CN115849247A

CN115849247A - Suspension type coil stock fork and coil stock fork get device

Info

Publication number: CN115849247A
Application number: CN202310056548.7A
Authority: CN
Inventors: 王磊; 许朝阳; 刘三平; 张世杰
Original assignee: Taiyuan Ottle Logistics Technology Co ltd
Current assignee: Taiyuan Ottle Logistics Technology Co ltd
Priority date: 2023-01-19
Filing date: 2023-01-19
Publication date: 2023-03-28
Anticipated expiration: 2043-01-19
Also published as: CN115849247B

Abstract

The invention relates to the technical field of coil stock storage, in particular to a suspension type coil stock fork and a coil stock forking device, which comprise a walking device, a rotating mechanism, a fork telescopic mechanism, a telescopic guide seat, a tensioning device and an electric control device, wherein the walking device is arranged on the fork telescopic mechanism; the tensioning device comprises a swing transmission device, a swing rod assembly and a limiting assembly; the swing transmission device comprises a motor IV, a connecting shaft, a speed limiter II, a rotating disc and a bearing III with a seat; the connecting shaft is fixed on a motor IV shaft, a speed limiter II, a rotating disc and a mounted bearing III are respectively arranged on the connecting shaft, the motor IV and the mounted bearing III are respectively fixed on a pallet fork telescopic mechanism welding support, the swing rod assembly comprises a swing rod I, a bearing seat I and a limiting rod I, the swing rod I is arranged on the bearing seat I, and the swing rod I is connected with the rotating disc through the limiting rod I. The invention has wide application range, and the coil suspension is convenient for realizing the safe storage and taking of the coils with different specifications, different materials and different industries.

Description

Suspension type coil stock fork and coil stock fork get device

Technical Field

The invention relates to the technical field of coil stock storage, in particular to a suspension type coil stock fork and a coil stock forking device.

Background

At present, the domestic coil fork products are in a rapid development stage, and due to different production requirements of customers, the fork markets are various in types and different in functions. However, most fork functions are comparatively fixed and single, and to the assembly line class mill that operating mode is fixed, general fork can satisfy the production demand, but when facing diversified workshop, often can not accomplish compatible access because of the material specification varies from a whole to a whole, and what more can lead to the coil stock impaired or fall etc. because of functional defect. The common coil fork comprises a grabbing fork, a fork with a concave clamping carrier and the like, and the grabbing fork has the advantages of flexible operation and labor input saving, but has the defect that the grabbing fork is not suitable for coil extraction with large volume and heavy weight, once the coil is too large, too long or too heavy, potential safety hazards such as falling caused by unbalance are easily caused, and excessive pressure is applied when coil goods are grabbed, so that excessive abrasion or extrusion damage is caused to the coil; the fork with sunken screens carrier also has the shortcoming, and its theory of operation is mainly through adjusting the screens of sunken department and fixing the coil stock goods on the carrier, and it is comparatively loaded down with trivial details to implement the operation, and the direct contact of screens and coil stock can cause local extrusion deformation and wearing and tearing of coil stock in addition, not only can delay the time limit for a project, has still increased the loss risk. In the face of diversified production workshops, the common pallet fork is not free from force due to the size of the material measuring tape. Even in the different material access links facing the same project, compatible access can not be completed due to different material specifications, so that the later construction progress can be influenced.

Therefore, there is a need for improvements in the prior art.

Disclosure of Invention

The invention aims to at least solve one technical problem in the prior art, and therefore, one aspect of the invention aims to overcome the defects of complex operation, excessive abrasion and extrusion damage to a coil of the conventional coil fork, and provide the suspension type coil fork which is convenient to operate, wide in application range, capable of stably grabbing longer, larger and heavier cargos and capable of avoiding coil abrasion.

Another object of the present invention is to provide a coil forking device.

In order to achieve the above purpose, an embodiment of one aspect of the invention provides a suspension type coil fork, which comprises a welding support, and a swing transmission device, a swing rod assembly and a limiting assembly which are arranged on the welding support, wherein the swing rod assembly is provided with two groups and respectively arranged on the left side and the right side of the welding support, the swing rod assembly comprises a bearing seat I, a swing rod I and a limiting rod I, the bearing seat I is fixedly connected on the welding support, the swing rod I comprises a rotary rod, a tension rod and a control rod, the rotary rod is arranged on the bearing seat I, the tension rod is arranged on one side of the rotary rod, one end of the control rod is fixedly connected with one end of the rotary rod, and the other end of the control rod is hinged with one end of the limiting rod I; the swing transmission device comprises a rotating disc, the rotating disc is rotatably arranged on the welding bracket through a connecting shaft, one end of the connecting shaft is connected with a motor IV for driving the rotating disc to rotate, a control shaft is arranged on the end face of the rotating disc, and the other end of the limiting rod I is hinged with the control shaft on the rotating disc; the limiting assemblies are provided with two groups and respectively correspond to the two groups of swing rod assemblies, and the upper ends of the limiting assemblies are provided with bearings III matched with grooves at the lower ends of the control rods.

Furthermore, a speed limiter II is arranged between the motor IV and the connecting shaft, a bearing III with a seat is arranged on the welding support, and the connecting shaft is connected with an inner ring of the bearing III with the seat.

The limiting assembly further comprises a sliding sleeve seat, a push rod shaft and a threaded sleeve, the sliding sleeve seat is fixedly arranged on the welding support, a guide hole and a threaded positioning hole are formed in the upper end and the lower end of the sliding sleeve seat respectively, a sliding sleeve seat sliding groove is formed in one side of the sliding sleeve seat, the push rod shaft is arranged in the guide hole in a sliding mode, a sliding block connected with the sliding sleeve seat sliding groove in a sliding mode is fixedly connected to one side of the push rod shaft, the threaded sleeve is arranged in the threaded positioning hole, a disc spring is sleeved on the push rod shaft, the upper end and the lower end of the disc spring are abutted against the sliding block and the threaded sleeve respectively, and one end of the push rod shaft penetrates through the threaded sleeve and is connected with a nut;

the upper end of the ejector rod shaft is provided with a fixed shaft, and the bearing III is arranged on the fixed shaft.

The embodiment of the other aspect of the invention provides a coil fork taking device, which solves the problem that the conventional coil fork cannot be suitable for coil grabbing in a diversified production workshop and comprises the suspension type coil fork, a telescopic guide seat and a fork telescopic mechanism arranged on the telescopic guide seat, wherein the telescopic guide seat comprises a bottom plate and a guide wheel guide plate, the guide wheel guide plate is fixedly arranged on the bottom plate, the lower ends of two sides of a welding bracket are provided with bearings IV, the inner rings of the bearings IV are connected with the welding bracket through guide wheel shafts, and the outer rings of the bearings IV are matched with the guide wheel guide plate;

the pallet fork telescopic mechanism comprises an extended driving wheel structure, an extended driven wheel structure and a drag chain guide groove frame, wherein the extended driving wheel structure and the extended driven wheel structure are respectively arranged at two ends of the bottom plate, the extended driving wheel structure and the extended driven wheel structure are respectively provided with a chain wheel and are connected through a chain I, the chain I is fixedly connected with one end of an L-shaped support of the chain, and the other end of the L-shaped support of the chain is fixedly connected with the welding support;

the tow chain guide slot frame comprises a support, a guide slot and a tow chain, wherein the guide slot and the support are respectively arranged on the bottom plate and the welding support, the tow chain is arranged in the guide slot, and one end of the tow chain is connected with the support.

Furthermore, the extending driving wheel structure further comprises a motor III, an output shaft and a speed limiter I, wherein the output shaft is connected with a motor shaft of the motor III, the chain wheel is a double-row chain wheel I, the double-row chain wheel I is arranged on the output shaft through a bearing, the output shaft is connected with the speed limiter I through a key, and the speed limiter I is fastened with the double-row chain wheel I through a bolt;

and the motor III is fixedly arranged on the bottom plate by extending out of the driving base.

Further, stretch out from driving wheel structure still including stretching out driven base, encoder support and encoder, stretch out driven base and bottom plate fixed connection, the sprocket is double sprocket II, and the sprocket shaft of double sprocket II sets up on stretching out driven base through bearing II, the fixed one side that sets up in stretching out driven base of encoder support, the encoder sets up on the encoder support and is connected with the sprocket shaft of double sprocket II through the shaft coupling.

Further, still include rotary mechanism, rotary mechanism includes rotating base, slewing bearing and motor II, the slewing bearing inner circle is connected with rotating base, and the slewing bearing outer lane is connected with the bottom plate, motor II is fixed to be set up on rotating base, and the slewing bearing outer lane is provided with outer ring gear, is provided with the pinion with slewing bearing's outer ring gear matched with on the motor shaft of motor II.

The walking device comprises a walking truss, a driving wheel assembly, a driven wheel assembly, a driving base and a motor I, wherein the driving wheel assembly and the driven wheel assembly are respectively rotationally arranged on the walking truss through a driving wheel shaft and a driven wheel shaft, the driving base is fixedly arranged on the walking truss, and the motor I is arranged on the driving base and is in transmission connection with the driving wheel assembly through a chain wheel mechanism;

the rotating base is fixedly arranged at the upper end of the walking truss.

Further, the two sides of the bottom plate are provided with ultra-wide switches, the front end of the welding support is provided with a cargo detection switch, the side face of the welding support is provided with three distance detection switches, and the upper end of the welding support is provided with an ultra-high detection switch.

The device further comprises an electric control device, wherein the electric control device comprises a PLC, a transformer, a frequency converter, a contactor, a circuit breaker, a direct-current power supply, an intermediate relay, a power supply point power supply, an encoder, a diffuse reflection photoelectric switch, an M12 proximity switch and a travel switch, wherein the diffuse reflection photoelectric switch, the M12 proximity switch and the travel switch are installed on a coil material forking device body; the circuit breaker comprises a main circuit breaker, a low-voltage circuit breaker and a power supply circuit breaker; the power supply point power supply is connected to a main breaker in the breakers and then forms a power supply loop for supplying power to the motor 380V together with an alternating current contact in the contactor; the low-voltage circuit breaker 10A in the circuit breaker is connected with a 380V input pin of a transformer through a cable; the 220V output pin of the transformer is connected with the ON pin of the low-voltage circuit breaker 3A through a cable; the 220V voltage of the transformer is connected with V + and V-of the direct current power supply through another low-voltage circuit breaker 3A; the DATA +/-and CLK +/-pins of the laser range finder are connected with corresponding pins of the frequency converter, and the VIN and GND pins are connected with a power supply wiring terminal in the terminal box; an M12 proximity switch, a diffuse reflection photoelectric switch and a travel switch on a coil material forking device body are connected with the input of a PLC through a terminal box internal connecting terminal, a 16 multiplied by 0.5 and 8 multiplied by 0.5 flexible unshielded towline cable in a towline and a control cabinet internal connecting terminal which are connected in sequence, and signals fed back by a sensor are received; the motor is connected with a frequency converter with corresponding power, a power supply circuit breaker in the circuit breaker, a contactor and a PLC to form a motor control loop, and a 13 th auxiliary pin and a 14 th auxiliary pin of the power supply circuit breaker are connected with the PLC input; the frequency converter and the contactor are connected with the output of the PLC; the encoder and the frequency converter form speed closed-loop control; the emergency stop and normal/maintenance button on the control cabinet is connected with the horizontal limit switch through an intermediate relay to form a protection loop.

The working process is as follows:

1) The forking device runs to a specified position to prepare for picking; the motor I of starting running gear, motor I drive the sprocket I rotation of drive wheel subassembly through sprocket II and chain I, realize that the fork gets the device and walk on the ground rail to utilize photoelectric sensor and proximity switch to go out warehouse entry control and fork to get the accurate location of device operation, make the fork get the device and reach and get the goods position.

2) Double-position safety detection is carried out while the fork takes the goods; starting a motor III extending out of the driving wheel structure, and driving a double-row chain wheel I to complete related chain driving through the motor III, so that a bearing IV travels in a guide groove of a guide wheel guide plate, and a fork reaches a goods taking position; in this process, the fork initiates a dual two-position protection function: firstly, whether coil material and goods are properly stored can be detected through a goods distance detection I switch PHS, a goods distance detection II switch PHS and a goods distance detection III switch PHS, and whether the height of the coil material is ultrahigh can be detected through an ultrahigh detection switch PHS, if the coil material is improperly stored or the system is ultrahigh, an alarm can be sent; if the goods are stored properly, the goods taking position of the coil stock can be detected continuously through the goods detection I switch PHS and the goods detection II switch PHS, and the goods taking instruction is implemented if the detection is correct.

Secondly, if meet special circumstances during getting goods, if the coil stock overloads, the mechanical management and control of the overspeed governor I of initiative wheel structure is stretched out to the accessible, produces the hysteresis effect, causes motor output mechanism to appear skidding, sends the warning through PLC control to prevent that the motor from damaging, extension motor and fork life-span.

3) The safety inspection is qualified, and the fork starts the tensioning device; the process can drive the rotating disc to rotate by controlling a motor IV of the swing transmission device, whether the rotating disc reaches the position is detected by a left big arm detection switch PXS and a right big arm detection switch PXS, the rotating disc drives the swing rod I and the swing rod II to rotate through a limiting rod I and a limiting rod II, and the rotation angle of the swing rod I is detected by a right small arm detection switch I PXS and a right small arm detection switch II to detect whether the swing rod reaches the position; the rotating angle of the swing rod II is detected whether the swing rod I and the swing rod II reach the position through the left small arm detection I switch PXS and the left small arm detection II switch PXS, and the rotating disc rotates to enable the swing rod I and the swing rod II to be opened, so that the inner wall of the coil stock is tensioned.

4) The pallet fork retrieves the coil stock; through starting motor III who stretches out the driving wheel structure, the principle is as above 2 nd step, and the fork gets back to the fork central point after the goods through PLC control encoder and puts, and whether the rethread is wide switch PHS detects the coil stock.

5) The pallet fork trolley runs to a specified position to prepare for goods placement; through starting running gear's motor I, the principle is as above-mentioned 1 st step, and the fork truck makes it reach the position of putting goods through operation on the ground rail. And starting a motor III extending out of the driving wheel structure, and extending the fork to reach the goods placing position to prepare goods placing according to the principle in the step 2.

6) Closing the tensioning device to finish the goods placing; a motor IV for controlling the swing transmission device is started to drive the rotating disc to rotate, the rotating disc rotates to enable the swing rod I and the swing rod II to be closed, and the fork completes safe goods release.

7) Returning the pallet fork to finish the operation; stretch out the motor III of driving wheel structure through the start, the principle is as above 2 nd step, and the fork gets back to the fork central point after getting the goods through PLC control encoder and puts, and at this moment, get and put the goods flow and accomplish.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention has wide application range, coil suspension is convenient for realizing safe storage and taking of coils with different specifications, different materials and different industries, and a double-position protection function is adopted in the operation process of coil taking and placing: one is the carrying and loss prevention safety of the coil stock in the picking and placing process, and the other is the self safety protection of the fork during the working operation. Simultaneously, fork telescopic machanism can realize dual overload protection function, and first independent braking system of system itself, another heavy protection is the mechanical management and control of the overspeed governor I that stretches out the driving wheel structure to the life-span of fork and motor has been prolonged.

2. The special tensioning device ensures the safety of the goods in the operation process, when the fork takes and places the coiled goods, the coiled goods can be safely taken and placed through the tensioning device, and on one hand, the damage to the coiled goods caused by extrusion and abrasion in the traditional storing and taking process can be avoided; on the other hand, in the operation process of the fork, the tension device can stabilize the coiled material goods, so that the falling accidents of the coiled material goods can be prevented. The fork can rotate 180 degrees simultaneously in the operation process, has saved the time of getting and putting the goods, and work efficiency is high.

3. The system has the characteristics of low-loss operation, work efficiency improvement, PLC intelligent control and the like, adopts the PLC as a main control unit of the whole coil stock warehousing system, controls the cantilever cargo forklift to move along a ground rail by the driving motor, and utilizes the photoelectric sensor and the proximity switch to carry out warehousing-in and warehousing-out control and accurate positioning of the operation of the cantilever cargo forklift. The fork can be braked during stretching through a PLC control system; when the coil goods are overloaded or not stored, the system can give an alarm, and the mechanical control of the speed limiter I extending out of the driving wheel structure generates a hysteresis effect, so that the output mechanism of the motor slips, the motor is prevented from being damaged, on one hand, accidents can be prevented, and the coil damage is prevented; on the other hand, the service life of the motor and the pallet fork can be prolonged.

Drawings

The following will explain embodiments of the present invention in further detail through the accompanying drawings.

FIG. 1 is a schematic top view of the present invention;

FIG. 2 is a schematic side view of the present invention

FIG. 3 is a schematic structural view of a driving wheel set of the walking device of the present invention;

FIG. 4 is a schematic structural view of a driven wheel set of the walking device of the present invention;

FIG. 5 is a schematic view of the installation of a driving motor of the traveling device according to the present invention;

FIG. 6 is a schematic top view of the fork retraction mechanism of the present invention;

FIG. 7 is a side view of the fork retraction mechanism of the present invention;

FIG. 8 is a schematic structural view of an extended drive wheel configuration of the present invention;

FIG. 9 is a schematic view of the construction of an extended driven wheel of the present invention;

fig. 10 is a schematic structural view of the tensioning device of the present invention;

fig. 11 is a schematic structural view of a swing transmission device of the tensioning device according to the invention;

fig. 12 is a schematic structural view of a limiting assembly of the tensioning device of the present invention;

FIG. 13 is a schematic structural view of a fork retraction mechanism of the present invention;

FIG. 14 is a circuit diagram of the lighting, fan, socket, touch screen and 24V power supply within the control cabinet of the present invention;

fig. 15 is a circuit diagram of a motor control circuit of the traveling apparatus of the present invention.

In the figure: 1-a walking truss; 2-a driving wheel assembly; 3-a driven wheel assembly; 4, a walking device; 5-rotating the base; 6-motor II; 7-pinion gear; 8-a slewing bearing; 9-guide wheel guide plate; 10-a base plate; 11-motor fixing seat; 12-driven sprocket seat; 13-driving wheel shaft; 14-sprocket I; 15-wheel I; 16-a bearing I with a seat; 17-a trailing axle; 18-wheel ii; 19-a pedestal bearing II; 20-a drive base; 21-motor I; 22-sprocket II; 23-chain II; 24-welding the bracket; 25-bearing IV; 26-a guide wheel shaft; 27-extending the driving wheel structure; 28-extending the driven wheel structure; 29-a tow chain guide groove frame; 30-chain L-shaped brackets; 31-a drag chain; 32-a scaffold; 33-a guide groove; 34-extending the active base; 35-motor iii; 36-bearing I; 37-an output shaft; 38-double row chain wheel I; 39-chain I; 40-speed limiter I; 41-extending the driven base; 42-bearing II; 43-sprocket shaft; 44-double row chain wheel II; 46-an encoder support; 47-an encoder; 48-a coupling; 49-a swing actuator; 50-a swing rod I component; 51-a swing rod II component; 52-a stop assembly; 53-swing rod I; 531-swivel lever; 532-a tension rod; 533-control lever; 54-bearing seat I; 55-bearing bush I; 56-a limiting rod I; 57-swing link II; 58-bearing seat II; 59-bearing bush II; 60-a limiting rod II; 61-motor IV; 62-a connecting shaft; 63-speed limiter II; 64-rotating the disc; 65-a pedestal bearing III; 66-a fixed shaft; 67-bearing III; 68-jack shaft; 69-a slide block; 70-a threaded sleeve; 71-disc spring; 72 a sliding sleeve seat; 73-low voltage circuit breaker 10A; 74-a transformer; 75-low voltage circuit breaker 3A; 76-illumination inside the cabinet; 77-a socket; 78-a fan; 79-normally open contact of intermediate relay; 80-an alternating current contactor; 81-a direct current power supply; 82-24V power supply; 83-touch screen; 84-power supply circuit breaker; 85-motor brake contactor; 86-in-cabinet wiring terminals; 87-horizontal motor cables inside the drag chain; 88-laser rangefinder; 89-PROFINET flexible network cable; 90-an anti-interference magnetic ring; 91-motor brake resistance; 93-shielded cable; 94-a frequency converter; 95-left large arm detection switch PXS, 96-right large arm detection switch PXS, 97-left small arm detection switch I PXS, 98-left small arm detection II switch PXS, 99-right small arm detection I switch PXS, 100-right small arm detection II switch PXS, 101-cargo distance detection I switch PHS, 102-cargo distance detection II switch PHS, 103-cargo distance detection III switch PHS, 104-cargo detection I switch PHS, 105-cargo detection II switch PHS, 106-ultra-wide switch PHS, 107-ultra-high detection switch PHS.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Examples

As shown in fig. 1 to 13, a suspension type coil fork comprises a welding bracket 24, a swing transmission device 49, a swing rod assembly and a limiting assembly 52, wherein the swing transmission device 49 is arranged on the welding bracket 24 and connected with the swing rod assembly, and the limiting assembly 52 is arranged on the welding bracket 24 and used for limiting the swing rod assembly.

The swing rod assembly comprises a bearing seat I54, a swing rod I53 and a limiting rod I56, the bearing seat I54 is fixedly connected to the welding support 24 and is provided with a plurality of parts along the welding support 24, the swing rod I53 comprises a rotary rod 531, a tension rod 532 and a control rod 533, the rotary rod 531 is arranged on the bearing seat I54, the tension rod 532 is provided with a plurality of parts on one side of the rotary rod 531, one end of the control rod 533 is fixedly connected with one end of the rotary rod 531, the other end of the control rod 533 is hinged with one end of the limiting rod I56, and the rotary rod 531 can be controlled to rotate through the limiting rod I56 so as to control the angle of the tension rod 532.

The swing rod assemblies are provided with two groups, named as a swing rod I assembly and a swing rod II assembly respectively, and are arranged on the left side and the right side of the welding support 24 respectively, the two groups of swing rod assemblies are different in limiting rod length, and the tension type fork is formed by the swing rod I assembly and the swing rod II assembly.

The swing transmission device 49 comprises a rotating disc 64, the rotating disc 64 is rotatably arranged on the welding support 24 through a connecting shaft 62, a bearing with a seat III 65 is arranged on the welding support 24, the connecting shaft 62 is connected with an inner ring of the bearing with a seat III 65, one end of the connecting shaft 62 is connected with a motor IV 61 for driving the rotating disc 64 to rotate, a speed limiter II 63 is arranged between the motor IV 61 and the connecting shaft 62, the rotating disc 64 is driven to rotate through the motor IV 61, a control shaft is arranged on the end face of the rotating disc 64, the other ends of the limiting rods I56 and II 60 are respectively hinged with different control shafts on the rotating disc 64, when the rotating disc 64 rotates, the limiting rods I56 and II 60 are driven to move through the control shafts, and then the expansion and retraction of the tension rods 532 are realized.

The limiting assembly 52 is provided with two groups and respectively corresponds to the two groups of swing rod assemblies, the upper end of the limiting assembly 52 is provided with a bearing III 67 matched with a groove at the lower end of the control rod 533, the limiting assembly 52 comprises a bearing III 67, a sliding sleeve seat 72, a push rod shaft 68 and a threaded sleeve 70, the sliding sleeve seat 72 is fixedly arranged on the welding support 24, the upper end and the lower end of the sliding sleeve seat 72 are respectively provided with a guide hole and a threaded positioning hole, one side of the sliding sleeve seat 72 is provided with a sliding sleeve seat sliding groove, the push rod shaft 68 is slidably arranged in the guide hole, one side of the push rod shaft 68 is fixedly connected with a sliding block 69 in sliding connection with the sliding sleeve seat sliding groove, the threaded sleeve 70 is arranged in the threaded positioning hole, the push rod shaft 68 is sleeved with a disc spring 71, the upper end and the lower end of the disc spring 71 are respectively abutted against the sliding block 69 and the threaded sleeve 70, one end of the push rod shaft 68 penetrates through the threaded sleeve 70, the part of the push rod shaft 68 extending out of the threaded sleeve 70 is provided with an external thread, the external thread is connected with a nut, and the push rod shaft 68 can slide along the sliding sleeve seat 72.

The upper end of the ejector rod shaft 68 is provided with a fixed shaft 66, the bearing III 67 is arranged on the fixed shaft 66, and the limit is realized by matching the bearing III 67 with a groove at the lower end of a control rod 533 of the swing rod II assembly 51 or the swing rod I assembly 50.

Examples

As shown in fig. 1 to 15, a coil fork taking device includes a rotation mechanism, a traveling device, a telescopic guide seat, a fork telescopic mechanism, and an electric control system, in addition to the suspension type coil fork described in embodiment 1.

The telescopic guide seat comprises a bottom plate 10 and a guide wheel guide plate 9, the guide wheel guide plate 9 is fixedly arranged on the bottom plate 10 and serves as a guide rail of a welding support 24, bearings IV 25 are arranged at the lower ends of two sides of the welding support 24, the inner rings of the bearings IV 25 are connected with the welding support 24 through guide wheel shafts 26, and the outer rings of the bearings IV 25 are matched with the guide wheel guide plate 9.

Fork telescopic machanism sets up on flexible guide holder, including stretching out action wheel structure 27, stretch out from action wheel structure 28 and tow chain guide way frame 29, stretch out action wheel structure 27, stretch out to set up respectively at the both ends of bottom plate 10 from action wheel structure 28, stretch out action wheel structure 27, stretch out driven wheel structure 28 and all be provided with the sprocket and connect through I39 of chain, the one end of I39 fixedly connected with chain L shape support 30 of chain, the chain L shape support 30 other end links firmly with welding bracket 24, drive I39 of chain through stretching out action wheel structure 27, stretch out driven wheel structure 28 and move, and then drive welding bracket 24 through chain L shape support 30 and move along guide pulley deflector 9.

The extending driving wheel structure 27 comprises a motor III 35, an output shaft 37 and a speed limiter I40, the motor III 35 is fixedly arranged on the base plate 10 through extending a driving base 34, the output shaft 37 is connected with a motor shaft of the motor III 35, a chain wheel extending out of the driven wheel structure 28 is a double-row chain wheel I38, the double-row chain wheel I38 is arranged on the output shaft 37 through a bearing, the output shaft 37 is connected with the speed limiter I40 through a key, and the speed limiter I40 is fastened with the double-row chain wheel I through bolts.

The extended driven wheel structure 28 comprises an extended driven base 41, an encoder support 46 and an encoder 47, a sprocket extending out of the driven wheel structure 28 is a double-row sprocket II 44 corresponding to the double-row sprocket I38, the extended driven base 41 is fixedly connected with the bottom plate 10, a sprocket shaft of the double-row sprocket II 44 is arranged on the extended driven base 41 through a bearing II 42, the encoder support 46 is fixedly arranged on one side of the extended driven base 41, and the encoder 47 is arranged on the encoder support 46 and is connected with the sprocket shaft of the double-row sprocket II 44 through a coupler 48.

The drag chain guide groove frame 29 comprises a support 32, a guide groove 33 and a drag chain 31, the guide groove 33 and the support 32 are respectively arranged on the bottom plate 10 and the welding support 24, the drag chain 31 is arranged in the guide groove 33, and one end of the drag chain 31 is connected with the support 32.

Rotary mechanism includes rotating base 5, slewing bearing 8 and

motor II

6, 8 inner circles of slewing bearing are connected with rotating

base

5, 8 outer circles of slewing bearing are connected with bottom plate 10, realize bottom plate 10 through slewing bearing 8, rotating base 5's relative rotation, motor II 6 is fixed to be set up on rotating

base

5, 8 outer circles of slewing bearing are provided with outer ring gear, be provided with on motor shaft of motor II 6 with slewing bearing 8's outer ring gear matched with pinion 7, drive pinion 7 through motor II 6 and rotate and then drive bottom plate 10 through gear engagement and rotate.

Running gear is including walking truss 1, action wheel subassembly 2, follow driving wheel subassembly 3, drive base 20 and motor I21, walking truss 1 sets up in 5 lower extremes of rotating base and with 5 fixed connection of rotating base, action wheel subassembly 2, from driving wheel subassembly 3 respectively through driving wheel axle 13, driven wheel axle 17 rotates and sets up on walking truss 1, running gear passes through action wheel subassembly 2, install on the ground rail from driving wheel subassembly 3, drive base 20 is fixed to be set up on walking truss 1, motor I21 sets up on drive base 20 and is connected with the transmission of action wheel subassembly 2 through sprocket mechanism, realize the walking function of integrated device through motor I21.

The two sides of the bottom plate are provided with an ultra-wide switch PHS for detecting whether goods are ultra-wide, when the switch detects goods, the switch alarms that the goods are ultra-wide and is used for safety detection, and the front end of the welding bracket 24 is provided with a goods detection I switch PHS104 and a goods detection II switch PHS105 for judging whether goods exist on the fork body or not and whether the goods are in place or not; three distance detection switches are arranged on the side face of the welding bracket 24, and a goods distance detection I switch PHS101 irradiates the goods shelf to judge the distance between the goods shelf and the goods shelf; the goods distance detection II switch PHS102 is empty, when the opening light is shielded or irradiated to the goods, the deformation of the goods or the shielding of objects is indicated, and the equipment alarms; a cargo distance detection III switch PHS103 irradiates the cargo to detect the cargo distance and prevent the cargo from excessively long collision with equipment; the upper end of the welding bracket 24 is provided with an ultrahigh detection switch PHS107.

The electric control device comprises a PLC, a transformer, a frequency converter, a contactor, a circuit breaker, a direct-current power supply, an intermediate relay, a wiring terminal, a power supply point power supply, an encoder, a diffuse reflection photoelectric switch, an M12 proximity switch and a travel switch, wherein the diffuse reflection photoelectric switch, the M12 proximity switch and the travel switch are arranged on a coil material forking device body; the low-voltage circuit breaker 10A73 in the circuit breaker is connected with a 380V input pin of the transformer 74 through a cable; the 220V output pin of the transformer 74 is connected with the ON pin of the low-voltage circuit breaker 3a75 through a cable; the interior lighting 76, the fan 78 and the socket 77 are powered by the low-voltage circuit breaker 3A 75; the control cabinet touch screen 83 is supplied with power by connecting another low-voltage circuit breaker 3A75 with V + and V-of a direct-current power supply 81, a 24V power supply 82 is provided for a power supply part of a wiring terminal in the cabinet, and power supply protection is formed by the normally open contact 79 of the intermediate relay and an alternating-current contactor 80.

An M12 proximity switch, a diffuse reflection photoelectric switch and a travel switch on a coil forking device body are connected with the input of a PLC (programmable logic controller) through a terminal box internal connecting terminal, a 16 multiplied by 0.5 and 8 multiplied by 0.5 flexible unshielded drag chain cable and a control cabinet internal connecting terminal which are connected in sequence, and receive signals fed back by a sensor; the motor is connected with a frequency converter with corresponding power, a power supply breaker in the breaker, a contactor and a PLC to form a motor control loop, and a 13 th auxiliary pin and a 14 th auxiliary pin of the power supply breaker 84 are connected with the PLC input; the frequency converter 94 and the contactor are connected with the output of the PLC; the encoder 47 and the frequency converter form a speed closed-loop control; the emergency stop and normal/maintenance button on the control cabinet is connected with the horizontal limit switch through an intermediate relay to form a protection loop.

Specifically, the power supply breaker 84 is connected with a pin R/S/T of a frequency converter 94 for power supply, the motor I21 is connected to the frequency converter 94 through a horizontal motor cable 87 in a drag chain and a wiring terminal 86 in a cabinet, wherein a 2/3/4/5 brake pin of the motor I21 is also connected to the frequency converter 94 through a normally open contact of a motor brake contactor 85, and a coil of the motor brake contactor 85 is connected to a pin RO1C of the frequency converter 94, so that brake protection of the motor I21 is formed. The motor I21 is controlled by a frequency converter 94 through an encoder 47 and a laser range finder 88 in a double closed loop mode. The DATA +/-and CLK +/-pins of the laser range finder 88 are connected with corresponding pins of the frequency converter 94 through a PROFINET flexible network 89, the VIN and GND pins are connected with power supply wiring terminals in the terminal box, real-time position parameters are returned to the frequency converter 94 and compared with set values, and the obtained deviation amount is sent to the PLC to realize position closed-loop control. Meanwhile, the encoder 47 is connected with the frequency converter 94 through the shielded cable 93, the rotating speed of the motor I21 is fed back to the frequency converter 94, and is compared with a set value to form speed closed-loop control, so that double closed loops are formed. The PROFINET flexible network wire 89 and the shielding cable 93 are both provided with anti-interference magnetic rings 90, so that electromagnetic interference is reduced; the RO2B and RO2C pins of the frequency converter 94 are connected with the brake resistor 91, and the electric energy generated by the motor due to rapid parking is converted into heat energy.

The frequency converter double-closed-loop positioning control system realizes double-closed-loop control and PLC communication modes through the PLC and the frequency converter, takes Siemens S7-1200 series PLC as a core, carries out serial communication with the frequency converter, the frequency converter works according to a set value, meanwhile, the motor drives the encoder to operate, pulse signals of the encoder are fed back to the PLC as digital signals of a PLC counter as feedback signals, and therefore the rotating speed of the motor is calculated, and closed-loop positioning control is realized. Meanwhile, the laser range finder returns real-time position parameters of the frequency converter, the real-time position parameters are compared with set values, and the obtained deviation value is sent to the PLC to realize closed-loop control. The PLC is used as a core processing unit to realize the functions of automatic storage, warehousing, ex-warehouse, management and the like of coil stock, and through modular development, modules with different functions are designed on the basis of a basic control unit to develop products meeting different requirements of customers. Adopt PLC system control, frequency conversion drive technique, bus technique, equipment operating stability obtains greatly improving, and the fault rate reduces by a wide margin, and the operation degree of difficulty is simple, has improved equipment utilization greatly, guarantees the job schedule, has avoided the mistake that probably in the goods processing procedure to a great extent.

Although only the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art, and all changes are encompassed in the scope of the present invention.

Claims

1. The utility model provides a suspension type coil stock fork which characterized in that: the welding device comprises a welding support (24), and a swing transmission device (49), a swing rod assembly and a limiting assembly (52) which are arranged on the welding support (24), wherein the swing rod assembly is provided with two groups and respectively arranged at the left side and the right side of the welding support (24), the swing rod assembly comprises a bearing seat I (54), a swing rod I (53) and a limiting rod I (56), the bearing seat I (54) is fixedly connected onto the welding support (24), the swing rod I (53) comprises a rotary rod (531), a tension rod (532) and a control rod (533), the rotary rod (531) is arranged on the bearing seat I (54), the tension rod (532) is arranged at one side of the rotary rod (531), one end of the control rod (533) is fixedly connected with one end of the rotary rod (531), and the other end of the control rod (533) is hinged with one end of the limiting rod I (56); the swing transmission device (49) comprises a rotating disc (64), the rotating disc (64) is rotatably arranged on the welding support (24) through a connecting shaft (62), one end of the connecting shaft (62) is connected with a motor IV (61) for driving the rotating disc (64) to rotate, a control shaft is arranged on the end face of the rotating disc (64), and the other end of the limiting rod I (56) is hinged to the control shaft on the rotating disc (64); the limiting component (52) is provided with two groups which correspond to the two groups of swing rod components respectively, and the upper end of the limiting component (52) is provided with a bearing III (67) matched with a groove at the lower end of the control rod (533).

2. A hanging coil fork as defined in claim 1 wherein: a speed governor II (63) is arranged between the motor IV (61) and the connecting shaft (62), a bearing III (65) with a seat is arranged on the welding support (24), and the connecting shaft (62) is connected with an inner ring of the bearing III (65) with a seat.

3. A hanging coil fork as defined in claim 1 wherein: the limiting assembly (52) further comprises a sliding sleeve seat (72), a push rod shaft (68) and a threaded sleeve (70), the sliding sleeve seat (72) is fixedly arranged on the welding support (24), the upper end and the lower end of the sliding sleeve seat (72) are respectively provided with a guide hole and a threaded positioning hole, one side of the sliding sleeve seat (72) is provided with a sliding sleeve seat sliding groove, the push rod shaft (68) is arranged in the guide hole in a sliding mode, one side of the push rod shaft (68) is fixedly connected with a sliding block (69) in sliding connection with the sliding sleeve seat sliding groove, the threaded sleeve (70) is arranged in the threaded positioning hole, the push rod shaft (68) is sleeved with a disc spring (71), the upper end and the lower end of the disc spring (71) are respectively abutted against the sliding block (69) and the threaded sleeve (70), and one end of the push rod shaft (68) penetrates through the threaded sleeve (70) and is connected with a nut;

the upper end of the push rod shaft (68) is provided with a fixed shaft (66), and the bearing III (67) is arranged on the fixed shaft (66).

4. A coil forking device comprising the overhead coil fork of any one of claims 1-3, wherein: the telescopic guide seat comprises a bottom plate (10) and a guide wheel guide plate (9), the guide wheel guide plate (9) is fixedly arranged on the bottom plate (10), bearings IV (25) are arranged at the lower ends of the two sides of the welding support (24), the inner rings of the bearings IV (25) are connected with the welding support (24) through guide wheel shafts (26), and the outer rings of the bearings IV (25) are matched with the guide wheel guide plate (9);

the pallet fork telescopic mechanism comprises an extended driving wheel structure (27), an extended driven wheel structure (28) and a drag chain guide groove frame (29), wherein the extended driving wheel structure (27) and the extended driven wheel structure (28) are respectively arranged at two ends of the bottom plate (10), the extended driving wheel structure (27) and the extended driven wheel structure (28) are respectively provided with a chain wheel and are connected through a chain I (39), one end of a chain L-shaped support (30) is fixedly connected with the chain I (39), and the other end of the chain L-shaped support (30) is fixedly connected with a welding support (24);

the drag chain guide groove frame (29) comprises a support (32), a guide groove (33) and a drag chain (31), the guide groove (33) and the support (32) are respectively arranged on the bottom plate (10) and the welding support (24), the drag chain (31) is arranged in the guide groove (33), and one end of the drag chain (31) is connected with the support (32).

5. The coil forking device of claim 4, wherein: the extension driving wheel structure (27) further comprises a motor III (35), an output shaft (37) and a speed limiter I (40), the output shaft (37) is connected with a motor shaft of the motor III (35), the chain wheel is a double-row chain wheel I (38), the double-row chain wheel I (38) is arranged on the output shaft (37) through a bearing, the output shaft (37) is connected with the speed limiter I (40) through a key, and the speed limiter I (40) is fastened with the double-row chain wheel I (38) through a bolt;

the motor III (35) is fixedly arranged on the bottom plate (10) by extending out of the driving base (34).

6. The coil forking device of claim 4, wherein: stretch out from driving wheel structure (28) still including stretching out driven base (41), encoder support (46) and encoder (47), stretch out driven base (41) and bottom plate (10) fixed connection, the sprocket is double sprocket II (44), and the sprocket shaft of double sprocket II (44) passes through bearing II (42) and sets up on stretching out driven base (41), encoder support (46) are fixed to be set up in the one side of stretching out driven base (41), encoder (47) set up on encoder support (46) and through the sprocket shaft connection of shaft coupling (48) with double sprocket II (44).

7. The coil forking device of claim 4, wherein: still include rotary mechanism, rotary mechanism includes rotating base (5), slewing bearing (8) and motor II (6), slewing bearing (8) inner circle is connected with rotating base (5), and slewing bearing (8) outer lane is connected with bottom plate (10), motor II (6) are fixed to be set up on rotating base (5), and slewing bearing (8) outer lane is provided with outer ring gear, is provided with on the motor shaft of motor II (6) with slewing bearing (8) outer ring gear matched with pinion (7).

8. The coil forking device of claim 7, wherein: the walking device comprises a walking truss (1), a driving wheel assembly (2), a driven wheel assembly (3), a driving base (20) and a motor I (21), wherein the driving wheel assembly (2) and the driven wheel assembly (3) are respectively and rotatably arranged on the walking truss (1) through a driving wheel shaft (13) and a driven wheel shaft (17), the driving base (20) is fixedly arranged on the walking truss (1), and the motor I (21) is arranged on the driving base (20) and is in transmission connection with the driving wheel assembly (2) through a chain wheel mechanism;

the rotating base (5) is fixedly arranged at the upper end of the walking truss (1).

9. The coil forking device of claim 4, wherein: the automatic cargo handling device is characterized in that ultra-wide switches are arranged on two sides of the bottom plate (10), a cargo detection switch is arranged at the front end of the welding support (24), three distance detection switches are arranged on the side face of the welding support (24), and an ultra-high detection switch is arranged at the upper end of the welding support (24).

10. The coil forking device of claim 4, wherein: the automatic coil winding device is characterized by further comprising an electric control device, wherein the electric control device comprises a PLC (programmable logic controller), a transformer (74), a frequency converter (94), a contactor, a circuit breaker, a direct-current power supply (81), an intermediate relay, a power supply point power supply, an encoder (47), a diffuse reflection photoelectric switch, an M12 proximity switch and a travel switch, wherein the diffuse reflection photoelectric switch, the M12 proximity switch and the travel switch are installed on the coil winding forking device body; the circuit breakers comprise a main circuit breaker, a low-voltage circuit breaker and a power supply circuit breaker (84); the power supply point power supply is connected to a main breaker in the breakers and then forms a power supply loop for supplying power to the motor 380V together with an alternating current contact in the contactor; the breaker middle and low voltage breaker 10A (73) is connected with a 380V input pin of a transformer (74) through a cable; the 220V output pin of the transformer (74) is connected with the ON pin of the low-voltage circuit breaker 3A (75) through a cable; the 220V voltage of the transformer is connected with the V + and the V-of the direct current power supply (81) through another low-voltage circuit breaker 3A (75); the DATA +/-and CLK +/-pins of the laser range finder (88) are connected with corresponding pins of the frequency converter (94), and the VIN and GND pins are connected with a power supply wiring terminal in the terminal box; an M12 proximity switch, a diffuse reflection photoelectric switch and a travel switch on a coil forking device body are connected with the input of a PLC (programmable logic controller) through a terminal box internal connecting terminal, a 16 multiplied by 0.5 and 8 multiplied by 0.5 flexible unshielded drag chain cable and a control cabinet internal connecting terminal which are connected in sequence, and receive signals fed back by a sensor; the motor is connected with a frequency converter with corresponding power, a power supply breaker in the breaker, a contactor and a PLC to form a motor control loop, and a 13 th auxiliary pin and a 14 th auxiliary pin of the power supply breaker (84) are connected with the PLC input; the frequency converter (94) and the contactor are connected with the output of the PLC; the encoder (47) and the frequency converter form speed closed-loop control; the emergency stop and normal/maintenance button on the control cabinet is connected with the horizontal limit switch through an intermediate relay to form a protection loop.