JP2898571B2 - Coil winding and stacking device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a method in which coils wound around a strip of metal are welded to each other to form a continuous coil, and then the coil located at a front position in the coil transfer direction is wound up. An apparatus for transferring coils in a back position and stacking on top of a coil in a front position.

[0002]

2. Description of the Related Art In general, a metal strip has a desired property and thickness by repeatedly performing rolling and heat treatment on a metal ingot, and is finally cut to a desired width by a slitter to change the width direction of the strip. It is a metal strip coil wound parallel to the center axis of the coil and aligned with the slit edge. The coil is subjected to various processings when used as a metal material. For example, there is a process of welding a plurality of coil strips to make the coil a continuous coil.

[0003]

On the other hand, this type of coil has, for example, a minimum diameter of 600 mm and a maximum diameter of 10 mm.
Since it is as large as 00 mm and the weight of copper alloy can be as heavy as 100 to 300 kg, it is necessary to weld the coils before and after before and after to make the coils successively continuous coils. How to handle the coils until winding and stacking. Also, the strips taken out of both coils before and after the welding process will be a certain long distance, so the winding load coming from the weight of the strip, twisting and loosening of the strip, etc. There are many problems to be solved such as how to adjust the form and wind up.

Therefore, the present applicant has made the coils located at both front and rear positions in the transfer direction of the coils and at the front position of the mutually connected coils to be horizontal on the turntable device and to rotate the coils at the rear position. We have separately proposed a coil winding / stacking device that holds and transfers a coil in a horizontal state with a transfer device, and stacks a coil at a rear position on the coil while winding with a coil at a front position.

In this coil winding and stacking device, a turntable device is used to lower the table main body in accordance with the sequentially stacked coil upper surface position, and a vertical positioning device for maintaining the winding height of the strip and a coil between the two coils. A rotary drive device for rotating the table body for winding the strip is provided, and a guide roll device for winding guide and an auxiliary guide roll device are combined with the turntable device.

Further, the guide roll device for winding guide is provided with a vertical roll corresponding to the side surface of the coil and a horizontal roll corresponding to the edge surface on the upper side of the coil. The positions of both rolls were variable according to the size. In addition, the auxiliary guide roll device holds the strip between the two coils until the transfer device passes, makes the feed position of the strip freely adjustable according to the outer winding or inner winding of the coil on the table body, and The strip was pushed into the turntable device in accordance with the rotation of.

When a plurality of coils are wound and stacked in a horizontal stacking state by a turntable device, a spacer is interposed between the stacked coils in consideration of post-processing. If there is an abnormality in the horizontal stacking configuration of the coils such that the coils stacked horizontally are tilted or the uppermost coil is warped, the guide roll device for the winding guide should be a spacer. Will interfere. In particular, since the vertical roll corresponds to the side surface of the coil, its tip (lower end) is always located below the upper surface of the coil located at the highest position on the turntable device. If there is an abnormality in the horizontal stacking configuration, it is assumed that the vertical rolls interfere with spacers and others and are damaged. If the vertical roll is damaged, the winding operation of the coil at the front position may be hindered, and the intended winding operation and even the stacking operation may not be achieved.

[0008]

For this purpose, the winding and stacking device for the coil is obtained by adding a kind of safety mechanism to a guide roll device for winding guide. More specifically, the guide roll device for winding-up guide is rotated in a state where the coils at the front and rear positions in the coil transfer direction and in front of the mutually connected coils are in a horizontal state on the turntable device. Further, it is assumed that the rear position coil is held and transferred in a horizontal state by the transfer device, and the rear position coil is stacked thereon while being wound by the front position coil. Furthermore, it has a vertical roll corresponding to the coil side surface and a horizontal roll corresponding to the edge surface on the upper side of the coil, and both rolls are positionally variable according to the size of the outer winding, the inner winding of the coil on the turntable device and the size of the strip. It is assumed that a guide roll device for winding guide is provided.

[0009] Under such a premise, the coil winding and stacking device is mounted on the guide roll device so that the relationship between the positioning height of the vertical and horizontal rolls and the height of the coil upper surface is constant. And a vertical drive system for both the vertical and horizontal rolls, which makes the vertical position of both rolls follow the upper surface of the coil in accordance with the measurement value of this sensor. Further, both the vertical and horizontal rolls of the guide roll device for winding guide are provided on the articulated robot hand, and the vertical roll is connected to a rotary drive system so that it can be rotatably driven in a state corresponding to the side of the coil. The roll is rotatable and positionable around the vertical roll in accordance with the state of introduction of the coil which is connected to and guided by the turning drive system.

[0010]

The coils located at the front and rear positions in the coil transfer direction and connected to each other are first targeted for stacking.
The coil at one front position is placed horizontally on a turntable device (specifically, the table body) and rotated,
The coil at the other rear position is held and transferred in a horizontal state by the transfer device. The coil at the front position winds the strip between the coil at the rear position and the coil at the rear position approaches the coil at the front position and is finally stacked on the coil at the front position. At this time, the coil at the front position on the table body is
It is rotated together with the table body by its own weight, and is wound in a state of outer winding or inner winding while introducing a strip.

At the time of winding the coil, a guide roll device for winding guide is arranged in combination with the coil at the front position by the articulated robot hand, and the coil at the front position winds the strip in a suitable state. The coil is guided so that the shape of the coil is adjusted. Such guidance is, first,
When positioning the guide roll device for winding guide with respect to the coil, a sensor works, measures the height with respect to the upper surface of the coil on the table main body, and positions the vertical and horizontal rolls with respect to the coil at the optimum position so as to perform positioning at the optimum position. A signal is sent to the vertical drive system of both horizontal rolls, and both vertical and horizontal rolls are moved up and down to perform optimal positioning (automatic tracking function). With such an automatic follow-up function, even if the coil is tilted or warped, the vertical roll does not catch on the spacer.

Second, in the guide roll device for winding guide, the vertical roll is placed on the side surface of the coil (the position of the outer peripheral surface of the coil in the case of the outer winding or the inner peripheral surface of the coil in the case of the inner winding). At the corresponding position, it is rotationally driven by the rotary drive system, and the horizontal roll acts at the corresponding position on the upper edge surface of the coil, so that the coil at the front position can perform the intended winding and has a preferable form. be able to.
If necessary, the horizontal roll is turned around the vertical roll by its turning drive system, and always takes a suitable position with respect to the guiding strip.

[0013]

An embodiment will be described below with reference to the drawings. First, with reference to FIG. 7, the entirety of the coil welding and continuation process will be described. In FIG. 7, various types of processing devices are arranged in order from left to right, and the transfer device 1 is provided so as to be able to advance and retreat in a space above the processing devices. That is, the escape table 2, the temporary storage table 3, the carry-in table 4, the reversing machine 5, the entrance turntable 6, the entrance guide device 7, the welding device 8, the exit guide device 9, the auxiliary guide roll device 10, and the turntable device. Various devices such as 11, a weighing machine 12, and a packing table 13 are arranged. Note that the turntable device 11 is combined with a guide roll device 14 (see FIG. 9) for winding guide, and the turntable device 11 and the weighing machine 12 are combined.
Further, an output-side transfer device 16 for taking out the continuous coil 15 by moving between the packing tables 13 is further provided.

The transfer apparatus 1 vacuum-adsorbs the uppermost coil among the plurality of coils 17 stacked on the carry-in table 4 and holds it in a horizontal state, and transfers the coil to a required apparatus, and the processing there is performed. When the operation is completed, the coil is again sucked and held in a horizontal state, and the coil is transferred to the next device from left to right in FIG. The transfer device 1, the turntable device 11, and the guide roll device 14 for winding guide will be described in detail below as a coil stacking device intended in the present invention.

In the above and the following description, FIG.
In FIG. 7, the front and rear directions are indicated by an arrow X, and the upper and lower directions are indicated by an arrow Z. Further, in FIG. 9, the upper side is referred to as “left” and the lower side is referred to as “right”, and the left-right direction is indicated by an arrow Y.

A description will be given below for each of the main components.

The turntable device 11 (FIG. 7,
8 and 10): In this turntable device 11, the coils 20 at both front and rear positions in the coil transfer direction and in front of the mutually connected coils are arranged in a horizontal state and rotated. (See FIG. 10).
The coil 20 at the front position is in a continuous state by welding the coil 21 at the rear position and both the strips 22 and 23, and 24 indicates a welded portion. And the coil 21 at the rear position
Are transferred in such a manner that they are vacuum-adsorbed by the transfer device 1 and held in a horizontal state, and are stacked on the coil 20 at the front position on the turntable device 11. In FIG. 10, reference numeral 25 denotes stacked coils, and the transfer device 1 is omitted.

The turntable device 11 is provided with a vertical positioning device 27 for lowering the table body 36 in accordance with the upper surface position of the sequentially stacked coils 25 and setting the winding height of the strips 22 and 23 to a predetermined position. (See FIG. 8). First, a support frame 29 is erected on a base frame 28, on which a vertical drive motor 30, a ball screw 31, and a rail 32 in the Z direction are provided. The ball screw 31 is driven to rotate by a vertical drive motor 30 via a worm 33. The guide 34 engaging with the ball screw 31 is connected to the table frame 35 and the table frame 3
5 is guided by rails 32 in the vertical direction. The vertical positioning device 27 is constituted by these elements.

Further, the turntable device 11 is provided with a rotation drive device 37 for rotating the table body 36 for winding the strips 22 and 23 between the front and rear coils 20 and 21. That is, the table main body 36 is incorporated in a table frame 35, and another rotary drive motor 38 is provided on the table frame 35, and is connected to a ring gear 40 via a pinion 39. The ring gear 40 has internal teeth cut out, and the pinion 39 is inscribed therein. The table body 35 is fixed on the ring gear 40. These elements constitute a rotation driving device 37 for rotating the table main body 36.

The table body 35 has a central opening 41,
The cylindrical guide 42 faces there. The cylindrical guide 42 is attached to the rod end of a pressure cylinder 43 disposed on the base frame 28, and is entirely movable up and down and forms a cylindrical surface with a pressure cylinder (not shown) disposed inside. The plurality of divided surface portions 44 can be freely expanded and reduced in diameter. When the diameter of the cylindrical guide 42 is increased,
A guide function for determining the insertion position of the spacer S (see FIG. 1) inserted between the coils 25 sequentially stacked on the table body 35 is exhibited.

A guide roll device 14 for winding guide
(See FIGS. 4 to 6 and 9): The turntable device 11 is combined with a guide roll device 14 for winding guide. Guide roll device 14 for this winding guide
Has a vertical roll 50 corresponding to the side surface of the coil 25 and a horizontal roll 51 corresponding to the edge surface on the upper side of the coil 25. Both rolls 50, 5
1 is a variable position.

The vertical roll 50 and the horizontal roll 51 are provided on an articulated robot hand 52 (see FIGS. 4 and 9). The articulated robot hand 52 itself uses a known one, but the way of attaching the vertical roll 50 and the horizontal roll 51 is devised. First, a housing 53 is provided on the articulated robot hand 52, and a first vertical drive motor 54 is arranged outside the housing 53. A first ball screw 55 connected to the first vertical drive motor 54 is provided in a hanging state, and a first guide portion 56 engaged with the first ball screw 55 and extending horizontally therefrom is further provided.

A rotary drive motor 58 is provided at the end of a first arm 57 protruding from the first guide portion 56, and a rotary shaft 60 is provided in a cylindrical case 59 which is suspended therefrom. The upper part is connected to the rotary drive motor 58, and the lower part is provided with a vertical roll 50. The above elements constitute the "vertical roll 50 vertical drive system and rotary drive system".

Next, the "vertical drive system and turning drive system of the horizontal roll 51" will be described. A second vertical drive motor 61 is mounted on the upper portion of the housing 53, and a second ball screw 62 connected to the second vertical drive motor 61 is connected to the housing 53.
It is arranged in a hanging state inside the. Second ball screw 62
Is engaged with the second guide portion 63. The second arm 64 projects from the second guide 63. As shown in FIG. 6, a pair of arm portions 65 project from both sides of the second guide portion 63 so as not to interfere with the first ball screw 55 contributing to the vertical drive of the vertical roll 50.
The second arms 64 are formed by joining the tips of the five pieces with a tip plate 66 having an L-shaped cross section.
Note that the end plate portion 66 is in a state where the cylindrical case 59 and the rotating shaft 60 are penetrated at the center position.

The cylindrical case 59 and a ring-shaped gear 67 surrounding the rotary shaft 60 are disposed below the distal end plate 66 of the second arm 64, and above the distal end plate 66. Cylindrical case 59 and rotating shaft 60
A turning drive motor 68 is provided at a position avoiding
By rotating a gear (not shown), the gear 67 is rotated outside the cylindrical case 59 and the rotating shaft 60, and at the same time, the horizontal roll 51 supported in a suspended state from the gear 67 is rotated around the vertical roll 50. It is.

The operation of the articulated robot hand 52, the "vertical drive system and the rotary drive system of the vertical roll 50" and the "horizontal roll 5"
The operation of "1 vertical drive system and turning drive system" is performed in combination. When the coil 25 on the table body 36 of the turntable device 11 winds the strips 22 and 23 inward, the multi-joint When the robot roll 52 is operated to make the vertical roll 50 and the horizontal roll 51 correspond to the inner peripheral surface of the coil 25 (see FIGS. 3A, 3B and 10), and when the strips 22 and 23 are wound by the outer winding, The vertical roll 50 and the horizontal roll 51 correspond to the outer peripheral surface of the coil 25 (see FIGS. 2 and 4).

The articulated robot hand 52 operates in accordance with the angle of introduction of the strips 22 and 23 to be fed into the coil 25 in accordance with the rotational winding and the inner and outer diameters of the coil according to the degree of winding of the coil 25. , The positions of the vertical roll 50 and the horizontal roll 51 are moved, and if necessary, the vertical roll 5 is moved.
0 and the positioning angle of the horizontal roll 51 are variable. The horizontal roll 51 is adjusted so as to maintain an arbitrary angle, for example, an angle of 90 degrees with respect to the introduction direction of the strips 22 and 23 by the above-mentioned "rotation drive system of the horizontal roll 51".

The winding guide roll device 14 is provided with a sensor 69 (see FIGS. 2 and 4). The sensor 69 detects the upper surface of the coil so that the relation between the positioning heights Ha and Hb of the vertical and horizontal rolls 50 and 51 and the height H of the upper surface of the coil becomes constant. The vertical drive system for both the vertical and horizontal rolls is actuated in accordance with the measured value of, so that the vertical height positions Ha and Hb of both rolls 50 and 51 follow the upper surface of the coil (automatic tracking function). ).

The function will be described specifically.
Height H of both vertical and horizontal rolls 50 and 51 with respect to the upper surface of
a and Hb are mainly based on the widths of the lines 22 and 23 for Ha and the widths and thicknesses (rigidity and the like) of the lines 22 and 23 for Hb.
Set by input. For example, a strip 22 having a width of 9 mm in the specification,
In the case of 23, Ha is set to about 6 mm.
Then, when the articulated robot hand 52 positions both the vertical and horizontal rolls 50 and 51 with respect to the coil 25 (see FIG. 2), the two rolls 50 and 51 are still at the origin position. Measure the distance H. Then, for this measurement distance H, both vertical and horizontal rolls 5
The heights Ha and Hb of 0 and 51 will be positioned.
Since the positional relationship between the sensor 69 and the origin position is known in advance, this value is used as a correction value for the measured distance H.

Further, when the table body 36 of the turntable device 11 rotates, the coil 2 to be measured is
5, the sensor 69 measures the distance H to the upper surface of the coil 25 again only in this case,
The vertical position adjustment of the two rolls 50, 51, that is, the automatic following, is performed by the "vertical drive system" including the vertical drive motors 54, 61 so that the heights Ha, Hb of the set vertical and horizontal rolls 50, 51 are obtained. Do it. At this time, if the coil 25 is tilted or warped, the vertical and horizontal rolls 50 and 51 are adjusted vertically in accordance with the coil 25 by the automatic follow-up function as described above. 50, 51
Can be prevented from interfering with the spacer S or the like. In this way, the height Ha of the vertical roll 50 is adjusted to correspond to the side surface of the coil 25, and the horizontal roll 51 is adjusted.
Is also to adjust the height Hb to correspond to the upper edge surface of the coil 25, and such height adjustment is performed by a "vertical drive system of the vertical roll 50" and a "vertical drive system of the horizontal roll 51". Operated.

The coil 21 stacked on the table body 36 increases the coil upper surface height, but the table body 36 descends to maintain a predetermined height position. The vertical drive system of the roll 50 and the vertical drive system of the horizontal roll 51 do not have to contribute to such adjustment of the coil upper surface height.

[0032]About the auxiliary guide roll device 10 (see FIG.
9, see FIG. 10):The turntable device 11 has the above
In addition to the guide roll device 14 for winding guide,
The idling device 10 is combined. And this supplement
The auxiliary guide roll device 10 moves the base frame 7 in the Y direction.
And a pair of rails 71 and a motor 72
, A chain 73, a pair of sprockets 74, 75,
The chain 7 is driven by the rotation of the motor 72.
3 can move freely in the Y direction.
You.

The carriage 76 is provided with a roll support portion 78 whose height can be adjusted in the Z direction (vertical direction), and a roll group is arranged there. The roll group includes an entry-side horizontal roll 83, a pair of entry-side vertical rolls 84, a pair of upper and lower horizontal pinch rolls 85 and 86, a pair of exit-side vertical rolls 87, and an exit-side horizontal roll 88. ing. The lateral pinch rolls 85 and 86 jointly hold the strips 22 and 23,
When the transfer device 1 approaches the auxiliary guide roll device 10 so as to be over the auxiliary guide roll device 10, the upper horizontal pinch roll 85 is opened and the strip 2 is opened.
Release the constraints of 2 and 23 to make them free. On the other hand, the lower horizontal pinch roll 86 is connected to a motor (not shown), and when the rotary driving force holds the strips 22 and 23,
The strips 22 and 23 are transferred from the entry side to the exit side, and the strips 22 and 23 are pushed into the coil 20 of the turntable device 11.

Since the roll support 78 can be adjusted up and down, the roll group is positioned at an appropriate guide height position in accordance with the degree of slack of the strips 22 and 23 to be dealt with. Then, the horizontal rolls 83 and 88 and the vertical rolls 84 on the entrance and exit sides,
Reference numeral 87 designates the turntable device 11 which regulates the twist of the strips 22 and 23 and adjusts the form thereof, and cooperates with the horizontal pinch rolls 85 and 86 to receive the weight and other loads of the strips 22 and 23 having a long length. This prevents the loads of the strips 22 and 23 from being applied to the upper coil 20.

When the transfer device 1 approaches, the holding state of the strips 22 and 23 is released as described above, and the whole carriage 76 moves in the Y direction, and the movement of the transfer device 1, that is,
3. Adjust the position to a position that does not interfere with the movement of the third position. At this point, the coil 20 has been almost completely wound on the turntable device 11, and the strip 22 between the front and rear coils 20, 21 has been removed.
Only a very short portion 23 remains, and the winding operation of the turntable device 11 and the holding of the coil 21 at the rear position by the transfer device 1 can continue the winding operation without applying a load to the coil 20.

FIG. 3A shows the operating state of each device described above.
3C, the transfer device 1
Moves the coil 21 at the position after continuity after the welding process in the transfer direction while maintaining the horizontal state. In the meantime, the auxiliary guide roll device 10 adjusts the form of the strips 22 and 23 and presses the strips 22 and 23 into the turntable device 11 while receiving the load of the strips 22 and 23 having a long length.
The turntable device 11 winds the strips 22 and 23 by the rotation of the coil 20 at the front position. At that time, the guide roll device 14 for winding guide adjusts the winding state. During this time, the follow-up function by the sensor 69 is activated and the vertical and horizontal rolls 50 and 51 are kept in a safe state and
And the coils 20, 25 are in the preferred form with the strips 22,
Help winding 23.

When the transfer device 1 approaches the auxiliary guide roll device 10 so as to exceed the auxiliary guide roll device 10 (FIG. 3A), the holding state of the strips 22 and 23 is released, and the auxiliary guide roll device 10 is moved. (FIG. 3B). And a guide roll device 1 for winding guide
Reference numeral 4 denotes coils 20 and 25 by the articulated robot hand 52.
The user is moved from the upper position to the first standby position (right position in FIG. 3B, imaginary line position in FIG. 9). When the transfer device 1 further reaches the turntable device 11, the coil 21 at the rear position, which has been held in a horizontal state by the operation of the transfer device 1, is lowered to be stacked on the coils 20 and 25 at the front position ( At this time, the table body 36 is lowered to adjust the height, thereby coping with the next coil transfer / winding and stacking.

[0038]

As described above, according to the coil winding and stacking apparatus according to the present invention, when the coils are sequentially welded and stacked as a continuous coil, the preceding and succeeding coils are transferred to the transfer apparatus and the turntable. The turntable device can be wound by adjusting the strip by the action of the guide roll device for winding guide, and even if the coil is inclined or warped, the turntable device can be supported by the follow-up function. Therefore, there is an excellent effect that the guide roll device for winding guide is not damaged because the position is safe.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing a positional relationship of a guide roll device for winding guide corresponding to inner winding and outer winding of a coil.

FIG. 2 is an explanatory diagram showing an automatic follow-up function of a guide roll device for winding guide.

FIGS. 3 (A) to 3 (C) are process explanatory diagrams showing a state of coil transfer and winding and stacking, respectively.

FIG. 4 is a sectional view of a main part of a guide roll device for winding guide.

FIG. 5 is a plan view of a guide roll device for winding guide shown in FIG. 4;

6 is a transverse sectional view taken along the line VI-VI of FIG. 4;

FIG. 7 is a schematic side view showing the whole of the coil welding / continuation process.

FIG. 8 is a side view of the turntable device (in a state where a guide roll device for winding guide is omitted).

FIG. 9 is a plan view of a turntable device (in a state where a guide roll device for winding guide is combined).

FIG. 10 is an explanatory perspective view showing an arrangement state of coils at both front and rear positions.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Transfer device 10 Auxiliary guide roll device 11 Turntable device 14 Guide roll device for winding guide 20 Coil at front position 21 Coil at rear position 22 23 23 Table body 50 Vertical roll 51 Horizontal roll 52 Articulated robot hand 69 Sensor S Spacer H Sensor height relative to coil Ha Vertical roll height Hb Horizontal roll height

Continuing from the front page (72) Inventor Keiichi Muraoka 3rd Kurami Plant, Samukawa-cho, Koza-gun, Kanagawa Prefecture Inside the Kurumi Plant, Ltd. (72) Inventor Shinji Nishino 4-140 Toranomon, Minato-ku, Tokyo Nippon Mining Engineer (56) References JP-A-7-214161 (JP, A) JP-A-8-267133 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B21C 47 / 24 B21C 47/34 B65H 54/02

Claims (2)

(57) [Claims] A coil located at both front and rear positions in a coil transfer direction and connected to each other at a front position is rotated in a horizontal state on a turntable device, and a coil at a rear position is moved to a transfer device. A vertical roll corresponding to the side of the coil and a horizontal roll corresponding to the upper edge of the coil It has a roll, and a guide roll device for winding guide that makes both rolls variable in position according to the size of the outer winding, inner winding and strip on the turntable device.・ A sensor that detects the upper surface of the coil so that the relationship between the positioning height of both horizontal rolls and the height of the upper surface of the coil is constant, and the upper surface of both rolls according to the measurement value of this sensor Winding stacking apparatus and a vertical driving system of vertical and horizontal rolls, which allowed to follow the coil on the side of the height position is obtained by providing the coil. 2. A guide roll device for winding guide wherein an articulated robot hand is provided with both vertical and horizontal rolls, and the vertical roll is connected to a rotary drive system and rotates in a state corresponding to the side of the coil. 2. The coil winding and stacking device according to claim 1, wherein the horizontal roll is rotatably positioned around the vertical roll in accordance with the introduced state of the coil to be guided and connected to the rotary drive system. .