Steel coil overflow detection equipment

Abstract

This application provides a steel coil overflow edge detection device, comprising: a device frame, a laser emitting component, a laser receiving component, and an electrical control component. The laser emitting component emits a laser beam, the laser receiving component receives the reflected laser beam, and the electrical control component detects the length of the overflow edge of the steel coil based on the reflected laser beam. The laser emitting component includes a fixed bracket for the emitting component, a laser emitter, a left-right tilting component, and a front-back tilting component. The left-right tilting component and the front-back tilting component drive the laser emitter to scan a three-dimensional fan-shaped area. This allows for contour scanning of the location where the target steel coil may be clamped, confirming whether the actual steel coil has an overflow edge and whether it can be safely and reliably hoisted. This effectively reduces the accident rate of automated cranes during automated operations and improves safety.

Description

Technical Field

[0001] This utility model belongs to the field of testing equipment, specifically, it relates to a steel coil overflow edge detection device. Background Technology

[0002] The automation rate of cranes in the metallurgical industry is getting higher and higher, especially the automation rate of steel coil lifting cranes. However, due to various unavoidable reasons, the central few layers or the last few layers of the steel coil may be unevenly rolled, resulting in overflow edges.

[0003] During automated lifting operations by automated cranes, the overflow edge of steel coils has a significant impact on the safety and success rate of automated lifting. This is because the overflow edge often prevents the clamps from properly gripping the steel coil, leading to anything from failure to lift smoothly to rollover accidents and losses.

[0004] Therefore, when using automated cranes to retrieve coils, it is crucial to confirm before lifting that the steel coil has any overflow edges that could seriously affect the lifting process and that it meets operational safety requirements.

[0005] Patent document CN111307038A discloses a method for detecting overflow edges of steel coils based on laser vision, belonging to the field of advanced detection. This method uses a point laser displacement sensor to detect overflow edge data. First, the point laser displacement sensor, installed at the end of an industrial robot, scans along a preset route to acquire an image of the overflow edge shape and its original data, which is then transmitted to a host computer. Next, the centerline of the overflow edge's original data is fitted using the least squares method, and this fitted line is used as a benchmark to correct the original data, eliminating the influence caused by the non-parallelism between the laser displacement sensor and the detection end face. Finally, an appropriate threshold is set to automatically determine whether the overflow edge exceeds the limit.

[0006] However, patent document CN111307038A uses a point laser displacement sensor installed at the end of an industrial robot to scan along a preset route. During the scanning process, the industrial robot needs to change the scanning range and position of the laser displacement sensor, resulting in a high overall cost for the laser emitting component. Utility Model Content

[0007] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a detection device for overflow edge of steel coil.

[0008] According to the present invention, a detection device for overflow edge of steel coils includes: a device frame for mounting a laser emitting component, a laser receiving component, and an electrical control component;

[0009] The laser emitting assembly includes an emitting assembly fixing bracket, a laser emitter, a left-right tilting assembly, and a front-back tilting assembly;

[0010] The laser emitter is mounted on the forward and backward tilting assembly;

[0011] The forward and backward tilting assembly is mounted on the left and right tilting assembly and is used to control the laser emitter to rotate forward and backward, thereby enabling the laser to scan in the forward and backward direction.

[0012] The left and right tilting components are mounted on the fixed bracket of the emitting components and are used to control the laser emitter to rotate left and right together with the front and rear tilting components to achieve laser scanning in the left and right direction;

[0013] The left-right tilting component and the front-back tilting component are used to jointly control the rotation of the laser emitter, so that the laser can scan a three-dimensional fan-shaped area.

[0014] Preferably, the left and right tilting assembly includes a left and right tilting bracket and a left and right tilting motor, and the front and back tilting assembly includes a front and back tilting bracket and a front and back tilting motor;

[0015] The launch assembly mounting bracket includes a base plate, a front plate, and a rear plate;

[0016] The left and right tilt motors are mounted on the outer side of the front plate; the left and right tilt brackets are mounted between the front and rear plates, and the left and right tilt motors are used to drive the left and right tilt brackets to rotate left and right;

[0017] The front and rear tilting bracket is installed inside the left and right tilting bracket, and the front and rear tilting motor is used to drive the front and rear tilting bracket to rotate back and forth.

[0018] The laser emitter is installed in the front and rear tilting bracket.

[0019] Preferably, a first shaft hole is provided at the upper center of the front plate, and first mounting holes are provided on both sides of the first shaft hole; a second shaft hole is provided at the upper center of the rear plate; the left and right tilting motor is fixed on the launching component fixing bracket through the first mounting holes.

[0020] The left and right tilting bracket includes a front ring, a rear ring, a left truncated circular plane, and a right truncated circular plane; a third shaft hole is provided at the center of the left truncated circular plane, and second mounting holes are provided on both sides of the third shaft hole. The second mounting holes are used to fix the front and rear tilting motors, and a fourth shaft hole is provided at the center of the right truncated circular plane.

[0021] A first rotating shaft is provided in the middle of the front ring, and a second rotating shaft is provided in the middle of the rear ring. The first rotating shaft passes through the first shaft hole and is installed with the left and right tilting motor, and the second rotating shaft passes through the second shaft hole and is installed with the launching component fixing bracket.

[0022] The front and rear tilting bracket is a circular bracket. A third rotating shaft is provided on the left side of the circular bracket, and a fourth rotating shaft is provided on the right side of the circular bracket. The third rotating shaft passes through the third shaft hole and is installed with the front and rear tilting motor. The fourth rotating shaft passes through the fourth shaft hole and is installed with the left and right tilting bracket.

[0023] Preferably, the equipment frame includes a launch compartment partition and a receiver compartment partition, which divide the equipment frame into a launch compartment, a receiver compartment, and an electrical compartment.

[0024] The laser emitting assembly is disposed in the emitting chamber, the laser receiving assembly is disposed in the receiving chamber, and the electrical control assembly is disposed in the electrical chamber.

[0025] Preferably, the laser receiving assembly includes a receiver bracket and a laser receiver, wherein the receiver bracket has a circular hole at its top for fixing the laser receiver.

[0026] Preferably, a coated spherical lens is mounted on the top of the laser receiver.

[0027] Preferably, the electrical control component includes a control circuit board and a power supply circuit board, with the control circuit board positioned above the power supply circuit board.

[0028] Preferably, the steel coil overflow edge detection device further includes a stuffing box, which is disposed on the outside of the device frame.

[0029] Compared with the prior art, this application has the following beneficial effects:

[0030] 1. This application discloses a steel coil overflow edge detection device. A left-right tilting component in the laser emitting assembly controls the laser emitter's left-right rotation, achieving laser scanning in the left-right direction. A front-back tilting component controls the laser emitter's front-back rotation, achieving laser scanning in the front-back direction. Thus, the left-right and front-back tilting components jointly control the laser emitter's rotation, enabling the laser emitted by the emitter to scan a three-dimensional fan-shaped area. This application utilizes this simple mechanical structure of left-right and front-back tilting components to change the rotation angle of the laser emitting bracket, achieving scanning of the desired area. The overall cost of the laser emitting assembly is low.

[0031] 2. This application uses a transmitter compartment partition and a receiver compartment partition to divide the metal frame into a transmitter compartment, a receiver compartment, and an electrical compartment. Isolating the transmitter and receiver can effectively avoid calculation errors caused by near-field light interference, while isolating the electrical compartment can better seal the circuit board assembly and achieve a higher level of electrical protection. Attached Figure Description

[0032] Other features, objects, and advantages of this invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0033] Figure 1 This is a schematic diagram of the internal structure of a steel coil overflow edge detection device.

[0034] Figure 2 for Figure 1 AA cross-section diagram;

[0035] Figure 3 for Figure 1 BB cross-section diagram;

[0036] Figure 4 for Figure 1 CC cross-section diagram;

[0037] Figure 5 This is a schematic diagram of the laser emitting component.

[0038] Figure 6 This is a schematic diagram of the power supply circuit board.

[0039] Figure 7 This is a schematic diagram of the scanning optical path of a laser emitter rotating back and forth.

[0040] Figure 8 This is a schematic diagram of the scanning optical path of a laser emitter rotating left and right.

[0041] The diagram shows:

[0042] Equipment frame 1, second shaft hole 2031, electrical compartment 103

[0043] Laser emitting assembly 2, front ring 2200, receiver bracket 30

[0044] Laser receiver assembly 3, rear ring 2201, laser receiver 31

[0045] Electrical control component 4, base plate 201, control circuit board 40

[0046] Transmitter assembly mounting bracket 20, left truncated circular plane 2202, power circuit board 41

[0047] Laser emitter 21, right truncated circular plane 2203, stuffing box 5

[0048] Left and right tilt assembly 22 Third shaft hole 2204 Left and right tilt motor interface 401

[0049] Forward and backward tilting assembly 23 Second mounting hole 2205 Forward and backward tilting motor interface 402

[0050] Left and right tilt bracket 220, fourth shaft hole 2206, stepper motor controller 403

[0051] Left and right tilt motor 221, first rotating shaft 2207, main control chip 404

[0052] Forward and backward tilting bracket 230, second rotation axis 2208, control board power interface 405

[0053] Forward and backward tilting motor 231, third rotating shaft 2301, 24VDC / 5VDC chip 410

[0054] Base plate 201, fourth rotating shaft 2302, relay 411

[0055] Front panel 202, launch compartment partition 10, control board power interface 412

[0056] Rear panel 203, Receiver compartment partition 11, 24V power interface 413

[0057] First shaft hole 2021, launch chamber 101, relay output interface 414

[0058] First mounting hole 2022 Receiver compartment 102 Detailed Implementation

[0059] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0060] like Figures 1-6 As shown, this embodiment provides a steel coil overflow edge detection device, including: device frame 1, laser emitting component 2, laser receiving component 3, and electrical control component 4;

[0061] The equipment frame 1 is used to install the laser emitting component 2, the laser receiving component 3, and the electrical control component 4; the equipment frame 1 can be a metal frame.

[0062] The laser emitting component 2 is used to emit a laser beam, the laser receiving component 3 is used to receive the reflected laser beam to detect the length of the overflow edge of the steel coil, and the electrical control component 4 is used to predict the hoisting result based on the length of the overflow edge of the steel coil.

[0063] The laser emitting assembly 2 includes an emitting assembly fixing bracket 20, a laser emitter 21, a left-right tilting assembly 22, and a front-back tilting assembly 23. The left-right tilting assembly 22 is mounted on the emitting assembly fixing bracket 20 and is used to control the left-right rotation of the laser emitter 21 to achieve laser scanning in the left-right direction. The front-back tilting assembly 23 is mounted on the left-right tilting assembly 22 and is used to control the front-back rotation of the laser emitter 21 to achieve laser scanning in the front-back direction. The left-right tilting assembly 22 and the front-back tilting assembly 23 are used to drive the laser emitter 21 to scan a three-dimensional fan-shaped area.

[0064] The left and right tilting assembly 22 includes a left and right tilting bracket 220 and a left and right tilting motor 221, and the front and back tilting assembly 23 includes a front and back tilting bracket 230 and a front and back tilting motor 231;

[0065] The launch component mounting bracket 20 is a U-shaped bracket, including a base plate 201, a front plate 202 and a rear plate 203.

[0066] The left and right tilt motor 221 is installed on the outer side of the front plate 202; the left and right tilt bracket 220 is installed between 202 and the rear plate 203. The left and right tilt motor 221 is used to drive the left and right tilt bracket 220 to rotate left and right. The rotation of the left and right tilt bracket 220 can drive the rotation of the entire front and rear tilt bracket 230, which indirectly drives the laser emitter 21 to rotate left and right, thereby realizing laser scanning in the left and right direction.

[0067] The laser emitter 21 is installed in the front and rear tilting bracket 230, which is installed in the left and right tilting bracket 220. The front and rear tilting motor 231 is used to drive the front and rear tilting bracket 230 to rotate back and forth. The front and rear rotation of the front and rear tilting bracket 230 can drive the laser emitter 21 to rotate back and forth, thereby realizing laser scanning in the front and rear direction.

[0068] Therefore, by appropriately controlling the rotation of the front and rear tilting bracket 230 and the left and right tilting bracket 220, a three-dimensional fan-shaped area of ​​the laser emitter 21 can be scanned. By performing a laser scan vertically towards the top of the steel coil from the center position of the steel coil hoisting, the obstruction of the clamping area can be detected, thereby determining the overflow edge situation.

[0069] A first shaft hole 2021 is provided at the upper center of the front plate 202, and first mounting holes 2022 are provided on both sides of the first shaft hole 2021. A second shaft hole 2031 is provided at the upper center of the rear plate 203. The left and right tilting motor 221 is fixed to the launch component fixing bracket 20 through the first mounting holes 2022.

[0070] The left and right tilting bracket 220 includes a front ring 2200, a rear ring 2201, a left truncated circular plane 2202, and a right truncated circular plane 2203; a third shaft hole 2204 is provided at the center of the left truncated circular plane 2202, and second mounting holes 2205 are provided on both sides of the third shaft hole 2204. The second mounting holes 2205 are used to fix the front and rear tilting motors 231. A fourth shaft hole 2206 is provided at the center of the right truncated circular plane 2203.

[0071] A first rotating shaft 2207 is provided in the middle of the front ring 2200, and a second rotating shaft 2208 is provided in the middle of the rear ring 2201. The first rotating shaft 2207 passes through the first shaft hole 2021 and is installed with the left and right tilting motor 221. The second rotating shaft 2208 passes through the second shaft hole 2031 and is installed with the launch component fixing bracket 20.

[0072] The front and rear tilting bracket 230 is a ring bracket. A third rotating shaft 2301 is provided on the left side of the ring bracket, and a fourth rotating shaft 2302 is provided on the right side of the ring bracket. The third rotating shaft 2301 passes through the third shaft hole 2204 and is installed with the front and rear tilting motor 231. The fourth rotating shaft 2302 passes through the fourth shaft hole 2206 and is installed with the left and right tilting bracket 220.

[0073] The equipment frame 1 includes a launch compartment partition 10 and a receiver compartment partition 11, which divide the equipment frame 1 into a launch compartment 101, a receiver compartment 102 and an electrical compartment 103.

[0074] The laser emitting assembly 2 is housed in the emitting chamber 101, the laser receiving assembly 3 is housed in the receiving chamber 102, and the electrical control assembly 4 is housed in the electrical chamber 103. Isolation between the emitting and receiving components effectively avoids calculation errors caused by near-field light interference, while the electrical chamber isolation provides better sealing of the circuit board assembly, achieving a higher level of electrical protection.

[0075] The laser receiver assembly 3 includes a receiver bracket 30 and a laser receiver 31. The receiver bracket 30 has a round hole at its top for fixing the laser receiver 31. The receiver bracket 30 is a U-shaped bracket.

[0076] A coated spherical lens is installed at the top of the laser receiver 31 to improve the receiving sensitivity of the laser receiver, expand the light receiving range, and filter out environmental interference light.

[0077] The electrical control component 4 includes a control circuit board 40 and a power supply circuit board 41, with the control circuit board 40 positioned above the power supply circuit board 41.

[0078] The steel coil overflow edge detection equipment also includes a stuffing box 5, which is located on the outside of the equipment frame 1.

[0079] In one embodiment, the transmitting chamber 101 and the receiving chamber 102 are made of transparent protective structures, allowing laser beams to pass through without obstruction.

[0080] The control circuit board 40 includes a left and right tilt motor interface 401, a front and back tilt motor interface 402, a stepper motor controller 403, a main control chip 404, and a control board power interface 405.

[0081] The power supply circuit board 41 includes a 24VDC / 5VDC chip 410, a relay 411, a control board power interface 412, a 24V power interface 413, and a relay output interface 414.

[0082] like Figure 7 As shown, since the smaller the outer diameter of the steel coil, the larger the scanning angle range in this embodiment, taking a steel coil with a minimum outer diameter of 500 mm that is allowed for automated hoisting as an example, O is the center of the steel coil, and the steel coil overflow edge detection device is located at the center of the steel coil, with an allowable error of ±50 mm, to ensure that the steel coil overflow edge detection device works in this embodiment.

[0083] The CD length is 300 mm, which is the width of the clamp arm, so no overflow is allowed within this range. Therefore, the scanning angle, angular COD is 73 degrees, which is the maximum front-to-back scanning angle. This scanning direction corresponds to the front-to-back tilt direction in this embodiment, and the front-to-back tilt angle is greater than 90 degrees, fully covering the actual application requirements.

[0084] like Figure 8 As shown, the center position O is 50 mm from the end face of the steel coil; this is the actual scanning point. When the overflow edge length is 100 mm, the EOF angle is 23 degrees. Through simple geometric calculations, it is known that regardless of whether the detection center O is located on the central axis of the steel coil end face or on the central axis 100 mm away from the end face, the EOF angle is always 23 degrees. Therefore, as long as the left and right scanning tilt angles meet ±12 degrees (0 degrees for point O in the illustration), the practical application requirements can be met. The left and right tilt angles designed in this utility model are greater than ±15 degrees, fully covering the range of practical application requirements.

[0085] The practical application scenario of this embodiment is the jaw position of a steel coil clamp. The internal space of the clamp jaw is very small, measuring 200 mm wide, 100 mm high, and 60 mm thick. Therefore, this embodiment uses as many small components as possible. The circuit board is arranged in two sections. The top circuit board is the control circuit board 40, and the core control chip is the GD32F407RET6 chip. Its 168MHz main frequency ensures high-speed output and input response, and its stable operation in a temperature range of -40 to 85 degrees Celsius ensures stable operation in harsh environments. The stepper motor driver chip uses the LV8414CS chip, which has a 4-channel H-bridge, providing more precise stepper motor control functions and a very small size, ensuring the miniaturization and stable operation of this utility model.

[0086] The bottom circuit board is a power supply circuit board 41, which converts 24VDC to 5VDC through a DC / DC converter chip. In addition, the bottom circuit board is equipped with a relay output node, which is used to output a signal when an abnormality is detected.

[0087] In one embodiment, the control circuit board 40 is provided with communication interfaces such as DP communication, PN communication, RS485 communication, and CAN communication.

[0088] The basic working principle of this utility model is as follows:

[0089] With the laser reflector 21 centered vertically at an angle of 0 degrees, the left and right tilt angle range is ±12 degrees, and the front and back tilt angle range is ±40 degrees. The PLC in the clamp communicates with this invention to control it. After receiving the crane's start command, the clamp PLC sends a start scanning command to this invention. First, the left and right tilt motor 221 drives the laser reflector 21 to -12 degrees. The front and back tilt motor 231 drives the laser reflector 21 to -45 degrees, and then controls the front and back tilt motor 231 to scan in 0.5-degree steps. Each scan triggers the laser emitter 21 to emit a laser beam. If there is an obstruction in front, the laser will be reflected back. The reflected laser light is received by the laser receiver 3 and emits a low-level signal; otherwise, it is considered a high-level signal. This is used as the basis for obstruction judgment. When the tilt motor 231 reaches an angle of 40 degrees, the left and right tilt motor 221 is controlled to advance by 0.5 degrees, and then the tilt motor 231 is controlled to advance by -0.5 degrees until -40 degrees. This process is repeated to form a fan-shaped three-dimensional scanning area within a range of ±12 degrees on the left and right and ±40 degrees on the front and back.

[0090] With this scanning method, the resolution for the smallest steel coil is approximately 2.1 mm horizontally and 1.9 mm front-to-back. However, for steel coils with a maximum diameter of two meters, the scanning resolution is significantly higher. Figure 7Based on the same principle as the geometric optical path shown, it can be calculated that the left-right resolution is approximately 4.17 mm and the front-back resolution is approximately 8.82 mm. This resolution can meet the actual usage requirements.

[0091] Taking a maximum tilt range of ±40 degrees forward and backward and a maximum tilt range of ±12 degrees left and right as an example, with a step size of 0.5 degrees, it would take 80 / 0.5*(12 / 0.5)=160*24=3840 scans to complete the entire scan.

[0092] This embodiment is designed to scan at a scanning frequency of 1000 times per second, and it takes 3.84 seconds to complete the full range scan. That is, it can determine whether there is any steel coil overflow within the clamp arm range in about 3.84 seconds. The whole time will not affect the overall lifting efficiency in the context of the entire lifting cycle of about 4 minutes.

[0093] If an overflow edge is detected to exceed the threshold after the scan is completed, the control relay will be activated to notify the clamp PLC that the clamping task cannot be completed.

[0094] In one embodiment, an absorbing coating or material is applied or installed on the bottom of the clamp crossbeam to ensure that the laser receiving component 3 fully absorbs the laser wavelength light, thereby preventing the detection data from being invalidated due to obstruction by the crossbeam at the top of the clamp when scanning is performed at the clamp feet, thus ensuring the effectiveness of the detection.

[0095] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0096] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the substantive content of this utility model. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A coil over-run edge detection apparatus characterized by, include: The equipment frame (1) is used to install the laser emitting assembly (2), the laser receiving assembly (3), and the electrical control assembly (4); The laser emitting assembly (2) includes an emitting assembly fixing bracket (20), a laser emitter (21), a left and right tilting assembly (22), and a front and back tilting assembly (23); The laser emitter (21) is mounted on the front and rear tilting assembly (23); The front and rear tilting assembly (23) is mounted on the left and right tilting assembly (22) and is used to control the laser emitter (21) to rotate back and forth, so as to realize the scanning of the laser in the front and rear directions; The left and right tilting component (22) is mounted on the transmitter component fixing bracket (20) and is used to control the laser transmitter (21) to rotate left and right together with the front and rear tilting component (23) to realize laser scanning in the left and right direction; The left and right tilting components (22) and the front and back tilting components (23) are used to jointly control the rotation of the laser emitter (21) so that the laser can scan a three-dimensional fan-shaped area.

2. The coil overflow edge detection apparatus according to claim 1, characterized by The left and right tilting assembly (22) includes a left and right tilting bracket (220) and a left and right tilting motor (221), and the front and rear tilting assembly (23) includes a front and rear tilting bracket (230) and a front and rear tilting motor (231); The launch assembly mounting bracket (20) includes a base plate (201), a front plate (202), and a rear plate (203). The left and right tilt motor (221) is installed on the outer side of the front plate (202); the left and right tilt bracket (220) is installed between the (202) and the rear plate (203), and the left and right tilt motor (221) is used to drive the left and right tilt bracket (220) to rotate left and right; The front and rear tilting bracket (230) is installed inside the left and right tilting bracket (220), and the front and rear tilting motor (231) is used to drive the front and rear tilting bracket (230) to rotate back and forth; The laser emitter (21) is installed in the front and rear tilting bracket (230).

3. The steel coil overflow edge detection device according to claim 2, characterized in that, The front plate (202) has a first shaft hole (2021) at the upper center position, and first mounting holes (2022) are provided on both sides of the first shaft hole (2021). The rear plate (203) has a second shaft hole (2031) at the upper center position. The left and right tilting motor (221) is fixed on the launch assembly fixing bracket (20) through the first mounting holes (2022). The left and right tilting bracket (220) includes a front ring (2200), a rear ring (2201), a left truncated circular plane (2202), and a right truncated circular plane (2203); a third shaft hole (2204) is provided at the center of the left truncated circular plane (2202), and second mounting holes (2205) are provided on both sides of the third shaft hole (2204). The second mounting holes (2205) are used to fix the front and rear tilting motor (231). A fourth shaft hole (2206) is provided at the center of the right truncated circular plane (2203). The front ring (2200) has a first rotating shaft (2207) in the middle, and the rear ring (2201) has a second rotating shaft (2208) in the middle. The first rotating shaft (2207) passes through the first shaft hole (2021) and is installed with the left and right tilting motor (221). The second rotating shaft (2208) passes through the second shaft hole (2031) and is installed with the launching component fixing bracket (20). The front and rear tilting bracket (230) is a ring bracket. A third rotating shaft (2301) is provided on the left side of the ring bracket, and a fourth rotating shaft (2302) is provided on the right side of the ring bracket. The third rotating shaft (2301) passes through the third shaft hole (2204) and is installed with the front and rear tilting motor (231). The fourth rotating shaft (2302) passes through the fourth shaft hole (2206) and is installed with the left and right tilting bracket (220).

4. The steel coil overflow edge detection device according to claim 1, characterized in that, The equipment frame (1) includes a launch compartment partition (10) and a receiver compartment partition (11), which divide the equipment frame (1) into a launch compartment (101), a receiver compartment (102) and an electrical compartment (103); The laser emitting component (2) is disposed in the emitting chamber (101), the laser receiving component (3) is disposed in the receiving chamber (102), and the electrical control component (4) is disposed in the electrical chamber (103).

5. The steel coil overflow edge detection device according to claim 1, characterized in that, The laser receiving assembly (3) includes a receiver bracket (30) and a laser receiver (31). The receiver bracket (30) has a round hole at the top for fixing the laser receiver (31).

6. The steel coil overflow edge detection device according to claim 5, characterized in that, The laser receiver (31) is equipped with a coated spherical lens at its top.

7. The steel coil overflow edge detection device according to claim 1, characterized in that, The left and right tilt angle of the laser emitter (21) is greater than ±15 degrees.

8. The steel coil overflow edge detection device according to claim 1, characterized in that, The forward and backward tilt angle of the laser emitter (21) is greater than 90 degrees.

9. The steel coil overflow edge detection device according to claim 1, characterized in that, The electrical control component (4) includes a control circuit board (40) and a power supply circuit board (41), with the control circuit board (40) positioned above the power supply circuit board (41).

10. The steel coil overflow edge detection device according to claim 1, characterized in that, The steel coil overflow detection device also includes a stuffing box (5), which is located on the outside of the device frame (1).

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