensures that safe and accurate automatic docking can be realized even in the case that the gap between the shaft of the uncoiler and the inner diameter of the steel roll is extremely small (such as 25 mm), and avoids collision accidents. In summary, the utility model can realize full-automatic, high-precision and highly adaptive feeding and discharging operation between the steel roll warehouse area and the shaft of the uncoiler, and has great significance for building a smart workshop and improving production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic view of a high-precision full-automatic steel roll feeding and discharging transport vehicle.

[0020] Figure 2 is a structural schematic view of a holding mechanism in a high-precision full-automatic steel roll feeding and discharging transport vehicle.

[0021] Figure 3It is the structure diagram of the tight protection structure of the high-precision full-automatic steel coil loading and unloading transport vehicle.

[0022] In the figure,

[0023] Intelligent mobile chassis 1; lifting mechanism 2;

[0024] Loading positioning table 3; lifting base 31; guide surface 32; V-shaped positioning groove seat 33;

[0025] Tight mechanism 4; tight frame 41; tight part 411; tight driving part 412; tight protection structure 413;

[0026] Cross bar 414; eccentric hole 415; round piece 416; driving cylinder 42;

[0027] Loading and unloading positioning module 5; vision equipment 51; outer diameter measuring equipment 52; width measuring equipment 53. DETAILED DESCRIPTION

[0028] In order to further explain the technical scheme of the utility model, the utility model will be described in detail through specific embodiments.

[0029] The high-precision full-automatic steel coil loading and unloading transport vehicle disclosed by the utility model, as shown in Figure 1 The utility model discloses a kind of high-precision full-automatic steel coil loading and unloading transport vehicle, which can realize full-automatic transfer and loading and unloading of steel coil, such as silicon steel coil, between storage area and decoiler. The transport vehicle mainly includes: intelligent mobile chassis 1 as carrying platform, lifting mechanism 2 for realizing lifting function is arranged on chassis 1, loading positioning table 3 is arranged on the top of lifting mechanism 2, tight mechanism 4 for fixing steel coil is arranged on loading positioning table 3, and loading and unloading positioning module 5 for realizing accurate positioning is integrated on intelligent mobile chassis 1.

[0030] Intelligent mobile chassis 1 is the carrier of the whole transport vehicle, and power supply system, driving system, navigation system (for example, laser SLAM and two-dimensional code combined navigation mode) and intelligent computing unit are integrated inside. It can independently plan path and accurately walk to steel coil warehouse area or decoiler station according to host computer instruction in factory building. Intelligent mobile chassis 1 has many existing public technical structures and products that can be referred to, which will not be described and disclosed too much here, but it does not affect the clear understanding of the technical scheme of the utility model for those skilled in the art.

[0031] The lifting mechanism 2 is used to drive the loading positioning table 3 above to lift to adapt to the different height of the decoiler shaft or the storage position. The lifting mechanism 2 can adopt the form of the commonly used lifting mechanism such as the scissor type, the guide column type, etc. It can be powered by the hydraulic pump station, the hydraulic oil tank and the lifting cylinder, etc. The lifting stroke is accurately controlled by the intelligent computing unit according to the data measured by the feeding and discharging positioning module 5.

[0032] The loading positioning table 3 is used to support the steel coil. In the embodiment, as shown in Figure 1 and Figure 2 , the loading positioning table 3 is preferably configured to enable the steel coil loaded thereon to be automatically centered and positioned. The specific structure disclosed in the embodiment is shown in the figure, which includes a lifting base 31 and a V-shaped positioning groove seat 33 fixedly arranged on the lifting base 31. The V-shaped positioning groove seat 33 has two symmetrical and V-shaped guide surfaces 32, and a steel coil loading space for accommodating the steel coil is formed between the two guide surfaces 32. When the steel coil is placed on the V-shaped positioning groove seat 33, its outer circular surface will naturally fit the two guide surfaces 32 under the action of gravity, and the automatic centering of the steel coil can be realized under the action of the symmetrical structure of the two guide surfaces 32, which ensures that the position of the center line of the steel coil in the horizontal transverse direction is fixed after each loading, laying a foundation for the subsequent accurate positioning.

[0033] The clamping mechanism 4 is installed on the loading positioning table 3 and is used to firmly lock the steel coil on the V-shaped positioning groove seat 33 during transportation to prevent it from rolling or falling off. In combination with Figure 1 and Figure 2As shown, the embracing mechanism 4 of the embodiment includes two embracing frames 41 and driving cylinders 42. The two embracing frames 41 are symmetrically arranged on the two outer sides of the V-shaped landing groove seat 33 (corresponding to the outer sides of the two guide surfaces 32) through the hinged shafts. Each embracing frame 41 is divided into an upper part and a lower part at the hinge, the upper part is an embracing part 411 for pressing the steel coil, and the lower part is a tension driving part 412 connected to the driving cylinder 42 to drive the embracing or loosening. The driving cylinder 42 is provided corresponding to the two embracing frames 41, such as being arranged under the V-shaped landing groove seat 33, the outer end of the piston rod of the driving cylinder 42 is hinged to the tension driving part 412 on the corresponding side, the driving force is balanced, and is not easy to be damaged. By controlling the extension and retraction of the driving cylinder 42, the embracing frame 41 can be rotated around the hinged shaft to realize the embracing or loosening of the embracing part 411 to the steel coil. In order to be compatible with steel coils of different diameters and prevent the deformation of thin-walled steel coils caused by excessive embracing force, the driving cylinder 42 (which can be an oil cylinder or an air cylinder) of the embodiment is preferably provided with a rated pressure control module (not shown in the figure). The rated pressure control module can accurately control the output pressure of the driving cylinder 42, so that the embracing frame 41 can provide sufficient friction force to prevent the steel coil from loosening when embracing steel coils of different diameters, and can avoid damage to the steel coil caused by excessive pressure, realizing self-adaptive flexible embracing of steel coils of different specifications. The rated pressure control module can be provided with a structure in the prior art. In the prior art, such a pressure control unit is a very mature component in the field of hydraulic / pneumatic transmission, and there are various disclosed structure forms that can be realized, such as a standard functional unit module constructed by a series of mature pressure control elements (such as overflow valve, load control valve, electric proportional valve, etc.) in the field of hydraulic / pneumatic transmission. The relevant technology can be easily obtained by those skilled in the art, and no more description is made here.

[0034] Further, in order to enhance the stability and safety of the embracing and prevent the steel coil from moving during transportation, such as Figure 1 、 Figure 2 、 Figure 3As shown, a clamping protection structure 413 is also constructed on the clamping portion 411. This clamping protection structure 413 specifically includes a crossbar 414 fixedly mounted on the clamping portion 411 along the axial direction of the steel coil, and multiple circular plates 416 movably passing through the crossbar 414. Each circular plate 416 has an eccentric hole 415, and is fitted onto the crossbar 414 through this eccentric hole 415, allowing the circular plate 416 to swing freely around the crossbar 414 within a certain range. These circular plates 416 are arranged closely adjacent to each other on the crossbar 414. When the clamping portion 411 of the clamping frame 41 presses against the steel coil, these circular plates 416 can adaptively swing, causing their edges to respectively adhere to the outer cylindrical surface of the steel coil, while the circular plates 416 at both ends can naturally lock into the axial end face edges of the steel coil. This structural design cleverly achieves radial clamping and axial limiting of the steel coil, providing reliable protection regardless of changes in the width of the steel coil. Compared to other existing structural designs, this one provides a more effective clamping and protective function.

[0035] The loading / unloading positioning module 5 is the core component for achieving fully automated, high-precision loading / unloading. For example... Figure 1 As shown, it mainly includes:

[0036] Vision device 51: Erected by a bracket structure on the side of the loading and positioning platform 3 used for feeding material to the uncoiler (i.e., Figure 1 On the outer side (the inner side of the loading platform 3), the support structure can be configured to adjust its orientation relative to the loading positioning platform 3 (allowing for height adjustment, relative distance adjustment, etc.). The shooting range of the vision device 51 is set to cover one axial end face of the steel coil on the loading positioning platform 3 (i.e., the end face closest to the vision device 51). Its function is to work with intelligent algorithms to detect the coaxiality between the center of the steel coil on the vehicle and the uncoiler shaft, as well as the safety gap between them, in real time during the loading and unloading process, acting as the "eyes" for precise docking.

[0037] The outer diameter measuring device 52 is positioned to measure the distance from the lowest point of the center of the steel coil on the loading positioning platform 3 to the starting point of the measurement. In this embodiment, it is preferably set under the loading positioning platform 3. The corresponding point on the loading positioning platform 3 is either bare or has a through hole, and multiple devices can be arranged at intervals along the axial direction of the steel coil to improve measurement reliability. When the steel coil falls onto the V-shaped positioning slot 33, the outer diameter measuring device 52 (such as a laser rangefinder sensor) emits a laser beam to measure the distance from itself to the lowest point of the outer surface of the steel coil. Since the geometric parameters of the V-shaped slot (such as the opening angle and installation height) are known, the intelligent calculation unit can accurately calculate the actual outer diameter D of the steel coil through a geometric algorithm.

[0038] Width measurement device 53: arranged to measure the distance from the starting point of the measurement to the end face of the coil opposite the vision device 51 on the loading positioning table 3. In the embodiment, it is arranged near or integrated with the vision device 51, and the measurement direction is parallel to the axial direction of the coil. When the coil is positioned, the width measurement device 53 measures the distance to the near end face of the coil, and in combination with the known starting point coordinates of the measurement, the accurate position of the coil in the axial direction can be determined. This data is crucial: on the one hand, it can verify the width information of the coil obtained from the warehouse management system; on the other hand, when feeding the decoiler, the intelligent computing unit can automatically adjust the forward distance of the transport vehicle according to this data to ensure that the axial position of the coil on the decoiler shaft (such as the distance from the flange plate of the decoiler) fully meets the process requirements, thereby being compatible with coils of different widths.

[0039] In addition, the loading and unloading positioning module 5 can also include an unloading spacing measurement device (not shown in the figure), such as a laser ranging sensor installed on the front of the vehicle body, which is used to accurately measure the relative distance between the vehicle and the decoiler in real time when the vehicle approaches the decoiler, providing the basis for the final fine adjustment and stopping. Here, it is worth mentioning that the outer diameter measurement device 52, the width measurement device 53, and the laser ranging sensor can use single-line or multi-line laser ranging sensors, which are more accurate and conducive to the acquisition and judgment of surrounding environmental parameter data.

[0040] Next, a working principle of the transport vehicle will be briefly described in combination with the above structure:

[0041] Loading process: the intelligent mobile chassis 1 automatically drives to the coil warehouse area and picks up the coil. The coil is positioned in the V-shaped positioning groove 33 and is automatically centered. Then, the outer diameter measurement device 52 and the width measurement device 53 immediately act to measure the actual outer diameter D and the axial position of the coil. The clamping mechanism 4 clamps the coil at the preset rated pressure according to the measured diameter D. After the vehicle drives to the decoiler station, the loading and unloading spacing measurement device guides the vehicle to stop accurately. The intelligent computing unit accurately calculates the lifting stroke H required by the lifting mechanism 2 according to the measured outer diameter D and the known height of the decoiler expansion shaft, and raises the center of the coil to the same height as the axis of the decoiler expansion shaft. Then, the vehicle slowly advances, and the vision device 51 monitors the relative position of the inner circle of the coil and the decoiler expansion shaft in real time, guides the vehicle to fine-tune, until they are completely concentric and the safety clearance is up to standard. Finally, the lifting mechanism 2 slightly descends, the coil is sleeved on the decoiler expansion shaft in the contracted state, the decoiler expansion shaft is expanded, and the loading is completed. The clamping mechanism 4 is released, and the vehicle returns.

[0042] The unloading process (residual material taking): the flow is opposite to the loading. The vehicle drives to the uncoiler station, and the visual equipment 51 guides the clamping mechanism 4 to accurately clamp the residual material coil. After the uncoiler shaft is retracted, the lifting mechanism 2 accurately lifts according to the pre-measured outer diameter of the residual material (or measured again when the material is taken), so that the inner circle of the coil is separated from the uncoiler shaft. After the visual equipment 51 confirms the safety of separation again, the vehicle retreats and smoothly takes out the coil. The clamping mechanism 4 remains in the clamping state and transports the coil back to the warehouse area.

[0043] The above embodiments and drawings are not limited to the product form and style of the utility model, and any appropriate changes or modifications made by any ordinary skilled person in the art shall be considered as not departing from the patent category of the utility model.

Claims

1. A high-precision full-automatic steel coil loading and unloading transport vehicle, characterized in that, The application relates to a steel coil loading and unloading positioning device, which comprises an intelligent mobile chassis, a lifting mechanism arranged on the intelligent mobile chassis, a loading positioning table arranged on the lifting mechanism and driven to move up and down by the lifting mechanism, a clamping mechanism arranged on the loading positioning table, and an upper and lower loading and unloading positioning module arranged on the intelligent mobile chassis.

2. The high-precision full-automatic steel coil loading and unloading transport vehicle according to claim 1, characterized in that, The upper and lower loading and unloading positioning module comprises vision equipment arranged on the opposite side of the intelligent mobile chassis relative to the side where the steel coil is loaded and unloaded, an outer diameter measuring device arranged at a position where the distance from the lowest point of the center of the steel coil on the loading positioning table to the starting point of distance measurement can be measured, and a width measuring device arranged at a position where the distance from the end face of the steel coil opposite to the vision equipment on the loading positioning table to the starting point of distance measurement can be measured.

3. The high-precision full-automatic steel coil loading and unloading transport vehicle according to claim 1, characterized in that, The vision equipment is arranged on a support structure which can be adjusted relative to the loading positioning table, and / or the vision equipment is arranged at a position where the shooting range can cover the axial end face of the steel coil on the loading positioning table, and / or the outer diameter measuring device is arranged in multiple along the axial direction of the steel coil, and / or the outer diameter measuring device is arranged below the loading positioning table.

4. The high-precision full-automatic steel coil loading and unloading transport vehicle according to claim 1, characterized in that, The upper and lower loading and unloading positioning module further comprises an upper and lower loading and unloading spacing measuring device which can measure the distance between the uncoiler.

5. A high-precision full-automatic steel coil loading and unloading transport vehicle according to any one of claims 1-4, characterized in that, The loading positioning table is configured to enable the steel coil loaded thereon to be automatically centered and positioned.

6. The high-precision full-automatic steel coil loading and unloading transport vehicle according to claim 5, characterized in that, The loading positioning table comprises a lifting base, a V-shaped positioning groove seat with two opposite symmetrical inclined angle guide surfaces fixedly arranged on the lifting base and forming a steel coil loading space between the two guide surfaces, and the clamping mechanism comprises two clamping frames respectively corresponding to the outer sides of the two guide surfaces and symmetrically hinged on the V-shaped positioning groove seat and a driving cylinder arranged below the V-shaped positioning groove seat, the upper part of the clamping frame is a clamping part, and the lower part is a loose driving part connected to the driving cylinder and driven by the driving cylinder to clamp or loosen.

7. The high-precision full-automatic steel coil loading and unloading transport vehicle according to claim 5, characterized in that, The driving cylinder is driven corresponding to the two clamping frames, the outer end of the piston rod of the driving cylinder is hinged on the corresponding loose driving part, and the driving cylinder is provided with a rated pressure control module for controlling the driving cylinder to drive the clamping frame to adjust the angle and force of clamping.

8. The high-precision full-automatic steel coil loading and unloading transport vehicle according to claim 7, characterized in that, The clamping part is provided with a clamping protection structure which can be self-adapted to the section close to the outer side wall of the steel coil and clamped on the axial two ends when the steel coil is clamped.

9. The high-precision full-automatic steel coil loading and unloading transport vehicle according to claim 8, characterized in that, The clamping protection structure comprises a cross bar arranged on the clamping part along the axial direction of the steel coil and a plurality of circular plates with eccentric holes, the circular plates are arranged on the cross bar through the eccentric holes and are closely arranged in multiple, and each circular plate can rotate around the cross bar. The driving cylinder is driven corresponding to the two clamping frames, the outer end of the piston rod of the driving cylinder is hinged on the corresponding loose driving part, and the driving cylinder is provided with a rated pressure control module for controlling the driving cylinder to drive the clamping frame to adjust the angle and force of clamping.

Images