JPH06263382A - Coil position detecting device - Google Patents

Abstract

PURPOSE:To shorten the coil conveying cycle time by detecting a position of the long length direction side of a pallet so as to obtain a position of each of coils from the long length side, and by detecting a position of the short length direction side so as to obtain a position of each of the coils from the short length side of the pallet. CONSTITUTION:When a pallet 11 is conveyed to a given position, an upper grade computer delivers pallet stop position data, pallet data, coil position data and coil data to a control device together with a coil conveying instruction. The control device runs an automatic crane to the long length side end position of the pallet 11 in order to detect the end position thereof, and the long length direction end part position A is obtained by detecting a variation in the distance measured by a laser distance meter 32a. Further, the control device computes positions of coils 21 to 24 in the long length direction from the coil position data, the coil data and the long length direction end part position A. Similarly, the short length direction end part position B of the pallet is obtained so as to compute positions of the coil 21 to 24 in the short length direction.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coil position detector used for automatic operation of a coil transfer crane in a coil warehouse or the like.

[0002]

2. Description of the Related Art Generally, a thin steel sheet manufactured in an iron mill is wound into a roll and temporarily stored in a predetermined place (here, the rolled thin steel sheet is referred to as a coil). After that, these coils are placed on the pallet and the coils placed on the pallet are transported to the coil yard (for example, a warehouse) by a transport vehicle (transporter or the like). When transporting by overhead crane,
It is necessary to accurately detect the coil position on the pallet.

Conventionally, as a device for detecting the coil position (coil position detecting device), for example, Japanese Patent Application Laid-Open No. 4-1 is used.
A coil position detection device described in Japanese Patent No. 25295 is known. In this coil position detecting device, the coil detecting device is arranged on the overhead crane so that the coil position can be accurately detected without being affected by the layout change on the ground (coil arranging place).

[0004]

However, in the case of using the conventional coil detecting device, after the coil position is detected, the crane position is corrected and the operation is confirmed for each coil before the coil is gripped and conveyed. Therefore, there is a problem that the coil transfer cycle time becomes long (when the coil transfer cycle time is 120 to 150 seconds, about 20 seconds becomes a loss time).

An object of the present invention is to provide a coil position detecting device which can shorten the coil transfer cycle time.

[0006]

According to the present invention, there is provided a coil position detecting device used in an automatic crane for transporting a plurality of coils arranged on a pallet to a predetermined location, the pallet being a pallet. Is a pair of first sides and the first
Are arranged in a predetermined direction having a pair of second sides extending in a direction orthogonal to the sides of the coil and the coil axis of the coil is parallel to the first side and is predetermined. A first pallet mounted on the pallet at intervals, arranged on a trolley of the automatic crane, for identifying the first and second sides of the pallet, and transmitting first and second identification signals; Second detecting means for detecting a traveling position of the automatic crane and a traverse position of the trolley to send a position signal
Of the pallet, the pallet stop position information indicating the approximate stop position of the pallet, the pallet information indicating the outline of the pallet, and the position information of the automatic crane from the second detecting means. The position of the first side of the pallet, and the position of the second side of the pallet is calculated by the first detecting means based on the information of the position of the first side and the pallet information. And a control device for calculating the position of the coil on the pallet based on the position information of the sides of the coil and the coil position information.

[0007]

In the present invention, the positions where the first and second sides of the pallet are present are detected, and the position of each coil from the first and second sides is obtained based on the position detection result. Therefore, it is not necessary to correct the crane position and confirm the operation for each coil, and the coil transfer cycle time can be shortened.

[0008]

EXAMPLES The present invention will be described below with reference to examples.

Referring to FIG. 1, a plurality of coils 21 to 24 are arranged on pallet 11. These coils 21 to 24 are gripped for each coil by an automatic crane (overhead crane) 30 and transported to, for example, a coil yard.

The automatic crane 30 includes a traveling girder 31, a traverse trolley 32, and a control device (not shown). The traveling girder 31 has rails 3 laid along a predetermined direction.
It runs on 1a (for example, it runs in the direction shown by the broken line arrow in FIG. 1 (a)). The traverse trolley 32 is movably arranged on the traveling girder 31 and extends on the traveling girder 31 in a direction orthogonal to the above predetermined direction (FIG. 1 (a)).
In the direction indicated by the alternate long and short dash line) (hereinafter, trolley traveling is called traverse).

The control device controls the girder 31 and the traverse trolley 32 based on various kinds of information described later.

The trolley 32 is provided with a gripping device (not shown) and a laser range finder 32a. Further, the trolley 32 is provided with a traverse distance detector (not shown) that detects a traverse distance from a predetermined position on the traveling girder 31. And the laser range finder 32a
Is connected to a control device, and the control device is connected to a host computer (not shown) described later. On the other hand, traveling girder 31
A mileage detector (not shown) for detecting a mileage from a preset position is arranged in the vehicle. The traverse distance detector and the traveling distance detector are connected to the control device, and the control device can know the position of the trolley with respect to the building from the detected traverse distance and the detected traveling distance.

The lateral traveling / traveling distance detector may be, for example, a device for reading the traveling distance from the number of revolutions of traveling wheels of a trolley or a girder. In addition, a gear rack may be attached to the rail side in consideration of wheel slip, and a pinion that meshes with the rack may be attached to the wheel side to prevent slips. Any detector may be used as long as it can confirm the position and the position of the trolley with respect to the girder.

The pallet 11 is transported to a predetermined position (fixed position) by a transport device such as a transporter. At this time, due to various reasons, it is slightly displaced from the fixed position (about 50
0 mm). Therefore, when the coil is conveyed by the automatic crane, it is necessary to detect the coil position again.

When the pallet 11 is conveyed to a fixed position, the host computer informs the control device of the pallet stop position information (pallet stop position and pallet orientation) indicating the approximate pallet stop position, the pallet size and height. The pallet information indicating the size, the coil position information indicating the position of the coil on the pallet, the coil information indicating the size (outer diameter, inner diameter, and width) of the coil, and the coil transfer command are given.

In response to the coil conveyance command, the control device refers to the pallet stop position information and the pallet information to detect the end position (longitudinal end position) in the pallet longitudinal direction, and refers to the longitudinal end position of the pallet 11. The automatic crane is driven toward (as a result, the laser range finder 32a draws a locus indicated by a solid arrow a in FIG. 1 (a)).

The laser range finder 32a measures the distance between the laser range finder 32a and the reflecting surface (ground or pallet surface) and gives it to the controller as a measured distance. As shown in FIG. 1B, since the upper surface of the pallet 11 is located above the ground, when the laser range finder 32a passes the longitudinal end position, the measurement distance changes greatly. If the amount of change is equal to or greater than the preset amount, the control device
It is determined from the pallet stop position information whether or not the pallet 11 is located near the detected traverse distance and the detected traveling distance, and when the pallet 11 is located near, the amount of change in the measured distance is a preset amount. The trolley position is calculated on the basis of the detected traverse distance and the detected traveling distance at the time point described above. Then, this trolley position is defined as the longitudinal end position A.

As described above, the coil position information is given to the control device. The coil position information includes inter-coil distance information indicating the distance between the coils 21 to 24, pallet longitudinal distance information indicating the distance from the coil longitudinal end position to the center of the coil 21, and pallet lateral direction end position. The coil short distance information indicating the distance from (short side end position) to the center of each coil 21 to 24 or the distance to the end of each coil 21 to 24 is included.

In the control device, each coil 2 is determined based on the inter-coil distance information, the coil longitudinal distance information, and the longitudinal end position A.
The longitudinal position (transverse direction position) of 1 to 24 is calculated. This calculated value is the position dimensions of the coils 21 to 24 with respect to the building.

When the above calculation is completed, the control device controls the automatic crane so that the laser range finder 32a causes the pallet 1 to move.
Move it to a position away from 1. Thereafter, the control device detects the end position of the coil 21 in the lateral direction of the pallet (the lateral end position of the coil 21) to detect the pallet stop position information and the pallet information, and the calculated coil 21.
While referring to the position information in the longitudinal direction of the pallet 11, the automatic crane travels toward the short end position of the pallet 11 (as a result, the laser range finder 32a draws the locus indicated by the solid arrow b in FIG. 1A). become).

The laser range finder 32a measures the distance between the laser range finder 32a and the reflecting surface (ground or pallet surface) and gives it to the controller as a measured distance. When the amount of change in the measured distance is equal to or greater than a preset amount, the control device determines from the detected traverse distance and the detected travel distance whether the pallet 11 is located near the pallet stop position information and the pallet information. When the pallet 11 is arranged near the pallet 11, the trolley position is calculated based on the detected traverse distance and the detected traveling distance at the time when the change amount of the measured distance becomes equal to or more than a preset amount. Then, this trolley position is defined as the short-side end position B.

The control device calculates the lateral position (running direction position) of the coil 21 based on the lateral end position B and the lateral coil distance information indicating the distance from the lateral end position to the coil 21. Then, the control device moves the automatic crane onto the coil 21 based on the longitudinal position and the lateral position of the coil 21, grasps the coil 21 with the grasping device based on the coil information, and conveys the coil 21 to the coil yard. To do.

When the transfer of the coil 21 is completed, the automatic crane returns to the position of the pallet 11 again. When the coil 22 is conveyed, the longitudinal position of the coil 22 has already been calculated. Therefore, the control device obtains the lateral position of the coil 22. Therefore, the pallet stop position information, the pallet information, and the calculated coil 22 are calculated. The automatic crane travels toward the short end position of the pallet 11 while referring to the position information in the longitudinal direction (as a result, the laser range finder 32a draws a locus indicated by a solid arrow c in FIG. 1A). Become). If the amount of change in the measured distance is equal to or more than a preset amount, the control device determines from the pallet stop position information that the pallet 1
1 is determined from the detected traverse distance and the detected traveling distance, and when it is near the pallet 11, the change amount of the measured distance is equal to or greater than a preset amount. The trolley position is calculated based on the detected traverse distance and the detected traveling distance. Then, this trolley position is defined as a short side end position C.

The control device calculates the lateral position (traveling direction position) of the coil 22 based on the lateral end position C and the coil lateral distance information indicating the distance from the lateral end position to the coil 22. Then, the control device moves the automatic crane onto the coil 22 based on the longitudinal position and the lateral position of the coil 22, grasps the coil 22 with the grasping device based on the coil information, and conveys the coil 22 to the coil yard. To do.

Similarly, the positions of the coils 23 and 22 in the lateral direction are obtained, and the coils 23 and 24 are conveyed to the coil yard.

[0026]

As described above, in the present invention, first, the position of the side of the pallet in the longitudinal direction is detected, and the position of each coil from the side of the longitudinal direction is obtained based on the result of detecting the position of the longitudinal side.
Next, since the position of the short side is detected and the position from the short side is obtained for each coil, it is not necessary to correct the crane position and check the operation for each coil, and the coil transfer cycle The effect is that the time can be shortened.

[Brief description of drawings]

1A and 1B are views for explaining a coil position detection device according to the present invention together with an automatic crane; FIG. 1A is a view seen from above, and FIG. 1B is a view seen from a side.

[Explanation of symbols]

 11 Pallets 21-24 Coil 30 Automatic Crane 31 Traveling Girder 32 Horizontal Trolley 32a Laser Distance Meter

Claims (1)

[Claims] 1. A coil position detecting device used in an automatic crane for transporting a plurality of coils arranged on a pallet to a predetermined location, wherein the pallet comprises a pair of first sides and the first side. The coil has a pair of second sides extending in a direction orthogonal to one side and is arranged in a predetermined direction. The coil axis of the coil is parallel to the first side and is predetermined. Is placed on the pallet at an interval of 1 and is arranged on the trolley of the automatic crane, and the first and second sides of the pallet are identified and the first and second identification signals are transmitted. And second detecting means for detecting the traveling position of the automatic crane and the traverse position of the trolley and sending out a position signal, pallet stop position information indicating the approximate stop position of the pallet, and an outline of the pallet. Palette information The position of the first side of the pallet by the first detecting means based on the information and the position information of the automatic crane from the second detecting means, and based on the information of the position of the first side and the pallet information. Then, the position of the second side of the pallet is obtained by the first detecting means, and the first and second sides are obtained.
And a controller for calculating the position of the coil on the pallet based on the side position information and the coil position information.