JP7069461B2 - How to position the coil gripping position of an automated crane for coil transportation - Google Patents

Description

The present invention relates to, for example, a technique for automatically moving and positioning a coil transporting automatic crane operating in a steel mill to a coil gripping position of a coil mounted on a coil transport trailer carriage.

For example, in order to automatically control an overhead crane installed on the ceiling of a building that transports coils in a steelworks, it is necessary to first detect the placement position and shape of the coils brought into the building.

As a method of detecting the installation location of the coil first brought into the building, for example, in Patent Document 1, a laser range finder provided in the girder of an overhead crane crosses a coil mounted on a coil transport trailer trolley. A method of measuring the coil position and the size from the continuous output data of the laser range finder during this period is disclosed.

Japanese Unexamined Patent Publication No. 6-323809

However, in the conventional method, since the crane is automatically operated after detecting the position and shape of the coil, it takes time to detect the coil position in addition to the automatic operation time of the crane. Therefore, the operation of the automatic crane is performed. There is a problem that the time becomes long, the automatic coil transport processing capacity is affected, the equipment becomes large, and the equipment cost becomes expensive.

For this reason, the processing capacity of the automatic crane is inferior to that of the manually operated coil transportation of the crane, so that the automation of the coil transportation crane has not progressed.

The present invention provides an automatic crane system in which the coil placement position is detected quickly and economically with little influence on the operating time of the automatic crane, and the automatic crane automatically positions the coil gripping position. With the goal.

In order to achieve the above object, the method of positioning the coil gripping position of the automated coil transporting crane of the present invention is such that the coil transport trailer trolley is arranged at an approximate position according to the mark of the stop position. Based on the information of the approximate stop position of the coil transport trailer trolley and the loading position of the coil on the coil transport trailer trolley from the host computer, the approximate location position of the coil is determined, and the approximate location position of the coil is targeted. The coil handled by the automatic crane is automatically driven as a point, and while the automatic crane is running before the automatic crane reaches the approximate position of the coil, the coil handled by the automatic crane is located in front of the center position of the winding device of the automatic crane. A wide range distance sensor that can measure the girder direction of the automated crane over a wide range, installed on the girder of the automated crane at the position of the maximum width dimension plus the specified dimension, is used to measure the correlation distance between the coil and the automated crane and the coil. By measuring the shape and comparing the position of the automatic crane when measured with the wide range distance sensor with the measurement result of the wide range distance sensor, the location position of the coil is recognized, and the target of the location position of the initial approximate coil. The point is rewritten to the location position of the coil based on the result measured by the wide area distance sensor to set the movement target position of the automatic crane, and the automatic crane is automatically driven to the movement target position and stopped. ..

In this case, when it is measured that the coil is placed at an angle as a result of measurement by the wide range sensor, it is possible to adjust the angle of the coil lifter to the oblique angle of the coil with the swivel device on the upper part of the coil lifter. can.
In addition, the top of the coil is specified based on the results measured by the wide range sensor, and it is assumed that there is a hole in the center of the coil directly below the top of the coil, and the coil lifter is located at the position of the assumed hole. It is possible to match the claws of the.

Also, if any of the light-transmitting sensors attached to the outside of the four corners of the coil lifter's claws does not transmit light when the coil lifter's claws are aligned with the hole in the center of the coil, the sensor with light-transmitting By moving the automatic crane in the direction and transmitting light through all four sets of light transmission sensors, it is possible to determine that the coil lifter has reached the position where the coil is gripped.

According to the method of positioning the coil gripping position of the automatic coil transporting crane of the present invention, the crane is automatically operated in the position and shape of the coil mounted on the carriage of the coil transport trailer and brought into the building. By detecting while, the detection time does not affect the automatic operation time of the automatic crane, and the coil position and shape can be detected, and the operation time of the automatic crane of the coil can be shortened.
Coil transport When gripping the coil loaded on the trailer trolley with an automatic crane, the information that the trailer was placed roughly according to the mark of the stop position of the trailer trolley and the position on the trailer trolley the coil is placed. Information is received from the computer's memory in the previous process, and the approximate coil gripping position is set as the movement target position in the automatic crane, and the automatic crane is automatically moved. A wide-area distance sensor is attached to the tip of the crane in front of the moving direction of the automatic crane, and the coil position is measured by the wide-area distance sensor while the automatic crane is automatically moving toward the approximate coil gripping position. When the coil position measurement by the wide range sensor is completed, the data of the approximate coil grip position, which is the target value during automatic movement, is rewritten to the coil grip position based on the result measured by the wide range sensor. This makes it possible to move the automatic crane to the coil gripping position based on the measurement results of the wide area distance sensor while continuously moving the crane, and automatic operation can be performed without time loss of coil position detection.
At this time, if the tilt of the coil arrangement is measured in the measurement result by the wide area distance sensor, the tilt angle of the measured coil and the angle of the coil lifter are adjusted by the swivel device on the upper part of the coil lifter.
In addition, the top of the coil is specified based on the results measured by the wide range sensor, and it is assumed that there is a hole in the center of the coil directly below the top of the coil, and the coil lifter is located at the position of the assumed hole. By aligning the claws of the coil lifter, the claws of the coil lifter can be aligned with the hole in the center of the coil.
The measurement error caused by making the coil measurement with the wide range sensor a moving measurement instead of a fixed point stop measurement is the four sets attached to the four corners of the coil lifter claws when aligning the coil lifter with the coil hole. Fine adjustment of the coil gripping position by finely moving the automatic crane in the direction of light transmission so that all of the light transmission sensors pass through, that is, if any of the four sets of light transmission sensors is blocking light. , Close the coil lifter, and grip the coil.
Through these series of operations, it is possible to provide an automatic coil transporting crane that performs reliable coil gripping and positioning without loss time of coil position measurement.
In addition, by improving the transportation processing capacity of the automatic crane, which was inferior to the coil transportation work by the manually operated crane operated by humans, and the economic efficiency of the equipment cost, it is possible to promote the automation of the coil transportation work by the crane. ..

It is an overall view of the coil transporting automatic crane to which the method of positioning the coil gripping position of the coil transporting automatic crane of this invention is applied. It is explanatory drawing of the same coil position detection method. It is explanatory drawing of the correction method of the coil inclination angle. It is explanatory drawing of the same coil hole position correction method. It is a flowchart of the positioning method of the coil gripping position of the automatic crane for coil transport of this invention.

Hereinafter, embodiments of the method for positioning the coil gripping position of the coil transporting automatic crane of the present invention will be described with reference to the drawings.

1 to 5 show an embodiment of the coil gripping method of the automatic coil transporting crane of the present invention.

For example, in the automatic coil transportation of a steel mill, the position where the coil is placed is placed by automatic equipment such as an automatic crane, so the size of the coil and the placement position of the coil are recorded in the computer. Based on the time data, the automatic crane can automatically go to grab the coil.
On the other hand, the coil CO on the trailer trolley brought by the trailer operator with the coil transport trailer trolley CC to the automatic transport area first automatically uses an automatic crane unless the coil placement position is specified by some method. Cannot grip.
The present invention makes it possible to efficiently recognize the position of the coil first brought in by the coil transport trailer carriage and shorten the automatic operation time of the automatic crane.

First, the driver of the coil transport trailer trolley stops the trailer trolley at an approximate position aiming at the trailer trolley stop position mark PM such as the white line frame at the trailer stop position (F01 in FIG. 5).

Since the coil CO placed on the coil transport trailer trolley CC was placed in the previous process, the computer in the previous process can determine where and what size of coil CO is placed on the trailer trolley CC. I try to remember it.

The coil transport trailer trolley CC is placed at the approximate position of the position and size of the coil CO on the trailer trolley CC stored by the computer in the previous process and the trailer trolley stop position mark PM. When the approximate position where the coil CO is located is set as the approximate movement target position of the automatic crane (F02, F03 in FIG. 5) based on the information that the coil CO has been performed, the automatic crane CR moves toward the approximate provisional movement target position. Start automatic movement (F04 in FIG. 5).

As shown in FIG. 1, in the automatic crane CR, a wide-area distance sensor MS is arranged on the front side of the traveling direction TF toward the trailer bogie stop position mark PM.
When the trailer trolley stop position marker PM is on the end side of the movement range of the automatic crane CR, the wide area distance sensor MS is arranged only on one side in front of the traveling direction TF of the automatic crane CR, and the trailer trolley stop position marker PM is arranged. However, if it is on both sides of the movement range of the automatic crane CR or in the center of the movement range of the automatic crane CR, the direction in front of the traveling direction TF of the automatic crane CR is on both sides, so both sides of the automatic crane CR. Wide-area range sensor MS is arranged in two places.

As shown in FIG. 2, when the automatic crane CR approaches the approximate provisional movement target position, the coil CO enters the measurement range of the wide range sensor MS provided on the front side of the traveling direction TF of the automatic crane CR. come.
At this time, as shown in FIG. 2, using a wide-area distance sensor MS that can measure a wide range in the girder direction (traverse direction) of the automatic crane CR, multi-point measurement is performed by the wide-area distance sensor MS while the crane is traveling and moving, and each is multi-point. By matching with the position where the crane was located at each point measured, it is possible to obtain the measurement result of the wide range sensor MS in a wide range in three dimensions.

As shown in FIG. 2, the wide area distance sensor MS is attached to the position of dimension B in front of the center position of the hoisting device of the crane in the traveling direction TF direction.
When the wide-area distance sensor MS scans the coil CO from above the coil CO, passes through the coil CO, and finishes scanning the coil CO, the coil is gripped by the dimension α obtained by subtracting the dimension A, which is half the width dimension of the coil CO, from the dimension B. The position of the automatic crane CR is located in front of the point, and while moving the remaining movement distance, dimension α, the wide-area distance sensor MS is used from the approximate provisional movement target position, which is the movement target position at this point. The movement target position of the automatic crane CR is changed to a position based on the measurement result of the coil, and the automatic crane CR is automatically positioned and stopped at the movement target position.
If this dimension α is too short, the crane will overrun at the time of positioning, and a loss time of automatic operation time will occur. Therefore, the dimension α is appropriately set so that overrun does not occur.
Since the maximum dimension of the coil CO handled by the automatic crane CR is fixed, the wide range sensor MS is installed at the position of dimension B, which is the sum of the maximum width dimension A and the appropriate dimension α described above. As a result, there is no overrun, and the shape and dimension measurement of the coil CO can be completed by the wide range sensor MS during automatic operation, so the coil shape and dimension measurement time do not affect the automatic operation time. Can be made.

Since the trailer bogie CC is manually stopped, it may be arranged diagonally as shown in FIG. When it is detected that the coil CO is arranged diagonally as a result of the measurement by the wide area distance sensor MS, the swivel device SL provided on the upper part of the coil lifter CL is finely moved to adjust the angle of the coil CO and the coil lifter. Adjust the angle of CL (F07 in FIG. 5). By ending this angle correction step while the dimension α is being moved, the crane can be automatically operated without the time loss of the automatic operation time.

When the traversing, running, and turning of the crane are completed, it is assumed that there is a hole in the center of the coil just below the top CT of the coil CO, and the claw CLN of the coil lifter CL is placed in the hole in the center of the coil CO. The winding is performed so as to match (F08, F09 in FIG. 5).

Here, since the measurement by the wide area distance sensor MS is not the fixed point stop measurement but the measurement during the crane movement, a measurement error may occur due to this. This error is position-corrected by the light transmission sensor provided in the claw portion CLN of the coil lifter CL shown in FIG.

As shown in FIG. 4, four sets of light transmission sensors PX1 to 4 and PR1 to 4 are arranged outside the four corners of the claw portion CLN of the coil lifter CL. Even if the claw CLN of the coil lifter CL is aligned with the target position set by the detection value of the wide range sensor MS, the position shift due to factors such as the detection error of the wide range sensor causes 4 sets of light transmission sensors PX1 to 4, PR1 to If any of the light-transmitting light PX of 4 does not pass light, the automatic crane CR is automatically moved in the direction of the sensor having light-transmitting light (in the example shown in FIG. 4, the directions of the light-transmitting sensors PX3 and PR3). All four light-transmitting sensors are in a state of passing light (F10 in FIG. 5). When the four light-transmitting sensors pass light, the claw portion CLN of the coil lifter CL is closed (F11 in FIG. 5), the coil CO can be automatically gripped, and the coil gripping positioning of the coil transporting automatic crane is completed.

The coil gripping method of the automatic coil transporting crane of the present invention has been described above based on the embodiment, but the present invention is not limited to the configuration described in the above embodiment and does not deviate from the gist thereof. The configuration can be changed as appropriate in.

In an automated coil transportation work place such as a steel mill, the position of the coil is controlled by a computer, but only the position of the coil on the trailer trolley brought in by a person can be detected by some method. Otherwise, the coil cannot be gripped by an automated crane. The position of the coil can be detected while moving the automatic crane without time loss, and the coil can be gripped. The present invention is extremely important for automating the crane for transporting the coil.

CR automatic crane MS wide area sensor CO coil CC trailer trolley PM trailer trolley stop position mark CL coil lifter SL swivel device TF automatic crane traveling direction SC wide area distance sensor scanning line A 1/2 coil width dimension B wide area distance sensor mounting position dimension α Movement distance dimensions CT Coil top height CLN Coil lifter claw PX Light-transmitting sensor light-transmitting PX1 Light-transmitting sensor light emitting side (upper left)
PX2 light-transmitting sensor light emitting side (lower right)
PX3 light-transmitting sensor light emitting side (lower left)
PX4 light transmission sensor light emitting side (lower right)
PR1 light-transmitting sensor light receiving side (upper left)
PR2 light-transmitting sensor light receiving side (lower right)
PR3 light-transmitting sensor light receiving side (lower left)
PR4 light-transmitting sensor light receiving side (lower right)

Claims (4)

The coil transport trailer trolley is placed at an approximate position according to the mark of the stop position, and the approximate stop position of the coil transport trailer trolley and the loading of the coil on the coil transport trailer trolley from the host computer. Based on the position information, the approximate location of the coil is determined, the automatic crane is automatically run with the approximate location of the coil as the target point, and the automation before the automatic crane reaches the approximate location of the coil. During the traveling of the crane, it was installed on the girder of the automated crane at the position of the center position of the hoisting device of the automated crane, in front of the traveling direction, at the position of the maximum width dimension of the coil handled by the automated crane plus a predetermined dimension. The wide area distance sensor that can measure the girder direction of the automatic crane in a wide range measures the correlation distance between the coil and the automatic crane and the shape of the coil. By collating with the result, the location position of the coil is recognized, and the target point of the location position of the initial approximate coil is rewritten to the location position of the coil based on the result measured by the wide range sensor, and the movement of the automatic crane is performed. A method for positioning a coil gripping position of an automatic coil transporting crane, which comprises setting a target position and automatically traveling the automatic crane to the movement target position to stop the automatic crane. The first aspect of the present invention is to adjust the angle of the coil lifter to the diagonal angle of the coil by the swivel device on the upper part of the coil lifter when it is measured that the coil is placed at an angle as a result of measurement by a wide range sensor. The method for positioning the coil gripping position of the described coil transporting automatic crane. The top of the coil is identified based on the results measured by the wide range sensor, and it is assumed that there is a hole in the center of the coil just below the top of the coil, and the coil lifter claw is located at the position of the assumed hole. The method for positioning a coil gripping position of an automatic coil transporting crane according to claim 1 or 2, wherein the portions are aligned. If any of the light-transmitting sensors attached to the outside of the four corners of the coil lifter's claws do not transmit light when the coil lifter's claws are aligned with the hole in the center of the coil, the light is transmitted in the direction of the sensor. 2 . How to position the coil gripping position of an automatic crane for.

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