CN111115441A - Intelligent double-arm vertical steel coil clamp and clamping and unloading method - Google Patents
Intelligent double-arm vertical steel coil clamp and clamping and unloading method Download PDFInfo
- Publication number
- CN111115441A CN111115441A CN202010065963.5A CN202010065963A CN111115441A CN 111115441 A CN111115441 A CN 111115441A CN 202010065963 A CN202010065963 A CN 202010065963A CN 111115441 A CN111115441 A CN 111115441A
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- steel coil
- vertical steel
- rod
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 71
- 239000010959 steel Substances 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 83
- 230000003028 elevating effect Effects 0.000 claims description 2
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000006748 scratching Methods 0.000 description 2
- 230000002393 scratching effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/16—Applications of indicating, registering, or weighing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/50—Applications of limit circuits or of limit-switch arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses an intelligent double-arm vertical steel coil clamp and a clamping and unloading method, belonging to the technical field of unmanned intelligent crane dispatching, the steel coil clamp comprises a clamp body, a telescopic connecting rod connected with the swing hook and a latch hook opening detection sensor used for detecting the opening state of the swing hook and the fixed hook are arranged on the left pull rod or the right pull rod on the same side of the swing hook relative to the latch hook side of the fixed hook, the swing hook is provided with a latch hook locking detection sensor for detecting the locking state of the swing hook and the fixed hook on a right pull rod or a left pull rod on the back side of the latch hook side of the fixed hook, the swing hook is provided with a convex block for touching the latch hook locking detection sensor at one end rotatably connected with the pin shaft, and a contact clamping detection device for detecting the contact and the clamping state of the clamp body and the vertical steel coil and a lifting mechanism for touching the contact clamping detection device are arranged on the supporting plate. The steel coil clamp can meet the requirement of unmanned lifting of the vertical steel coil.
Description
Technical Field
The invention belongs to the technical field of an unmanned intelligent crane dispatching system of a steel coil warehouse, and particularly relates to an intelligent double-arm vertical steel coil clamp and a clamping and unloading method.
Background
With the progress and development of society, modern control technology is more and more integrated into modern production technology, and unmanned intelligent crane control system has more and more been applied to storehouse dispatch system because of its many advantages such as high efficiency, safety, economy.
At present, the domestic horizontal steel coil unmanned hoisting technology is applied, and the effect is obvious. However, for the lifting of the vertical steel coil, because a pure mechanical structure is adopted, a corresponding control signal cannot be provided for a control system; meanwhile, the vertical steel coil clamp has the problems that the impact force is large in the using process, the steel coil cannot be clamped due to too high lifting speed of the clamp, and the like, so that the intelligent steel coil clamp which can adapt to the vertical steel coil does not exist in the market.
In order to realize the automatic clamping and automatic coil discharging of the vertical steel coil, the steel coil clamping needs to meet the following requirements: 1. providing a control signal to the control system that the clamp has been lowered into position; 2. providing a control signal for the control system when the self-locking system is operated in place; 3. the lifting speed of the clamp is effectively controlled, and the condition that the clamp does not clamp the steel coil is avoided; 4. the levelness of the clamped steel coil is strictly controlled, and the situation that the steel coil is inclined to cause insufficient positioning precision is avoided.
In addition, the coil of strip clamp divide into single armed formula and two armed formula, and single armed formula is because only press from both sides and get coil of strip one side, consequently, along with coil of strip weight difference, takes place to incline at the in-process of hanging to get, and different weight inclination angles are also different, can't guarantee positioning accuracy. Meanwhile, the proportion of the vertical steel coil clamp used in China is high, and the vertical steel coil clamp is particularly used for train transportation and is stored vertically in order to ensure the stability in the transportation process.
Therefore, it is very necessary to explore an intelligent double-arm vertical steel coil clamp, which can meet the requirement of unmanned hoisting of vertical steel coils.
Disclosure of Invention
In view of this, the present invention provides an intelligent double-arm vertical steel coil clamp and a clamping and unloading method thereof, so as to solve the need of unmanned hoisting of vertical steel coils.
The invention is realized by the following technical scheme:
the invention provides an intelligent double-arm vertical steel coil clamp which comprises a clamp body consisting of a hanging rod, a pin shaft, a swing hook, a left pull rod, a left curved rod, a balance connecting rod, a supporting plate, an outer jaw, a fixed hook, a right pull rod, a right connecting rod, a right curved rod and an inner jaw, wherein a telescopic connecting rod connected with the swing hook and a lock hook opening detection sensor used for detecting the opening state of the swing hook and the fixed hook are arranged on the left pull rod or the right pull rod on the same side of the swing hook relative to the lock hook side of the fixed hook, a lock hook locking detection sensor used for detecting the locking state of the swing hook and the fixed hook is arranged on the right pull rod or the left pull rod on the back side of the swing hook relative to the lock hook side of the fixed hook, a convex block used for touching the lock hook locking detection sensor is arranged at one end of the swing hook rotatably connected with the pin shaft, a contact clamping detection device used for detecting the contact and clamping And a lifting mechanism for touching and contacting the clamping detection device.
Furthermore, both ends of the telescopic connecting rod are provided with hinged parts and are composed of a sleeve, an electric push rod, a connecting shaft and an end cover, the sleeve is sleeved with the connecting shaft capable of sliding along the axial direction of the sleeve through the end cover, and the outer wall of the sleeve is provided with the electric push rod capable of abutting against a yielding port arranged on the connecting shaft.
Furthermore, the lifting mechanism consists of an inclined block, a support and a lifting rod, wherein the support is fixed on the supporting plate, the lifting rod is sleeved on the support and is in sliding fit with the support, and the inclined block is arranged on the lifting rod and is positioned above the support.
Furthermore, the end of the lifting rod departing from the inclined block is provided with a cambered surface which is in contact with the vertical steel coil. Avoiding scratching the edge of the steel coil.
Furthermore, the lifting mechanism also comprises a guide screw which is arranged on the support and matched with a guide groove arranged on the lifting rod.
Furthermore, the contact clamping detection device consists of a contact detection sensor, a base and a clamping detection sensor, wherein the base is fixed on the supporting plate, and the contact detection sensor and the clamping detection sensor are correspondingly arranged on the base up and down and interact with the inclined block. Whether can detect the clamp body with vertical coil of strip contact with detect the clamp body and the tight condition of vertical coil of strip clamp, if the contact surface is not enough, then report to the police.
Furthermore, the contact clamping detection device further comprises a buffer cushion block, and the base is arranged on the supporting plate through the buffer cushion block. Four buffer cushion blocks are arranged between the base and the supporting plate, and are fixedly installed on the supporting plate through fixing bolts to buffer impact and avoid damaging the sensor.
Further, the lock hook locking detection sensor, the contact detection sensor and the clamping detection sensor adopt travel switches, and the lock hook opening detection sensor adopts a photoelectric switch.
Further, the hanger rod adopts a double-head hanger rod structure. The stability of the clamp body in the hoisting process is ensured.
The invention utilizes the method for clamping and disassembling the intelligent double-arm vertical steel coil clamp, which is characterized by comprising the following steps:
1) moving the clamp body to a position right above the vertical steel coil, wherein the telescopic connecting rod is in an extending state, and the fixed hook and the swinging hook are in a locking state of the locking hook;
2) the clamp body descends, the lifting rod is contacted with the vertical steel coil and ascends, the fixed hook drives the swinging hook to swing upwards, and at the moment, the lock hook locks the detection sensor and loses power;
3) after the contact detection sensor is electrified, the clamp body slowly descends;
4) after the clamping detection sensor is powered on, the clamp body stops descending, and at the moment, the lock hook opening detection sensor is powered on;
5) the electric push rod is electrified and extends out of the abutting connecting shaft, the telescopic connecting rod is in a retraction state, and the fixed hook and the swinging hook are in a hook opening state;
6) enabling the clamp body to start to lift the vertical steel coil, and if the clamping detection sensor loses power, immediately giving an alarm and returning to the step 4); if the clamping detection sensor is powered on all the time, continuously lifting the vertical steel coil and conveying the vertical steel coil to a specified position;
7) when the clamp body descends, the swing hook swings downwards by means of the self weight of the swing hook, the lock hook is opened, the detection sensor loses power, and the telescopic connecting rod is in an extending state;
8) when the lock hook locking detection sensor is electrified, the fixed hook and the swinging hook are in a lock hook locking state;
9) and lifting the clamp body, and returning to the step 1) to repeat the operation.
The invention has the advantages that: according to the invention, the telescopic connecting rod is adopted to control the locking and the unlocking of the connecting rod structure of the clamp body, and the locking and unlocking states are detected by the locking hook unlocking detection sensor and the locking hook locking detection sensor respectively, so that the vertical steel coil is automatically clamped and unlocked; still cooperate through adopting elevating system and contact to press from both sides tight detection device, realize falling to target in place to the clamp body to and whether the clamp is kept silent and is carried the coil of strip part and satisfy and hang and get the condition and detect the judgement, thereby realize that the whole flow of clamp body is automatic to be got vertical coil of strip, fully consider the mechanical shock influence in the course of the work simultaneously, have very strong adaptive capacity to the environment.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings, in which:
fig. 1 is a schematic view of an intelligent double-arm vertical steel coil clamp according to the present invention.
FIG. 2 is a schematic view of the lift mechanism of the present invention; a is a sectional view; b is a front view; and c is a top view.
FIG. 3 is a schematic view of a contact pinching sensing device of the present invention; a is a front view and b is a top view.
FIG. 4 is a schematic view of the telescopic link of the present invention.
FIG. 5 is a schematic view of the working state of the intelligent double-arm vertical steel coil clamp of the present invention when clamping and removing; a is a locking hook opening state, and b is a locking hook locking state.
Element number description: the steel coil lifting device comprises a hanger rod 1, a pin shaft 2, a telescopic connecting rod 3, a lock hook opening detection sensor 4, a swinging hook 5, a left pull rod 6, a left curved rod 7, a balance connecting rod 8, a supporting plate 9, an outer jaw 10, a lock hook locking detection sensor 11, a fixed hook 12, a right pull rod 13, a right connecting rod 14, a right curved rod 15, a lifting mechanism 16, a contact clamping detection device 17, an inner jaw 18 and a vertical steel coil 19; the sleeve 31, the electric push rod 32, the connecting shaft 33 and the end cover 34; a sloping block 161, a support 162, a guide screw 163 and a lifting rod 164; a contact detecting sensor 171, a base 172, a clamp detecting sensor 173, and a cushion block 174.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
The same or similar reference numerals in the drawings of the present embodiment correspond to the same or similar components; in the description of the present embodiment, it should be understood that, if there are orientations or positional relationships indicated by terms "upper", "lower", "left", "right", "front", "rear", etc. based on the orientations or positional relationships shown in the drawings, the description is only for convenience and simplicity, and the indication or suggestion that the indicated device or element must have a specific orientation, be configured in a specific orientation, and operate, therefore, the terms describing the positional relationships in the drawings are only used for illustrative purposes, and are not to be construed as limitations on the technical solution, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
As shown in fig. 1 to 4, the intelligent double-arm vertical steel coil clamp in this embodiment is a clamp body including a suspension rod 1, a pin shaft 2, a swing hook 5, a left pull rod 6, a left curved rod 7, a balance link 8, a support plate 9, an outer jaw 10, a fixed hook 12, a right pull rod 13, a right link 14, a right curved rod 15, and an inner jaw 18, wherein a telescopic link 3 connected to the swing hook 5 and a latch hook opening detection sensor 4 for detecting an open state of the swing hook 5 and the fixed hook 12 are provided on the left pull rod 6 or the right pull rod 13 on the same side of the swing hook 5 as the latch side of the fixed hook 12, a latch hook locking detection sensor 11 for detecting a locked state of the swing hook 5 and the fixed hook 12 is provided on the right pull rod 13 or the left pull rod 6 on the back side of the swing hook 5 from the latch side of the fixed hook 12, and the swing hook 5 is provided at one end rotatably connected to the pin shaft 2 with a projection for touching the latch hook locking detection sensor 11 (not Note) a contact clamping detection device 17 for detecting the contact and clamping state between the clamp body and the vertical steel coil 19, and a lifting mechanism 16 for touching the contact clamping detection device 17 are provided on the support plate 9.
Specifically, the latch hook side of the swing hook 5 and the fixed hook 12 in this example is located on the left side, and both ends of the telescopic link 3 are respectively hinged with the swing hook 5 and the left link 6; the latch hook locking detection sensor 11 and the latch hook opening detection sensor 4 are arranged opposite to the pin shaft and are respectively positioned on the right pull rod and the left pull rod, and certainly, in different embodiments, the latch hook locking detection sensor 11 and the latch hook opening detection sensor 4 can also be arranged on the same side, and only the position of a lug arranged on the swing hook needs to be reasonably designed; the two ends of the telescopic connecting rod 3 are provided with hinged parts which are composed of a sleeve 31, an electric push rod 32, a connecting shaft 33 and an end cover 34, one end of the sleeve is hinged with the left pull rod 6, the other end of the sleeve is sleeved with the connecting shaft which can slide along the axial direction of the sleeve through the end cover, the outer wall of the sleeve is provided with the electric push rod which can be abutted against a position-giving opening (not marked) arranged on the connecting shaft, and thus, the connecting shaft can be fixed or released through the electric push rod so as to enable the telescopic connecting rod to be in a; the lifting mechanism 16 consists of an inclined block 161, a support 162 and a lifting rod 164, the support is fixed on the support plate 9, the lifting rod is sleeved on the support and is in sliding fit with the support, and the inclined block is arranged on the lifting rod and is positioned above the support; contact clamping detection device 17 comprises contact detection sensor 171, base 172, the tight detection sensor 173 that presss from both sides, and on the base was fixed in backup pad 9, the contact detection sensor was corresponding about with pressing from both sides tight detection sensor and is installed on the base to with sloping block 161 interact, can detect whether the clamp body contacts with vertical coil of strip and detects the clamp body and the tight condition of vertical coil of strip clamp, if the contact surface is not enough, then report to the police immediately.
The end of the lifting rod 164 departing from the inclined block 161 in the embodiment is provided with a cambered surface which is contacted with the vertical steel coil 19. The lifting rod can be prevented from scratching the edge of the steel coil in the process of contacting and jacking the vertical steel coil.
The lifting mechanism in this embodiment further includes a guide screw 163 disposed on the support 162 and engaged with a guide groove (not labeled) disposed on the lifting rod 164. Through the cooperation of guide way and guide screw for the lifter does not take place to rotate in the motion process, with the normal work of assurance sloping block.
The contact clamping detection device in this embodiment further comprises a cushion block 174 through which the base is provided on the support plate 9. Four buffer cushion blocks are arranged between the base and the supporting plate, and are fixedly installed on the supporting plate through fixing bolts to buffer impact and avoid damaging the sensor.
The latch hook lock detection sensor 11, the contact detection sensor 171, and the clamp detection sensor 173 in the present embodiment employ mechanical travel switches, and the latch hook open detection sensor 4 employs photoelectric switches.
The jib in this embodiment adopts double-end jib structure. Can guarantee to hang the stability of getting the in-process clamp body.
As shown in fig. 5, the following method for clamping and releasing the intelligent double-arm vertical steel coil clamp specifically includes the following steps:
when the vertical steel coil needs to be hung, the clamp body is in an open state, the telescopic connecting rod is in an extending state, and the fixed hook and the swinging hook are in a contact state, as shown in fig. 5b, the clamp body moves to the position right above the steel coil and then descends; firstly, the arc surface of the lifting rod is contacted with the vertical steel coil and rises, and when the contact detection sensor is triggered, the clamp body slowly descends at a reduced speed; then the fixed hook drives the swinging hook to swing upwards, meanwhile, the electric push rod is electrified to extend out of the fixed connecting shaft, the telescopic connecting rod is in a retracting state, the locking detection sensor of the locking hook is in a power-off state, the locking detection sensor of the locking hook is in a power-on state, the fixed hook and the swinging hook are in a separated state, and as shown in fig. 5a, the clamp body stops descending; then, the clamp body is lifted, and the connecting rod structure of the clamp body automatically stretches and retracts to drive the outer jaw and the inner jaw to clamp the vertical steel coil; continuously lifting the vertical steel coil, if the clamping detection sensor loses power, indicating that the contact surface between the steel coil and the clamp is insufficient, the steel coil cannot be safely clamped, immediately alarming, and clamping again by the system; if the clamping detection sensor is powered on all the time, indicating that the clamping is normal, and continuously lifting and conveying the vertical steel coil to a specified position; when a steel coil needs to be placed, the electric push rod is powered off, the swing hook swings downwards by the dead weight of the swing hook in the descending process of the clamp body, the lock hook is opened, the detection sensor is powered off, and the telescopic connecting rod is in an extending state; when the lock hook locking detection sensor is electrified, the fixed hook and the swinging hook are in a lock hook locking state; and lifting the clamp body, returning and repeating the operation.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and it is apparent that those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An intelligent double-arm vertical steel coil clamp comprises a hanger rod (1), a pin shaft (2), a swing hook (5), a left pull rod (6), a left curved rod (7), a balance connecting rod (8), a supporting plate (9), an outer jaw (10), a fixed hook (12), a right pull rod (13), a right connecting rod (14), a right curved rod (15) and an inner jaw (18), and is characterized in that a telescopic connecting rod (3) connected with the swing hook and a latch hook opening detection sensor (4) used for detecting the opening state of the swing hook and the fixed hook are arranged on the left pull rod or the right pull rod on the same side of the swing hook relative to the latch hook side of the fixed hook, a latch hook locking detection sensor (11) used for detecting the locking state of the swing hook and the fixed hook is arranged on the right pull rod or the left pull rod on the back side of the swing hook relative to the latch hook side of the fixed hook, swing couple is equipped with the lug that is used for touching latch hook locking detection sensor in the one end of being connected with round pin axle rotation, be equipped with in the backup pad and be used for detecting the contact of clamp body and vertical coil of strip (19) and press from both sides tight detection device (17) and be used for touching the elevating system (16) that the contact pressed from both sides tight detection device.
2. The intelligent double-arm vertical steel coil clamp as claimed in claim 1, wherein the two ends of the telescopic link are provided with hinged parts, each hinged part is composed of a sleeve (31), an electric push rod (32), a connecting shaft (33) and an end cover (34), the sleeve is sleeved with the connecting shaft capable of sliding along the axial direction of the sleeve through the end cover, and the outer wall of the sleeve is provided with the electric push rod capable of abutting against a position-giving opening arranged on the connecting shaft.
3. The intelligent double-arm vertical steel coil clamp as claimed in claim 1, wherein the lifting mechanism comprises a sloping block (161), a support (162) and a lifting rod (164), the support is fixed on the support plate, the lifting rod is sleeved on the support and is in sliding fit with the support, and the sloping block is arranged on the lifting rod and is located above the support.
4. The intelligent double-arm vertical steel coil clamp as claimed in claim 3, wherein the end of the lifting rod departing from the inclined block is provided with an arc surface contacting with the vertical steel coil.
5. The intelligent double-arm vertical steel coil clamp as claimed in claim 3, wherein the lifting mechanism further comprises a guide screw (163) disposed on the support and engaged with a guide groove disposed on the lifting rod.
6. The intelligent double-arm vertical steel coil clamp as claimed in any one of claims 3-5, wherein the contact clamping detection device is composed of a contact detection sensor (171), a base (172) and a clamping detection sensor (173), the base is fixed on the supporting plate, and the contact detection sensor and the clamping detection sensor are correspondingly mounted on the base up and down and interact with the inclined block.
7. The intelligent double-arm vertical steel coil clamp according to claim 6, wherein the contact clamping detection device further comprises a cushion block (174), and the base is arranged on the supporting plate through the cushion block.
8. The intelligent double-arm vertical steel coil clamp according to claim 6, wherein the lock hook locking detection sensor, the contact detection sensor and the clamping detection sensor are travel switches, and the lock hook opening detection sensor is a photoelectric switch.
9. The intelligent double-arm vertical steel coil clamp according to claim 1, wherein the hanger rods are of a double-head hanger rod structure.
10. The method for clamping and disassembling the intelligent double-arm vertical steel coil clamp according to any one of claims 1 to 9, comprising the following steps:
1) moving the clamp body to a position right above the vertical steel coil, wherein the telescopic connecting rod is in an extending state, and the fixed hook and the swinging hook are in a locking state of the locking hook;
2) the clamp body descends, the lifting rod is contacted with the vertical steel coil and ascends, the fixed hook drives the swinging hook to swing upwards, and at the moment, the lock hook locks the detection sensor and loses power;
3) after the contact detection sensor is electrified, the clamp body slowly descends;
4) after the clamping detection sensor is powered on, the clamp body stops descending, and at the moment, the lock hook opening detection sensor is powered on;
5) the electric push rod is electrified and extends out of the abutting connecting shaft, the telescopic connecting rod is in a retraction state, and the fixed hook and the swinging hook are in a hook opening state;
6) enabling the clamp body to start to lift the vertical steel coil, and if the clamping detection sensor loses power, immediately giving an alarm and returning to the step 4); if the clamping detection sensor is powered on all the time, continuously lifting the vertical steel coil and conveying the vertical steel coil to a specified position;
7) when the clamp body descends, the swing hook swings downwards by means of the self weight of the swing hook, the lock hook is opened, the detection sensor loses power, and the telescopic connecting rod is in an extending state;
8) when the lock hook locking detection sensor is electrified, the fixed hook and the swinging hook are in a lock hook locking state;
9) and lifting the clamp body, and returning to the step 1) to repeat the operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010065963.5A CN111115441B (en) | 2020-01-20 | Intelligent double-arm vertical steel coil clamp and clamping and unloading method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010065963.5A CN111115441B (en) | 2020-01-20 | Intelligent double-arm vertical steel coil clamp and clamping and unloading method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111115441A true CN111115441A (en) | 2020-05-08 |
| CN111115441B CN111115441B (en) | 2024-07-30 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112157620A (en) * | 2020-08-17 | 2021-01-01 | 韶关高尔德防雷科技有限公司 | Utilize lever principle to dismantle tool of module |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112157620A (en) * | 2020-08-17 | 2021-01-01 | 韶关高尔德防雷科技有限公司 | Utilize lever principle to dismantle tool of module |
| CN112157620B (en) * | 2020-08-17 | 2024-01-23 | 广东高尔德集团有限公司 | Jig for disassembling module by utilizing lever principle |
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