JP5786652B2 - Sample steel plate collection robot - Google Patents

Description

  The present invention relates to a recovery robot that recovers a part of a steel strip cut in a steel strip production line as a sample steel plate.

  FIG. 7 shows a continuous pickling line of the steel strip. The steel strip 2 fed out from the payoff reel 1 is a preceding material that waits at the welder 4 after the tip is trimmed by the entrance shear 3. It is connected to the tail end of the steel strip 2 by welding. Next, the steel strip 2 is supplied to the pickling device 7 and the rinsing device 8 after the inlet free loop 5 is provided and the supply amount of the steel strip 2 being adjusted by the inlet looper device 6. The feeding amount of the steel strip 2 that has passed through the rinsing device 8 is adjusted by the exit side looper device 9, and the ear portion is cut by the trimmer 11 after the exit side free loop 10 is provided. The steel strip 2 that has passed through the trimmer 11 is wound around a tension reel 12.

Here, a part of the steel strip immediately before being wound on the tension reel 12 is sheared by the outlet shear 13 and collected as a sample steel plate or a slap for performing various inspections.
As an apparatus for cutting and collecting a part of a steel strip, for example, an apparatus described in Patent Document 1 is known. The apparatus of Patent Document 1 is an apparatus in which a direct-acting shear is provided in a steel strip processing line, and the steel strip is cut into a rectangular parallelepiped shape to obtain a sample steel plate or scrap material. When the scrap material is generated by cutting the steel strip, the device of Patent Document 1 is housed in a bucket disposed below the direct-acting shear, and falls on an inclined table when a sample steel plate is used. The collected sample steel plates are collected manually.

However, the apparatus of Patent Document 1 has a problem in terms of work safety because an operator performs work near a direct-acting shear.
Therefore, in the continuous pickling line of the steel strip in FIG. 7, by providing a recovery device equipped with a robot for recovering the sample steel plate in the region indicated by reference numeral 14, the labor saving is promoted and the work safety is improved. ing.

  That is, as shown in FIG. 8, when the scrap gate 15 is provided on the downstream side of the outlet shear 13 and the cut steel strip is the scrap material Ks, the scrap material Ks slides on the inclined table 16. The scrap gate 15 is opened so as to move toward the conveyor 17. When the cut steel strip is used as the sample steel plate Kt, the scrap gate 15 is closed (the state of the scrap gate 15 shown by the solid line in the figure), and the sample is engaged with the scrap gate 15 and the inclined table 16. The steel plate Kt is stopped. Then, the suction holding unit 18 that moves tertiaryly of the collection robot is moved to the upper part of the sample steel plate Kt, and after the sample steel plate Kt is sucked and held, it is moved to another collection position.

JP-A-11-319913

  By the way, the sample steel plate Kt cut by the outlet shear 13 is stocked at a position close to the scrap gate 15 side, for example, as shown by reference numerals Kt1 and Kt2 in FIG. Stocked in state. If the sample steel plates Kt1 and Kt2 are stocked in such a state, the suction holding unit 18 of the recovery robot cannot automatically suck and hold the sample steel plate Kt, and the assistance of the worker is required, so that work safety is achieved. Can not be solved.

  Therefore, the present invention has been made paying attention to the unsolved problems of the above conventional example, and the sample steel plate cut by the shearing device is temporarily placed at a different position with respect to the adsorption holding region on the stock yard. It is an object of the present invention to provide a recovery robot for a sample steel plate that is capable of normally sucking and holding the sample steel plate even when stocked, and that can sufficiently ensure work safety.

  In order to achieve the above object, a robot for collecting a sample steel plate according to claim 1 according to the present invention includes a shearing device for cutting a part of a steel strip conveyed from upstream in the middle of the steel strip production line and cutting. A stock yard for temporarily stocking a part of the steel strip as a sample steel plate is installed, and the sample steel plate stocked in the stock yard is collected, up to a recovery unit provided outside the steel strip production line A robot for collecting a sample steel plate to be transported, wherein a suction holding portion that sucks and holds the sample steel plate stocked in the stock yard, and this suction holding portion is connected to an adsorption holding region on the stock yard and the recovery portion. When the sample steel plate is stocked at a different position from the suction holding area on the stock yard. And a posture correction section that corrects the posture by moving the sample steel sheet to a position overlapping the suction holding area.

  According to a second aspect of the present invention, in the sample steel plate recovery robot according to the first aspect, the suction holding portion includes a cylinder holding plate that is set to a size that crosses the stock yard, and a tip is directed downward. A plurality of suction extension cylinders arranged on the cylinder holding plate so as to extend; and an electromagnetic suction part provided at a lower end of each suction extension cylinder; and the posture correction part crosses the stock yard. Provided integrally on the downstream side of the cylinder holding plate, when the sample steel plate is moved to a position where the posture correction unit overlaps the suction holding region, the suction expansion / contraction cylinder of the suction holding unit is It extends toward the upper surface of the sample steel plate, and the electromagnetic adsorption part of each adsorption expansion / contraction cylinder is electromagnetically adsorbed on the upper surface of the sample steel plate.

further. According to a third aspect of the present invention, in the sample steel plate recovery robot according to the second aspect, the posture correcting portion extends across the stock yard downstream of the cylinder holding plate and rotates to the cylinder holding plate. A rotation shaft that is freely supported, a plurality of claws fixed at predetermined intervals in the axial direction of the rotation shaft, and a rotation drive unit that transmits a rotation operation to the rotation shaft,
When the rotation drive unit of the posture correction unit transmits the rotation operation to the rotation shaft, a plurality of claws rotating together with the rotation shaft press one side downstream of the sample steel plate, and hold the sample steel plate by suction. Move to a position that overlaps the area.

  According to the sample steel plate recovery robot according to the present invention, even if the sample steel plate cut by the shearing device is temporarily stocked at a different position with respect to the suction holding region on the stock yard, the posture correction unit is in the suction holding region. Since the sample steel plate is moved to the overlapping position and the posture is corrected, the suction holding unit can normally suck and hold the sample steel plate, and the work safety can be sufficiently secured.

It is the top view which showed roughly the collection | recovery apparatus of the sample steel plate which concerns on this invention. It is the front view which showed roughly the collection | recovery apparatus of the sample steel plate which concerns on this invention. It is a top view which shows the adsorption holding part of the collection | recovery robot of the sample steel plate which comprises this invention. It is an AA arrow directional view of FIG. It is a figure which shows operation | movement of the adsorption holding part and attitude | position correction | amendment part of the collection | recovery robot of the sample steel plate which comprises this invention. It is a figure which shows the state by which the sample steel plate is stocked in a different position with respect to the adsorption | suction holding | maintenance area | region on a stockyard. It is a figure which shows the continuous pickling line of a steel strip. It is the schematic which shows the apparatus which collect | recovers the sample steel plates temporarily stocked to the conventional stock yard. It is the schematic which shows the problem of the apparatus which collect | recovers the conventional sample steel plates.

DESCRIPTION OF EMBODIMENTS Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described in detail with reference to the drawings. Note that the same components as those shown in FIGS. 7 to 9 are denoted by the same reference numerals and description thereof is omitted.
FIG. 1 is a plan view showing a sample steel plate recovery device according to an embodiment arranged along a continuous pickling line of a steel strip, and FIG. 2 is a recovery of the sample steel plate as viewed from the front in the traveling direction of the steel strip. It is a front view of an apparatus.

As shown in FIG. 1, an exit shear 13 is arranged in a part of the line, and a scrap gate 15, an inclined table 16, and the like having the same structure as that of FIG. 7 are arranged on the downstream side of the exit shear 13. Has been placed. A plurality of scrap gates 15 are arranged at predetermined intervals in the line width direction.
The recovery apparatus for the sample steel plate according to the present embodiment includes a recovery robot 20 that is disposed near the line and holds a part of a rectangular parallelepiped steel strip cut by the outlet shear 13 as the sample steel plate Kt, and a recovery robot 20 An affixing / collating unit 21 that affixes a label to the held sample steel plate Kt and performs collation at the same time, and a collection bag 22 that collects the sample steel plate Kt held by the collection robot 20 are provided. And the collection | recovery apparatus of the sample steel plate containing the exit side shear | 13 is enclosed with the safety fence 23. FIG.

As shown in FIG. 2, the recovery robot 20 includes a horizontal rotating unit 25 that rotates in a horizontal plane, and an arm 27 that is connected to the horizontal rotating unit 25 and rotates about a first rotating shaft 26 that extends in the horizontal direction. ,
An arm 29 connected to the arm 27 and rotated around a second rotation shaft 28 extending in the horizontal direction, and an adsorption holding connected to the arm 29 and rotated around a third rotation shaft 30 extending in the horizontal direction. Part 31. The arm 29 has a structure that can be expanded and contracted in the axial direction by a driving means (not shown).

As shown in FIGS. 3 and 4, the suction holding unit 31 of the collection robot 20 includes a rectangular parallelepiped cylinder holding plate 32 and a plurality of air drives arranged on the cylinder holding plate 32 so that the tip extends downward. A suction expansion / contraction cylinder 33, an electromagnetic adsorption portion 34 provided at the lower end of each adsorption expansion / contraction cylinder 33, a posture correction portion 35, and a limit switch 36.
The plurality of suction expansion / contraction cylinders 33 are arranged at predetermined intervals in the longitudinal direction of the cylinder holding plate 32 and are arranged in two rows in the width direction.

  The posture correction unit 35 corrects the posture of the sample steel plate Kt that is cut by the outlet shear 13 and placed on the scrap gate 15 and the inclined table 16. As shown in FIGS. 3 and 5A, the posture correcting portion 35 extends along the longitudinal direction on one side in the width direction of the cylinder holding plate 32 and is rotatably supported by the cylinder holding plate. The rotating shaft 37, the link member 38 fixed to one end of the rotating shaft 37, the plurality of claws 39 fixed at predetermined intervals in the axial direction of the rotating shaft 37, and the cylinder holding plate 32. And an air-driven straightening expansion / contraction cylinder 40 that transmits the expansion / contraction operation to the rotary shaft 37 via the link member 38.

As shown in FIG. 3, the plurality of claws 39 are arranged in a comb shape in the line width direction so as to enter between the plurality of scrap gates 15 arranged in the closed state.
When the straightening telescopic cylinder 40 is retracted (stopped), the plurality of claws 39 extend in the direction along the surface direction of the cylinder holding plate 32 as shown in FIG. At the time of the expansion operation of the expansion / contraction cylinder 40 (during driving), as shown in FIG. 5B, the rotation shaft 37 rotates through the link member 38 by the expansion operation of the correction expansion / contraction cylinder 40. The claw 39 is arranged in a direction orthogonal to the surface direction of the cylinder holding plate 32.

The electromagnetic attracting portion 34 provided at the lower end of the attracting expansion / contraction cylinder 33 incorporates an electromagnet (not shown), and an electromagnetic attracting force is generated on the sample steel plate Kt by passing an electric current through the electromagnet. ing.
The limit switch 36 is a device that detects that the electromagnetic attraction portion 34 has come into contact with the upper surface of the sample steel plate Kt by the expansion / contraction operation of the attraction extension cylinder 33.

Then, as shown in FIG. 2, the collection robot 20 is configured so that the suction holding unit 31 holding the sample steel plate Kt moves to the pasting / verifying unit 21 and further moves to the upper side of the collection bag 22 in a short time. The rotation operation of the arms 27 and 29 around the third rotation shafts 26, 28, and 30 and the suction holding unit 31, the expansion and contraction operation of the arm 29, and the rotation operation of the horizontal rotation unit 25 are performed.
Here, the scrap gate 15 and the inclined table 16 of the present embodiment correspond to the stock yard of the present invention, and the first to third rotating shafts 26, 28, 30 and the arms 27, 29 of the present embodiment are moved according to the present invention. Corresponding to the mechanism portion, the link member 38 and the correction expansion / contraction cylinder 40 of the present embodiment correspond to the rotational drive portion of the present invention.

Next, an operation in which the collection robot 20 of the present embodiment collects the sample steel plate Kt cut by the outlet shear 13 and stocks it in the collection bag 22 will be described with reference to FIGS. 1, 5, and 6. .
In FIGS. 6A and 6B, a region B indicated by a broken line is a planar region in which the suction holding unit 31 of the collection robot 20 performs a suction holding operation in order to hold the sample steel plate Kt (hereinafter, referred to as “B”). , Referred to as adsorption holding region B).

As shown in FIG. 6A, the sample steel plate Kt cut by the outlet shear 13 is placed on the scrap gate 15 and the inclined table 16 in a state of being close to the scrap gate 15 side, or FIG. ), The sample steel plates Kt may be placed on the scrap gate 15 and the inclined table 16 in a state where the positions in the width direction are not uniform.
When the sample steel plate Kt is cut off at a position different from the suction holding region B as shown in FIGS. 6A and 6B, the suction holding unit 31 of the collection robot 20 cannot normally hold the sample steel plate Kt by suction.

Therefore, in this embodiment, as shown in FIG. 5A, the suction holding unit 31 is moved above the sample steel plate Kt cut off at a position different from the suction holding region B.
Next, as shown in FIG. 5B, the plurality of claws 39 are rotated in a direction orthogonal to the surface direction of the cylinder holding plate 32 by the extending operation of the correcting telescopic cylinder 40 of the posture correcting unit 35. By this operation, the plurality of claws 3 press one side in the width direction of the sample steel plate Kt, and the sample steel plate Kt moves to a position where it overlaps the suction holding region B, so that the posture on the scrap gate 15 and the inclined table 16 is corrected. Is done.

Next, as shown in FIG. 5 (c), by performing the extension operation of the plurality of suction expansion / contraction cylinders 33 of the suction holding part 31, the plurality of electromagnetic suction parts 34 are brought into contact with the upper surface of the sample steel plate Kt. An electric current is passed through the electromagnet of the section 34 to generate an electromagnetic adsorption force for the sample steel plate Kt.
As shown in FIG. 1, the collection robot 20 with the magnetic adsorption unit 34 adsorbing and holding the sample steel plate Kt moves the adsorption holding unit 31 to the affixing / verifying unit 21 and applies a label to the sample steel plate Kt. Next, the adsorption holding unit 31 is moved to above the collection bag 22 to stop energization of the electromagnet of the electromagnetic adsorption unit 34 to eliminate the electromagnetic adsorption force to the sample steel plate Kt, thereby collecting the sample steel plate Kt. 20 is temporarily collected.

Next, the effect of the sample steel plate recovery robot of this embodiment will be described.
The sample steel plate Kt that is cut into the outlet shear 13 and temporarily stocked on the scrap gate 15 and the inclined table 16 is located at a position different from the suction holding area B (the traveling direction of the steel strip 2 from the suction holding area B in plan view). Even when stocked on the downstream side), when the suction holding unit 31 of the collection robot 20 moves above the suction holding region B, the posture correction unit 35 of the suction holding unit 31 operates, so that the sample steel plate Kt The posture is automatically corrected up to the position overlapping the suction holding area B.

Therefore, the suction holding unit 31 of the collection robot 20 can normally suck and hold the sample steel plate Kt, and the operator does not need to move the sample steel plate Kt to the suction holding region B. The posture correction unit 35 of the suction holding unit 31 has a plurality of claws 39 to which the rotational force is transmitted from the correction expansion / contraction cylinder 40 via the link member 38 and the rotation shaft 37. , Passing through a plurality of scrap gates 15 arranged in a closed state side by side in the width direction of the line, pressing one side in the width direction of the sample steel plate Kt, and moving to a position overlapping the adsorption holding region B Therefore, it is possible to reduce the equipment cost spent on the collection robot 20.

  DESCRIPTION OF SYMBOLS 13 ... Outgoing shear, 20 ... Collection | recovery robot, 21 ... Pasting and collation part, 22 ... Collection bag, 23 ... Safety fence, 25 ... Horizontal rotation part, 26, 28, 30 ... Rotating shaft, 27, 29 ... Arm, 31 DESCRIPTION OF SYMBOLS ... Adsorption holding part, 32 ... Cylinder holding plate, 33 ... Telescopic cylinder for adsorption, 34 ... Electromagnetic adsorption part, 35 ... Posture correction part, 36 ... Limit switch, 37 ... Rotary shaft of adsorption holding part, 38 ... Link member, 39 ... nail, 40 ... telescopic cylinder for correction, Kt ... sample steel plate, B ... adsorption holding area

Claims (3)

In the middle of the steel strip production line, a shearing device that shears part of the steel strip transported from upstream and a stock yard that temporarily stocks part of the cut steel strip as sample steel plates are installed. The sample steel plate stocked in the stock yard is collected, and the sample steel plate collecting robot transports to the collecting unit provided outside the steel strip production line,
An adsorption holding unit for adsorbing and holding the sample steel plate stocked in the stock yard;
A moving mechanism for moving the suction holding unit between the suction holding region on the stockyard and the recovery unit;
A posture correcting unit that corrects the posture by moving the sample steel plate to a position overlapping the suction holding region when the sample steel plate is stocked at a different position from the suction holding region on the stock yard. This is a sample steel plate collection robot. The suction holding portion includes a cylinder holding plate set to a size that crosses the stock yard, a plurality of suction expansion / contraction cylinders arranged on the cylinder holding plate so that a tip extends downward, and An electromagnetic adsorption part provided at the lower end of the telescopic cylinder,
The posture correction unit is integrally provided on the downstream side of the cylinder holding plate so as to cross the stockyard.
When the sample steel plate is moved to a position where the posture correcting unit overlaps the suction holding region, the suction expansion cylinder of the suction holding unit extends toward the upper surface of the sample steel plate, and each suction expansion cylinder The sample steel plate recovery robot according to claim 1, wherein the electromagnetic adsorption unit is electromagnetically adsorbed on an upper surface of the sample steel plate. The posture correcting unit extends downstream of the cylinder holding plate so as to cross the stockyard, and has a rotation shaft rotatably supported by the cylinder holding plate and a predetermined interval in the axial direction of the rotation shaft. A plurality of claws fixed to each other, and a rotation driving unit that transmits a rotation operation to the rotation shaft,
When the rotation drive unit of the posture correction unit transmits the rotation operation to the rotation shaft, a plurality of claws rotating together with the rotation shaft press one side downstream of the sample steel plate, and hold the sample steel plate by suction. 3. The sample steel plate collecting robot according to claim 2, wherein the robot is moved to a position overlapping the region.

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