JPH0698392B2 - Control device for overhead crane for transporting coiled steel - Google Patents

Description

Description: [Industrial application] The present invention relates to a control device for moving a coiled steel material to another place in a state of being suspended by an overhead crane.

[Prior Art] Moving a coiled steel material (for example, when pickling a steel strip after rolling) is usually carried out using an overhead crane because the product is heavy and large. . Although it is possible to operate the overhead crane manually, it is automatically transported for the purpose of labor saving and accident prevention.

Various devices have been proposed as means for controlling this automatic conveyance. For example, JP-A-61-42424 and JP-A-61-150952 are proposed.
JP-A-61-162447 and JP-A-61-31036. And as a sensor for detecting the position of the coiled steel material,
A magnetic sensor or an opto-electric sensor is used.

[Problems to be Solved by the Invention] However, in any of the above-described conventional control devices, distinction between a coiled steel material and another steel material, for example, a coiled steel material when an obstacle is present near the coiled steel material, No consideration was given to distinguishing obstacles, and it cannot be said that sufficient consideration was given to safety.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a control device for a coiled steel material conveying overhead crane capable of reliably conveying only the coiled steel material.

[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 claw portions that are provided inside the tip end portion of the coil hanger and that hold a coiled steel material. Prepare,
In an overhead crane for transporting the coiled steel material while suspending the coiled steel material, first and second light transmission type sensors arranged at a predetermined distance above and below each of the facing portions of the claw portion, and the coil hanger. The first calculation means for calculating each of the outer diameter, the inner diameter, and the center of the coiled steel material from the detection states of the first and second light transmission type sensors due to the drop of A control means for stopping the descending coil hanger at the center of the coiled steel material, and a stop means for determining the stop timing of the coil hanger after the coiled steel material is hung and moved based on the calculation result. The calculation means is included.

[Operation] With the above-described configuration, the light emitted from the first sensor provided on the claw portion is shielded (turned off) by the outer diameter portion of the coil steel material during the descending process of the coil hanger, and then the second sensor is provided. Is blocked (off). When the coil hanger descends as it is, the first sensor is turned on, and then the second sensor is turned on. From such changes in sensor output,
The upper surface of the outer diameter, the upper surface of the inner diameter, the lower surface of the inner diameter, and the lower surface of the outer diameter of the coil steel material are sequentially determined, and the outer diameter, the inner diameter, and the center of the coil steel material are calculated from these. It is possible to determine the stop timing of the coil hanger from this calculation result. As described above, since the two sensors perform the calculation using the detection signal when the steel material crosses the steel material, the coil-shaped steel material and the obstacle when the obstacle is present near the coil-shaped steel material, which has been a problem in the past, It is possible to make clear the distinction, prevent accidental stoppage, and improve safety and transport efficiency.

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

The control device is mainly composed of an arithmetic control panel 1 configured by using a microcomputer and the like, an electric motor control panel 2 for driving and controlling a driving motor, and a solenoid valve control panel 30 for controlling a hydraulic device 23 described later, Control overhead cranes and coil cars.

The overhead crane 10 includes a coil hanger 11 for lifting a coiled steel material, a winder 12 for moving the coil hanger 11 up and down, a motor 13 for driving the winder 12, and a trolley unit for moving the winder 12 along a transport rail. Each of the coil hanger 11 and the coil hanger 11 is provided with a claw portion 15 that is horizontally movably attached to both sides and holds both sides of the coiled steel material.

The shaft part of the winder 12 has a pulse generator (PLG) 3 for detecting the number of rotations, a cam switch (CMS) 4 for detecting the upper and lower limits of the coil hanger 11 from the rotation state, and a claw portion 15 for horizontally opening and closing. Limit switches (LS) 6a, 6b that detect when the motor 5, which is the drive source, and the claw 15 move inward and approach the side of the coil steel, the tip of the claw 15 passes through the upper half of the coil steel. Photo sensor (P
H) 7a (first sensor) and 7b (second sensor) are provided.

Further, the coil car 20 is vertically mounted on a movable carriage 21, a cradle roll 22 capable of moving up and down for receiving or delivering coil steel from the overhead crane 10, a hydraulic device 23 for raising and lowering the cradle roll 22, and a cradle roll 22. The rack 24 and the pinion 25 that meshes with the rack 24 and rotates.

The pinion 25 is provided with a pulse generator 8 (PLG) that detects the ascending / descending position of the cradle roll 22 based on its rotation speed, and the limit switch 9 that detects the lower limit position of the cradle roll 22 is provided above the carriage 21. ing.
Further, the hydraulic device 23 is provided with an electromagnetic valve 31 that controls the operation thereof.

Next, before explaining the operation of the above-described embodiment, an outline of a procedure for carrying the coiled steel material 40 by the overhead crane 10 will be described with reference to FIG.

In the example shown here, the coil-shaped steel material 40 installed on the cradle roll 41 is replaced by the coil car 20 at a position away from this position.
It is to be transported to. The coiled steel material 40 is carried to the cradle roll 41 by the conveyor 42. In order to carry the coiled steel material 40 on the cradle roll 41, the coil hanger 11 is lowered from the ceiling portion and the claw portions 15 are narrowed to grip the coiled steel material 40. This gripping position is determined by 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 10 which has completed the gripping operation winds up the winder 12 by the rotation of the motor 13 and interferes with the conveyance of the coiled steel material 40 as shown in FIG. 2 (b). Move to the coil cover 20 direction with the height raised to the maximum. When the overhead crane 10 reaches directly above the coil car 20, the winder 12 is rewound, the claw portion 15 and the coil hanger 11 holding the coiled steel material 40 descend, and stop at a predetermined position.

Next, the coil cover 20 is raised until it comes into contact with the bottom of the coil-shaped steel material 40, and the coil-shaped steel material 40 is placed on the cradle roll 22 of the coil car 20. This operation is performed by controlling the solenoid valve 31 in the state of FIG. 2C and driving the hydraulic device 23 to raise the cradle roll 22. After that, the claw portion 15 is expanded to wind up the winder 12 so as not to interfere with the subsequent operations. Furthermore, coil car 20
The uncoiler 43 is inserted at the center of the coil of the upper coiled steel material 40, and conveys the steel material while rewinding it toward the line.

In addition, the conveying direction indicated by the solid line in FIG.
Shows the process of moving while holding the coiled steel material 40, and the broken line shows the process of moving only by the overhead crane 10.

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

First, the calculation on the side of the overhead crane 10 will be described. Third
The figure is an explanatory view showing the distance of each part of the cradle roll 41 to the coil-shaped steel material 40, and the following calculation is executed based on these distances and the output states of the photosensors 7a and 7b.

Further, FIG. 4 is a flowchart showing an example of the arithmetic processing, and FIG. 5 is an explanatory diagram for explaining the detection status of the photosensors 7a and 7b.

First, when a down command is issued (S41), the motor 13 rotates (S42) and the winder 12 is rewound. In the process of the coil hanger 11 descending due to this rewinding, a pulse signal corresponding to the amount of drop is generated from the pulse generator 3, and the counting process is started. Further, the photosensors 7a and 7b of the claw portion 15 are moved to the coiled steel material 40 while the coil hanger 11 descends.
The detection signal is interrupted / generated as shown in FIG.

That is, in FIG. 5, both photosensors 7a and 7b are cut off at the start of the descent as shown in FIG. This state is the initial state (origin) of the following calculation. When it descends further, the photo sensor as shown in Fig.
7b generates a signal, and the photo sensor 7a is in the cutoff state.
When the coil hanger 11 further descends from this state, both photosensors 7a and 7b generate detection signals as shown in FIG. Then, when the coil hanger 11 further descends from the state of (c) in the figure, the photosensor 7a generates a detection signal as shown in (d) of the figure, and the photosensor 7b is shut off.

Since the vertical distances between the photosensors 7a and 7b are constant, the coiled steel material 40 may have a large diameter, a medium diameter, or a small diameter depending on the generation condition of the detection signal when passing through the thick portion of the coiled steel material 40. Can be determined.

Here, each signal value shown in FIG. 3 will be described.

Distance L ₁ : The upper limit of the coil hanger 11 to the center of the cradle roll 41 Distance L ₂ : The distance from the upper limit of the coil hanger 11 to the inner diameter upper surface of the coiled steel 40 Distance L ₃ : The upper limit of the coil hanger 11 Moving distance from the bottom to the inner diameter lower surface of the coil-shaped steel material 40 Distance L ₄ : Center of the coil-shaped steel material 40 and the cradle roll 41
Center distance L ₄ = L ₁ − (L ₂ + L ₃ ) / 2 (1) Formula distance L ₅ : Half distance between cradle rolls 41 Outer diameter L ₆ : Outer diameter of cradle roll 41 Distance L ₇ : Center of coiled steel 40 and cradle roll 41
Center distance L ₇ ² = L ₄ ² + L ₅ ² (2) Formula outer diameter L ₈ : Coiled steel material 40 outer diameter L ₈ = 2 × L ₇ −L ₆ (3) Formula Next Returning to FIG. 4 and continuing the explanation, the photosensors 7a, 7a
The distance L ₂ is calculated based on the count value at the light transmission timing of b (FIG. 5 (b)) (S44), and this is calculated by the arithmetic control board 1
Write to the internal memory. Then, while the coil hanger 11 is descending, the distance L ₃ is calculated based on the count value at the timing (FIG. 5 (d)) where the photosensors 7a and 7b shield the light (S45), and this is calculated in the calculation control panel 1. The data is written in the memory, and at the same time, the motor 13 is stopped (S46) to stop the descent of the coil hanger 11.

With the above calculation, the coil inner diameter position of the coil-shaped steel material 40 can be measured. So, next, the sum of the distances L ₂ and L ₃
Calculate 1/2 (S47), compare the distance L ₄ resulting from the calculation with the count value of the pulse generator 3 (S48), and raise the coil hanger 11 until the deviation becomes zero (S4
9) Put it in the state 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, the motor 5 is driven to narrow the gap between the coil hangers 11 so that the claw portions 15 can be attached to the coil-shaped steel material 40. In this state, by winding up the winder 12, 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 thus lifted is conveyed right above the coil car 20 as the overhead crane 10 moves.

Next, the calculation on the coil car 20 side will be described.

First, each value shown in FIG. 6 will be described.

Distance L ₁₁ : Distance from the lower limit (origin) of coil car 20 to the centering position Distance L ₁₂ : Distance from the upper surface of the claw to the origin when coil hanger 11 is at the lower limit Distance L ₁₃ : Half of the inner diameter of coiled steel 40 Length L ₁₃ = (L ₃ + L ₂ ) / 2 (4) formula Distance L ₁₄ : Distance from the center of coiled steel 40 to the origin Distance L ₁₅ : Center of coiled steel 40 to the center of cradle roll 41 Distance L ₁₅ = (L ₈ + L ₁₆ ) / 2 (5) Formula Outer diameter L ₁₆ : Outer diameter of cradle roll 22 Distance L ₁₇ : Half the distance between the center of cradle roll 22 and coiled steel 40 Distance L ₁₈ : Distance from contact position of cradle roll 22 and coil steel 40 to centering Distance L ₁₉ : Distance between cradle roll 22 and roll center of coil steel 40 in contact with coil 40 L ₁₉ ² : L ₁₅ ² − Distance L ₁₇ ² …… (6) Formula distance L ₂₀ : Moving distance from the origin until the cradle roll 22 comes into contact with the coil-shaped steel material 40 The calculation process using each value above, in addition to the flowchart of FIG. 7, explanatory diagrams of FIGS. 6 and 8 Will be described with reference to.

First, the outer diameter of the coiled steel material 40 is calculated. Based on the values of the distances L ₂ and L ₃ stored in the memory in the arithmetic and control panel 1,
The distance L ₄ is calculated using the above equation (1) (S71). Then, the distance L ₇ is calculated according to the equation (2) based on the distances L ₄ and L ₅ (S72). Further, the outer diameter L ₈ of the coil-shaped steel material 40 is calculated using the equation (3) (S73).

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

Based on the values of the distance L ₂ and the distance L ₃ stored in the memory in the arithmetic control panel 1, the distance L ₁₃ is calculated using the above formula (4), and this distance L ₁₃ is subtracted from the distance L _12. Then, the distance L ₁₄ is calculated (S74). Then, it calculates the distance L ₁₈ by calculating _{(L 11 -L 14) (S75} ).

Next, the distance L ₁₅ is calculated using the equation (5) (S76). Then, based on the distance L ₁₅ and the distance L ₁₇ known from the design specifications,
The distance L ₁₉ is calculated using the equation (6) (S77). This distance
L ₁₉ is subtracted from the distance L ₁₄ to calculate the distance L ₂₀ (S78).
If the cradle roll 22 is raised by this distance L ₂₀ , 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. Therefore, the cradle roll 22 is further raised so that the claw portion 15 is located at the center of the coil-shaped steel material 40. That adds L ₁₈ at a distance L _19, the distance (L ₁₉ + L ₁₈₎ as the elevating distance should cradle roll 22 raises the cradle rolls 22 (S79).

As a result, as shown in FIG. 8, at the time of completion of the calculation in steps S71 to S77, the state is as shown in FIG. 8F, and the distance between the roll center of the cradle roll 22 and the coil center of the coil-shaped steel material 40 is (L ₁₉ + L ₂₀ ), and if the cradle roll L 22 is raised by a distance L ₂₀ from this state, the state shown in FIG. In the state shown in FIG. 8 (g), the upper part of the claw portion 15 is clearly in contact with the inner surface of the coil, and if the claw portion 15 is tried to be opened as it is, the product is flawed or the coiled steel material 40 is pulled out in the pulling direction. There is a risk of moving. However, by adding the distance L ₁₈ to the distance L ₂₀ , the cradle roll 22 and the coiled steel material 40 are lifted by the distance L ₁₈ while the claw portion 15 remains fixed in position as shown in (i) of FIG. Claw 1 in the center
5, the claw portion 15 can be freely pulled out.

[Effects of the Invention] As is clear from the above, according to the present invention, the coil hanger that can be raised and lowered and a pair of claw portions that are provided inside the tip of the coil hanger to hold the coiled steel material are provided. In an overhead crane for transporting steel-shaped steel while suspending it, first and second light-transmissive sensors arranged at a predetermined distance above and below each of the facing portions of the claw portion, and lowering of the coil hanger. Based on the calculation results by the first calculation means for calculating each of the outer diameter, the inner diameter, and the center of the coiled steel material from the detection states of the first and second light transmission type sensors Control means for stopping the coil hanger in the descent at the center of the coiled steel material, and determining a stop timing of the coil hanger after the coiled steel material is suspended based on the calculation result. Even if there is an obstacle in the vicinity of the coiled steel material, it is possible to clearly distinguish the coiled steel material and the obstacle, prevent accidental stoppage, and improve safety and transport efficiency. Can be improved.

[Brief description of drawings]

FIG. 1 is a block diagram showing a main configuration of an embodiment of the present invention, FIG. 2 is an explanatory view for explaining an outline of a procedure for carrying a coiled steel material 40 by an overhead crane 10, and FIG. 3 is a coil of a cradle roll 41. 4 is an explanatory view showing distances of respective parts with respect to the steel-shaped steel material 40, FIG. 4 is a flow chart showing arithmetic processing on the side of the overhead crane 10, FIG. 5 is an explanatory view for explaining detection conditions of the photosensors 7a and 7b, and FIG. FIG. 7 is an explanatory view showing the distance of each part of the roll 22 to the coil steel material 40, FIG. 7 is a flowchart showing the calculation processing on the coil car 20 side, and FIG. 8 is an explanatory view for explaining the raising operation of the cradle roll 22 of the coil car 20. In the figure, 1: Control panel 2: Motor control panel 3,8: Pulse generator 5,13: Motor 6a, 6b, 9: Limit switch (LS) 7a, 7b: Photo sensor 10: Overhead crane 11: Coil hanger 12 : Winder 14,21: Cart 15: Claw 20: Coil car 22,41: Cradle roll 23: Hydraulic device 30: Solenoid valve control panel 40: Coiled steel

Claims (1)

[Claims] 1. An overhead crane comprising a coil hanger that can be raised and lowered and a pair of claws provided inside the tip of the coil hanger for holding a coiled steel material, and transporting while suspending the coiled steel material. , A first and a second arranged at a predetermined distance above and below each of the facing portions of the claw portion
Of the light-transmitting type sensor and the detection states of the first and second light-transmitting type sensors when the coil hanger descends.
Calculating means, control means for stopping the descending coil hanger at the center of the coiled steel material based on the calculation result by the calculating means, and stopping the coil hanger after the coiled steel material is suspended and moved. A control device for a coiled steel material conveying overhead crane, comprising: a second calculation means for determining a timing based on the calculation result.