JP2019104036A - Loading slab transfer facility and transfer method therefor - Google Patents

Abstract

To provide a loading slab transfer facility and a transfer method therefor, even in the case in which two upper side slab and lower side slab laminated on a carrier truck are misaligned in a width direction, capable of automatically determining the projection amount of the upper side slab and transferring the same to the other place on the basis of the determination result.SOLUTION: Provided is a transfer facility 1 for loading slabs S comprising: a projection amount calculation part 50 of calculating the projection amount from an end in a width direction of a lower side slab S2 of an end in the width direction of an upper side slab S1 on the basis of detection information from an upper side sensor 41 and a lower side sensor 42; a first determination part 60 of determining whether or not the calculated projection amount is a first threshold or higher; and a transfer device control part 70 of performing control in such a manner that, when a determination result by the first determination part 60 is normal (NO), the transfer device 30 transfers the same in a state of holding the upper side slab S1 and the lower side slab S2, and, when the determination result is abnormal (YES), the transfer device 30 transfers the same in a state of holding the upper side slab S1 and the lower side slab S2 one by one dividedly into two times.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a loading slab transfer facility and a loading method for transferring a loading slab transported from a continuous casting facility by a transport carriage in a state in which two slabs are vertically loaded, to another location.

Conventionally, when transferring a slab continuously cast by a continuous casting facility to a slab yard, two slabs are vertically loaded on the transport carriage, and in that state, the transport carriage transports it to the vicinity of the slab yard and transports The two slabs loaded on the carriage are grasped by a piling device provided on an overhead crane and transferred to a predetermined position of a slab yard. And the present condition is that operation of the piling apparatus provided in the overhead crane is manually performed.
Here, when two slabs are loaded on the transport carriage, or when the slab is transported by the transport carriage, the upper and lower two slabs may be displaced in the width direction of the slab.

When the two upper and lower slabs are misaligned in the width direction of the slabs, it is easy to simultaneously grab the two slabs loaded on the transport carriage by the piling machine and transfer them to the predetermined position of the slab yard is not. For this reason, when the upper and lower two slabs are displaced in the width direction of the slab, the operator himself operates the crane to move the upper slab to eliminate the displacement amount, and the two sheets are eliminated in that state. Slabs are being held by a piling machine.
On the other hand, as a conventional conveying apparatus for conveying slabs, for example, a conveying apparatus for high-temperature long objects shown in Patent Document 1 is known.

The transfer device shown in Patent Document 1 has a heat retaining chamber having an opening on one side in the longitudinal direction on a traveling carriage, and covers the upper side of the heat retaining chamber and is disposed so that its eaves end faces above the opening. A roof is provided, and an arc-shaped door is provided along the inside of the roof and opening and closing the opening of the heat retaining chamber. And in this conveyance device, between the roof and the arc-shaped door, the shoe sliding along the guide liner provided on the inner side of the roof and the liner mechanism provided on the outer surface of the arc-shaped door and meshed with the shoe. Is supposed to seal.
And according to the conveying apparatus shown to this patent document 1, prevention of the temperature fall at the time of conveying a high temperature slab can be aimed at, and it is effective in the shortening of conveyance time of a high temperature slab being realizable.

Japanese Patent Application Laid-Open No. 5-92204

However, in the transfer device shown in Patent Document 1, although it is possible to prevent temperature drop when transferring a high temperature slab, an operation of gripping two slabs loaded on a traveling carriage by a piling device There is no mention about
On the other hand, as described above, when two slabs are misaligned on the transport carriage in the width direction of the slab, the operator himself operates the crane to move the upper slab and eliminate the deviation amount. In this state, although it is common to grasp two slabs with a piling device, the crane work by the operator himself is a belonging person's work, so the positional deviation between the two upper and lower slabs Or the slab on the transport carriage can not be grasped, and the transport work of the slab to the slab yard may be stagnant. If the work of transporting slabs to the lab yard is stagnant, it will also be a factor that hinders the productivity of slabs by the continuous casting machine.

  Therefore, the present invention has been made to solve this conventional problem, and its object is to position the upper and lower slabs stacked on the transport carriage in the width direction of the slab. Even if it is the case, it is possible to automatically determine the protrusion amount of the upper slab, and to provide the transfer facility and transfer method of the loading slab that can be transferred to another place based on the determination result. is there.

  In order to achieve the above object, a loading slab transfer facility according to an aspect of the present invention is a loading slab for transferring stacked slabs formed by loading two upper slabs and lower slabs on a transport carriage up and down. A transfer device for taking out the loading slab from the transport carriage, a transfer device for transferring the loading slab taken out by the removal device to another place, and the loading by the removal device Based on detection information from the upper sensor and the lower sensor for detecting the presence of the upper slab and the lower slab for detecting the presence of the upper slab when the slab is taken out; A protrusion amount calculation unit for calculating a protrusion amount of the width direction end of the upper slab from the width direction end of the lower slab, and the upper slider calculated by the protrusion amount calculation unit It is determined whether the amount of protrusion from the widthwise end of the lower slab at the widthwise end is greater than or equal to a first threshold, and abnormal when the amount of protrusion is greater than or equal to the first threshold. The transfer device simultaneously grips the upper slab and the lower slab when the first determination unit determines normal when the protrusion amount is not the first threshold and the determination result by the first determination unit is normal. Control to transfer to another place, and when the determination result by the first determination unit is abnormal, the transfer device holds the upper slab and the lower slab one by one and twice The gist of the present invention is that a transfer device control unit is provided to control to separately transfer to another location.

  A loading slab transfer facility according to another aspect of the present invention is a loading slab transfer facility for transferring a stacked slab formed by loading two upper and lower slabs on a transport carriage up and down. A takeout device for taking out the loading slab from the transport carriage, a transfer device for transferring the loading slab taken out by the takeout device to another location, and taking out the loading slab by the takeout device The width of the upper slab based on the upper sensor detecting the presence of the upper slab and the lower sensor detecting the presence of the lower slab, and the detection information from the upper sensor and the detection information from the lower sensor A protrusion amount calculation unit for calculating a protrusion amount of the direction end from the width direction end of the lower slab, and a front of the width direction end of the upper slab calculated by the protrusion amount calculation unit It is determined whether the amount of protrusion from the widthwise end of the lower slab is equal to or greater than a first threshold, and an abnormality is determined when the amount of protrusion is equal to or greater than the first threshold, and the amount of protrusion is the first threshold A first determination unit that is normal when the above is not the case, and the lower slab of the widthwise end of the upper slab calculated by the protrusion amount calculation unit when the determination result by the first determination unit is abnormal It is determined whether the amount of protrusion from the widthwise end is greater than or equal to a second threshold, and an abnormality is determined when the amount of protrusion is greater than or equal to the second threshold, and when the amount of protrusion is less than or equal to the second threshold When the second determination unit requiring correction and the determination result by the first determination unit are normal, the transfer device simultaneously grasps the upper slab and the lower slab and transfers them to the other place Control, and when the determination result by the second determination unit requires correction, After moving the upper slab by a predetermined distance in the width direction so that the amount of protrusion becomes small, the transfer device controls to simultaneously grasp the upper slab and the lower slab and transfer them to the other place. When the determination result by the second determination unit is abnormal, the transfer device grasps the upper slab and the lower slab one by one and transfers them to the other place in two steps. The gist of the present invention is the provision of a transfer device control unit to control.

  The loading slab transfer method according to another aspect of the present invention is a loading slab transfer method for transferring stacked slabs formed by loading two upper and lower slabs on a transport carriage up and down. And taking out the loading slab from the transport carriage by the take-out device, and transferring the loading slab taken out by the take-out device to another location by the transfer device. In the step, a slab detection step of detecting the presence of the upper slab with an upper sensor and detecting the presence of the lower slab with a lower sensor when the loading slab is taken out by the takeout device, and detection from the upper sensor From the width direction end of the lower slab of the width direction end of the upper slab based on the information and the detection information from the lower sensor And a transfer amount calculation step of calculating a protrusion amount, wherein the transfer step includes a protrusion amount from the width direction end of the lower slab of the width direction end of the upper slab calculated by the protrusion amount calculation step. Is determined whether or not the first threshold value is equal to or greater than a first threshold value, and a first determination step is determined as abnormal when the protrusion amount is greater than the first threshold value and is normal when the protrusion amount is not greater than the first threshold value And controlling the transfer device to simultaneously grasp the upper slab and the lower slab and transfer them to the other place when the determination result in the first determination step is normal, and the first determination step Transfer device control step of controlling the transfer device to hold the upper slab and the lower slab one by one and transfer it to the other place in two steps when the determination result by the control unit is abnormal And to contain The gist.

  Furthermore, according to another aspect of the present invention, there is provided a method of transferring a loading slab according to another aspect of the present invention, comprising transferring a stacked slab formed by loading two upper and lower slabs vertically on a transport carriage. And taking out the loading slab from the transport carriage by the take-out device, and transferring the loading slab taken out by the take-out device to another location by the transfer device. In the step, a slab detection step of detecting the presence of the upper slab with an upper sensor and detecting the presence of the lower slab with a lower sensor when the loading slab is taken out by the takeout device, and detection from the upper sensor The protrusion from the width direction end of the lower slab of the width direction end of the upper slab based on the information and the detection information from the lower sensor A projecting amount calculating step of calculating the moving amount of the upper slab from the width direction end of the lower slab calculated in the projecting amount calculating step; A first determination step of determining whether or not the threshold value is equal to or greater than one threshold value and determining that the protrusion amount is equal to or greater than the first threshold value; and determining that the protrusion amount is normal if not greater than the first threshold value; When the determination result in the first determination step is abnormal, the protrusion amount from the width direction end portion of the lower slab of the width direction end portion of the upper slab calculated by the protrusion amount calculation step is equal to or more than a second threshold A second determination step of determining whether or not the protrusion amount is abnormal, when the protrusion amount is equal to or more than the second threshold value, and correcting when the protrusion amount is not equal to or more than the second threshold value; Judgment result by step When normal, the transfer device controls to simultaneously grasp the upper slab and the lower slab and transfer them to the other place, and when the determination result in the second determination step is a correction required, After moving the upper slab a predetermined distance in the width direction so that the amount of protrusion becomes small, the transfer device controls to simultaneously grasp the upper slab and the lower slab and transfer them to the other place. When the determination result in the second determination step is abnormal, the transfer device grasps the upper slab and the lower slab one by one and transfers them to the other place in two steps. And a transfer device control step of controlling.

  According to the loading slab transferring apparatus and loading method relating to the present invention, even when the upper and lower slabs stacked on the transport carriage are misaligned in the width direction of the slab The present invention can provide a loading slab transfer facility and transfer method that can automatically determine the amount of protrusion of the upper slab and transfer the load to another location based on the determination result.

It is a top view which shows the outline of the layout of the whole yard in which the transfer installation of the loading slab which concerns on 1st Embodiment of this invention is arrange | positioned. It is a figure which shows schematic structure of the transfer installation of the loading slab which concerns on 1st Embodiment of this invention. In the transfer equipment shown in FIG. 2, the step of taking out the loading slab loaded on the loading part of the transport carriage by the moving skid of the taking-out device is shown, (A) shows the state where the moving skid has been moved forward and raised, (B) Is a state in which the movement skid is in reverse, and (C) is a view showing a state in which the movement skid is in reverse completion and lowered. It is a flowchart which shows the flow of the loading method of the loading slab by the transfer equipment shown in FIG. It is a flowchart which shows the flow of the extraction step of the loading slab in FIG. It is a flowchart which shows the flow of the protrusion amount calculation step in FIG. (A) shows a state in which one end in the width direction of the upper slab protrudes from the one end in the width direction of the lower slab by a protrusion amount δ1; (B) shows the displacement of the upper slab In the state where both widthwise end portions are recessed relative to widthwise both end portions of the lower slab, (C) the other widthwise end portion of the upper slab is protruded by an amount of projection δ2 relative to the widthwise other end of the lower slab It is a figure which shows a state. It is a flowchart which shows the flow of the transfer step of the loading slab in FIG. It is a figure which shows schematic structure of the transfer equipment of the loading slab which concerns on 2nd Embodiment of this invention. The transfer according to the first embodiment when the central position of the loading portion of the transport carriage and the central position in the width direction of the lower slab in a state where the upper slab and the lower slab are loaded on the loading portion It is a figure for demonstrating the shift | offset | difference of the center position of a fixed skid, and the center position of the width direction of a lower slab when the loading slab is taken out by the movement skid of an installation. The transfer according to the second embodiment when the center position of the loading portion of the transport carriage and the center position in the width direction of the lower slab in a state in which the upper slab and the lower slab are loaded on the loading portion It is a figure for demonstrating that the center position of a fixed skid and the center position of the cross direction of a lower side slab when the loading slab is taken out with the movement skid of equipment correspond. It is a flowchart which shows the flow of the taking-out step of the loading slab by the transfer equipment shown in FIG. It is a figure which shows schematic structure of the transfer equipment of the loading slab which concerns on 3rd Embodiment of this invention. It is a flowchart which shows the flow of the transfer step of the loading slab by the loading equipment shown in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the embodiment, a first slab yard as another place is a laminated slab formed by loading two upper and lower slabs, which are transported from a continuous casting machine (not shown), on a transport carriage up and down. It is an example of the transfer equipment and transfer method of the loading slab transferred to.
The drawings are schematic. Therefore, it should be noted that the relationship between the thickness and the plane dimension, the ratio, etc. is different from the actual one, and some parts have different dimensional relationships and ratios among the drawings. In addition, the embodiments described below illustrate apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention includes materials, shapes, structures, and arrangements of component parts. Etc. are not specified in the following embodiment.

First Embodiment
The outline of the layout of the whole yard in which the transfer installation of the loading slab which concerns on 1st Embodiment of this invention is arrange | positioned by FIG. 1 is shown. A furnace front table 6 a is disposed on the charging side of the plurality of heating furnaces 5, and a furnace rear table 6 b is disposed on the extraction side of the plurality of heating furnaces 5. Further, a first slab yard 4a is provided adjacent to the front furnace table 6a, and a second slab yard 4b is provided adjacent to the first slab yard 4a. An overhead crane 3 (only the first slab yard 4 a is shown) is installed in the first slab yard 4 a and the second slab yard 4 b. The overhead crane 3 includes a first traveling body 3a moving in a direction indicated by an arrow Y, and a second traveling body 3c moving in the direction indicated by an arrow X on a rail 3b disposed on the first traveling body 3a. ing.

Then, two upper slabs S1 (see FIG. 2) and lower slabs S2 (see FIG. 2) extracted from the continuous casting machine (not shown) are placed on the loading portion 11 (see FIG. 3) of the transport carriage 10. In a state where the loading slabs S are loaded up and down, for example, the loading slabs S are transported to the front of the unloading device 20 of the loading slabs S near the entrance of the first slab yard 4a.
Then, the transfer facility 1 of the loading slab S transfers the loading slab S taken out by the unloading device 20 described above for taking out the loading slab S from the transport carriage 10 to another place of the first slab yard 4a. And a transfer device 30 to be mounted. The slab transferred to another place of the first slab yard 4a is transferred onto a slab conveyor (not shown) by the transfer device 30 provided on the overhead crane 3 and supplied onto the furnace front table 6a. And the slab supplied on the furnace front table 6a is pressed by the pusher 2 and inserted into each heating furnace 5.

  Here, as shown in FIG. 2, the loading slab S extraction device 20 includes a plurality of fixed skids 21 and a plurality of moving skids 22. The plurality of fixed skids 21 and moving skids 22 are alternately arranged in a row. Each moving skid 22 is disposed movably with respect to the fixed skid 21 in a direction orthogonal to the row direction in which the fixed skid 21 and the moving skid 22 are arranged. Further, a movement skid drive control unit 90 connected to the host computer 45 is connected to each movement skid 22, and movement of each movement skid 22 is controlled by the movement skid drive control unit 90.

  Here, the moving skid drive control unit 90 moves the moving skid 22 of the loading unit 11 of the transport carriage 10 from the host computer 45 when the transport carriage 10 is conveyed to the front of the takeout device 20 of the loading slab S. Information on the central position CL1 of the direction (see FIG. 3) and the central position CL3 (see FIG. 3) of the fixed skid 21 is acquired. Then, the movement skid drive control unit 90 advances the movement skid 22 toward the transport carriage 10 by the distance between the acquired center position CL1 of the loading unit 11 and the center position CL3 of the fixed skid 21 so as to transport carriage 10 Between the center position CL1 of the loading unit 11 and the center position CL3 of the fixed skid 21 by supporting and raising the loading slab S (upper slab S1 and lower slab S2) loaded on the loading unit 11 of The movement skid 22 is moved backward by the distance of d to the fixed skid 21 side, and the movement of the movement skid 22 is controlled to load the loading slab S on the fixed skid 21 and the movement skid 22.

In addition, the transfer device 30 is disposed movably in the vertical direction with respect to the second traveling body 3c of the overhead crane 3, and provided with a plurality of pairs of claw members 31 at the lower end side for releasably gripping the loading slab S. There is. The transfer device 30 transfers the loading slab S loaded on the fixed skid 21 and the moving skid 22 of the takeout device 20 to another place of the first slab yard 4a. The drive control of the transfer device 30 will be described in detail later.
Further, the transfer facility 1 of the loading slab S detects the presence of the upper sensor 41 and the lower slab S2 that detect the presence of the upper slab S1 when the loading slab S is taken out of the transport carriage 10 by the takeout device 20. A sensor 42 is provided.

  The upper sensor 41 is a transmissive photoelectric sensor, and includes a light projector 41a for projecting light and a light receiver 41b for receiving light projected from the light projector 41a. The light projector 41a is a sensor mounting portion 44 provided on a sensor mounting base 43 installed at a position outside the fixed skid 21 of the takeout device 20 and one end in the row direction where the moving skids 22 line up and where the loading slab S does not collide. It is attached. On the other hand, the light receiver 41b is a sensor provided on the sensor mounting base 43 installed at a position outside the other end in the row direction of the fixed skid 21 and the moving skid 22 of the takeout device 20 and in which the loading slab S does not collide. It is attached to the attachment portion 44. The light projector 41a and the light receiver 41b are disposed at positions aligned in a straight line, and the mounting height thereof is, as shown in FIGS. 3A and 3B, a position where the upper slab S1 taken out by the moving skid 22 passes. It is.

  Then, when the upper sensor 41 detects the loading slab S at one end in the width direction of the upper slab S1 (the left end in FIG. 3B) when taking out the loading slab S by the moving skid 22 of the extracting device 20, that is, the upper side When one widthwise end of the slab S1 passes and the light from the light projector 41a is blocked, an ON signal is issued to detect the other widthwise end of the upper slab S1 (right end in FIG. 3C) An OFF signal is issued to detect the presence of the upper slab S1 when the widthwise other end of the upper slab S1 passes and the light blocking from the light projector 41a is released.

  On the other hand, the lower sensor 42 is a transmissive photoelectric sensor, and includes a light projector 42a for projecting light and a light receiver 42b for receiving light projected from the light projector 42a. The light projector 42a is a sensor mounting portion 44 provided on a sensor mounting base 43 installed at a position outside the fixed skid 21 of the takeout device 20 and one end in the row direction where the moving skids 22 line up and where the loading slab S does not collide. It is attached. On the other hand, the light receiver 42b is a sensor provided on the sensor mounting base 43 installed at a position outside the other end in the row direction of the fixed skid 21 and the moving skid 22 of the takeout device 20 and in which the loading slab S does not collide. It is attached to the attachment portion 44. The light projector 42a and the light receiver 42b are disposed at positions aligned in a straight line, and the mounting height thereof is such that the lower slab S2 taken out by the moving skid 22 passes as shown in FIGS. 3 (A) and 3 (B). In position, it is a lower position than the light projector 41a and the light receiver 41b of the upper sensor 41.

  And when the lower sensor 42 detects the loading slab S by the moving skid 22 of the takeout device 20 when it detects one end in the width direction of the lower slab S2 (left end in FIG. 3B), that is, When the width direction one end of the lower slab S2 passes and the light from the light projector 42a is blocked, an ON signal is emitted, and the width direction other end of the lower slab S2 (right end in FIG. 3 (C) To detect the presence of the lower slab S2 by detecting the OFF signal when detecting the), that is, when the other widthwise end of the upper slab S1 passes and the blocking of the light from the light projector 42a is cancelled. It has become.

Further, the transfer facility 1 of the loading slab S is a width direction end of the lower slab S2 of the width direction end of the upper slab S1 based on the detection information from the upper sensor 41 and the detection information from the lower sensor 42. The projection amount calculation unit 50 is provided to calculate the projection amount from the projection. The protrusion amount calculation unit 50 is connected to the light receiver 41 b of the upper sensor 41, the light receiver 42 b of the lower sensor 42, and the host computer 45. The protrusion amount calculation unit 50 is configured by a computer having a calculation processing function together with a first determination unit 60 described later.
The protrusion amount calculation unit 50 determines whether or not the ON signal from the upper sensor 41 is received earlier than the ON signal from the lower sensor 42 (step S132 in FIG. 6), and ON. When the determination result by the signal determination unit 51 is YES, the moving speed of the extracting device 20 (moving skid 22) is calculated from the reception timing of the ON signal from the upper sensor 41 to the reception timing of the ON signal from the lower sensor. A first calculation unit 52 (step S133 in FIG. 6) that calculates the multiplication value as the amount of protrusion δ1 (see FIG. 7A) from the width direction end of the lower slab S2 of the upper slab S1 in the width direction And have.

  Further, when the determination result by the ON signal determination unit 51 is NO, the protrusion amount calculation unit 50 determines whether or not the OFF signal from the upper sensor 41 is received earlier than the OFF signal from the lower sensor 42. When the OFF signal determination unit 53 (step S134 in FIG. 6) and the determination result by the OFF signal determination unit 53 are YES, the amount of protrusion from the width direction end of the lower slab S2 of the upper slab S1 in the width direction Of the OFF signal from the lower sensor 42 when the second calculation unit 54 (step S135 in FIG. 6) calculates 0 as 0 (see FIG. 7B) and the determination result by the OFF signal determination unit 53 is NO. The width direction of the upper slab S1 is a value obtained by multiplying the time from the reception timing to the reception timing of the OFF signal from the upper sensor 41 by the moving speed of the extracting device 20 (moving skid 22) Projecting amount from the widthwise end portion of the lower slab S2 of end δ2 third calculation unit 55 for calculating (FIG. 7 (C) see) and a (step S136 in FIG. 6).

  Further, in the transfer facility 1 of the loading slab S, the amount of protrusion (δ1, δ2) from the width direction end of the lower slab S2 of the width direction end of the upper slab S1 calculated by the protrusion amount calculation unit 50 A first determination unit 60 that determines whether or not the threshold is 100 mm or more and that the protrusion amount is not less than the first threshold is abnormal and the protrusion amount is not more than the first threshold is normal (step in FIG. 8 S22) is provided. The first determination unit 60 is connected to the protrusion amount calculation unit 50, and is configured by a computer having a calculation processing function together with the protrusion amount calculation unit 50. When the second calculation unit 54 calculates the amount of protrusion of the upper slab S1 from the widthwise end of the lower slab S2 as 0, the determination result by the first determination unit 60 is normal. .

Furthermore, the transfer facility 1 of the loading slab S includes a transfer device control unit 70 that controls the drive of the transfer device 30 including the overhead crane 3. The transfer device control unit 70 is connected to the first determination unit 60.
When the determination result by the first determination unit 60 is normal, the transfer device control unit 70 simultaneously grasps the upper slab S1 and the lower slab S2 by the claw members 31 of the transfer device 30 and thereby obtains the first slab yard 4a. The transfer device 30 including the overhead crane 3 is controlled to be transferred to another location (step S25 in FIG. 8), and when the determination result by the first determination unit 60 is abnormal, the claw member of the transfer device 30 The control device 30 including the overhead crane 3 is controlled such that the upper 31 grabs the upper slab S1 and the lower slab S2 one by one and transfers it to another place of the first slab yard 4a in two times (see FIG. Step S23 in 8).
Furthermore, the transfer apparatus 1 of the loading slab S includes an alarm device 80 (step S24 in FIG. 8) that issues an alarm when the determination result by the first determination unit 60 is abnormal. The alarm device 80 is connected to the first determination unit 60.

Next, a transfer method of the transfer slab 1 by the transfer device 1 will be described with reference to FIGS. 1 to 8.
First, two upper slabs S1 (see FIG. 2) and lower slabs S2 (see FIG. 2) extracted from a continuous casting machine (not shown) are placed on the loading portion 11 (see FIG. 3) of the transport carriage 10. In a state where the loading slabs S are loaded up and down, for example, the loading slabs S are transported to the front of the unloading device 20 of the loading slabs S near the entrance of the first slab yard 4a. Then, as shown in FIG. 4, in step S1, the takeout device 20 takes out the loaded slab S from the transport carriage 10 (takeout step).

Next, in step S2, the loading slab S taken out by the taking-out device 20 is transferred to another place by the transfer device 30 (transfer step).
Thus, the transfer of the loading slab S by the transfer device 1 is completed.
Here, the step (extracting step) S1 will be described. When the transport carriage 10 is carried to the front of the unloading device 20 of the loading slab S, as shown in FIG. The loading slab S is taken out of the loading unit 11 of the transport carriage 10 by the moving skid 22, and the loading slab S is loaded on the fixed skid 21 and the moving skid 22.

  At this time, the moving skid drive control unit 90 controls the central position CL1 (see FIG. 3) in the moving direction of the moving skid 22 of the loading unit 11 of the transport carriage 10 from the upper computer 45 and the central position CL3 of the fixed skid 21 (see FIG. 3) to obtain information. Then, the movement skid drive control unit 90 advances the movement skid 22 toward the transport carriage 10 by the distance between the acquired center position CL1 of the loading unit 11 and the center position CL3 of the fixed skid 21 so as to transport carriage 10 Between the center position CL1 of the loading unit 11 and the center position CL3 of the fixed skid 21 by supporting and raising the loading slab S (upper slab S1 and lower slab S2) loaded on the loading unit 11 of The movement skid 22 is moved backward by the distance of d to the fixed skid 21 side, and the movement of the movement skid 22 is controlled to load the loading slab S on the fixed skid 21 and the movement skid 22.

Next, in step S12, when the loading slab S is taken out by the moving skid 22 of the takeout device 20, the presence of the upper slab S1 is detected by the upper sensor 41 and the presence of the lower slab S2 is detected by the lower sensor 42 ( Slab detection step.
At this time, when one widthwise end of the upper slab S1 (left end in FIG. 3B) is detected, that is, one widthwise end of the upper slab S1 passes and the light from the light projector 41a is blocked. When the other end in the width direction of the upper slab S1 (right end in FIG. 3C) is detected, that is, the other end in the width direction of the upper slab S1 passes and the light projector 41a When the light blocking from the light source is released, an OFF signal is emitted to detect the presence of the upper slab S1.
Further, when the lower sensor 42 detects one widthwise end (left end in FIG. 3B) of the lower slab S2, that is, one widthwise end of the lower slab S2 passes and the light projector 42a When the light from the light source is blocked, an ON signal is emitted to detect the other widthwise end of the lower slab S2 (right end in FIG. 3C), ie, the other widthwise end of the upper slab S1 When the block passes and the light blocking from the light projector 42a is released, an OFF signal is issued to detect the presence of the lower slab S2.

Then, after step S12, in step S13, the protrusion amount calculation unit 50 lowers the widthwise end of the upper slab S1 based on the detection information from the upper sensor 41 and the detection information from the lower sensor 42. The amount of protrusion from the widthwise end of the slab S2 is calculated (protrusion amount calculation step).
The step (protrusion amount calculation step) S13 will be described in detail with reference to FIG. 6. First, the ON signal determination unit 51 of the protrusion amount calculation unit 50 turns on and off the upper sensor 41 in step S131. A signal is acquired from the light receiver 41 b of the upper sensor 41. Further, the ON signal and the OFF signal of the lower sensor 42 are acquired from the light receiver 42 b of the lower sensor 42. Further, the moving speed of the moving skid 22 of the takeout device 20 is acquired from the host computer 45.

Next, the ON signal determination unit 51 of the protrusion amount calculation unit 50 determines whether or not the ON signal from the upper sensor 41 is received earlier than the ON signal from the lower sensor 42 in step S132 (ON signal Judgment step).
Then, when the determination result in step (ON signal determination step) S132 is YES, the first calculation unit 52 of the projection amount calculation unit 50 lowers from the reception timing of the ON signal from the upper sensor 41 in step S133. A value obtained by multiplying the moving speed of the moving skid 22 by the time to the reception timing of the ON signal from the sensor 42 is calculated as a protrusion amount δ1 from the width direction end of the lower slab S2 of the width direction end of the upper slab S1. (First calculation step).

When the determination result in step (ON signal determination step) S132 is NO, the OFF signal determination unit 53 of the projection amount calculation unit 50 determines that the OFF signal from the upper sensor 41 from the lower sensor 42 in step S134. It is determined whether the signal has been received earlier than the OFF signal (OFF signal determination step).
Then, when the determination result by the step (OFF signal determination step) 134 is YES, the second calculation unit 54 of the protrusion amount calculation unit 50 determines the lower slab S2 of the width direction end of the upper slab S1 in step S135. The amount of protrusion from the width direction end of is calculated as 0 (a second calculation step).

On the other hand, when the determination result in step (OFF signal determination step) S134 is NO, the third calculation unit 55 of the protrusion amount calculation unit 50 determines the upper sensor from the reception timing of the OFF signal from the lower sensor 42 in step S136. A value obtained by multiplying the time to the reception timing of the OFF signal from 41 and the moving speed of the moving skid 22 is calculated as a protrusion amount δ2 from the widthwise end of the lower slab S2 at the widthwise end of the upper slab S1 ( Third calculation step).
Next, the step (transfer step) S2 will be described. First, as shown in FIG. 8, in step S21, the first determination unit 60 determines the width direction of the lower slab S2 of the upper slab S1. The amount of protrusion δ1, 0, δ2 from the end is acquired from the amount-of-projection calculator 50.

Next, in step S22, the first determination unit 60 determines whether the amount of protrusion δ1 and δ2 from the widthwise end of the lower slab S2 of the upper slab S1 in the widthwise direction is equal to or greater than the first threshold 100 mm. It is determined that the protrusion amounts δ1 and δ2 are equal to or greater than the first threshold, and abnormal if the protrusion amounts δ1 and δ2 are not equal to or greater than the first threshold (first determination step). When the amount of protrusion of the upper slab S1 from the widthwise end of the lower slab S2 obtained in step S21 is zero, the determination result of step (first determination step) S22 is assumed to be normal. Become.
When the determination result in step (first determination step) S22 is abnormal, that is, when the transfer device control unit 70 determines that the transfer device 30 is the upper slab S1 and the lower slab S2 in step S23. Control the transfer device 30 including the overhead crane 3 so as to grab each sheet one by one and transfer it to another place in two steps (transfer device control step), and the alarm device 80 warns in step S24 To blow

On the other hand, when the determination result in step (first determination step) S22 is normal, that is, NO, in step S25, the transfer device control unit 70 transfers the upper slab S1 and the lower slab S2 in the transfer device 30. Control the transfer device 30 including the overhead crane 3 so as to simultaneously grab and transfer to another location (transfer device control step).
At this point, step (transfer step) S2 is completed.
As described above, according to the transfer facility and transfer method of the loading slab according to the first embodiment, the two upper slabs S1 and the lower slab S2 stacked on the loading unit 11 of the transport carriage 10 are slabs. Even in the case of positional deviation in the width direction, the protrusion amounts δ1, 0, δ2 of the upper slab S1 can be automatically determined, and the upper slab S1 can be transferred to another location based on the determination result.

Second Embodiment
Next, a transfer facility and a transfer method of a loading slab according to a second embodiment of the present invention will be described with reference to FIG. 9 to FIG. In FIGS. 9 to 11, the same members as those in FIGS. 2 and 3 are denoted by the same reference numerals, and the description thereof may be omitted.
The basic configuration of the loading slab transfer facility 1 shown in FIG. 9 is the same as that of the loading slab transfer facility 1 according to the first embodiment shown in FIG. A shift amount Δ between the center position CL1 in the moving direction 22 and the center position CL2 in the width direction of the lower slab S2 in a state in which the upper slab S1 and the lower slab S2 are loaded on the loading portion 11 (FIG. A), see FIG. 11 (A)), and the displacement of the mounting slab according to the first embodiment shown in FIG. 2 in that the displacement amount calculation unit 92 of FIG. It differs from the loading facility 1.

First, as shown in FIG. 10A, when the loading slab S is loaded on the loading portion 11 of the transport carriage 10 and the transport carriage 10 is carried to the front of the removal device 20 in that state, the transport carriage 10 The center position CL1 in the moving direction of the moving skid 22 of the loading unit 11 and the center position CL2 in the width direction of the lower slab S2 when the upper slab S1 and the lower slab S2 are loaded on the loading unit 11 Have The amount of deviation between both center positions CL1 and CL2 at this time is taken as Δ.
In this case, in the case of the transfer equipment 1 according to the first embodiment, the movement skid drive control unit 90 is a center position CL1 of the moving direction of the movement skid 22 of the loading unit 11 of the transport carriage 10 and the fixed skid. 21. The moving skid 22 is advanced to the transport carriage 10 side by a distance between the center position CL3 21 and the loading slab S (upper slab S1 and lower slab S2) loaded on the loading unit 11 of the transport carriage 10 The movable skid 22 is retracted from the lower side to the fixed skid 21 side by the distance between the central position CL1 of the loading unit 11 and the central position CL3 of the fixed skid 21 so as to be lowered.

Then, as shown in FIG. 10B, in a state where the loading slab S is loaded on the fixed skid 21 and the moving skid 22, the central position CL3 of the fixed skid 21 and the central position CL2 in the width direction of the lower slab S2 In the same period, the same shift amount .DELTA. As the aforementioned shift amount .DELTA.
In this state, if it is attempted to simultaneously grip the upper and lower two upper slabs S1 and lower slabs S2 by the claw members 31 of the transfer device 30, gripping errors frequently occur.
Therefore, in the transfer equipment 1 according to the second embodiment shown in FIG. 9, as shown in FIGS. 11A and 11B, the arrangement position of the lower sensor 42 and the loading portion of the transport carriage 10 11. Center position CL1 in the moving direction of the moving skid 22 of the loading unit 11 of the transport carriage 10 based on the center position CL1 in the moving direction of the moving skid 22 and the reception timing of the ON signal from the lower sensor 42 And a shift amount calculation unit 91 that calculates a shift amount Δ between the upper slab S1 and the lower slab S2 loaded on the loading unit 11 with respect to the center position CL2 in the width direction of the lower slab S2; Based on the displacement amount Δ calculated by the calculating unit 91, the moving skid 22 is moved backward by the moving skid drive control unit 90 so that the central position CL3 of the fixed skid 21 and the central position CL2 in the width direction of the lower slab S2 coincide. Amount And a reverse amount correction unit 92 that corrects.

Thereby, in a state where the loading slab S is loaded on the fixed skid 21 and the movable skid 22, the central position CL3 of the fixed skid 21 and the central position CL2 in the width direction of the lower slab S2 coincide with each other, and both central positions CL3. , CL2 will not occur. Therefore, when the upper and lower two upper slabs S1 and S2 are simultaneously gripped by the claw members 31 of the transfer device 30, the frequency of gripping errors can be reduced.
FIG. 12 shows a flow of the unloading step of the loading slab S by the transfer equipment 1 shown in FIG.
When the transport carriage 10 is conveyed to the front of the unloading device 20 for the loading slab S, as shown in FIG. 12, in step S11 ′, the loading slab S is moved by the moving skid 22 of the unloading device 20. The loading slab S is loaded on the fixed skid 21 and the moving skid 22 from the loading unit 11.

  At this time, the movement skid drive control unit 90 controls the central position CL1 (see FIG. 11A) of the movement direction of the movement skid 22 of the loading unit 11 of the transport carriage 10 from the host computer 45 (see FIG. The information of CL3 (see FIG. 11A) is acquired. Then, the movement skid drive control unit 90 advances the movement skid 22 toward the transport carriage 10 by the distance between the acquired center position CL1 of the loading unit 11 and the center position CL3 of the fixed skid 21 so as to transport carriage 10 Between the center position CL1 of the loading unit 11 and the center position CL3 of the fixed skid 21 by supporting and raising the loading slab S (upper slab S1 and lower slab S2) loaded on the loading unit 11 of The movement skid 22 is moved backward by the distance of d to the fixed skid 21 side, and the movement of the movement skid 22 is controlled to load the loading slab S on the fixed skid 21 and the movement skid 22.

Next, in step S 12 ′, when the loading slab S is taken out by the moving skid 22 of the takeout device 20, the presence of the upper slab S 1 is detected by the upper sensor 41 and the presence of the lower slab S 2 is detected by the lower sensor 42. (Slab detection step).
At this time, when one widthwise end of the upper slab S1 is detected, that is, when the widthwise one end of the upper slab S1 passes and the light from the light projector 41a is blocked, an ON signal is emitted, When the other widthwise end of the slab S1 is detected, that is, when the other widthwise end of the upper slab S1 passes and the light from the light projector 41a is unblocked, an OFF signal is issued to generate the upper slab S1. To detect the presence of

Further, when the lower sensor 42 detects one widthwise end of the lower slab S2, that is, when the widthwise one end of the lower slab S2 passes and the light from the light projector 42a is blocked, OFF when the ON signal is emitted and the other widthwise end of the lower slab S2 is detected, that is, when the other widthwise end of the upper slab S1 passes and the blocking of light from the light projector 42a is cancelled, A signal is emitted to detect the presence of the lower slab S2.
Then, after step S12 ′, the displacement amount calculation unit 91 determines the arrangement position of the lower sensor 42 from the host computer 45 and the moving direction of the moving skid 22 of the loading unit 11 of the transport carriage 10 in step S13 ′. Center position CL1 in the moving direction of the moving skid 22 of the loading unit 11 of the transport carriage 10, and the upper slab S1 and the lower side, based on the center position CL1 and the reception timing of the ON signal from the lower sensor 42. An amount of deviation Δ between the lower slab S2 and the center position CL2 in the width direction when the slab S2 is loaded on the loading unit 11 is calculated.

Next, after step S13 ′, the retraction amount correction unit 92 determines the width of the center position CL3 of the fixed skid 21 and the width of the lower slab S2 based on the displacement amount Δ calculated by the displacement amount calculation unit 91 in step S14 ′. The amount of retraction of the moving skid 22 by the moving skid drive control unit 90 is corrected so that the center position CL2 of the direction matches (refer to FIG. 11B).
Thereafter, in step S15 ′, the protrusion amount calculation unit 50 determines the width of the lower slab S2 of the widthwise end of the upper slab S1 based on the detection information from the upper sensor 41 and the detection information from the lower sensor 42. The amount of protrusion from the direction end is calculated (protrusion amount calculation step).
As described above, in the transfer facility and transfer method of the loading slab according to the second embodiment, the central position of the stationary skid 21 in the state where the loading slab S is loaded on the stationary skid 21 and the moving skid 22. The center position CL2 in the width direction of the lower slab S2 coincides with the center position CL3 of the lower slab S2, and no shift occurs between the center positions CL3 and CL2. Therefore, when the upper and lower two upper slabs S1 and S2 are simultaneously gripped by the claw members 31 of the transfer device 30, the frequency of gripping errors can be reduced.

The details of the step (protrusion amount calculation step) S15 'and the transfer step (not shown) are the details of the step (protrusion amount calculation step) S13 in the transfer method of the loading slab S according to the first embodiment This step is the same as step (transfer step) S2.
Thereby, even in the transfer facility and transfer method of the loading slab according to the second embodiment, the two upper slabs S1 and the lower slab S2 stacked on the loading unit 11 of the transport carriage 10 are slabs. Even in the case of positional deviation in the width direction, the protrusion amounts δ1, 0, δ2 of the upper slab S1 can be automatically determined, and the upper slab S1 can be transferred to another location based on the determination result.

Third Embodiment
Next, a transfer facility and a transfer method of a loading slab according to a third embodiment of the present invention will be described with reference to FIG. 13 and FIG. In FIG. 13, the same members as those shown in FIG. 2 are denoted by the same reference numerals, and the description thereof may be omitted.
The basic configuration of the loading slab transfer facility 1 according to the third embodiment shown in FIG. 13 is the same as that of the loading slab transfer facility 1 according to the first embodiment shown in FIG. The second embodiment is different from the first embodiment in that the configuration of the transfer device control unit 70 is different.
That is, the transfer facility 1 of the loading slab S shown in FIG. 13 is the same as the transfer facility 1 of the loading slab according to the first embodiment shown in FIG. A transfer device 30, an upper sensor 41 and a lower sensor 42, a protrusion amount calculation unit 50, and a first determination unit 60 are provided. The detailed configurations of the takeout device 20, the transfer device 30, the upper sensor 41 and the lower sensor 42, the protrusion amount calculation unit 50, and the first determination unit 60 are the respective members in the transfer equipment 1 according to the first embodiment. It is identical to the configuration of

  And, unlike the transfer equipment 1 of the loading slab according to the first embodiment shown in FIG. 2, the transfer equipment 1 of the loading slab S shown in FIG. 13 is different when the determination result by the first determination unit 60 is abnormal, ie The protrusion amount δ1 when the protrusion amounts δ1 and δ2 from the width direction end of the lower slab S2 of the upper slab S1 calculated by the protrusion amount calculation unit 50 are equal to or greater than the first threshold 100 mm. It is determined whether or not δ2 is equal to or greater than the second threshold 600 mm, and an abnormality is determined when the protrusion amount is equal to or greater than the second threshold, and correction is required when the protrusion amounts δ1 and δ2 are not equal to or greater than the second threshold. A determination unit 61 is provided. The second determination unit 61 is configured by a computer having an arithmetic processing function together with the first determination unit 60 and the protrusion amount calculation unit 50.

  Further, the transfer device control unit 70 in the transfer facility 1 of the loading slab S shown in FIG. 13 is configured such that the claw member 31 of the transfer device 30 is the upper slab S1 when the determination result by the first determination unit 60 is normal. The transfer device 30 including the overhead crane 3 is controlled so as to simultaneously grab the lower slab S2 and transfer it to another place of the first slab yard 4a (step S23 'in FIG. 14). Further, unlike the transfer device control unit 70 in the transfer facility 1 of the loading slab S shown in FIG. 2, the transfer device control unit 70 in the transfer facility 1 of the loading slab S shown in FIG. The upper slab S1 is moved by a predetermined distance 100 to 599 mm in the width direction so that the amount of protrusion decreases when the judgment result is correction required, and then the claw members 31 of the transfer device 30 are the upper slab S1 and the lower slab S2. Is controlled at the same time to transfer to another location of the first slab yard 4a by controlling the transfer device 30 including the overhead crane 3 (step S27 'in FIG. 14). Furthermore, when the determination result by the second determination unit 61 is abnormal, the transfer device control unit 70 in the transfer facility 1 of the loading slab S illustrated in FIG. The transfer device 30 including the overhead crane 3 is controlled so that the side slab S2 is grasped one by one and divided into two and transferred to another place of the first slab yard 4a (step S25 'in FIG. 14).

Further, the alarm device 80 in the transfer apparatus 1 of the loading slab S shown in FIG. 13 issues an alarm when the determination result by the second determination unit 61 is abnormal, and is connected to the second determination unit 61. There is.
Next, the transfer method by the transfer device 1 of the loading slab S according to the third embodiment shown in FIG. 13 is the same as the transfer method by the transfer equipment 1 of the loading slab S according to the first embodiment shown in FIG. , The step of removing the loading slab S from the transport carriage 10 by the removal device 20 (extraction step) S1 and the step of transferring the loading slab S removed by the removal device 20 to another place by the transfer device 30 (transfer And step S2).

However, the step (transfer step) S2 in the transfer method by the transfer device 1 of the loading slab S shown in FIG. 13 is the transfer facility of the loading slab S in the first embodiment shown in FIG. 2 as shown in FIG. This step is different from step (transfer step) S2 in the transfer method according to step S1.
That is, in step (transfer step) S2 in the transfer method by the transfer device 1 of the loading slab S shown in FIG. 13, first, in step S21 ′, the first determination unit 60 determines the width direction end of the upper slab S1. The amount of protrusion δ1, 0, δ2 from the widthwise end of the lower slab S2 of the part is acquired from the amount-of-projection calculator 50.

Next, in step S22 ', whether the first determination unit 60 projects the amounts δ1 and δ2 of the lower slab S2 from the widthwise end of the upper slab S1 from the widthwise end to the first threshold 100 mm or more It is determined whether or not the protrusion amounts δ1 and δ2 are equal to or greater than the first threshold, and abnormal if the protrusion amounts δ1 and δ2 are not equal to or greater than the first threshold (first determination step). When the amount of protrusion of the upper slab S1 from the widthwise end of the lower slab S2 obtained in step S21 ′ is zero, the determination result of step (first determination step) S22 ′ is It becomes normal.
When the determination result in step (first determination step) S22 'is normal, that is, NO, the transfer device control unit 70 controls the claw member 31 of the transfer device 30 in step S23'. Control to transfer the loading and unloading device 30 including the overhead crane 3 to the upper floor S1 and the lower slab S2 at the same time to be transferred to another location of the first slab yard 4a (Transfer device control step).

On the other hand, when the determination result in step (first determination step) S22 'is abnormal, that is, when the determination is YES, the second determination unit 61 lowers the lower end of the upper slab S1 in step S24'. It is determined whether or not the protrusion amounts δ1 and δ2 from the width direction end of the side slab S2 are the second threshold 600 mm or more, and when the protrusion amounts δ1 and δ2 are the second threshold or more, it is considered abnormal. It is determined that correction is necessary when δ1 and δ2 are not greater than or equal to the second threshold (second determination step).
Then, when the determination result in the step (second determination step) S24 'is abnormal, that is, when the transfer device control unit 70 determines that the claw member 31 of the transfer device 30 is the upper slab in step S25' The transfer device 30 including the overhead crane 3 is controlled so that S1 and the lower slab S2 can be grasped one by one and transferred to another place of the first slab yard 4a in two times (transfer device control step) ), The alarm device 80 sounds an alarm at step S26 '.
On the other hand, when the determination result in step (second determination step) S24 ′ is correction required, that is, NO, the transfer device control unit 70 reduces the protrusion amounts δ1 and δ2 in step S27 ′. After moving the upper slab S1 by a predetermined distance of 100 to 599 mm in the width direction, the claw members 31 of the transfer device 30 simultaneously grasp the upper slab S1 and the lower slab S2 and transfer them to another place of the first slab yard 4a. The transfer device 30 including the overhead crane 3 is controlled to be mounted (transfer device control step).

As described above, according to the transfer facility and transfer method of the loading slab according to the third embodiment, the two upper slabs S1 and the lower slab S2 stacked on the loading unit 11 of the transport carriage 10 are slabs. Even in the case of positional deviation in the width direction, the protrusion amounts δ1, 0, δ2 of the upper slab S1 can be automatically determined, and the upper slab S1 can be transferred to another location based on the determination result.
Further, when the amount of protrusion δ1, δ2 from the end in the width direction of the lower slab S2 of the widthwise end portion of the upper slab S1 is equal to or greater than the first threshold 100 mm, the second determination unit 61 determines the amount δ1 of protrusion described above. It is determined whether or not δ2 is equal to or greater than the second threshold 600 mm, and when the aforementioned protrusion amounts δ1 and δ2 are not equal to or greater than the second threshold, the transfer device control unit 70 determines the protrusion amount δ1 in step S27 ′. After moving the upper slab S1 by a predetermined distance of 100 to 599 mm in the width direction so as to reduce .delta.2, the claw members 31 of the transfer device 30 simultaneously grasp the upper slab S1 and the lower slab S2 to form the first slab yard 4a. The transfer device 30 including the overhead crane 3 is controlled to be transferred to another location of For this reason, in the transfer device and transfer method according to the third embodiment, the claw members 31 of the transfer device 30 are the upper slab S1 and the lower side as compared with the transfer device and transfer method according to the first embodiment. There are many cases in which the slab S2 is simultaneously grasped and transferred to another place of the first slab yard 4a, the transportation time of the slab is shortened, and the productivity of the slab by the continuous casting machine can be enhanced.

  That is, in the transfer apparatus and transfer method according to the first embodiment, when the protrusion amounts δ1 and δ2 from the width direction end of the lower slab S2 of the upper slab S1 in the width direction are at least the first threshold 100 mm. The second determination unit 61 always determines abnormality, and the claw members 31 of the transfer device 30 grasp the upper slab S1 and the lower slab S2 one by one and divide the Because it is transferred to the place of

As mentioned above, although embodiment of this invention was described, this invention can perform a various change and improvement, without being limited to this.
For example, the transfer facility 1 of the loading slab according to the second embodiment shown in FIG. 9 corresponds to the shift amount calculation unit 91 and the moving skid with respect to the transfer facility 1 of the loading slab according to the first embodiment shown in FIG. Although the 22 retrogression amount correction units 92 are added, the shift amount calculation unit 91 and the retrogression amount correction unit 92 of the moving skid 22 are transferred according to the third embodiment shown in FIG. It may be added to the equipment 1.

DESCRIPTION OF SYMBOLS 1 loading slab transfer device 2 pusher 3 overhead crane 4 a first slab yard 4 b second slab yard 5 heating furnace 6 a front furnace table 6 b back furnace table 10 transport carriage 11 loading portion 20 takeout device 21 fixed skid 22 moving skid 30 transfer Mounting device 31 Claw member 41 Upper sensor 41a Projector 41b Receiver 42 Lower sensor 42a Projector 42b Receiver 43 Sensor mount 44 Sensor mounting unit 45 Host computer 50 Projection amount calculation unit 51 ON signal judgment unit 52 First calculation unit 53 OFF Signal determination unit 54 Second calculation unit 55 Third calculation unit 60 First determination unit 61 Second determination unit 70 Transfer device control unit 80 Alarm device 90 Movement skid drive control unit 91 Deviation amount calculation unit 92 Retraction amount correction unit S Loading Slab S1 upper slab S2 lower slab

Claims (12)

A loading slab transfer facility for transferring stacked slabs in which two upper slabs and lower slabs are loaded on a transport carriage up and down.
An extracting device for extracting the loading slab from the transport carriage;
A transfer device for transferring the loading slab removed by the removal device to another location;
An upper sensor for detecting the presence of the upper slab and a lower sensor for detecting the presence of the lower slab when the loading slab is taken out by the takeout device;
A projection amount calculation unit for calculating an amount of projection from the widthwise end of the lower slab from the widthwise end of the upper slab based on detection information from the upper sensor and detection information from the lower sensor; ,
It is determined whether the amount of protrusion from the widthwise end of the lower slab calculated from the widthwise end of the upper slab calculated by the protrusion amount calculation unit is equal to or greater than a first threshold, and the amount of protrusion is the A first determination unit that is determined to be abnormal when it is equal to or greater than a first threshold, and is normal when the protrusion amount is not equal to or greater than the first threshold;
When the determination result by the first determination unit is normal, the transfer device controls to simultaneously grasp the upper slab and the lower slab and transfer them to the other place, and the first determination unit And a transfer device control unit configured to control the transfer device to hold the upper slab and the lower slab one by one and transfer the load to another place in two steps when the determination result is abnormal. The loading slab loading facility characterized by having.   The loading / unloading facility for loading slab according to claim 1, further comprising an alarm device that issues an alarm when the determination result by the first determination unit is abnormal. A loading slab transfer facility for transferring stacked slabs in which two upper slabs and lower slabs are loaded on a transport carriage up and down.
An extracting device for extracting the loading slab from the transport carriage;
A transfer device for transferring the loading slab removed by the removal device to another location;
An upper sensor for detecting the presence of the upper slab and a lower sensor for detecting the presence of the lower slab when the loading slab is taken out by the takeout device;
A projection amount calculation unit for calculating an amount of projection from the widthwise end of the lower slab from the widthwise end of the upper slab based on detection information from the upper sensor and detection information from the lower sensor; ,
It is determined whether the amount of protrusion from the widthwise end of the lower slab calculated from the widthwise end of the upper slab calculated by the protrusion amount calculation unit is equal to or greater than a first threshold, and the amount of protrusion is the A first determination unit that is determined to be abnormal when it is equal to or greater than a first threshold, and is normal when the protrusion amount is not equal to or greater than the first threshold;
When the determination result by the first determination unit is abnormal, the protrusion amount from the width direction end of the lower slab calculated by the protrusion amount calculation unit from the width direction end of the upper slab is equal to or greater than a second threshold A second determination unit that determines whether or not the protrusion amount is abnormal when the protrusion amount is equal to or greater than the second threshold value, and that the correction is necessary when the protrusion amount is not greater than the second threshold value;
When the determination result by the first determination unit is normal, the transfer device controls to simultaneously grasp the upper slab and the lower slab and transfer the same to the other place, and the second determination unit When the judgment result is correction required, the upper slab is moved by a predetermined distance in the width direction so that the amount of projection becomes smaller, and then the transfer device simultaneously grasps the upper slab and the lower slab and The transfer device holds the upper slab and the lower slab one by one and divides the upper slab and the lower slab one by two when the determination result by the second determination unit is abnormal. And a transfer equipment control unit for controlling to transfer to another place.   The loading / unloading facility of loading slab according to claim 3, further comprising an alarm device that issues an alarm when the determination result by the second determination unit is abnormal. The upper sensor generates an ON signal when one widthwise end of the upper slab is detected when the loading slab is taken out by the takeout device, and is OFF when the other widthwise end of the upper slab is detected. Emitting a signal to detect the presence of the upper slab;
The lower sensor generates an ON signal when one widthwise end of the lower slab is detected when the loading slab is taken out by the takeout device, and the other widthwise end of the lower slab is detected. 5. The loading slab transfer facility according to any one of claims 1 to 4, wherein an OFF signal is issued when the presence of the lower slab is detected. The protrusion amount calculation unit
An ON signal determination unit that determines whether an ON signal from the upper sensor is received earlier than an ON signal from the lower sensor;
A value obtained by multiplying the time from the reception timing of the ON signal from the upper sensor to the reception timing of the ON signal from the lower sensor by the moving speed of the extraction device when the determination result by the ON signal determination unit is YES. A first calculation unit that calculates the amount of protrusion of the widthwise end of the upper slab from the widthwise end of the lower slab;
An OFF signal determination unit that determines whether an OFF signal from the upper sensor is received earlier than an OFF signal from the lower sensor when the determination result by the ON signal determination unit is NO;
A second calculation unit that calculates the amount of protrusion of the widthwise end of the upper slab from the widthwise end of the lower slab as 0 when the determination result by the OFF signal determination unit is YES;
A value obtained by multiplying the time from the reception timing of the OFF signal from the lower sensor to the reception timing of the OFF signal from the upper sensor when the determination result by the OFF signal determination unit is NO, multiplied by the moving speed of the extracting device 6. The transfer of the loading slab according to claim 5, further comprising: a third calculating unit that calculates the amount of protrusion of the widthwise end of the upper slab from the widthwise end of the lower slab. Mounting equipment. The takeout device includes a stationary skid, a movable skid movably disposed relative to the stationary skid, and a movable skid drive control unit for controlling movement of the movable skid.
The movement skid drive control unit advances the movement skid toward the conveyance carriage by a distance between the center position of the movement skid in the movement direction of the loading unit of the conveyance carriage and the center position of the fixed skid. The upper slab and the lower slab loaded on the loading portion of the transport carriage are supported from the lower side and lifted, and the center position of the transport portion of the transport carriage in the moving direction of the moving skid and the fixing The movement skid is moved backward by a distance between the center position of the skid and the fixed skid, and the movement of the movement skid is controlled to load the loading slab on the fixed skid and the movement skid. A loading slab transfer facility according to claim 6, characterized in that: Based on the arrangement position of the lower sensor, the central position of the moving skid in the moving direction of the loading unit of the transfer carriage, and the reception timing of the ON signal from the lower sensor, the loading unit of the transfer carriage Calculating a shift amount between the center position in the moving direction of the moving skid and the center position in the width direction of the lower slab in a state where the upper slab and the lower slab are loaded on the loading portion Deviation amount calculation unit,
The moving skid is retracted by the moving skid drive control unit so that the center position of the fixed skid and the center position in the width direction of the lower slab coincide with each other based on the deviation amount calculated by the deviation amount calculating unit. 8. A loading slab transfer facility according to claim 7, further comprising: a receding amount correction unit that corrects the amount. A transfer method of a loading slab for transferring a stacked slab formed by loading two upper and lower slabs on a transport carriage up and down.
Taking out the loading slab from the transport carriage by a take-out device;
Transferring the loading slab taken out by the takeout device to another place by a transfer device;
The taking out step is
A slab detection step of detecting the presence of the upper slab with an upper sensor and detecting the presence of the lower slab with a lower sensor when the loading slab is taken out by the takeout device;
A projection amount calculation step of calculating an amount of projection of the upper slab from the width direction end of the lower slab based on the detection information from the upper sensor and the detection information from the lower sensor; Including
The transfer step is
It is determined whether the protrusion amount from the width direction end of the lower slab of the width direction end of the upper slab calculated in the protrusion amount calculation step is equal to or more than a first threshold, and the protrusion amount is the A first determination step in which abnormality is determined when the first threshold value is exceeded and normal when the protrusion amount is not greater than the first threshold value;
When the determination result in the first determination step is normal, the transfer device controls the upper slab and the lower slab to be simultaneously grasped and transferred to the other place, and the first determination step is performed. And a transfer device control step of controlling the transfer device to hold the upper slab and the lower slab one by one and transfer them to another place in two steps when the determination result is abnormal. A method of transferring a loading slab, comprising: A transfer method of a loading slab for transferring a stacked slab formed by loading two upper and lower slabs on a transport carriage up and down.
Taking out the loading slab from the transport carriage by a take-out device;
Transferring the loading slab taken out by the takeout device to another place by a transfer device;
The taking out step is
A slab detection step of detecting the presence of the upper slab with an upper sensor and detecting the presence of the lower slab with a lower sensor when the loading slab is taken out by the takeout device;
A projection amount calculation step of calculating an amount of projection of the upper slab from the width direction end of the lower slab based on the detection information from the upper sensor and the detection information from the lower sensor; Including
The transfer step is
It is determined whether the protrusion amount from the width direction end of the lower slab of the width direction end of the upper slab calculated at the protrusion amount calculation step is equal to or more than a first threshold, and the protrusion amount is the A first determination step in which abnormality is determined when the first threshold value is exceeded and normal when the protrusion amount is not greater than the first threshold value;
When the determination result in the first determination step is abnormal, the protrusion amount from the width direction end portion of the lower slab of the width direction end portion of the upper slab calculated in the protrusion amount calculation step is the second threshold or more A second determination step of determining whether or not the protrusion amount is abnormal when the protrusion amount is equal to or more than the second threshold value, and correcting when the protrusion amount is not equal to or more than the second threshold value;
When the determination result in the first determination step is normal, the transfer device controls to simultaneously grasp the upper slab and the lower slab and transfer them to the other place, and in the second determination step When the judgment result is correction required, the upper slab is moved by a predetermined distance in the width direction so that the amount of projection becomes smaller, and then the transfer device simultaneously grasps the upper slab and the lower slab and The transfer device holds the upper slab and the lower slab one by one and divides the upper slab and the lower slab one by two when the determination result in the second determination step is abnormal. And a transfer device control step of controlling to transfer to another place.   The slab detection step generates an ON signal when the upper sensor detects one widthwise end of the upper slab when the loading slab is taken out by the takeout device, and the other widthwise end of the upper slab is When it detects an OFF signal to detect the presence of the upper slab, the lower sensor issues an ON signal when it detects an end in the width direction of the lower slab, and the width direction of the lower slab The method for transferring a loading slab according to claim 9 or 10, wherein when the other end is detected, an OFF signal is issued to detect the presence of the lower slab. The protrusion amount calculation step is
An ON signal determination step of determining whether the ON signal from the upper sensor is received earlier than the ON signal from the lower sensor;
A value obtained by multiplying the time from the reception timing of the ON signal from the upper sensor to the reception timing of the ON signal from the lower sensor by the moving speed of the extracting device when the determination result in the ON signal determination step is YES. A first calculation step of calculating as a projection amount of the widthwise end of the upper slab from the widthwise end of the lower slab;
An OFF signal determination step of determining whether an OFF signal from the upper sensor is received earlier than an OFF signal from the lower sensor when the determination result of the ON signal determination step is NO;
A second calculation step of calculating the amount of protrusion from the widthwise end of the lower slab from the widthwise end of the lower slab as 0 when the judgment result in the OFF signal judgment step is YES;
A value obtained by multiplying the time from the reception timing of the OFF signal from the lower sensor to the reception timing of the OFF signal from the upper sensor, when the determination result in the OFF signal determination step is NO, The method of transferring the loading slab according to claim 11, further comprising: a third calculation step of calculating the amount of protrusion of the widthwise end of the upper slab from the widthwise end of the lower slab. .

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