JPH0436998B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for automatically transporting a workpiece such as a coil.

For example, coils produced in steel mills, etc., which are wound with strips, are transported within a workplace (hereinafter simply referred to as a yard) using a crane. In other words, coils brought into the yard entrance by trucks or forklifts are manually slung using wire ropes or special lifting equipment, hoisted by a crane, and placed at a storage location determined by the worker depending on the type of coil. The method is to select a location, search for a predetermined coil again, and transport it during processing.

However, this transportation operation may not be confirmed from the crane room due to poor visibility, and a large number of coils must be separated by type and managed by a worker on the ground who is not the crane operator. The slinging operator must move between a large number of coils and select a predetermined coil to sling, which is a labor-intensive and dangerous task.

The present invention has been made in view of the above points, and it is possible to remotely control a crane in a yard based on a predetermined program by a control device, and use the crane to control workpieces such as coils carried into the yard. It is an object of the present invention to store workpieces classified by type in a storage area, store them, and manage the workpieces in the storage area using the control device.

The present invention will be described below based on embodiments shown in the drawings.

The figure shows an example in which the present invention is applied to coil transportation in a steelworks, etc. The yard is equipped with a processing line M that continuously performs general operations such as welding, annealing, and pickling on coils. A temporary storage table 1 for the coils Wa is provided near the entrance of the yard, and a coil storage area 2 for storing the coils Wa by type is provided near the supply side of the processing line M.

Further, on the yard exit side, there is provided a product coil storage area 3 for storing the product coils Mb sent out from the processing line M by type, and a temporary storage stand 4 for transporting them by a forklift or the like. There is.

A plurality of the above temporary storage tables 1 and 4 are provided as necessary, and each temporary storage table 1 and 4 includes the following:
In order to determine the presence or absence of a coil, detectors 5 and 6, such as limit switches, are provided. These detectors 5 and 6 are connected to a carry-in crane control device 13 and a carry-out crane control device 14, respectively, which will be described later.

A loading crane 7 and an unloading crane 8 are provided on the supply side and the unloading side of the processing line M, respectively, and each crane is equipped with gripping claws 9 and 10 for gripping the coils Wa and Wb.

Further, in an operation room provided at a proper location, there are loading side crane control devices 13, 14 for operating the respective cranes 7, 8, and the crane control devices 13, 1.
4 and the upper control device 1 that controls the processing line M.
2 are provided, and the cranes 7 and 8 are operated by radio guidance from each crane control device 13 and 14.

As shown in FIG. 2, the loading crane control device 13 includes a yard management control section 15 and a crane control section 16.
and a guided radio transmitter 17. The yard management control unit 15 deciphers the type of the coil Wa to be carried in based on the number, operates a carry-in crane, classifies each type and transports it to the coil storage area 2, and stores the coil Wa by type. Inventory management is carried out by the control unit 12, and a transport command for transporting a predetermined coil Wa is applied to the crane control unit 16 based on commands from the host controller 12.

The crane control unit 16 includes a coil number display panel 18 for displaying the type or number of the conveying coil Wa, and a coil confirmation operation panel 19, which are provided near the supply side of the processing line M. 20 in the diagram
21 shows a printer, 21 shows an automatic setting panel for switching to automatic operation, and 22 shows a guide line.

The carry-in crane 7 includes a guidance radio receiver 25, an interface panel 26, and a crane operating section 27. The interface panel 26 is equipped with a coil measuring sensor 28, a proximity switch 29, a position detecting sensor 30, a previous object detecting sensor 31, and the like. The coil measurement sensor 28 is a coil Wa
, and the numerical values measured by the measurement sensor 28 are fed back to the loading crane control device 13 . This allows the actual lifted coil to be compared with the expected coil number.

The crane operating section 27 selectively operates the running of the gutter and the club, the lifting and lowering of the gripping claws 9, and the grasping operation based on applied signals. Loading crane control device 13 by machine 33
The carry-in crane 7 is operated regardless of this.

In the figure, numeral 34 indicates a manual controller.

Furthermore, the unloading crane control device 14 and the unloading crane 8
is the same as the above-mentioned carry-in side, and the explanation will be omitted. However, 35 is a coil conveyance display panel.

In the figure, numerals 40 and 41 indicate a loading vehicle and an unloading carrier, respectively.
2 and transmits the number of the coil Wa to be carried in to the carrying crane control device 13 by radio. However, the radio device 42 may be fixedly provided at a suitable location at the entrance and operated by the operator of the transport vehicle.

Next, we will discuss the operating instructions.

The coil Wa carried in by a carrying vehicle, for example, a forklift 40, is first placed on the temporary holding table 1, and at the same time, the number of the coil Wa is transmitted to the carrying crane control device 13 by the radio 42. The coils Wa are classified by numbers in terms of the outer diameter, width, weight, etc. of the coils.

The carry-in crane control device 13 has a required coil number input and stored in advance from the higher-level control device 12 based on the production plan of the processing line M, and determines whether the coil Wa to be carried is necessary or not based on this.
This is determined not only by a transport error but also by a mistake in entering the coil number.

Based on the signal from the radio device 42, the loading crane control device 13 determines that the coil is necessary, and by inputting the acceptance signal from the detector 5 of the temporary storage platform 1, it determines which receiving platform it is, and the loading crane 7
An activation signal is issued, and the location (address) of the coil storage location 2 is designated. As a result, the carry-in crane 7 is activated, grasps the coil Wa on the temporary storage stand 1, and transports it to a designated predetermined position (address) in the coil storage area 2. In this case, if the same type of coil has already been placed in the coil storage area 2, the loading crane control device 13 will remember this and issue a command to unload it to the adjacent position (address). It will be done.

At the same time, this information is stored in the carry-in crane control device 13, and therefore, if necessary, the number of all coils in the coil storage area 2 can be displayed by type using the printer 20.

Next, when the upper control device 12 transmits a coil supply command to the processing line M and the coil number to the carry-in crane control device 13, the carry-in crane control device 13 detects the coil with the corresponding number and places the coil in the coil storage area. An activation signal is issued to the carry-in crane 7 together with the address No. 2. As a result, the crane 7 grasps the coil Wa having a predetermined number. In this case, supply errors can be prevented by providing the coil measuring sensor 28 on the loading crane 13 as described above.

The carry-in crane 7 travels while gripping the coil Wa, and when it reaches the upper part of the supply side of the processing line M, it temporarily stops. At the same time, coil number display board 18
The coil number is displayed.

The operator compares the coil number with the coil number actually attached to the coil Wa and checks whether or not they match. If there is a discrepancy, check the coil confirmation operation panel 19.
By pressing the temporary transport button, the loading crane 7 is activated and moves to a predetermined abnormal coil storage location (not shown).
automatically returned to.

If the winding direction of the coil is reverse winding, pressing the "rotate" button on the coil confirmation operation panel 19 rotates the gripping claw 9 180 degrees, and after adjusting the winding direction to the predetermined direction, It is supplied on T.

If the coil Wa can be supplied as is to the supply truck T, the coil Wa can be supplied as is to the supply truck T by pressing the supply button.

After that, the supply coil is controlled by the host controller 12.
Wa is subjected to necessary processing in the processing line M and reaches the delivery port.

The processed product coil Wb discharged from the processing line M is transported to the transport vehicle 41 through a process that is almost the reverse of that on the transport side described above.

That is, when a payout request signal from the processing line M is applied to the higher-level control device 12, the higher-level control device 12 transmits an operation signal together with the coil number to be paid out to the carry-out crane control device 14. As a result, the control device 14 operates the unloading crane 8 to remove the product coil Wb at the unloading port of the processing line M.
and transport it to a predetermined location in product storage area 3.

Product coil Wb placed on temporary storage stand 4 for unloading
When it is detected that the platform has been carried out by the carrying vehicle 41 and has become empty due to the operation of the detector 6, the information is transmitted to the host controller 12.
Based on a predetermined program, the coil number to be carried out next and a carry-out signal are transmitted to the carry-out crane control device. Based on this, the unloading crane device 14 operates the unloading crane 8, grasps the designated address of the product coil storage area 3, that is, the required coil, and transports it to the temporary storage table 4. At the same time, the conveyance number is displayed on the conveyance destination display panel 35.

Note that the unloading crane control device 14 is also connected to the product coil storage area 3 similarly to the loading crane control device 13.
Of course, the remaining product coils Wb are stored for each type.

In addition, in the unlikely event that the host controller 12 malfunctions, both the carry-in crane 7 and the carry-out crane 8 will become inoperable. The device 14 is equipped with a device for inputting the coil number and coil number supply order, for example, substitute control devices 50 and 51 such as a character display. It can be operated independently.

As described above, according to the present invention, each of the loading and unloading crane control devices is provided with a yard management control section that classifies and stores processed products such as coils by type, and a crane operation control section. ,
The crane control device operates the crane, sorts the workpieces by type, stores them in storage areas, and selects and transports them, so that not only crane operation is automated, but storage storage areas are also managed automatically. This method has many advantages, such as saving labor, making crane operation work safer, and improving work efficiency.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is an overall perspective view, and FIG. 2 is a block circuit diagram of a control device. 1, 4... Temporary storage stand, 2, 3... Storage space, 5, 6...
...Detector, 7... Carrying-in crane, 8... Carrying-out crane, 12... Upper control device, 13... Carrying-in crane control device, 14... Carrying-out crane control device,
15... Yard management control unit, 16... Crane control unit, 18... Coil number display panel, 19... Coil confirmation operation panel, 35... Transfer destination display panel, 50,5
1... Acting control device, M... Processing line, Wa...
...Coil, Wb...Product coil.

Claims (1)

[Scope of Claims] 1. A carry-in crane and a carry-out crane are provided for supplying and discharging workpieces such as coils to and from the processing line, and the workpiece coils are assigned coil numbers for classification, and the processing line is supplied with coil numbers. A storage area and a plurality of temporary storage stands for loading/unloading are provided on the side and the unloading side, respectively, and the temporary storage stands are equipped with a detector for detecting the placement of workpieces or products, and are equipped with a loading crane control device and a loading crane. The control device starts operating the crane in response to a signal from the detector, and each of the cranes is remotely controlled wirelessly by an incoming crane control device and an outgoing crane control device, and each control device controls the operation of the processing line. The carry-in crane control device, which is linked to the host controller, operates the crane when the workpiece is placed on the temporary stand and the coil number of the workpiece is input by the worker, and the actual measurement is performed using the measurement sensor attached to the crane. The coils hoisted into the coil are compared with the required coil number input from the host controller to determine whether the coil is necessary or not. When it is determined that the coil is the required coil, the crane is activated and the coil is transported to a storage area where it is sorted by type. The workpieces are separated and stored, and the workpieces in the storage area are selected and supplied to the processing line according to commands from the host control device, and the unloading crane control device operates the crane by transmitting the unloading signal and the coil number of the workpieces from the host control device. The machine selects and stores the processed products in the storage area, and when the unloading signal and workpiece number are transmitted, the products are selected from the storage area and transported to the temporary storage stand, and the loading crane Control device,
The unloading crane control device is equipped with a substitute control device having a substitute function for the higher-level control device, and the substitute control device is made to store the workpieces and products in each storage area by type. Automatic operation method for processed products such as coils. 2 The loading crane control device is equipped with a number display panel for the workpieces to be supplied to the processing line and a coil confirmation operation panel, which are installed near the supply side of the processing line, and the control device is controlled by the operation of the coil confirmation operation panel. 2. A method for automatically operating a workpiece such as a coil using a crane as claimed in claim 1, wherein the crane supplies the workpiece, corrects its posture, etc. 3. The method for automatically operating a processed product such as a coil by a crane as set forth in claim 1, wherein the unloading crane control device is equipped with a destination display board for the product to be unloaded, and the display board is provided near a temporary storage stand for unloading. .