WO2020179717A1 - コイル状金属板のテールエンド検出装置および検出方法 - Google Patents

コイル状金属板のテールエンド検出装置および検出方法 Download PDF

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Publication number
WO2020179717A1
WO2020179717A1 PCT/JP2020/008551 JP2020008551W WO2020179717A1 WO 2020179717 A1 WO2020179717 A1 WO 2020179717A1 JP 2020008551 W JP2020008551 W JP 2020008551W WO 2020179717 A1 WO2020179717 A1 WO 2020179717A1
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WIPO (PCT)
Prior art keywords
tail end
coiled strip
detection
detecting
strip
Prior art date
Application number
PCT/JP2020/008551
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English (en)
French (fr)
Japanese (ja)
Inventor
聰 内山
貴紀 徳本
Original Assignee
鋼鈑工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 鋼鈑工業株式会社 filed Critical 鋼鈑工業株式会社
Priority to CN202080016243.8A priority Critical patent/CN113474096B/zh
Publication of WO2020179717A1 publication Critical patent/WO2020179717A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21B—ROLLING OF METAL
    • B21B15/00—Arrangements for performing additional metal-working operations specially combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/16—Unwinding or uncoiling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/26—Special arrangements with regard to simultaneous or subsequent treatment of the material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/34—Feeding or guiding devices not specially adapted to a particular type of apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant

Definitions

  • the present invention relates to a tip detection device and a tip detection method for a strip-shaped material for a coil-shaped strip such as a rolled steel strip or paper wound in a coil shape.
  • rolled steel strips used for various purposes in industry are wound in a coil shape for reasons such as transportation restrictions and have a cylindrical appearance (hereinafter, this is also referred to as a "coil strip shape").
  • coil strip shape Generally transported. At this time, the coil-shaped strip is often restrained by a binding band made of metal or the like so as not to be unwound during the transportation.
  • the binding band that binds this coiled strip is cut.
  • the tip of the band-shaped body hereinafter, also referred to as “tail end”
  • the tail end may be largely warped when the band-shaped body is unwound. ..
  • the binding band that binds the coiled strips is cut after the tail end described above is first detected by the detection device. ..
  • a tail end detection device is roughly classified into a contact type and a non-contact type.
  • Patent Document 1 and Patent Document 2 are known.
  • a wrapper roll that applies a pressing force to the outer peripheral surface of the coiled steel sheet and this wrapper roll are applied to the outer peripheral surface of the coiled steel sheet. It is provided with a pressing force detecting unit for detecting the pressing force, and it is determined whether or not the pressing force detected by the pressing force detecting unit has fluctuated, and it is determined that the tail end portion of the steel sheet has passed through the wrapper roll.
  • Patent Document 3 for detecting the tail end of a coiled strip by an image using a camera, and the above-mentioned tail end using an optical sensor that irradiates a non-contact detection light.
  • Patent Documents 4 to 6 are known.
  • JP, 2014-69195 A Japanese Unexamined Patent Publication No. 2001-150024 JP-A-6-147857 JP, 2000-111336, A JP, 10-227628, A JP 61-253117 A
  • the present invention has been made in view of the above problems by way of example, while suppressing damage to the surface of the strip to accommodate various coil diameters, with respect to the tail end of the strip with a thin thickness It is an object of the present invention to provide a tail end detection device and a detection method for a coiled strip that can detect a tail end with high accuracy.
  • the tail end detection device for the coiled strip has (1) a tail end (outer end) of the coiled strip conveyed on the mounting means.
  • a first detecting means for detecting the tail end of a coiled strip which detects the tail end of the coiled strip rotated about an axis by the above-described means, in a non-contact state, and a diameter of the first detecting means.
  • the emission direction of the detection light by the first detecting means is the center of each of the coiled strips when the tail end is detected.
  • the sensor moving means for moving the first detecting means in an oblique direction inclined with respect to the vertical direction, and the coil-shaped strip mounted on the above-described placing means are controlled to be rotated around the axis. And a control means.
  • the sensor moving means includes a frame having an inclined portion extending in parallel with the moving locus of the first detecting means, and the above. It is preferable to have an elevating table on which the first detecting means is placed and installed on the inclined part, and a drive mechanism for moving the elevating table along the inclined part.
  • the drive mechanism is any one of a ball screw mechanism, an air cylinder and a hydraulic cylinder.
  • the sensor moving means is a robot hand that holds the first detection means and approaches or separates from the coiled strip. It may be.
  • the coil-shaped strip and the first one are moved together with the first detection means by the sensor moving means.
  • the sensor moving means further includes a second detecting means for measuring the distance to the detecting means, and the sensor moving means stops the movement of the first detecting means based on the detection result of the second detecting means.
  • the tail end detection device when the coiled strip is carried out from the previously described means, the coiled strip is carried out. It is preferable to further include a retracting mechanism for retracting the first detecting means from the carry-out path.
  • a method of detecting a tail end of a coiled strip is a coiled strip that detects a tail end in a coiled strip in which a strip is wound in a coil shape.
  • a method for detecting the tail end of an object which is a mounting step in which the coiled strip is rotatably mounted on a mounting means about an axis, and a tail of the coiled strip mounted on the above-mentioned mounting portion.
  • the first detection means emits the detection light toward the center of each of the coiled strips at the time of detecting the tail end.
  • the detection means is moved in an oblique direction that is inclined with respect to the vertical direction.
  • the tail end of the coiled strip is detected by a non-contact method, it is possible to avoid damage to the strip while first improving the durability of the detection device.
  • the detection light can be emitted toward the center of each coiled strip, thus stabilizing the angle of the light emitted to the tail end. It is possible to ensure sufficient detection accuracy even for a thin tail end.
  • the vertical direction is, for convenience, the Z direction
  • the axial direction of the coil-shaped strip 1 placed on the placing means 10 is the Y direction
  • the directions intersecting the Y direction and the Z direction are respectively indicated for convenience.
  • This will be described as the X direction.
  • the present invention does not depend on the stipulation of the direction described above and does not unduly reduce the scope of the claims.
  • the tail end detection device 100 includes a tail end 1e of a coil-shaped strip 1 conveyed on a mounting means 10 (described later, the outermost strip shape). It has a function of detecting the end part of the body).
  • the coiled strip 1 is a strip of a predetermined length wound like a coil, and is also called a "hoop" or a “coil” in the case of a thin metal plate.
  • a band-shaped body When such a band-shaped body is wound in a coil shape, the end portion of the band-shaped body is located on the outermost side. Then, during actual transportation, the tail end 1e is restrained so as not to be unraveled by a known binding band or the like.
  • the material of the coil-shaped strip 1 suitable for the present embodiment for example, a metal such as the steel plate described above, a paper material, a resin film, or the like can be applied.
  • the present embodiment can be applied to the tail end detection of a coiled strip in which a strip-shaped metal plate, a resin film, or a strip of paper is wound in a roll shape.
  • the coiled strip 1 Prior to the detection of the tail end, first, the coiled strip 1 is lifted by a transport mechanism such as a crane and transported above the mounting means 10, and then slowly descends to form a coiled strip on the mounting means 10. Object 1 is placed. Since it is unknown at which position the tail end 1e is located in this state, detection of the tail end 1e using the tail end detection device 100 of the present embodiment is subsequently executed.
  • the tail end detection device 100 includes at least a first detection means 20, a sensor moving means 30, and a control means 50.
  • the first detecting means 20 has a function of detecting the tail end 1e of the coiled strip 1 rotated around the axis by the mounting means 10 in a non-contact state.
  • various known non-contact type measuring instruments can be used, for example, an optical sensor that irradiates a laser beam, an ultrasonic sensor that can measure a distance by ultrasonic waves, and the like. It can be illustrated.
  • the mounting means 10 can mount the coiled strip 1 and rotate the mounted coiled strip 1 around an axis (around the Y axis in FIG. 4). It is configured to have a function to make it.
  • Examples of such a mounting means 10 include two rotatable metal rods corresponding to the axial length of the coiled strip 1 also called a cradle.
  • the mounting means called a skid shown in FIG. 6 may also be applied as long as the coil-shaped strip 1 to be mounted is configured to be rotatable.
  • the mounting means 10 of the present embodiment has a function of rotating the coiled strip 1 around an axis under the control of the control means 50 described later.
  • the control means 50 has a storage means, a CPU, and the like in which software for executing a tail end detection method and the like described later is installed, and under the control of the control means 50, the mounting means 10 described above and a sensor described later are used.
  • the moving means 30 and the like are integrally controlled.
  • the control means 50 for example, a personal computer provided with a known arithmetic unit, memory, or the like can be exemplified.
  • the control means 50 may be equipped with a known communication device so that it can be remotely controlled by being connected to an external network (such as the Internet) by wire or wirelessly.
  • the sensor moving means 30 of the tail end detection device 100 of the present embodiment will be described in detail with reference to FIGS. 2 to 4.
  • the emission direction of the detection light L in the first detecting means 20 is the tail end. It is configured to have a function of moving the first detection means 20 diagonally (in a direction obliquely inclined with respect to the vertical Z direction) so as to move toward the center O of each coiled strip 1 at the time of detection of 1e. (See Figure 4 and Figure 5).
  • the sensor moving means 30 includes at least a frame 31, an elevating table 32, and a drive mechanism 33, and further, in the present embodiment, a retracting mechanism 34 and a brake. It has a mechanism 35.
  • the retracting mechanism 34 may be omitted if there is no hindrance to the loading/unloading path of the coiled strip 1 with respect to the mounting means 10. Further, if the position of the elevating table 32 can be stabilized by the drive mechanism 33, the brake mechanism 35 may be omitted as appropriate.
  • the frame 31 is configured to include an inclined portion 31a extending in parallel with the movement locus Q of the first detection means 20 described above.
  • the material of such a frame 31 is not particularly limited, but a known metal material such as a steel material is suitable in consideration of strength and durability.
  • the frame 31 of the present embodiment is a frame body in which steel materials are combined, but the frame 31 is not particularly limited to this embodiment.
  • the inclined portion 31a of the frame 31 may be made of a plate-shaped metal material.
  • the inclined portion 31a is attached to the frame 31 so that an inclined surface inclined by a predetermined inclination angle ⁇ (see FIG. 6) with respect to the vertical direction is formed.
  • the inclined portion 31a is installed so that the inclined angle can be adjusted so as to have a desired inclined angle ⁇ with respect to the frame 31.
  • the inclination angle ⁇ of the inclined portion 31a can be adjusted to an arbitrary angle, it may be integrally formed with the frame 31 instead of being a separate body.
  • the inclination angle ⁇ of the frame 31 as a whole can be adjusted by an angle adjusting mechanism (not shown) such as a known hydraulic cylinder mechanism. The specific setting method of the tilt angle ⁇ will be described later.
  • the elevating table 32 is installed on the inclined portion 31a on which the first detecting means 20 described above is placed.
  • the elevating table 32 can move along the inclined surface formed by the inclined portion 31a while the first detecting means 20 is mounted.
  • the frame 31 of the present embodiment includes a fixing pin and a fixing portion 37 for fixing the lifting platform 32 at a predetermined position of the inclined portion 31a. This makes it possible to stably maintain and fix the elevating table 32 to the inclined portion 31a, for example, during maintenance.
  • the lift 32 includes a sensor mounting portion 32a, a lift main body 32b, a drive mechanism connecting portion 32c, and a brake connecting portion 32d.
  • the sensor mounting portion 32a is configured to be close to or separated from the elevating platform main body 32b, which will be described later, via the retracting mechanism 34.
  • the sensor mounting portion 32a of the present embodiment has a function of mounting the above-described first detection means 20 and second detection means 40 described later in a fixed manner. As a result, while the positional relationship between the first detection means 20 and the second detection means 40 is maintained, the elevating table 32 moves up and down along the inclined surface, so that the first detection means 20 and the second detection means 40 move locus Q. It is possible to transfer along.
  • Such a second detection means 40 has a function of moving together with the first detection means 20 by the sensor moving means 30 to measure the distance between the coiled strip 1 and the first detection means 20.
  • the first detecting means 20 of the present embodiment detects a change in the distance to the surface of the coiled strip 1 (that is, a change in height), and the detected height is the tail end 1e. It is detected that it changes greatly by. As described above, since the first detection means 20 detects the change in the detection height depending on the presence or absence of the tail end 1e, there is an optimum measurement distance for the coiled strip 1.
  • the distance between the coiled strip 1 and the first detecting means 20 is measured by the second detecting means 40, and the sensor moving means 30 is the first based on the detection result of the second detecting means 40.
  • the configuration is such that the movement of the detection means 20 (that is, the lifting operation by the lifting platform 32) is stopped.
  • the second detection means 40 various known ranging sensors such as an optical displacement sensor such as a laser range finder, a magnetic flux displacement sensor, and an ultrasonic displacement sensor can be applied. Further, such stop control using the second detection means 40 is executed under the control of the control means 50 described above.
  • the lift main body 32b includes a drive mechanism connecting portion 32c that receives power transmission from the drive mechanism 33, which will be described later, and a brake connecting portion 32d that receives a braking action from the brake mechanism 35, respectively. Further, the elevating table main body 32b is configured to mount the evacuation mechanism 34 as described above to support the sensor mounting portion 32a.
  • the drive mechanism 33 has a function of moving the elevating table 32 described above along the inclined portion 31a of the frame 31.
  • the drive mechanism 33 is installed on the inclined portion 31a in order to exert the above-mentioned functions.
  • any one of a ball screw mechanism, an air cylinder and a hydraulic cylinder is preferable.
  • the air cylinder is installed via the mounting portion 33a (see FIGS. 1 and 3) following the inclined surface formed by the inclined portion 31a.
  • the elevating table 32 can be moved along the inclined surface via the drive mechanism 33.
  • the drive mechanism 33 air cylinder
  • the control means 50 the drive mechanism 33 is controlled so that the elevating table 32 stops at an arbitrary height / position.
  • the retracting mechanism 34 moves the sensor mounting portion 32a with respect to the elevator body 32b so as to be close to or separated from each other. Therefore, when the coil-shaped strip 1 is unloaded from the placing means 10 due to some factor, for example, the retracting mechanism 34 of the present embodiment moves the coil-shaped strip 1 from the unloading route of the coil-shaped strip 1 to the first position as shown in FIG. 2B. It has a function of retracting the detection means 20. As a result, for example, when the coiled strip 1 is lifted from the mounting means 10 by a crane or the like, the first detecting means 20 (the same applies to the second detecting means 40) and the like are prevented from interfering with each other and being damaged. ..
  • the retracting mechanism 34 of the present embodiment has a drive cylinder 34a arranged in the horizontal direction, and two guide cylinders 34b arranged on both sides so as to sandwich the drive cylinder 34a.
  • the above arrangement configuration is an example, and may have, for example, two or more drive cylinders 34a, or may be a single guide cylinder 34b instead of two or more guide cylinders 34b.
  • the drive cylinder 34a has a function of generating a driving force for moving the sensor mounting portion 32a closer to or further away from the elevating platform main body 32b.
  • Examples of such a drive cylinder 34a include known cylinder mechanisms such as an air cylinder and a hydraulic cylinder.
  • As the drive cylinder 34a another known linear motion mechanism such as a known ball screw mechanism may act.
  • the guide cylinder 34b has a function of guiding the movement of the sensor mounting portion 32a which is moved by the driving force of the driving cylinder 34a.
  • various guide mechanisms such as a known piston mechanism can be applied.
  • the guide cylinders 34b are arranged on both sides so as to sandwich the drive cylinder 34a. Therefore, the sensor mounting portion 32a that is moving may be in an irregular or unstable state such as rolling. It is suppressed that it becomes.
  • the brake mechanism 35 has a function of braking the movement of the lift 32. More specifically, as is clear from FIG. 3 and the like, the brake mechanism 35 of the present embodiment exerts a braking function by sandwiching the brake rail BR laid on the inclined portion 31a. Further, as shown in FIG. 1, only two brake rails BR are installed on the inclined portion 31a at a predetermined distance from each other.
  • two brake mechanisms 35 are also installed so as to straddle both sides of the lift 32 corresponding to the pair of brake rails BR.
  • the elevating table body 32 may yaw or roll as compared with the case where the brake rail BR and the brake mechanism 35 are each alone. It is suppressed.
  • each coil-shaped strip 1 It is possible to move the first detection means 20 diagonally (in a direction obliquely inclined with respect to the vertical Z direction) so as to move toward the center O of the
  • the inclination angle of the movement locus Q with respect to the vertical direction and the detection light L are required so that the detection light L always faces the center O.
  • the movement locus Q is substantially synonymous with the inclination angle ⁇ of the inclined portion 31a (that is, the movement locus Q is also inclined by the angle ⁇ with respect to the vertical), and thus the coiled strip of the present embodiment.
  • the inclination angle of the inclined portion 31a is set as the measurement angle ⁇
  • the angle of the detection light L in the first detection means 20 with respect to the vertical direction is set as ⁇ .
  • the angle ⁇ of the skid as the mounting means 10 is known, and the maximum diameter ⁇ D 1 and the minimum diameter ⁇ D 2 (see FIG. 4) of the coil-shaped strip 1 that can be mounted by the mounting means 10 are also respectively. It is known.
  • the coiled strip 1 having a radius R is set as the detection point Z (the point separated from the center Os of the skid by rx and ry) as the measurement point of the first detection means 20.
  • the detected light L passes through the detection point Z and is located at the center O of the coiled strips 1.
  • the irradiation angle ⁇ and the inclination angle ⁇ of the inclined portion 31a can be obtained.
  • FIG. 1 An example of such a setting method is shown in FIG.
  • the angle ⁇ of the skid as the mounting means 10 is 31°
  • the maximum diameter ⁇ D 1 of the coil-shaped strip 1 that can be mounted is ⁇ 1020
  • the minimum diameter ⁇ D 2 is ⁇ 600.
  • the inclination angle ⁇ as the detection angle is 15 °. Therefore, when assembling the apparatus, the frame 31 is configured by tilting the tilted portion 31a so that the tilt angle ⁇ is 15 °, and the first detection means 20 is tilted so that the detection light L is tilted 31 ° with respect to the vertical direction. It may be fixed to the mounting table 32.
  • the coil-shaped strip 1 on the skid has a constant irradiation angle ⁇ toward the center regardless of the diameter.
  • a cradle similarly known structure
  • the coiled strip 1 on the cradle is slightly deformed by the weight of the coiled strip 1 itself.
  • the cradle when used as the mounting means 10, the average of the maximum diameter ⁇ D 1 and the minimum diameter ⁇ D 2 of the coiled strip 1 described above is defined as the “reference irradiation angle ⁇ ”.
  • the reference irradiation angle ⁇ when the mounting means 10 is a cradle, such a reference irradiation angle ⁇ is treated as a constant irradiation angle as in the case of a skid.
  • the detection light L is in the shape of each coil. Since the light can be emitted toward the center O of the strip 1, the angle of the emitted light to the tail end 1e can be stabilized, and sufficient detection accuracy can be ensured even for a thin metal band or the tail end. It is possible.
  • ⁇ Tail end detection method> a method for detecting the tail end of the coiled strip according to the present embodiment will be described with reference to FIG. As shown in the figure, in the tail end detection method of the present embodiment, the tail end of a coiled strip in which a strip of metal or the like is wound in a coil is detected.
  • step 1 the coiled strip 1 described above is rotatably mounted on the mounting means 10 around an axis (mounting step).
  • the mounting means 10 is a cradle, there is no problem in rotating the coiled strip 1, but if the mounting means 10 is a skid, a known rotation driving means is installed in the skid.
  • the control means 50 under the control of the control means 50, the coiled strip 1 on the mounting means 10 can rotate around its axis, and the tail end 1e can be detected.
  • the elevating table 32 is moved along the inclined portion 31a of the frame 31, whereby the first detecting means 20 fixedly mounted on the elevating table 32 is brought close to the coiled strip 1 (moving step). ..
  • step 3 it is determined whether the tail end 1e is detected by the first detecting means 20 as close as possible, that is, whether the tail end 1e is within the detection range of the first detecting means 20 (measurement possibility determination step).
  • the second detecting means 40 moves along the inclination of the inclined portion 31a together with the first detecting means 20 by the sensor moving means 30 (elevating table 32), and the distance between the coiled strip 1 and the first detecting means 20. To measure.
  • control means 50 controls the sensor moving means 30 to move up and down based on the detection result of the second detection means 40 so that the surface of the coiled strip 1 comes within the detection appropriate range of the first detection means 20. Control is performed to stop the movement of the table 32 (first detection means 20). Since the optimum measurement distance in the first detection means 20 is appropriately determined according to the type of the distance measurement sensor, the detection threshold value is set by the second detection means 40 according to the performance of such a non-contact type distance measurement sensor. Will be
  • step 4 When it is determined in step 3 that the first detecting means 20 has reached the detectable range, in the following step 4, the mounting means 10 is controlled under the control means 50 to rotate the roll-shaped strip 1. In parallel with this step 4, in step 5, the tail end 1e of the roll-shaped strip 1 is detected by the first detecting means 20. In other words, in steps 4 and 5, the tail end 1e is detected by the first detecting means 20 while rotating the coiled strip 1 via the mounting means 10 described above (detection step).
  • control means 50 stores the position of the tail end 1e at the time of detection in the following step 6.
  • the control means 50 controls the mounting means 50 based on the detected timing to rerotate the roll-shaped strip 1.
  • “re-rotation” is described in the sense of including a pause, but for example, the rotation control performed in step 4 may be continued as it is, or the rotation may be directed in the direction opposite to the rotation in step 4. It may be rotated in the reverse direction. That is, the "re-rotation" in step 7 includes a mode in which the rotation in step 4 is continued and a mode in which the reverse rotation is performed, in addition to the mode in which the rotation is paused and then rotated again.
  • step 8 it is determined whether the position of the tail end 1e has reached the target position (that is, the posture suitable for carrying out the coiled strip 1 toward the next step).
  • the binding band that binds the coiled strip 1 is cut by a cutter device (not shown), and then a crane (not shown). The coiled strip 1 is lifted from the mounting means 10 and carried out.
  • the retracting mechanism 34 is driven in step 9 to carry out the coiled strip 1 (that is, the coiled strip is hoisted by a crane or the like).
  • the first detecting means 20 is retracted from the area (where 1 passes). Note that this step 9 may be omitted as appropriate as long as the first detection means 20 is in a safe position with respect to the carry-out route.
  • the coiled strips 1 having different diameters are mounted on the mounting means 10, respectively.
  • the first detection means 20 is obliquely inclined (relative to the vertical Z direction) so that the emission direction of the detection light L in the first detection means 20 faces the center O of each coiled strip 1 at the time of detection of the tail end 1. It is moved in the direction of diagonal inclination). As a result, the angle of the emitted light to the tail end can be stabilized, and sufficient detection accuracy can be ensured even for a thin tail end.
  • the tail end detection device 110 of the coiled strip 1 according to the second embodiment will be described with reference to FIG.
  • the main feature of the tail end detection device 110 in the second embodiment is that the sensor moving means including the robot hand RH is used instead of the sensor moving means 30 having the frame 31, the elevating table 32, and the drive mechanism 33. There is. Therefore, in the following, the same reference numbers will be assigned to the components having the same functions as those in the first embodiment, and the description thereof will be omitted as appropriate.
  • the sensor moving means of the tail end detecting device 110 has a function of holding the first detecting means 20 described above and approaching or separating from the coiled strip 1.
  • the robot hand as the sensor moving means of the tail end detecting device 110 may further have the functions of the second detecting means 40 and the retracting mechanism 34 described above.
  • Examples of such a robot hand include a known robot hand with 6-axis control. However, as described in the first embodiment, it is sufficient if the movement locus Q of the lift 32 can be reproduced, so that the 6-axis control is not always necessary. In this way, the locus of the robot hand is input in advance by teaching or the like based on the movement locus Q of the lift 32.
  • the control unit 50 controls the operation of the robot hand as the sensor moving unit described above, and the first detection is performed even when the coiled strips 1 having different diameters are mounted on the mounting unit 10, respectively.
  • the direction in which the first detection means 20 is obliquely inclined (inclined with respect to the vertical Z direction) so that the emission direction of the detection light L in the means 20 is toward the center O of each coiled strip 1 at the time of detection of the tail end 1. ) Is executed.
  • the angle of the light emitted to the tail end can be stabilized, and sufficient detection accuracy can be secured even for the thin tail end.
  • the tail end detection device and the detection method of the present invention can secure sufficient detection accuracy even for a thin (thin) tail end while reducing the size of the device with a simple configuration. Suitable for constructing various detection systems.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Winding, Rewinding, Material Storage Devices (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
PCT/JP2020/008551 2019-03-04 2020-02-28 コイル状金属板のテールエンド検出装置および検出方法 WO2020179717A1 (ja)

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JPH10227628A (ja) * 1997-02-17 1998-08-25 Nippon Steel Corp コイル先端検出方法
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