JPH0335816A - Controller of overhead crane for transporting coil steel - Google Patents

Abstract

PURPOSE:To transport coil steel only by equipping 1st and 2nd light transparent sensors 1st and 2nd arithmetic means for the respective sensors and controllers on an overhead crane for transporting coil steel material as it is hung. CONSTITUTION:In a falling process of a coil hanger 11, the projecting light of the 1st sensor 7a equipped at a claw part 15 is intercepted by an outside diameter part of the coil steel, then, the projecting light of the 2nd sensor 7b is intercepted. Continuously, when the coil hanger 11 falls, the 1st sensor 7a turns on, then, the 2nd sensor 7b turns on. Change of such sensor outputs decides the upper surface of the outside diameter of the coil steel, the upper surface of an inside diameter, the lower surface of the inside diameter and the lower surface of the outside diameter successively. The outside diameter, the inside diameter, the center of the coil steel material are operated respectively from this result. It becomes possible to determine the timing for stopping the coil hanger 11 from the operated result. In this way, since two sensors operate the timing with detected signals when the sensors cross the steel, the division between the steel and an obstruction is cleared up to improve safety and transportation efficiency.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a control device for moving a coiled steel material to another location while being lifted by an overhead crane.

[Prior Art] In order to move a coiled steel material (for example, when pickling a steel strip after rolling), it is usually carried out using an overhead crane because this product is heavy and large. There is. Although it is possible to operate the overhead crane manually, g-motion transportation is used for the purpose of saving labor and preventing accidents.

Various devices have been proposed as means for controlling this self-#JWI transmission, such as JP-A-61-42424, JP-A-61-150952, JP-A-51-162-447, and JP-A-61- There is No. 31036, etc. Then,
A magnetic sensor or a photo-electric sensor is used to detect the position of the coiled steel material.

[Problem to be solved by the invention] However, in all of the above-mentioned conventional IvIm devices, it is difficult to distinguish between coiled steel materials and other steel materials, for example, when there is an obstacle in the vicinity of the coiled steel materials. There was no consideration given to the distinction between vehicles and obstacles, and it could not be said that sufficient consideration was given to safety.

The present invention was made to solve this problem, and an object of the present invention is to provide a control device for an overhead crane for transporting coiled steel materials, which can reliably transport only coiled steel materials.

[Means for Solving the Problems] In order to achieve the above object, the present invention includes a coil hanger that can be raised and lowered and a pair of claws provided inside the tip of the coil hanger to hold the coiled steel material. Prepare,
In the overhead crane that transports the coiled steel material while suspending it, the first crane is disposed at a predetermined distance above and below each of the opposing parts of the claw part. A second light transmission type sensor, and a second light transmission type sensor, and the first light transmission type sensor as the coil hanger lowers. a first calculating means for calculating each of the outer diameter, inner diameter, and center of the coiled steel material from the detection state of the second light-transmitting sensor; and the lowering coil hanger based on the calculation results by the calculating means. a control means for stopping the coil hanger at the center of the coiled steel material, and a second @ calculation means for determining the stop timing of the coil hanger after the suspension movement of the coiled steel material based on the calculation result. It is configured so that it has the following features.

[Function] By configuring as described above, during the lowering process of the coil hanger, the light emitted from the first sensor provided on the claw part is blocked (turned off) by the outer diameter part of the coil steel material, and the light emitted from the tJS2 sensor is then turned off. Light is blocked (off).

When the coil hanger continues to descend, the first sensor is turned on, and then the second sensor is turned on. From this change in sensor output, the upper surface of the outer diameter of the coil preparation,
The upper surface of the inner diameter, the lower surface of the inner diameter, and the lower surface of the outer diameter are sequentially determined, and from these, the outer diameter, inner diameter, and center of the coil steel material are calculated, respectively. From this @ calculation result, stop E of the coil hanger.
It becomes possible to determine the timing. in this way,
Calculations are performed using detection signals when two sensors cross the steel material, so it is clear to distinguish between the coiled steel material and the obstacle when there is an obstacle near the coiled steel material, which was a problem in the past. This can prevent erroneous stops and improve safety and transport efficiency.

[Embodiment] FIG. 1 is a block diagram showing the main components of an embodiment of the present invention.

The control device is an arithmetic control panel 1, which is configured using a microcomputer or the like. IIM that controls the electric motor control panel 2 that drives and controls the drive motor and the hydraulic system 23 that will be described later.
It is mainly composed of a valve control g130, and controls the overhead crane and coil car.

The overhead crane 10 has a coil hanger 31 for hoisting a coiled steel material. Winding @12 for raising and lowering this coil hanger 11. Motor 13 that drives the take-up 41112. The coil hanger 11 includes a truck part 14 for moving the winding a12 along a conveyance rail, and a claw part 15 which is horizontally movably attached to the circular side of the coil hanger 11 and grips both sides of the coiled steel material.

The shaft of the winding machine 12 is equipped with a pulse generator (PLO) that detects the number of rotations.3. Coil hanger 11 from rotating state
Cam switch (CMS) that detects the upper and lower limits of 4.
The driver 5 serves as a driving source for opening and closing the claw portion 15 in the horizontal direction.
．． Mitsutwitches (LS) 6a, 8b detect that the claw portion 15 moves inward and contacts the side surface of the coil steel material.
Photo sensors (PH>7a (11 sensors) + 7b (second sensor) are provided to detect when the tip of the claw portion 15 passes through the upper half of the coil steel material.

The coil car 20 also includes a movable truck section 21, a jet roll 22, which can be lowered freely for receiving or delivering coil steel materials from the overhead crane 10. Hydraulic device 23 for raising and lowering the cradle roll 22. A rack 24 mounted vertically on the crater roll 22 and the rack 2
It is composed of a pinion 25 that meshes with the pinion 4 and rotates.

The binion 25 has a cradle roll 2 due to its rotation speed.
Pulse generator 8 (PL
A limit switch 9 for detecting the lower limit position of the cradle roll 22 is provided at the upper part of the carriage portion 21. Further, the hydraulic device 23 is provided with a solenoid valve 31 that controls its operation.

Next, before explaining the operation of one or more embodiments, the outline of the procedure for transporting the coiled steel material 40 by the overhead crane 10 will be explained in the second section.
This will be explained with reference to the figures.

In the example shown here, a coiled steel material 40 placed on a cradle roll 41 is transported to a coil car 20 at a location distant from this position. The coiled steel material 40 is conveyed to a cradle roll 41 by a conveyor 42. To transport the coiled steel material 40 on the cradle roll 41, the coil hanger 11 is lowered from the ceiling, and the coiled steel material 40 is gripped by narrowing the interval between the claws 15 thereof. This gripping position is determined based on the detection outputs of the photosensors 7a and 7b, and the gripping force is determined based on the detection outputs of the limit switches 6a and 6b.

From the position shown in FIG. 2(A), the overhead crane IO, which has completed the gripping operation, winds up the winder 12 by rotating the motor 13, and as shown in FIG. Move the coil car in the direction of 20 while raising it to a height that cannot be exceeded. When the overhead crane IO reaches directly above the coil car 20, the windings 41!12 are unwound, and the claw portion 15 and the coil hanger 11 that grip the coiled steel material 40 are lowered and stopped at a predetermined position.

Next, the coil car 20 is raised until it touches the bottom of the coiled steel material 40, and the coiled steel material 40 is raised to the bottom of the coil car 20.
placed on the cradle roll 22 of. This operation
This is done by controlling the solenoid valve 31 and driving the hydraulic device 23 to raise the cradle roll 22 in the state shown in FIG.
Wind it up so that it does not interfere with subsequent operations.

Furthermore, an uncoiler 43 is inserted into the center of the coil of the coiled steel material 40 on the coil car 20, and conveys the steel material toward the line while unwinding it.

Note that the transport direction indicated by the solid line in Figure 2 is the overhead crane 1.
0 shows the process of moving while holding the coiled steel material 40, and the broken line shows the process of movement using only the overhead crane IO.

Next, details of the arithmetic processing by the arithmetic control panel 1 will be explained with reference to FIGS. 3 to 8. 3 to 5 show the processing for the overhead crane 10, and FIGS. 6 to 8 show the processing for the coil car 20.

First, the calculation of the overhead crane 10 (II) will be explained. FIG. Based on this, the following calculations are performed.

Moreover, FIG. 4 is a flowchart showing an example of arithmetic processing, and FIG. 5 is a flowchart showing an example of arithmetic processing.

It is theory #1 diagram explaining the detection situation of 7b.

First, when a descending command is issued (S41), the motor 13 starts rotating (542), and the winding machine 12 is rewound.

During the process of the coil hanger 11 being lowered by this rewinding, the pulse generator 3 generates a pulse signal corresponding to the amount of the lowering, and a counting process is started. In addition, as the coil hanger 11 descends, the photosensors 7a and 7b of the claw portion 15 pass over the coiled steel material 40, and as shown in FIG. 5, a detection signal is interrupted/generated.

That is, in FIG. 5, at the start of descent as shown in (a), both photosensors 7a and 7b are j! It is cut off. This state becomes the initial state (origin) of the following calculations. When the vehicle descends, the photosensor 7b generates a signal as shown in FIG. When the coil hanger 11 further descends from this state, both the photosensors 7a and 7b generate detection signals as shown in FIG. Then, when the coil hanger 11 further descends from the state shown in FIG. 5C, a detection signal is generated from the photosensor 7a as shown in FIG.

Note that since the vertical distance between the photosensors 7a and 7b is constant, it is determined whether the coiled steel material 40 has a large diameter, medium diameter, or small diameter based on the generation of the detection signal when passing through the thick part of the coiled steel material 40. It can be determined whether

Here, each symbol value shown in FIG. 3 will be explained.

Distance 111L: Distance from the upper limit origin of the coil hanger 11 to the center of the cradle roll 41 Distance faL2: Distance from the upper limit of the coil hanger 11 to the inner diameter upper surface of the coiled steel material 40 Distance n: Coil hanger ti The moving distance tllL from the upper limit of down to the inner diameter lower surface of the coiled steel material 40: Distance L4 between the center of the coiled steel material 40 and the center of the cradle roll 41 =Ll-(L2+L3)/2... 1)
Formula distance 1-, ,: Half distance between cradle rolls 41 Outer diameter L6 2 Outer diameter distance fiL of cradle rolls 41,:
Distance between the center of the coiled steel material 40 and the center of the cradle roll 41 L y ” = L 4 ” + L g' ・
...(2) Large outer diameter La: outer diameter t of the coiled steel material 40, a = 2 X L7-La ...
... (3) formula Next, returning to Fig. 4 and continuing the explanation, the light passing timing of the photosensors 7a and 7b (Fig. 5 (b))
Find the distance L2 based on the count value at 544)
, and writes this to the memory in the arithmetic control Jlii.

Accordingly, while the coil hanger 11 is lowering, the photo sensor 7
Calculate the distance jl:L:l based on the count value at the timing of light shielding of a and 7b (Fig. 5 (°2)).
S45), this is written to the memory in the calculation amount g4 board l, and at the same time the motor 13 is stopped (S46).

The lowering of the coil hanger 11 is stopped.

The above calculation makes it possible to measure the inner diameter position of the coil of the coiled steel material 40. Therefore, next, distance L2 and distance L
Calculate the percentage of the sum with 3 (S47), compare the calculated distance L4 with the count value of the pulse generator 3548), raise the coil hanger 11 until the deviation becomes zero (S49), Set the state as shown in Fig. 5 (E). In this state, the claw portion 15 of the coil hanger 11 is located at the center of the coiled steel material 40. Therefore, motor 5
The distance between the coil hangers 11 is narrowed by driving the claw portions 15.
or the coiled steel material 40. In this state, by winding up the winding 4jl12, the coiled steel material 40 rises together with the coil hanger 11, and the coiled steel material 40 is lifted.

The coiled steel material 40 lifted in this manner is transported directly above the coil car 20 as the overhead crane IO moves.

Next, calculations on the coil car 20 side will be explained.

First, the six values shown in the fJ46 diagram will be explained.

Distance It L II: Distance from the lower limit (origin) of the coil car 20 to the centering position Distance Llt = Distance from the upper surface of the claw to the origin when the coil hanger 11 is at the lower limit Distance L13: Half the inner diameter of the coiled steel material 40 L I:l= (L 3 + L 2)/2...
(4) Formula Distance L14: Distance from the center of the coiled steel material 40 to the origin * L + s: Distance from the center of the coiled steel material 4o to the center of the cradle roll 41 L + s = CLa + Lee) / 2 ”” (5)
Formula outer diameter, 6: outer diameter flIL of the crater roll 22
17 Half distance of the distance between the center of the cradle roll 22 and the coiled steel material 40 L 1a : Distance from the contact position of the cradle roll 22 and the coiled steel material 40 to the centering Distance L19 : The cradle roll 22 and the coiled steel material 40
The distance between the roll center of the cradle roll 22 in the contact state II9'' -II5- II7 (6
) Expression distance 511 L to : Regarding the calculation process using six values greater than or equal to the travel distance from the origin until the crater roll 22 contacts the coiled steel material 40, in addition to the flowchart in FIG. 7, FIGS. 6 and 8 This will be explained with reference to the explanatory diagram of the figure.

First, the outer diameter of the coiled steel material 40 is calculated.

Based on the values of distances L2 and L3 stored in the memory in the arithmetic control panel l, the distance al14on is calculated using the above formula (1).
Distance Ly is calculated according to formula (2) based on output (S71), SO L/TE, #[L, and Ls (S
72). In addition, the outer diameter of the coiled steel material 40 is calculated using equation (c). is calculated (S73).

Next, the receiving position of the coiled steel material 40 by the coil car 20 is calculated.

Based on the values of distance L2 and distance alL:l stored in the memory in the arithmetic control panel l, use the above equation (4) to calculate the distance f
Calculate iL+3 and get 1.1m (7) distance! L+, distance 111
．． A distance ill L l 4 is calculated by subtracting L, □, and Niri (S74). Then, the distance Ill L r o is calculated by calculating (L , L l 4 ) (
S75).

Next, use equation (5) to find the distance L12 (376
).

Then, based on the distance fll L l- known from the design specifications and the distance L17, the distance is calculated using equation (6) to calculate 9 (S77), this distance L12 is subtracted from the distance L12, and the distance Calculate L to (578). If the cradle roll 22 is raised by this distance L20, the claw portion 15 is in contact with the upper inner surface of the coiled steel material 40, and it is difficult to remove the claw portion 15. It's impossible. Therefore,
so that the claw portion 15 is located at the center of the coiled steel material 40,
Furthermore, the cradle roll 22 is raised. That is,
Add the distance L16 to the distance fll L l 9 and get this distance f
ll (L 19+ L r.) in cradle roll 2
2, the cradle roll 22 is raised as the distance to be raised (S79).

As a result, as shown in FIG. 8, at the end of the calculations in steps S71 to S77, the state shown in FIG. ), and when the cradle roll 41 is raised by a distance fiL from this state, it becomes the state shown in FIG. In the state shown in FIG. 8(G), the upper part of the claw part 15 is clearly in contact with the inner surface of the coil.
If you try to open the claw part 15 in this state, the product will be damaged.
Alternatively, there is a possibility that the coiled steel material 40 may move in the drawing direction. However, by adding the distance L+a to the distance 1tL, the cradle roll 22 and the coiled steel material 40 rise by a distance L16 while the claw part 15 remains fixed in position, as shown in the same figure (S), and the coil The claw portion 15 is located in the center, and the claw portion 15 can be freely removed.

[Effects of the Invention] As is clear from the above, the present invention includes a coil hanger that can be raised and lowered and a pair of claws that are provided inside the tip of the coil hanger to hold the coiled steel material. In an overhead crane that transports shaped steel materials while suspending them, l) first cranes are disposed at a predetermined distance above and below each of the opposing parts of the claw parts; A second light transmission type sensor, and a second light transmission type sensor, and the first light transmission type sensor as the coil hanger lowers. Second
a first calculation means for calculating each of the outer diameter, inner diameter, and center of the coiled steel material from the detection state of the light transmission type sensor;
A control means for stopping the descending coil hanger at the center of the coiled steel material based on the calculation result of the calculation means, and a control means for controlling the stop timing of the coil hanger after the coiled steel material is suspended based on the calculation result. Even if there is an obstacle near the coiled steel material, it is possible to clearly distinguish between the coiled steel material and the obstacle, thereby preventing an erroneous stop. death,
Safety and transport efficiency can be improved.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the main configuration of an embodiment of the present invention, and FIG. 2 shows a coiled steel material 40 by an overhead crane 10.
Figure t53 is an explanatory diagram showing the distance of each part of the cradle roll 41 to the coiled steel material 40, Figure 4 is a flowchart showing the calculation process on the overhead crane IO side, and Figure 5 is an explanatory diagram explaining the outline of the conveyance procedure. Photo sensors 7a, 7
FIG. 6 is an explanatory diagram showing the distance of each part to the coil steel material 40 of the cradle roll 22. FIG. 7 is a flowchart showing the calculation process on the coil car 20 side. It is an explanatory diagram for explaining the lifting operation of the cradle roll 22. In the figure. l: Arithmetic control panel 2/motor control panel 3.8 = pulse generator 5.1 Go: motors 6a, 6b, 9: limit switch ( LS) 7a, 7
b: Photo sensor lO-overhead crane 11, coil hanger I2: winder CI, 21: trolley section 15: claw section 20/coil car 22.41: crater roll Z]: hydraulic device 30: solenoid valve control panel 40: coiled steel material

Claims (1)

[Claims] An overhead crane that is equipped with a coil hanger that can be raised and lowered and a pair of claws that are provided inside the tip of the coil hanger to hold a coiled steel material, and that transports the coiled steel material while suspending the claws. first and second light-transmissive sensors disposed above and below each of the opposing parts at a predetermined distance;
, a first calculating means for calculating each of the outer diameter, inner diameter, and center of the coiled steel material from the detection state of the second light-transmissive sensor; and the coil being lowered based on the calculation results by the calculating means. The method further comprises a control means for stopping the hanger at the center of the coiled steel material, and a second calculation means for determining the stop timing of the coil hanger after the suspension movement of the coiled steel material based on the calculation result. A control device for an overhead crane for transporting coiled steel material, characterized by: