JPS6014733B2 - Automatic conveyance device for strips - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic conveying device used for sorting and conveying strips such as Japanese steel sections and single-machine sections.

Generally, after rolling, for example, H-beam steel, it is cut into a predetermined product length, cooled and straightened, and then classified by length and customer destination, assembled into appropriate numbers, and shipped.

The work of sorting by length and destination is usually called "sorting", and this sorting work has conventionally been carried out using the equipment shown in Figure 1A and Figure 1G. That is, a vertically-feeding low-foot table 1 (hereinafter simply referred to as a roller table) is provided in the conveying direction indicated by the symbol A, and a skid 2 is laid in a horizontally-feeding direction perpendicular to the conveying direction A. The shaped steel 3 is transferred to the upper surface of the skid 2 by a slip car 4 provided so as to be freely movable via a car guide 9 (described later in FIG. 2) arranged in parallel with the skid 2.

A rope 5 is connected to both ends of the IJ jump car 4, and the rope 5 is wound and pulled by a drum 6 and a tension wheel 17 driven by an electric motor 7.
Note that the lateral conveyance equipment consisting of the skid 2, slip car 4, rope 5, drum 6 to electric motor 7, etc. is generally referred to as a rope transfer, but in the present invention, in addition to the system using a rope, chains, belts, etc. A suspension method may also be used, and these are collectively referred to as lateral transfer. Further, a drive system consisting of the electric motor 7, drum 6 and tension wheel 17 is provided to be able to drive independently to any number of shelf blocks 8a, 8b, 8c. Then, H is transported one by one by a roller table turtle.
The shaped steel 3 is taken into arbitrary shelf blocks and sorted according to length and direction. 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 wide in plan, a large number of chopsticks are required depending on the scale of the equipment 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. required highly skilled operators. The reason why skill is required for operation is because of the above-mentioned planar space, and also because of the drawbacks of the rope transfer itself, namely, the rope 5 tends to stretch or slack, and the floor running distance is shortened depending on the weight of the transported object. Because of the difference, it was difficult for the localization layer to stop the IJ jump car 4. Furthermore, since the electric motors used in normal rope transfers are often constant voltage motors that cannot be controlled in speed, acceleration and deceleration cannot be controlled smoothly, reducing the impact when the slip car 4 contacts the H-beam 3. In addition, sophisticated operating techniques were required to operate the H-beams 3 so that they would not fall over or overlap irregularly. The present invention solves the above-mentioned difficulties in sorting and conveying equipment using rope transfers, and provides an automatic conveying device that detects the position of a sputterer with high accuracy and automatically and smoothly conveys objects to be conveyed, regardless of their weight. ``The gist of the device is to provide a strip transfer device consisting of a lateral feed transfer that is connected to a longitudinal feed roller table for the strip and has a hanging claw that can move freely in the lateral feed direction of the strip. , an initial claw position detector for detecting the expected initial stop position of the suspension claw at the start of stacking and at the end of horizontal feeding of the strips, which is provided near the vertical feed roller table; A steel material detector having a certain detection length is arranged at the strip pile delivery position, and after the strip arrives on the vertical feed roller table, an output signal from the initial claw position detector and a preset The initial operating time and number of inching of the hanging claw until the strip comes into contact are output, and after the hanging claw and the strip come into contact, the steel material detector is detected based on the weight of the strip and the inching distance given in advance. An automatic conveyance device for a strip is characterized in that it is comprised of an arithmetic and control unit that instructs the strip to move forward in increments until the strip is detached from the detected length.

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 in the transfer of the device of the present invention, but the other parts except the main parts of the present invention are the same as the conventional structure explained in FIG. Since it is exactly the same machine, the same members as those in FIG. In FIG. 2, 9 is a car guide that guides the slip car 4, and is a suspension claw (hereinafter simply referred to as a claw) that is attached to the slip car 4 so as to be able to rise and fall freely.

The pawl 10 stands up when transferring the H-beam 3 from the roller tape loop to the skid surface in the direction of arrow B, and conversely, when moving in the direction of arrow B' and passing through the lower part of the H-beam 3. The structure is such that it moves while contacting the lower surface of the H-shaped steel 3 and then stands up again. A pawl position detector ila detects the expected initial stop position of the pawl 10, and is provided at a position corresponding to the slip car 4 through a closing portion 12a provided on the side surface of the car guide 9. Figures 3A and 3B show the configuration of the slip car 4 and the position detector 11a in more detail.
6 is fixed via a pedestal 14.

The claw position detector 11a has a certain magnetism 15 as shown in FIG.
Generally, what is called a magnetic proximity switch or semiconductor switch is used, which detects and outputs an on/off signal. Note that the claw position detector 11a indicates that the claw 10 attached to the slip car 4 is mounted on a roller table.
Check the operation start position when starting cross-feeding section steel 3,
It is provided at a detection position, and in the present invention, this set position is referred to as an initial scheduled stop position. In the embodiment, this initial scheduled stop position is set at the above-mentioned claw I as shown in FIG.
The distance from the end face la of the roller tape loop to the nail turtle 0 is so that Q moves in the direction of arrow B' and has enough room to stand up after passing through the lower part of the H-shaped steel 3! , is set at the position. Further, a pawl position detector 1 b is provided at a distance of 12 from the pawl position detector 11a, and the pawl position detector lb is located at the initial stop position of the slip car 4 in the direction of arrow B'. This is to output a stop command signal when returning, and uses a detector similar to the initial pawl position detector 11a.The set distance 12 is the maximum distance that the slip car 4 coasts after being given a stop command. It is set slightly shorter than .

The turtle 3 is a steel material detector installed at the pile delivery position.
Arrival or departure from the previous stage of the pile delivery position is detected. Here, the pile delivery position refers to the place where the H-shaped steel 3 on the roller table 1 is temporarily stopped at an arbitrary position on the skid 2 when it is transferred to the skid 2. Lofu 7 as shown
- Place the H-beam 3 at a set distance of 13 from the blue end face lb.
A is made to wait for -times. In other words, the reason for providing such a pile delivery position is that depending on the length of the H-shaped steel transported by the roller table and the destination of the customer, there is a sorting plan in advance as to whether it will be taken into the shelf block concerned or transported to the next shelf block. It is decided that the H-beams to be taken into the shelf block will not necessarily arrive in batches of 10 tons (the number of steels to be assembled into one set).

Therefore, until one lot (number) is collected on the relevant shelf block, the first H
This is because it is necessary to temporarily put the shaped steel on standby. The steel detector 13 uses a well-known detection method that applies a constant high-frequency current to a loop coil and detects the presence or absence of steel at the pile delivery position from a change in impedance that occurs in the loop coil when the steel approaches the detector 13. However, the steel detector used in the present invention is not limited to this, and any detector may be used.

Next, a control device for controlling the transfer section of the apparatus of the present invention having the above configuration will be explained. In FIG. 5, the first signal generating section 21 receives the H-shaped steel presence/absence signal from the steel material detector 13 during the pile delivery/falsification, converts it into an electrical signal, and inputs it to the arithmetic and control device 24. 2. The signal generator 22 receives signals from the position detectors 11a and 11b which detect whether the slip car's pawl is at the initial planned stop position or has passed the deceleration start point and inputs it to the arithmetic and control unit 24. It is. 2. This is a 2nd river machining inertia information storage unit, which stores constant information such as the initial inching time and number of times of the transfer described later, and the transfer inching (operation) time for each H-beam weight determined by the inching distance. It stores in advance, and also receives and stores the actual number of inching operations currently being executed on the shelf and the current position information of the claws calculated by the arithmetic and control unit 24.

Reference numeral 23 is a steel information storage unit that stores information such as the number of pieces in one lot, the number and total weight of H-beams that have been taken into the shelf block and are waiting, and the number and total of H-beams that will arrive next at the shelf block. Memorize weight etc.

The arithmetic and control unit 24 reads H-beam information from the steel material information storage section 23 each time an H-beam arrives at the shelf block or performs a traversal movement, and reads H-beam information according to the weight and inching distance. The inching information is read out from the inertia information storage unit 20 and a transfer operation command is output, and the calculation results are sent to the steel information storage unit 23 and the inching information storage unit 20 to rewrite the H-beam information and inching information. . Reference numeral 25 denotes a transfer operation section, which in response to a transfer operation command signal from the arithmetic and control unit 24 issues a forward rotation command or reverse rotation command to the electric motor during the operation time. Next, a specific example of the operation of the apparatus of the present invention will be explained based on FIG.

Step 1: When the H-shaped steel 3 arrives at the roller table turtle of the shelf block, the arithmetic and control unit 24 reads the position information of the pawl 10 from the shift information storage unit 20 and moves the pawl 18 to the initial scheduled stop position (HOP in the figure). (indicated by the symbol).

Next, the preset and stored initial activation time and its number of times are read out from the inching motion whip storage section 28. Next, the arithmetic and control device 2
4, a forward rotation command is issued to the electric motor that operates the transfer via the transfer operation section 26, and the claw 106 starts moving. That is, the claw 10' moves forward by a distance S corresponding to the initial operation time, then stops once, and then moves forward by a distance S again, repeating the same number of times as the initial operation is set. In the middle of this process, the claw 101 comes into contact with the circular steel 3, continues to be transferred while in contact, moves for the set number of operations, and stops once at a position near a distance 14 from the end face la of the roller tape. The basic technical concept 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 transferred to the object at low speed without moving at high speed. The focus is on the fact that the impact when the claws 10 and the object to be transported come into contact with each other becomes extremely small.

In the present invention, the state in which the pawl 10 moves forward intermittently as described above is referred to as inching. Step 2: Continuing from step 1, the arithmetic and control device 24 obtains weight information of the H-beam 3 being transferred from the steel material information storage section 23, and then obtains the weight information and the second dimension from the dimension storage section 2Q. The corresponding inching time is obtained from the moving distance S2, and a normal rotation command is transmitted to the transfer operation section 25, and the moving part moves forward by the second inching distance S2, and then stops once.

Here, the second skimming distance S2 is determined by taking into consideration the maximum medium W of the transferred material in advance when the first material 3 is already waiting at the pile delivery position as shown in step 9, and the collision with the first material 3 is calculated. It is set to stop at a position where it will not occur. The relationship between the inching distance S in the stepper and the second inching distance S2 is S. <S2. Step 3: Detection length at which the steel detector Tomi 3 detects the presence or absence of steel! If the H-beam 3 has not arrived within 5, "Masariko Tsumegamegawa increments once and moves forward by the third inching distance S3.

The inching distance S3 at this time is determined so as not to cause a collision with the first arriving material if there is a first arriving material, and not to deviate from the detection length i5 of the steel material detector 13, and is controlled for each weight. This step is similar to step 2 above. Step 4
; The steel detector turtle 3 detects that the H-beam 3 has arrived within the detection length 15, and after receiving this signal, the arithmetic and control unit then detects the fourth H-beam 3 using the same procedure as step 2. Inching distance S
Move Tsumetomi Q forward by 4. If the H-shaped steel 3 does not leave the detected length i5 after one inching, the same inching advance is repeated until it leaves the detected length 15.

The position of the H-beam 3 at the time it leaves the detection length 15 is the pile transfer position. By providing such a waiting area, the separation distance between the next arriving material and the waiting material immediately before contact is maintained within the distance S4 at most, so that the objects to be transported can come into contact with each other with low impact.
Step 5 shows the state in which the pile has been transported to the delivery position.

Step 6: Next H to be imported into the shelf block
When the shaped steel 3b arrives on the RoWra table, the claw dragon 8'
It moves in the opposite direction based on the reverse command to the electric motor.

When the claw turtle 0 reaches the claw position detector Kan P, the arithmetic and control unit outputs a stop command based on the detection signal from the claw position detector Sergeant P. However, the claw 1 Q' coasts and the finger travel distance is also Since the claw iQ varies slightly, the claw iQ actually stops at an arbitrary position between a little before the claw position detector 11a and a position slightly past the claw position detector moss a.Step 7; When the pawl stops before the pawl position detector jla, the arithmetic and control unit starts the inching of the pawl 10, and checks whether the initial scheduled stop position P has passed by the position detector 11a every inching distance S5. The inching is repeated, and when detected by the position detector 11a, the inching is stopped and the claw stops at the initial scheduled stop position P.

If the pawl position detector 11a detects passage of the pawl 10 during floor running in step 6, no inch movement is performed. Steps 8 and 9; Similar to step 1, the next step to be conveyed is the forward movement of the Japanese steel 3b by a distance S corresponding to the initial operation time. Similarly, the arithmetic and control device obtains the inching time according to the weight of the H-shaped steel 3b and the second inching distance S2, outputs a normal rotation command to the transfer operation section, and the pawl is moved to the second inching distance S2.
Inching forward by an inching distance S2.

Step 10: Since the conveyance in this step must be carried out on the premise that the first material 3 is already waiting at the pile delivery position, a dimension corresponding to the fourth inching distance S4 for each weight is used in step 4. A dynamic advance is performed.

In this case, the inching advance is first determined by the number of times No. defined by the formula below.
only. Temple ten >N.

2 However, 15: Detection length S4 of the steel detector 13: Inching distance No: If the H-shaped steel 3b is still within the detection length j5 of the steel detector 13 after integer number of times, that is, No number of inching advances. , the H-shaped steel 3b was transported to a position extremely close to the first material 3, or N.

It is only possible that the first material 3 and the succeeding H-beam 3b came into contact with each other during the advance of the first time, and were conveyed at the same time. Step 11, Step 12; After the above-mentioned number of inching advances, the first material 3 and H
A forward movement corresponding to the fourth inching distance S4 corresponding to the total weight of the shaped steel 3b is performed, and the claws move the pile (3b and 3 into one) to the detection length 15 of the steel material detector. Stops at the position where it left.

Note that the position P point step 12 of the claw 1 neck is a standby point in preparation for the next conveyance. The transfer operation in the apparatus of the present invention is carried out by repeating the above steps 1 to 12, and FIG. 7 shows a flowchart of the operation.

Table 1 shows the inching time for each conveyed weight and dipping distance in an embodiment in which the conveyance of H-beam steel was controlled by the apparatus of the present invention, and is stored in the inching information storage section 20'. ing. Naturally, when setting the inching time, the equipment conditions (electrical functionality, weight range of the material to be handled,
Since the inching time differs depending on the length of the transfer distance, etc., it is necessary to measure and set the inching time in advance according to the equipment in question. Table 1 For example, in the above embodiment, shortening and stroke inching distance S
,, Inching distance S4, S5 is 200 m/m, medium inching distance S3 is 500'm, relatively long inching distance S2
So, I used Table 1 accordingly, such as 800/desks.

As described in detail above, the present invention is an automatic conveyance device that operates extremely accurately and efficiently when sorting and conveying conditions. Smooth sorting and conveyance is possible without causing overturning or overlapping of conveyed materials due to excessive contact with each other, and the labor-saving effect is significant when compared to manual operation of the subordinate.

[Brief explanation of the drawing]

Figure 1 A, the opening is a schematic plan and side view showing the conventional sorting and conveying equipment, Figure 2 is a perspective view showing the transfer section of the device of the present invention, and Figure 3 A, the opening is the installation of the position detector in the device of the present invention. A side view and a front view showing the situation, FIG. 4 is an explanatory diagram of the operation of the position detector, FIG. 5 is a block diagram of the device of the present invention, FIG. 6 is an explanatory diagram of the operating situation of the device of the present invention, and FIG. 7 is an operation flowchart. . 1: Roller table, 2: Skid 3, 3a, 3
b: Japanese Steel, 4: Slip car, 5: Rope, 6: Drum, 7: Electric motor, 8a, 8b, 8c: Shelf block, 9:
Car guide, 10: Claw, 11a, 11b three-claw position detector, 13: Steel detector, 16: Permanent magnet, 17: Tension wheel, 20: Storage device, 21: First signal generator,
22: Second signal generation section, 23: Steel material information storage section, 24:
Arithmetic control unit, 25: Transfer operation unit, S, ~S
5: Inching distance. Figure 1 Figure 3 Figure 3 Figure 4 Figure 1 Figure 2 Figure 5 Figure 6 Figure 6 Figure 7

Claims (1)

[Claims] 1. A strip transfer device comprising a transverse feed transfer that is connected to a longitudinal feed roller table for strips and has a hanging claw that can move freely in the transverse direction of the strip, the above-mentioned an initial pawl position detector for detecting the initial scheduled stop position of a pulling pawl at the start and end of traversing of the strip provided near the vertical feed roller table; and a strip pile of the traversal transfer. A steel material detector having a certain detection length is arranged at the delivery position, and after the strip material arrives on the vertical feed roller table,
The output signal from the initial claw position detector and the initial operation time and number of inching of the suspension claw until the preset strip comes into contact are output. 1. An automatic conveyance device for strips, comprising an arithmetic and control device that instructs the strip to move forward until the strip is detached from the detected length of the steel material detector based on the weight of the strip and the inching distance.