CN113460757B

CN113460757B - Steel belt stacking device and steel belt stacking method

Info

Publication number: CN113460757B
Application number: CN202110835099.7A
Authority: CN
Inventors: 彭奇
Original assignee: Bichamp Cutting Technology Hunan Co Ltd
Current assignee: Bichamp Cutting Technology Hunan Co Ltd
Priority date: 2021-07-23
Filing date: 2021-07-23
Publication date: 2023-06-02
Anticipated expiration: 2041-07-23
Also published as: CN113460757A

Abstract

The invention provides a steel belt stacking device and a steel belt stacking method, wherein the steel belt stacking device comprises a column structure, a cross beam and a steel belt winding mechanism; the steel belt winding mechanism comprises a base fixed on the ground, a rotating part arranged on the base, and a first mounting plate and a second mounting plate which are fixedly connected with the rotating part, wherein the first mounting plate is a disc or a circular ring, the first mounting plate and the rotating part are coaxially arranged, and a rotating shaft of the rotating part extends in the z-axis direction; the first mounting plate positioned on the second mounting plate forms a bulge on the second mounting plate, and the part of the upper surface of the second mounting plate positioned outside the first mounting plate forms a bearing area of the rolled steel belt; the steel strip stacking device further comprises: the lifting unit is used for lifting the steel belt positioned in the bearing area so that the bottom surface of the steel belt is not lower than the top surface of the first mounting plate; and the clamping mechanism is used for clamping the rolled steel belt and is connected with the second moving part.

Description

Steel belt stacking device and steel belt stacking method

Technical Field

The invention relates to a steel band stacking device and a steel band stacking method, which are particularly suitable for the field of band saw blade production.

Background

In the production of band saw blades, after a steel strip unreeling mechanism, the steel strip is required to be processed by a steel strip raw material processing device, and then a reeling and stacking process is required. After winding, the weight of the single plate of the composite steel belt reaches about 60 kg, the composite steel belt is manually conveyed to a stacking position for stacking, and a paperboard is manually placed between two layers of steel belts for separation protection. A very strong operator is required to be able to go on duty alone. When a special order is met, a single 90 kg steel belt is produced, and two people need to be arranged to cooperatively lift and discharge. The human resources are wasted greatly and dangerous, and various industrial accidents are easy to occur. The composite steel belt is required to be carried for about 200 plates every day on average, and the manual carrying and discharging labor intensity of staff is very high. The composite steel belt can generate the conditions of dragging, scraping and falling at high speed in the manual moving and blanking process, has poor quality on products, and is easy to generate the conditions of deformation and fillet damage, cracking and scratching. Moreover, the composite steel belt is required to weigh before being fed, then the composite steel belt is manually conveyed and fed in a translation mode, the product of the curling and receiving device is manually horizontally pushed onto the roller-type platform balance to form scratch, occasional smashing injuries can occur when the product on the platform balance is manually conveyed by both hands, and action waste production efficiency is low.

Disclosure of Invention

The invention aims to solve the problems that in the existing band saw blade production, manual operation is needed for stacking steel bands to cause low efficiency, the steel bands are easy to damage and safety risks are easy to cause, and provides a steel band stacking device and a steel band stacking method.

In order to solve the technical problems, the invention adopts the following technical scheme: the steel strip stacking device comprises a stand column structure arranged on the ground and a cross beam arranged on the stand column structure, wherein an orthogonal Cartesian coordinate system (x, y, z) is defined in the steel strip stacking device, the origin of coordinates of the coordinate system is o, the extending direction of the cross beam is in the x-axis direction, and the height direction of the stand column structure is in the z-axis direction; the beam is connected with a first moving part capable of moving along the x-axis direction, and the first moving part is connected with a second moving part capable of moving along the z-axis direction;

the steel belt stacking device is characterized by further comprising a steel belt winding mechanism positioned at one side of the cross beam;

the steel belt winding mechanism comprises a base fixed on the ground, a rotating part arranged on the base, and a first mounting plate and a second mounting plate which are fixedly connected with the rotating part, wherein the first mounting plate is a disc or a circular ring, the first mounting plate and the rotating part are coaxially arranged, and a rotating shaft of the rotating part extends in the z-axis direction;

The first mounting plate positioned on the second mounting plate forms a bulge on the second mounting plate, and the part of the upper surface of the second mounting plate positioned outside the first mounting plate forms a bearing area of the rolled steel belt;

the steel strip stacking device further comprises:

the lifting unit is used for lifting the steel belt positioned in the bearing area so that the bottom surface of the steel belt is not lower than the top surface of the first mounting plate;

and the clamping mechanism is used for clamping the rolled steel belt and is connected with the second moving part.

According to the invention, the steel belt can be wound on the outer circumference of the first mounting plate by arranging the rotating part, the first mounting plate and the second mounting plate which are fixedly connected, and the steel belt can be driven to be wound by rotating the rotating part. Through setting up the hoisting unit, can make the steel band promote when the steel band rolling is accomplished for the mechanism is got to clamp and can avoid steel band and first mounting panel to produce the interference each other when getting the steel band clamp. Through setting up first mobile part, second mobile part, accessible first mobile part drives the second mobile part and removes in the x-axis direction, and utilizes the second mobile part to drive and press from both sides and get the mechanism and remove in the z-axis direction to be convenient for the steel band and remove steel band pile up neatly position from second mounting panel top, thereby realize the stack of steel band.

Further, K1 first notches are uniformly formed in the outer circumference of the first mounting plate along the circumferential direction, K1 is more than or equal to 3, K1 first slots which are respectively aligned with the K1 first notches are formed in the second mounting plate, a graph formed by projection of the K1 first slots on an xoy plane is a central symmetry graph, and the center of the central symmetry graph is the projection O1 of the center of the first mounting plate on the xoy plane;

the lifting unit comprises a substrate, K1 first protruding parts fixed on the upper surface of the substrate and a lifting unit driving part for driving the substrate to rise;

defining R1 as the radius of the outer circumference of the first mounting plate, defining the circles on the xoy plane, which take the projection O1 as the center of a circle and have the radii of R2 and R3 as a first circle and a second circle respectively, wherein the projection of the top end of each first protruding part on the xoy plane extends between the first circle and the second circle, and R2 is more than R1 and less than R3;

the rotating part is provided with a first rotating position, when the rotating part is arranged at the first rotating position, the projection of the ith first protruding part on the xoy plane is positioned in the projection range of the ith first slotted hole on the xoy plane, and the projection of the ith first protruding part on the xoy plane and the projection of the ith first notch on the xoy plane are provided with overlapping areas, i=1, 2, … … and K1;

When the rotating part is at a first rotating position, the lifting unit can reciprocate between a first height position and a second height position in the z-axis direction, and the second height position is higher than the first height position;

when the lifting unit is at the first height position, the top ends of the first protruding parts are not higher than the bottom surface of the second mounting plate;

when the lifting unit is at the second height position, the top ends of the first protruding parts are not lower than the top surface of the first mounting plate;

preferably, the projection of the extending direction of each first slot on the xoy plane and the projection of the extending direction of each first protrusion on the xoy plane are located in the radial direction of the second circle.

The applicant has found in research that there are several problems to be solved in the solution of raising the steel strip with the lifting unit, including: problem 1: the steel strip needs to be tightly wound on the outer side of the first mounting plate, if the second mounting plate is arranged in a ring shape, the second mounting plate moves upwards relative to the first mounting plate, namely, only the second mounting plate is lifted, the inner side of the second mounting plate and the outer side of the first mounting plate need to be in clearance fit, otherwise, the second mounting plate cannot be lifted above the first mounting plate, and therefore the problem is that the steel strip wound on the innermost ring of the first mounting plate cannot be lifted by the second mounting plate, namely, falls from a clearance between the outer side of the first mounting plate and the inner side of the second mounting plate in the lifting process, so that the rolled steel strip starts to fall from the inner ring, the complete structure cannot be ensured, and the whole steel strip can be scattered when the clamping structure for clamping the outer wall of the steel strip only can not be clamped, and the subsequent steel strip stacking process cannot be completed; problem 2: even if the steel strip wound on the innermost ring of the first mounting plate is jacked up by the second mounting plate, the steel strip is easy to leak out of the through hole in the middle of the second mounting plate, so that the rolled steel strip is scattered.

According to the invention, the first mounting plate and the second mounting plate are respectively provided with the first notch and the first slotted hole which are matched, when the rotating part is at the first rotating position, the projection of the ith first bulge part on the xoy plane is positioned in the projection range of the ith first slotted hole on the xoy plane, and the projection of the ith first bulge part on the xoy plane and the projection of the ith first notch on the xoy plane are provided with overlapping areas, namely, when the rotating part is at the first rotating position, the lifted first bulge part can pass through the first notch and the first slotted hole at the same time, and as the steel strip is wound on the periphery of the first mounting plate, namely, the innermost part of the first bulge part is positioned on the inner side of the innermost steel strip, the problem that the innermost steel strip does not drop during lifting is solved, and as the projection of the top end of each first bulge part on the xoy plane extends between the first round shape and the second round shape, the top end of the first bulge part can cover the rolled and the radial area in the radial direction, so that the steel strip can be lifted conveniently.

Further, the rotating part is of an annular structure, the substrate is a disc, and the rotating part and the substrate are coaxially arranged; gaps are formed between the rotating part and the first protruding part;

The rotating part is provided with an annular main body and an installing ring which is fixedly arranged on the annular main body and protrudes upwards, the upper surface of the installing ring is fixedly connected with the second installing plate, and a step part is formed at the part of the annular main body, which is positioned at the inner side of the installing ring;

the first bulge part is provided with a connecting part fixed on the substrate and an extending part fixed with the upper end of the connecting part, the extending part extends in a direction away from the substrate on a plane perpendicular to the z axis, the extending part and the connecting part form an L-shaped structure, and the extending part is positioned above the step part and is positioned at the inner side of the mounting ring; the projection of the connecting part on the xoy plane is positioned in the projection of the substrate on the xoy plane, and the outer diameter of the substrate is smaller than the inner diameter of the annular main body.

In this application, because first bellying passes first breach, first slotted hole simultaneously, therefore have the requirement to first bellying in the ascending size of extending direction, through above-mentioned setting, can make base plate, the connecting portion of first bellying all be located annular main part inboard, and the extension of first bellying can outwards extend to step portion top to can save installation space, save material. Through setting up all having the clearance between rotation portion and the first bellying, can avoid rotation portion when rotating with first bellying contact and produce wearing and tearing.

Further, the lifting unit driving part is positioned below the substrate and is opposite to the center of the substrate, the lifting unit driving part is of a telescopic driving structure extending in the z-axis direction, the fixed end of the lifting unit driving part is fixedly connected with the top plate of the base, and the movable end of the lifting unit driving part is connected with the substrate so as to drive the substrate to move along the z-axis direction;

the lifting unit further comprises K2 second protruding portions which are fixed on the lower surface of the base plate and are uniformly arranged on the base plate, and each second protruding portion penetrates through the top plate of the base and is in clearance fit with the top plate of the base, wherein K2 is more than or equal to 3.

In the invention, K2 second protruding parts penetrating through the top plate of the base can play a limiting role, so that the base plate can move along the z axis and avoid overlarge left-right offset in the ascending and descending processes.

Further, the steel belt stacking device also comprises a weighing sensor for measuring the weight of the rolled steel belt;

preferably, the weighing sensor is clamped between the substrate and the lifting unit driving part, and the measuring end and the fixing end of the weighing sensor are respectively and correspondingly and fixedly connected with the substrate and the lifting unit driving part.

In the invention, the weighing sensor can measure the weight of the rolled steel strip. The applicant found that the solution of installing the load cell above the second mounting plate in contact with the lower surface of the steel strip is difficult to implement, and therefore the load cell is clamped between the base plate and the driving part of the lifting unit, so that the total weight of the base plate, the first protruding part and the rolled steel strip can be measured by using the load cell, and the weight of the base plate and the first protruding part can be subtracted to obtain the weight of the rolled steel strip.

Further, a positioning structure for keeping the relative position between the starting end of the steel belt wound on the first mounting plate and the first mounting plate unchanged when the rotating part rotates is arranged on the first mounting plate;

preferably, the positioning structure is a first through groove formed on the outer circumference of the first mounting plate, a first circumference point is defined as an intersection point of the first through groove and the outer circumference of the first mounting plate, a first ray is defined as a ray which takes the first circumference point as an end point and extends along the movement direction of the first circumference point when the rotating part rotates, an included angle theta 1 between the extending direction of the first through groove on the top surface of the first mounting plate and the first ray ranges from 15 degrees to 75 degrees,

more preferably, an included angle θ1 between the extending direction of the first through groove on the top surface of the first mounting plate and the first ray is 45 °.

According to the invention, the included angle theta 1 between the extending direction of the first through groove on the top surface of the first mounting plate and the first ray is 15-75 degrees, so that the angle between the steel belt wound on the outer side of the first mounting plate and the steel belt extending into the first through groove can be more than 105 degrees, and the phenomenon that the quality is influenced by the bending of the steel belt is avoided.

Further, a steel belt raw material processing device for outputting the steel belt for winding is arranged on one side of the steel belt winding mechanism, and a first steel belt section is defined as the steel belt which is output from the steel belt raw material processing device and is not wound on the first mounting plate; defining a first tangent line as a straight line passing through an outlet of the steel strip raw material processing device and tangent to the outer circumference of the first mounting plate;

The steel strip stacking device further comprises an abutting unit for abutting against the surface, facing away from the first mounting plate, of the first steel strip section, wherein a first steel strip section with a linear extending direction is formed between the contact point of the abutting unit with the first steel strip section and the outlet of the steel strip raw material processing device;

the extending direction of the abutting unit is positioned in the radial direction of the first mounting plate, and an included angle theta 2 between the extending direction of the abutting unit and the extending direction of the first steel belt section ranges from 15 degrees to 75 degrees;

preferably, θ2 ranges from 45 ° -60 °;

preferably, the abutment unit has a roller for abutting a surface of the first steel strip section facing away from the first mounting plate, the rolling plane of the roller being parallel to the xoy plane;

more preferably, the abutting unit comprises a first telescopic part, a fixed end of the first telescopic part is fixedly connected with the base, the telescopic direction of the first telescopic part is the extending direction of the abutting unit, and the telescopic head of the first telescopic part is connected with the roller.

According to the invention, the abutting unit is arranged, so that the steel belt can be ensured to be tightly wound on the outer side of the first mounting plate. Through setting up the gyro wheel for the gyro wheel rolls on the steel band surface of process, can reduce or avoid the damage that the butt unit caused to the steel band surface. Through adopting first flexible portion, can make first flexible portion remove in first mounting panel radial direction to make the steel band be close to first mounting panel gradually, avoid not closely winding and be located the area of bigger scope than first mounting panel periphery by the excessive butt of butt unit and produce the steel band bending when the steel band.

Further, the steel strip stacking device also comprises a control mechanism and a position detection unit for detecting whether the rotating part is positioned at the first rotating position, wherein the output end of the position detection unit, the control end of the rotating part and the control end of the lifting unit are respectively and electrically connected with the control mechanism;

preferably, the position detection unit is a ranging sensor fixedly connected with the base, the second mounting plate is a disc or a circular ring, the extending direction of each first slot hole is located in the radial direction of the second mounting plate, each first slot hole is uniformly arranged in the circumferential direction of the second mounting plate, K1 second notches are formed in the outer circumference of the second mounting plate, the K1 second notches are respectively aligned with the K1 first slot holes in the radial direction of the second mounting plate, the direction of the detection head of the position detection unit coincides with the extending direction of any one first protruding portion, and the height position of the detection head of the position detection unit is higher than the bottom surface of the second mounting plate and lower than the top surface of the second mounting plate.

In the invention, the projection of the first protruding part on the xoy surface needs to be correspondingly overlapped with the projection of the first slotted hole on the xoy surface, namely, the rotating part is positioned at the first rotating position, so that the lifting unit can be lifted, and therefore, the position detecting unit is arranged to detect whether the rotating part is positioned at the first rotating position. In a further preferred scheme, the outer circumference of the second mounting plate is provided with K1 second notches aligned with the K1 first slots respectively, and because the direction of the detection head of the position detection unit coincides with the extending direction of any one of the first protruding parts, when the detected distance of the position detection unit changes, that is, is greater than the preset distance, the direction of the detection head of the position detection unit is aligned with one of the second notches, that is, the first protruding part is located right below the first slot, the rotating part can be stopped, and the lifting unit can be lifted.

Further, the first moving part is provided with a sleeve, a channel penetrating through the sleeve is arranged along the z-axis direction, and the second moving part is sleeved in the sleeve and is in sliding connection with the inner wall of the sleeve.

Further, the clamping mechanism comprises K3 clamping jaws, a clamping area of the steel belt is formed between the clamping jaws, and K3 is more than or equal to 2;

preferably, the projection of the clamping jaw on the xoy plane is V-shaped.

Further, each jaw is provided with a pallet for carrying a steel strip, each pallet extending from the bottom of the jaw and towards the jaw opposite the jaw.

According to the invention, the supporting plate is arranged, so that the steel belt positioned in the bearing area of the steel belt winding mechanism can be supported, and the steel belt is prevented from falling off during clamping.

Further, k3=2, and the gripping mechanism further includes a distance adjusting mechanism for adjusting a distance between the two gripping claws;

preferably, the clamping mechanism comprises a connecting plate fixedly connected with the second moving part and parallel to the xoy plane, the distance adjusting mechanism comprises two sliding plates which are connected with the connecting plate and can independently slide on the connecting plate along the x-axis direction, and the two clamping jaws are respectively and correspondingly fixedly connected with the two sliding plates.

According to the invention, the distance between the two clamping jaws can be adjusted according to the outer diameter of the clamped steel belt by arranging the distance adjusting mechanism, so that clamping is facilitated.

Further, each clamping jaw is connected with an abutting structure for abutting against the outer wall of the steel belt in the clamping area;

preferably, the abutment structure is a reciprocating head passing through the clamping jaw, extendable from the clamping jaw and extending to the gripping region;

more preferably, the extending direction and the moving direction of the reciprocating head are both positioned on the straight line where the symmetry axis of the clamping jaw is positioned.

The applicant found in research that when reaching the stacking position, the two opposing jaws need to be moved away from each other to stack the clamped steel strip layer by layer in the steel strip stacking position. However, if the moving speed of the jaws is slow, the steel strip may still interfere with the jaws when the jaws are moved away from each other, so that the steel strip near the inner walls of the jaws may not fall down and remain on the jaws. Because the thickness of the rolled steel belt is large, a plurality of layers of the steel belt which cannot fall down at the outermost side can be separated from the steel belt which falls down to the stacking position at the inner side, so that the steel belt is scattered, the stacking operation is affected, and the working efficiency is reduced. Through setting up the butt structure to can the butt be close to the outer lane steel band of clamping jaw inner wall, make the steel band keep away from the clamping jaw inner wall setting, thereby when the clamping jaw removes to the direction of keeping away from each other, the steel band wholly can separate with the clamping jaw, thereby conveniently make the steel band whereabouts to the stack position.

Further, the projection of the steel belt winding mechanism and the steel belt stacking position on the x axis are located in the projection of the moving range of the first moving part on the x axis.

Further, the steel belt stacking device further comprises a paperboard moving mechanism, wherein the paperboard moving mechanism comprises an extending part which is fixed on the ground and extends along the z-axis direction, the extending part is connected with a sliding block which can slide along the z-axis direction, the sliding block is connected with a rotating shaft, the rotating shaft is fixedly connected with a bracket structure, the bracket structure is fixedly connected with K4 suckers for sucking the paperboard, and K4 is more than or equal to 1;

the rotating shaft is provided with a rotating position M1 and a rotating position M2;

when the rotating shaft rotates to a rotating position M1, the projection of each sucking disc on the xoy plane is positioned in the projection range of the placing position of the paperboard raw material on the xoy plane;

when the rotating shaft rotates to a rotating position M2, the projection of each sucking disc on the xoy plane is positioned in the projection range of the steel strip stacking position on the xoy plane.

According to the invention, the clamping of the paperboards can be realized through the paperboard moving mechanism, the paperboards can be moved from the paperboard raw material placing position to the steel belt stacking position through the rotation of the rotating shaft, and the height of the sucked paperboards can be raised or lowered through the movement of the sliding block in the z-axis direction, so that the multilayer stacking can be realized.

Further, the steel strip stacking device also comprises a control mechanism, wherein the control mechanism comprises a second electric control part fixedly connected to the upper part or the top end of the extension part, and a third flexible drag chain is connected between the second electric control part and the circuit control part of the sliding block;

the third flexible drag chain is provided with a first straight line segment, an arc-shaped segment and a second straight line segment, and the first straight line segment, the arc-shaped segment and the second straight line segment are sequentially connected to form a U-shaped structure with an upward opening;

the first straight line segment and the second straight line segment extend along the z-axis direction, and the first straight line segment and the second straight line segment are respectively and electrically connected with the second electric control part and the circuit control unit of the rotating shaft.

According to the invention, the third flexible drag chain is arranged, so that the sliding block can ensure electrical connection when moving, and disorder of the electrical connection wire or bending of the electrical connection wire when the sliding block moves is avoided. Through setting up second electrical control portion and being located extension upper portion or top, and set up the U-shaped structure that the third flexible tow chain had the opening upwards for when the slider reciprocated, the third flexible tow chain can keep the U-shaped structure to avoid excessive buckling and damage.

Further, the support structure comprises a first support fixedly connected with the rotating shaft and a second support fixedly connected with the first support, and the second support and the first support are arranged at the intersection point in a crossing way;

The bottom end of the first support is fixedly connected with two suckers which are symmetrical about the intersection point, the bottom end of the second support is fixedly connected with the other two suckers which are symmetrical about the intersection point, and the distances between the suckers and the intersection point are equal.

According to the invention, the first bracket and the second bracket which are mutually fixed are arranged, so that the plurality of suckers can be used for clamping the paperboards, and the risk of falling off the paperboards during clamping is reduced.

Further, the extension fixedly connected with is used for preventing personnel from getting into steel band pile up neatly position and cardboard raw materials and places the second guardrail of position.

According to the invention, by arranging the second guard rail, personnel injury caused by the fact that personnel approach to a working paperboard moving mechanism can be avoided.

Further, a connecting line between the center of the paperboard raw material placement position and the center of the steel belt stacking position is parallel to the extending direction of the second guardrail.

Further, at least two second guardrails are arranged at intervals along the z-axis direction.

Further, the steel strip stacking device also comprises a control mechanism, wherein the upright post structure comprises a first upright post and a second upright post which are arranged at intervals in the x-axis direction, and the first upright post and the second upright post are respectively and fixedly connected with the cross beam;

The first upright post and the second upright post are respectively and correspondingly provided with an optical signal transmitting part and an optical signal receiving part, and each optical signal transmitting part and the corresponding optical signal receiving part are oppositely arranged in the x-axis direction; the control end of the optical signal transmitting part, the output end of the optical signal receiving part, the control end of the first moving part and the control end of the second moving part are all electrically connected with the control mechanism;

preferably, the steel belt winding mechanism, the first moving part, the clamping mechanism, the paperboard raw material placing position and the steel belt stacking position are arranged on the same side of the cross beam, and the optical signal transmitting part and the optical signal receiving part are arranged on the other side of the cross beam.

According to the invention, through the arrangement, whether a person passes between the first upright post and the second upright post or not can be detected, namely whether the person enters the working areas of the first moving part and the second moving part or not is detected, so that the first moving part and the second moving part can be stopped in time, and the injury to the person entering the working areas is avoided.

In the preferred scheme, because the steel belt winding mechanism, the first moving part, the clamping mechanism, the paperboard raw material placing position and the steel belt stacking position are arranged on the same side of the cross beam, the steel belt winding mechanism, the paperboard raw material placing position and the steel belt stacking position with certain heights can block personnel on the side to a certain extent, and therefore the optical signal emitting part and the optical signal receiving part are arranged on the other side of the cross beam, and therefore the entering personnel are prevented from entering a working area and pass through the first moving part and the second moving part which are operated below the cross beam to be damaged.

Further, base, steel band pile up neatly position set up in the same side of crossbeam and set up at the x axle direction interval in proper order, the one end fixedly connected with that keeps away from the crossbeam of base is located the first guardrail between base and the steel band pile up neatly position.

According to the invention, by arranging the first guardrails, personnel can not enter the working area through the area between the base and the steel belt stacking position, so that the injury of the personnel caused by the working first moving part and the working second moving part is avoided.

The invention also provides a steel strip stacking method, wherein the ground is provided with a column structure, the column structure is provided with a beam, an orthogonal Cartesian coordinate system (x, y, z) is defined, the origin of coordinates of the coordinate system is o, the extending direction of the beam is the x-axis direction, and the height direction of the column structure is the z-axis direction; the beam is connected with a first moving part capable of moving along the x-axis direction, and the first moving part is connected with a second moving part capable of moving along the z-axis direction;

the device is characterized in that a steel belt winding mechanism is arranged on one side of the cross beam;

the second moving part is connected with a clamping mechanism;

the steel belt stacking method comprises the following steps:

step A: winding a steel belt on the periphery of the first mounting plate, enabling the rotating part to rotate, and loading the steel belt on the loading area;

and (B) step (B): after the rolling of the steel belt is completed, the rotating part stops rotating, the lifting unit is used for lifting the steel belt positioned in the bearing area, so that the bottom surface of the steel belt is not lower than the top surface of the first mounting plate, the first moving part moves along the x-axis direction, the second moving part moves along the z-axis direction, the rolled steel belt is positioned in the clamping area of the clamping mechanism, and the clamping mechanism is used for clamping the rolled steel belt;

step C: and enabling the second moving part to move along the z-axis direction, enabling the first moving part to move along the x-axis direction, and stacking the rolled steel strip at the steel strip stacking position.

In the technical scheme, K1 first notches are uniformly formed in the outer circumference of the first mounting plate along the circumferential direction, K1 is more than or equal to 3, K1 first slots which are respectively aligned with the K1 first notches are formed in the second mounting plate, the graph formed by the projections of the K1 first slots on the xoy plane is a central symmetry graph, and the center of the central symmetry graph is the projection O1 of the center of the first mounting plate on the xoy plane;

in the step a, the step of rotating the rotating part further includes: the lifting unit is moved to a first height position along the z-axis direction, so that the top ends of the first protruding parts are not higher than the bottom surface of the second mounting plate;

in the step B, the step of stopping rotation of the rotating part specifically includes: stopping rotating after the rotating part rotates to the first rotating position, so that the projection of the ith first protruding part on the xoy plane is positioned in the projection range of the ith first slot hole on the xoy plane, and the projection of the ith first protruding part on the xoy plane and the projection of the ith first notch on the xoy plane have overlapping areas, i=1, 2, … … and K1;

in the step B, the step of lifting the rolled steel strip located in the bearing area by using the lifting unit specifically includes: the lifting unit is moved to the second height position along the z-axis direction, so that the top ends of the first protruding parts are not lower than the top surface of the first mounting plate, and the bottom surface of the rolled steel strip is not lower than the top surface of the first mounting plate.

In the above technical scheme, a position detection unit for detecting whether the rotating part is located at a first rotating position is fixed on the base, the position detection unit is a ranging sensor, the second mounting plate is a disc or a ring, the extending directions of all the first slotted holes are located in the radial direction of the second mounting plate, all the first slotted holes are uniformly arranged in the circumferential direction of the second mounting plate, K1 second gaps which are aligned with the K1 first slotted holes respectively are formed in the outer circumference of the second mounting plate, the direction of a detection head of the position detection unit coincides with the extending direction of any one of the first protruding parts, and the height position of the detection head of the position detection unit is higher than the bottom surface of the second mounting plate and lower than the top surface of the second mounting plate;

in the step B, if the measured value of the position detecting unit is greater than the first distance threshold, it is determined that the rotating portion rotates to the first rotating position.

In the above technical scheme, the weighing sensor for supporting the substrate is fixedly arranged on the lower surface of the substrate, the weight of the second mounting plate, the weight of the substrate and the weight of each first protruding part are known, and the ratio of the length of the steel belt to the weight of the steel belt is a known fixed value;

the step A further comprises the following steps: in the rotating process of the rotating part, measuring the length of the rolled steel belt by using a length measuring unit;

In the step B, if the measured length of the rolled steel strip reaches the preset length, judging that the rolling of the steel strip is completed;

the step B further comprises the following steps: when the lifting unit is used for lifting the rolled steel belt positioned in the bearing area or the lifting unit is lifted to the second height position, the weight of the weighing sensor, the weight of the second mounting plate, the weight of the base plate and the weight of each first bulge are used for calculating the weight of the rolled steel belt, whether the length measurement result of the rolled steel belt is correct or not is judged according to the ratio of the measured length of the rolled steel belt to the calculated weight of the rolled steel belt, if the length measurement result is correct, the lifting unit is used for lifting the rolled steel belt positioned in the bearing area, otherwise, the length of the steel belt which is still required to be rolled is calculated according to the known ratio of the length of the steel belt to the weight of the steel belt and the calculated weight of the rolled steel belt, so that the target measurement value of the length measurement unit is obtained, the lifting unit is lowered to the first height position, the step A is jumped until the measurement value of the length measurement unit is the target measurement value, and the step B is executed.

According to the invention, through the arrangement, whether the length of the rolled steel belt measured by the length measuring unit is correct or not can be judged through the measurement of the weight of the steel belt by the weighing sensor, so that the influence of the fact that the rolled steel belt size does not meet the requirement when the measurement of the length measuring unit is wrong is avoided, the working efficiency is influenced when the measurement of the length measuring unit is wrong, the rolled steel belt length is calculated through the known ratio of the length of the steel belt to the weight, and the rolled steel belt length is calculated, so that rolling is continued, the rolled steel belt meets the requirement, and the influence of reworking on the working efficiency is avoided.

In the above technical scheme, a steel strip raw material processing device for outputting the steel strip for winding is arranged at one side of the steel strip winding mechanism, and a first steel strip section is defined as the steel strip which is output from the steel strip raw material processing device and is not wound on the first mounting plate; defining a first tangent line as a straight line passing through an outlet of the steel strip raw material processing device and tangent to the outer circumference of the first mounting plate;

an abutting unit is fixed on the base, and a first steel belt section with a linear extending direction is formed between the contact point of the abutting unit and the first steel belt section and the outlet of the steel belt raw material processing device;

when the first strip section is coincident with the first tangent line, the contact point is located between the strip feedstock processing device outlet and the tangent point of the first tangent line;

the extending direction of the abutting unit is positioned in the radial direction of the first mounting plate, an included angle theta 2 between the extending direction of the abutting unit and the extending direction of the first steel belt section ranges from 15 degrees to 75 degrees, and one end, close to the first mounting plate, of the abutting unit is defined as a first end of the abutting unit;

in the step a, the step of winding the steel strip around the outer periphery of the first mounting plate and rotating the rotating part specifically includes:

step A1: the relative position between the starting end of the steel belt wound on the first mounting plate and the first mounting plate is kept unchanged;

Step A2: rotating the rotating part at a first rotating speed n1, enabling the moving speed of the first steel belt section to be 2 x pi x R1 x n1, enabling the first end of the abutting unit to abut against the surface of the first steel belt section, which is far away from the first mounting plate, and enabling the first end of the abutting unit to move towards the first mounting plate along the radial direction of the first mounting plate until the first steel belt section is overlapped with the first tangential line;

step A3: reducing the speed of movement of the first steel belt section and waiting for a time of at least 1/n 1;

step A4: rotating the rotating part at a second rotating speed n2, and enabling the moving speed of the first steel belt section to be 2 x pi x R1 x n2, wherein the second rotating speed is larger than the first rotating speed;

preferably, a first through groove is formed in the outer circumference of the first mounting plate, a first circumferential point is defined as an intersection point of the first through groove and the outer circumference of the first mounting plate, a first ray is defined as a ray which takes the first circumferential point as an end point and extends along the movement direction of the first circumferential point when the rotating part rotates, an included angle theta 1 between the extending direction of the top surface of the first mounting plate and the first ray of the first through groove is 15 degrees to 75 degrees, and in the step A1, the beginning end of a steel strip wound on the first mounting plate extends into the first through groove, so that the relative position between the beginning end of the steel strip wound on the first mounting plate and the first mounting plate is kept unchanged;

Preferably, d1 is defined as a moving distance of the first end of the abutting unit in the radial direction of the first mounting plate, v1 is defined as a moving speed of the first end of the abutting unit, and 1/(2×n1). Ltoreq.d1/v1.ltoreq.2/n 1; more preferably, d1/v1=1/n 1.

In the present invention, when the rotating portion rotates at the first rotation speed, the first end of the abutting unit is moved toward the first mounting plate in the radial direction of the first mounting plate, thereby. Through adopting first flexible portion, can make first flexible portion remove in first mounting panel radial direction to make the steel band be close to first mounting panel gradually, avoid not closely winding and be located the area of bigger scope than first mounting panel periphery by the excessive butt of butt unit and produce the steel band bending when the steel band. In the invention, the steel belt cannot be tightly wound when being wound on the periphery of the first mounting plate, so that the first rotating speed of the lower rotating part is set, the adjustment is convenient, the moving speed of the first steel belt section is set to be 2 x pi x R1 x n1, namely the moving speed of the first steel belt section is set to be the same linear speed as the first rotating speed n1, and the continuous steel belt supply for the steel belt winding mechanism is ensured. With the rotation of the rotating part, the part of the steel belt which is not tightly wound rotates to a position opposite to the extending direction of the abutting structure, and the abutting structure is enabled to abut against the steel belt of the first steel belt section and the steel belt which is overlapped with the first steel belt section and is not tightly wound on the periphery of the first mounting plate at the same time by setting the range of an included angle theta 2 between the extending direction of the abutting unit and the extending direction of the first steel belt section, so that the pressure is applied to the steel belt which is not tightly wound on the periphery of the first mounting plate in the radial direction of the first mounting plate, the steel belt is enabled to move close to the periphery of the first mounting plate, and thus tight winding is achieved, the moving speed of the first steel belt section is reduced, the running speed of the steel belt provided for the steel belt winding mechanism is reduced, namely, the steel belt which is firstly tightly wound on the innermost ring is ensured, and according to practical experience, after waiting for at least 1/n1 time, the steel belt which is wound around the first mounting plate can be tightly wound, at the moment, the rotating part can be enabled to rotate at a faster second rotating speed, and winding efficiency can be improved.

In the above preferred scheme, by setting 1/(2×n1). Ltoreq.d1/v1.ltoreq.2/n 1, the moving speed of the first end of the abutting unit can be in a proper range, and the steel strip cannot be tightly wound because the steel strip is not bent due to too fast movement and because the force of the too slow movement against the abutting of the steel strip is insufficient.

In the technical scheme, the clamping mechanism comprises K3 clamping jaws, a clamping area of the steel belt is formed between each clamping jaw, K3 is more than or equal to 2, and each clamping jaw is connected with an abutting structure for abutting against the outer wall of the steel belt positioned in the clamping area;

in the step B, the step of clamping the rolled steel strip by the clamping mechanism further includes: and simultaneously abutting the outer wall of the clamped steel belt by utilizing each abutting structure.

In the technical scheme, one side of the cross beam is provided with the paperboard moving mechanism, and the paperboard moving mechanism and the steel belt winding mechanism are positioned on the same side of the cross beam;

the paperboard moving mechanism comprises an extending part which is fixed on the ground and extends along the z-axis direction, the extending part is connected with a sliding block which can slide along the z-axis direction, the sliding block is connected with a rotating shaft, the rotating shaft is fixedly connected with a support structure, the support structure is fixedly connected with K4 suckers for sucking the paperboard, K4 is more than or equal to 1, and the rotating shaft is provided with a rotating position M1 and a rotating position M2;

The step C further comprises a step D-a step G:

step D: the rotating shaft is rotated to a rotating position M1, so that the projection of each sucking disc on the xoy plane is positioned in the projection range of the paper board raw material placing position on the xoy plane, the sliding block slides along the z-axis direction, the sucking disc is in contact with the paper board positioned at the uppermost part of the paper board raw material placing position, and the paper board is sucked by the sucking disc;

step E: the rotating shaft is rotated to a rotating position M2, so that the projection of each sucking disc on the xoy plane is positioned in the projection range of the steel strip stacking position on the xoy plane, and the sliding block slides along the z-axis direction, so that the distance between the sucked paper board and the steel strip positioned at the uppermost part of the steel strip stacking position is smaller than a preset distance da;

step F: stacking the adsorbed paperboards on the steel belt positioned at the uppermost part of the steel belt stacking position;

step G: repeating the steps A-F;

the invention has the advantages and positive effects that: the automatic paper feeding machine can automatically clamp products, can automatically walk to a specified position for blanking through x-axis movement, can automatically suck paper boards through z-axis movement, greatly reduces the labor amount of manual conveying, improves the production efficiency, reduces the error rate of data, reduces potential safety hazards and enables equipment to be automatic and intelligent. The invention does not need manual handling at all, and can meet the production when special lengthening and weighting orders exist. The processing of the single-combined strip material is reduced from the original 6 minutes to the current 4 minutes, and each operation realizes one-key automation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.

Fig. 1 and fig. 2 are schematic perspective views of a steel strip palletizing device according to an embodiment of the present invention from two different angles;

FIG. 3 is a schematic perspective view of the steel belt winding mechanism and the steel belt of the lifting unit of FIG. 1 in a second height position;

fig. 4 and 5 are schematic perspective views of a rotating part, a lifting unit and a rotating part driving unit of the steel strip winding mechanism in fig. 1 from two different angles;

fig. 6 and 7 are side and bottom views of fig. 4, respectively;

FIG. 8 is a top view of the first mounting plate of FIG. 4;

FIG. 9 is an exploded view of FIG. 4;

FIG. 10 is a schematic perspective view of the steel strip winding mechanism of FIG. 3 with the steel strip, the rotating portion, the first mounting plate, and the second mounting plate removed;

FIG. 11 is a schematic perspective view of the steel strip winding mechanism of FIG. 3 with the rotating portion, the first mounting plate and the second mounting plate removed;

FIG. 12 is a schematic perspective view of the first driving part, the rotating shaft, the first mounting plate, the second mounting plate and the lifting unit in FIG. 3;

FIG. 13 is a schematic perspective view of the lifting unit, first mounting plate, second mounting plate, and steel strip of FIG. 3;

FIG. 14 is a schematic perspective view of the lifting unit of FIG. 3 mated with a spindle;

FIG. 15 is a schematic perspective view of the lifting unit of FIG. 3;

fig. 16 is a schematic perspective view of the abutment unit of fig. 3;

FIGS. 17 (a) and 17 (b) are schematic plan views of two states of rolling of a steel strip, respectively, in which

Representing a steel strip;

fig. 18 is a schematic perspective view of the position detecting unit of fig. 3;

FIG. 19 is an enlarged partial schematic view of the position detection unit of FIG. 3 aligned with a second notch;

fig. 20 and 21 are schematic perspective views of the first moving part, the second moving part, the clamping structure, the first upright, the second upright, the cross beam and other structures in fig. 1 from two different angles;

FIG. 22 is a schematic perspective view of the first moving part, the second moving part and the clamping structure in FIG. 20;

FIG. 23 is a schematic view of a partial perspective view of the first moving part, the second moving part and the clamping structure in FIG. 1;

FIGS. 24 and 25 are schematic perspective views of the clamping mechanism of FIG. 1 from two different angles;

fig. 26 and 27 are schematic perspective views of the structure of one jaw, the second guide, the second telescopic part, etc. in fig. 24 from two different angles, respectively;

fig. 28 and 29 are schematic perspective views of the moving structure of the paperboard of fig. 1 from two different angles, respectively;

FIG. 30 is an enlarged partial schematic view of FIG. 29;

in the above figures:

11. first upright, 12, second upright, 13, cross beam, 131, drag chain carrying portion, 151, optical signal emitting portion, 152, optical signal receiving portion, 1511, first fixing member, 1521, second fixing member, 2, steel strip winding mechanism, 21, first mounting plate, 211, first notch, 212, first through groove, 22, second mounting plate, 221, first slot, 222, second notch, 23, rotating portion, 231, mounting ring, 232, annular main body, 24, lifting unit, 241, base plate, 242, first protruding portion, 2421, protruding portion, 2422, connecting portion, 243, weighing sensor, 245, second protruding portion, 25, abutting unit, 251, first rotating shaft, 252, roller, 254, first guide cylinder, 255, first fixing portion, 26, position detecting unit, 261, detecting head, 262, protective housing, 263, second fixing portion, 27, base, 271, top plate, 3, first moving portion, 4, second moving part, 5, gripping mechanism, 51, connecting plate, 513, position detecting part, 52, jaw, 521, pallet, 53, reciprocating head, 542, fixed block, 55, slide plate, 561A, first guide, 561B, first slide 562A, second guide, 562B, second slide, 6, cardboard moving mechanism, 61, suction cup, 621, first bracket, 622, second bracket, 63, slider, 64, rotating shaft, 65, extending part, 68, cardboard raw material bearing seat, 69, base, 8, control box, 81, display screen, 9, steel belt raw material processing device, 101, first flexible drag chain, 102, second flexible drag chain, 103, third flexible drag chain, 201A, first rack, 201B, first gear, 202A, second rack, 202B, second gear, 301, first electrical control part, 302, second electrical control part, 401A, and the like, first guide bar 401B, first slider, 402A, guide groove, 402B, slider, 501, first telescoping portion, 502, second telescoping portion, 601, first driving portion, 602, second driving portion, 603, third driving portion, 605, lifting unit driving portion, 701, first guardrail, 702, second guardrail, 100, steel strip, 200, cardboard, S1, contact point of abutting unit and first steel strip section, S2, tangential point, S3, steel strip raw material processing device outlet, L1, first steel strip section, L2, first tangential line, L3, extending direction of abutting unit.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.

Only a portion of the second flexible tow chain 102 is shown in fig. 1, 2, 20, 21.

The invention provides an automatic blanking device. The automatic clamping and taking by one key, blanking and stacking information uploading can be realized, and the automatic clamping and taking device has the advantages of automatic fixed length, automatic weighing and automatic partition plate taking.

The invention relates to a full-automatic material transfer device, which is novel equipment for automatically transferring materials. The intelligent control can be performed by programming, and a PLC+man-machine interface (touch screen) can be used for replacing manual high-intensity operation. The appearance of the equipment is a portal frame type, and the materials are controlled by adopting modes of clamping, sucking and the like.

The structural appearance components are as follows: the control system, the rack, the gear, the motor, specifically comprises: control system (touch screen): is an information central nerve (brain) responsible for the issuing of all action commands and information feedback processing; a frame: a torso supporting all of the actuators; clamping jaw: the device realizes the hanging of the workpiece and completes the requirements of carrying and assembling; servo drive mechanism: realizing high-precision movement of the mechanical X axis; an upper mechanism and a lower mechanism: realizing the horizontal up-down state of the object; left and right mechanism: realizing the moving state of the paper board; a rotating mechanism: realizing the material receiving state.

Setting the rice number and the specification height of a product to be processed on the touch screen, clicking and rolling the product, and automatically stopping the rolling platform after the rolling platform rotates to the set rice number of the touch screen through uniform rotation. Then clicking the automatic edge searching in the touch screen, slowly rotating the material receiving disc to the automatic edge searching port to push up the product. The weighing mechanism supporting the product at this point begins to meter the weight and is stored in the touch screen. The iron wires are used for binding the head end and the tail end of the product, then the Z1 shaft clamping device is started to fall to the product after clicking and taking materials, and then the product starts to rise after inwards shrinking and clamping the product. After reaching the set height point, the X axis starts to walk right, and after reaching the stacking position, the Z1 axis starts to descend. And after reaching the set blanking height position, opening the clamping device to release the product. After the clamping device is loosened and the product is put down, the Z1 axis starts to rise and returns to the set height, and the X axis is retracted to the left to the waiting position. The Z2 axis starts to swing leftwards, then starts to absorb the paper board, moves upwards, swings rightwards to the position of the material stack, and the Z2 axis starts to descend. When the product is detected, the sucking disc is loosened again, and the paperboard is placed on the product to be separated from the next product.

As shown in fig. 1 and 2, the invention provides a steel strip stacking device, which comprises a column structure arranged on the ground and a beam 13 arranged on the column structure, wherein the steel strip stacking device defines an orthogonal cartesian coordinate system x, y and z, the origin of the coordinate system is o, the extending direction of the beam 13 is the x-axis direction, and the height direction of the column structure is the z-axis direction; the beam 13 is connected to a first moving part 3 movable in the x-axis direction, and the first moving part 3 is connected to a second moving part 4 movable in the z-axis direction.

As shown in fig. 3-19, the steel belt stacking device further comprises a steel belt winding mechanism 2 positioned at one side of the cross beam 13;

the steel belt winding mechanism 2 comprises a base 27 fixed on the ground, a rotating part 23 arranged on the base 27, and a first mounting plate 21 and a second mounting plate 22 fixedly connected with the rotating part 23, wherein the first mounting plate 21 is a circular ring, the first mounting plate 21 and the rotating part 23 are coaxially arranged, and a rotating shaft of the rotating part 23 extends in the z-axis direction;

the first mounting plate 21 located on the second mounting plate 22 forms a protrusion on the second mounting plate 22, and the portion of the upper surface of the second mounting plate 22 located outside the first mounting plate 21 forms a carrying area of the rolled steel strip 100. The first mounting plate 21 is preferably secured to the top surface of the second mounting plate 22.

The steel strip stacking device further comprises:

a lifting unit 24 for lifting the steel strip 100 located in the load bearing area so that the bottom surface of the steel strip 100 is not lower than the top surface of the first mounting plate 21;

and a gripping mechanism 5 for gripping the rolled steel strip 100, the gripping mechanism 5 being connected to the second moving part 4.

K1 first notches 211 are uniformly formed in the outer circumference of the first mounting plate 21 along the circumferential direction, K1 is more than or equal to 3, K1 first slotted holes 221 which are respectively aligned with the K1 first notches 211 are formed in the second mounting plate 22, a graph formed by the projections of the K1 first slotted holes 221 on the xoy plane is a central symmetry graph, and the center of the central symmetry graph is the projection O1 of the center of the first mounting plate 21 on the xoy plane;

the lifting unit 24 comprises a substrate 241, K1 first protruding parts 242 fixed on the upper surface of the substrate 241, and a lifting unit driving part 605 for driving the substrate 241 to lift;

defining R1 as the radius of the outer circumference of the first mounting plate 21, defining the circles on the xoy plane with O1 as the center of a circle and the radii of R2 and R3 as a first circle and a second circle respectively, wherein the projection of the top end of each first bulge 242 on the xoy plane extends between the first circle and the second circle, and R2 is more than R1 and less than R3;

The rotating portion 23 has a first rotating position, when the rotating portion 23 is at the first rotating position, the projection of the i-th first protruding portion 242 on the xoy plane is located in the projection range of the i-th first slot 221 on the xoy plane, and the projection of the i-th first protruding portion 242 on the xoy plane and the projection of the i-th first notch 211 on the xoy plane have overlapping areas, i=1, 2, … …, K1;

when the rotating portion 23 is at the first rotating position, the lifting unit 24 is reciprocally movable in the z-axis direction between a first height position and a second height position, the second height position being higher than the first height position;

when the lifting unit 24 is at the first height position, the top end of each first protruding part 242 is not higher than the bottom surface of the second mounting plate 22;

when the lifting unit 24 is at the second height position, the top end of each first protruding portion 242 is not lower than the top surface of the first mounting plate.

In a preferred embodiment, the projection of the extending direction of each first slot 221 on the xoy plane and the projection of the extending direction of each first projection 242 on the xoy plane are located in the radial direction of the second circle.

In this embodiment, k1=k2=6.

The rotating part 23 has an annular structure, the base plate 241 is a disc, and the rotating part 23 and the base plate 241 are coaxially arranged; the rotating part 23 and the first protruding part 242 have a gap therebetween.

The rotating part 23 comprises an annular main body 232 and an installing ring 231 fixedly arranged on the annular main body 232 and protruding upwards, the second installing plate 22 is fixedly connected to the upper surface of the installing ring 231, and a step part is formed at the part of the annular main body 232 positioned at the inner side of the installing ring 231;

the first protruding portion 242 has a connecting portion 2422 fixed on the substrate 241, and an extending portion 2421 fixed on the upper end of the connecting portion 2422, wherein the extending portion 2421 extends away from the substrate 241 on a plane perpendicular to the z-axis, the extending portion 2421 and the connecting portion 2422 form an L-shaped structure, and the extending portion 2421 is located above the step portion and is located inside the mounting ring 231; the projection of the connection part 2422 in the xoy plane is located in the projection of the substrate 241 in the xoy plane, and the outer diameter of the substrate 241 is smaller than the inner diameter of the annular main body 232.

The lifting unit driving part 605 is located below the substrate 241 and is opposite to the center of the substrate 241, the lifting unit driving part 605 is a telescopic driving structure extending in the z-axis direction, a fixed end of the lifting unit driving part 605 is fixedly connected with the top plate 271 of the base 27, and a movable end of the lifting unit driving part 605 is connected with the substrate 241, so that the substrate 241 is driven to move along the z-axis direction;

The lifting unit 24 further comprises K2 second protrusions 245 fixed on the lower surface of the base plate 241 and uniformly arranged on the base plate 241, and each second protrusion 245 penetrates through the top plate 271 of the base 27 and is in clearance fit with the top plate 271 of the base 27, wherein K2 is more than or equal to 3.

The steel strip palletizer apparatus further comprises a load cell 243 for measuring the weight of the rolled steel strip.

In a preferred embodiment, the load cell 243 is sandwiched between the substrate 241 and the lifting unit driving part 605, and the measuring end and the fixing end of the load cell 243 are fixedly connected to the substrate 241 and the lifting unit driving part 605, respectively.

The first mounting plate 21 is provided with a positioning structure for keeping the relative position between the start end of the steel strip 100 wound around the first mounting plate 21 and the first mounting plate 21 unchanged when the rotating part 23 rotates;

in a preferred embodiment, the positioning structure is a first through groove 212 formed on the outer circumference of the first mounting plate 21, a first circumferential point is defined as an intersection point of the first through groove 212 and the outer circumference of the first mounting plate 21, a first ray is defined as a ray extending along the movement direction of the first circumferential point when the rotating portion 23 rotates with the first circumferential point as an end point, an included angle θ1 between the extending direction of the first through groove 212 on the top surface of the first mounting plate 21 and the first ray is 15 ° -75 °,

In a more preferred embodiment, the angle θ1 between the extending direction of the first through groove 212 on the top surface of the first mounting plate 21 and the first ray is 45 °.

A steel strip raw material processing device 9 for outputting the steel strip 100 for winding is arranged on one side of the steel strip winding mechanism 2, and a first steel strip section is defined as the steel strip 100 which is output from the steel strip raw material processing device 9 and is not wound on a first mounting plate 21; defining a first tangent line as a straight line passing through the outlet of the steel strip raw material processing device 9 and tangent to the outer circumference of the first mounting plate 21;

the steel strip stacking device further comprises an abutting unit 25 for abutting against the surface of the first steel strip section, which is away from the first mounting plate 21, wherein a first steel strip section with a linear extending direction is formed between the contact point of the abutting unit 25 with the first steel strip section and the outlet of the steel strip raw material processing device 9; the extending direction of the abutting unit 25 is located in the radial direction of the first mounting plate 21, and an included angle theta 2 between the extending direction of the abutting unit 25 and the extending direction of the first steel belt section ranges from 15 degrees to 75 degrees;

in a preferred embodiment, θ2 ranges from 45 ° -60 °;

in a preferred embodiment, the abutment unit 25 has a roller 252 for abutment against a surface of the first steel strip section facing away from the first mounting plate 21, the rolling plane of the roller 252 being parallel to the xoy plane;

In a more preferred embodiment, the abutting unit 25 includes a first telescopic portion 501, a fixed end of the first telescopic portion 501 is fixedly connected with the base 27, a telescopic direction of the first telescopic portion 501 is an extending direction of the abutting unit 25, and a telescopic head of the first telescopic portion 501 is connected with the roller 252.

The steel strip raw material processing device 9 is a device for processing the steel strip raw material before rolling the steel strip, and belongs to the prior art. As will be appreciated by those skilled in the art.

The steel belt stacking device further comprises a control mechanism and a position detection unit 26 for detecting whether the rotating part 23 is positioned at a first rotating position, wherein the output end of the position detection unit 26, the control end of the rotating part 23 and the control end of the lifting unit 24 are respectively and electrically connected with the control mechanism;

in a preferred embodiment, the position detecting unit 26 is a ranging sensor fixedly connected to the base 27, the second mounting plate 22 is a disc or a ring, the extending direction of each first slot hole 221 is located in the radial direction of the second mounting plate 22, each first slot hole 221 is uniformly disposed in the circumferential direction of the second mounting plate 22, K1 second notches 222 are formed on the outer circumference of the second mounting plate 22, the K1 second notches 222 are aligned with the K1 first slot holes 221 in the radial direction of the second mounting plate 22, the direction of the detecting head of the position detecting unit 26 coincides with the extending direction of any one of the first protruding portions 242, and the height of the detecting head of the position detecting unit 26 is higher than the bottom surface of the second mounting plate 22 and lower than the top surface of the second mounting plate 22.

The first mounting plate 21 and the second mounting plate 22 may be circular discs. The rotating portion 23 has a pivot bearing fixed to the top plate 271 of the base 27. The steel strip winding mechanism 2 further comprises a first driving part 601. The first driving part 601 may be a rotation driving part. The fixed end of the first driving part 601 is fixedly connected with the base 27, and the rotating end is rotatably connected with the outer circumference of the rotating part 23, so as to drive the rotating part 23 to rotate.

The abutting unit 25 includes a first rotation shaft 251, a roller 252, a first guide cylinder 254, a first fixing portion 255, and a first telescopic portion 501. The first guide cylinder 254 is fixed to the top plate 271 by a first fixing portion 255. The first telescopic part 501 is matched with the first guide cylinder 254 and stretches and contracts along the length direction of the first guide cylinder 254, the first telescopic part 501 is connected with a rotating shaft 251, and the roller 252 rotates around the rotating shaft 251.

The position detecting unit 26 includes a detection sensor, a protective case 262, and a second fixing portion 263. The protective case 262 is fixed to the top plate 271 by the second fixing portion 263, and the main body of the detection sensor is located in the protective case 262, and the detection head 261 of the detection sensor protrudes from the protective case 262.

As shown in fig. 20-23, the first moving part 3 is provided with a sleeve, a channel passing through the sleeve is arranged along the z-axis direction, and the second moving part 3 is sleeved in the sleeve and is in sliding connection with the inner wall of the sleeve.

The steel belt stacking device further comprises a control mechanism, the control mechanism comprises a first electric control part 301 and a control box 8 fixedly arranged on one side of the cross beam 13, the first electric control part 301 is fixedly connected to the first moving part 3, and a first flexible drag chain 101 is electrically connected between the first electric control part 301 and the control box 8. The electrical connection line between the first flexible drag chain 101 and the control box 8 can pass through the cross beam 13 and the inner cavity of the upright post structure.

In the invention, by arranging the first flexible drag chain 101, the first moving part 3 can ensure electrical connection when moving, and disorder of the electrical connection wire or bending of the electrical connection wire when the first moving part 3 moves can be avoided.

The first moving part 3, the clamping mechanism 5 and the steel belt winding mechanism 2 are arranged on the same side of the cross beam 13, a drag chain bearing part 131 for bearing the first flexible drag chain 101 is fixedly connected to the other side of the cross beam 13, the drag chain bearing part 131 is arranged along the x-axis direction, and the first electric control part 301 is arranged above the cross beam 13.

A second flexible drag chain 102 is connected between the circuit control part of the second moving part 4 and the first electric control part 301;

in a preferred embodiment, the second flexible drag chain 102 has a first straight line segment, an arc segment, and a second straight line segment, which are sequentially connected to form a U-shaped structure with a downward opening;

The first straight line segment extends downwards along the z-axis direction outside the sleeve and is electrically connected with the first electrical control part 301, and the second straight line segment extends downwards along the z-axis direction and passes through the sleeve and is electrically connected with the circuit control unit of the clamping mechanism 5.

In the invention, by arranging the second flexible drag chain 102, the second moving part can ensure electrical connection when moving, and avoid disorder of the electrical connection wire or bending of the electrical connection wire when the second moving part 4 moves. By providing the second flexible tow chain 102 with a downwardly opening U-shaped configuration, the second flexible tow chain 102 extends from above the sleeve to avoid interference with the gripping mechanism 5 below the sleeve.

The cross beam 13 is provided with a first rack 201A and a first guide bar 401A, and the first moving part 3 is provided with a second driving part 602, a third driving part 603, and a first slider 401B that cooperates with the first guide bar 401A. The second driving part 602 and the third driving part 603 may each use a gear motor. The first gear 201B of the third driving part 603 is engaged with the first rack 201A, so that the first moving part 3 moves in the x-axis direction.

The second moving portion 4 is provided with a second rack 202A and a slide bar 402B. The second gear 202B of the second driving part 602 is located in the sleeve of the first moving part 3 and cooperates with the second rack 202A, so that the second moving part 4 can move in the z-axis direction. The inner wall of the sleeve is also provided with guide grooves 402A which cooperate with the sliding strips 402B.

24-27, the clamping mechanism 5 comprises K3 clamping jaws 52, and a clamping area of the steel belt 100 is formed between each clamping jaw 52, wherein K3 is more than or equal to 2;

in a preferred embodiment, the projection of the clamping jaw 52 on the xoy plane is V-shaped.

Each jaw 52 is provided with a pallet 521 for carrying a steel strip 100, each pallet 521 extending from the bottom of the jaw 52 and towards the jaw 52 opposite the jaw 52.

K3 =2, the gripping mechanism 5 further comprises a distance adjustment mechanism for adjusting the distance between the two jaws 52;

in a preferred embodiment, the gripping mechanism 5 includes a connecting plate 51 fixedly connected to the second moving portion 4 and parallel to the xoy plane, and the distance adjusting mechanism includes two sliding plates 55 connected to the connecting plate 51 and capable of sliding independently on the connecting plate 51 along the x-axis direction, and the two clamping jaws 52 are fixedly connected to the two sliding plates 55, respectively.

Each clamping jaw 52 is connected with an abutting structure for abutting against the outer wall of the steel belt 100 in the clamping area;

in a preferred embodiment, the abutment structure is a reciprocating head 53 passing through the jaw 52, extendable from the jaw 52 and extending to the gripping area;

in a more preferred embodiment, the extending direction and the moving direction of the reciprocating head 53 are both located on a straight line La where the symmetry axis of the clamping jaw 52 is located.

The gripping mechanism 5 includes a connection plate 51 fixedly connected to the lower end of the second moving portion 4, and the connection plate 51 is parallel to the xoy plane. The lower surface of the connection plate 51 is provided with a first guide 561A (a guide bar in this embodiment) and a second guide 562A (a guide cylinder in this embodiment). The gripping mechanism 5 further includes two sliding plates 55 disposed at intervals in the x-axis direction, each sliding plate 55 is fixedly connected with a clamping jaw 52, a fixing block 542, a first sliding member 561B (in this embodiment, a sliding block) that cooperates with the first guiding member 561A, and the fixing block 542 is fixedly connected with a second sliding member 562B (in this embodiment, a sliding rod) that cooperates with the second guiding member 562 and penetrates through the inner cavity of the second guiding member 562. The second guide 562A is provided with a position detecting portion 513 for detecting the movement position of the second slider 562B. The clamping jaw 52 is located on the lower surface of the sliding plate 55. The lower surface of the jaw 52 has attached thereto a pallet 521 extending toward the opposite jaw 52. The second telescopic portion 502 is provided in a straight line direction (x-axis direction) along which the symmetry axis of the clamping jaw 52 is located. The fixed end of the second telescopic part 502 is fixedly connected with the sliding block 55, and the movable end of the second telescopic part 502 is a reciprocating head 53 which passes through the clamping jaw 52 and moves along the x axis. The reciprocating head 53 passing through one of the jaws 52 is moved toward the opposite jaw 52 so that the reciprocating head 53 abuts against the steel strip 100. Since the straight line of symmetry axis of the gripping jaw passes through the center of the gripping area at the time of gripping, by this arrangement, the reciprocating head 53 is also moved toward the center of the gripping area, avoiding deformation of the shape of the steel strip at the time of pushing the steel strip 100.

The projection of the steel belt winding mechanism 2 and the projection of the steel belt stacking position on the x axis are positioned in the projection of the moving range of the first moving part 3 on the x axis.

The steel belt stacking device further comprises a paperboard moving mechanism 6, wherein the paperboard moving mechanism 6 comprises an extending part 65 which is fixed on the ground and extends along the z-axis direction, the extending part 65 is connected with a sliding block 63 which can slide along the z-axis direction, the sliding block 63 is connected with a rotating shaft 64, the rotating shaft 64 is fixedly connected with a bracket structure, the bracket structure is fixedly connected with K4 suckers 61 for sucking the paperboard, and K4 is more than or equal to 1;

the rotating shaft 64 has a rotating position M1 and a rotating position M2;

when the rotating shaft 64 rotates to the rotating position M1, the projection of each sucking disc 61 on the xoy plane is positioned in the projection range of the cardboard raw material placing position on the xoy plane;

when the rotating shaft 64 rotates to the rotating position M2, the projection of each suction cup 61 on the xoy plane is located in the projection range of the steel strip stacking position on the xoy plane.

The slide 63 and the extension 65 may be connected by a gear or a rack, so that the slide 63 moves along the extension 65 in the z-axis direction.

The steel belt stacking device further comprises a control mechanism, wherein the control mechanism comprises a second electric control part 302 fixedly connected to the upper part or the top end of the extension part 65, and a third flexible drag chain 103 is connected between the second electric control part 302 and the circuit control part of the sliding block 63;

The third flexible drag chain 103 is provided with a first straight line segment, an arc segment and a second straight line segment, and the first straight line segment, the arc segment and the second straight line segment are sequentially connected to form a U-shaped structure with an upward opening;

the first straight line segment and the second straight line segment extend along the z-axis direction, and the first straight line segment and the second straight line segment are electrically connected with the second electrical control portion 302 and the circuit control unit of the rotating shaft 64, respectively.

The bracket structure comprises a first bracket 621 fixedly connected with the rotating shaft and a second bracket 622 fixedly connected with the first bracket 621, and the second bracket 622 and the first bracket 621 are arranged at the intersection point in a crossing way;

two suckers 61 symmetrical about the intersection point are fixedly connected to the bottom end of the first bracket 621, and two other suckers 61 symmetrical about the intersection point are fixedly connected to the bottom end of the second bracket 622, and the distances between each sucker 61 and the intersection point are equal.

The extension 65 is fixedly connected with a second guardrail 702 for preventing personnel from entering the steel strip stacking position and the paperboard raw material placing position.

The line between the center of the cardboard material placement position and the center of the steel strip stacking position is parallel to the extending direction of the second guard rail 702.

At least two second guard rails 702 are spaced apart along the z-axis.

The steel belt stacking device further comprises a control mechanism, the upright post structure comprises a first upright post 11 and a second upright post 12 which are arranged at intervals in the x-axis direction, and the first upright post 11 and the second upright post 12 are respectively and fixedly connected with the cross beam 13;

the first upright 11 and the second upright 12 are respectively provided with an optical signal transmitting part 151 and an optical signal receiving part 152 correspondingly, and each optical signal transmitting part 151 and the corresponding optical signal receiving part 152 are oppositely arranged in the x-axis direction; the control end of the optical signal transmitting part 151, the output end of the optical signal receiving part 152, the control end of the first moving part and the control end of the second moving part are all electrically connected with a control mechanism;

in a preferred embodiment, the steel strip winding mechanism 2, the first moving part 3, the gripping mechanism 5, the cardboard raw material placing position, and the steel strip stacking position are disposed on the same side of the beam 13, and the optical signal transmitting part 151 and the optical signal receiving part 152 are disposed on the other side of the beam 13.

A first fixing member 1511 provided on the side wall of the first column 11 to extend in a direction away from the cross member 13 in the y-axis direction;

a second fixing member 1521 extending away from the cross member 13 in the y-axis direction is provided on the side wall of the second pillar 12.

The optical signal transmitting portion 151 and the optical signal receiving portion 152 are fixed to the first fixing member 1511 and the second fixing member 1521, respectively.

The control mechanism comprises a control box 8 fixedly arranged on the ground and a display screen 81 electrically connected with the control box 8.

The base 27 and the steel belt stacking position are arranged on the same side of the cross beam 13 and are sequentially arranged at intervals in the x-axis direction, and one end, away from the cross beam 13, of the base 27 is fixedly connected with a first guardrail 701 positioned between the base 27 and the steel belt stacking position.

The invention also provides a steel strip stacking method, wherein the ground is provided with a column structure, the column structure is provided with a beam 13, an orthogonal Cartesian coordinate system x, y and z is defined, the origin of coordinates of the coordinate system is o, the extending direction of the beam 13 is the x-axis direction, and the height direction of the column structure is the z-axis direction; the beam 13 is connected with a first moving part 3 which can move along the x-axis direction, and the first moving part 3 is connected with a second moving part 4 which can move along the z-axis direction;

the device is characterized in that a steel belt winding mechanism 2 is arranged on one side of the cross beam 13;

the steel belt winding mechanism 2 comprises a base 27 fixed on the ground, a rotating part 23 arranged on the base 27, and a first mounting plate 21 and a second mounting plate 22 fixedly connected with the rotating part 23, wherein the first mounting plate 21 is a disc or a circular ring, the first mounting plate 21 and the rotating part 23 are coaxially arranged, and a rotating shaft of the rotating part 23 extends in the z-axis direction;

The second moving part 4 is connected with a clamping mechanism 5;

the steel belt stacking method comprises the following steps:

step A: winding a steel strip 100 around the outer periphery of the first mounting plate 21, rotating the rotating part 23, and carrying the steel strip 100 on the carrying area;

and (B) step (B): after the rolling of the steel belt 100 is completed, the rotating part 23 stops rotating, the lifting unit 24 is utilized to lift the steel belt 100 positioned in the bearing area, so that the bottom surface of the steel belt 100 is not lower than the top surface of the first mounting plate, the first moving part 3 moves along the x-axis direction, the second moving part 4 moves along the z-axis direction, the rolled steel belt 100 is positioned in the clamping area of the clamping mechanism 5, and the clamping mechanism 5 is utilized to clamp the rolled steel belt 100;

step C: the second moving part 4 is moved in the z-axis direction, and the first moving part 3 is moved in the x-axis direction, so that the rolled steel strip 100 is stacked at the steel strip stacking position.

the step a further includes, before the step of rotating the rotating portion 23: moving the lifting unit 24 to a first height position along the z-axis direction so that the top end of each first protruding portion 242 is not higher than the bottom surface of the second mounting plate 22;

in the step B, the step of stopping the rotation of the rotating portion 23 specifically includes: the rotation part 23 is rotated to the first rotation position and then stops rotating, so that the projection of the ith first protruding part 242 on the xoy plane is positioned in the projection range of the ith first slot 221 on the xoy plane, and the projection of the ith first protruding part 242 on the xoy plane and the projection of the ith first notch 211 on the xoy plane have overlapping areas, i=1, 2, … … and K1;

in the step B, the step of lifting the rolled steel strip 100 located in the bearing area by using the lifting unit 24 is specifically: the lifting unit 24 is moved to the second height position in the z-axis direction so that the top end of each first projection 242 is not lower than the top surface of the first mounting plate, and so that the bottom surface of the rolled steel strip 100 is not lower than the top surface of the first mounting plate 21.

The base 27 is fixed with a position detection unit 26 for detecting whether the rotating part 23 is located at a first rotating position, the position detection unit 26 is a ranging sensor, the second mounting plate 22 is a disc or a ring, the extending direction of each first slot hole 221 is located in the radial direction of the second mounting plate 22, each first slot hole 221 is uniformly arranged in the circumferential direction of the second mounting plate 22, the outer circumference of the second mounting plate 22 is provided with K1 second notches 222 aligned with K1 first slot holes 221, the direction of the detection head of the position detection unit 26 coincides with the extending direction of any one first protruding part 242, and the height position of the detection head of the position detection unit 26 is higher than the bottom surface of the second mounting plate 22 and lower than the top surface of the second mounting plate 22;

in the step B, if the measured value of the position detecting unit 26 is greater than the first distance threshold value, it is determined that the rotating portion 23 is rotated to the first rotating position.

The weighing sensor 243 for supporting the substrate 241 is fixedly arranged on the lower surface of the substrate 241, the weight of the second mounting plate 22, the weight of the substrate 241 and the weight of each first protruding part 242 are known, and the ratio of the length of the steel strip 100 to the weight of the steel strip 100 is a known fixed value;

The step A further comprises the following steps: during the rotation of the rotating part 23, the length of the rolled steel strip 100 is measured using a length measuring unit;

in the step B, if the measured length of the rolled steel strip 100 reaches the preset length, it is determined that the rolling of the steel strip 100 is completed;

the step B further comprises the following steps: during the process of lifting the rolled steel strip 100 located in the bearing area by the lifting unit 24 or when the lifting unit 24 is lifted to the second height position, the weight of the rolled steel strip 100 is calculated by using the reading of the weighing sensor 243, the weight of the second mounting plate 22, the weight of the base plate 241 and the weight of each first boss 242, whether the length measurement result of the rolled steel strip 100 is correct is judged according to the ratio of the measured length of the rolled steel strip 100 to the calculated weight of the rolled steel strip 100, if the length measurement result is correct, the rolled steel strip 100 located in the bearing area is lifted by the lifting unit 24, otherwise, the length of the steel strip 100 which is still required to be rolled is calculated according to the known ratio of the length of the steel strip 100 to the weight of the steel strip 100, so as to obtain the target measurement value of the length measurement unit, the lifting unit 24 is lowered to the first height position, the step A is skipped until the measurement value of the length measurement unit is the target measurement value, and then step B is executed.

In a preferred embodiment, a steel strip raw material processing device 9 for outputting the steel strip 100 for winding is provided at one side of the steel strip winding mechanism 2, and a first steel strip section is defined as the steel strip 100 which is outputted from the steel strip raw material processing device 9 and is not wound on the first mounting plate 21; defining a first tangent line L2 as a straight line passing through the outlet S3 of the steel strip raw material processing device 9 and tangent to the outer circumference of the first mounting plate 21;

an abutting unit 25 is fixed on the base 27, and a first steel belt section L1 with a straight extending direction is formed between a contact point S1 of the abutting unit 25 and the first steel belt section and an outlet S3 of the steel belt raw material processing device 9;

when the first strip section L1 coincides with the first tangent line L2, said contact point S1 is located between the exit S3 of the strip feedstock processing means 9 and the tangent point S2 of the first tangent line;

the extending direction of the abutting unit 25 is located in the radial direction of the first mounting plate 21, an included angle θ2 between the extending direction L3 of the abutting unit 25 and the extending direction of the first steel belt section L1 ranges from 15 ° to 75 °, and one end of the abutting unit 25, which is close to the first mounting plate 21, is defined as a first end of the abutting unit 25;

in the step a, the step of winding the steel strip 100 around the outer periphery of the first mounting plate 21 to rotate the rotating portion 23 specifically includes:

Step A1: the relative position between the starting end of the steel strip 100 wound around the first mounting plate 21 and the first mounting plate 21 is kept unchanged;

step A2: rotating the rotating part 23 at a first rotation speed n1, enabling the moving speed of the first steel strip section to be 2 x pi x R1 x n1, enabling the first end of the abutting unit 25 to abut against the surface of the first steel strip section, which is far away from the first mounting plate 21, and enabling the first end of the abutting unit 25 to move towards the first mounting plate 21 along the radial direction of the first mounting plate 21 until the first steel strip section coincides with the first tangential line;

step A4: the turning section 23 is turned at a second rotational speed n2, which is greater than the first rotational speed, and the moving speed of the first steel strip section is set to 2×pi×r1×n 2.

In the test, the initial movement speed of the first strip section was 15 meters per minute (values smaller than 15 meters per minute or 15-25 meters per minute may be taken depending on the actual situation), i.e. 2 x pi x R1 x n1 is equal to 15 meters per minute. The moving distance of the abutting unit 25 is about 20cm (10-30 cm may be taken according to practical situations), and the moving speed is about 3 meters per minute to 10 meters per minute. In step A3, the speed of movement of the first steel belt section may be reduced by 10% -20%. In step A4, the first strip section is moved at a speed of 250 meters per minute (200-300 meters per minute may be taken according to practical situations), i.e., 2 x pi x R1 x n2 is equal to 250 meters per minute.

Fig. 17 (a) and 17 (b) are schematic plan views of two states of winding of the steel strip.

As shown in fig. 17 (a), the steel strip is wound around the outer periphery of the first mounting plate 21, and the roller 252 of the abutting unit 25 contacts the first steel strip section at the point S1. The abutting unit 25 moves in the radial direction of the first mounting plate 21 toward the first mounting plate 21 so that the first steel strip section that is not wound on the outer periphery of the first mounting plate 21 gradually approaches the outer periphery of the first mounting plate 21.

As shown in fig. 17 (b), the first steel strip section L1 coincides with the first tangential line L2, with the unwound portion of the first steel strip section to the left of the first mounting plate 21. The rollers 252 may abut against the two layers of steel strips at this time, so that the steel strip of the innermost ring may approach the first mounting plate 21 under the abutment pressure so as to be gradually tightly wound on the outer circumference of the first mounting plate 21. At this time, since there is the first steel strip section which is not wound around the first mounting plate 21, the moving speed of the first steel strip section L1 is reduced, that is, the moving speed of the first steel strip section L1 is lower than the moving speed of the other parts of the first steel strip section, so that it is possible to avoid that the moving speed of the steel strip is too fast and the tight winding is not easy in time.

It will be appreciated by those skilled in the art that the steel strip of the strip stock processing device 9 may be provided by a strip unreeling mechanism (not shown). By controlling the rotational speed of the steel strip unreeling mechanism, the speed of movement of the first steel strip section L1 can be controlled.

In a preferred embodiment, the outer circumference of the first mounting plate 21 is provided with a first through groove 212, a first circumferential point is defined as an intersection point of the first through groove 212 and the outer circumference of the first mounting plate 21, a first ray is defined as a ray which takes the first circumferential point as an end point and extends along the movement direction of the first circumferential point when the rotating part 23 rotates, an included angle θ1 between the extending direction of the first through groove 212 on the top surface of the first mounting plate 21 and the first ray is 15 ° -75 °, and in the step A1, the initial end of the steel strip 100 wound around the first mounting plate 21 extends into the first through groove 212, so that the relative position between the initial end of the steel strip 100 wound around the first mounting plate 21 and the first mounting plate 21 is kept unchanged;

in a preferred embodiment, d1 is defined as the moving distance of the first end of the abutting unit 25 in the radial direction of the first mounting plate 21, v1 is defined as the moving speed of the first end of the abutting unit 25, and 1/2×n1.ltoreq.d1/v1.ltoreq.2/n 1; in a more preferred embodiment, d1/v1=1/n 1.

The clamping mechanism 5 comprises K3 clamping jaws 52, a clamping area of the steel belt 100 is formed between the clamping jaws 52, K3 is more than or equal to 2, and each clamping jaw 52 is connected with an abutting structure for abutting the outer wall of the steel belt 100 positioned in the clamping area;

In the step B, the step of gripping the rolled steel strip 100 by the gripping mechanism 5 further includes: each abutting structure is used to simultaneously abut against the outer wall of the clamped steel strip 100.

A paperboard moving mechanism 6 is arranged on one side of the cross beam 13, and the paperboard moving mechanism 6 and the steel belt winding mechanism 2 are positioned on the same side of the cross beam 13;

the paperboard moving mechanism 6 comprises an extending part 65 which is fixed on the ground and extends along the z-axis direction, the extending part 65 is connected with a sliding block 63 which can slide along the z-axis direction, the sliding block 63 is connected with a rotating shaft 64, the rotating shaft 64 is fixedly connected with a bracket structure, the bracket structure is fixedly connected with K4 suckers 61 for sucking the paperboard, K4 is more than or equal to 1, and the rotating shaft 64 is provided with a rotating position M1 and a rotating position M2;

the step C further comprises a step D-a step G:

step D: rotating the rotating shaft 64 to a rotating position M1, so that the projection of each sucking disc 61 on the xoy plane is positioned in the projection range of the paper board raw material placing position on the xoy plane, and the sliding block 63 slides along the z-axis direction, so that the sucking disc 61 contacts with the paper board 200 positioned at the uppermost part of the paper board raw material placing position (namely the position of the paper board raw material bearing seat 68 in fig. 1), and the paper board 200 is sucked by the sucking disc 61;

Step E: rotating the rotating shaft to a rotating position M2, so that the projection of each sucking disc 61 on the xoy plane is positioned in the projection range of the xoy plane, namely the position of the paper board 200 in fig. 1, and the sliding block 63 slides along the z-axis direction, so that the distance between the sucked paper board 200 and the steel strip 100 positioned at the uppermost part of the steel strip stacking position is smaller than a preset distance da;

step F: stacking the sucked paper board 200 on the steel belt 100 positioned at the uppermost part of the steel belt stacking position;

step G: repeating steps A-F.

It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.

The foregoing describes the embodiments of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by this patent. Modifications of the invention, which are various equivalents to the invention, will occur to those skilled in the art upon reading the invention, and are intended to be within the scope of the claims appended hereto. Embodiments of the invention and features of the embodiments may be combined with each other without conflict.

Claims

1. The steel strip stacking device comprises a vertical column structure arranged on the ground and a cross beam (13) arranged on the vertical column structure, wherein an orthogonal Cartesian coordinate system (x, y, z) is defined in the steel strip stacking device, the origin of coordinates of the coordinate system is o, the extending direction of the cross beam (13) is the x-axis direction, and the height direction of the vertical column structure is the z-axis direction; the beam (13) is connected with a first moving part (3) capable of moving along the x-axis direction, and the first moving part (3) is connected with a second moving part (4) capable of moving along the z-axis direction;

the steel belt stacking device is characterized by further comprising a steel belt winding mechanism (2) positioned at one side of the cross beam (13);

the steel belt winding mechanism (2) comprises a base (27) fixed on the ground, a rotating part (23) arranged on the base (27), a first mounting plate (21) and a second mounting plate (22) which are fixedly connected with the rotating part (23), wherein the first mounting plate (21) is a disc or a circular ring, the first mounting plate (21) and the rotating part (23) are coaxially arranged, and a rotating shaft of the rotating part (23) extends in the z-axis direction;

the first mounting plate (21) positioned on the second mounting plate (22) forms a bulge on the second mounting plate (22), and the part of the upper surface of the second mounting plate (22) positioned outside the first mounting plate (21) forms a bearing area of the rolled steel strip (100);

The steel strip stacking device further comprises:

a lifting unit (24) for lifting the steel strip (100) located in the bearing area so that the bottom surface of the steel strip (100) is not lower than the top surface of the first mounting plate (21);

the clamping mechanism (5) is used for clamping the rolled steel belt (100), and the clamping mechanism (5) is connected with the second moving part (4);

k1 first notches (211) are uniformly formed in the outer circumference of the first mounting plate (21) along the circumferential direction, K1 is more than or equal to 3, K1 first slotted holes (221) which are respectively aligned with the K1 first notches (211) are formed in the second mounting plate (22), the patterns formed by the projections of the K1 first slotted holes (221) on the xoy plane are central symmetry patterns, and the center of the central symmetry patterns is the projection O1 of the circle center of the first mounting plate (21) on the xoy plane;

the lifting unit (24) comprises a base plate (241), K1 first protruding parts (242) fixed on the upper surface of the base plate (241), and a lifting unit driving part (605) for driving the base plate (241) to rise;

defining R1 as the radius of the outer circumference of the first mounting plate (21), defining the circles on the xoy plane with the projection O1 as the center and the radii R2 and R3 as the first circle and the second circle respectively, wherein the projection of the top end of each first bulge part (242) on the xoy plane extends between the first circle and the second circle, and R2 is more than R1 and less than R3;

The rotating part (23) is provided with a first rotating position, when the rotating part (23) is arranged at the first rotating position, the projection of the ith first protruding part (242) on the xoy plane is positioned in the projection range of the ith first slotted hole (221) on the xoy plane, and the projection of the ith first protruding part (242) on the xoy plane and the projection of the ith first notch (211) on the xoy plane have overlapping areas, i=1, 2, … … and K1;

when the rotating part (23) is at a first rotating position, the lifting unit (24) can reciprocate between a first height position and a second height position in the z-axis direction, and the second height position is higher than the first height position;

when the lifting unit (24) is at the first height position, the top end of each first protruding part (242) is not higher than the bottom surface of the second mounting plate (22);

when the lifting unit (24) is at the second height position, the top end of each first protruding part (242) is not lower than the top surface of the first mounting plate.

2. The steel strip palletizing device according to claim 1, wherein the projection of the extension direction of each first slot (221) on the xoy plane and the projection of the extension direction of each first projection (242) on the xoy plane are located in the radial direction of the second circle.

3. The steel strip palletizing device according to claim 1, wherein the rotating portion (23) has a ring-shaped structure, the base plate (241) is a disc, and the rotating portion (23) is coaxially disposed with the base plate (241); gaps are formed between the rotating parts (23) and the first protruding parts (242); the rotating part (23) is provided with an annular main body (232) and an installing ring (231) fixedly arranged on the annular main body (232) and protruding upwards, the second installing plate (22) is fixedly connected to the upper surface of the installing ring (231), and a step part is formed at the part, located inside the installing ring (231), of the annular main body (232); the first protruding part (242) is provided with a connecting part (2422) fixed on the base plate (241) and an extending part (2421) fixed with the upper end of the connecting part (2422), the extending part (2421) extends in a direction away from the base plate (241) on a plane vertical to the z axis, the extending part (2421) and the connecting part (2422) form an L-shaped structure, and the extending part (2421) is positioned above the step part and is positioned on the inner side of the mounting ring (231); the projection of the connecting part (2422) on the xoy plane is positioned in the projection of the base plate (241) on the xoy plane, and the outer diameter of the base plate (241) is smaller than the inner diameter of the annular main body (232).

4. The steel strip stacking device according to claim 1, wherein the lifting unit driving part (605) is located below the base plate (241) and is opposite to the center of the base plate (241), the lifting unit driving part (605) is of a telescopic driving structure extending in the z-axis direction, a fixed end of the lifting unit driving part (605) is fixedly connected with a top plate (271) of the base plate (27), and a movable end of the lifting unit driving part (605) is connected with the base plate (241) so as to drive the base plate (241) to move in the z-axis direction;

the lifting unit (24) further comprises K2 second protruding portions (245) which are fixed on the lower surface of the base plate (241) and are uniformly arranged on the base plate (241), and each second protruding portion (245) penetrates through the top plate (271) of the base (27) and is in clearance fit with the top plate (271) of the base (27), wherein K2 is more than or equal to 3.

5. The steel strip palletizing device according to claim 1, further comprising a control mechanism and a position detection unit (26) for detecting whether the rotating portion (23) is located at the first rotation position, wherein an output end of the position detection unit (26), a control end of the rotating portion (23) and a control end of the lifting unit (24) are respectively electrically connected with the control mechanism.

6. The steel strip palletizing device according to claim 1, wherein a steel strip raw material processing device (9) outputting the steel strip (100) for rolling is provided at one side of the steel strip rolling mechanism (2), and a first steel strip section is defined as the steel strip (100) which is outputted from the steel strip raw material processing device (9) and is not wound on the first mounting plate (21); defining a first tangent line as a straight line passing through an outlet of the steel strip raw material processing device (9) and tangent to the outer circumference of the first mounting plate (21);

the steel strip stacking device further comprises an abutting unit (25) for abutting against the surface of the first steel strip section, which is far away from the first mounting plate (21), wherein a first steel strip section with a linear extending direction is formed between the contact point of the abutting unit (25) with the first steel strip section and the outlet of the steel strip raw material processing device (9);

when the first strip section coincides with the first tangent line, said contact point is located between the outlet of the strip stock processing device (9) and the tangent point of the first tangent line;

the extending direction of the abutting unit (25) is located in the radial direction of the first mounting plate (21), and an included angle theta 2 between the extending direction of the abutting unit (25) and the extending direction of the first steel belt section is 15-75 degrees.

7. The steel strip palletizing device as in claim 6 wherein θ2 ranges from 45 ° to 60 °.

8. The steel strip palletizing device according to claim 6, wherein the abutment unit (25) has a roller (252) for abutting a surface of the first steel strip section facing away from the first mounting plate (21), a rolling plane of the roller (252) being parallel to the xoy plane.

9. The steel strip palletizing device according to claim 8, wherein the abutting unit (25) comprises a first telescopic portion (501), a fixed end of the first telescopic portion (501) is fixedly connected with the base (27), a telescopic direction of the first telescopic portion (501) is an extending direction of the abutting unit (25), and a telescopic head of the first telescopic portion (501) is connected with the roller (252).

10. The steel strip palletizing device according to claim 1, wherein the clamping mechanism (5) comprises K3 clamping jaws (52), and a clamping area of the steel strip (100) is formed between the clamping jaws (52), wherein K3 is greater than or equal to 2.

11. The steel strip palletizing device according to claim 10, wherein the projection of the clamping jaw (52) on the xoy plane is V-shaped.

12. A steel strip palletising apparatus as claimed in claim 10, characterised in that each jaw (52) is provided with a pallet (521) for carrying a steel strip (100), each pallet (521) extending from the base of the jaw (52) and towards the jaw (52) opposite the jaw (52).

13. The steel strip palletizing device according to claim 10, wherein k3=2, the gripping mechanism (5) further comprising a distance adjustment mechanism for adjusting the distance between the two clamping jaws (52).

14. The steel strip palletizing device according to claim 10, wherein each clamping jaw (52) is connected with an abutment structure for abutting against the outer wall of the steel strip (100) located in the clamping area.

15. The steel strip palletizing device according to claim 14, wherein the abutting structure is a reciprocating head (53) passing through the clamping jaw (52) and capable of extending from the clamping jaw (52) to the clamping area, and the extending direction and the moving direction of the reciprocating head (53) are both positioned on the straight line of the symmetry axis of the clamping jaw (52).

16. The steel strip stacking device according to claim 1, further comprising a paperboard moving mechanism (6), wherein the paperboard moving mechanism (6) comprises an extending part (65) which is fixed on the ground and extends along the z-axis direction, the extending part (65) is connected with a sliding block (63) which can slide along the z-axis direction, the sliding block (63) is connected with a rotating shaft (64), the rotating shaft (64) is fixedly connected with a bracket structure, and the bracket structure is fixedly connected with K4 suckers (61) for sucking paperboards, and K4 is more than or equal to 1;

The rotating shaft (64) is provided with a rotating position M1 and a rotating position M2;

when the rotating shaft (64) rotates to a rotating position M1, the projection of each sucking disc (61) on the xoy plane is positioned in the projection range of the paperboard raw material placing position on the xoy plane;

when the rotating shaft (64) rotates to a rotating position M2, the projection of each sucking disc (61) on the xoy plane is positioned in the projection range of the steel strip stacking position on the xoy plane.

17. A steel strip stacking method is characterized in that a column structure is arranged on the ground, a cross beam (13) is arranged on the column structure, an orthogonal Cartesian coordinate system (x, y and z) is defined, the origin of coordinates of the coordinate system is o, the extending direction of the cross beam (13) is the x-axis direction, and the height direction of the column structure is the z-axis direction; the beam (13) is connected with a first moving part (3) capable of moving along the x-axis direction, and the first moving part (3) is connected with a second moving part (4) capable of moving along the z-axis direction;

the device is characterized in that a steel belt winding mechanism (2) is arranged on one side of the cross beam (13);

the second moving part (4) is connected with a clamping mechanism (5);

the steel belt stacking method comprises the following steps:

step A: winding a steel belt (100) around the periphery of the first mounting plate (21), rotating the rotating part (23), and loading the steel belt (100) on the loading area;

and (B) step (B): after the rolling of the steel belt (100) is completed, the rotating part (23) stops rotating, the lifting unit (24) is used for lifting the steel belt (100) positioned in the bearing area, so that the bottom surface of the steel belt (100) is not lower than the top surface of the first mounting plate, the first moving part (3) moves along the x-axis direction, the second moving part (4) moves along the z-axis direction, the rolled steel belt (100) is positioned in the clamping area of the clamping mechanism (5), and the clamping mechanism (5) is used for clamping the rolled steel belt (100);

step C: the second moving part (4) is moved along the z-axis direction, the first moving part (3) is moved along the x-axis direction, and the rolled steel strip (100) is stacked at the steel strip stacking position;

in the step A, the step of rotating the rotating part (23) further comprises: moving the lifting unit (24) to a first height position along the z-axis direction so that the top ends of the first protruding parts (242) are not higher than the bottom surface of the second mounting plate (22);

In the step B, the step of stopping rotation of the rotating part (23) specifically comprises the following steps: stopping rotating the rotating part (23) after rotating to a first rotating position, so that the projection of the ith first protruding part (242) on the xoy plane is positioned in the projection range of the ith first slot hole (221) on the xoy plane, and the projection of the ith first protruding part (242) on the xoy plane and the projection of the ith first notch (211) on the xoy plane have overlapping areas, i=1, 2, … … and K1;

in the step B, the step of lifting the rolled steel strip (100) positioned in the bearing area by using the lifting unit (24) comprises the following steps: the lifting unit (24) is moved to a second height position along the z-axis direction, so that the top ends of the first protruding parts (242) are not lower than the top surface of the first mounting plate, and the bottom surface of the rolled steel strip (100) is not lower than the top surface of the first mounting plate (21).

18. The steel strip palletizing method according to claim 17, wherein the lower surface of the base plate (241) is fixedly provided with a load cell (243) supporting the base plate (241), the weight of the second mounting plate (22), the weight of the base plate (241), the weight of each first protrusion (242) are known, and the ratio of the length of the steel strip (100) to the weight of the steel strip (100) is a known fixed value;

The step A further comprises the following steps: in the rotating process of the rotating part (23), measuring the length of the rolled steel strip (100) by using a length measuring unit;

in the step B, if the measured length of the rolled steel strip (100) reaches the preset length, judging that the rolling of the steel strip (100) is completed;

the step B further comprises the following steps: when the rolled steel strip (100) located in the bearing area is lifted by the lifting unit (24) or the lifting unit (24) is lifted to the second height position, the weight of the rolled steel strip (100) is calculated by the reading of the weighing sensor (243), the weight of the second mounting plate (22), the weight of the base plate (241) and the weight of each first bulge part (242), whether the length measurement result of the rolled steel strip (100) is correct is judged according to the ratio of the measured length of the rolled steel strip (100) to the calculated weight of the rolled steel strip (100), if the length measurement result is correct, the rolled steel strip (100) located in the bearing area is lifted by the lifting unit (24), otherwise, the length of the steel strip (100) which is still required to be rolled is calculated according to the known ratio of the length of the steel strip (100) to the weight of the steel strip (100), so as to obtain a target measured value of the length measurement unit, the lifting unit (24) is lowered to the first height position, and the step A is carried out until the measured value of the length measurement unit is the target measured value, and the step B is carried out.

19. The steel strip palletizing method according to claim 17, wherein a steel strip raw material processing device (9) outputting the steel strip (100) for rolling is provided at one side of the steel strip rolling mechanism (2), and a first steel strip section is defined as the steel strip (100) which is outputted from the steel strip raw material processing device (9) and is not wound on the first mounting plate (21); defining a first tangent line as a straight line passing through an outlet of the steel strip raw material processing device (9) and tangent to the outer circumference of the first mounting plate (21);

an abutting unit (25) is fixed on the base (27), and a first steel belt section with a straight extending direction is formed between the contact point of the abutting unit (25) and the first steel belt section and the outlet of the steel belt raw material processing device (9);

the extending direction of the abutting unit (25) is positioned in the radial direction of the first mounting plate (21), an included angle theta 2 between the extending direction of the abutting unit (25) and the extending direction of the first steel belt section ranges from 15 degrees to 75 degrees, and one end, close to the first mounting plate (21), of the abutting unit (25) is defined to be a first end of the abutting unit (25);

In the step A, the step of winding the steel belt (100) on the periphery of the first mounting plate (21) and rotating the rotating part (23) specifically comprises the following steps:

step A1: the relative position between the initial end of the steel belt (100) wound on the first mounting plate (21) and the first mounting plate (21) is kept unchanged;

step A2: rotating the rotating part (23) at a first rotation speed n1, enabling the moving speed of the first steel belt section to be 2 x pi x R1 x n1, enabling the first end of the abutting unit (25) to abut against the surface of the first steel belt section, which is far away from the first mounting plate (21), and enabling the first end of the abutting unit (25) to move towards the first mounting plate (21) along the radial direction of the first mounting plate (21) until the first steel belt section coincides with the first tangential line;

step A4: the rotating part (23) is rotated at a second rotation speed n2, and the moving speed of the first steel strip section is 2 x pi x R1 x n2, wherein the second rotation speed is larger than the first rotation speed.

20. The steel strip stacking method according to claim 19, wherein a first through groove (212) is formed in the outer circumference of the first mounting plate (21), a first circumferential point is defined as an intersection point of the first through groove (212) and the outer circumference of the first mounting plate (21), a first ray is defined as a ray extending along the movement direction of the first circumferential point when the rotating portion (23) rotates with the first circumferential point as an end point, an included angle θ1 between the extending direction of the first through groove (212) on the top surface of the first mounting plate (21) and the first ray ranges from 15 ° to 75 °, and in the step A1, the start end of the steel strip (100) wound around the first mounting plate (21) is made to extend into the first through groove (212), so that the relative position between the start end of the steel strip (100) wound around the first mounting plate (21) and the first mounting plate (21) is kept unchanged.

21. The method of palletizing steel strip according to claim 19, wherein d1 is defined as a moving distance of the first end of the abutting unit (25) in the radial direction of the first mounting plate (21), and v1 is defined as a moving speed of the first end of the abutting unit (25), 1/(2×n1) +.d1/v1+.2/n 1.

22. The method of palletizing steel strip of claim 21, wherein d1/v1=1/n 1.

23. The steel strip stacking method according to claim 17, wherein a paperboard moving mechanism (6) is arranged on one side of the cross beam (13), and the paperboard moving mechanism (6) and the steel strip winding mechanism (2) are positioned on the same side of the cross beam (13);

the paperboard moving mechanism (6) comprises an extending part (65) which is fixed on the ground and extends along the z-axis direction, the extending part (65) is connected with a sliding block (63) which can slide along the z-axis direction, the sliding block (63) is connected with a rotating shaft (64), the rotating shaft (64) is fixedly connected with a bracket structure, the bracket structure is fixedly connected with K4 suckers (61) for sucking the paperboard, K4 is more than or equal to 1, and the rotating shaft (64) has a rotating position M1 and a rotating position M2;

the step C further comprises a step D-a step G:

Step D: rotating the rotating shaft (64) to a rotating position M1, enabling the projection of each sucking disc (61) on the xoy plane to be located in the projection range of the paperboard raw material placing position on the xoy plane, enabling the sliding block (63) to slide along the z-axis direction, enabling the sucking disc (61) to be in contact with the paperboard (200) located at the uppermost part of the paperboard raw material placing position, and adsorbing the paperboard (200) by using the sucking disc (61);

step E: rotating the rotating shaft to a rotating position M2, so that the projection of each sucking disc (61) on the xoy plane is positioned in the projection range of the steel strip stacking position on the xoy plane, and the sliding block (63) slides along the z-axis direction, so that the distance between the adsorbed paper board (200) and the steel strip (100) positioned at the uppermost part of the steel strip stacking position is smaller than a preset distance da;

step F: stacking the adsorbed paper boards (200) on the steel belt (100) positioned at the uppermost part of the steel belt stacking position;

step G: repeating the steps A-F.