JPH0416395B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a method for automatically transferring a roll-shaped article, which is a sheet-shaped article wound around a hollow winding core, from a cart to another transport vehicle. This invention relates to a crane for transferring roll-shaped objects.

[Prior Art] In the manufacturing process for sheet-like products such as films, plastic sheets, and paper, the roll-like product is usually wound on a hollow winding core from a cart before being shipped. There is a process of transferring it to another transport vehicle.

For example, FIG. 5 shows a case where an intermediate product is transferred from the slitting process to the next process in the film manufacturing process. In the slitting machine, a wide film is cut into strips of a predetermined width and wound into a roll on a winding core 1.
It is once placed on the trolley 3. Then, the winding core 1
A pipe 4 is inserted into the hollow part, both ends of the pipe 4 are lifted up and transferred to another transport vehicle 5, and the roll-shaped article 2 placed on the transport vehicle 5 via the pipe 4 is transferred to the next process (for example, (inspection process, packaging process, temporary storage process, etc.). Conventionally, such transfer from the trolley 3 to the transport vehicle 5 was carried out by manually lifting both ends of the pipe 4 inserted into the winding core 1 when the weight of the roll-shaped material 2 was not so large. Therefore, when the weight of the roll-shaped object is to some extent large, this has been carried out by lifting the pipe 4 from both ends using a balancer 6 which is generally available on the market.

[Problem to be solved by the invention] However, in recent years, due to the demand for improved production efficiency among manufacturers of secondary processing of sheet-like products, it is necessary to handle large-sized roll-like products 2 that can weigh up to about 1000 kg. Gender has emerged. When the roll-shaped article 2 has such a large weight, it is difficult to use the balancer 6. Balancer 6 itself is
There are special specifications for 400Kg to 600Kg (however, most commercially available products are for 50Kg to 250Kg), but if it is for 1000Kg or more, it is not impossible to manufacture, but the mechanism becomes too large and complicated. Furthermore, since the inertia of the lifted roll-shaped object 2 is large, it becomes extremely difficult to operate the transfer using the operating lever 7.

Therefore, in order to transfer the heavy roll-shaped article 2, a device in place of the balancer 6 is required. The device that replaces the balancer 6 is of course equipped with a predetermined transfer function that prevents the roll-shaped material 2 from becoming dislocated during the transfer. It is hoped that it will be automated.

From the perspective of hoisting a large heavy object, a method using a hoist 8 as shown in FIG. 6 can be considered. However, when lifting with hoist 8,
There is a problem in that the lifted roll-like object 2 sways in the direction of the arrow in the figure, and as a result, the roll-like object 2 is likely to become unloaded (a phenomenon in which the winding layers shift). In addition, as shown in FIG. 7, when winding in the slitter 9, the winding directions of adjacent winding rolls 2 are normally alternately reversed, so in order to adjust the winding direction on the transport vehicle 5, During the transfer, it is necessary to invert the roll-shaped article 2 as shown by arrow A in FIG. However, with the method using the hoist 8, this reversal is usually extremely difficult.

Therefore, in order to transfer the heavy roll-like object 2 without causing problems in the method using such a hoist 8, a crane device with sufficient rigidity to prevent the roll-like object 2 from wobbling is required. is necessary. However, there is still no crane that automatically performs the above-mentioned transfer operation.

Therefore, the present invention aims to prevent the roll-like material from being unloaded due to shaking when transferring the heavy roll-like material, which is a sheet-like material wound on a hollow winding core, from a truck to another transport vehicle via a pipe. To provide a crane capable of automatically transferring materials without causing collapse and without requiring manual labor.

[Means for Solving the Problems] A roll-shaped material transfer crane of the present invention that meets this objective has a roll-shaped material in which a sheet-like material is wound on a hollow winding core, and is inserted into the winding core. By lifting and moving both ends of the pipe, the roll-shaped object is placed on its outer peripheral surface and transferred from a cart having a predetermined height to another transport vehicle. (a) a first arm capable of horizontally supporting the pipe by cantilevering one end of the pipe; and (b) cantilevering the first arm. (c) horizontal driving means capable of moving the rolled pipe relative to the roll in the direction of insertion into the hollow portion of the winding core at least to a position where the pipe passes through the winding core; a second arm that supports the opposite end of the first arm of the pipe that is inserted into the hollow part of the core and penetrates the winding core; (d) by swinging the second arm; , while the pipe is being moved in and out of the hollow part of the winding core.
The second arm is retracted to a position outside the winding diameter when viewed in the winding diameter direction of the roll-shaped object, and after the pipe is inserted into the hollow part of the winding core and penetrates the winding core, the second arm is a second arm advancing/retracting means for moving the pipe to a pipe end support position; (e) a lifting means for vertically moving the pipe cantilevered by the first arm; It has a sensor that detects the distance to the top surface of the placed roll-shaped object, and the detected distance, the detected height of the crane itself, the sensor setting position in the crane, and the predetermined height of the trolley. (g) a winding diameter detecting means that enables the calculation of the winding diameter of the roll-like object; pipe height control means for controlling the height of the pipe cantilevered by the first arm at a height of the hollow part of the winding core determined by the sum of the radius of the roll-shaped object; It consists of things that are characterized by

[Function] In such a crane for transferring roll-shaped objects, the pipe horizontally supported cantilevered by the first arm is lowered by the lifting means to increase the winding diameter of the roll-shaped object placed on the trolley. It is automatically positioned in the height direction according to the height. In this positioning, the detected value by the winding diameter detection means equipped with a sensor that detects the distance to the top surface of the roll-shaped object, the height of the crane itself, the sensor setting position within the crane, and the predetermined height of the cart are used. The winding diameter is calculated from the other side, and the height of the hollow part of the winding core is easily calculated from half of the winding diameter, that is, the sum of the radius and the cart height. The position can be easily controlled to the height of the hollow part of the winding core. If the winding diameter of the roll-shaped object differs, the height of the hollow part of the winding core of the roll-shaped object placed on the trolley will differ, but with the above positioning, the pipe position can be accurately adjusted to the height of the hollow part of the winding core. is set to

From this state, the pipe is horizontally moved by the horizontal drive means and inserted into the winding core. and,
The horizontal movement is stopped with the pipe protruding from the opposite end of the winding core, and the pipe protrusion is supported by the second arm that has been swung by the second arm advancing/retracting means. As a result, the roll-like object is supported at both ends by the first and second arms via the pipe. The roll-shaped object that has been lifted with both ends supported is moved to the transport vehicle side by a crane, and both ends of the pipe are placed on the transport vehicle, so that the roll-shaped object is placed on the transport vehicle via the pipe.
Then, the first and second arms are removed from the pipe and the transfer is completed.

As described above, by having the configurations (a) to (g) above, a crane device can automate a series of operations from positioning, inserting, supporting the pipe, transferring the roll-shaped object, and removing the pipe. Realized. Since it is a crane device, it can easily lift even heavy rolls of about 1000 kg, and the first and second arms that support both ends of the pipe can also be made of rigid structures that do not easily shake. , the desired transfer operation can be performed without causing any problems such as the load being shifted during movement.

[Embodiments] Preferred embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 show a crane for transferring roll-shaped materials according to an embodiment of the present invention, in which the crane immediately after the same process as shown in FIG. This shows a case where the present invention is applied to a transfer process.

In the figure, reference numeral 11 indicates a crane that transfers a roll-shaped article 13 placed on a cart 12 with a predetermined height onto a transport vehicle 14. This crane 11 is equipped with a known means capable of detecting its own height.

The roll-like material 13 is made of a sheet-like material 16 wound with a predetermined width and a predetermined length on a hollow winding core 15, and its outer peripheral surface is placed on the cart 12 in the slitting process. A pipe 18 is inserted into the hollow part 17 of this winding core 15, and both ends of the pipe 18 are lifted up by the crane 11, moved, and transferred to a state where both ends of the pipe 18 are hung on the transport vehicle 14. Ru.

The crane 11 that performs this transfer is constructed as follows.

The crane 11 is suspended from a traversing rail 20 that is supported so as to be able to run (in the X direction in FIG. 2) on a traveling rail 19 that extends between a truck 12 and a transport vehicle 14, and traverses on the traversing rail 20. (Y direction in Figure 2) It is now possible. For this traveling and traversing, a motor (or a speed reducer in addition to the motor) for traveling and traversing, which is similar to a general overhead crane, is installed, although not shown. Traverse wheel 21
are provided on the upper part of the support body 22, and four guides 23 are suspended from the lower part of the support body 22. Four guide poles 25 erected on a support 24 are slidable on this guide 23 (or movable via slide ball bearings, etc.)
The support body 24 is inserted into the support body 22 by the guide pole 25 guided by the guide 23.
It is designed to be able to move parallel to the vertical direction.

The support body 24 is moved up and down with respect to the support body 22 by a hoisting motor 26 (or a reduction gear in addition to the hoisting motor) provided on the support body 22 side via a suitable connection means such as a wire. A column 27 extending downward is rotatably supported by the support body 24 . A gear 28 is provided on the support column 27, and a drive gear 29 is meshed with the gear 28. The drive gear 29 is connected to the swing motor 30 (or to the swing motor via a speed reducer), and the rotation of the swing motor 30 causes the support 27 to swing via the drive gear 29 and the gear 28. It is becoming more and more like this.

A horizontal arm 31 extending in the horizontal direction is provided at the lower end of the support column 27 . At both ends of the horizontal arm 31, there are a first arm 32 and a second arm extending downward.
arms 33 are provided respectively. first arm 3
The position of at least one of the horizontal arm 2 and the second arm 33 can be adjusted in the longitudinal direction of the horizontal arm 31 according to the width of the roll-shaped object 13 or the length of the pipe 18. In this embodiment, the first arm 32 is connected to the cylinder 3
4 allows sliding movement in the longitudinal direction of the horizontal arm 31. The stroke of the cylinder 34 is such that the pipe chuck 35 provided at the lower end of the first arm 32 can be sufficiently inserted into and removed from the pipe 18 as the first arm 32 moves horizontally. It is becoming. The pipe chuck 35 is configured to be able to open outward in the radial direction by the operation of the cylinder 36, and when the pipe chuck 35 is inserted into the pipe 18 and opened, the pipe 18 is connected to the first arm 32. It is designed to be cantilevered horizontally.

When the crane 11 is moved sideways with the pipe 18 being cantilevered by the first arm 32, the pipe 18 is caught in the winding core 15 of the roll-shaped material 13 on the trolley 12.
It is possible to insert the Therefore, in this embodiment, the traversing device of the crane 11 itself moves the cantilever-supported pipe 18 in the direction of insertion into the hollow portion 17 of the winding core 15.
5 constitutes a horizontal driving means capable of moving relative to the roll-shaped object 13 to a position penetrating the roll-like object 13.

The second arm 33 is swingably supported by a cylinder 37, and by swinging by the cylinder 37, the lower end side of the second arm 33 is attached to the winding core of the pipe 18 as described above. During the loading and unloading into and out of the roll-shaped material 15, it can be retracted to the outside of the winding diameter (outer diameter) of the roll-shaped material 13 when viewed in the winding diameter direction of the roll-shaped material 13. Further, after the pipe is inserted, the second arm 33 can be swung to the pipe end support position. At the lower end of the second arm 33, the first arm 3
A pipe receiver 38 is provided that faces the pipe chuck 35 attached to the winding core 15. It's becoming possible.

A suitable part of the part of the crane 11 that moves up and down (a preset position within the crane), for example, on the lower surface side of the horizontal arm 31, is provided with a distance to the top surface of the outer diameter of the roll-shaped object 13 in a non-contact manner. A roll diameter detection means 40 having a detectable sensor is provided. The winding diameter detection means 40 is equipped with an optical sensor in this embodiment, and detects the reflection of light from the top surface of the roll-shaped object 13 to detect the distance to the top surface,
Based on this, the winding diameter of the roll-shaped material 13 can be calculated. That is, since the height of the crane 11 itself is detected by the crane 11 itself and the height of the truck 12 is known in advance, the height of the truck 12 and the winding diameter detection means 40 in the crane 11 can be determined from the height of the crane 11. By subtracting the height corresponding to the position and the distance to the top surface of the roll-like object 13 detected by the sensor, the winding diameter of the roll-like object 13 can be easily calculated. When the winding diameter is calculated, the radius of the roll-like object 13 can be easily calculated as 1/2 of it, so the center of the roll-like object 13 can be calculated from the sum of the height of the cart 12 and the radius of the roll-like object 13. The height, that is, the height of the hollow portion 17 of the winding core 15 is easily calculated. The height of this hollow part 17 is
Although it varies depending on the winding diameter, the height of the winding core hollow portion 17 according to the winding diameter of the roll-shaped object 13 can be accurately calculated by the above calculation. The height signal of this hollow part is sent to the control system of the hoisting motor 26 of the lifting means, in this embodiment, the crane 11, and by controlling the lifting, the pipe 18 supported by the horizontal arm 31 and the first arm 32 is moved. When the pipe is lowered, the lowering height of the pipe is automatically controlled to be positioned at the height of the hollow part of the winding core 15 of the roll-shaped material 13 on the trolley 12.

The operation of the embodiment device configured as described above will be explained together with its operation.

First, the pipe chuck 35 of the first arm 32 is inserted into the pipe 18. This insertion may be performed by horizontally moving the pipe chuck 35 in the direction of the hollow part of the pipe 18 placed at a certain location (for example, on the transport vehicle 14), or by
Since the weight itself is not so large, it may be inserted manually. In this embodiment, the horizontal movement of the pipe chuck 35 is performed by the horizontal movement of the first arm 32 by the cylinder 34. After the pipe chuck 35 is inserted into the pipe 18,
The pipe chuck 3 is activated by the operation of the cylinder 36.
5 is opened within the hollow part of the pipe 18, and the pipe 18
is horizontally cantilevered by the first arm at one end.

In this state, the crane 11 is lowered from directly above the roll-shaped object 13 on the trolley 12. At this time, the second arm 33 is swung outward from the winding diameter of the roll-like object 13 by the cylinder 37 and released so as not to interfere with the roll-like object 13. When the horizontal arm 31 descends, the winding diameter detection means 40 (means equipped with an optical sensor in this embodiment) detects the top surface position of the roll-shaped object 13, and based on this, the roll-shaped object 13 is lowered as described above. The winding diameter of is calculated. and,
Based on the calculated value, the hollow portion 17 of the winding core 15 is
The crane 11 is lowered until the cantilevered pipe 18 is at the height of the hollow part of the winding core 15 and stopped at that height. In controlling the height of the pipe, in order to increase the crane lowering positioning accuracy, control may be performed to reduce the descending speed immediately before reaching a predetermined height.

After the height of the pipe 18 is determined in this way,
The pipe 18 is horizontally moved and inserted into the hollow part 17 of the winding core 15. In this embodiment, this horizontal movement is performed by the crane 11 moving laterally. The crane 11 is stopped from moving laterally with the end of the pipe 18 opposite to the first arm 32 protruding from the winding core 15. Then, the second arm 33 is connected to the cylinder 37
The cylinder 3 is swung vertically by
9, the pipe receiver 38 is inserted into the pipe 18. When the crane 11 is raised from this state by the hoisting motor 26, the pipe 18 is lifted with both ends supported by the first arm 32 side and the second arm 33 side, and accordingly, the roll-shaped object 13 is lifted up. Since this lifting is done by the crane 11, the roll-shaped object 1
Even if the weight of item 3 exceeds 1000 kg, it can be easily carried out. Furthermore, when the crane 11 ascends and descends, the four guide poles 25 provided on the support body 24 side are guided by the corresponding guides 23, so that the first Arm 32, second arm 33
The roll-shaped object 1 is raised and lowered without shaking.
3 is lifted up in a stable condition. In addition,
The relationship between the guide 23 and the guide pole 25 is not limited to the structure of this embodiment, but any suitable structure may be used as long as the structure does not cause the roll-shaped object 13 to be lifted to sway.

When the roll-shaped object 13 is lifted, the crane 11 is moved from the trolley 12 onto the transport vehicle 14. Since this traveling is similar to that of a general traveling crane, a description thereof will be omitted. If it is necessary to reverse the winding direction of the roll-shaped material 13 wound up by the slitter as described above at the start, end, or intermediate position of this traveling, the rotation motor 30 is operated to rotate the driving gear 29, the gear The support column 27 is rotated 180 degrees via 28, and the roll-shaped object 13
The winding direction is adjusted.

When the roll-shaped object 13 is driven onto the carrier vehicle 14, the crane 11 is lowered. This amount of descent is
Since the shape of the transport vehicle 14 (that is, the height and position of the pipe hook on the transport vehicle 14) can be input and set in advance, and the transport vehicle 14 is set at a predetermined position, both ends of the pipe 18 are placed on the transport vehicle 14. Easily controlled to stay in place. pipe 1
After the roll-shaped material 13 is placed on the carrier 14 together with the pipe chuck 35
6, and the support for the pipe 18 is removed.
Then, by horizontally moving the first arm 32 by the cylinder 34, the pipe chuck 35 is moved.
is pulled out from one end of the pipe 18, and the pipe receiver 38 is pulled out from the other end of the pipe 18 by the cylinder 39, completing the transfer.

In this way, according to the device of this embodiment, it is possible to automatically transfer the roll-shaped object 13 from the cart 12 to the transport vehicle 14, thereby preventing problems such as the load being dislocated (rolling misalignment). A heavy roll-shaped object 13 is automatically transferred without causing any generation.

Next, FIG. 3 shows a modification of the embodiment apparatus shown in FIGS. 1 and 2.

In this embodiment, a pipe chuck 35a provided at the lower end of the first arm 32a is configured to clamp the pipe 18 from the outside. Further, the second arm 33a is a cylinder 37a.
Therefore, the structure is such that it can be swung in the vertical direction (in the direction of arrow S in the figure), which is perpendicular to the device shown in FIG. Furthermore, the pipe receiver 38a provided at the lower end of the second arm 33a is configured to receive the pipe 18 from the lower surface. In this way, even if the structure is such that the pipe 18 is simply received from the bottom,
Due to the weight of the pipe 18 and the roll-shaped material 13, the material self-locks when lifted, so no problem arises. In addition, in this embodiment, the horizontal arm 3
In order to more accurately determine the rotation stop position when 1a is rotated, a rotation positioning cylinder is provided so that the rotation stop position can be locked by an appropriate means (for example, a combination of a pin and a hole into which the pin is inserted). 41 are provided. By operating the rotation positioning cylinder 41, the rotation position can be accurately determined and malfunctions can be prevented. Other configurations and operations are similar to the embodiments shown in FIGS. 1 and 2 described above.

In the embodiment shown in FIGS. 1 and 2, the horizontal movement for inserting the pipe 18 into the hollow part of the winding core 15 is
Although we adopted the method of self-infestation, other methods may also be used. For example, although not shown, the horizontal arm 3
The lower part may be horizontally movable from 1.
If you do this, the horizontal arm 31 will shift from the center position of the crane 11, which will impose some unbalanced load, but if you create a rigid structure that can withstand it,
No particular problem arises. Furthermore, as shown in FIG. 4, if the crane rail 42 is laid so that the longitudinal direction of the roll-shaped object 13 placed on the trolley 12 coincides with the traveling direction of the crane, the traveling of the crane can be utilized. This makes it possible to insert the pipe into the winding core, making it possible to eliminate the need for the crane's traversing function.

Further, as shown in FIG. 4, in the present invention, during the transfer process from the trolley 12 to the transport vehicle 14,
If there are other necessary steps, it is also possible to provide those steps. In FIG. 4, a step of weighing the roll-shaped object 13 during transfer is provided, and a weighing device 43 is provided for this purpose.

[Effects of the Invention] As detailed above, according to the present invention, the crane has a function of cantilever supporting a pipe, a function of detecting the winding diameter of a roll-shaped object, a function of positioning the descending height of the pipe, and a function of moving the pipe to the winding core. By having the function of inserting the pipe and supporting both ends of the inserted pipe, it is possible to easily and automatically transfer heavy roll-shaped objects from the trolley to the transport vehicle, without causing wobbling. It is possible to reliably prevent problems such as baggage from collapsing during transfer, and to be able to cope with the increase in the size of roll-shaped items.

[Brief explanation of drawings]

FIG. 1 is a partial perspective view of a roll-shaped object transfer crane according to an embodiment of the present invention, FIG. 2 is a perspective view of essential parts of the crane shown in FIG. 1, and FIG. 3 is a modification of the crane shown in FIG. 1. 4 is a plan view showing another embodiment of the crane travel path, FIG. 5 is a perspective view showing the state of use of the conventional device, FIG. 6 is a perspective view when using a hoist, and FIG. The figure is a schematic perspective view showing the winding direction of a roll-shaped object in a normal slitter. 11... Crane, 12... Dolly, 13... Roll-shaped object, 14... Transport vehicle, 15... Winding core,
16...Sheet-like material, 17...Hollow part, 18...
Pipe, 19... Traveling rail, 20... Traversing rail, 22, 24... Support body, 23... Guide, 2
5...Guide pole, 26...Hoisting motor, 2
7... Support column, 28, 29... Gear, 30... Turning motor, 31, 31a... Horizontal arm, 32, 32
a...first arm, 33, 33a...second arm, 3
5,35a...Pipe chucking, 38,38
a... Pipe receiver, 40... Winding diameter detection means, 41
... Cylinder for turning positioning, 42 ... Crane rail, 43 ... Measuring instrument.

Claims (1)

[Scope of Claims] 1. A roll-like object in which a sheet-like object is wound around a hollow winding core is moved by lifting both ends of a pipe inserted into the winding core. In a crane that is capable of detecting its own height and transfers the load from a cart that is placed on its outer peripheral surface and has a predetermined height to another transport vehicle, (a) one end of the pipe is a first arm that can horizontally support a pipe by supporting it in a cantilevered manner; (c) a horizontal drive means that is movable relative to the roll material in the insertion direction at least to a position where the pipe penetrates the winding core; (d) a second arm supporting the end opposite to the first arm; 2
The second arm is retracted to a position outside the winding diameter when viewed in the winding diameter direction of the roll-shaped object, and after the pipe is inserted into the hollow part of the winding core and penetrates the winding core, the second arm is a second arm advancing/retracting means for moving the pipe to a pipe end support position; (e) a lifting means for vertically moving the pipe cantilevered by the first arm; It has a sensor that detects the distance to the top surface of the placed roll-shaped object, and the detected distance, the detected height of the crane itself, the sensor setting position in the crane, and the predetermined height of the trolley. (g) a winding diameter detecting means that enables the calculation of the winding diameter of the roll-like object; pipe height control means for controlling the height of the pipe cantilevered by the first arm to the height of the hollow part of the winding core determined by the sum of the radius of the roll-shaped object; A crane for transferring roll-shaped objects.