JP3285800B2 - Cap mounting device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cap mounting apparatus for mounting a cap on an axial end of a steel sheet coil in which a sheet material is wound in a coil shape.

[0002]

2. Description of the Related Art FIG. 7 schematically shows a conventional cap mounting apparatus.
FIG. 8 illustrates the operation of attaching full caps to both end surfaces of the steel coil.

As shown in FIG. 7, a steel sheet coil 101 is formed by winding a strip-shaped steel sheet into a coil, and the steel sheet coil 101 is conveyed in a coil state. In order to prevent rust and the like, the outer peripheral surface, the inner peripheral surface, and both end surfaces of the steel coil 101 are packed without gaps before transport. In the packing process of the steel sheet coil 101, packing of both ends of the steel sheet coil 101 is performed by attaching caps 102 thereto, and a wire band (not shown) is hung between the steel sheet coil 101 and each cap 102. Packing is completed with. The cap 102 is formed by integrally forming a cylindrical portion at the center of a thin circular plate material, and the cylindrical portion is fitted into the axial hole 101a of the steel coil 101 by being fitted thereto.

[0004] A transport conveyor 112 is provided at the center of the gantry 111, and the steel coil 101 can be moved by the transport conveyor 112. On the side of the gantry 111, a cap mounting table 113 is installed, while a beam 115 is fixed by a plurality of columns 114 above the gantry 111,
A rail 116 is laid on the beam 115 along a direction orthogonal to the moving direction of the steel sheet coil 101. A movable carriage 117 is movably supported by the rail 116, and a lift 118 is supported by the movable carriage 117 so as to be able to move up and down. A cap holder 119 is attached to the lift 118.

A conventional cap mounting device 120 is disposed on the gantry 111 on both sides of the conveyor 112. In the cap mounting device 120, the conveyor 1
On both sides of 12, a moving table 121 is movably supported along a direction orthogonal to the moving direction of the steel sheet coil 101.
A gantry frame 122 is movably supported on 21 in a direction parallel to the moving direction of the steel sheet coil 101. An elevating table 123 is supported on the gantry frame 122 so as to be able to move up and down freely.
A swing arm 125 is mounted on the lift 123 by a support shaft 124 so as to be vertically swingable. A chuck-type holder 126 having holding claws for holding the cap 102 and a detection sensor 127 for detecting the center of the axial hole 101a of the steel plate coil 101 are mounted on the swing arm 125. In addition, the moving table 121, the gantry frame 122, the elevating table 123, the swing arm 125,
The drive of the chuck-type holder 126 is controlled by the control device 127.

Accordingly, while the steel sheet coil 101 is transported by the transport conveyor 112, a number of caps 102 are mounted on the cap mounting table 113, and the movable carriage 117 is moved up and down above the cap mounting table 113. The table 118 is moved up and down to hold the cap 102 by the cap holder 119 and move along the rail 116 to one of the cap mounting devices 120. Here, the lift table 123 is moved up and down while the swing arm 125 is swung upward, and the cap 102 is received by the chuck type holder 126. The other cap mounting device 120 similarly receives the cap 102. And the swing arm 125
The moving table 121, the gantry frame 122, and the elevating table 118 are moved in a state where the held cap 102 is opposed to the end face of the steel sheet coil 101 stopped at a predetermined position, and the detection sensor 127 The center of the axial hole 101a of the coil 101 is detected. When the center of the axial hole 101a of the steel sheet coil 101 matches the center of the cap 102 held by the cap mounting device 120, the cap 102 is brought close to the steel sheet coil 101 and the axial hole
The cap 102 is mounted by fitting the cap 102 with the cap 101a.

The above-mentioned cap 102 is formed by drawing a cylindrical portion at the center of a circular plate material,
This cylindrical portion is fitted and mounted in the axial hole 101a of the steel plate coil 101. In addition to the cap 102 having this shape, there is a cap that is fitted to and attached to the outer peripheral portion of the shaft end of the steel coil 101. As shown in FIG. 8, the cap 201 is formed by forming an inner cylindrical portion 202 at the center of a thin circular plate material and an outer cylindrical portion 203 at an outer peripheral portion.
Then, the inner cylindrical portion 202 is fitted into the axial hole 101a of the steel plate coil 101, and the outer cylindrical portion 203 is fitted and mounted on the outer peripheral portion, and the packing band 204 is wound around.

The above-described conventional cap mounting apparatus is described in, for example, Japanese Patent Application Laid-Open No. 7-266153.

[0009]

In the above-mentioned conventional cap mounting apparatus, the position of the axial hole 101a of the steel coil 101 is detected by the detection sensor 127, and then the held cap 102 is removed from the steel coil 101. It is mounted close to the shaft end face. This steel sheet coil 101 is formed by winding a strip-shaped steel sheet into a coil shape to form an axial hole 101a.
Due to poor winding or poor packing of packing paper, this shaft hole 10
When 1a is formed small, the cap 102 is brought close to the shaft end face of the steel sheet coil 101, and the cylindrical portion is forcibly fitted into the shaft hole 101a, thereby damaging and damaging the steel sheet coil 101 and the packing paper. There was a problem that would.

When the cap 201 having the inner cylinder 202 and the outer cylinder 203 is used, the outer cylinder 203 is
As shown in FIG. 8, the cap 201 is inserted into the outer periphery of the steel plate coil 101 so as not to damage the outer peripheral surface thereof.
Is formed in a trumpet shape so that its outer diameter is increased. However, when the outer cylindrical portion 203 of the cap 201 is formed into a trumpet shape, after the cap 201 is attached to the steel sheet coil 101, the packing band 204 is hung around, but since the outer peripheral surface of the outer cylindrical portion 203 of the cap 201 is inclined, There is a problem that the packing band 204 is displaced in the tilt direction, and the steel sheet coil 101 cannot be packed properly.

An object of the present invention is to solve such a problem, and an object of the present invention is to provide a cap mounting apparatus which prevents damage to a steel sheet coil and a packing member by optimizing a cap mounting operation on a steel sheet coil. I do.

[0012]

According to a first aspect of the present invention, there is provided a cap mounting apparatus for mounting a cap on an axial end portion of a steel sheet coil. a working robot having a direction movable arm is arranged in a three-dimensional direction on the side of a cap holding means for holding being attached to the arm end of the working robot detachably to the cap, the cab
Steel coil end face detecting means mounted at the center of the tip holding means to detect the position of the axial end face of the steel coil,
A steel sheet coil inner diameter detecting means attached to a central portion of the cap holding means for detecting an inner diameter of an axial hole of the steel sheet coil, and the steel sheet coil end face detecting means and the steel sheet coil inner diameter detecting means based on the detection results. And an operation control means for controlling the operation of the work robot to mount the cap held by the cap holding means in the axial hole of the steel plate coil.

Further, in the cap mounting apparatus according to the present invention, the cap has an inner diameter fitting portion fitted into an axial hole of the steel plate coil and an outer diameter fitting portion fitted into the outer peripheral portion of the steel plate coil. The operation control means controls the operation of the work robot, causes the cap to be held by the cap holding means so that the cap is inclined with respect to the end surface of the steel sheet coil, and holds the held cap to the steel sheet coil. After fitting a part of the outer diameter fitting portion in the circumferential direction to the outer peripheral portion of the steel plate coil by approaching the end surface, the cap is swung so as to be parallel to the end surface of the steel plate coil. By pressing against the end face of the steel coil, the inner diameter fitting portion is fitted into the axial hole of the steel coil, and the entire outer diameter fitting portion is fitted to the outer peripheral portion of the steel coil to be mounted. The feature is that It is intended.

[0014]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 is a schematic view of a cap mounting apparatus according to an embodiment of the present invention, FIG. 2 is a front view of a distal end portion of a robot arm, and FIG. 3 is a schematic view showing a cap mounting operation by the cap mounting apparatus of the present embodiment. Show.

In the cap mounting device of the present embodiment,
As shown in FIG. 3, the steel sheet coil S is formed by winding a strip-shaped steel sheet into a coil shape, and an axial hole Sa is formed in the center of the steel sheet coil S. This steel sheet coil S
The cap C attached to both end surfaces of the steel plate coil S is formed by forming an inner cylindrical portion Ca at the center of a thin circular plate material and an outer cylindrical portion Cb at the outer peripheral portion. The inner cylinder Ca is fitted in the core hole Sa, and the outer cylinder Cb is fitted and mounted on the outer periphery.

As shown in FIG. 1, a transfer conveyor 12 is provided at the center of the gantry 11, and the steel sheet coil S can be moved by the transfer conveyor 12. An endless chain is wrapped around a pair of sprockets (not shown) on the conveyor 12, and a pedestal 13 of the steel sheet coil S is fixed to the endless chain. It stops at the position. A cap mounting table 14 is provided on the side of the gantry 11, and the cap C is transferred by a transfer device from a cap forming machine (not shown).
A horizontal beam 16 is fixed above the gantry 11 by a plurality of columns 15, and the beam 16 is provided with a cap transfer device 17 that transfers a cap C installed on a cap mounting table 14 to a predetermined mounting position. Is provided. That is, a bogie 18 is movably supported on the beam 16 along a direction orthogonal to the moving direction of the steel sheet coil S, and an elevating platform 19 is supported on the bogie 18 so as to be movable up and down. A plurality of suction pads 20 are attached.

Further, a pair of left and right cap mounting devices 21a, 21 located on both sides of the transport conveyor 12 are mounted on the gantry 11.
b is provided, and both have substantially the same configuration. In these cap mounting devices 21 a and 21 b, a work robot 24 is rotatably supported on pedestals 22 on both sides of the conveyor 12 via a turntable 23. The work robot 24 has a support frame 26 that swings back and forth on a support shaft 25.
The swing cylinder 2 is supported by a support shaft 27 at the upper end of the swing cylinder 2.
8 has a swing frame 29 that swings up and down. An intermediate arm 30 is supported by the swing frame 29 so as to be movable back and forth, and a distal end arm 32 is swingably supported by a support shaft 31 at a distal end of the intermediate arm 30. A support board 34 is pivotally mounted on the distal arm 32 via a joint 33.

As shown in detail in FIG. 2, a plurality of suction pads 35 as cap holding means for holding the cap C are mounted on the support board 34, and a steel sheet coil end face detection sensor 36 and a steel sheet coil inner diameter are provided. Detection sensor 3
7, 38 (37a, 37b and 38a, 38b) are attached. The steel sheet coil end face detection sensor 36 detects the position of the axial end face of the steel sheet coil S, and the steel sheet coil inner diameter detection sensors 37a, 37b and 38a, 38b.
Is for detecting the inner diameter of the axial hole Sa of the steel sheet coil S. Then, the steel sheet coil end face detection sensor 36 and the steel sheet coil inner diameter detection sensors 37 and 38 (37a, 37b and 3)
8a and 38b) are connected to an operation control device 39, and the detection result is input to the operation control device 39, and the operation of the cap mounting devices 21a and 21b can be controlled based on the detection result. In addition, the beam supply device 4 is attached to the beam 16 corresponding to each cap mounting device 21a, 21b.
0 is attached, and the paste can be sprayed from the nozzle 40a to the cap C held by the suction pad 35 of the support board 34.

Here, the operation of mounting the cap C on the steel sheet coil S by the cap mounting apparatus of the present embodiment will be described.

As shown in FIG. 1, the steel sheet coil S is intermittently transported by the transport conveyor 12 and stops at a predetermined working position. On the other hand, the cap C is transferred to and placed on the cap mounting table 14 from the cap forming machine by the transfer device. The cap transfer device 18 is located above the cap mounting table 14, and lowers the elevating table 19 to move the suction pad 20.
Holds the cap C of the cap mounting table 14 and moves up. Then, it moves along the beam 16 and stops above one cap mounting device 21b. Here, the operation control device 39 operates the work robot 24 to move the support board 34 so that the cap transfer device 18 faces below the horizontally held cap C, and receives and holds the cap C by the suction pad 35. .

Thereafter, when the cap transfer device 18 transfers the cap C to the cap mounting device 21b, the cap transfer device 18 moves above the cap mounting table 14 and returns. The cap C of the cap mounting table 14 is held. Then, it stops above the other cap mounting device 21a, and the cap mounting device 21
Receive and hold. The cap transfer device 18 removes the cap C by repeating this operation.
b.

Each of the cap mounting devices 21a and 21b receiving the cap C from the cap transfer device 18 receives the supply of the glue from the glue supply device 40 while rotating and moving the cap C in a horizontal state. Cap C
Glue to the entire inner surface of And work robot 2
4 is operated to make the held cap C face the end face of the steel sheet coil S on the conveyor 12 with the vertical direction. In this state, first, as shown in FIG. 3A, the support board 34 is brought close to the end face of the steel sheet coil S, and the position is detected by bringing the steel sheet coil end face detection sensor 36 into contact. Next, as shown in FIG. 2B, the support plate 34 is moved to detect the steel plate coil inner diameter detection sensors 37a, 37b and 38a,
38b is inserted into the axial hole Sa of the steel sheet coil S, the support board 34 is moved in the radial direction, and the steel sheet coil inner diameter detection sensors 37a, 37b and 38a, 38b are inserted into the axial hole Sa of the steel sheet coil S. By contacting the wall, this axial hole Sa
The inner diameter and the center position of are detected.

When the position of the end face of the steel sheet coil S, the inner diameter of the shaft hole Sa, and the center position are detected as described above, the detection result is output to the operation control device 39. Then, the operation control device 39 determines whether the detected data is compatible with the preset data, and if so, the operation control device 39 operates the work robot 24 to attach the cap C to the steel sheet coil. It moves to the mounting position with respect to the end face of S. Then, the cap C held by the suction pad 35 of the support plate 34 is brought close to the end surface of the steel plate coil S, and the inner cylindrical portion Ca of the cap C is placed in the axial hole Sa of the steel plate coil S, and the outer cylindrical portion Cb is placed in the outer peripheral portion. By fitting, the cap C is attached to the steel sheet coil S. Thereafter, the holding of the cap C by the suction pad 35 is released, and the work robot 24 is operated to retract the support board 34.

On the other hand, when the operation control device 39 determines that the detected data and the preset data are not compatible, the mounting operation by the cap mounting devices 21a and 21b is not performed and the operation control device 39 waits at a predetermined position. In this case, there is a possibility that a non-conformity may be determined due to a defective mounting state of the packing paper in which the steel sheet coil S is packed, and the worker corrects the defective packing of the steel sheet coil S and performs the detection work and the determination work again. Is also possible.

As described above, in the cap mounting apparatus of the present embodiment, the position of the end face of the steel sheet coil S and the inner diameter of the shaft hole Sa are determined by the coil end face detection sensor 36 and the steel sheet coil inner diameter detection sensors 37 and 38. , Detect center position and
The operation control device 39 determines the cap C based on each detection data.
Is mounted on the end surface of the coil S by controlling the position. Therefore, when the cap C is mounted, the cap C is not forcibly fitted to the steel sheet coil S.
Damage to the steel sheet coil S and the packing member can be prevented.

In the above-described embodiment, the end face of the steel sheet coil S and the cap C held by the suction pad 35 of the support board 34 are substantially parallel to each other. However, the mounting operation is not limited to this. FIG. 4 is a schematic view showing another method of attaching a cap by the cap attaching apparatus of the present embodiment.

For example, as shown in FIG. 4A, the operation control device 39 operates the work robot 24 to position the cap C so as to be inclined with respect to the end surface of the steel sheet coil S.
Then, the cap C held by the suction pad 35 of the support board 34 approaches the end face of the steel plate coil S, and the lower part of the outer cylindrical portion Cb of the cap C in the circumferential direction is fitted to the outer peripheral portion of the steel plate coil S. The support board 34 is swung so that C is parallel to the end face of the steel sheet coil S, and is pressed against the end face of the steel sheet coil S. Then, as shown in FIG. 4 (b), the inner cylindrical portion Ca of the cap C is fitted into the axial hole Sa of the steel plate coil S, and the outer cylindrical portion Cb is fitted into the outer peripheral portion. The cap C is attached to S. Then, a packing band is wound around the outer periphery of the steel sheet coil S and the cap C. Therefore, the work of attaching the cap C to the steel sheet coil S becomes easy.

In the above-described embodiment, the cap transport device 17 moves along the beam 16 so that the cap C on the cap mounting table 14 is held and transported to the cap mounting devices 21a and 21b. However, the present invention is not limited to this structure. 5 and 6 schematically show another cap supply device.

In the cap supply device 41 shown in FIG. 5, a pair of left and right working robots 42a and 42b are disposed on the gantry 11 on both sides of the transport conveyor 12, and both have almost the same configuration. I have. That is, the work robots 42a and 42b are articulated robots,
An arm 43 has a suction pad 44 at the distal end. The cap mounting table 14 is provided on one side of the work robot 42a, and the cap receiving table 45 is provided above the transport conveyor 12 and between the work robots 42a and 42b.
Are arranged.

Accordingly, the work robot 42a is operated to hold the cap C on the cap mounting table 14 by the suction pad 44 at the tip of the arm 43, and the held cap C
Is transferred to the cap receiving stand 45 and retracted. On the other hand, the work robot 42b holds the cap C on the cap receiving base 45 and transfers it to one cap mounting device (not shown). Then, the work robot 42a again holds the cap C on the cap mounting table 14 by the suction pad 44, and transfers the held cap C directly to the other cap mounting device this time.

In the cap supply device 51 shown in FIG. 6, a pair of left and right work robots 52a and 52b are disposed on the gantry 11 on both sides of the conveyor 12 and both have substantially the same configuration. Has become. That is, the work robots 52 a and 52 b are articulated robots, and have a suction pad 54 at the tip of the arm 53. Then, the cap mounting table 14 is installed on the side of one of the working robots 52a, and a cap receiving table 55 is disposed above the transport conveyor 12 and between the working robots 52a and 52b. It is movable along a direction orthogonal to the moving direction.

Accordingly, the work robot 52a is operated to hold the cap C on the cap mounting table 14 by the suction pad 54 at the tip of the arm 53, and the held cap C
Is transferred to the cap receiving table 55 and retracted.
Is moved to the working robot 52b side. On the other hand, the work robot 52b holds the cap C on the cap receiving table 55 and transfers it to one cap mounting device (not shown). Then, the work robot 52a again holds the cap C on the cap mounting table 14 by the suction pad 54, and then directly transfers the held cap C to the other cap mounting device. By making the cap receiving table 55 movable in this way, the work robot 52
The size of the apparatus can be reduced by reducing the movable range of the a and 52b.

[0034]

As described in detail in the above embodiment, according to the cap mounting apparatus of the first aspect of the present invention, the work robot having the arm movable in the three-dimensional direction beside the conveying direction of the steel sheet coil. And a cap holding means for detachably holding a cap is attached to the end of the arm of the working robot, and a steel coil end face detecting means for detecting a position of an axial end face of the steel coil at the center of the cap holding means. And a steel coil inner diameter detecting means for detecting the inner diameter of the shaft hole of the steel coil, the operation control means controlling the operation of the work robot based on the detection results of the steel coil end face detecting means and the steel coil inner diameter detecting means, and The cap held by the holding means is mounted in the axial hole of the steel coil, so that when the cap is mounted, contact between the cap and the steel coil is suppressed. To prevent damage to the steel sheet coil, and to prevent forced cap installation by detecting a reduction in the axial hole due to poor winding of the steel sheet coil or poor packing of packing paper. As a result, it is possible to optimize the work of attaching the cap to the steel plate coil.

According to the cap mounting device of the second aspect of the present invention, the cap is provided with an inner diameter fitting portion which fits in the axial hole of the steel plate coil and an outer diameter fitting portion which fits in the outer peripheral portion. The control means controls the operation of the work robot, and the cap holding means holds the cap so as to be inclined with respect to the end face of the steel sheet coil, and brings the held cap close to the end face of the steel sheet coil so that a circumferential direction of the outer diameter fitting portion is obtained. Part of the inner diameter fitting part is fitted into the axial hole of the steel coil by fitting part of the outer circumference of the steel coil and then swinging and pressing the cap so that it is parallel to the end face of the steel coil. At the same time, the entire outer diameter fitting part is fitted to the outer periphery of the steel coil to be mounted, so when the cap is mounted, contact between the cap and the steel coil is suppressed and damage to the steel coil is prevented. And the cap Can be mounted to the easy, it is possible to facilitate the cap mounting operation of the steel sheet coil.

[Brief description of the drawings]

FIG. 1 is a schematic view of a cap mounting device according to an embodiment of the present invention.

FIG. 2 is a front view of a distal end portion of the robot arm.

FIG. 3 is a schematic diagram illustrating a cap attaching operation by the cap attaching device of the embodiment.

FIG. 4 is a schematic view illustrating a cap attaching operation of another method by the cap attaching device of the embodiment.

FIG. 5 is a schematic view of another cap supply device.

FIG. 6 is a schematic view of another cap supply device.

FIG. 7 is a schematic view of a conventional cap mounting device.

FIG. 8 is an explanatory diagram of an operation of attaching full caps to both end surfaces of a steel sheet coil.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 12 Conveyor 14 Cap mounting table 17, 41, 51 Cap supply device 21a, 21b Cap mounting device 24 Work robot 34 Support board 35 Suction pad (cap holding means) 36 Steel plate coil end face detection sensor 37, 38, 37a, 37b, 38a , 38b Steel plate coil inner diameter detection sensor 39 Operation control device S Steel plate coil Sa Shaft core hole C Cap Ca Inner tube portion Cb Outer tube portion

──────────────────────────────────────────────────の Continued on the front page (72) Inventor Masato Okamoto 5007 Itozakicho, Mihara City, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd. within Mihara Works (72) Inventor Yuzo Tsukamoto Nippon Steel Pipe Co., Ltd. (72) Inventor Yoshitaka Inoue, Ichiban-cho, Fukuyama-shi, Hiroshima Prefecture Nippon Kokan Co., Ltd. (72) Inventor, Tsutomu Ichimizu-cho, Fukuyama-shi, Hiroshima Fukuyama Packaging Co., Ltd. Hidetoshi Fukuyama Packing Industry Co., Ltd., the first place in Kokancho, Fukuyama City, Hiroshima Prefecture (56) References JP-A-7-266153 (JP, A) JP-A 8-169410 (JP, A) (58) Fields surveyed ( Int.Cl. ⁷ , DB name) B21C 47/26 B65B 25/14

Claims (2)

(57) [Claims] 1. A cap mounting device for mounting a cap on an axial end of a steel sheet coil, comprising: a work robot having an arm disposed on a side in a conveying direction of the steel sheet coil and movable in a three-dimensional direction; Cap holding means attached to the end of the arm of the work robot for detachably holding the cap, and a steel coil end face detection attached to the center of the cap holding means for detecting the position of the axial end face of the steel coil Means and a central part of said cap holding means
And the steel sheet coil inner diameter detecting means mounted to detect the inner diameter of the axial hole of the steel sheet coil, and controls the operation of the said working robot on the basis of the detection result of the steel sheet coil end face detecting means and the steel sheet coil inner diameter detecting means An operation control unit for mounting the cap held by the cap holding unit to an axial hole of the steel plate coil. 2. The cap mounting device according to claim 1, wherein the cap has an inner diameter fitting portion fitted into an axial hole of the steel plate coil and an outer diameter fitting portion fitted into an outer peripheral portion of the steel plate coil. The operation control means controls the operation of the work robot, causes the cap to be held by the cap holding means so that the cap is inclined with respect to the end face of the steel sheet coil, and holds the held cap to the end face of the steel sheet coil. The outer peripheral fitting portion is fitted to the outer peripheral portion of the steel plate coil by approaching the outer diameter fitting portion, and then the cap is swung so as to be parallel to the end surface of the steel plate coil. By pressing against the end face of the coil, the inner diameter fitting portion is fitted into the axial hole of the steel plate coil, and the entire outer diameter fitting portion is fitted and mounted on the outer peripheral portion of the steel plate coil. It is characterized by doing Cap mounting device.