JP2002066631A - Unit for detecting position of coil transfer bogie - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately and voluntarily detect the position of a coil transfer bogie even if a moving distance is long by simplifying the composition of the unit for detecting the position of the coil transfer bogie. SOLUTION: A position detecting unit 1 applicable for a coil transfer unit 50 of the rolling mill is provided with a distance-measuring unit 2 placed in the transfer channel 50a so as to be situated on the front part of the coil transfer bogie 51 and a reflector plate 3 provided on the coil transfer bogie 51. The distance-measuring unit 2 delivers a measuring light L against the reflector plate 3 of the coil transfer bogie 51 and at the same time, receives a reflection element Lr of the measuring light L delivered and measures the distance to the reflector plate 3. A controlling device 10 finds the position of the coil transfer bogie 51 based on the measured value of the distance-measuring unit 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting the position of a coil carrier provided in a rolling plant, and more particularly to a coil carrier having a coil and detecting the position of the coil carrier traveling on a predetermined conveying path. The present invention relates to a position detecting device.

[0002]

2. Description of the Related Art FIG. 5 is a schematic configuration diagram showing a coil transfer device provided in a general rolling facility. The coil transfer device 100 shown in the figure is, for example, a processing line of a cold rolling equipment (a line in which pickling equipment, annealing equipment, plating equipment, etc. are continuously arranged), a coil C that has taken up a material to be rolled. It is used for transporting to a desired position. As shown in FIGS. 5 and 6, the coil transfer device 100 can run on the rail R with the coil R mounted thereon and the rail R laid on the transfer path 109 on the entrance side or the exit side of the processing line. And a coil carrier 101.

The coil carrier 101 has a plurality of (four) wheels 102 and a chassis 103 that rotatably supports the wheels 102. Each wheel 102 is rotationally driven by a motor 104 attached to a chassis 103 and rolls on a rail R. Further, on the undercarriage 103, a receiving stand 105 for supporting the coil C is provided. Cradle 105
Is a hydraulic cylinder 106 and a pair of guide cylinders 10
And 7 are supported so as to be able to move up and down. This allows
If the hydraulic cylinder 106 is expanded and contracted, the coil C mounted on the cradle 105 can be moved up and down with respect to the chassis 103 as shown by a two-dot chain line in FIG.

[0004] In addition, the coil transfer device 100 is provided with a coil transfer device 101 for accurately stopping the coil transfer device 101 at a desired position and avoiding collision between the coil transfer device 101 and various devices. Position (moving distance)
Is provided. As shown in FIGS. 5 and 6, the position detecting device 110 includes an axle 10 on which wheels 102 of a coil carrier 101 are mounted.
8 includes a chain wheel 111 fixed to one end side.

A chain 112 meshing with a chain wheel 111 is laid on the transport path 109 substantially in parallel with the rail R. A rotary encoder (pulse generate encoder) 114 is attached to the tip of the axle 108 of the coil carrier 101. According to the position detection device 110 configured as described above, the rotation angle of the chain wheel 111 is detected by the rotary encoder 114 while the coil carrier 101 is traveling,
The position of the coil carrier 101 is calculated from the value detected by the rotary encoder 114.

Further, as a position detecting device of the coil carrier 101, a device using a limit switch 115 is known. In this case, as shown in FIGS. 5 and 6, a plurality of limit switches 115 are arranged at predetermined positions on the transport path 109. Also, the chassis 10 of the coil carrier 101
A protrusion 103a is provided on a side portion of No.3. Under such a configuration, when the protrusion 103a of the chassis 103 approaches the limit switch 115 during traveling of the coil carrier 101, the limit switch 115 is actuated and based on a signal issued from the limit switch 115. , The position of the coil carrier 101 is determined.

[0007]

However, the following problems exist in the conventional position detecting device for the coil carrier trolley configured as described above. That is,
In a position detecting device in which a chain wheel, a chain, a rotary encoder, and the like are combined, a signal cable for sending a signal from the rotary encoder to an arithmetic processing unit or the like is indispensable. In this case, a signal cable having a length corresponding to the moving distance of the coil carrier is required, and it is necessary to take some measures for the routing of the signal cable accompanying the movement of the coil carrier. Then, as the total length of the signal cable becomes longer, the problem that noise is superimposed on the signal emitted from the rotary encoder also occurs.

On the other hand, according to the position detecting device provided with the limit switch, the trouble caused by using the signal cable is eliminated. However, in this case, it is impossible to detect the position of the coil carrier at a position other than the position where the limit switch is arranged. Therefore, unless an extremely large number of limit switches are provided on the transport path, it is difficult to accurately detect the position of the coil transport cart at an arbitrary location.

Therefore, the present invention has a simple configuration and can be used even when the moving distance of the coil carrier is long.
It is an object of the present invention to provide a position detecting device for a coil carrier that enables the position of the coil carrier to be accurately and arbitrarily detected.

[0010]

According to a first aspect of the present invention, there is provided a position detecting device for a coil transport vehicle according to the present invention, which is applied to a rolling equipment having a coil transport vehicle traveling on a predetermined transport path with a coil mounted thereon. In a position detecting device for a coil carrier that detects the position of the carrier, a reflecting portion provided on the coil carrier and a transport path side are arranged, and a measurement wave is transmitted to the reflecting portion, and the transmitted measurement is performed. A distance measuring unit that receives a reflected component of the wave and measures the distance to the reflecting unit, and an arithmetic processing unit that determines the position of the coil carrier based on the measured value of the distance measuring unit is provided.

This position detecting device includes a distance measuring unit for detecting the position of the coil carrier that travels on the carrier path. The distance measuring unit is disposed on the side of the transport path so as to be located in front of or behind the coil transport cart. And, while the coil carrier with the coil is traveling on the carrier path,
A measuring wave is transmitted from the distance measuring unit to a reflecting portion provided on the coil carrier. The distance measuring unit receives the reflected component of the transmitted measurement wave, measures the distance to the reflection unit, and sends a signal indicating the measured value to the arithmetic processing unit. The arithmetic processing unit is configured to determine a position of the coil carrier (for example, a moving distance from the initial position) based on a distance between the ranging unit and the reflecting unit indicated by a signal received from the ranging unit.
Ask for.

As described above, according to this position detecting device,
By the non-contact type distance measurement unit arranged on the conveyance path side,
The position of the coil carrier can be measured easily and accurately. Therefore, the signal cable and the like provided in the conventional position detection device can be omitted, and the configuration of the entire device can be simplified. Furthermore, even if the moving distance of the coil carrier is long, the position of the coil carrier can be detected accurately and arbitrarily.

It is preferable that the reflecting portion is provided on the front side in the traveling direction of the coil carrier.

In such a configuration, the distance measuring unit is disposed so as to face a reflecting portion provided on the front side in the traveling direction of the coil carrier. Then, the measuring wave is transmitted from the distance measuring unit to the reflecting portion of the approaching coil carrier. As a result, as the coil transport vehicle travels (forwards) on the transport path, the distance between the distance measuring unit and the reflector becomes shorter. Therefore, it is possible to reduce the measurement time by the distance measurement unit and reduce noise superimposed on the measurement value by the distance measurement unit.

On the other hand, depending on the arrangement of the various devices, it may be difficult to arrange the distance measuring unit so as to face the reflecting portion provided on the front side in the traveling direction of the coil carrier. In such a case, the reflection unit may be provided on the rear side in the traveling direction of the coil carrier, and the measurement wave may be transmitted from the distance measuring unit to the reflector of the coil carrier that is moving away.

In these cases, the distance measuring unit is
It is preferable that a measurement wave composed of an electromagnetic wave or an ultrasonic wave is transmitted to the reflection section.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the position detecting device for a coil carrier according to the present invention will be described below in detail with reference to the drawings.

[First Embodiment] FIG. 1 is a schematic configuration diagram showing a coil conveying device to which a position detecting device according to a first embodiment of the present invention can be applied. Coil conveying device 5 shown in FIG.
0 is provided, for example, in a processing line of a cold rolling facility. The coil transfer device 50 will be briefly described. The coil transfer device 50 is used to transfer the coil C, on which the material to be rolled has been wound, to a desired position. As shown in FIG.
A pair of rails R laid on a transport path 50a such as an entrance side or an exit side of a processing line, and a coil transport trolley 5 on which a coil C is mounted and which can travel on the rails R (the transport path 50a).
It consists of 1.

The coil transport vehicle 51 is formed in a truck shape having a plurality of (four) wheels 52, and has a chassis 53. A plurality of bearings 54 are mounted on a lower portion of the chassis 53. Each bearing 54 rotatably supports an axle 55 to which each wheel 52 is attached. Each wheel 52 is rotationally driven by a motor 56 attached to a chassis 53 and rolls on a rail R.

A receiving stand 57 is provided on the undercarriage 53. The coil C is mounted on the receiving table 57 such that the axis is located directly above the center line between the rails R. That is, the width direction of the coil C and the coil carrier 5
The movement direction (conveyance direction) of 1 substantially coincides with the movement direction. Cradle 57
Is supported by a hydraulic cylinder 58 (see FIG. 2) and a pair of guide cylinders 59. Hydraulic cylinder 5
When the extension 8 is expanded and contracted, the receiving table 57 moves up and down with respect to the chassis 53 while being guided by the pair of guide cylinders 59. Thereby, the coil C placed on the receiving table 57 can be moved up and down with respect to the chassis 53.

The thus configured coil transfer device 50
In order to accurately stop the coil transport vehicle 51 at a desired position when the coil C is transferred to or from a predetermined device, or to avoid collision between the coil transport vehicle 51 and various devices, It is necessary to detect the position (moving distance) of the coil carrier 51. For this reason, the position detecting device 1 is provided with two distance measuring units 2 for detecting the position of the coil carrier 51 traveling on the carrier path 50a (rail R). Each distance measuring unit 2 is disposed on the transport path 50a so as to be located in front of the coil transport cart 51 (on the processing line side).

In this embodiment, as the distance measuring unit 2,
Two laser displacement meters, each of which has an optical axis parallel to each rail R, are used. Each distance measuring unit 2 includes a measuring light emitting unit 2a, a laser source (not shown),
And a light receiving unit and the like, and are connected to a control device (arithmetic processing unit) 10 via a signal cable L1. In addition, the undercarriage 53 of the coil carrier 51 is shown in FIGS.
As shown in FIG.
Are provided. Each reflecting plate 3 is fixed to both sides of the front end surface of the chassis 53 so that the measuring light L sent from each ranging unit 2 is reflected.

As described above, by using the laser type (electromagnetic wave type) distance measuring unit 2, it is possible to detect the position of the coil carrier 51 extremely accurately. In addition,
What is necessary is just to select suitably a laser displacement meter according to required precision from a commercial item etc. Further, an ultrasonic displacement meter may be used as the distance measuring unit 2, and also in this case, the position of the coil carrier 51 can be detected extremely accurately.
Further, the number of distance measuring units 2 is not limited to two, and one or three or more distance measuring units 2 may be used.

On the other hand, the control device 10 includes a CPU, a ROM,
It has a RAM, a storage device and the like (all not shown). Then, the CPU of the control device 10
Control the measurement start / stop, etc.
And performs predetermined arithmetic processing according to a control program stored in a ROM or the like. The control device 10 is connected to the coil carrier 51 via the signal cable L2, and controls the traveling of the coil carrier 51.

Next, the operation of the above-described position detecting device 1 will be described.

First, when the coil C is placed on the cradle 57, the control device 10 causes the coil carrier 51 to start running. Further, the control device 10 activates each of the distance measuring units 2, thereby transmitting measurement light (measurement waves) from each of the distance measuring units 2 to the reflecting plate 3 provided on the front side of the coil carrier 51. Is done. That is, each ranging unit 2 splits the laser light generated from the laser source into the reference light and the measurement light L, and emits the measurement light L from the measurement light emission unit 2a toward the opposing reflecting plate 3. . Of the measurement light L emitted from the distance measuring unit 2, the reflection component Lr reflected on the surface of each reflecting plate 3 enters the light receiving section of each distance measuring unit 2 as shown in FIG.

Each distance measuring unit 2 measures the distance between the opposing reflecting plate 3 and the light receiving unit based on the timing of the incidence of the reflection component Lr of the measuring light L and the reference light on the light receiving unit.
A signal indicating the measured value is sent to the control device 10. The CPU of the control device 10 determines the position of the coil transport cart 51 in the transport path 50a (for example, the initial Distance from the position). Then, based on the detected position of the coil transport trolley 51, the control device 10 determines that the coil transport trolley 51 has reached a desired stop position, and also determines that there is a possibility of collision with various devices and the like. , The coil carrier 51 is stopped.

As described above, according to the position detecting device 1, the position of the coil carrier 51 can be easily and accurately measured by the non-contact distance measuring unit 2 arranged on the side of the carrier path 50a. Therefore, the signal cable and the like provided in the conventional position detection device can be omitted, and the configuration of the entire device can be simplified. Further, even when the moving distance of the coil carrier 51 is long, the position of the coil carrier 51 can be detected accurately and arbitrarily.

In the position detecting device 1, the reflecting plate 3 is provided on the front side in the traveling direction of the coil carrier 51. Accordingly, the distance between each distance measuring unit 2 and each reflecting plate 3 becomes shorter as the coil carrier 51 travels (forwards) on the carrier path 50a. As a result, it is possible to reduce the measurement time by each of the distance measurement units 2 and reduce noise superimposed on the measurement value by each of the distance measurement units 2.

In the above-described position detecting device 1, the reflector 53, which is a separate member, is attached to the chassis 53 of the coil carrier 51, but the present invention is not limited to this. That is, the position detecting device 1 shown in FIG.
A, as shown in FIG.
3a may be formed directly. In this case, both sides of the front end surface of the undercarriage 53 are preferably mirror-polished to form the reflecting portion 53a. When the chassis 53 is manufactured, a metal plate or the like may be buried in both sides of the front end surface or the like in advance to form the reflecting portion 53a. Thereby, the configuration of the chassis 53 can be simplified.

[Second Embodiment] Hereinafter, a second embodiment of the position detecting apparatus for a coil carrier truck according to the present invention will be described with reference to FIG.
An embodiment will be described. Note that the same reference numerals are given to the same elements as those described in regard to the above-described first embodiment, and redundant description will be omitted.

In the position detecting device 1B shown in FIG. 4, the two distance measuring units 2 are arranged such that the optical axis is parallel to each rail R and behind the coil carrier 51 (opposite the processing line). And is arranged on the transport path 50a. The reflectors (reflectors) 3 are fixed to both sides of the rear end surface of the undercarriage 53 so that the measurement light L sent from each distance measuring unit 2 is reflected.

That is, it is difficult to arrange the distance measuring unit 2 so as to face the reflecting plate 3 provided on the front side in the traveling direction of the coil carrier 51 depending on the arrangement of various devices in the carrier path 50a and the like. It is possible. Therefore, in such a case, like the position detection device 1B,
The reflection plate 3 is provided on the rear side in the traveling direction of the coil carrier 51,
A coil carrier 5 moving away from each ranging unit 2
What is necessary is just to send out the measuring light L to one reflector 3. Even if such a configuration is adopted, the configuration of the position detecting device 1B can be simplified, and even if the moving distance is long, the position of the coil carrier 51 can be accurately and arbitrarily detected.

Also in this case, the number of the distance measuring units 2 is not limited to two, and one distance measuring unit 2 is used.
A body, or three or more bodies may be used. Further, the reflecting portion may be formed directly on the undercarriage 53 of the coil transport vehicle 51. Thereby, the configuration of the chassis 53 can be simplified.

[0035]

The position detecting device of the coil carrier according to the present invention is constructed as described above, and therefore has the following effects. That is, in the position detecting device for the coil carrier cart according to the present invention, the coil carrier cart is provided with the reflecting portion, and the measurement wave is transmitted to the reflecting portion.
A distance measuring unit for receiving the reflected component of the transmitted measurement wave and measuring the distance to the reflecting section is provided on the side of the transport path, and the position of the coil transport vehicle is obtained by the arithmetic processing section from the measured value of the distance measuring unit. As a result, the configuration of the position detecting device can be simplified, and even if the moving distance of the coil carrier is long, the position of the coil carrier can be accurately and arbitrarily detected.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a coil conveying device to which a position detecting device according to the present invention can be applied.

FIG. 2 is a plan view showing a first embodiment of the position detecting device according to the present invention.

FIG. 3 is a plan view showing a modification of the position detection device shown in FIG.

FIG. 4 is a plan view showing a second embodiment of the position detecting device according to the present invention.

FIG. 5 is a schematic configuration diagram showing a general coil conveying device provided in a rolling facility.

6 is a view taken in the direction of arrows VI-VI in FIG. 5;

[Explanation of symbols]

1, 1A, 1B: Position detecting device, 2: Distance measuring unit, 2
a: measuring light emitting portion, 3: reflecting plate, 10: control device, 50
... Coil conveying device, 50a ... Conveying path, 51 ... Coil conveying cart, 52 ... Wheels, 53 ... Carriage, 53a ... Reflector, 57
... Cradle, C ... Coil, L ... Measurement light, Lr ... Reflection component,
R ... rail.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Norio Nozaka 4-22, Kannonshinmachi, Nishi-ku, Hiroshima-shi, Hiroshima Mitsubishi Heavy Industries, Ltd. Hiroshima Works (72) Inventor Kenji Tanioka Otemachi, Naka-ku, Hiroshima-shi, Hiroshima 4-chome 1-13-1 Mishima Graphics Co., Ltd. F-term (reference) 4E026 DA05 5J083 AA02 AC29 AD04 AE10 AF01 5J084 AA05 AB01 BA03 CA80 DA01 EA34 FA03

Claims (4)

[Claims] The present invention is applied to a rolling equipment having a coil carrier that travels on a predetermined conveying path with a coil mounted thereon, and a position detecting device of the coil carrier that detects a position of the coil carrier. A reflection unit provided, disposed on the transport path side, for transmitting a measurement wave to the reflection unit, receiving a reflection component of the transmitted measurement wave, and measuring a distance to the reflection unit. A position detecting device for a coil transport vehicle, comprising: a distance unit; and an arithmetic processing unit that calculates a position of the coil transport vehicle based on a measured value of the distance measuring unit. 2. The apparatus according to claim 1, wherein the reflection unit is provided on a front side in a traveling direction of the coil carrier.
3. The position detecting device for a coil carrier according to claim 1. 3. The apparatus according to claim 1, wherein the reflection unit is provided on a rear side in a traveling direction of the coil carrier.
3. The position detecting device for a coil carrier according to claim 1. 4. The position detecting device according to claim 1, wherein the distance measuring unit transmits a measuring wave composed of an electromagnetic wave or an ultrasonic wave to the reflecting portion. apparatus.