Reliably handling metal coils or sleeves with a small outer diameter at the coiler mandrel

Abstract

The invention relates to a coil transport vehicle (1) with adjustable holding arms (11) and a method for reliably handling sleeves (21) or metal coils (20) with a small outer diameter at a coiler mandrel (22). The coil transport vehicle (1) has a vertically movable coil support (5) for receiving a coil (20) or a sleeve (21), two holding arms (11) arranged opposite one another at the coil support (5) and pivotable by means of a rotary drive (9) for stabilizing the coil (20) or the sleeve (21), and a second drive unit (13) for moving the coil transport vehicle (1). For pulling off from the coiler mandrel (22), the coil support (5) is adjusted against the coil (20) located on the coiler mandrel (22), and the holding arms (11) are pivoted to the coil (20). For pushing onto the coiler mandrel (22), the sleeve (21) is first placed onto the coil support (5) of the coil transport vehicle (1) and is guided there by the holding arms (11).

Description

TECHNICAL FIELD

[0001] The invention relates to a coil transport vehicle with adjustable holding arms and a method for reliably handling metal coils or sleeves with a small outer diameter at a coiler mandrel. BACKGROUND

[0002] From the prior art, a horizontally movable coil transport vehicle with a vertically movable coil support is known. At the upper side of the coil support, for receiving the coil, a plurality of support rollers can be arranged, which can each be rotated in the axial direction around the horizontal direction. Such a coil transport vehicle is suitable for reliably handling (e.g. transporting from the initial position to the target position, pushing onto the coiler mandrel or pulling off the coiler mandrel, etc.) coils which have a sufficient self-weight so that they do not easily jump without further protective measures.

[0003] However, depending on the production specification, the metal strip to be unwound from the coiler mandrel is sometimes not completely unwound (e.g. in the case of a Reversierhaspel) but a residual of the relevant metal strip remains on the coiler mandrel, which has to be transported away from the coiler mandrel. If the outer diameter of the residual does not exceed a certain value d0 (e.g. 750 mm), such a residual is also referred to as a so-called "residual coil" and usually also has a correspondingly small self-weight. In the following, the value d0 is referred to as "limiting diameter".

[0004] In order to transport such a residual away from the coiler mandrel, after the unwinding of the majority of the original strip still connected to the residual, the coil support of the coil transport vehicle is adjusted against the bottom side of the residual. Then a separating cut is made, by which the unwound strip part is separated from the residual remaining on the coiler mandrel. Then the residual remaining at the coiler mandrel is wound back (i.e. turned against the unwinding direction) by the coiler mandrel to such an extent that the free strip end rests near the coil support in the circumferential side (so-called 5 o'clock or 7 o'clock position).

[0005] If the outer diameter of the residual is below the maximum limiting diameter d0, such a residual coil - in particular when the strip material has a high inherent strength - can be unstable in terms of mechanical properties and can have a tendency to jump due to the elastic residual stresses present in the metal strip, which naturally creates a high safety risk when transporting and handling it. Different solutions for transporting unstable coils are disclosed from the prior art.

[0006] EP 2 648 860 B1 therefore proposes to stabilize the respective coil by means of two pressing arms, which exert a pressing force in the coil eye or at the outer circumference of the coil, respectively. This solution requires a high structural outlay and only has a limited range of transport, since the pressing arms are designed as individually movable mechanisms, respectively, and have to be synchronized with the movement of the coil removal car.

[0007] From EP 3 366 381 A1 a coil transport car with a clamping unit, which can be lowered into the coil support, is known, which in the activated state can press a metal coil placed on the coil transport car onto the coil support by exerting a pressing force in the coil eye of the metal coil and thus can stabilize it in its position. Although in principle the coil can be rotated on this coil transport car even in the case of activated clamping unit, it is not possible to transfer a coil, which is still completely on the coiler spindle, directly to the coil transport car while the clamping unit is simultaneously removed, since it would collide with the coiler spindle.

[0008] EP 2 544 835 B1 discloses an examination of a high-strength coil as to whether it is in an unstable equilibrium position after depositing onto two position-fixed support points and in this case to adjust another movable support point below the center plane of the metal coil against its outer circumference. Since the coil is only held below its center plane and thus not along more than half of its outer circumference, there is no form closure with the support points, so that even for a stably deposited coil it cannot be definitely ruled out that it opens itself due to strong residual stresses, which are caused for example by thermal shrinkage of the coil itself or strong vibrations.

[0009] Furthermore, it is sometimes necessary to wind coils with an inner diameter which is greater than the inner diameter allowed by the existing coiler spindle. For this purpose, before carrying out a winding process like this, a so-called "sleeve" is pushed onto the relevant coiler spindle. Since the sleeve, like the residual coil, only has a small self-weight, there is a risk of falling or rolling sideways when it is handled by means of a coil transport car, which is why according to the prior art the sleeve is pushed onto the coiler spindle by means of a self-mechanism in the form of a sleeve robot.

[0010] However, none of the solutions proposed in the documents EP 2 648 860 B1, EP 3 366 381 A1 and EP 2 544 835 B1 can be used to mechanically stabilize a residual coil after a separating cut has been made in the case of a coil which has been wound back on the coiler spindle, nor to push a sleeve onto the coiler spindle. SUMMARY

[0011] It is therefore the task of the present application to further develop the coil transport vehicle known from the prior art in such a way that with the coil transport vehicle it is possible to reliably manipulate sleeves and coils at the coiler mandrel, in particular coils having an outer diameter which is less than the limit diameter d0.

[0012] According to the application, the task is solved by a coil transport vehicle for reliably manipulating a coil or a sleeve at a coiler mandrel and a method for pulling a coil having an outer diameter which is less than the limit diameter d0 from a coiler mandrel by means of a coil transport vehicle according to the above and a method for pushing a sleeve onto a coiler mandrel by means of a coil transport vehicle according to the above.

[0013] The application also relates to advantageous design options.

[0014] The coil transport vehicle has:

[0015] a coil support which is vertically movable by means of a first drive unit, which has a plurality of support rollers which are respectively rotatable axially about a first horizontal direction for receiving the coil or the sleeve,

[0016] a holding arm which is pivotable about the first horizontal direction by means of a rotary drive, which is used to stabilize the sleeve or, if the outer diameter of the coil is not greater than the limit diameter d0, to stabilize the coil, wherein the holding arm is arranged in pairs opposite one another at the coil support along a second horizontal direction which is oriented orthogonally to the first horizontal direction,

[0017] a second drive unit for horizontally moving the coil transport vehicle,

[0018] a control unit for actuating the first and second drive units and the rotary drive, and

[0019] a data technology interface for communication with a control unit of a higher level.

[0020] In the method for pulling a coil having an outer diameter which is less than the limit diameter d0 from a coiler mandrel by means of a coil transport vehicle according to the above,

[0021] in a first step, the coil support is moved vertically by means of the first drive unit and is adjusted against the coil, so that the support rollers of the coil support contact the coil at the bottom side of the coil along the circumferential side, which is located on the coiler mandrel and is connected to the uncoiled strip section,

[0022] - in a second step, swiveling the holding arm by means of the rotary drive to the coil,

[0023] - in a third step, separating the uncoiled strip section from the coil by means of a separating device,

[0024] - in a fourth step, rotating the coil against the unwinding direction of the coil by means of the coiler mandrel until the free strip end of the coil is located within a predefined angular range relative to the circumferential side with respect to a perpendicular through the longitudinal axis of the coil, and then the coiler mandrel is retracted,

[0025] - in a fifth step, moving the coil transport away from the coiler mandrel by means of the second drive unit until the coil is completely pulled out of the coiler mandrel, wherein the coiler mandrel is simultaneously rotated against the unwinding direction, and

[0026] - in a sixth step, transporting the coil from the coil transport to a target position by activating the second drive unit.

[0027] In the method for pushing a sleeve onto a coiler mandrel by means of a coil transport according to the preceding,

[0028] - in a first step, moving the coil transport by means of the second drive unit to a receiving position in front of a feeding station, and moving the coil support by means of the first drive unit into a pick-up height, and swiveling the holding arm by means of the rotary drive into a fixed position,

[0029] - in a second step, placing the sleeve by means of a feeding device of the feeding station onto the coil support of the coil transport,

[0030] - in a third step, swiveling the holding arm by means of the rotary drive to the sleeve, such that the inner side of the holding arm contacts the sleeve along the circumferential side,

[0031] - in a fourth step, moving the coil transport by means of the second drive unit to a position directly in front of the coiler mandrel,

[0032] - in a fifth step, moving the coil support vertically by means of the first drive unit, such that the longitudinal axis of the sleeve is located at the height of the coiler mandrel,

[0033] - in a sixth step, moving the coil transport by means of the second drive unit toward the retracted coiler mandrel until the sleeve is completely pushed onto the coiler mandrel,

[0034] - in a seventh step, the coiler mandrel is expanded, so that the sleeve is force-locked held by the coiler mandrel, and

[0035] - in an eighth step, the holding arms are swiveled away from the sleeve by means of the rotary drive, and the coil support is lowered vertically by means of the first drive unit.

[0036] The coil transport vehicle for reliably handling a sleeve or a coil at a coiler mandrel, in particular a coil with an outer diameter less than a limit diameter d0, according to the application comprises a coil support which is vertically movable by means of a first drive unit. At the upper side of the coil support, a plurality of support rollers are arranged for receiving a coil or a sleeve, wherein the support rollers are respectively axially rotatable about a first horizontal direction X1. The first horizontal direction X1 is preferably congruent with the longitudinal axis of the coiler mandrel.

[0037] Furthermore, the coil transport vehicle has holding arms for stabilizing a coil (for the case "outer diameter of the coil is not greater than the limit diameter d0") or a sleeve. The holding arms are arranged in pairs opposite one another at the coil support along a second horizontal direction X2, wherein the second horizontal direction X2 is oriented orthogonally to the first horizontal direction X1. The holding arms are swivelable about the first horizontal direction X1 by means of a rotary drive and thus swivelable to the coil or the sleeve located on the coil support and thus prevent the coil from being undesirably sprung up or the coil or the sleeve from rolling off laterally. The coil transport vehicle preferably has two or four holding arms. If the outer diameter of the coil exceeds the maximum limit diameter d0, the holding arms are not required.

[0038] Furthermore, the coil transport vehicle according to the application has a second drive unit by means of which the coil transport vehicle is horizontally movable. Thereby, the coil transport vehicle can be moved toward the coiler mandrel and can be moved away from the coiler mandrel, for example in order to pull a coil out of the coiler mandrel or to push a sleeve onto the coiler mandrel. Preferably, the horizontal direction along which the coil transport vehicle is movable by means of the second drive unit is congruent with the first horizontal direction X1 in the region of the coiler mandrel or in the receiving region for the sleeve.

[0039] The coil transport vehicle according to the application also has a control unit for operating the first and second drive units and the rotary drive and a data technology interface for communicating with a control unit of a higher level. The data technology interface enables the control unit of the coil transport vehicle to receive data from a control unit of a higher level, which can be, for example, an automation of a plant, relating to a transport process to be carried out.

[0040] The data received from the control unit of the level above can only be in the form of main data of the upcoming transport process, which for example include the state m of the coiler spindle (retracted or extended), the dimensions a and / or the weight g of the coil, the target position Z at which the coil is to be transported to or the receiving position A at which the sleeve is to be taken over by the coil transport vehicle. In this case, the control unit is designed to automatically determine and execute the control signals for the actuation of the first and second drive units and the rotary drive as well as the time sequence. These parameters include for example the adjustment forces or the movement paths of the individual mechanisms.

[0041] The control unit can also be designed to automatically determine, by means of a status signal for the coiler spindle, whether the coil can be pulled off the coiler spindle or the sleeve can be pushed onto the coiler spindle. For example, the control unit can automatically recognize an impermissible operating state (for example, if the coil is to be pulled off the coiler spindle or the sleeve is to be pushed onto the coiler spindle, but the coiler spindle is still extended) and report this to the control unit of the level above via the data technology interface and wait for further control instructions.

[0042] Further sensor signals (for example, a light barrier for recognizing obstacles) can also be transmitted to the control unit, and the control unit can be designed in such a way that it can automatically determine from these further sensor signals whether the transport process can be carried out without a collision. Likewise, the control unit can automatically recognize an impending collision of the coil transport vehicle or a part thereof with an obstacle as an impermissible operating state and report this to the control unit of the level above via the data technology interface and interrupt or not start the possible transport process.

[0043] In one design variant of the coil transport vehicle according to the application, the rotary drive is configured as a variable-speed motor. Since the holding arms of the coil transport vehicle have to perform a rotary movement in order to secure the coil or the sleeve, a small construction form for the respective rotary drive can advantageously be achieved by means of the combination of a motor with a rotating output shaft and a corresponding reduction gear, thereby minimizing the risk of a collision when handling the coil or the sleeve.

[0044] In another design variant of the coil transport vehicle according to the application, the holding arms can be pivoted into a parking position P, such that the maximum length d max is less than or equal to the maximum dimension d btw of the coil transport vehicle in the second horizontal direction X2. maxis meant to be the maximum possible distance spanned by two points, respectively located on one of the two holding arms, in the second horizontal direction X2, when the holding arms are in the parking position P. Likewise, the "maximum dimension" d btw is meant to be the maximum possible distance spanned by two points, respectively located on opposite sides of the coil transport vehicle, in the second horizontal direction X2.

[0045] In short, if the width direction of the coil transport vehicle is identical to the second horizontal direction X2, pivoting the holding arms into the parking position P results in the holding arms in the parking position P not being "wider" than the coil transport vehicle itself. Advantageously, this results in the holding arms being able to be pivoted into the parking position in a space-saving manner when transporting coils which, due to their dimensions, do not need to be stabilized, and there is no additional space requirement compared to coil transport vehicles known from the prior art. The coil transport vehicle according to the application is therefore suitable as a replacement or retrofitting solution for existing transport devices, since no structural changes to the respective travel path (Fahrstrecke) are necessary.

[0046] Preferably, the holding arms are configured in such a way as to shape-lockedly stabilize coils or sleeves having an outer diameter in the range between 500 mm and a limit diameter d0. The limit diameter d0may be, for example, 750 mm. This is achieved by correspondingly shaping the holding arms. "Shape-lockedly stabilize" means that each holding arm of the coil transport vehicle contacts the coil or sleeve at at least one point along the circumferential side above the horizontal center plane through the longitudinal axis M of the coil or sleeve when the coil or sleeve located on the coil support is correspondingly adjusted by the rotary drive.

[0047] In order to avoid scratches or indentations at the surface of the circumferential side of the coil or sleeve during adjustment of the holding arms and during transport by the coil transport vehicle, the holding arms are preferably provided with a friction-reducing lining or sliding roller at their inner side.

[0048] In the method according to the application for pulling out a coil (having an outer diameter less than the limit diameter d0) from a coiler mandrel by means of a coil transport vehicle according to the application, in a first step S1 the coil support of the coil transport vehicle is moved vertically by the first drive unit and adjusted against the coil located on the coiler mandrel (which at this point is still connected to the unwound strip section), so that the support rollers of the coil support contact the coil at the bottom side thereof.

[0049] The adjustment of the coil carrier to the coil located on the coiler mandrel can be carried out, for example, in a force-regulated or position-regulated manner. The position-regulated adjustment can be carried out either according to the respective coil diameter or according to a sensor signal, for example from a distance sensor or a contact sensor. The force-regulated adjustment can be carried out according to the respective coil weight g or according to a predefined maximum adjustment force, with the aid of a force measuring device for the coil carrier. It is also possible to combine the force-regulated adjustment and the position-regulated adjustment. For this purpose, the relevant strip diameter or the relevant strip weight g can be transmitted to the control unit of the coil transport vehicle by means of a data technology interface.

[0050] It is particularly preferred that the coil carrier is adjusted against the coil located on the coiler mandrel with a force which corresponds to the weight force of the coil after separation of the unwound strip section: as a result, the load of the coiler mandrel by the weight of the coil is reduced, so that the coil can be drawn from the coiler mandrel in the following step without problems, since the elastic bending due to the weight of the coil or due to an excessively large adjustment force of the coil carrier no longer needs to be compensated for when the required retraction of the coiler mandrel occurs.

[0051] In the second step S2 of the method according to the application, the holding arm is pivoted to the coil by means of a rotary drive. For example, the holding arm can be pivoted to the coil with the application of a certain torque, so that the holding arm actually comes into contact with the outer circumferential surface of the coil. As a result, the free strip end which is produced in the subsequent third step S3 by separation of the unwound strip section from the coil is pressed against the outer circumferential surface of the coil and is mechanically fixed in order to prevent uncontrolled falling or bouncing. The separation of the unwound strip section from the coil in the third step S3 is carried out by means of a separating device which is arranged laterally, i.e. in a direction transverse to the longitudinal axis, of the coiler mandrel.

[0052] In the fourth step S4 of the method according to the application, the coil is rotated against the unwinding direction U of the coil by means of the coiler mandrel until the free strip end of the coil is located in a predefined angular range a max around the circumferential side with respect to the perpendicular through the longitudinal axis M of the coil. The angular range a maxThe free strip end can be positioned in such a way that it is, for example, maximally 20 cm from one of the support rollers (so-called 5 o'clock or 7 o'clock position), which can be determined by the geometric arrangement of the support rollers of the strip support. Preferably, the free strip end does not rotate beyond one of the support rollers when the strip is rotated against the unwinding direction U, in order to avoid the strip edge from being pressed into the position of the strip underneath it. The unwinding direction U of the strip refers to that rotational direction along which the strip is rotated when it is unwound from the coiler spindle. In the expanded state of the coiler spindle, there is mechanical contact between the coiler spindle and the strip in the eye of the strip. Thus, subsequently, after the rotation against the unwinding direction U, the previously expanded coiler spindle is contracted (i.e. its outer diameter is reduced, so that there is no longer mechanical contact between the coiler spindle and the strip).

[0053] In a subsequent fifth step S5 of the method according to the application, the strip transport cart is moved away from the coiler spindle by the second drive unit until the strip is completely pulled out of the coiler spindle, so that no part of the coiler spindle protrudes any more into the eye of the strip. At the same time, the coiler spindle is rotated against the unwinding direction U as the strip transport cart moves away, in order to avoid the inner winding of the strip from getting caught at the coiler spindle. In a final sixth step S6, the strip is transported from the strip transport cart to the target position, for example to the gluing station, by activating the second drive unit.

[0054] According to one design variant of the method according to the application, in a step S5' carried out between the fifth step S5 and the sixth step S6, the strip support is lowered vertically by the first drive unit. This improves the mechanical stability of the strip transport cart in the second horizontal direction X2 during the transport.

[0055] According to another design variant of the method according to the application, the control unit receives data from the control unit of the higher level via a data technology interface, on the basis of which the control unit controls the first and second drive units and the rotary drive, so that the sequence of steps S1 to S6 is carried out.

[0056] According to one design variant of the method according to the application, the data received from the control unit of the higher level can here be present only in the form of the previously described main data of the upcoming transport process. The data can here include the state m of the coiler spindle, the size a of the strip at the coiler spindle, the strip weight g or the target position Z to which the strip is to be transported after being pulled out of the coiler spindle.

[0057] In this case, the control unit is set up to automatically determine and execute the control signals for the actuation of the first and second drive units and the rotary drive and the time sequence, so that the sequence of steps S1 to S6 is autonomously executed by the coil transport vehicle or its control unit, which is referred to as the so-called fully automatic operating mode of the coil transport vehicle. Here, advantageously, the control and monitoring for the respective coil transport is minimized in terms of the control unit of the upper level.

[0058] Alternatively, for each substep of the transport process to be executed, for example for each of the steps S1 to S6 mentioned above, the control unit of the coil transport vehicle can also receive the respective data packet from the control unit of the upper level via the data technology interface, wherein the control signals for the actuation of the first and second drive units and the rotary drive are taken over by the control unit of the coil transport vehicle, but the time sequence of the individual substeps is predefined by the control unit of the upper level. This corresponds to a semi-automatic operating mode of the coil transport vehicle and offers greater flexibility in terms of the time sequence of the transport process.

[0059] According to another alternative, in order to enable the above-described sequence of steps S1 to S6 to be executed, the control unit of the coil transport vehicle can also receive the control signals for the actuation of the individual mechanisms, like for example the first and second drive units and the rotary drive, directly from the control unit of the upper level or an operator via the data technology interface, for example by actuating a respective button or switch. This corresponds to a manual operating mode of the coil transport vehicle, also referred to as tip operation.

[0060] In the method according to the application for pushing a sleeve onto a coiler mandrel by means of a coil transport vehicle according to the application, in a first step S11 the coil transport vehicle is moved by the second drive unit into a receiving position A in front of the feed station 30 and the coil support is moved by the first drive unit into a vertical pick-up height ho in order to take over the sleeve. The holding arm is swung into a fixed position S by the rotary drive while the coil transport vehicle is in the receiving position A. The receiving position A is located at the same position as the feed station with respect to the first horizontal direction X1, so that the center of the coil support with respect to the direction X1 coincides with the center of the sleeve along its longitudinal axis M.

[0061] The pick-up height ho depends on the sleeve diameter and the structural dimensions of the feed station from which the sleeve is transferred to the coil transport vehicle. For example, the pick-up height ho can be 500 to 1000 mm lower than an initial height hi of the sleeve at the feed station, wherein the pick-up height ho and the initial height hi are each referenced to the same reference height, for example the base level of the feed station.

[0062] In the fixed position S, the holding arms are pivoted into a position in which they are located predominantly above the support rollers of the coil support, with the inner sides of the holding arms being spaced apart from one another in the second horizontal direction X2 to such an extent that the sleeve to be transferred to the coil transport vehicle can be lowered onto the coil support between the holding arms without contacting the holding arms themselves. In this way, it is prevented that the sleeve falls or rolls away unintentionally during the transfer.

[0063] The structural dimensions of the feed station and the associated sleeve diameter can be transmitted to the control unit of the coil transport vehicle by means of a data technology interface, so that the control unit automatically acquires therefrom the take-up height ho of the coil support and the fixed position S of the holding arms. Alternatively, the take-up height ho and the fixed position S can also be stored as fixed values in the control unit.

[0064] In a second step S12, the sleeve is placed from the feed station onto the coil support of the coil transport vehicle by means of a feed device. The feed device can be designed, for example, as a pivoting device by means of which the sleeve is transferred from an initial height hi onto the coil support, which is at the take-up height ho at this time.

[0065] In a third step S13, the holding arms are pivoted by means of a rotary drive to the sleeve, so that the inner sides of the holding arms contact the sleeve in a form-locking manner on the outer circumference side of the sleeve, and then, in a fourth step S14, the coil transport vehicle is moved by means of a second drive unit to a position directly in front of the winding-up mandrel, and, in a fifth step S15, the coil support is moved vertically by means of a first drive unit until the longitudinal axis M of the sleeve is at the height of the winding-up mandrel.

[0066] Subsequently, in a sixth step S16, the coil transport vehicle is moved by means of the second drive unit along the longitudinal axis of the winding-up mandrel towards the retracted winding-up mandrel until the sleeve is pushed completely onto the winding-up mandrel, but does not yet contact the winding-up mandrel, since the inner diameter of the sleeve is greater than the diameter of the winding-up mandrel in the retracted state. Then, in a seventh step S17, the winding-up mandrel is expanded, so that the sleeve is held by the winding-up mandrel in a force-locking manner.

[0067] In an eighth step S18, the holding arms are pivoted away from the sleeve by means of the rotary drive, and the coil support is lowered vertically by means of the first drive unit. In this way, mechanical contact no longer exists between the coil support and the holding arms on the one hand and between the coil support and the sleeve on the other hand, so that, for example, the coil transport vehicle can be moved away from the winding-up mandrel by means of the second drive unit. In this way, the working space in the region of the winding-up mandrel can be released for the winding device assigned to it, for example a so-called basket roll, so that metal strip can be wound onto the sleeve.

[0068] In one design variant of the method according to the application for pushing a sleeve onto a coiler mandrel, during the second step S12 the coil support is moved in the vertical direction by the first drive unit, so that the coil transport vehicle does not collide with any part of the infeed device of the infeed station.

[0069] For example, the infeed device in the form of a swing device can comprise two cantilevers which are spaced apart from one another in the first horizontal direction X1 and which hold the sleeve when being transferred onto the coil transport vehicle. Since, when placing the sleeve on the coil support, parts of the cantilevers have to be swung in the vertical direction below the support rollers and can collide there with parts of the coil transport vehicle, for example with the rotary drive for the swing arms, in this case the movement of the coil support has to be coordinated with the movement of the cantilevers of the swing device in order to avoid collisions.

[0070] According to a further design variant of the method according to the application for pushing a sleeve onto a coiler mandrel, the control unit receives data from the control unit of the higher level via a data technology interface, on the basis of which the control unit actuates the first and second drive units and the rotary drive, so that the sequence of steps S11 to S18 is carried out. Here, as with the previously described method for pulling a coil off a coiler mandrel, the data can also comprise the dimensions a of the sleeve, the state m of the coiler mandrel and / or the receiving position A, in which case the control unit is set up to automatically determine and carry out the temporal sequence and the control signals for actuating the first and second drive units and the rotary drive, so that the sequence of steps S11 to S18 is carried out autonomously by the coil transport vehicle or its control unit (fully automatic operating mode). Likewise, here the control effort and the monitoring effort for the respective sleeve transport are advantageously minimized with regard to the control unit of the higher level.

[0071] However, it is also possible to carry out the sleeve transport in a semi-automatic or manual operating mode as has been described previously. BRIEF DESCRIPTION OF DRAWINGS

[0072] The above-described characteristics, features and advantages of the application, as well as the manner and method of realizing these characteristics, features and advantages, will become more apparent and more readily appreciated from the following description, taken in conjunction with the accompanying drawings, of the preferred embodiments of the application, with like reference numerals used to denote like elements throughout. Herein:

[0073] Figure 1 and Figure 2 a first embodiment of a coil transport vehicle according to the application is shown, viewed in the first horizontal direction X1 when taking over a coil or a residual coil,

[0074] Figure 2A a cross section with a residual coil in the Figure 2 ​

[0075] Figure 3 embodiments of the coil transport vehicle according to the application in the second horizontal direction X2 are shown, Figure 1 Figure 2

[0076] Figure 4 a coil transport vehicle according to the application in the second horizontal direction X2 is shown,

[0077] Figure 5 a coil transport vehicle according to the application in the second horizontal direction X2 is shown, Figure 4

[0078] a coil transport vehicle according to the application in the second horizontal direction X2 is shown, Figure 6

[0079] a coil transport vehicle according to the application in the second horizontal direction X2 is shown, Figure 7

[0080] a coil transport vehicle according to the application in the second horizontal direction X2 is shown, Figure 8 DETAILED DESCRIPTION

[0081] The components that correspond to one another in the figures are marked with the same reference symbols.

[0082] Figure 1 (FIG 1) and Figure 2 (FIG 2) show a coil transport vehicle 1 according to the application when taking over a coil 20 from a coiler spindle 22 in the first horizontal direction X1. The longitudinal axis M of the coil 20 overlaps the longitudinal axis M of the coiler spindle 22 and is oriented in the first horizontal direction X1. The coil transport vehicle 1 has a coil support 5, which is movable in the vertical direction by means of a first drive unit 3. The first drive unit 3 can be designed, for example, as a hydraulic cylinder. At the upper side of the coil support 5, four support rollers 7 are arranged in pairs in the first horizontal direction X1, which can each be rotated axially about the first horizontal direction X1, in Figure 1 , Figure 2 and Figure 2A two of which can be seen in each case. Furthermore, the coil transport vehicle 1 has a chassis 4 and a second drive unit 13 arranged thereat, by means of which the coil transport vehicle 1 can be moved on a guide rail 8 in the first horizontal direction X1.

[0083] Furthermore, the coil transport vehicle 1 comprises four holding arms 11 for stabilizing the residual coil 20 or the sleeve 21, in Figure 1 , Figure 2 or Figure 2A ​​​Two of the holding arms can be seen therein. The holding arms 11 are arranged in pairs opposite one another at the coil support 5 along a second horizontal direction X2, which is oriented orthogonally to the first horizontal direction X1. The holding arms are embodied so as to be pivotable about the first horizontal direction X1 by means of a rotary drive 9 (shown in Figure 3 FIG. 2B).

[0084] In Figure 1 FIG. 2C, a residual coil 20 is shown, which has an outer diameter that is smaller than the limit diameter d0, and which is still connected to the uncoiled section of the metal strip 2 by means of a strip section 20'. The uncoiling direction U in which the metal strip 2 is uncoiled from the residual coil 20 extends in a clockwise direction, wherein the strip section 20' that is not adjoined to the residual coil 20 is held by a pair of drive rollers 23. Behind the pair of drive rollers 23, viewed in the uncoiling direction U, a separating device 24 is arranged, by means of which the metal strip 2 can be separated from the residual coil 20 that remains on the coiler mandrel 22.

[0085] Furthermore, Figure 1 FIG. 2D shows the coil support 5 in a lower vertical position and above it, schematically - in order to clarify the dimensional relationships, in addition to the residual coil 20 - a coil 20 is shown that is drawn in dotted lines, which has an outer diameter that is greater than the limit diameter d0, which is drawn in a dash-dot line, and whose free strip end 20" is positioned in a 7 o'clock position close to the support roller 7 of the coil support 5. Since such a coil 20 does not have to be stabilized due to its own weight, therefore Figure 1 the holding arms 11 of the coil transport vehicle 1 in FIG. 2E are pivoted into a parking position P.

[0086] In Figure 2 FIG. 2F, the coil support 5 of the coil transport vehicle 1 is shown both in the same lower vertical position as in Figure 1 FIG. 2D and also schematically in a raised vertical position, in which the holding arms 11 are adjusted to the residual coil 20 on the coiler mandrel 22, so that the holding arms 11 contact the residual coil 20 with their respective inner sides 11' on the circumference side. Also in Figure 2 FIG. 2F, the free strip end 20" of the residual coil 20 is also positioned in a 7 o'clock position close to the support roller 7 of the coil support 5. Furthermore, it can be seen in Figure 2 FIG. 2F that the maximum length d max between the holding arms 11 in the parking position P along the second horizontal direction X2 is smaller than the maximum dimension d Figure 1 and Figure 2 extending along the chassis 4 in the illustrations of btw FIG. 2D.

[0087] Figure 2A FIG. 2A showsFigure 2 Enlarged cross-section view, showing the residual roll material 20 located at the roll material support 5 (in Figure 2A On the support roller 7 (not shown), and the retaining arm 11 is adjusted here relative to the residual coil 20. The free strip end 20" of the residual coil 20 is positioned at a predetermined angle range α relative to the vertical line through the longitudinal axis M of the residual coil 20 and near the support roller 7 on the left side. max The inner side of the retaining arm 11 is fitted with a friction-reducing pad 14, and a sliding roller 15 is fitted with a sliding roller 15, which in turn resists the bounce of the remaining roll 20 by its own weight.

[0088] Figure 3 (FIG 3) illustrates an embodiment of the roll transport vehicle according to the invention in an unloaded state along the second horizontal direction X2, wherein in Figure 3 Two of the four support rollers 7 or two of the four retaining arms 11 can be seen. The retaining arms 11 are arranged between the support rollers 7 at the roll support 5 along a first horizontal direction X1. In a variation of this embodiment, the roll transport vehicle may also have more than four support rollers 7, such as six or eight support rollers 7, or other numbers of retaining arms 11, such as two or six retaining arms 11. Each pair of retaining arms 11 is driven by a rotary drive 9 and can thus swing about the first horizontal direction X1. The chassis 4 of the roll transport vehicle 1 is mounted on the guide rail 8 by wheels 12.

[0089] A data technology interface 17 connected to the control unit 16 of the roll transport vehicle 1 enables the control unit 16 to exchange data with the upper-level control unit 19. According to a first embodiment of the roll transport vehicle according to the invention, the communication path with the upper-level control unit 19 is designed as a wireless radio path, such as a WLAN connection or a data laser connection. However, alternatively, a wired transmission path can also be used between the data technology interface 17 and the upper-level control unit 19, such as a tow cable or as a signal modulated onto the power supply of the roll transport vehicle 1.

[0090] exist Figure 4FIG 4 shows the roll transport vehicle 1 according to the invention in receiving position A in front of feed station 30 when the sleeve 21 is being handled. Feed station 30 includes a multi-stage base 31, a roller conveyor 36 for conveying the sleeve 21, and a movable swivel device 32 for transferring the sleeve 21 onto the roll transport vehicle 1. The sleeve 21 can be transferred from roller conveyor 26 to swivel device 32 via a fixed longitudinal beam 38 (which is supported on the first stage of base 31). Swivel device 32 includes two cantilever 34 connected by a crossbeam 35, the cantilever having an upwardly curved sliding plate. The swivel is then driven by a swivel actuator 37 (which, for example, is as shown in...) Figure 4 As shown, the hydraulic cylinder, which can be designed to be rotatably mounted and connected to the crossbeam 35 at its upper end, can be lowered along with the sleeve 21 located thereon.

[0091] To illustrate the transfer process from sleeve 21 to the roll transport vehicle 1, Figure 4 The swaying device 32 is shown in three swaying positions, with the sleeve 21 positioned at an initial height h1 on the cantilever 34 of the swaying device 32 in the uppermost swaying position. Similarly, the roll support 5 of the roll transport vehicle 1 is shown in a lower vertical position (in which the arm 11 is held in the parking position P) and an upper vertical position at a pipe height h0, where the transfer is performed by weight displacement of the sleeve 21 from the swaying device 32 to the roll support 5. During the transfer, the arm 11 is swayed to a fixed position S to secure the sleeve 21 as the swaying device 32 descends, preventing it from falling laterally along the second horizontal direction X2. The initial height h1 and the pipe height h0 are referenced to the first stage of the base 31. If necessary, the descent of the swaying device 32 and the roll support 5 can be coordinated during the transfer of the sleeve 21, thereby avoiding collisions between components of the swaying device 32 and components of the roll transport vehicle 1.

[0092] Figure 5 (FIG 5) In terms of major components and Figure 3 Consistent with this, the receiving position A of the roll transport vehicle 1 in front of the feed station 30 is also shown, and the cantilever 34 and sleeve 21 are schematically shown in the uppermost swing position of the swing device 32.

[0093] Figure 6(FIG 6) shows the infeed station 30 in a plan view in the vertical direction, with roller bed 36, swing device 32 with jibs 34, crosspieces 35 and swing drive 37, and sleeve 21, which is secured by the slide of the swing arm 34 against rolling off in the second horizontal direction X2. Furthermore, a receiving position A for the coil transport vehicle 1 is shown, which is located in the center between the jibs 34 in the first horizontal direction X1.

[0094] In Figure 7 (FIG 7), the method according to the application for pulling off a coil 20 from a coiler mandrel 22 by means of a coil transport vehicle 1 according to the application is shown schematically in the form of a sequence consisting of the above-mentioned steps S1 to S6. Via the interface 17 and via the wireless connection path to the control unit 19 of the previous stage, the main data of the coil transport to be performed are first transmitted to the control unit 16 of the coil transport vehicle 1. These main data comprise here at least the state m of the coiler mandrel 22, the dimensions of the coil 20 (outer diameter, dimension along its longitudinal axis M, etc.), the coil weight g and the target position Z at which the coil 20 should be transported by the coil transport vehicle 1. The control unit 16 is set up to perform the sequence automatically by activating the respective mechanisms of the coil transport vehicle in steps S1, S2, S5, S5' and S6 by the control unit 16, as described above, for moving the coil support 5 or the first and second drive units 3, 13 of the coil transport vehicle 1 and for adjusting the rotary drive 9 of the holding arm 11. In Figure 7 , these activations are indicated by dashed arrows from the respective step to the mentioned mechanisms.

[0095] In the third and fourth steps S3 or S4, the separation cut performed by the separation device 24 or the rotation of the coil 20 against the unwinding direction U by the coiler mandrel 22 and the subsequent retraction of the coiler mandrel 22 are reported to the control unit 16, which is indicated in Figure 7 by dashed arrows from the respective mechanism to the relevant step. The reporting can take place, for example, by means of a corresponding confirmation signal, which is given by the external control unit 19 and the interface 17. In other words, the control unit 16 waits for the confirmation of the execution of the mentioned processes by the external mechanisms before it performs the other steps of the sequence.

[0096] Similar to Figure 7 (FIG 7), in Figure 8The sequence of the method according to the application for pushing the sleeve 21 onto the coiler mandrel 22 is shown schematically in FIG. 8 in the form of a sequence consisting of the above-mentioned steps Sll to S18. Again, the main data of the sleeve transport to be carried out are first transmitted to the control unit 16 of the coil transport vehicle 1 by means of the interface 17 and by means of the wireless connection path to the control unit 19 of the preceding stage, from which they are to be taken over by the coil transport vehicle 1 from the receiving position of the feed station 30. These main data comprise here at least the dimensions of the sleeve 21 (outer diameter, dimension along its longitudinal axis M, etc.), the state m of the coiler mandrel 22 and the receiving position A of the feed station 30, from which the sleeve 21 is to be taken over by the coil transport vehicle 1. Again, the control unit 16 is set up to carry out the sequence automatically by means of the following activation (in Figure 8 The respective mechanisms of the coil transport vehicle, as mentioned above, the first drive unit 3 and the second drive unit 13 and the rotary drive 9, are indicated again in FIG. 8 by dashed arrows to the mentioned mechanisms.

[0097] In a second step S12, the depositing of the sleeve 21 by the feed device 32 is notified to the control unit 16, which can take place again, for example, by means of the transmission of the corresponding confirmation signal given by the external control unit 19 and the interface 17. In addition, further signals for the above-mentioned synchronization movement of the coil support 5 and the feed device 32, for example a current position signal of the feed device 32, can also be notified to the control unit 16 during the depositing of the sleeve 21. In a seventh step S17, the expansion of the coiler mandrel 22 is notified to the control unit 16, which means that the sleeve 21 is now held force-lockingly by the coiler mandrel 22, after which the control unit 16 goes over to the last step S18.

[0098] List of reference signs:

[0099] 1 coil transport vehicle

[0100] 2 metal strip

[0101] 3 first drive unit

[0102] 4 chassis

[0103] 5 coil support

[0104] 7 support roller

[0105] 8 guide rail

[0106] 9 rotary drive

[0107] 11 holding arm

[0108] 11' inner side

[0109] 12 wheel

[0110] 13 second drive unit

[0111] 14 spacer

[0112] 15 sliding roller

[0113] 16 control device

[0114] 17 interface

[0115] 19 control unit of the higher level

[0116] 20 coil, residual coil

[0117] 20' strip section

[0118] 20" free strip end

[0119] 21 sleeve

[0120] 22 coiler mandrel

[0121] 23 drive roller

[0122] 24 separating device

[0123] 30 infeed station

[0124] 31 base

[0125] 32 infeed device, oscillating device

[0126] 34 boom

[0127] 35 cross member

[0128] 36 roller path

[0129] 37 oscillating drive

[0130] 38 stringer

[0131] a max angular range

[0132] a dimension of the coil, sleeve

[0133] d max maximum length

[0134] d0 limiting diameter

[0135] d btw dimension of the coil transport vehicle

[0136] g weight of the coil

[0137] h0 height of the stub

[0138] hi initial height

[0139] m state of the coiler mandrel

[0140] M longitudinal axis

[0141] P parking position

[0142] S fixed position

[0143] A receiving position

[0144] S1...S18 method steps

[0145] U direction of unwinding

[0146] X1, X2 horizontal direction

[0147] Z target position.

Claims

1. A roll transport vehicle (1) for reliably maneuvering a roll (20) or sleeve (21) at a winding machine mandrel (22), comprising: - A roll support (5) that can move vertically by means of a first drive unit (3), the roll support having a plurality of support rollers (7) that can rotate axially about a first horizontal direction (X1) respectively, the support rollers being used to receive the roll (20) or the sleeve (21). - A retaining arm (11) capable of swinging about the first horizontal direction (X1) by means of a rotary actuator (9), the retaining arm being used to stabilize the sleeve (21), or if the outer diameter of the roll is not greater than the limiting diameter d0, the retaining arm being used to stabilize the roll (20), wherein the retaining arms (11) are arranged in pairs opposite each other at the roll support (5) along a second horizontal direction (X2) orthogonal to the first horizontal direction (X1). - Second drive unit (13) for horizontally moving the roll transport vehicle (1). - Control unit (16), which controls the first and second drive units (3, 13) and the rotary drive (9), and - Data technology interface (17) for communicating with the control unit (19) at the next higher level.

2. The roll transport vehicle (1) according to claim 1, wherein the rotary drive (9) is configured as a variable speed motor.

3. The roll transport vehicle (1) according to claim 1 or 2, wherein the retaining arm (11) is swivelable to a parking position (P), such that the maximum length (d) between the retaining arms (11) along the second horizontal direction (X2) is such that... max The dimension (d) of the roll transport vehicle (1) along the second horizontal direction (X2) is less than or equal to the maximum dimension (d) of the roll transport vehicle (1). btw ).

4. The roll transport vehicle (1) according to any one of claims 1 or 2, wherein the retaining arm (11) is configured to form-locking stabilize the sleeve (21) or roll (20) with an outer diameter between 500 mm and the limiting diameter d0.

5. The roll transport vehicle (1) according to any one of claims 1 or 2, wherein the retaining arm (11) has a friction-reducing pad (14) or sliding roller (15) on its inner side (11').

6. A method for pulling out a roll (20) with an outer diameter smaller than the limiting diameter d0 from a winding machine mandrel (22) by means of a roll transport vehicle (1) according to any one of claims 1 to 5, wherein - In the first step (S1), the roll support (5) is moved vertically by the first drive unit (3), and the roll support is adjusted toward the roll (20), so that the support roller (7) of the roll support (5) contacts the roll (20) along the circumferential side at the bottom side of the roll, which is located on the winding machine mandrel (22) and connected to the unwound strip section (20'). - In the second step (S2), the retaining arm (11) is swung to the roll (20) by the rotary driver (9). - In the third step (S3), the unwound strip segment (20') is separated from the roll (20) by means of a separating device (24). - In the fourth step (S4), the roll (20) is rotated against the unfolding direction (U) of the roll (20) by means of the winding machine mandrel (22) until the free strip end (20") of the roll (20) is positioned along the circumferential side at a predetermined angle range (α) relative to the vertical line passing through the longitudinal axis (M) of the roll (20). max Inside, and then the winding core shaft (22) retracts, - In the fifth step (S5), the roll transport vehicle (1) is moved away from the winding machine mandrel (22) by the second drive unit (13) until the roll (20) is completely pulled out from the winding machine mandrel (22), wherein the winding machine mandrel (22) rotates against the unfolding direction (U) at the same time, and - In the sixth step (S6), the roll material is transported from the roll material transport vehicle (1) to the target location by activating the second drive unit (13).

7. The method according to claim 6, wherein in step (S5') between the fifth and sixth steps (S5, S6), the roll support (5) is vertically lowered by the first drive unit (3).

8. The method according to claim 6 or 7, wherein the control unit (16) receives data from the upper-level control unit (19) via a data technology interface (17), and according to the data, the control unit (16) manipulates the first and second drive units (3, 13) and the rotary driver (9) so that the steps (S1) to (S6) are executed in sequence.

9. The method according to claim 8, wherein the data includes the state (m) of the winding mandrel (22) and / or the size (a) of the roll (20) at the winding mandrel (22) and / or the roll weight (g) and / or the target position (Z).

10. A method for pushing a sleeve (21) onto a winding machine mandrel (22) by means of a roll transport vehicle (1) according to any one of claims 1 to 5, wherein - In the first step (S11), the roll transport vehicle (1) is moved to the receiving position (A) in front of the feeding station (30) by the second drive unit (13), and the roll support (5) is moved to the pipe height (h0) by the first drive unit (3), and the retaining arm (11) is swung to the fixed position (S) by the rotary drive (9). - In the second step (S12), the sleeve (21) is placed onto the roll support (5) of the roll transport vehicle (1) by the feeding device (32) of the feeding station (30). - In the third step (S13), the retaining arm (11) is swung to the sleeve (21) by the rotary driver (9), so that the inner side (11') of the retaining arm (11) contacts the sleeve (21) along the circumferential side. - In the fourth step (S14), the roll transport vehicle (1) is moved to a position directly in front of the winding machine mandrel (22) by the second drive unit (13). - In the fifth step (S15), the roll support (5) is moved vertically by the first drive unit (3), so that the longitudinal axis (M) of the sleeve (21) is located at the height of the winding machine core shaft (22). - In the sixth step (S16), the roll transport vehicle (1) is moved toward the retracted winding mandrel (22) by the second drive unit (13) until the sleeve (21) is fully pushed onto the winding mandrel (22). - In the seventh step (S17), the winding core shaft (22) expands, thereby forcefully holding the sleeve (21) by the winding core shaft (22), and - In the eighth step (S18), the retaining arm (11) is swung away from the sleeve (21) by the rotary driver (9), and the roll support (5) is lowered vertically by the first drive unit (3).

11. The method according to claim 10, wherein during the second step (S12), the roll support (5) is moved in the vertical direction by the first drive unit (3) so that the roll transport vehicle (1) does not collide with any part of the feeding device (32).

12. The method according to claim 10 or 11, wherein the control unit (16) receives data from the upper-level control unit (19) through the data technology interface (17), and according to the data, the control unit (16) manipulates the first and second drive units (3, 13) and the rotary driver (9) so that the steps (S11) to (S18) are executed in sequence.

13. The method of claim 12, wherein the data includes the size (a) of the sleeve (21) and / or the state (m) of the winding mandrel (22) and / or the receiving position (A).

Images