JPH0331121A - Shipping equipment for metal plate coil - Google Patents

Abstract

PURPOSE:To accurately perform receipt, delivery, and transport of a coil, by inputting and mermorizing the running position of a carrier car, transport pallet information, a crane position signal, coil on pallet information, and coil storing position information to an actual results memory device provided for work instruction and management of work instruction and actual work results. CONSTITUTION:In the course to transport coils to a crane pier, the memorized contents as to position of a pallet carrier car 3 in the site and position of pallets, on tags provided on a carrier station, a pallet yard, a carrier running road, arc read with the car every arrival of the car at each tag station. Further, posture of the pallet and deviation from the indicated position are detected with a pallet position detecting device in the station, contents of the tags provided in the pallet are read with the car, these are introduced successively to a work instruction and actual results memory device 11, the coil position on the pallet is understood, and the crane hanging down position, hanging down position to the pallet and the position in the housing are controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a shipping facility for metal sheet coils transported from a hot rolling process or a cold rolling process.

[Prior Art] Conventionally, this type of shipping equipment for metal plate coils (hereinafter simply referred to as coils) has had the unloading end of the coil transport conveyor located in a coil receiving crane building, and a coil storage building located in the coil receiving crane building. A coil loading crane quay will be installed adjacent to the coil storage building on the unloading side, and coil transfer between the coil receiving crane building, coil storage building, and coil loading crane quay will be carried out by manned ram trucks,
This is done using a trailer, crane, etc.
Most of the instructions and results for storing and transporting coils within each building were managed by the workers.

[Problems to be Solved by the Invention] In the above-mentioned conventional technology, the operator intervenes in most of the steps, which increases logistics costs, and also makes it difficult to operate the trailer, ram truck, etc. smoothly due to erroneous operation, incorrect transportation, etc. .

In addition, accurate tracking of the coil becomes difficult, resulting in constant troubles in storage, transportation, and shipping. In addition, when automating cranes, when handling coils that have been transported by a manned person such as a trailer with an automatic crane, there is a problem of placement errors due to manned operation, so the coil loaded directly on the trailer etc. must be hand-linked with the automatic crane. Because it is difficult to
Once the coil was lowered into a fixed coil storage area, it was handled by an automatic crane. Furthermore, expansion of the conveyance path,
There are various issues such as maintenance issues for trailers, ram trucks, etc., and traffic safety issues for these carriers, and there is an urgent need to resolve these issues.

[Means for Solving the Problems] The present invention has solved the above-mentioned problems, and is characterized by the following:
In a metal sheet coil shipping facility, the coil storage crane building is located within a coil reception building, a coil storage crane building is adjacent to the coil reception building, and a coil loading crane quay is provided on the unloading side of the coil storage crane building. A pallet storage building for coil loading is adjacent to the building, and pallet stations equipped with pallet position detection devices are installed on the coil receiving side of the coil receiving building and on the coil loading and unloading sides of the coil storage crane building. Carrier position memory tags are provided at predetermined positions on the pallet storage areas of the carrier station, the pallet storage building, and the loading crane quay, as well as on the pallet transport path between the carrier stations and between the pallet storage areas. A pallet carrier car is equipped with pallet storage tags at the front and rear, and a data relay storage device that reads and wirelessly transmits the memory contents of the pallet storage tag and the carrier position memory tag. The traveling position of the pallet carrier car, transport pallet information, crane position signals from the cranes in each crane building, coil information on the pallet, and coil storage position information in the coil storage building are input and stored, and the pallet carrier car and each crane A track record storage device is provided for managing work instructions and work records, such as travel instructions and coil transport instructions.

[Effect] The operation of the present invention will be explained in detail below.

The present invention provides a coil shipping facility having the above-mentioned layout.
In the process of transporting the coils transported by the coil transport conveyor to the crane quay, the position of the pallet carrier car in the facility and the position of the pallet to be transported by the pallet carrier car are determined at each carrier station, pallet storage area, and carrier travel. The pallet carrier car reads the contents stored in tags placed appropriately on the road each time the pallet carrier car arrives at the tag position, and the pallet position detection device installed at each carrier station reads the contents from the orientation of the pallet and the designated position of the pallet. By detecting the amount of deviation of the coil on the pallet, reading the contents of the tag attached to the pallet with a pallet carrier car, and sequentially introducing these into the work instruction/results storage device, the position of the coil on the pallet can always be accurately grasped, and the crane can The crane lifting position of the coil to be transferred, the lifting position on the pallet,
It is also possible to accurately manage the location within the building. For this reason, accurate and smooth coil conveyance work instructions can be given to the pallet carrier car and each crane.

[Example] FIG. 1 is an explanatory diagram of the overall configuration of a coil shipping facility that is an example of the present invention. FIG. 2 is an overall functional configuration diagram of the system in the same embodiment. Figure 3 shows a side view (a) and a front view (b) of the pallet carrier car used in the same example.
, a plan view (barrel). FIG. 4 shows a side view (a), a front view (b), and a plan view (c) of the pallet carrier car used in the same embodiment.

■Relationship between coil flow and main equipment: In Figures 1 and 2, the coil that is hot-rolled and banded in building A, where the coils are prepared, is transferred to coil receiving line B on the coil conveyor 1 on the receiving side. It will be carried out. The crane 2 of the coil receiving line B uses a lifter to lift the coil on the discharge end of the coil conveyor and places it on a pallet (P shown in FIG. 4) placed at the carrier station PS1. This coil mounting pallet P is transported by a pallet carrier car (hereinafter simply referred to as a carrier) (3 shown in Fig. 3) to either a coil loading pallet mounting E (hereinafter referred to as a pallet warehouse) or a coil storage crane building C (hereinafter referred to as a pallet warehouse). (referred to as automated warehouse)
The carrier station PS2 is provided on the loading side of the carrier station PS2. The automatic crane 4 of the automatic warehouse C lifts and transports the coils on the pallet of the carrier station PS2 using a lifter, stacks and stores them at a designated position, and also lifts the coils on the pallet of the carrier station PS3, which has already stored coils on the unloading side. transport. The coil loading pallet P of the carrier station PS3 is transported by the carrier to the designated position of the tag array (CT6 to CT+6) line provided in the center of the traverse path of the quayside crane 5 on the quayside of the coil loading crane. The quay crane 5 loads and transports the coils in the coil-loading pallet warehouse according to instructions. Empty pallets or pallets with coils loaded thereon are temporarily stored in the pallet warehouse E. Empty pallets are transported to carrier station PS1 by carrier 3, and pallets with coils loaded are transported to carrier station PS2 or the crane quay to carrier 3. The tag array (CT6 to CT+6) is transferred to the line port.

@Configuration of each equipment: The crane 2 of the coil receiving line B is operated by an operator, and includes a traveling position detection device 6, a traversing position detection device 7, a weighing device 8, a display device 9, an input device 1O1 and a drive control section of the coil unloading conveyor 1. A conveyor lock transmitter 14 for transmitting a conveyor lock signal is provided to the conveyor lock receiver (device A 13), and a data relay storage device 12 is provided which is connected to these and relays wirelessly to the work instruction record storage device 11.

The crane 4 of the automatic warehouse C is operated automatically and has a traveling range detection limit switch 104, a traveling position detecting device 15, a speed detector 101, a traversing position detecting device 16, and a loading detector 10.
3. A weighing machine 17, a coil position detection device 18, a lifter opening degree detector 102, a lifter height position detection device 19, an adjacent coil detection device 20, a coil hole detection device 21, and a crane drive control device 22 are provided and connected to these. A data relay storage device 23 is provided for wirelessly relaying data to the work instruction/results storage device 11. The quay crane 5 is operated by an operator and is equipped with a weighing machine 24, an input device 25, a display 26, and a data relay storage device 27 connected to these devices and relayed wirelessly to the work instruction/performance storage device 11.

The carrier 3 is operated by an operator and, as shown in FIGS. 3 and 4, carries a gate-shaped pallet P placed on top thereof.

Then, the memory pallet of the memory tag PT provided on the pallet P is read. Pair of front and rear barre 14 readers 28.29
and position memory tags for carrier tracking placed at required positions in the carrier stations PS1 to PS3, the center of the quay crane travel path, and in the pallet warehouse E, as shown in FIG. CT,
~CT, carrier position reader 30 for reading the storage position of 6
, 40 are provided in pairs, and an input device 31 and a display device 32 are provided, and a work instruction/results storage device 11 is connected to these.
(hereinafter referred to as the general control device 11) and a data relay storage device 33 for wireless relaying.

Further, as shown in FIG. 3, the carrier 3 has a lifting platform 34 for placing a pallet on the back, and driver seats 35 and 36 at the front and rear, respectively, so that the carrier 3 can be entered from either the front or rear open ends of the pallet P. It has become. The pallet P is also provided with a plurality of coil holders 37 on the back as shown in FIG.

Further, each of the carrier stations PS1 to PS3 detects a pallet position memory tag PT placed on the pallet P at the carrier station and stores the pallet P.
Pallet position detection devices 37, 38, and 39 are provided to detect the orientation of the pallet and the amount of deviation from the designated location. Next, the overall system functional configuration of each of these facilities is as shown in FIG. 2, and parts corresponding to those in FIG. 1 are given the same reference numerals.

In FIG. 2, the data relay storage device I2 in the crane 2 of the coil receiving line B includes a work command section 201, a work instruction display output section 202, a work result import section 203, a result storage relay section 204, and a current value import section. 205, an erroneous operation check section 206, and a conveyor lock output section 207. The data relay storage device 33 in the carrier 3 is connected to the work instruction unit 2
08, Work instruction display output section 209, Work results import section 21
0, a track record storage relay section 211, a reading track record import section 212, and a work error check section 213.

The data relay storage device 231 in the automatic crane 4 includes a work instruction section 214, a drive control section 215, a current value acquisition section 216, a safety monitoring control section 217, a crane travel/traverse position control section 218, and a lifter height position control section 219. , lifter opening degree control section 220, speed control section 221, steady rest control section 222, malfunction check section 223, performance memory relay section 2
It has 24. Safety confirmation indicator lights 22 are installed at designated locations in each building.
5 is installed.

The data relay storage device 27 in the quay crane 5 includes a work command section 226, a work instruction display output section 227, a work result import section 228, a result storage relay section 229, and a result import section 23.
0, it has an erroneous operation check section 231. General control device 1
1 is a work instruction creation unit 301, 302, which outputs the content of the work instruction to each of the work instruction units 201, 208, 214, and 226 of the data relay storage devices 12, 23, 27, and 33;
302, 304, and each data relay storage device 204゜2
Work performance management department 305.306.307.308 that inputs and manages data from each of 11, 224, and 229.
, an automatic operation safety monitoring section 309 that inputs signals from the passage detector 100, and an automatic crane safety control section 310 that is connected to this and outputs signals to the work command section 214 of the data relay storage section 23 for the automatic crane 4. , the signal from the performance storage relay section 224 of the data relay storage section 23 is introduced, and the signal is sent to the safety confirmation indicator light 225 via the automatic driving safety monitoring section 309.
a periodic current value acquisition unit 311 that sends an operation signal to the pallet position detectors 37 to 39; a pallet displacement amount acquisition unit 312 that inputs signals from the pallet position detectors 37 to 39 and acquires the amount of pallet displacement; Connected to the automatic crane work order creation section 30
3 and a work instruction modification section 313 that introduces a modification signal.

A series of operational examples of this example equipment will be explained in detail below with reference to FIGS. 1 and 2.

(1) The carrier operator transports the designated empty pallet P to the carrier station PSl designated by the coil receiving line B based on the work instructions displayed and output from the general control device 11 on the display 32 installed on the carrier 3.

(2) When the carrier operator arrives at the designated location, he inputs his arrival using the input device 3I of the carrier 3-F. When the arrival input is performed, the data relay storage device 33 of the carrier 3+ issues a command to the carrier position reading device 30 to read the carrier position detection tag CTn.

After the carrier position reading device 30 completes data reading from the CT, the carrier position reading device 30 passes the read data to the data relay storage device 33. The data relay storage device 33 stores the data read from CTo (
Check whether it matches the carrier station PS specified in step 1), and if it does not match, display it on the display 32,
Instruct carrier operator to rework. If they match, the pallet arrival record data is input into the overall control device I+.

(3) When the general control device 11 receives the pallet arrival record data, it determines how much the pallet placed position deviates from the predetermined reference position of the predetermined pallet storage area of the carrier station PS1. In order to know whether the pallet position is correct or the amount of deviation, the amount of deviation is read from the pallet position detection device 37. This amount of deviation is the pallet P relative to the reference position.
It is given by the amount of longitudinal deviation and the amount of horizontal deviation.

(4) On the other hand, the finished coil manufactured in the coil finishing line building A is transported to the coil receiving line B by the coil transport conveyor 1. When the finished coil arrives at the coil receiving line B, the general control device 11 transmits the receiving coil location data and the unloading position of the receiving coil to the data relay storage device I2 and display 9 installed on the coil receiving line overhead crane 2. Output data and coil weight. At this time, the receiving position is on the unloading path of the coil conveying conhair 1, and the unloading position is on the pallet placed in the pallet storage area of the carrier station PS1.

(5) Since the pallet moves and the coils are handled at the destination, the position of the finished coil on the pallet must be accurately managed using the absolute position on the coil holder 37 of the pallet, and at the carrier arrival position at the destination. Convert to absolute position on the warehouse. For this reason, when determining the unloading position of the pallet in (4), correction is performed based on the amount of pallet shift in (3), so that the absolute position of the coil on the pallet does not deviate from the target position of the overall control device 11.

(6) Based on the instructions from the general control device 11, the crane operator moves the crane 25 to the position of the transfer conveyor 1 to carry out the coil receiving work. The data relay storage device 12 periodically reads the current position of the crane 2 by the traveling position detection device 6 of the crane 2, and determines whether the traveling position of the crane 2 is the receiving coil position given by the general control device 11 in (4). When the vehicle approaches the conveyor lock transmitter 14 on the crane, a command is given to the conveyor lock transmitter 14 on the crane. This command is received by the receiver 13 on the ground, locks the operation of the conveyor 1, and makes the conveyor 1 unable to move. The crane operator stops the crane 2 when the traveling position is instructed by the general control device 11, moves the club of the crane 2, and stops the club when the crane traverse position reaches the position specified by the general control device 11. , lifter (
(not shown) to begin lifting the receiving coil.

(7) When the lifter completes lowering to the center position of the coil, stop lowering the lid, grab the receiving coil with the lifter,
Start hoisting the lifter. When the coil leaves the conveyor, its weight is detected by a weighing machine 8 installed on the crane. The weighing machine 8 sends a signal to the data relay storage device 12 when it detects that the weight of the coil 6 is equal to or greater than a preset weight that can be recognized as being lifted.

The data relay storage device 12 reads the current position data in the traverse direction from the travel and traverse position detection device 6.7 at the timing of receiving the signal from the weighing machine 8. Then, in step (4), it is checked whether the running/traversing position is within the permissible range given by the general control device 11, and if it is within the range, the general control device 11 is notified that the coil on the conveyor 1 has been lifted.

If it is outside the range, notify the operator that the work is incorrect.

(8) When the data relay storage device 12 finishes checking the position, it takes in the weighing value of the weighing device 8, and checks the weight given by the general control device 11 in (4) to prevent incorrect work. If the weight check is 0, a command to release the conveyor lock is output to the conveyor lock transmitter 14. This command is received by the receiver 13 on the ground, and the conveyor 1 is unlocked, allowing the conveyor to move.

(9) Next, the operator of the crane 2 selects the carrier station PS given by the general control device 11 in (4).
The crane 2 is moved toward the coil unloading position on the first pallet P. The traveling position and traversing position of crane 2 are (4)
When the crane reaches a position that matches the position given in , the crane 2 is stopped and the unloading work of the coil is started.

(10) When the coil lands on the pallet of the carrier station PSI, the load on the crane-mounted weighing machine 8 is reduced. When the weighing machine 8 detects that the weight is less than a preset weight, it outputs a signal to the data relay storage device 12. At the timing of receiving this signal, the data relay storage device 12 reads the data of the traveling and traversing position detecting device 6.
) is checked to see if the unloading position data given is within the allowable range, and if it is outside the range, the crane operator is notified of an incorrect operation. When the coil unloading work is completed, the crane operator performs a series of work completion inputs from the input device 10 on the crane.

When the data relay storage device 12 recognizes the completion input, the data relay storage device 12 transmits the unloading position traveling and traversing position data to the general control device 1.
Notify 1 that the work is complete. The overall control device 11 stores the coil position of the pallet for each coil based on the traveling and traversing position data sent from the data relay storage device 12.

(11) When the general control device 11 recognizes the completion of coil loading onto the pallet, it conveys the fully loaded pallet P to the data relay storage device 33 and display device 32 installed on the carrier 3 (lO). The carrier operator then starts moving to the location indicated by the display data on the display 32. This instruction is the reception building pallet storage area & (=data set in the Kissa 9 position detection tag CTo) and pallet (=pallet detection tag PT installed on the pallet).

data set in ).

(12) After the carrier arrives at the designated pallet storage area in the receiving building and stops, the carrier operator inputs the arrival information using the input device 31 of the carrier. When the data relay storage device 33 installed on the carrier recognizes the arrival input, it issues a command to the carrier position readers 30 and 40 installed before and after the carrier 3, and reads the carrier position installed in the pallet storage area of the carrier station PS1. Data is read from the detection tag CT.

The data relay storage device 33 stores the CTI read data (1
In step 1), it is checked whether it matches the pallet storage area given by the general control device 11. If the process is unsuccessful, the operator is notified of the error. When there is a match, CT
, is read by either the front or rear carrier position reader 30.
It remembers whether it was read at 40.

Next, pallet reader 2 installed before and after the carrier.
Issue a command to 8 and 29 and read the data of the pallet detection tag PTn installed on the pallet, (11)
Checks if it matches the given palette. If there is a discrepancy, notify the operator, and if there is a match, notify the PT,
It is stored which pallet reader 2B, 29 read the previous or next pallet.

(13) The data relay storage device 33 of carrier L is (
12) Check results, carrier position, pallet etc.
0 When the instructions from the general control device 11 match, the general control device 11
The arrival of the carrier is notified along with the stored data in (12). When the general control device 11 receives this notification,
The next destination instruction is given to the carrier 3, and the direction in which the carrier and pallet are combined is determined and stored. This instruction is
This is performed based on either the pallet storage location & (= CT setting data) of the carrier station PS1 in the automatic warehouse or the data of the pallet storage location in the pallet warehouse E. The carrier operator starts transporting the plow pallet based on this instruction.

(14) If the destination instruction in (13) is pallet warehouse E, the carrier operator arrives at the specified pallet storage area, stops the carrier, and then inputs the arrival information from the input device 31 on the carrier. Data relay storage device 33 on carrier
Similarly to (12), the carrier position reading devices 30 and 40 are instructed to read the carrier position detection tag CT, , and check whether it matches the pallet storage location specified in (13). Performs a check, and if it is -, CT
The arrival is notified to the general control device 11 along with the data indicating which reader was used before or after the reading of . The overall control device 11 determines in what direction the pallet was placed in the pallet warehouse by combining the data stored in (13) with the current data and stores it.

(15) Next, the case of destination instruction or automated warehouse in (13) will be explained.

(16) When the carrier operator arrives at the entrance of the automated warehouse C, he inputs a large building request to the automated warehouse C using the input device 31 on the carrier. The data relay storage device 33 relays this input to the overall control device 11.

The general control device 11 is the carrier 3 where the main request input was made.
On the other hand, it is checked whether the destination instruction to the automated warehouse C has been outputted, and if the instruction has not been outputted, the operator is notified by displaying on the display 32 that the operation is erroneous.

If an instruction has been issued, control from step (17) onward is performed to ensure the safety of the operator.

(17) Within the automated warehouse C, there are zones at both ends of the automated warehouse where the carrier 3 operates and the zone where the operating range of the automatic crane overlaps.

The crane drive control device 22 on the automatic crane 4 controls the drive of all the cranes 4, and all operation instructions are given from the general control device 11. Additionally, traveling/traversing position data is read at regular intervals and the data is sent to the overall control device 11.

The general control device 11 always controls the automatic crane 4 based on the position data.
The position of the automatic crane 4 is monitored, and if the automatic crane 4 starts operating in a manner different from the instructions from the general control device 11, an output is made to forcibly stop the automatic crane 4.

(18) When the carrier 3 makes a legitimate request for the large building to the automated warehouse C, the general control device 11 issues a command to limit the operating range of the automated crane 4 so that the automated crane 4 does not come into the lap zone. It is output to the crane control device 22 on the automatic crane 4. Then, a display output is performed on the display 32 to indicate permission for the carrier operator.

(19) After confirming the large building permission display, the carrier operator enters the carrier station P in the wrap zone in automated warehouse C.
Conveyance of the pallet is started in S2. When carrier 3 A3 starts entering the automated warehouse, the passage detection sensor installed between it and carrier station PS2 turns on.
do. This signal is input to the general control device 11, and the general control device 11 memorizes that the carrier 3 has entered the wrap zone, and at the same time, the pallet position detection device 37 installed at the wrap zone carrier station PS2
Outputs a detection operation start command. When the carrier advances and the pallet position detecting device 37 reaches a detectable range, the pallet position detecting device 37 displays a lamp to notify the carrier operator. When the carrier operator arrives at the carrier station PS2, after confirming that this lamp is lit, he inputs his arrival from the input device 31 on the carrier.

(20) When the arrival input is performed, the data relay storage device 33 on the carrier transfers the data to the carrier position reading device 30, 40.
Instructs to read the carrier position detection tag CT2, and checks whether it matches the tag at the carrier station PS2 instructed in (13). The arrival is notified to the general control device 11 along with the data read by the reading device. The overall control device 11 determines the direction in which the pallet is placed based on the current data and the carrier and pallet combination direction stored in (13), and also determines the amount of deviation of the pallet position from a predetermined reference pallet position. Read the amount of deviation detected by the pallet position detector. Then, from the traveling/traversing position data when loading the coil on the pallet stored in (10) and the current deviation amount, each coil position on the pallet in the automated warehouse wrap zone is converted into traveling/traversing absolute position data and stored. do. The carrier 3 with the pallet placed thereon exits the lap zone along the opposite route to the way it entered the lap zone. At the time of exit, the passage detection sensor 100 is turned on, this signal is input to the general control device 11, and the general control device 11 stores the carrier passage. When the carrier operator completes leaving the lap zone, the carrier operator inputs the completion of leaving from the input device 31. This input is relayed by the data relay storage device 33 on the carrier and input to the general control device 11. This input is sent to the overall control device IJ, and the passing sensor 10
When the passage by 0 is stored, it is determined that the carrier has completely exited from the lap zone.

(21) When the carrier exit from the lap zone is completed 1-, the general control device II instructs the crane drive control device 22 on the automatic crane to cancel the automatic crane operating range restriction commanded in (18). In addition to outputting
Change the display output for carrier operators to display permission for large blocks to display output for prohibition of large blocks.

(22) Next, the general control device 11 controls the pallet PT placed at the carrier station PS2 of the automated warehouse in (20).
.

The automatic crane 4 necessary for the crane drive control device 22 to pick up the coil on the pallet with the automatic crane 4 in order to receive the above finished coil into the automatic warehouse C and the coil storage area.
travel and traverse position data, lifter height position data, coil weight, coil width, coil diameter, coil inner diameter data, and travel and unloading position data necessary to unload the grabbed coil to the planned location in the warehouse. The traverse position data and lifter height position data are passed to the crane drive control device z2, and a command for receiving work is output.

(23) Crane drive control device 22 for automatic crane
When receiving the receiving work order,
While reading the position of the automatic crane 4 with the traveling/traversing position detection device 15 and 16, aiming at the traveling position data,
While performing positioning control (APC) of the crane, move to the target position of the coil on the pallet to receive the coil,
Stop. Next, the lifter starts descending, and at the same time, a distance meter attached to the lifter starts measuring the distance between the coil position detection device 18 and the target coil. When the distance from the target coil reaches a predetermined distance, a coil position detection device 18 attached to the lifter measures the amount of deviation between the center of the target coil and the center of the lid. When the measurement is completed, the crane drive control device 22 reads the amount of deviation and again controls the positioning of the crane by the amount of deviation and stops moving. At this time, control is performed to prevent the lifter from swinging so that the swing of the lifter is minimized, and the lifter is stopped. Simultaneously with the lowering of the lifter, the lifter is opened to an opening degree corresponding to the coil width of the target coil. Lift 7 The phototube of the coil hole detector 21 attached to the claws at both ends of the lid continues to descend from the initial light-passing state to a light-blocking state by the target coil, and then to a light-transmitting state due to the hole in the target coil. When this light passing state becomes a state in which the lifter can grasp it, and the height of the lifter measured by the lifter height position detection device 19 is within the allowable range with respect to the target value given in (22), the lifter lowers. Stop F, command the lifter to open, and perform a gripping operation on the target coil. Adjacent coil detection device 2 attached to the lifter while the lifter is lowering
When 0 or an adjacent coil is detected, the lifter lowering is stopped at that point and automatic operation is stopped.

(24) When the grasping operation of the coil on the pallet is completed,
The crane drive control device 22 starts hoisting the lifter. When hoisting starts and the coil loading detector 103 attached to the lifter turns ON, the crane drive control device 22 reads the weight of the weighing machine, compares it with the coil weight passed in (22), and if it is outside the allowable range, It was determined that this was an incorrect operation, and hoisting was halted, as well as automatic operation. If it is within the allowable range, continue hoisting until the lifter is fixed by the crane body's lid fixing device and complete the operation.

(25) When the hoisting is completed, the crane drive control device 2
2 starts movement control with the traveling/traversing position data of the coil unloading place passed in (22) as the target, stops when reaching the target position, and targets the unloading position lid height data passed in (22). Start lowering the lifter. When the lifter height reaches around the target height, it descends at a slow speed and the coil loading detector +03
At the OFF timing, the lifter current height is read from the lifter height position detection device 19, and is passed to the overall control device 11 as the actual landing height along with the traveling/traversing current position data, and the lowering is stopped and the unloading operation is completed. The overall control device 11 stores the input data and uses it as target data when issuing a work command for the same coil next time. Even if the target height is exceeded, the coil loading detector 103 turns OFF. If not, it is determined that there is an abnormality and the lifter lowering is stopped and automatic operation is stopped.

(26) When the unloading operation is completed, the lifter opening is expanded, the coil is released, and the coil is placed at the location instructed by the general control device 11. Only the coil group completes the lifting of the lid, and the lifter is wound up to the position where it is fixed at the lifter fixing position, and the operation is completed.

(27) After that, according to the number of coils on the pallet (22)
) to (26) are repeated to complete receiving the coil on the pallet. The empty pallet is conveyed to the next work site by the general control device 11 instructing the carrier 3 to carry it out.

(28) Next, the shipping work from automated warehouse C will be explained.

(29) When the general control device 11 recognizes the occurrence of shipping work, it outputs the data of the destination pallet storage area and the pallet to the data relay storage device 33 and display 32 installed on the carrier 3, and transfers the empty pallet. Give directions for the trip. The carrier operator moves to the location indicated by the display data on the display 32.

(30) After the carrier 3 arrives at the designated location and stops, the carrier operator uses the input device 31 on the carrier 3 to
Enter the arrival information. The data relay storage device 33 on the carrier 3 performs the same processing as (+2) (13), such as pallet storage and pallet checking.

The overall control device 11 performs the same process as (13), and gives the carrier 3 a pallet storage location in the automated warehouse C as the next destination instruction. The carrier operator starts transporting the pallet P based on this instruction.

(31) From then on, the steps from the arrival of the carrier 3 at the entrance of the automated warehouse C to the placing of the pallet at the designated location and the exit of the carrier 3 from the automated warehouse C are the same as in (16) to (21) above.

(32) Next, in order to load the coil to be shipped in the automated warehouse C onto the pallet placed in (31), the central control device 11 requests the crane drive control device 22 to lift the coil to be shipped. Automatic crane travel/traverse position data, lifter height position data, coil weight, coil width, coil inner diameter data, and travel/traverse position data of the unloading position required to unload the lifted coil onto a pallet. , S1 Pass the lid height position data and output the command for the dispensing operation.

(33) When the crane drive control device 22 receives the command for the payout operation, it sets the traveling/traversing position data passed in (32) as a target, and thereafter performs the same control as in (23) to (26) described above.

(34) Repeat steps (32) and (33) until the coils scheduled to be placed on the pallet P are completely loaded. When the general control device 11 recognizes that the pallet has been loaded, it instructs the carrier operator about the destination in order to transport the pallet to the shipping quay, as in (29). The carrier operator starts moving the carrier 3 based on the instructions.

(35) The process from the arrival of the carrier 3 to the automated warehouse C to its entry into the automated warehouse C is the same as in (16) to (18) above.

(36) Carrier 3 enters the up zone in automated warehouse C, and the passing detection sensor turns on. This signal is input to the general control device 11, but it recognizes that the carrier is entering the up zone, so Operation commands are not output to the pallet position detection 2 output. The carrier must be coupled with the pallet to transport the fully loaded pallet. When the carrier approaches a position where it can be combined with the pallet, it stops, and the carrier operator inputs an arrival input using the input device 31.

(37) When the arrival input is performed, the data relay storage device 33 on the gear rear issues a reading command to the carrier position reading device 30.40 and pallet reading device 28.29, and reads the respective detection tags CTo and PTo. Then, in step (34), it is checked whether the data matches the data passed from the general control device 11. If either one of them does not match, it is determined that the operation is incorrect, and a warning is issued to the carrier operator to urge him or her to perform the correct operation. If both match, CT, PTn are 28.29.3 respectively.
The arrival of the carrier is notified to the general control device 11 along with data indicating which reading device was used before or after 0.40.

(38) The general control device 11 recognizes and stores the coupling direction of the carrier and pallet from the received data, and also uses the data relay storage device 33 and display 32 on the carrier.
Give directions to the shipping quay. Pallet storage on the shipping quay is not a fixed system like in a warehouse, but a zone system, so destination instructions are given within a certain range of carrier position detection tags CT embedded in the carrier path. The carrier operator starts transporting the plow pallet based on the instructions.

(39) When the carrier starts to leave the automated warehouse C, the passage detection sensor turns on during the journey. The overall control device 11 that has detected this signal stores the carrier passage. When the carrier operator completes leaving the automatic warehouse C lap zone, he inputs the completion of leaving from the input device 31.

This input is input to the general control device 11 via the data relay storage device 33. The overall control device 11 determines that the carrier has completed leaving the automated warehouse C when the passage detected by the passage detection sensor is stored at this timing.

(40) When the exit of the carrier is completed, the central control device 1
Step 1 performs the same operation as (21), and cancels the automatic crane operating range restriction performed in (35).

(41) When the departure line from automated warehouse C is completed, the carrier operator inputs the start from the input device 31, and (
38) Start transporting the pallet to the designated quay. When the data relay storage device 33 on the carrier recognizes the start input, it issues a command to the carrier position reading device 30, 40 to start a reading operation.

(42) The carrier operator enters the designated carrier path on the quay and heads to the designated pallet storage zone. When the carrier enters the carrier passage inside the quay, carrier position detection tags CT installed at regular intervals in the passage
o are read one after another by the reading devices 30, 40 on the carrier. The data relay storage device N33 on the carrier receives the reading results and stores them in chronological order for each reading device.

(43) The driver's seat of the carrier is located in the front and rear, and it is possible to drive forward or backward from either driver's seat.

Carrier position reading devices 30 and 40 are located at two locations, front and rear.

Furthermore, the tag CTs in the quay passage are installed at intervals smaller than the interval between the two readers. Therefore, the data stored in chronological order in (42) changes with a constant relationship depending on the carrier's traveling direction.

(44) Upon arriving at the designated location, the carrier operator stops the carrier and inputs an arrival input using the input device 31. The data relay storage device 33 recognizes the arrival at the quay and resets the read command to the carrier position reading device 30.40. Next, in step (42), based on the data stored in chronological order, it is checked in step (38) whether the arrival location is within the zone instructed by the general control device 11, and if it is not within the zone, a warning of incorrect work is issued to the operator. If arriving within the zone,
Issue a reading command to the pallet reading devices 28 and 29 to read the pallet combined with the carrier, (37)
Checks whether it matches the pallet item read in, and issues a warning to the operator if there is a mismatch. In the case of a pallet drop, the direction in which the pallet is placed is determined based on the combination relationship between the carrier and the pallet and the time-series data stored in (42), and the result is input to the general control device 11 along with the notification of arrival. do.

(45) The general control device 11 stores the positional relationship between the coil and the pallet when loading the coils onto the pallet in the automated warehouse C, and based on the arrival input to the quay and the direction of the pallet in (44), the quay crane 5 The position of the finished coil when looking at the pallet from above is stored as coordinates on the pallet.

(46) Next, the data relay storage device 2 on the quay crane 5
7 and the display 26 to indicate which coil on the pallet should be lifted using the coordinates stored in step (45), and also output the location where the suspended coil should be unloaded and the coil weight data. The crane operator works according to these instructions, and when the coil is lifted, the weighing machine 26 on the crane automatically starts weighing.

When the weighing is completed, a signal is sent to the data relay storage device 27.

The data relay storage device 27 reads the weighed value at the timing of this signal, checks whether the weighed value matches the data received from the central control device 11, and issues a warning of erroneous operation if it does not match. When a match is found, the operator unloads the coil into the hold and then inputs the completion of the work using the input device 25.

(47) The work completion input is input to the general control device 11 via the data relay storage device 27. General control device 1
1 outputs the work instruction to be lifted next in the same way as (46). (46) The coils on the pallet are turned over until there are no more coils on the pallet, and the shipping work is completed.

[Effects of the Invention] As is clear from the above description, the present invention allows the coils transported from the coil finishing line to be transported from the crane in the coil receiving building using pallets and pallet carrier cars whose positions are controlled within the facility. Receiving, transporting, transporting to the coil storage building, handing over and receiving to the coil storage building crane,
This allows transportation to the crane quay and delivery to the quay crane accurately and smoothly.

[Brief explanation of drawings]

FIG. 1 is a block explanatory diagram showing one embodiment of the present invention, FIG. 2 is an overall functional configuration diagram of the system of the same embodiment, FIG. 3 is an explanatory diagram of a pallet carrier car, and FIG. 4 is an explanatory diagram of a pallet carrier car. FIG. 4 is an explanatory view of the pallet, in which (a) in FIGS. 3 and 4 is a side view, (b) is a front view, and (c) is a plan view. A...Coil stacking line, B-...Coil receiving line, C
...Coil storage crane building (automated warehouse), D...Coil loading crane quay, E...Pallet warehouse, P...
・Pallet, PS1 to PS3...Carrier station, CTn...Carrier position tag, PT,...Tag for pallet...Coil transfer conveyor, 2...Crane, 3...
・Pallet carrier car (carrier), 4... Automatic crane, 5... Quay crane, 11... General control device (work instruction/result storage device), 12, 23, 27
．． 33...Data relay storage device

Claims (1)

[Claims] 1. The unloading end of the metal plate coil conveyor is located in a coil receiving building, a coil storage crane building is adjacent to the coil receiving building, and a coil storage crane building is located adjacent to the coil storage crane building on the unloading side of the coil storage crane building. In a metal plate coil shipping facility equipped with a loading crane quay, a pallet storage building for coil loading is adjacent to the coil storage crane building, and the coil receiving side of the coil receiving building, the coil loading side of the coil storage crane building, and the coil unloading side are located adjacent to the coil storage crane building. A carrier station equipped with a pallet position detecting device is provided on each side, and a carrier station is provided at each carrier station, the pallet storage building, each pallet storage area on the loading crane quay, and a pallet transport path between the carrier stations and between the pallet storage areas. A carrier position memory tag is provided at a predetermined position, and a pallet number is placed before and after each coil mounting pallet. A memory tag is arranged and the pallet No. A pallet carrier car equipped with a data relay storage device that reads and wirelessly transmits the memory contents of the memory tag and the carrier position memory tag is arranged, and the pallet carrier car travel position, transport pallet information and the above information are transmitted from the pallet carrier car. The crane position signal from the crane in each crane building, the coil information on the pallet, and the coil storage position information in the coil storage building are input and stored, and work instructions such as travel instructions and coil transport instructions for the pallet carrier car and each crane are input and stored. A metal sheet coil shipping facility characterized by being equipped with a performance storage device for managing work performance.