JP2002143925A - Method and device for detecting inside diameter of coil - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correctly perform the position setting of a monitoring camera for monitoring the relative positional relation of the hook of a coil loader and the inside diameter part of a coil in accordance with the shape of the actual coil. SOLUTION: By elevating and lowering the camera 30 along the diameter of the coil 10 facing the end face 11 on the opposite side of a coil loader hook 20 and also detecting the upper and lower limit height position of the inside diameter of the coil on the end face 11 of the coil, the range of the visual field of the coil hole 13 is determined and the camera 30 is moved to a position within the range of the visual field.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for detecting a coil inner diameter when a coil loader hook for transferring a metal plate coil is inserted into the coil inner diameter.

[0002]

2. Description of the Related Art In an apparatus for automatically transporting a metal plate coil,
C hook or L
Coil handling is performed by inserting a coil loader hook such as a hook and lifting the coil. In this case, a monitoring camera is arranged on the opposite side of the coil so as to face the coil loader hook, and the camera monitors the situation where the coil loader hook of the automatic transfer device is inserted into the inner diameter of the coil. The camera adjusts the visual field position based on the information on the outer dimensions of the coil.However, if the actual value of the outer diameter of the coil and the command value are significantly different, the surveillance camera may monitor normally. In some cases, the coil loader hook may strike the coil, and the coil may fall over, causing serious trouble such as equipment damage.

[0003] Further, even when the visual field of the surveillance camera is visually checked, if the actual value of the coil outer diameter and the command value are significantly different, the surveillance function is different because the position of the surveillance camera is different from the position of the coil inner diameter. The problem of being lost occurs.

If a droop occurs in the inner diameter portion of the coil, the droop may interfere with the coil loader hook of the transfer device, which may cause a serious trouble such as damage to the equipment due to a fall of the coil. As a countermeasure against this, the prior art is shown in FIGS. In the automatic conveyance device, as shown in FIG. 5, a photo sensor or a laser sensor 22 is installed on the coil loader hook 20, and the presence or absence of drooping of the inner winding portion of the inner diameter 13 of the coil 10 is detected by the monitoring light beam 23. Automatic transportation was stopped. However, since the tip portion 21 of the coil loader hook 20 that enters the inner diameter of the coil of the transfer device that transports the coil has a certain thickness width, the sensor that detects the inner diameter sag determines whether or not the metal plate sags over the entire cross-sectional portion. Need to detect.
Therefore, as shown in FIG. 6 as viewed from the direction indicated by arrows AA in FIG.
The sensors 22 are arranged at the four corners of the entry part of the tip 21 of the sensor. However, even in this case, as shown in FIG.
The inner hanging portion 14 may not be detected by any of the sensors 22 at the four corners, and the automatic detection of the inner hanging portion 14 cannot be performed completely automatically.

To avoid this problem, it is possible to arrange a large number of sensors at short pitch intervals over the entire inner diameter entrance portion of the coil loader hook. Such means are not employed.

Japanese Patent Application Laid-Open No. 4-157307 discloses a light source which emits a light beam having high directivity at right angles to a side surface of a coil formed by winding a thin plate, and a light source which irradiates the light beam at right angles to the side surface of the coil. A moving device that moves, a light receiving device that is located on the opposite side of the position of the light source with respect to the coil and electrically detects a light receiving position by receiving the light source, and a magnetic signal output from the light receiving device. An apparatus for recognizing the inner shape of a rolled coil, which includes signal processing means for obtaining the inner shape of the coil, is disclosed, and further shows a technique including means for moving or rotating the coil. I have. In this technique, since the transmitted light is used, devices are required on both sides of the coil, layout restrictions are large, and an object having a light-shielding property may be mistaken for a coil.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned problems, and a relative position between a coil loader hook and a coil inner diameter portion of a transfer device for lifting and transferring a coil in a down-end state. A technology that detects the relationship, detects the shape of the actual coil or the sagging of the metal plate at the inner diameter of the coil, and accurately positions the coil loader hook or proposes a technology that can prevent an accidental accident when insertion is impossible. I do.

[0008]

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and a first method of the present invention is as follows.
In inserting the coil loader hook into the metal plate coil held at the down end, the distance meter is moved along the diameter of the coil in opposition to the coil end face opposite to the coil loader hook. Detecting the diametrical end positions of the coil inner diameter to determine the visual field range of the coil hole, moving the camera to a position within the visual field range, visually observing the coil internal diameter, and monitoring the insertion state of the coil loader hook. The present invention provides a method for detecting the inner diameter of a coil. Here, the term “down end” refers to a posture in which the center line of the coil is placed horizontally. The field of view of the coil hole refers to a range in which the entire coil hole is included in the field of view of the camera, and the position in the field of view refers to a position of the camera in which the entire coil hole is included in the field of view of the camera.

According to a second method of the present invention, when the coil loader hook is inserted into the metal plate coil held at the down end, a laser is applied along the diameter of the coil opposite to the coil end face opposite to the coil loader hook. The distance meter is moved and scanned, and the distance between the distance meter and the coil end face and the position of each part of the coil end face are measured at a pitch equal to or less than one-half of the minimum plate thickness. A method for detecting the inner diameter of a coil, comprising detecting an amount of the coil and determining whether or not a coil loader hook can be inserted into the inner diameter of the coil.

[0010] The first method and the second method may be performed simultaneously.

The first apparatus of the present invention, which can suitably carry out the first method of the present invention, is integrated with a distance meter that moves parallel to the end face of the metal plate coil along the coil diameter direction. Control to detect the position of each part of the coil end surface in the moving process of the distance meter, calculate the center position of the coil inner diameter based on the detected data, and move the camera to the vicinity of the center position An apparatus for detecting the inner diameter of a coil, comprising a device and capable of monitoring a state of insertion of a coil loader hook within a field of view of the camera.

A second apparatus according to the present invention, which can suitably execute the above-described second method according to the present invention, includes a distance meter that moves along the coil diameter in parallel with the end face of the metal plate coil. Based on the distance data between the distance meter and the coil end face detected in the moving process of the meter and the height position data of each part of the coil end face, the inner diameter of the coil and the amount of sag of the innermost winding metal plate are calculated, and the A detecting device for detecting the inner diameter of a coil, comprising a control device for determining whether or not a coil loader hook can be inserted.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS A first method and apparatus according to the present invention will be described. The device of the present invention combines a surveillance camera that monitors the movement of the hook when the coil loader hook is inserted into the hole of the coil, with a rangefinder that measures the end face shape of the coil, so that the surveillance camera can be easily positioned at the optimum position. It was developed focusing on the fact that it can be moved to and can achieve its purpose. More specifically, according to the present invention, a surveillance camera is first attached to a device for measuring the winding shape of a coil (hereinafter referred to as a winding shape measuring device) in a posture synchronized with a distance meter. This winding shape measuring device includes a distance meter arranged opposite to a coil end face, the distance meter moves vertically up and down along the coil diameter, detects a change in distance to the coil end face in the coil radial direction, and detects the distance. The position of each part of the coil end face corresponding to the vertical movement of the coil.

FIG. 4 shows the appearance of a winding shape measuring apparatus 200 used in the embodiment of the present invention. The winding shape measuring apparatus 200 has a laser distance meter 203 mounted on a frame 204 that moves up and down along a linear guide rail 202 for raising and lowering provided on an upright frame 201. In the present invention, the camera 2
Install 20. The motor 209 is a lower sprocket 20
7. The chain 206 is driven via the upper sprocket 205 to move the frame 204 up and down. Frame 204
Is a saddle 2 that slides on a linear guide rail for elevating
08 to smoothly and accurately move up and down. The chain looseness sensor 210 monitors the looseness of the chain and maintains the vertical accuracy. The cable bears 211 and 212 hold cables for transmitting measurement data and movement data of the distance meter. A cushion 213 is provided at the lowermost end of the lifting stroke of the frame 204 to prevent impact.

The winding shape measuring device 200 has a height of about 5 m.
The measurement can be performed along the vertical diameter of a coil having an outer diameter of 1100 mm to 2400 mmφ mounted on a coil mounting base having a height of about 700 mm. A range finder arranged opposite to the coil end face is scanned in the coil radial direction by an elevating device, and the winding shape of the coil is measured from a change in distance between the coil radial direction meter and the coil end face detected by the range finder.

FIG. 1 is an explanatory diagram for explaining an embodiment of the method of the present invention. After the distance measurement from the distance meter 203 to the end face of the coil 10 by the winding shape measuring device 200 is completed, the distance meter 20
The vertical center position of the inner diameter of the coil 10 is calculated from the vertical position data of No. 3. At the same time, it is preferable to obtain position data such as the outer diameter and the thickness on one side of the upper winding portion of the coil, obtain the height position from a reference, and confirm the overall shape of the coil. The vertical center height position of the coil hole is obtained from the obtained data, and the monitoring camera 30 is moved near the height position. The insertion status of the coil loader hook is monitored within the field of view of the camera.
FIG. 2 shows this, and is a monitoring diagram of the inner diameter of the coil within the field of view of the camera.

Usually, the lowering time of the hook of the automatic transfer device is longer than the total time of the measuring time of the winding shape measuring device and the lowering time of the monitoring camera, so that the above operation can be performed without any time loss.

The lifting control is performed as follows. The camera 30 attached to the frame 204 of the winding shape measuring device 200 is moved up and down on one end surface 11 side of the coil 10 mounted on the gantry 15 at the down end. At this time, the winding shape measuring device 200 measures the distance to the coil end face in the radial direction of the coil 10 using a distance meter. After the measurement is completed, the outer diameter of the coil 10 and the one-side thickness width of the coil upper winding portion are obtained from the distance data and the elevation position data, and at the same time, the height position from the reference is obtained. The inner diameter position of the coil is determined from the determined outer diameter of the coil and the height position of the one-sided thickness of the upper winding portion of the coil, and the monitoring camera 30 is moved to that position.

In the present invention, the hook 20 of the hook type coil lifting and transporting facility for lifting the coil in the down-end state.
The position of the monitoring camera 30 for monitoring the relative positional relationship between the coil and the coil hole 13 of the coil 10 can be accurately set in accordance with the shape of the actual coil. As shown in FIG.
The camera captures the tip 21 of the coil loader hook in the profile of the coil hole 13 and matches the tip of the coil loader hook with the inside of the coil hole. 21 can be reliably guided to a position where it does not interfere with the metal plate.

Next, a second method and apparatus according to the present invention will be described with reference to FIG. By scanning the laser range finder along the end face of the coil 10 in the vertical direction 40, the presence or absence of the hanging portion of the metal plate in the coil hole 13 of the coil 10 is detected over the entire length in the vertical direction. At this time, the resolution of the laser range finder in the vertical direction is set to be equal to or less than 板 of the minimum thickness of the metal plate to be manufactured, so that at least two or more distance data can be secured by the inner winding portion 14 alone. Preferably, it is possible to secure data of three or more points at 1/3 or less of the minimum plate thickness. By measuring at such a resolution, erroneous detection due to noise can be prevented, and the accuracy of automatic detection can be increased. When the distance meter detects the inner hanging portion 14, the distance between the upper end of the inner diameter of the coil and the inner hanging portion 14 is calculated. Since the gap between the upper end of the inner diameter of the coil and the inner diameter of the coil conveying device is known in advance, it is determined whether or not the calculated distance 17 interferes with the inner diameter of the coil conveying device. When it is determined that interference occurs, the automatic operation of the coil conveying device is stopped.

Although the preferred embodiment of moving the range finder, the monitoring camera, and the like in the vertical direction has been described above, it may be moved in another direction such as the horizontal direction.

[0022]

According to the present invention, the position of the monitoring camera for monitoring the relative positional relationship between the coil loader hook and the inner diameter of the coil can be accurately set according to the shape of the actual coil. A monitoring rate of 100% was achieved. In addition, it is possible to appropriately determine the amount of sagging of the innermost metal sheet of the coil, and to eliminate troubles during conveyance due to sagging.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of an embodiment.

FIG. 2 is an explanatory diagram showing an inner diameter of a coil appearing in a field of view of a camera.

FIG. 3 is an explanatory diagram of the second invention.

FIG. 4 is an external view of a winding shape measuring device.

FIG. 5 is an explanatory view (an arrow AA view in FIG. 5) of a conventional technique.

FIG. 6 is an explanatory diagram of a conventional technique.

FIG. 7 is an explanatory diagram of a conventional technique.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Coil 11 One end surface (camera side) 12 The other end surface (hook side) 13 Coil hole (coil inner diameter) 14 Inner hanging part 15 Mount 16 Total vertical length 17 Distance 20 Coil loader hook 21 Tip 22 Photo sensor or laser sensor Reference Signs List 23 monitoring beam 30 camera 31 field of view 200 winding shape measuring device 201 erecting frame 202 linear guide rail for elevating 203 laser range finder 204 frame 205 upper sprocket 206 chain 207 lower sprocket 208 saddle 209 motor 210 chain looseness sensor 211, 212 cable carrier 213 Cushion 220 camera

Continued on the front page (72) Inventor Yoshinori Iwasaki 1-chome, Kawasaki-dori, Mizushima, Kurashiki-shi, Okayama Pref. PP22 UU06

Claims (4)

[Claims] When inserting a coil loader hook into a metal plate coil held at a down end, a distance meter is moved along the diameter of the coil so as to face a coil end face opposite to the coil loader hook, At the time of movement, the position of the coil inside diameter at both ends in the diameter direction is detected to determine the field of view of the coil hole, the camera is moved to a position within the field of view, the coil inside diameter is visually recognized, and the insertion status of the coil loader hook is monitored. A method for detecting the inner diameter of a coil. 2. Inserting the coil loader hook into the metal plate coil held at the down end, the laser range finder is moved and scanned along the diameter of the coil opposite to the coil end face opposite to the coil loader hook. The distance between the distance meter and the coil end face and the position of each part of the coil end face are measured at a pitch equal to or less than half the minimum thickness, and the amount of sag of the innermost metal sheet of the coil is detected from the measured data. A method for detecting the inner diameter of a coil, comprising determining whether or not a coil loader hook can be inserted into the inner diameter. 3. A camera that moves integrally with a distance meter that moves along the coil diameter direction in parallel with the end surface of the metal plate coil, and detects a position of each part of the coil end surface in a moving process of the distance meter. A control device for calculating the center position of the inner diameter of the coil based on the detected data and moving the camera to the vicinity of the center position is provided so that the insertion status of the coil loader hook can be monitored within the field of view of the camera. Characteristic coil inner diameter detection device. 4. A distance meter that moves along the diameter of the coil in parallel with the end surface of the metal plate coil, the distance data between the distance meter and the coil end surface detected in the moving process of the distance meter, and the height of each part of the coil end surface. A coil inner diameter detecting device, comprising: a controller that calculates a coil inner diameter dimension and a sagging amount of an innermost winding metal plate based on the position data, and determines whether or not a coil loader hook can be inserted into the coil. .