JP3569947B2 - Corner protector mounting device for metal plate coil packaging - Google Patents

Description

[0001]
[Industrial applications]
The present invention, when packing the metal plate coils relates instrumentation worn location of the corner protectors used to protect the outer diameter edge portion.
[0002]
[Prior art]
Generally, a metal plate such as a steel plate (hereinafter, represented by a steel plate) is wound in a coil shape and transported or stored in a packed state. When packing steel sheet coils, it is required that both ends of the coil be well-shaped in addition to the outer circumference and the inner circumference of the hollow part. Particularly, the outer diameter part may come into contact with other coils, hanging tools, walls, etc. It is necessary to install a corner protector to protect it.
[0003]
An example of a structure for packing a normal steel coil will be described with reference to FIGS.
FIG. 14 is an external perspective view of a package in which a steel sheet coil as a content is covered with an exterior material, and FIG. 15 is a cross-sectional view illustrating the structure of the package of FIG.
In this packing structure, as shown in FIG. 15, the inner periphery of a coiled steel plate 91 serving as the contents is covered with an inner peripheral paper 92 formed into a cylindrical shape, and the side and outer peripheral surfaces are covered with an outer peripheral paper 94. Is
[0004]
Further, an inner diameter ring 95 as shown in FIGS. 16 (a) and 16 (b) is attached to the inner diameter hole to prevent damage when the coil is lifted by a crane or a forklift. Is mounted with a corner protector P shown in FIG. 16C in order to prevent damage due to contact with other coils, hanging tools, walls, and the like, and then tightened with a steel plate belt 96. By the way, the inner ring shown in FIG. 16 (a) is formed by bending a thin steel plate, and the one shown in FIG. 16 (b) is formed by molding a resin. In some cases, the corner protector can be omitted because of its function. The corner protector P shown in FIG. 16 (c) is formed by forming a thin steel sheet having an L-shaped cross section into an arc shape according to the coil outer diameter.
[0005]
The mounting of the corner protector P is generally performed manually, but some attempts have been made for mechanization. For example, a "mounting device for a coil metal packing outer peripheral ring" described in Japanese Patent Publication No. 1-59116 shown in FIG. 17 is a pair of trapezoidal gears for a coil C rotatably supported by a cradle roll or a mandrel. While forming a fold on one side of the material S having the L-shaped cross section by the fold forming mechanism 51, the corner protector P is mounted over the entire circumference of the coil edge by the pressing roll 52 according to the rotation of the coil C. The mounting device is quite large, and requires a large amount of equipment investment, such as the need to rotate the coil because the entire circumference cannot be mounted due to interference with the coil placed on the coil skid.
[0006]
In addition, the invention described in Japanese Utility Model Publication No. Hei 2-26828 shown in FIGS. 18 and 19 is a method for mounting a metal-shaped corner protector P having poor rigidity and easily causing out-of-plane deformation without manual operation. The outer peripheral ring holding mechanism ”includes a screw bar 54 provided in a cross shape on the face plate 53 and a screw bar 54 that rotates in the longitudinal direction (the direction of the arrow in FIG. 19) as the screw bar 54 rotates. The enlarged / reduced diameter block 55 holds the corner protector P, approaches the coil C, and presses the corner protector P against the edge of the coil C for mounting.
[0007]
These are all devices for mounting the ring-shaped corner protector P over the entire circumference of the coil edge portion. However, when the corner protector P only needs to be provided on the upper portion of the coil edge portion, the mounting is fairly easy. And it becomes easy.
[0008]
[Problems to be solved by the invention]
The present invention, with a simple structure, and to realize the automatic mounting may instrumentation wearing place the corner protectors quickly and reliably in packaging the coil outer peripheral upper two edges.
[0009]
[Means for Solving the Problems]
Corner protector mounting apparatus in the metal plate coil packing of the present invention is a corner protector mounting apparatus for mounting a corner protector in the coil outer diameter edge portion when packing the metal plate coil, placing the coil in the down-end state An articulated robot having a coil skid, a coil mounted on the coil skid, and a robot hand portion that holds a corner protector at a tip end of an arm, wherein the coil mounted on the coil skid is within a turning range; And a supply rack for storing a corner protector disposed in a position where the turn does not interfere with the coil.
The robot hand portion is provided with suction means for sucking and holding a corner protector provided near the center of one horizontally extending beam supported so as to be able to move up and down, and also provided near the center of the beam and sucked. Lateral pressing means having a pair of arms for pressing the corner protector in the horizontal direction in parallel with the beam, and mounted on the beam so as to be movable on the beam in the horizontal direction, and pressing the corner protector against the outer diameter of the coil and adhering to both ends of the corner protector characterized in that it is composed of a pair of tape applying means for pasting the tape.
[0010]
Further, in the corner protector mounting device in the metal plate coil packaging of the present invention, the tape affixing means is supplied with a tape holder that cuts out the stored adhesive tape by feeding out a fixed length, and the cut adhesive tape is supplied. And a pasting roller ( 264) for transferring and pasting to both ends of the corner protector . More preferably, a pair of articulated robots and a pair of supply racks are arranged on both sides of the coil skid. a corner protector mounting device in the metal plate coil packing is.
[0011]
[Operation]
According to the present invention, the corner protector is mounted not on the entire periphery of the coil edge, but only on the upper portion, so that it is not necessary to rotate or lift the coil, and is mounted on the coil skid. Since large-scale equipment as illustrated in FIGS. 17 to 19 is not necessary, a general-purpose articulated robot is used as the mounting device body, and only a robot hand is newly developed and manufactured. Investment will also be small and easy.
[0012]
In addition, since the corner protector is attached while being pressed against the coil edge, there is no need to mold the coil so that it completely conforms to the outer diameter of the coil.Therefore, there are few types of corner protectors, and the supply rack for storing this can be small. Therefore, the space occupied by the entire corner protector mounting device may be small, and it is easy to install the device on an existing packing line.
[0013]
【Example】
An embodiment of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a front view of a corner protector mounting device in a metal plate coil package of an embodiment, FIG. 2 is a plan view, FIG. 3 is a perspective view showing a package of a metal plate coil package with a corner protector mounted, and 1 is a joint. The robot 2 is a robot hand attached to the end of the arm, 3 is a coil skid, 4 is a supply rack, C is a metal plate coil, P is a corner protector, and T is an adhesive tape.
[0014]
As shown in FIG. 3, this corner protector mounting device mounts a corner protector P on the upper surface of both side edges (corner portions) of a metal plate coil C, and manually fixes both ends to the outer peripheral surface of the coil with an adhesive tape T. This is performed independently of the above, and one by one with respect to the two-sided edge portion around the metal plate coil C mounted on the coil skid 3 in a so-called down-end state in which the winding axis is horizontal. The robots 1 and 1 are arranged symmetrically, and a supply rack 4 for stacking and storing various types of corner protectors P having different dimensions according to the coil diameter is arranged on the back of each robot 1 and 1. Have been. The coil C on the coil skid 3 and the supply rack 4 are all viewed from the robots 1 and 1 at positions where they do not interfere with each other within the turning reach of the robot tip shown by a two-dot chain line in FIGS. Placed in
[0015]
By arranging in this manner, a workbench or the like is not required, and the space is greatly reduced as compared with the conventional mounting device or manual operation.
If there is a margin in the cycle time of the packing operation, it is possible to reduce the number of robots and arrange only one side to make the arrangement more compact, but it is possible to turn the coil or move the robot. Is required.
[0016]
FIG. 4 is a flowchart showing a control system of the protector mounting device in this embodiment. Although the robots 1 and 1 in this embodiment are general-purpose articulated robots, the robot hands 2 and 2 attached to the tips thereof are newly developed in the present invention, and the structure and operation thereof will be described later.
Information such as dimensions relating to the target metal plate coil is input from a high-level CPU to a personal computer-class control device. The operation of the robot hand 2 is mainly performed by this control device, and a part of the information is transmitted to the robot control device. 1 Operate the main unit.
[0017]
First, an appropriate corner protector is selected from the supply rack based on the coil diameter information, that is, a corner protector which is formed in an arc shape so as to substantially match the outer diameter of the coil is moved to the supply position, and the robot is turned to turn the corner protector P. The robot is returned to the coil side, the corner protector P is placed on the upper end of the coil edge and pressed from the horizontal direction, and the beam extending in the horizontal direction provided with a tape attaching means having a pair of rollers is lowered to reduce the corner. The protector is made to follow the outer diameter of the coil, and an adhesive tape is transcribed and attached to both end portions of the corner protector by tape attaching means, and both end portions of the corner protector P are fixed to the outer periphery of the coil with an adhesive tape T made of cloth.
[0018]
As will be described later, in the present invention, since the corner protector P is mounted while being pressed against the outer diameter of the coil, it is not necessary to make the curvature of the corner protector P completely coincide with the coil. For example, the outer diameter is in a range of 650 to 2134 mm. Since four types of corner protectors P can cope with the coil, the size of the supply rack 4 for stocking the corner protectors P is considerably smaller than in the past.
[0019]
5 is a plan view of the robot hand, FIG. 6 is a front view thereof, and FIG. 7 is a perspective view of a main part.
This robot hand is composed of a corner protector suction unit, a lateral pushing unit, and a tape attaching unit.
The corner protector suction means is composed of a suction pad 21 and a suction elevating cylinder 22 and moves up and down as indicated by an arrow a to suck the corner protector P on the suction pad 21 of suction cup shape and mount it on the edge of the coil. The suction pad 21 may be of a magnetic type, but when suctioning the corner protector P from the supply rack, it is necessary to adjust the magnetic force so that two or more corner protectors P are not sucked.
[0020]
The lateral pushing means is composed of a lateral pushing arm 23 and a lateral pushing cylinder 24. The lateral pushing arm 23 pushes the corner protector P against the side surface of the coil as shown by the arrow b to imitate the coil end surface. The lateral pushing arm 23 is in the form of a pair of elongated steel strips, and the mounting portion at the upper end is a hinge.
The tape sticking means includes a pair of tape sticking devices 26 that can move in a horizontal direction on one beam 25 extending in the horizontal direction, and a tape sticking elevating cylinder 27 that moves the beam 25 up and down. The pair of tape applying devices 26, 26 are opened and closed symmetrically as indicated by an arrow c according to the coil outer diameter by an opening / closing motor 261 and a timing belt 262, and the entire beam 25 moves up and down as indicated by an arrow d.
[0021]
FIG. 8 is a conceptual diagram showing the operation of the tape attaching device 26. First, as shown in (a), the tape affixing devices 26, 26 are moved from the standby positions at both ends to the inner outer diameter adjusting position, and the entire beam 25 is lowered to contact the outer diameter of the coil as shown in (b). When the entire beam 25 is further lowered, the tape attaching device 26 (hereinafter, only the left one is shown) spreads while rotating along the outer diameter of the coil, actually the corner protector P mounted thereon, An adhesive tape T is attached to the outer surface of the corner protector P from just before the end of the corner protector P, and further, as shown in FIG.
[0022]
FIG. 9 is a front view showing the details and operation of the tape applying device 26. 263 is a tape holder, 264 is a sticking roller, 265 is a roll drive pulse motor, 266 is a pin serving as a swing fulcrum, 267 is a swing cylinder, 268 is a collision prevention roller, and the adhesive tape T is stored in the tape holder 263. When the sheet is fed out for a predetermined length, the sheet is cut by a cutter and supplied to a sticking roller 264.
[0023]
When the corner protector P is selected from the supply rack 4 according to the coil size, the dimensions of the corner protector P are already known, so that the tape is cut by the application rollers 264 so that the tape application is started from a predetermined position. The adhesive tape is sucked. This position can be corrected by an instruction.
The entire tape affixing device 26 is mounted on a swingable frame 269 with a pin 266 provided at the tip of the beam 25 as a fulcrum, and is constantly pressed toward the center of the coil by a swing cylinder 267. In FIG. 8 (c), even when the coil diameter is small and the tape is attached to the lower part of the coil lower than the center height, the pressing can be performed without any trouble.
[0024]
As described above, since the adhesive tape T is cut into a fixed length, the adhesive tape T is stuck over the corner protector P and the outer periphery of the coil, so that the state shown in FIG. 3 is established, and the corner protector P is fixed.
FIGS. 10 to 13 are flow charts showing a series of operations of the robot described above, which are divided into four parts.
[0025]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, the corner protector can be automatically mounted quickly and reliably on both upper edges of the outer periphery of the packing coil by a simple configuration in which a dedicated robot hand is attached to a general-purpose articulated robot, and human labor is reduced. It has excellent effects such as reduction in space and surrounding space.
[Brief description of the drawings]
FIG. 1 is a front view showing a corner protector mounting device according to an embodiment of the present invention.
FIG. 2 is a plan view showing a corner protector mounting device according to the embodiment of the present invention.
FIG. 3 is a perspective view showing a mounted state of the corner protector according to the embodiment of the present invention.
FIG. 4 is a flowchart illustrating a control system of the corner protector mounting device according to the embodiment of the present invention.
FIG. 5 is a plan view showing the robot hand according to the embodiment of the present invention.
FIG. 6 is a front view showing the robot hand according to the embodiment of the present invention.
FIG. 7 is a perspective view showing a robot hand according to the embodiment of the present invention.
FIG. 8 is a conceptual diagram showing the operation of the tape attaching device according to the embodiment of the present invention.
FIG. 9 is a front view showing the tape attaching device according to the embodiment of the present invention.
FIG. 10 is a flowchart showing the operation of the corner protector mounting device according to the embodiment of the present invention.
FIG. 11 is a flowchart showing the operation of the corner protector mounting device according to the embodiment of the present invention.
FIG. 12 is a flowchart showing the operation of the corner protector mounting device according to the embodiment of the present invention.
FIG. 13 is a flowchart showing the operation of the corner protector mounting device according to the embodiment of the present invention.
FIG. 14 is a perspective view showing a conventional example of a coil package.
FIG. 15 is a sectional view showing a conventional example of a coil package.
FIG. 16 is a cross-sectional view showing a conventional example of components used for a coil package.
FIG. 17 is a front view showing a conventional technique.
FIG. 18 is a front view showing a conventional technique.
FIG. 19 is a cross-sectional view showing a conventional technique.
[Explanation of symbols]
1 Articulated Robot 2 Robot Hand 21 Suction Pad 22 Suction Lifting Cylinder 23 Side Push Arm 24 Side Push Cylinder 25 Beam 26 Tape Pasting Apparatus 261 Open / Close Motor 262 Timing Belt 263 Tape Holder 264 Pasting Roller 265 Pulse Motor 266 Pin 267 Rocking Moving cylinder 268 Collision prevention roller 269 Frame 27 Elevating cylinder 3 for applying tape 3 Coil skid 4 Supply rack 51 Folding mechanism 52 Press roll 53 Face plate 54 Screw bar 55 Enlarged / reduced diameter block 91 Steel plate 92 Inner peripheral paper 94 Outer peripheral paper 95 Inner diameter ring 96 Steel sheet belt S Material P Corner protector T Adhesive tape C Coil

Claims (3)

A corner protector mounting device for mounting a corner protector (P) on a coil outer diameter edge portion when packing a metal plate coil, comprising: a coil skid (3) for mounting a coil (C) in a down-end state; An articulated type in which a coil (C) placed on a coil skid (3) is arranged so as to be within a turning reach, and has a robot hand (2) portion holding a corner protector (P) at a tip end of an arm. A robot (1), and a supply rack (4) for storing a corner protector disposed within a turning range of the articulated robot and not interfering with the coil (C) ,
Suction means ( 21 , 22 ) for adsorbing and holding a corner protector provided near the center of one horizontally extending beam ( 25 ) supported so as to be able to ascend and descend, said robot hand (2) portion ; Lateral pushing means ( 23 , 24 ) provided near the center of the beam and having a pair of arms for horizontally pushing the attracted corner protector in parallel with the beam, and can be moved horizontally on the beam ( 25 ) And a pair of tape attaching means ( 26 ) for pressing the corner protector against the outer diameter of the coil and attaching an adhesive tape (T) to both ends of the corner protector . Corner protector mounting device. The tape affixing means (26) is supplied with a tape holder (263) for feeding and cutting the stored adhesive tape (T) by a predetermined length, and the cut adhesive tape is supplied and transferred to both ends of the corner protector. The corner protector mounting device in a metal plate coil package according to claim 1 , further comprising a bonding roller (264) for bonding. Corner protector mounting apparatus in the metal plate coil packaging according to claim 1 or 2 a pair of articulated robot (1) and a pair of feed rack (4) is disposed apart on opposite sides of the coil skid (3).

Images