JP2746019B2 - Automatic positioning coil lifter - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic positioning coil lifter capable of holding and lifting a coil by automatically correcting the deviation between the center position of the coil and the center position of the coil lifter. In particular, when the coil lifter is lowered above the coil after positioning the automatic crane near the absolute position of the coil in the coil yard where the dedicated mounting table for the coil is not installed, the coil holder is automatically moved to the coil center. The present invention relates to a positionable coil lifter.

[0002]

2. Description of the Related Art Conventionally, in a coil yard where coils are handled by an automatic crane, a dedicated table for fixing the center position of the coil to be handled to a fixed point in the yard has been installed (Japanese Patent Laid-Open No. 58-1983). 82
987). FIG. 4 is a diagram showing such a prior art example. The coil 3 is handled by a coil lifter 73 and is placed on a coil-dedicated table 71. The automatic crane 5 of such a coil yard is provided with a dedicated table 71
Has a control device that can be positioned at a specific position (address). If the coil lifter 73 is lowered at such a position, the center of the coil lifter 73 and the coil 3
Since the centers of the two coincide, there was no problem with coil handling.

[0003] However, if an unmanned crane is introduced into a coil yard having no dedicated table, the coil lifter and the coil are displaced from the center due to displacement of the coil. Handling sometimes became impossible. Further, in some cases, the product may be damaged or a dangerous operation may be caused. That is, when the automatic crane is stopped at a predetermined position, the coil lifter is lowered, and when placing the coil, the cylindrical coil is rotated in the horizontal direction of the coil diameter and easily displaced, so the coil is later placed. This is because the center of the coil lifter often does not align with the center of the coil when the automatic lift crane is positioned at the position where the coil lifter should be moved and the coil lifter is lowered.

In order to solve such a problem, a method is considered in which the position where the coil is actually placed is measured and detected, and the automatic crane is stopped at this position. However, actually, the configuration of the coil center position detecting device is complicated and expensive.

Japanese Patent Application Laid-Open No. 2-30091 discloses an axial center position of a coil detected from the position of the tongue claw at the stage when the coil has been gripped by the tongue claw, and reduces the deviation between the position and the tongue center position to zero. There is disclosed a lifting position control device for a mobile crane in which a tongue is moved to adjust the center of gravity. 5A and 5B are diagrams showing this device, wherein FIG. 5A shows a state in which the coil 3 is about to be clamped by the tong claws 84a and 84b, FIG. 5B shows a state in which the coil 3 has been clamped, and FIG. Run the 85 and the tongs 8
The state where the center of 1 and the center of the coil are aligned,
(D) shows a state in which the coil 3 is lifted by the tongue 81.

However, the device disclosed in Japanese Patent Application Laid-Open No. 2-300091 can detect the misalignment of the coil only after the tongue claw has entered the coil hole and the tongue claw has pinched the coil. If the center of the tongue shifts in the horizontal direction of the coil diameter, the tongue claw cannot enter the coil hole,
At that point, automatic operation of the crane becomes impossible.

[0007]

In the prior art, it has conventionally been known that the coil is lifted in a centered manner by detecting the positional deviation of the coil in the horizontal direction in advance and moving the holder so as to correct the deviation. There was no coil lifter available. The present invention can automatically correct the horizontal deviation in diameter between a coil center and a coil lifter center to lift a coil in order to enable coil handling by an automatic crane even in a coil yard without a dedicated mounting table for coils. An object is to provide a coil lifter.

[0008]

SUMMARY OF THE INVENTION An automatic positioning coil lifter according to the present invention is used to hold a coil by being suspended from a crane. Holding means capable of holding, and the coil diameter dispersed in the holding means in the horizontal direction
The outer periphery of the coil immediately below the mounting position
A plurality of distance measuring means for measuring a distance to a point on the surface;
Based on the measured value of the distance measuring means, the diameter of the coil water
Between the horizontal center position and the center position of the holding means.
Deviation detecting means for detecting a deviation, a holding means traveling device capable of moving the holding means in a coil diameter horizontal direction, and a deviation controlling means for controlling the retaining means traveling device such that the deviation becomes zero. It has.

[0009]

The above-described coil lifter is suspended from the crane, the holding means of the coil lifter is opened, and the coil lifter is lowered to a point where the coil to be lifted is assumed to be placed. Deviation detecting means provided in the coil lifter detects a deviation between the center position of the coil in the horizontal direction and the center position of the holding means. Next, the holding means is moved in the horizontal direction of the coil diameter until the deviation becomes zero. Then, the holding means is engaged with the coil hole, and the crane is hoisted to lift the coil.

[0010] The point where the coil is assumed to be placed is, in principle, the crane positioning point when the coil was previously placed. When placing the coil, the holding means of the coil lifter is preferably at a reference position such as a coil lifter center. Where the coil was last placed,
Even if the rotational position is displaced within a certain range, the coil lifter can lift the coil without hindrance by the automatic coil lifter alignment mechanism described above. Although the center shift can be performed by traveling of a crane suspending the coil lifter, the coil lifter swings due to the swing of the crane wire, so that it takes a long time to perform the alignment. In this regard, if the holding means is moved within the coil lifter, the positioning can be performed in a short time because there is no shaking.

The position of the coil center may be considered to be directly below the highest position on the outer peripheral surface of the coil since the coil is substantially cylindrical. A plurality of distance meters are mounted on the holding means of the coil lifter while being dispersed in the horizontal direction of the coil diameter. The distance is measured at a plurality of points, an index of the height of the point on each coil outer peripheral surface is obtained, and the position of the holding unit is controlled so that the highest point of the coil outer peripheral surface is below the center of the holding unit. And the center of the holding means can be matched.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram illustrating an entire configuration of a coil lifter according to one embodiment of the present invention. The coil lifter 1 is suspended from a crane 5 by a wire 51 and includes a holding unit 13 and a holding unit traveling device 11.

FIG. 2 is a diagram showing the holding means 13 of the coil lifter 1 of FIG. 1 in more detail, wherein (A) is a side view,
(B) is the arrow view seen from BB of (A). The coil lifter 1 holds the coil 3 by hooking the lifter claw 21 on the end of the hole 4 of the coil 3. Lifter claw 2
1 can be moved in the left-right direction in FIG. 2A by means of a ball screw or the like in the frame 23, and the interval between the lifter claws 21 can be adjusted according to the width of the coil 3. The frame 23 is supported by a post 25.

On both sides of the center of the frame 23, there are attached arms 33 extending horizontally in the horizontal direction of the coil diameter (the left-right direction in FIG. 2B). The rangefinder 31 is attached to the arm 33 in a downward direction.
From the reference position to the upper outer peripheral surface of the coil 3 can be measured. In the present embodiment, three distance meters 31 are horizontally
One unit is installed at the center of the claw 21 (horizontal center of the coil diameter of the coil lifter), and one unit is installed at a position 300 mm apart from each other left and right.

The measured value signals of the three distance meters 31 are supplied to a coil diameter horizontal direction deviation detecting unit 41. The detecting unit 41 calculates a horizontal deviation between the center position of the lifter claw and the coil center position from the difference between the three measured value signals and the known coil diameter information, and outputs a deviation signal corresponding to this deviation to the coil diameter horizontal position. It is supplied to the direction position correction unit 43. The correction unit 43 supplies a travel control signal to the lifter travel unit control device 45 to reduce the deviation to zero (coordinate the lifter center and the coil center) by moving the holding unit travel device 11 based on the signal. I do.

The holding means traveling device 11 is an apparatus for moving the holding means 13 in the horizontal direction of the coil diameter using a mechanism such as a ball screw. The drive motor 61 of the holding means traveling device 11 rotates forward and backward by a control signal from the lifter traveling unit control device 45. The rotation angle information of the motor 61 is converted into a pulse signal by the PLG 63 and sent to the position detector 47. The lifter traveling unit control device 45 receives the center position information of the holding unit 13 from the position detector 47, and moves the holding unit 13 to the target position given by the coil diameter horizontal direction position correction unit 43.

Next, a series of operations of the coil lifter of this embodiment will be described with reference to FIG. In FIG. 3A, the coil 3 is placed on a coil yard, and the crane 5 lowers the coil lifter 1 to a position where the coil 3 is assumed to be located, and lowers the coil lifter 1 to a coil gripping position. However, at this time, if there is a deviation S between the center of the lifter claw 21 and the center of the coil 3, the lifter claw 21
Can not be entered well.

On the other hand, the deviation detecting section 41 grasps the deviation S based on distance information from the distance meter 31 to the outer periphery of the coil.
As an example of the method, when the measured value of the distance meter on the left side is larger than the equivalent value on the right side, it is determined that the coil is shifted in the right direction (+ x direction) in the figure. The displacement amount is calculated from the three measured value signals of the distance meter and the known coil outer dimension information. It is also possible to grasp the direction and amount of the displacement only by the information from the two distance meters at both ends of the arm.

In FIG. 3B, both signals of the displacement amount and the direction obtained by the above-mentioned method are sent to the coil diameter horizontal position correcting section 43, and the holding means traveling device 11 holds the lifter pawl 21 By moving in the + x direction, the center of the lifter claw 21 and the center of the coil 3 are aligned. In addition, the coil diameter horizontal position correction unit 43 has a function of calculating a simple control pattern of the traveling speed output to the holding unit traveling device 11 based on the deviation distance signal.

Next, when the center of the coil lifter coincides with the center of the coil, a position correction completion signal is output from the coil diameter horizontal position corrector 43. Issue a command to close the nail.
As a result, the lifter claw is securely engaged with the coil hole, and the coil lifter completes the gripping operation. Thereafter, the coil lifter is hoisted by a crane, and the coil is lifted as shown in FIG.

[0021]

As is apparent from the above description, the present invention
The coil lifter has the following effects.Extremely simple construction, horizontal center of coil diameter
The position can be corrected and the surrounding lighting conditions
It is not affected by  Coil transfer even in a coil yard without a coil stand
Automating cranes economically and reliably
be able to.  Automatic crane for reliable coil handling
Troubles such as troubles of coil lifters, etc.
It is.

[0022]  Deviation correction positioning operation is performed in the coil lifter.
Therefore, expensive equipment for wire steadying is unnecessary.
is there. Also, the time required for the alignment can be shortened.  Product coil damage due to coil handling trouble
And unsafe troubleshooting work can be prevented.

[0023]  High temperature that can not be used for the rif mag (magnetic lifting) device
Also applicable to coils.  As a result, labor saving of coil handling, coil
Contribute to improving the operability of automatic yard cranes
It is.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an entire configuration of a coil lifter according to an embodiment of the present invention.

2A and 2B are diagrams showing the holding means of the coil lifter of FIG. 1 in more detail, wherein FIG. 2A is a side view, and FIG.
It is the arrow view seen from -B.

FIG. 3 is a diagram showing a series of operations when lifting a coil using the coil lifter of FIG. 1;

FIG. 4 is a diagram showing an outline of a conventional unmanned crane in a coil yard provided with a coil-dedicated table.

FIG. 5 is a diagram illustrating an operation of a crane lifting position control device disclosed in Japanese Patent Application Laid-Open No. 2-300091 that can automatically adjust a displacement in a coil axial direction.

[Explanation of symbols]

 1: Coil lifter 3: Coil 4: Coil hole 5: Crane 11: Holding means traveling device 13: Holding means 21: Lifter claw 23: Frame 25: Post 31: Distance meter 33: Arm 41: Coil diameter horizontal direction deviation detector 43: Coil diameter horizontal direction correction unit 45: Lifter traveling unit control device 47: Position detector 51: Wire 61: Motor 63: PLG 71: Coil-dedicated table 73: Coil lifter 81: Tong 84: Tong claw 85: Tong traveling apparatus

 ──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-2-300091 (JP, A) JP-A-2-157603 (JP, A) JP-A-58-82987 (JP, A) JP-A-62-1987 138702 (JP, A) Japanese Utility Model Showa 58-173684 (JP, U) Japanese Utility Model Showa 62-157890 (JP, U)

Claims (1)

(57) [Claims] 1. A suspended from a crane and a coil lifter used to hold the coil, a holding means capable of holding lifting the coil engages the bore of the coil, the said holding means Take the coil diameter dispersed in the horizontal direction
Attached to a point on the outer peripheral surface of the coil immediately below the mounting position.
A plurality of distance measuring means for measuring the distance of the coil, the diameter of the coil based on the measurement value of the distance measuring means
The horizontal center position and the center position of the holding means
Deviation detecting means for detecting the deviation of the holding means, a holding means traveling device capable of moving the holding means in the coil diameter horizontal direction, and a deviation control means for controlling the holding means traveling apparatus so that the deviation becomes zero. An automatic positioning coil lifter, comprising: