JP3122639B2 - Detecting method and transport method of core position of rolled object - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects the position of the core of a roll-shaped object in a state in which a plurality of roll-shaped objects of different diameters are wound in a bale shape. The present invention relates to a method and a method for holding a roll-shaped object to be transported to a predetermined place one by one.

[0002]

2. Description of the Related Art Conventionally, as a method of transporting a plurality of roll-shaped objects having different diameters in a bale shape one by one to a predetermined place, the method is carried out manually through a horizontal carrying device. ing. Specifically, the operator holds the operating tool of the horizontally-held transport device in his hand, and inserts the insert to be inserted into the core attached to the transport device, first, at both ends of the core of the roll-shaped object to be transported. Move it up, down, left, and right. next,
After performing the operation of inserting the insert into the core with the operation tool, the roll-shaped object is raised, moved laterally, and transported to a predetermined position.

[0003]

As described above, since the operation is performed while looking at the roll-shaped object, the operator requires skill and improvement in efficiency cannot be expected. In view of the above, the present invention has found a method for automatically performing such an operation by a horizontally-held transport device, and provides the method.

[0004]

According to a first aspect of the present invention, a method for detecting the position of the core of a roll-shaped object includes first detecting the uppermost roll-shaped object in a loaded state by a roll detector. Then, the core detector is moved up and down to the height of the roll-shaped object detected by the roll detector, and the two ridge points of the roll-shaped object are set from the core side while moving the core detector horizontally. To detect. The core of the roll-shaped object is below the perpendicular bisector of the two ridge points.

In the method for holding a roll-shaped object sideways by the transfer device according to the second aspect, first, the uppermost roll-shaped object in the loaded state is detected by a roll detector. Then, the core detector is moved up and down to the height of the roll-shaped object detected by the roll detector, and two ridge points of the roll-shaped object are detected from the core side while moving the core detector horizontally. I do.
Then, the camera is moved from the two ridge points below the perpendicular bisector. Thereafter, the camera is moved up and down to a position where the mapping by the camera and the image of the core stored in advance match. Then, the insert is moved to the core position determined by the camera, the insert is inserted into the core, and the roll-shaped objects are held side by side one by one by the horizontally-held conveying device for the roll-shaped objects.

[0006]

1 is a front view, FIG. 2 is a plan view, and FIG. 3 is a right side view. The horizontal transporting device for the roll-shaped object 1 is incorporated in a pedestal composed of four upright columns 2, and this pedestal has reinforcing columns 2a provided at appropriate positions in the horizontal direction, and has a ceiling. A ceiling beam is constituted by the horizontal ceiling beam 3 and the vertical ceiling beam 4, and the horizontal ceiling beam 3 is formed so as to protrude toward the discharge conveyor 5.

[0007] A positioning guide rail 6 is provided on the ground surface of the gantry, and guides a carry-in trolley 7 loaded with the roll-shaped objects 1 having different diameters in a bale shape. In addition, this loading cart 7
As shown in FIG. 1, the core 1a of the roll-shaped object 1 loaded at a position perpendicular to the loading direction. Near the corner of the gantry,
Roll detector 10 composed of light emitter 10a and light receiver 10b
However, two sets are installed on the support column 11, and the diagonal direction is detected with respect to the carry-in cart 7. As will be described in detail later, the roll detector 10 is capable of detecting the roll-shaped object 1 positioned at the top of the stack in a bale shape. In the present embodiment, the diameter of the roll-shaped object (495 mm to 320 mm) is set. ), A plurality of units are installed at intervals of 100 mm.

The roll detector 10 only needs to be able to detect the uppermost roll-shaped object 1. Therefore, in addition to the above-mentioned fixed type, a reflector having a set of a light emitter and a light receiver or a light emitter and a light receiver is provided. It may be a type detector, or an up-and-down type configured by a camera or the like.

A middle ceiling beam 3a horizontally installed in parallel with the horizontal ceiling beam 3
Is provided with a rail 15, and a ceiling moving table 18 provided with wheels 16 is reciprocally movable via a wire 19c which reciprocates via a lateral movement motor 19 and a speed reducer 19a. A lifting motor 20 is installed on the ceiling moving table 18, and the lifting table 22 is raised and lowered by winding and rewinding a wire 20c via a speed reducer 20a and a pulley 20b. Are guided by linear shafts 25 attached to the four corners of the ceiling moving base 18 via linear bushes 25a attached thereto.

A pair of brakes and a sandwiching motor 26 equipped with a speed reducer are mounted on the elevating table 22, and a roller unit 27 is attached thereto. Core 1a of roll-shaped object 1
, An insert 29 is attached. The feed screw 3 is provided on both sides of the elevating table 22 via a support 22a.
A feed screw mechanism 30 composed of a pair of slide units 0a and 30a is attached, and the roller unit 27 is reciprocated by the forward rotation and the reverse rotation of the sandwiching motor 26.

Next, the components attached to the guide body 28 will be described with reference to FIG. 4, which is a view taken along the line AA of FIG. 3, and FIG. On the left and right sides of the guide body 28, a core detector 33 of a reflection photoelectric tube type and a camera (CCD)
The core detector 33 is installed in the center.
As will be described in detail later, the ridge points (X1, X2) of the roll-shaped object 1 are detected by driving the lateral movement motor 19.

In order to keep the camera 35 at a fixed distance from the side surface of the roll-shaped object 1, a positioning mechanism 40 is formed in one of the inserts 29. This positioning mechanism 40 will be described with reference to FIG. explain. The positioning mechanism 40 is reciprocated by the pinch motor 26 on one side, and the roll-shaped object 1 is moved.
The detection rod 41 provided with the detection end portion 41 a that abuts on is always urged in the protruding direction by the coil spring 42 and protrudes from the distal end portion of the insertion body 29. Also, the detection rod 41
A contact body 44 for operating a limit switch 45 is attached to the left side of the box.

The electromagnetic reciprocating mechanism 48 is provided with the guide 2
8, the rod 48a of which is attached to the detection rod 41.
And a connector 41b. When the detection end 41a comes into contact with the roll-shaped object 1 and the limit switch 45 is operated, the electromagnetic reciprocating mechanism 48 causes the detection end 41a to separate from the roll-shaped object 1 and
9 to be stored.

Next, FIGS. 6 (A) and 6 (B) show a main operation state of the method of operating the horizontal holding transfer device having the above-described configuration.
A description will be given with reference to FIGS. (Step 1) Initial Position (FIG. 2) The ceiling moving table 18 is located at substantially the center by the horizontal moving motor 19, and the lifting table 22, the core detector 33 and the camera (CCD) 35 are moved by the lifting motor 20. Top,
Position. Further, the core detector 33 and the camera 35 are arranged at both ends by the feed screw mechanism 30. (Step 2) Then, the carry-in cart 7 on which the roll-shaped objects 1 of different calibers are loaded in a bale shape is carried into the predetermined position along the guide rail 6.

(Step 3) Next, the uppermost roll-shaped object 1
The position of A is detected by the light emitting device 10a.
In a plurality of combinations of the light receiving device 10b and the light receiving device 10b, the determination is made by the light receiving device 10b installed at the uppermost stage where light is blocked. More specifically, as shown in FIG. 6A, combinations (1) and (2) of a light-emitting device 10a and a light-receiving device 10b installed from above.
In (3), the light receiver 10b receives light in the line L1, but does not receive light in the lines L2 and L3. As a result, it is determined that the uppermost roll-shaped object 1A is on the line L2. (Step 4) Next, the lifting platform 22 is moved by the lifting motor 20.
Then, the core detector 33 is moved to the position (line L2) obtained in the above (Step 2) (see FIG. 6B).

(Step 5) Then, the following operation is performed according to the conceptual diagram shown in FIG. 6 (C) (the core detector 33 is perpendicular to the roll-shaped object 1). That is, when the ceiling moving base 18 is moved by the lateral movement motor 19, the core detector 33 does not receive reflected light when there is no roll-shaped object 1A, but receives light when the roll-shaped object 1A is present. (X1) is stored. And then,
When the ceiling moving base 18 is moved in the same direction by the lateral movement motor 19, while the roll-shaped object 1A exists, the core detector 33 receives and maintains the reflected light.
When A is no longer present, the core detector 33 no longer receives the reflected light, and thus stores the position (X2). As a result, the ridge points (X1, X2) of the roll-shaped object 1A are detected, and the core 1a exists below the perpendicular bisector of the distance between X1 and X2. In this method, the position of the core 1a can be detected regardless of the diameter of the roll-shaped object 1.

(Step 6) Next, the ceiling moving base 18 is moved via the lateral movement motor 19, and the position of the camera 35 is set to the position ((X1 + X2) / 2) obtained in the above (Step 5). The mounting position of the camera 35 is different from the mounting position of the core detector 33 as shown in FIG.
Correction movement is performed for the position of ((X1 + X2) / 2). In order to determine the ridge point of the roll-shaped object 1A,
There are a method using the speed of the lateral movement motor 19 and a timer, a method using the moving distance of the lateral movement motor 19, and the like via the core detector 33.

(Step 7) Next, the sandwiching motor 26 is started, and the core detector 33, the camera 35, and the positioning mechanism 40 are moved to the side of the roll-shaped object 1 by the feed screw mechanism 30, and the detection end is detected. When the portion 41a hits the side surface of the roll-shaped object 1 and the limit switch 45 is operated, the clamping motor 26 is stopped. In addition, the signal causes the electromagnetic reciprocating mechanism 48 to operate, thereby causing the detection end 41 a to be separated from the roll-shaped object 1. By this operation, the distance between the camera 35 and the side surface (the core 1a) of the roll-shaped object becomes constant, and the error of the mapping comparison in the next (step 8) is reduced. That is, if the distance between the camera 35 and the side surface of the roll-shaped object (the core 1a) is different, the size of the image is different, making it difficult to accurately detect the position of the core 1a.

(Step 8) Since the distance between the camera 35 and the side surface of the roll-shaped object is fixed by the above-described steps,
As shown in (D), the elevation motor 20 compares the image ((a), (b), and (c)) of the camera 35 with the stored image of the core 1a that has been stored in advance by the elevation motor 20. 35) is sequentially lowered. That is, the mapping of the camera 35 is
The winding core 1a is sequentially mapped to (a), (b), and (c) toward the center. Note that a specific comparison of the mapping will be described. Since the image of the portion of the winding core 1a is displayed as “black” on the CCD pixel, the pixel determined as “black” in the center specific region obtained by the camera 35 The number is compared with the number of pixels stored in advance, and when the number falls within the allowable range, the position is determined as the position of the core 1a. (Step 9) Next, since the position of the camera 35 and the position of the insertion body 29 are different, the lateral movement motor 1
9, the insertion body 29 is moved to a position facing the core 1a.

(Step 10) Then, the sandwiching motor 26 is started, and the insertion body 29 is moved by the feed screw mechanism 30 to the core 1.
a (see FIG. 7 (E)),
As a result, the roll-shaped object 1 is raised. By this operation, one roll-shaped object 1 is lifted. Next, the ceiling moving table 18 is moved by the lateral moving motor 19 to the discharge conveyor 5.
To the top. Then, the roll-shaped object 1 is lowered by the elevating motor 20 and placed on the discharge conveyor 5.

(Step 11) Next, the sandwiching motor 26 is started, the insert 29 is detached from the core 1a, and the insert 29 is raised by the lifting motor 20. Thereafter, the discharge conveyor 5 is started, the roll-shaped object 1 is sent out, and the roll-shaped object 1 is set at the position (Step 1), and the above-described steps are repeated. By repeating the above steps, the roll-shaped objects 1 stacked in a bale shape having different diameters are successively set one by one.
Can be transported sideways.

In the above description, it is known that the core position 1a is located below the perpendicular bisector from the two ridge points, and the camera 35 detects the core position of the roll-shaped object. Although it is adopted, when the curved detection rod is lowered along the side of the roll-shaped object, when it reaches the core,
There is a method of detecting by making the curved shape different, or a method of detecting by a pair of vertically movable light emitting device and light receiving device.

[0023]

According to the first aspect of the present invention, there is provided a method for detecting a core position.
Even if rolled objects with different diameters are loaded, this method detects two ridge points and detects that the core of the rolled object is below the two perpendicular bisectors of the two points. Therefore, it can be simply configured. According to a second aspect of the present invention, the core position is detected by a simple combination of the core position and a camera, and the roll-shaped objects are held one by one via an insert attached to the horizontal carrying device. Therefore, automation can be achieved.

[Brief description of the drawings]

FIG. 1 is a front view of a horizontal transport device for a roll-shaped object.

FIG. 2 is a plan view of a horizontal transport device for a roll-shaped object.

FIG. 3 is a right side view of the horizontal transport device for a roll-shaped object.

FIG. 4 is a view as seen from arrows A to A.

FIG. 5 is a cross-sectional view along BB.

FIGS. 6A, 6B, and 6C are diagrams for explaining the operation of the horizontal transport device.

FIGS. 7D and 7E are diagrams for explaining the operation of the horizontal holding transport device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Roll-shaped object 1a Core 10 Roll detector 10a Light emitting device 10b Light receiver 18 Ceiling moving stand 19 Horizontal moving motor 20 Lifting motor 22 Lifting table 25 Linear shaft 26 Nipping motor 29 Insert 30 Feed screw mechanism 33 Core detector 35 Camera 40 Positioning mechanism 48 Electromagnetic reciprocating mechanism

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-5-105240 (JP, A) JP-A-52-141975 (JP, A) JP-A-1-117195 (JP, A) JP-A-56-141 99194 (JP, A) Japanese Utility Model Hei 6-62082 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) B65G 67/00-67/56 B65G 63/00 B66C 13/00- 15/06

Claims (2)

(57) [Claims] 1. A method for detecting a core position of a roll-shaped object obtained by winding a plurality of stacked strips around a core, comprising a roll detector capable of detecting an uppermost roll-shaped object in a loaded state. The core detector is moved up and down to the height of the roll-shaped object detected by the roll detector, and two ridge points of the roll-shaped object are detected from the core side while moving the core detector horizontally. And a method for detecting that a core of the roll-shaped object exists below a perpendicular bisector of two ridge points detected by the core detector. 2. A roll-shaped object having a pair of inserts that can move up and down, move left and right, and can be inserted from both sides of the core. In a method of holding roll-shaped objects side by side by a holding / conveying device, a roll detector capable of detecting a topmost roll-shaped object in a loaded state is provided, and a height of the roll-shaped object detected by the roll detector is detected. Then, the core detector is moved up and down, and while the core detector is laterally moved, two ridge points of the roll-shaped object are detected from the core side, and the two points detected by the core detector are detected. From the ridge point, move the camera below the perpendicular bisector, move the camera up and down to the position where the mapping by the camera and the image of the core stored in advance match, and then obtain the value by the camera Move the insert to the core position and insert the insert into the core And a method for horizontally holding the roll-shaped objects one by one by a horizontally-held conveying device for the roll-shaped objects.