JPS6037009B2 - How to transport strips - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for transferring a strip such as a Japanese section steel or a general section steel using a rope transfer.

In general, after rolling, for example, Nichi Steel, after rolling,
The products are cut into predetermined lengths, cooled and straightened, and then sorted by length and customer destination, assembled into appropriate numbers, and shipped.

The work of sorting products by length or consumer destination is usually referred to as "sorting", and such sorting work has traditionally been carried out as shown in Figure 1A,
It was carried out using the equipment shown in Figure 1. That is, arrow A
The feed roller table la (
A skid 2 is laid in a direction perpendicular to the conveying direction A of the roller table (hereinafter simply referred to as a roller table), and the H-shaped steel 3 conveyed by the roller table la is transferred to the upper surface of the skid 2 by a slip car 4. Ru. A rope 5 is connected to both ends of the slip car 4, and the rope 5 is connected to a drum 6 driven by an electric motor 7 and a tension wheel 1.
7 to wind it up and tow it. Incidentally, the lateral conveyance equipment including the skid 2, slip car 4, rope 5, drum 6, electric motor 7, etc. is generally referred to as a rope transfer. Further, a drive system consisting of the electric motor 7, drum 6 and tension wheel 17 is provided so as to be able to be driven independently for each arbitrary number of shelf blocks 8a, 8b, 8c. The H-beams 3 that are successively conveyed by the roller table la are taken into arbitrary shelf blocks according to their length and direction, are sorted, and are waited on the skid 2 until they are grouped into predetermined rods. It is then transferred to a delivery vertical roller table 1b (hereinafter simply referred to as a rofu table), and vertically fed to the next process by the rofu table 1b.

Now, the operation of the transfer with the above configuration has conventionally relied mostly on manual operation based on visual confirmation by the operator. In other words, since the scale of the equipment is large in plan, it takes a large number of skilled workers to accurately confirm the position of the slip car 4 and to sort and transport the H-beams 3 so that they do not fall over or overlap irregularly. I needed an operator. The reason why skill is required for operation is due to the above-mentioned flat size, and the difficulties of the rope transfer itself.
That is, the rope 5 tends to stretch or slack, and since the coasting distance varies depending on the weight of the object to be transported, a high degree of skill is required to stop the slip car 4 on the localization layer. Furthermore, the motors used in normal rope transfers are often constant voltage motors that cannot be controlled in speed.
In order to reduce the impact when the slip car 4 contacts the H-section steel 3 due to smooth acceleration/deceleration control, and to prevent the H-section steel 3 from overturning or irregularly overlapping each other, sophisticated operations are required. It required technology. The present invention solves the drawbacks of the above-mentioned conventional method of sorting strips using a transfer. The purpose is to provide an automatic transfer method that allows materials to be transferred accurately to a predetermined location regardless of their weight, and efficiently without causing obstacles such as falling or overlapping. In a method for transferring strips using a rope transfer in which a cross-feeding transfer is interposed between delivery roller tables, the stacking claw is moved forward in an inch relative to the strips on the stacking transfer or the feeding roller table, so that the strips are loosened. After making contact, the strips are stacked and transferred at a constant speed, temporarily stopped at a standby position of the cross-feed transfer, and the weight of the strip is estimated by determining the transfer time of the strips during the stacking transfer, Next, based on the relationship between the weight of the strip material and the operation time of the lateral feed motor for feeding a certain distance determined in advance, the stacking claw is moved forward in increments according to the estimated weight of the strip material;
A method for transferring a strip material, characterized by transferring the strip material to a delivery vertical roller table. An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 shows a part of an arbitrary shelf block consisting of a rope transfer implementing the method of the present invention, and 9 is a slip car 4.
A car guide 10 for guiding the slip car 4 is a stacking claw (hereinafter simply referred to as the claw) attached to the slip car 4 so as to be able to rise and fall freely.

The claw 10 connects the H-shaped steel 3 on the low-foot table la with the arrow B.
When moving in the direction of arrow B', stand up, and conversely, when moving in the direction of arrow B' and passing under the H-beam 3, move the H-beam 3.
The structure is such that the robot transfers while touching the bottom surface of the robot and then stands up again. Reference numeral 11a is a claw position detector for detecting the initial expected stop position of the claw 10 (home position hereinafter simply referred to as day/P), and a closing portion 12a provided on the side of the car and guide 9.
It is attached so that the side surface of the slip car 4 can be seen through.

The claw position detector 11a can be a well-known magnetic force type magnetic proximity switch or a magnetic flux detection type semiconductor magnetic proximity switch, but in this embodiment, a permanent magnet (not shown) provided on the side surface of the slip car 4 is used. It uses a semiconductor magnetic proximity switch that detects the magnetic field (not included) and outputs an on/off signal. The mounting position of the nail color position detector 11a is the maximum width M of the conveyance lot on the roller table la.
It is attached at a set distance of 1 from one end of the transfer direction B'.

The reason for providing the setting distance 1 is to ensure sufficient space for the pawl 10 to move in the direction opposite to the transport direction B' and stand up after passing through the lower part of the H-shaped steel 3. Furthermore, a pawl position detector 11b is similarly provided on the side of the car guide 9 facing in the transport direction B from the pawl position detector 11a, and when the pawl 10 returns to the initial planned stop position, the pawl position detector 11b is passed. It is designed to output a stop command signal.

The mounting interval 2 of the claw position detectors 11a and 11b is the claw 10.
The distance is set slightly shorter than the maximum distance the vehicle will coast after being given a stop command. Reference numeral 13a denotes a steel material detector, which is provided to detect the passage of the H-shaped steel 3 being transferred from below the transfer surface of the skid 2 in a non-contact manner.

The steel detector 13a employs a well-known detection method that applies a constant high-frequency current to a loop coil and detects the arrival of a steel based on a change in impedance that occurs in the loop coil when the steel approaches. The detector is not limited to this, and any detector may be used. The steel detector 13a is installed at a distance of 13 from the initial scheduled stop position (day/P) of the claw 10; Transfer from the opening table, and after contacting the H-shaped steel 3, transfer it under load, and then transfer it at the relevant shelf block over the minimum distance required for the transfer speed to reach a constant speed or a distance greater than that. It should be determined according to the maximum lot (weight) and the capacity of the motor. l
b is a roller table with a roll width L, and the place to be transferred in the present invention is a predetermined place having a constant width L' in the direction of transfer of the material to be transferred, such as the roller table lb. This is not limited to the roller table, but may also be a specific waiting area on the transfer. 1
3b and 13c are steel detectors, and roller table l
It is provided so as to detect the material to be transferred from below the conveying surface near the axial end of b.

The mutual spacing between the steel material detectors 13b and 13c is, that is,
The width is set to be equal to the width L' of the transferred location. The detection method is exactly the same as the steel detector 13a described above, but the steel detector 13b detects the arrival of the H-beam 3 and generates the transfer stop timing, and detects the H-beam from the detection range of the steel detector 13b. It has the function of outputting a signal when 3 leaves. One of the steel material detectors 13c is provided to obtain an alarm signal to prevent the H-shaped steel 3 from falling when it protrudes beyond the roll width L. The transfer method in this embodiment is carried out using a device configured as described above, in which the H-shaped steel 3, which has been layered in advance within an arbitrary width M on the loft bubble la, is transferred by rope transfer. Regardless of the weight of the H-shaped steel 3, it is automatically transferred within the width L on the rolls reliably and safely.

Next, a third example of a control device for controlling the transfer section is shown.
This will be explained with a diagram.

Reference numeral 20 denotes a storage device which stores constant information such as the initial operation time, the number of times, and the transfer operation time for each weight of the material to be transferred.

Reference numeral 21 denotes a time measuring section which starts time measurement from the detection signal of the steel detector 13a and ends with the detection signal from the steel detector 13b.

Reference numeral 22 denotes an arithmetic and control device, which calculates the estimated weight based on the actual transfer time information from the time measuring section 21 or information from the storage device 20.

Reference numeral 23 denotes a transfer operation section, which instructs the electric motor to start and stop, or to rotate forward and reverse, in response to a transfer operation command signal from the arithmetic and control unit 22.

Next, a specific example of the operation of the method of the present invention will be explained based on FIG.

Step 1: This figure shows the predetermined conditions before starting the transfer.

The layered state of the H-beam steel 3 is shown. The H-shaped steel 3 is placed on a roller table la in advance by a roller table la or a transportation means such as a crane (not shown). In this case, the end 3a of the H-shaped steel 3 facing the expected initial stop position (day/P) of the claw 10 is placed so as to be located somewhere within the set calendar width M. By placing the end portion 3a of the H-section steel 3 within the set layer width M in advance, the operations from the next step onwards are automatically performed. Step 2: When the arithmetic and control unit 22 confirms that the pawl 10 is at the expected initial stop position (day/P) by the pawl position detector 11a, the arithmetic and control device 22 displays the preset and stored initial operation time and number of times in the storage device 20'. is taken out from the storage device 20.

Next, the arithmetic and control device 22 outputs a forward rotation command to the electric motor via the transfer operation section 23, and the pawl 10 starts moving. In other words, the claw 10 moves a distance (
Stroke)S. The robot moves forward by a distance S, then stops once, and then moves forward by a distance S, and so on, and repeats the same number of times as the initial operation. In the middle of this process, the claw 1 comes into contact with the shape steel 3, and is transferred while being in contact with it, and is moved a set number of times. Stroke S, excessively connects claw 10 and H-beam 3
It may be set arbitrarily, taking into account the number of operations, as long as it does not collide, is too short, and does not reduce efficiency due to the stroke. Note that the stroke S,' after the claw 10 contacts the H-beam 3 is S,>S, because the load resistance increases.
'. The first basic point of the technical idea of the present invention is that by repeatedly operating and stopping the transfer pawl 10 at short intervals by utilizing the startup characteristics of the electric motor, the transfer pawl 10 can be moved at low speed without moving at high speed. This method focuses on the fact that the claws 10 come into direct contact with the object to be transferred, and that the impact when the claws 10 and the object come into contact is extremely small.

In the present invention, the state in which the pawl 10 advances intermittently as described above is referred to as inching. Step 3: After the set number of transfers have been performed in step 2, the arithmetic and control unit 2
2 transmits a transfer command to the transfer operation section 23, and the claw 10 starts transferring the H-beam 3 again.

The speed gradually increases from a low speed start-up at the start of the transfer, and before the steel material detector 13a, the torque generated by the motor matches the transfer load and becomes constant speed. During the constant speed state, the H-shaped steel 3 is detected by the steel detector 13a,
The signal is transmitted to the time measuring section 21, and the time measuring section 2
1 starts time measurement. When the pawl 10 is further advanced, the arrival of the end 3b of the H-shaped steel 3' (indicated by a broken line) is detected by the steel detector 13b, and based on this signal, the arithmetic and control unit 22 controls the transfer operation section 23. Outputs a motor stop command to. At the same time, the time measurement section 21 ends the time measurement and holds the transfer time T at the set distance C between the steel material detectors 13a and 13b. As mentioned above, the purpose of stopping the material to be transferred is to measure the transfer time required for the material to be transferred a certain distance C at a constant speed, and also to measure the transfer time required for the material to be transferred a certain distance C at a constant speed. When a strip is in a standby state for vertical feeding on the delivery roller table, or when another strip that has been transferred to the delivery roller full via another sorting rack is being conveyed vertically, the delivery roller is in the standby position. The purpose is not to transfer the table lb until it becomes empty.

In the present invention, the state in which the end portion 3b of the H-shaped steel 3' enters the detection width 14 of the detector 13b is referred to as a standby position. Now, the material to be transferred 3' in the standby position of the loading transfer
The specified width L on the vertical roller table lb
In order to reliably transfer the transfer material within the range of 0.01 to 1.0, it is necessary to perform stop control that appropriately predicts the coasting distance (which varies depending on the weight of the transferred material) that will occur after the transfer motor is stopped.

Therefore, the present inventors devised the following means to automatically and accurately transfer the material to the roller table lb regardless of the weight of the material to be transferred. First, as shown in the graph in Figure 5, when the electric motor of the transfer rotates at a constant speed under load, the estimated weight is calculated from the transfer time T based on the experimental result that the transfer time for a certain distance is directly proportional to the transfer weight. I made it calculate.

That is, the relationship between the transfer time and transfer weight in FIG. 5 can be approximated by the following equation. 7 = kIG ten guns.

...{1) However, 7: Transfer time for a certain distance (sec/unit) G: Transfer weight (tons) k. : Coefficient 7o: The intercept of the vertical axis in the graph or the transfer time between any two points during transfer T, 2
If the distance between points is C, then 7=sound, so the previous formula m becomes as follows.

G=k(T-et al.) ・・・・・・【2)・
However, k = koroshi = 7.

C In the above formula (2), since k and now are known, the estimated weight G can be found by measuring the transfer time T between the two points.

Step 4: In step 4 of FIG. 4, the transferred material 3 is shown stopped from the standby position state of step 3 in anticipation of coasting of the transferred material.

If the H-shaped steel 3 is still on the steel material detector 13b at this point, the H-shaped steel 3 is transferred by performing a one-click movement.
The inching movement at this time must also be done in accordance with the load weight.
Therefore, first, appropriately divide the maximum transfer weight range from the no-load and minimum transfer weight corresponding to an arbitrary set inching stroke (for example, it may be the same as the above S), and
The inching time for each weight range is measured in advance and stored in the storage device 20 as a correspondence table. Table 1 is an example of a correspondence table between the transferred weight and the inching time when the inching stroke is 20 strokes. Then, the first inching operation is performed for the inching time corresponding to the estimated weight G, and if the H-shaped steel 3 is still within the detection range of the steel material detector 13b after the inching is completed, a second inching operation is performed. A second inching motion is performed and is repeated until the steel material detector 13b leaves the detection range.

As mentioned above, the second point of the basic idea of the present invention is that even if the weight to be transferred is unknown, the weight can be estimated from the transfer time between two points on the transfer, and the inch movement can be performed based on the estimated weight. The main point lies in the discovery that the transfer to the stereotaxic layer can be performed with extremely high accuracy.

Step 5: When the H-shaped steel 3 is detached from the steel material detector 13b, the electric motor operates in reverse according to a command from the arithmetic and control unit 22, and the claw 10 returns to the opposite direction.

When passing the position detector 11b, a stop command is transmitted to the electric motor, and the motor stops at the initial scheduled stop position (P) or just before it. When the claw 10' is stopped in front, the inching movement is repeated by the inching distance S in the same manner as shown in step 2 above until it is detected by the position detector 11a. In addition, in step 4, before the H-beam 3 leaves the detection range of the steel material detector 13b while the H-beam 3 is being transferred,
If the steel material detector 13c detects the end 3b of the H-shaped steel 3, it means that the width of the H-shaped steel making up one lot is larger than the roll width, and an alarm signal is issued and the transfer is stopped. Force a stop to ensure safety.

FIG. 6 is a flowchart showing the operating conditions from step 1 to step 5 described above.

As described in detail above, the method of the present invention, when sorting and transferring strips using a rope transfer, can accurately place the strips at a predetermined location even if the weight information of the strips to be transferred is not known in advance, and prevents them from falling over, overlapping, etc. It can be transported without causing any trouble, and it also enables safe automatic operation, which has an extremely large effect in saving manpower and improving efficiency.

[Brief explanation of drawings]

Figure 1A is a schematic plan view and side view showing conventional sorting and conveyance preparation; Figure 2 is a schematic perspective view of a rope transfer that implements the method of the present invention; Figure 3 is a block diagram of a control device that implements the method of the present invention. , FIG. 4 is an explanatory diagram of the operating state of the method of the present invention, and FIG.
The figure is a graph showing the relationship between transfer time and transfer weight, and FIG. 6 is an operation flowchart of the present invention. la, lb...Roller table full, 2...Skid, 3
...Nippon Steel, 4...Slip car, 5
...Rope, 6...Drum, 7...Electric motor, 8a, 8b, 8c...Shelf block, 9...
...Car guide, 10...Claw, 11a, 11
b...Position detector, 12a...Car guide side opening □, 13a, 13b, 13c...Steel detector, 17...Tension wheel, 20...
・Storage device, 21...Time measurement unit, 22...
...Arithmetic control unit, 23...Transfer operation section. Figure 1 (o) Figure 3, Figure 〆) Figure 5 Figure 2 Figure 6 Figure 4

Claims (1)

[Claims] 1. In a rope transfer strip transfer method in which a transverse transfer transfer is interposed between an infeed and an outfeed vertical roller table, the transverse feed pawl is moved forward by an inch relative to the strip on the transverse transfer or the feed roller table. After making at least a gentle contact with the strip, the strip is transferred horizontally at a constant speed, temporarily stopped at the standby position of the transverse transfer transfer, and the transfer time of the strip during the transverse transfer is determined and the transfer time of the strip is determined. The weight of the material is estimated, and then, based on the relationship between the weight of the material and the operating time of the horizontal feed motor for feeding a certain distance, the horizontal feed claw is moved forward in increments according to the estimated weight of the material, and the length of the material is adjusted. A method for transferring a strip material, characterized by transferring the strip material to a roller table.