JP2975268B2 - Stacking method of cylindrical object by automatic crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of stacking cylindrical objects in a plurality of stages using an automatic crane, and particularly to a method for accurately stacking cylindrical objects without imposing an unnecessary load on computer processing. To an improved method.

[0002]

2. Description of the Related Art As an example of a columnar object, a steelmaking coil (hereinafter referred to as a steelmaking coil) produced by winding a steel sheet into a roll at a steelmaking factory.
(Referred to as a coil). A state in which the coil is transported by using an automatic overhead crane will be described with reference to the drawings. FIG. 4 is a side view illustrating the structure of the automatic overhead traveling crane,
FIG. 5 is a schematic front view showing a stacked state of coils.

In FIG. 4, reference numeral 10 denotes an automatic overhead crane (hereinafter referred to as a crane), 11 denotes a club, 12 denotes a girder,
Reference numeral 20 denotes a coil hanger (hereinafter, referred to as a hanger), 21 denotes a tongue for gripping a coil, 22 denotes a tongue opening / closing motor,
0 is a distance meter that measures the distance to the coil, 40 is a computer that calculates and stores the size of the coil based on distance distribution data measured by the distance meter, and 100 is a coil. The crane 10 needs to be handled accurately by the coil hanger 20. For this reason, the coil storage 50
A number of coil addresses stored in the coordinate system (position x,
y, z) are set in advance.

In the crane 10, the distance distribution to the coil and the like are measured in advance by a distance meter 30 or actual measurement and the like, and are input to a computer 40 mounted on the crane, and the measured distance distribution data to the coil or the measured value is measured. , The size (radius, center coordinate position, coil length, etc.) of the coil is calculated and stored. The hanger 20 is moved to the coil coordinate positions x, y, and z to unload a desired coil in accordance with a command from a host computer (not shown), and the coil 100 is accurately grasped by the tongue 21. .

[0005] The coils are radially juxtaposed in the X direction,
Predetermined addresses (x, y) in the Y direction arranged in the coil length direction
In addition to being positioned, it is stored in multiple layers. In stacking the coils, a plurality of coils are arranged in a radial direction, that is, in a horizontal line using a crane, and then a plurality of coils are similarly arranged in a horizontal line on these, that is, in the height direction z of the coils, so-called bale stacking. Then, this operation is repeated many times.

At this time, the position command value (x, y, z) of the center of the hanging tool of the crane is calculated by inputting coordinate data of the coil address, data of the radius of the coil, and the like in advance. This is done automatically by the program. The diameter of the coil to be stacked is substantially constant, but when there is variation in the diameter, when the diameter is different, or when the radius of the coil is different, the coil to be stacked in the upper stage is calculated by a complex expression shown in Equation 2. The center coordinate position was calculated.

[0007]

(Equation 2)

In FIG. 5, the equation (2) shows the coordinates (x ₁ , z ₁ ) and radius r ₁ of the center coordinate C ₁ of the lower coil 100 and the coordinates of the center position C ₂ of the lower coil 200 in FIG. (X ₂ , z ₂ ), radius r ₂ , and upper coil 30
From the coordinates (x, z) of the center position C ₃ of 0 and the radius r ₃ , an equation of a circle having a radius (r ₁ + r ₃ ) centered on C ₁ is given by:
It can be obtained by solving a simultaneous equation shown in Expression 3 consisting of an equation of a circle having a radius (r ₂ + r ₃ ) centered on C ₂ .

[0009]

(Equation 3)

When the radii of the coils are substantially equal, the calculation of the center position of the coils stacked on the upper stage is omitted.

[0011]

In the above-mentioned prior art, when stacking without calculating the center position of the coils stacked in the upper stage, there is no problem when the radii of the two coils in the lower stage are substantially equal. . However, when the respective radii of the lower two coils are slightly different, the center position of the upper coil is set in the horizontal and vertical directions from the center position where the respective radii of the lower two coils are equal. Greatly deviate from Therefore, there is a problem that safe and reliable stacking cannot be performed.

That is, when the coils are stacked, the upper coil and the lower coil may come into strong contact with each other, damaging the surface of the coil. In addition, immediately after stacking, the center position of the upper coil moves, so that the position cannot be accurately grasped.

Further, if the exact position of the upper coil cannot be grasped, the position of the suspender does not coincide with the center position of the coil when grasping the coil, so that not only the coil may be damaged but also in some cases. Handling may fail, and the cargo may collapse.

On the other hand, although the calculation of the center position of the coil by the formula shown in the formula 2 is accurate, the formula shown in the formula 2 is too complicated to be applied to the stacking of coils each having a slightly different radius. Therefore, as the number of coils to be stacked increases, the computational load on the computer increases.

The present invention has been made in view of the above circumstances, and calculates a stacking position of a cylindrical object using a relatively simple mathematical expression without unnecessarily burdening a computer with a calculation process. It is an object of the present invention to provide a method of stacking cylindrical objects by an automatic crane.

[0016]

According to the method of stacking a columnar object by an automatic crane of the present invention, the position command value of the coil suspender of the automatic crane is set to X, the direction in which the columnar objects are arranged in the radial direction is X, While using a rectangular coordinate system in which the length direction of the columnar object is Y and the direction of stacking is Z, it is represented as (x, y, z), while the radius of two adjacent columnar objects in the lower row is
X coordinate of the center position, the Z-coordinate _{r 1, r 2, x 1} , x 2, z 1,
When each of them is represented as z ₂ , two adjacent two
To obtain a position command value (x, z) which is a center position of another cylindrical object necessary for placing another cylindrical object directly above one cylindrical object, the radius of the another cylindrical object is determined. r
_{After 3} was measured, r ₁ that has been recorded on the data and other results of the measurement serving _{r 3, r 2, x 1} , x 2, z 1, based on each data z ₂ number 1 of the following formula It is characterized in that the calculation is performed by using. Equation 1 is as follows:
You. _{x = (x 1 + x 2} ) / 2- (r 1 + r 3) (r 2 -r 1) / (x 2 -x 1) - (z 2 -z 1) [4 (r 1 + r 3) 2 - (X ₂ −x ₁ ) ² ] ^1/2 / [2 (x ₂ −x ₁ )] z = (z ₁ + z ₂ ) / 2 + (r ₁ + r ₃ ) (r ₂ −r ₁ ) / [4 ^{_{(r 1 + r 3) 2}} - (x 2 -x 1) 2] 1/2 _{+ [4 (r 1 + r} 3) 2 - (x 2 -x 1) 2] 1/2 / 2

[0017]

When stacking the upper coil on the lower coil, the position where the upper coil is stacked is calculated in advance, and the crane is operated based on the calculation result. And, without damaging the coil, stack the coil at the position,
The crane stores the center position of the stacked coils.

Conversely, when picking up the upper coil,
The crane moves to the position memorized when the coils are stacked, and grips the coils safely and securely without damaging them.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the method of the present invention will be described below with reference to the drawings. A case will be described in which the columnar object is formed into a coil as described above, and the coils are stacked in a predetermined place using an automatic overhead traveling crane and gripped as described above.

FIG. 1 is a schematic front view of stacked coils. However, only the outer periphery of the coil is illustrated, and the opening provided in the coil end surface is not illustrated. FIG. 2 is a flowchart for explaining the coil stacking operation, and FIG. 3 is a flowchart for explaining the coil picking-up operation.

In FIG. 1, the lower coils 100 and 200 are placed at predetermined intervals D in the coil storage space, and the coils 300 are stacked on the upper row. The crane operates in the same manner as above with the same configuration.

In FIG. 1, the coordinates of the center position C ₁ of the lower coil 100 are (x ₁ , z ₁ ), and the radius is r ₁ . Further, the coordinate center position C ₂ of the lower coil 200 and (x _2, z _2), the radius r _2. Then, the coordinates of the center position P of the upper coil 300 are (x, z), the radius is r ₃ , and the P coordinates (x, z) are C ₁ and C ₂ coordinates (x ₁ , Z ₁ ), (x ₂ ,
z ₂ ) and the respective radii r ₁ , r ₂ and r ₃ .
Here, radii r ₁ , r ₂ , r ₃ and C ₁ coordinates (x ₁ ,
y ₁ , z ₁ ), C ₂ coordinates (x ₂ , y ₂ , z ₂ ), and the distance D between the centers of the coils 100 and 200 are measured in advance or the distance meter 3 is used.
0 is measured and stored in the computer 40.

The coordinates in the direction of the center axis of each coil are fixed with respect to the storage space, and the coordinates of the two axes X and Z will be described as being independent of the length direction (Y direction) of the coil. Also assume that the radius of each coil is slightly different. Therefore, the top surfaces of coil 100 and coil 200 are not necessarily on the same plane. That is, since the coil 100 and the coil 200 are arbitrary two of the stacked coils, z ₁ and z _{2 in} FIG. 1 may be the same or different, and may be different here. Let the difference be ε.

First, the radius r _{2 of the} coil 200 is
Equal to the radius r ₁ of 00, and the center position C ₂ of the coil 200 is on a horizontal line of the center position C ₁ of the coil 100, that is, Z-coordinate of the coil 200 z ₂ and the coil 100
Let Co be the center position of the coil 200 assuming that the Z coordinates z ₁ of the coil 200 are equal. Also, the center position of the coil 300 is Po
And its coordinates are (x ₀ , z ₀ ) (see the lower right imaginary line in FIG. 1). At this time, the coordinates of Co are (x ₁ + D,
z ₁ ).

Then, since the triangle C ₁ CoPo is clearly an isosceles triangle, the straight line PoE becomes the straight line C ₁ Co
The vertical bisector of Therefore, PoE = L, ∠P
When oC ₁ Co = θ, in a triangle C ₁ EPo,
Equation 4 is obtained as an equation relating to the coordinates (x ₀ , z ₀ ).

[0026]

(Equation 4)

Next, assuming that the Z coordinate z ₂ of the coil 200 is shifted from the Z coordinate z _{1 of the} coil 100 by ε, and the radius r _{2 of the} coil 200 is larger than the radius r _{1 of the} coil 100 by δ. The center position of 300 is Po to P
Go to That, Po is moved to the P rotated by an angle β in the counterclockwise direction about the C _1. Therefore, Expression 5 is obtained with respect to the coordinates (x, z) of the center position P of the coil 300.

[0028]

(Equation 5)

Then, sin θ and cos θ are obtained from the equation (4) and substituted into the equation (5) to obtain the equation (6).

[0030]

(Equation 6)

On the other hand, ΔC ₂ C ₁ Co = α, C ₁ C ₂ = M
By applying the cosine law to the triangle C ₁ C ₂ P, the following equation is obtained.

[0032]

(Equation 7)

Here, the equation (8) clearly obtained from FIG. 1 and the radius r _{2 of the} coil 200 is equal to the radius r _{1 of the} coil 100
R ₂ = r ₁ + δ obtained from being larger by δ than
By substituting equation (7) into equation (7), equation (9) is obtained.

[0034]

(Equation 8)

[0035]

(Equation 9)

In the equation (9), since the difference between the radii r ₁ , r _2, and r ₃ of each coil is small as described above, it is considered that the angle β is much smaller than the angle θ. cos
Assuming β ≒ 1, the equation of Expression 10 is obtained.

[0037]

(Equation 10)

Further, in the equation (10), similarly, since there is a slight difference between the radii r ₁ , r ₂ and r ₃ of each coil, δ and ε are equal to the radii r ₁ , r ₂ and r ₃ . 2 (r ₁ + r ₃ ) + δ ≒ 2
If (r ₁ + r ₃ ), 2L−ε ≒ 2L, the equation of Expression 11 is obtained.

[0039]

[Equation 11]

Here, Equation 12 clearly obtained from FIG.
Wherein substituted into equation 6 of, placing a cos .beta ≒ 1 again, co
The coordinates (x, z) of the center position P of the file 300 are as follows.
Equation 1 is obtained.

[0041]

(Equation 12)

The equation of Equation 1 is as follows. _{x = (x 1 + x 2} ) / 2- (r 1 + r 3) (r 2 -r 1) / (x 2 -x 1) - (z 2 -z 1) [4 (r 1 + r 3) 2 - (X ₂ −x ₁ ) ² ] ^1/2 / [2 (x ₂ −x ₁ )] z = (z ₁ + z ₂ ) / 2 + (r ₁ + r ₃ ) (r ₂ −r ₁ ) / [4 ^{_{(r 1 + r 3) 2}} - (x 2 -x 1) 2] 1/2 + [4 (r ₁ + r ₃ ) ^2- (x ₂ −x ₁ ) ² ] ^1/2 / 2 The expression 1 is an expression relating to three coils arbitrarily selected. Can be easily applied to the method.

Next, the stacking operation of the coils 300 according to the method of the present invention will be described with reference to FIG. When the coil 300 is stacked on the coil 100 and the coil 200 by the crane 10, first, the coordinates of the center position and the radius of the coil 100 and the coil 200 and the radius of the coil 300 are used to determine the coordinates of the center position of the coil 300 as x. , Z (S1).

Then, the crane travels to the coordinate x position obtained by the calculation result (S2), and stops traveling at the coordinate x position (S3). When the traveling stops, the suspender 20 is lowered to the coordinate z position obtained by the calculation result (S4), and the coordinate z
Arriving at the position, the descent is stopped (S5). When the descent is stopped, the hanger 20 is opened to open the coil 300 (S
6), and store the coordinates x and z of the stacked position (S7).
Then, the suspender 20 is lifted (S8).

The operation of picking up the coil 300 according to the present invention will be described with reference to FIG. When the coil 300 is picked up by the crane, the crane travels to the coordinate x position stored when the coils 300 are previously stacked (S9), and arrives at the coordinate x position and stops traveling (S10). When the traveling is stopped, the hanging device 20 is lowered to the stored coordinate z position (S11), and arrives at the coordinate z position to stop descending (S12). Then, the hanging tool 20 is closed and the coil 300 is gripped (S13).
Rises while holding the coil 300 (S14).

The traveling and descending of the crane are decelerated at a predetermined position near the coordinate X in the case of traveling, and decelerated at a predetermined position near the coordinate Z in the case of descending.
It is safe, secure, and fast.

In this embodiment, the columnar object is a steel coil. However, the present invention is not limited to this. For example, a paper roll wound with newsprint may be used.

[0048]

The method for stacking columnar objects according to the present invention described above has the following effects. That is, when stacking cylindrical objects, the center position of the cylindrical objects to be stacked is calculated by a relatively simple formula, and the hanging tool is moved to the position based on the calculation result and stacked, so that the columnar objects are stacked. Stacking can be done safely, reliably and quickly without damaging objects.

In the case of grasping, since the center position of the stacked columnar objects is stored, the columnar objects can be grasped safely, reliably, and quickly without damaging the columnar objects as described above. In addition, the computational load on the computer is not unnecessarily increased, which greatly contributes to the improvement of productivity.

[Brief description of the drawings]

FIG. 1 is a drawing according to the present invention, and is a schematic front view of stacked coils.

FIG. 2 is a flowchart illustrating an operation of stacking coils.

FIG. 3 is a flowchart illustrating an operation of picking up a coil.

FIG. 4 is a side view illustrating a structure of an automatic overhead traveling crane according to the related art.

FIG. 5 is a schematic front view illustrating a stacked state of coils.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Crane 20 Hanging tool 40 Computer 100 Coil 200 Coil 300 Coil

Claims (1)

(57) [Claims] 1. After a plurality of columnar objects are transported to a place using an automatic crane and arranged in a row, a plurality of columnar objects transported next are similarly arranged on the columnar objects. In the method of stacking columnar objects, the position command value of the coil hanger of the automatic crane is set as X, the direction in which the columnar objects are arranged in the radial direction is X, the length direction of the columnar objects is Y, and Is expressed as (x, y, z) using an orthogonal coordinate system where Z is
The radius, the X coordinate and the Z coordinate of the center position of two cylindrical objects are represented by r.
_1, r ₂ , x _1, x ₂ , z _{1, and} z ₂ , each of which is necessary for placing another columnar object directly above two adjacent columnar objects at the lower stage . Center of cylindrical object
Position a is a position command value (x, z) to determine the said specific
After measuring the radius r ₃ of the columnar object, the data of the measurement result r ₃ and r _1, r ₂ , x ₁ recorded separately
Based on the data _{x 2, z 1, z 2} , x = (x 1 + x 2) / 2- (r 1 + r 3) (r 2 -r 1) / (x 2 -x 1) - (z _{2 -z 1) [4 (r} 1 + r 3) 2 - (x 2 -x 1) 2] 1/2 / [2 (x 2 -x 1)] z = (z 1 + z 2) / 2 + ( r ₁ + r ₃ ) (r ₂ -r ₁ ) / [4 (r ₁ + r ₃ ) ^2- (x ₂ -x ₁ ) ² ] ^1/2 _{+ [4 (r 1 + r} 3) 2 - (x 2 -x 1) 2] Danseki method cylindrical object by the automatic crane being characterized in that so as to calculate using the formula of ^1/2 / 2 .