JPH04129992A - Coil position detecting device - Google Patents

Abstract

PURPOSE:To improve accuracy by obtaining a deviation in relation to a target position from a distance to a pallet carry-in direction front end surface and from each distance to a coil end surface and to a pallet end surface, measured in the right angle direction to this distance to the pallet carry-in direction front end surface, in a detecting device of a coil on a pallet of a storage yard or the like. CONSTITUTION:A pallet 20, on which coils 10, 10 are parallelly mounted, is carried into a storage yard in a direction of a white arrow mark. A distance A to a front end surface 21 of the pallet 20 in the carry-in direction is measured by the first distance meter 30. A distance C to an end surface of the coil 10 and a distance B to a side surface 22 of the pallet 20, in the side surface of the pallet 20 along the carry-in direction, are measured by the second distance meters 40, 40. These distance meters 40 are vertically moved on mounting bases 41 to perform measurement. A deviation in relation to a target storage position is calculated by an arithmetic device 50 so as to obtain a plane position of the coil based on a measured result of these distance meters 30, 40, 40.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a coil position detection device used for detecting the position of a coil placed in a coil storage yard or the like.

<Prior Art> It is customary for coils before being subjected to rolling and coils after rolling to be temporarily stored in a coil storage yard. In that case, the coils are placed on pallets and transported to the coil storage yard by a towing vehicle or the like. The coils carried into the coil storage yard are sent to a rolling mill, and the rolled coils are again placed on pallets and carried out of the coil storage yard by a tractor or the like. Overhead cranes are often used to automatically transport coils in such coil storage yards.

When automatically transporting coils in a coil storage yard using an overhead crane, the overhead crane cannot be guided to the coil position unless the coil position is accurately known. As a device for detecting the coil position in a coil storage yard, an optical device using a television camera is generally used.

<Problem to be solved by the invention> However, in the optical coil position detection device using a television camera, there is sufficient contrast between the coil and its puncture ground, and its performance is poor in places with many disturbances such as outdoors. There was a problem in that it was not possible to fully demonstrate.

The present invention was devised in view of the above circumstances, and provides a coil position detection device capable of accurately detecting the position of a coil placed on a pallet, whether indoors or outdoors, with a simple configuration. The purpose is to

<Means for Solving the Problems> A coil position detection device according to the present invention is a coil position detection device that detects the positions of a plurality of coils carried in and placed in a predetermined position on a pallet in a parallel state. , a first distance meter that measures the distance to the end face of the pallet in the coil parallel direction; and a first distance meter that measures the distance to the end face of the pallet in the coil parallel direction; It includes a second distance meter that measures the distance to the side surface of the pallet, and a calculator that calculates the deviation of the planar position of each coil from the target position based on the distance measured by the first and second distance meters. ing.

The second distance meter may be configured to be driven in the vertical direction to measure the distance to the end face of each coil on the pallet and the side surface of the pallet below the end face.

〈Operation〉 The coil is placed in a predetermined position on the pallet.
By measuring the distance to the end face of the pallet in the parallel direction of the coils with a first distance meter, the positional deviation of the coils in the parallel direction is calculated. The position of each coil end surface can be determined by measuring the distance from the end surface of each coil to the pallet side surface below it using a second distance meter arranged in the coil parallel direction along the pallet side surface perpendicular to the pallet end surface. and the tilt of the pallet are calculated. Therefore, the positional deviation of each coil with respect to the target position is calculated.

When the second distance meter is driven in the vertical direction, the distance to the end face of the coil and the distance to the side surface of the pallet are measured by the same distance meter.

<Example> Hereinafter, the present invention will be described in detail with reference to the drawings. 1 to 3 show an example of a coil position detection device according to the present invention, in which FIG. 1 is a plan view, FIG. 2 is a front view, and FIG. 3 is a side view.

The pallet 20 on which the coils 10 are placed is configured to place two coils 10, 10 in parallel at specific positions on its upper surface. Then, the pallet 20 is moved by a towing vehicle to the coil storage position in the coil storage yard.
They are carried in parallel directions of 0 and 10.

A first distance meter 30 for measuring the distance A to the front end surface 21 of the balent 20 is disposed in front of the coil storage position in the pallet carrying direction. Two second distance meters 40, 40 are disposed on one side of the coil storage position perpendicular to the direction of carrying in the current, corresponding to the coils 10, IO. Each distance meter 40 is attached to a mount 41 so as to move vertically in the range from the upper end of the coil 10 to the pallet 20, and the distance B to the end surface 11 of the coil 10 and the distance to the side surface 22 of the pallet 20. Measure C.

The first rangefinder 30 and the second rangefinders 40, 40 are both non-contact rangefinders that utilize ultrasonic waves.

Front end surface 21 of pallet 20 measured by first distance meter 30
The distance A is input to the calculator 50. Then, the calculator 50 calculates the distance A and the distance A from the first distance meter 30 to the front end surface 21 of the pallet 20 when the pallet 20 is correctly transported to the coil storage position.

The deviation ΔA (A Ao ) from that is calculated. Similarly, by inputting the distance B to the end face 11 and the distance C to the side surface 22 of the pallet 20 measured by the second distance meters 40 and 40 for each coil 10 to the calculator 50, the distances B and C are , each deviation ΔB from the distance B0 from the second distance meter 40.40 to the end surface 11 of the coil 10 and the distance C8 to the side surface 22 of the pallet 1-20 when the pallet 20 is correctly transported to the coil storage position. According to the coil position detection device having such a configuration in which (B-Bo) and △C (C-C,) are respectively determined, since the position of the coin prisoner 0110 on the valent 20 is constant, the computing unit 50 From each deviation ΔB of distance B and B to the end face of coil 10.10, coil 1
The position relative to the normal storage position of 0.10 is calculated with respect to the axial direction χ of the coil 10.10. Also, the distance C to the side surface 22 of the pallet 20 calculated by the calculator 50
The inclination of the pallet 20 is calculated from the deviation ΔC (obtained from two points). Similarly, the positional deviation in the horizontal direction y perpendicular to the axis of the coil 10.10 is calculated from the deviation A regarding the distance A to the front end surface 21 of the pallet 20 determined by the calculator 50. Then, from these calculation results, the absolute planar position of the coil 10.10 is determined.

In addition, the first rangefinder 30 and the second rangefinder 4 do not use optical means using a television camera, but use ultrasonic waves.
Since the position is detected at 0.40, there is no risk of a decrease in detection accuracy even when sufficient contrast is not ensured between the coil 10.10 and its background outdoors.

As a result, the overhead crane is reliably guided to the coil 10.10, whether indoors or outdoors, and accurate automatic transportation by the overhead crane becomes possible.

<Effects of the Invention> As described above, in the case of the coil position detection device according to the present invention, the coil position can be accurately detected without being affected by the contact between the coil and its hack ground. Ru. Therefore, highly accurate automatic transportation using an overhead crane or the like is possible both indoors and outdoors. Moreover, the device structure is simple and the cost is low.

When the second distance meter is driven in the left-right direction, the device structure is further simplified, multiple coils can be detected, and costs can be further reduced.

[Brief explanation of the drawing]

1 to 3 show an example of a coil position detection device according to the present invention, in which FIG. 1 is a plan view, FIG. 2 is a front view, and FIG. 3 is a side view. 10・ 30・ 40・ 50・ Coil pallet 1st distance meter 2nd distance meter calculator

Claims (2)

[Claims] (1) A coil position detection device that detects the position of a plurality of coils loaded in parallel at predetermined positions on a pallet, and a first coil position detection device that measures the distance to the end face of the pallet in the coil parallel direction. a distance meter; a second distance meter disposed in the coil parallel direction along the pallet side surface perpendicular to the pallet end surface and measuring the distance from the end surface of each coil on the pallet to the pallet side surface below; 1. A coil position detection device comprising: a calculator that calculates the deviation of the planar position of each coil from a target position based on the distances measured by the first and second distance meters. (2) The coil position according to claim 1, wherein the second distance meter is driven in the vertical direction to measure the distance to the end face of each coil on the pallet and the side surface of the pallet below the end face of the coil. Detection device.