JPH10218445A - Method and device for centering coil carrier - Google Patents

Abstract

PROBLEM TO BE SOLVED: To facilitate centering of a coil carrier without spending labor by arranging transmission type optical sensors in the longitudinal direction of a skid at a side with an equal space, and detecting both ends of a coil, and obtaining the coil center position on the basis of the detecting signal, and controlling the stop position of the coil carrier at the coil center position. SOLUTION: In coil position detecting devices 11, 12, each projector 13 projects a coil 1, which is placed on a skid 2, and each receiver 14 inputs the signal whether each light is received or not to a carrier stop positioning device 10. Continuously, the carrier stop positioning device 10 discriminates the receiver 14, which is shielded in the coil position detecting devices 11, 12, and obtains the center position of the coil 1 with computing. Traveling command is output to a motor control device 17, and a coil carrier 3 is made to travel into the skid 2 by a driving motor 16. Moving distance of the coil carrier 3 is measured by a position detecting unit 15, and while the coil carrier 3 is stopped so as to satisfy the condition of the center position of the coil 1.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for centering a coil truck.

[0002]

2. Description of the Related Art When a coil is transported between a plurality of processing lines by a coil carriage, conventionally, it is generally performed through a skid. That is, as shown in FIG. 4, for example, the coil 1 processed on the A line is once loaded on the skid 2 provided on the output side thereof, and then the B line, which is the next processing line via the coil carriage 3. Is transported to another skid 4 provided on the entry side. The coil trolley 3 can run on rails 5, and a lift device 6, on which the coil 1 can be mounted and which can move up and down, is provided on the trolley.

[0003]

When the coil 1 is transported by the coil carriage 3, there are the following problems. That is, when the coil 1 is loaded on the skid 2,
As shown in FIG. 5, not necessarily coincide with the longitudinal direction of the center C ₂ of the center C ₁ and the skid 2 in the width direction of the coil 1, and usually occurs a ΔL becomes misaligned, the ΔL
Can be as large as 100 mm when large.
Then, assuming that the coil 1 is taken in in a usual manner in which the coil carriage 3 is positioned so that its center coincides with the center C _{2 of the} skid 2, the center C 6 in the longitudinal direction of the lift device ₆ and the center C _{1 of the} coil 1 are The displacement causes a shift in the center of gravity of the lift device 6, causing an overload to the coil bogie 3, and resulting in an unstable package, which may cause an accident such as the coil being dropped and damaged during movement. is there.

In order to prevent such an accident beforehand, for example, it is conceivable to increase the size of the lift device 6 to increase the allowable amount of the displacement of the center of gravity. This causes new problems such as high equipment costs and increased power consumption required for driving the equipment. Further, as disclosed in, for example, JP-A-6-263114, the position of both end faces of the coil is measured using a position detector such as a reflection type optical sensor provided on the skid to determine the amount of displacement of the coil. Then, there is a method of eliminating the displacement of the center of gravity by shifting the coil carriage from the reference position by the shift amount and changing the coil loading position.

However, in such a method, since the position is measured from the lower surface of the coil, rust-preventive oil or dust attached to the coil falls on the position detector, causing a malfunction of the position detector. Latent. It is conceivable to measure from the upper surface of the coil in order to solve the problem of the malfunction of the position detector.However, when the outer diameter of the coil changes, the light emitter installed at a certain height level and the outer surface of the coil , The detection distance changes, and the detection sensitivity must be adjusted each time.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems of the prior art, and provides a method and a method capable of facilitating centering of a coil bogie with little equipment cost and without trouble. The purpose is to:

[0007]

SUMMARY OF THE INVENTION The present invention relates to a method of centering a coil carriage when transferring a coil loaded on a skid to a coil carriage and transporting the coil. The transmission type optical sensor comprising a light projector and a light receiver is provided. Detecting both ends of the coil by arranging them at equal intervals on the longitudinal side of the skid; obtaining a coil center position from the detection signal; and setting the center of the coil carriage to the obtained coil center position. Controlling the stop position of the coil bogie so that the positions substantially coincide with each other.

The present invention is also a centering device for a coil truck when transferring a coil loaded on the skid to a coil truck and transporting the coil, wherein the centering device is disposed at equal intervals on a longitudinal side of the skid. A transmission optical sensor comprising a light emitter and a light receiver for detecting the position of the coil; an arithmetic means for obtaining a coil center position from a detection signal from the transmission optical sensor; and a center position of the coil carriage at the obtained coil center position. And control means for controlling a stop position of the coil bogie so that the values substantially coincide with each other.

It is also possible to arrange the positions of the light emitter and the light receiver of the transmission type optical sensor in a staggered manner so that the directions of light emission and light reception are alternated.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a plan view showing a configuration of an embodiment of a coil bogie centering device according to the present invention, and FIG. 2 is a view taken along line XX of FIG. In these drawings, the same members as those of the conventional example are denoted by the same reference numerals, and description thereof will be omitted.

In these figures, reference numeral 10 denotes a bogie stop positioning device for calculating the center position of the coil 1 and controlling the stop position of the coil bogie 3. 11 and 12
Is a coil end surface position detecting device for detecting the ends of the coil 1 respectively. These coil position detecting devices 11 and 12 are provided with a light projector 13 arranged on one side of the skid 2 and this light projector 13.
A plurality of pairs of transmission optical sensors are arranged horizontally at a distance of d with the photodetector 14 disposed on the other side of the skid 2 in opposition to the above. Here, the size of the distance d is determined by the outer diameter of the coil, the directivity of the optical sensor, and the amount of displacement of the center of gravity allowed by the lift device 6, but if the outer diameter of the coil is about 2000 mmφ, it is 100 to 20 mm.
A range of 0 mm is desirable. A distance D is provided between the innermost light projector 13 of the coil position detecting device 11 and the innermost light projector 13 of the coil position detecting device 12.
Is suitably about 1/2 to 1/3 of the width of the coil 1.

Reference numeral 15 denotes a position detector such as a rotary encoder attached to the coil truck 3 and has a function of measuring the traveling distance of the coil truck 3. 16 is a coil truck 3
The drive control is performed by the bogie stop positioning device 10 via the motor control device 17. Next, the operation of the coil bogie centering device of the present invention thus configured will be described. First, using the coil position detectors 11 and 12,
The light is projected from 13 to the coil 1 loaded on the skid 2, and a signal indicating whether or not each light receiver 14 has received the respective light is input to the bogie stop positioning device 10. Next, the bogie stop positioning device 10 determines which of the light receivers 14 that are shielded from light in each of the coil position detecting devices 11 and 12 and determines the center position of the coil 1 by calculation.

Now, the number of light projectors 13 shielded from the coil position detecting device 11 is m from the innermost side, and the number of light projectors 13 shielded from the coil position detecting device 12 is n from the innermost side. Then, first, when m = n, the skid center is commanded as the stop position of the coil bogie 3. As a result, the amount of misalignment between the center of the coil carriage 3 and the center of the coil 1 becomes d /
Can fit within 2. When m ≠ n, the misalignment between the skid center and the coil center may have occurred by d / 2 or more. Therefore, when m> n, (m−n)
/ 2 is commanded to stop the coil bogie 3 on the coil position detecting device 11 side, and if m <n, (nm) /
Instruct the coil position detector 12 to stop the coil carriage 3 by the amount of 2. Thus, the amount of misalignment between the center of the coil carriage 3 and the center of the coil 1 can be kept within d / 2. Therefore, the bogie stop positioning device 10 is
Command to the motor control device 17 so that the drive motor 16
To drive the coil carriage 3 into the skid 2. Then, while measuring the moving distance of the coil carrier 3 with the position detector 15, the coil carrier 3 is stopped so as to satisfy the conditions of the above steps. Thus, the amount of misalignment between the center of the coil carriage 3 and the center of the coil 1 can be kept within d / 2.

In the above embodiment, the description has been made assuming that the mounting positions of the light projector 13 and the light receiver 14 of the coil position detecting devices 11 and 12 are respectively on the same side. In this case, the directivity of the transmission type optical sensor is used. If the distance exceeds the distance d, the adjacent light receivers may also respond, so that the bogie stop positioning device 10 may make an erroneous determination. Therefore, for example, as shown in FIG. 3, if the mounting positions of the light projector 13 and the light receiver 14 are staggered so that the directions of light emission and light reception are alternately changed, the directivity of the transmission optical sensor can be changed by a distance of 2d. To allow the use of inexpensive and non-directional sensors with the same permissible misalignment,
The same sensor can reduce the amount of misalignment by half, and the effects such as that can be expected.

[0015]

As described above, according to the method and apparatus of the present invention, a plurality of transmission type optical sensors in which a light emitter and a light receiver are horizontally arranged at equal intervals are used.
The center of the coil can be measured without the influence of rust-preventive oil or dust, thereby preventing overload of the coil carriage due to displacement of the center of gravity and performing stable coil conveyance.

[Brief description of the drawings]

FIG. 1 is a plan view showing the configuration of an embodiment of a coil bogie centering device according to the present invention.

FIG. 2 is a view as viewed in the direction of arrows XX in FIG. 1;

FIG. 3 is a plan view showing another example of the arrangement of the transmission optical sensors.

FIG. 4 is a plan view showing a configuration of a conventional example.

FIG. 5 is a side view showing a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Coil 2, 4 Skid 3 Coil trolley 5 Rail 6 Lift device 10 Dolly stop positioning device 11, 12 Coil end position detection device 13 Projector 14 Receiver 15 Position detector 16 Drive motor 17 Motor control device

Claims (3)

[Claims] 1. A centering method for a coil carrier when transferring a coil loaded on the skid to a coil carrier and transporting the coil, wherein a transmission type optical sensor comprising a light emitter and a light receiver is provided in a longitudinal direction of the skid. Detecting both ends of the coil at equal intervals, and obtaining the coil center position from the detection signal, so that the center position of the coil truck substantially coincides with the obtained coil center position, Controlling the stop position of the coil trolley. 2. A coil bogie centering device for transferring a coil loaded on a skid to a coil bogie and transporting the coil, wherein a position of the coils arranged at equal intervals on a longitudinal side of the skid is determined. A transmission type optical sensor including a light emitter and a light detector to be detected, an arithmetic unit for obtaining a coil center position from a detection signal from the transmission type optical sensor, and a center position of the coil carriage substantially coincides with the obtained coil center position. And a control means for controlling a stop position of the coil bogie. 3. The centering of the coil carriage according to claim 2, wherein the mounting positions of the light emitter and the light receiver of the transmission type optical sensor are staggered so that the directions of light emission and light reception are alternated. apparatus.