Secure handling of sleeves or metal coils with small outer diameters on a coiler mandrel.

Abstract

The invention relates to a coil transport carriage (1) with adjustable holding arms (11) and a method for the secure handling of metal coils (20) or sleeves (21) with small outer diameters on a coiler mandrel (22). The coil transport carriage (1) has a vertically displaceable coil saddle (5) for receiving the coil (20) or sleeve (21), two opposing holding arms (11) for stabilizing the coil (20) or sleeve (21) on the coil saddle (5) and rotatable by means of a rotary drive (9), and a second drive unit (13) for moving the coil transport carriage (1). For removal from the coiler mandrel (22), the coil saddle (5) is adjusted relative to the coil (20) present on the coiler mandrel (22) and the holding arms (11) are swiveled over the coil (20). For mounting on the coiler mandrel (22), the sleeve (21) is first placed on the coil saddle (5) of the coil transport carriage (1) and is guided by the holding arm (11).

Description

[Technical Field]

[0001] The present invention relates to a coil transport carriage equipped with adjustable retaining arms, and a method for reliably handling metal or sleeves having a small outer diameter on a coiler mandrel. [Background technology]

[0002] Prior art has provided a horizontally movable coil transport carriage equipped with a vertically displaceable coil saddle. Multiple support rollers may be arranged on the upper surface of the coil saddle to receive the coil, and each support roller can rotate axially around the horizontal direction. Such a coil transport carriage has sufficient weight and is therefore suitable for secure handling of coils (e.g., transport from a starting position to a target position, attachment to or removal from a coiler mandrel) without the need for further shearing means.

[0003] However, depending on the manufacturing specifications, the metal strip may not be fully unwound from the coiler mandrel (for example, in the case of a reversible coiler), and remnants of the metal strip may remain in the coiler mandrel, requiring removal from the mandrel. Such remnants, if their outer diameter does not exceed a certain value d0, for example 750 mm, are also called "remnant coils," and generally have less self-weight. The value d0 will be referred to as the "limit diameter" below.

[0004] To remove such fragments from the coiler mandrel, after most of the original strip still connected to the fragment has been unfurled, the coil saddle of the coil transport carriage is adjusted relative to the underside of the fragment. Separation and cutting then occur, and the unfurled strip portion is cut from the fragment remaining on the coiler mandrel. The fragment remaining on the coiler mandrel is then unwound by the coiler mandrel (i.e., rotated in the opposite direction to the unfurling) so that the free end of the strip is located near the coil saddle on the periphery side (the so-called 5 o'clock or 7 o'clock position).

[0005] If the outer diameter of the remaining piece falls below the maximum limit diameter d0, the residual coil is mechanically unstable, especially if the strip material has high internal strength, and may tend to spring up due to residual elastic stress present in the metal strip. This obviously poses a significant safety hazard during transportation and handling. Various solutions for transporting unstable coils are known from the prior art.

[0006] For example, Patent Document 1 proposes using two clamping arms to stabilize each coil in order to remove a high-strength coil from a coiler mandrel using a coil transport carriage, with each clamping arm applying a clamping force to the outer surface of the coil or into the coil eye. Such a solution requires high structural complexity and limits the usable transport range because each clamping arm is configured as a separately movable mechanical device and must be synchronized with the movement of the coil transport carriage.

[0007] Patent Document 2 describes a coil transport carriage equipped with a clamping unit that can descend within a coil saddle. When the clamping unit is activated, it applies a pressing force to the coil eye of the metal coil placed on the coil transport carriage, thereby pressing the metal coil against the coil saddle and stabilizing the metal coil in its position. In principle, it is possible to rotate the coil on such a coil transport carriage even when the clamping unit is activated. However, when the clamping unit is extended at the same time, it is impossible to directly take on the coil that is still completely on the coiler mandrel into the coil transport carriage because it would collide with the coiler mandrel.

[0008] Patent Document 3 discloses a method for inspecting whether a high-strength coil is in an unstable equilibrium position after it has been placed on two fixed support points, and in that case, adjusting an additional movable support point below the central plane of the metal coil relative to the outer circumferential surface of the metal coil. Since the coil is held only below its central plane and therefore not along more than half of its outer circumferential surface, there is no active connection to the support points, and even for coils that are already stably placed, it is impossible to reliably eliminate self-release due to strong residual stress caused, for example, by strong vibration or thermal contraction of the coil itself.

[0009] Furthermore, there are cases where it is necessary to wind coils with an inner diameter larger than that permitted by existing coiler mandrels. For this purpose, a so-called "sleeve" is attached to the coiler mandrel before the winding process. Since the sleeve, like the residual coil, has a low self-weight, there is a risk of it tipping over or falling when handled using a coil transport carriage; therefore, sleeves in the prior art are attached to the coiler mandrel using a dedicated mechanical device in the form of a sleeve manipulator.

[0010] However, none of the solutions proposed in Patent Documents 1, 2, and 3 can be used to mechanically stabilize the residual coil after separation and cutting when rewinding it onto the coiler mandrel, nor can the sleeve be used to attach it to the coiler mandrel. [Prior art documents] [Patent Documents]

[0011] [Patent Document 1] European Patent No. 2648860 [Patent Document 2] European Patent Application Publication No. 3366381 [Patent Document 3] European Patent No. 2544835 [Overview of the project] [Problems that the invention aims to solve]

[0012] Therefore, the object of the present invention is to further develop coil transport carriages known from the prior art to enable reliable handling of coils, particularly coils having an outer diameter smaller than the limit diameter d0, and sleeves on a coiler mandrel. [Means for solving the problem]

[0013] According to the present invention, the problem is solved by a coil transport carriage having the features of claim 1, a method having the features of claim 6, and a method having the features of claim 10.

[0014] Advantageous aspects of the present invention are the subject of the dependent claims.

[0015] A coil transport carriage according to the present invention for reliably handling coils, particularly coils or sleeves having an outer diameter smaller than the limit diameter d0, on a coiler mandrel, includes a coil saddle that is displaceable vertically by a first drive unit. A plurality of support rollers for receiving coils or sleeves are arranged on the upper surface of the coil saddle, each of which is axially rotatable about a first horizontal direction X1. Preferably, the first horizontal direction X1 coincides with the longitudinal axis of the coiler mandrel.

[0016] The coil transport carriage further includes retaining arms to stabilize the coil or sleeve if the outer diameter of the coil is greater than the limit diameter d0. The retaining arms are arranged in pairs on the coil saddle so as to face each other in a second horizontal direction X2, and the second horizontal direction X2 is oriented perpendicular to the first horizontal direction X1. The retaining arms are pivotable around the first horizontal direction X1 using a rotary drive unit, and are therefore pivotable over the coil or sleeve present on the coil saddle, thus preventing unwanted coil bouncing or coil or sleeve falling sideways. Preferably, the coil transport carriage has two or four retaining arms. If the outer diameter of the coil exceeds the maximum limit diameter d0, the retaining arms are not required.

[0017] Furthermore, the coil transport carriage according to the present invention has a second drive unit, which allows the coil transport carriage to move horizontally. This allows the coil transport carriage to move toward or away from the coiler mandrel, for example, to remove a coil from the coiler mandrel or to attach a sleeve to the coiler mandrel. Preferably, the horizontal direction in which the coil transport carriage can be moved using the second drive unit coincides with the first horizontal direction X1 in the region of the coiler mandrel or the receiving region with respect to the sleeve.

[0018] The coil transfer carriage according to the present invention also has a control unit for operating the first drive unit, the second drive unit, and the rotary drive unit, and a data interface for communicating with a higher-level control unit. Through this data interface, the control unit of the coil transfer carriage can receive data regarding the transfer process to be executed from a higher-level control unit, which can be, for example, plant automation.

[0019] The data received from the higher-level control unit can only exist in the form of key data for the next transfer process. The key data includes, for example, the state m of the coiler mandrel (collapsed state or expanded state), the dimensions a and / or weight g of the coil, the target position Z to which the coil is to be transferred, or the receiving position A where the sleeve is to be received from the coil transfer carriage. In this case, the control unit is set to automatically determine and execute the chronological order and control signals regarding the operation of the first drive unit, the second drive unit, and the rotary drive unit. The parameters include, for example, the moving distance or the adjustment force of each mechanical device.

[0020] The control unit may be set to automatically determine whether the coil can be removed from the coiler mandrel or the sleeve can be attached to the coiler mandrel based on the state signal regarding the coiler mandrel. For example, the control unit can automatically detect an unacceptable operating state (e.g., when the coil is to be removed from the coiler mandrel or the sleeve is to be attached to the coiler mandrel, but the coiler mandrel is still expanded), report it to the higher-level control unit via the data interface, and wait for further control instructions.

[0021] Additional sensor signals (e.g., a light barrier for detecting obstacles) can also be supplied to the control unit, and the control unit may be configured to automatically determine whether the conveying process can be executed without causing a collision based on these additional sensor signals. The control unit may automatically recognize a state where a collision with an obstacle of the coil conveying carriage or a part thereof is imminent as an unacceptable operating state, report it to a higher-level control unit via a data interface, and interrupt the conveying process or prevent it from starting if necessary.

[0022] In one aspect of the coil conveying carriage according to the present invention, the rotary drive unit is configured as a gear motor. Since the holding arm of the coil conveying carriage needs to perform a rotational movement to fix the coil or the sleeve, a combination of a motor having a rotary output shaft and a corresponding reduction gear can advantageously achieve a compact design of each rotary drive unit, thereby minimizing the risk of collision when handling the coil or the sleeve.

[0023] In a further aspect of the coil conveying carriage according to the present invention, the holding arm can pivot to the stop position P, whereby the maximum extension d between the holding arms in the second horizontal direction X2 max ,

[0024] , btw , , , max , btw , , ,

[0023] is less than or equal to the maximum dimension d of the coil conveying carriage in the second horizontal direction X2. The "maximum extension" d between the support arms in the second horizontal direction X2 btw is understood to be the maximum possible distance formed by two points existing on each of the two support arms in the second horizontal direction X2 when the support arms are in the stop position P. Similarly, the "maximum dimension" d of the coil conveying carriage in the second horizontal direction X2 max is understood to be the maximum possible distance formed in the second horizontal direction X2 by two points located on each side of the coil carrier. btw is understood to be the maximum possible distance formed in the second horizontal direction X2 by two points located on each side of the coil carrier.

[0024] To put it simply, the rotation of the holding arm to the stopping position results in the holding arm at the stopping position P not being "wider" than the coil transport carriage itself, when the width direction of the coil transport carriage is considered identical to the second horizontal direction X2. This is advantageous because, when transporting coils that do not require stabilization due to their dimensions, the holding arm can rotate to the stopping position in a space-saving manner, and does not require additional space compared to coil transport carriages known from the prior art. Therefore, the coil transport carriage according to the present invention is suitable as a substitute or additional equipment for existing transport devices because it does not require structural changes to the corresponding travel section.

[0025] Preferably, the retaining arms are configured to actively stabilize coils or sleeves having an outer diameter in the range between 500 mm and a limit diameter d0. The limit diameter d0 can be, for example, 750 mm. This is achieved by appropriately shaping the retaining arms. "Active stabilization" is understood to mean that each retaining arm of the coil transport carriage, when appropriately adjusted by the rotary drive unit to the coil or sleeve present on the coil saddle, makes circumferential contact with the coil or sleeve at at least one point above the horizontal center plane passing through the longitudinal axis M of the coil or sleeve.

[0026] To prevent scratches or dents from occurring on the circumferential surface of the coil or sleeve during the adjustment process of the holding arm and during transport by the coil transport carriage, the holding arm is preferably equipped with a friction-reducing coating or sliding rollers on its inner surface.

[0027] In the method according to the present invention for removing a coil having an outer diameter smaller than the limit diameter d0 from a coiler mandrel using a coil transport carriage according to the present invention, in the first step S1, the coil saddle of the coil transport carriage is displaced vertically using a first drive unit and adjusted to the coil connected to the strip portion present on the coiler mandrel, which is still being fed out at this point, and the support roller of the coil saddle contacts the coil at its lower surface.

[0028] The adjustment of the coil saddle with respect to the coil on the coiler mandrel can be performed, for example, by force control or position control. Position control adjustment can be performed based on the diameter of the corresponding coil or based on a sensor signal (e.g., from a distance sensor or contact sensor). Force control adjustment can be performed using a force measuring device for the coil saddle, based on the corresponding coil weight g or a predetermined maximum adjustment force. It is also possible to combine force control adjustment and position control adjustment. The diameter of the coil or the weight g of the coil may be transmitted to the control unit of the coil transport carriage via a data interface for this purpose.

[0029] Particularly preferably, the coil saddle is adjusted relative to the coil on the coiler mandrel with a force corresponding to the weight of the coil after the unwound strip portion has been cut. This relieves the coiler mandrel of the weight of the coil, allowing the coil to be removed from the coiler mandrel without issue in subsequent steps. This is because the coiler mandrel needs to be crushed for this purpose, but there is no longer any need to compensate for the elastic strain caused by the weight of the coil or excessive adjustment force of the coil saddle.

[0030] In the second step S2 of the method according to the present invention, the retaining arm is swung onto the coil using a rotary drive unit. The swung of the retaining arm onto the coil can be carried out, for example, by applying a specific torque, thereby ensuring that the retaining arm actually makes contact with the outer surface of the coil. This presses the free end of the strip, which is produced by cutting the unwound strip portion from the coil in the following third step S3, against the outer surface of the coil, mechanically protecting it from uncontrolled falling or bouncing up. The cutting of the unwound strip portion from the coil in the third step S3 is carried out using a cutting device, which is positioned laterally to the coiler mandrel, i.e., laterally to its longitudinal axis.

[0031] In the fourth step S4 of the method according to the present invention, the free end of the coil strip is within a predetermined angular range α with respect to a vertical line passing through the longitudinal axis M of the coil on the peripheral side. max The coil rotates in the opposite direction to the coil's feed direction U using the coiler mandrel until it is positioned internally. This angular range α max The free end of the strip may be determined by the geometric arrangement of the support rollers of the coil saddle, and the free end of the strip is positioned, for example, at a maximum of 20 cm from one of the support rollers (the so-called 5 o'clock or 7 o'clock position). Preferably, the free end of the strip does not rotate beyond one of the support rollers to avoid the strip edge being pressed against the layer located beneath the coil when the coil rotates in the opposite direction to the feed direction U. The feed direction U of the coil is understood to be the direction in which the coil rotates as it is fed out of the coiler mandrel. When the coiler mandrel is spread out, mechanical contact occurs between the coiler mandrel and the coil in the coil eye. Therefore, after the coiler mandrel is then compressed (i.e., its outer diameter is reduced so that there is no longer any mechanical contact between the mandrel and the coil), i.e., after it has rotated in the opposite direction to the feed direction U.

[0032] In a subsequent fifth step S5 of the method according to the present invention, the coil transport carriage is moved away from the coiler mandrel using a second drive unit until the coil is completely detached from the coiler mandrel and no portion of the coiler mandrel protrudes into the coil eye of the coil. At the same time, the coiler mandrel is rotated in the opposite direction to the payout direction U to prevent the inward winding of the coil from remaining suspended from the coiler mandrel as the coil transport carriage moves away. In the final sixth step S6, the coil is transported by the coil transport carriage to a target position, for example, a coupling station, by actinguating the second drive unit.

[0033] According to one aspect of the method of the present invention, in step S5' performed between the fifth step S5 and the sixth step S6, the coil saddle is lowered vertically using a first drive unit. This improves the mechanical stability of the coil transport carriage in the second horizontal direction X2 during the transport process.

[0034] According to a further embodiment of the method of the present invention, the control unit of the coil transport carriage receives data from a higher-level control unit via a data interface, and based on the data, the control unit operates the first drive unit and the second drive unit and the rotary drive unit so that the sequence of steps S1 to S6 is executed.

[0035] According to one aspect of the method of the present invention, the data received from the higher-level control unit may exist only in the form of key data for the subsequent transport process described above. In this case, the data may include the state m of the coiler mandrel, the dimensions a of the coil on the coiler mandrel, the weight g of the coil, or the target position Z to which the coil should be transported after being removed from the coiler mandrel.

[0036] In this case, the control unit is configured to automatically determine and execute the temporal sequence and control signals for the operation of the first drive unit, the second drive unit, and the rotary drive unit. Therefore, the sequence of steps S1 to S6 is executed autonomously by the coil transport carriage or its control unit, which is called the so-called fully automatic operation mode of the coil transport carriage. The advantage of this is that the effort required for control and monitoring of each coil transport on the higher-level control unit side is minimized.

[0037] Alternatively, the control unit of the coil transport carriage can receive corresponding data packets from a higher-level control unit via a data interface for each of the individual substeps of the transport process to be executed, for example, for each of the steps S1 to S6 described above. The control signals for the operation of the first drive unit, the second drive unit, and the rotary drive unit are determined by the control unit of the coil transport carriage, but the temporal order of the individual substeps is specified by the higher-level control unit. This corresponds to a semi-automatic operation mode of the coil transport carriage and provides greater temporal flexibility regarding the temporal order of the transport process.

[0038] According to a further alternative, the control unit of the coil transport carriage may also receive control signals for the operation of each mechanical device, such as the first drive unit, the second drive unit, and the rotary drive unit, directly from a higher-level control unit or operator via a data interface (for example, by activating a corresponding button or switch) in order to carry out the sequence of steps S1 to S6 described above. This corresponds to the manual operation mode (also called inching mode) of the coil transport carriage.

[0039] In the method according to the present invention for attaching a sleeve to a coiler mandrel using a coil transport carriage according to the present invention, in the first step S11, the coil transport carriage moves to a receiving position A in front of the transfer station 30 using a second drive unit, and the coil saddle moves to a vertical receiving height h0 using the first drive unit for receiving the sleeve. The holding arm pivots to a fixed position S using a rotary drive unit, while the coil transport carriage remains at the receiving position A. Since the receiving position A is in the same position as the transfer station with respect to a first horizontal direction X1, the center of the coil saddle coincides with the center of the sleeve along its longitudinal axis M with respect to direction X1.

[0040] The receiving height h0 depends on the diameter of the sleeve and the structural dimensions of the transfer station from which the sleeve is transferred to the coil transport carriage. For example, the receiving height h0 can be 500mm to 1000mm lower than the initial height h1 of the sleeve at the transfer station, and both the receiving height h0 and the initial height h1 are related to the same reference height (e.g., the base level of the transfer station).

[0041] In the fixed position S, the holding arms are rotated so that most of them are above the support rollers of the coil saddle, and the inner surfaces of the holding arms are spaced apart in a second horizontal direction X2 to such an extent that the sleeve to be transferred to the coil transport carriage can descend onto the coil saddle between the holding arms without coming into contact with the holding arms themselves. This prevents the sleeve from accidentally falling or dropping during the transfer process.

[0042] The structural dimensions of the transfer station and the diameter of the corresponding sleeve may be transmitted to the control unit of the coil transport carriage via a data interface, and the control unit automatically determines the coil saddle receiving height h0 and the fixed position S of the holding arm from the structural dimensions of the transfer station and the diameter of the corresponding sleeve. Alternatively, the receiving height h0 and the fixed position S may be stored as fixed values ​​in the control unit.

[0043] In the second step S12, the sleeve is lowered from the transfer station to the coil saddle of the coil transport carriage using a transfer device. For example, the transfer device may be configured as a swivel device, and the sleeve is transferred from an initial height h1 to the coil saddle which is at the receiving height h0 at this point.

[0044] In the third step S13, the holding arm is rotated on the sleeve using a rotary drive unit, thereby causing the inner surface of the holding arm to actively contact the outer surface of the sleeve on the circumferential side. In the subsequent fourth step S14, the coil transport carriage is moved to a position directly in front of the coiler mandrel using a second drive unit. In the fifth step S15, the coil saddle is displaced vertically using a first drive unit until the longitudinal axis M of the sleeve is at the height of the coiler mandrel.

[0045] Next, in the sixth step S16, the coil transport carriage moves along its longitudinal axis toward the collapsed coiler mandrel using the second drive unit until the sleeve is fully attached to the coiler mandrel, but it still does not come into contact with the coiler mandrel because the inner diameter of the sleeve is larger than the diameter of the collapsed coiler mandrel. Then, in the seventh step S17, the coiler mandrel expands and the sleeve is non-actively held by the coiler mandrel.

[0046] In the eighth step S18, the retaining arm is rotated away from the sleeve using a rotary drive unit, and the coil saddle is lowered vertically using the first drive unit. As a result, there is no longer any mechanical contact between the coil saddle and the retaining arm on the one hand, and between the coil saddle and the sleeve on the other hand, so that, for example, the coil transport carriage can be moved away from the coiler mandrel using the second drive unit. This frees up the working space in the area of ​​the coiler mandrel for a winding device (e.g., a so-called basket roller) installed on the coiler mandrel, so that the metal strip can be wound onto the sleeve.

[0047] In one aspect of the method according to the present invention for mounting a sleeve onto a coiler mandrel, during the second step S12, the coil saddle is displaced vertically using the first drive unit so that the coil transport carriage does not collide with any part of the transfer device of the transfer station.

[0048] For example, a transfer device in the form of a swivel device may include two support arms, which are spaced apart from each other in a first horizontal direction X1, and which hold the sleeve when it is transferred to the coil transport carriage. When the sleeve is placed on the coil saddle, a portion of the support arms needs to swivel vertically below the support rollers, and there is a possibility of collision with a portion of the coil transport carriage, such as the rotary drive unit for the swivel arm. In such cases, the movement of the coil saddle needs to be synchronized with the movement of the swivel device or the support arms in order to avoid collision.

[0049] According to another aspect of the method of the present invention for attaching a sleeve to a coiler mandrel, a control unit receives data from a higher-level control unit via a data interface, and based on this data, the control unit operates the first and second drive units and the rotary drive unit so that the sequence of steps S11 to S18 is executed. In this case (similar to the method for removing a coil from a coiler mandrel described earlier), the data may again include the dimensions a of the sleeve, the state m of the coiler mandrel, and / or the receiving position A, and in this case, the control unit is configured to automatically determine and execute the temporal sequence and control signals for the operation of the first and second drive units and the rotary drive unit, so that the sequence of steps S11 to S18 is autonomously executed by the coil transport carriage or its control unit (fully automatic operation mode). In this case, the effort required for control and monitoring for each sleeve transport on the higher-level control unit side is advantageously minimized.

[0050] However, sleeve transport can also be performed in semi-automatic or manual operation mode, as already mentioned above.

[0051] The above-mentioned properties, features, and advantages of the present invention, as well as the methods for obtaining them, will be more clearly and readily understood in connection with the following description of embodiments, which will be made in more detail with reference to the drawings. The following figures are shown. [Brief explanation of the drawing]

[0052] [Figure 1] This figure shows a first embodiment of the coil transport carriage according to the present invention, as viewed in a first horizontal direction X1 when receiving a coil or residual coil. [Figure 2] This figure shows a first embodiment of the coil transport carriage according to the present invention, as viewed in a first horizontal direction X1 when receiving a coil or residual coil. [Figure 2A] This is a diagram showing a portion of Figure 2 along with the residual coil. [Figure 3] This figure shows an embodiment of the coil transport carriage in the second horizontal direction X2, as shown in Figures 1 and 2. [Figure 4] This figure shows the coil transport carriage according to the present invention as viewed in the first horizontal direction X1 at the receiving position A for receiving the sleeve. [Figure 5] This figure shows the coil transport carriage according to the present invention as viewed in the second horizontal direction X2. [Figure 6] This diagram shows the sleeve exchange station. [Figure 7] This figure shows a sequence of steps for the method according to the present invention for removing a coil from a coiler mandrel. [Figure 8] This figure shows a sequence of the method according to the present invention for attaching a sleeve to a coiler mandrel. [Modes for carrying out the invention]

[0053] In the diagram, corresponding parts are denoted by the same reference numeral.

[0054] Figures 1 and 2 show a coil transport carriage 1 according to the present invention when receiving a coil 20 from a coiler mandrel 22 in a first horizontal direction X1. The longitudinal axis M of the coil 20 coincides with the longitudinal axis M of the coiler mandrel 22 and is oriented in the first horizontal direction X1. The coil transport carriage 1 has a coil saddle 5, which is displaceable vertically using a first drive unit 3. The first drive unit 3 may be configured as, for example, a hydraulic cylinder. Four support rollers 7 are arranged in pairs in the first horizontal direction X1, each of which is axially rotatable around the first horizontal direction X1, and two of these support rollers are visible in Figures 1, 2 and 2A. Furthermore, the coil transport carriage 1 includes a chassis 4 and a second drive unit 13 positioned on the chassis 4. Using the second drive unit 13, the coil transport carriage 1 can move along the rail 8 in a first horizontal direction X1.

[0055] Furthermore, the coil transport carriage 1 has four holding arms 11 for stabilizing the residual coil 20 or sleeve 21, two of which are visible in Figures 1, 2, and 2A, respectively. The holding arms 11 are arranged in pairs on the coil saddle 5, facing each other in a second horizontal direction X2, and the second horizontal direction X2 is oriented perpendicular to the first horizontal direction X1. The support arms are configured to pivot around the first horizontal direction X1 using a rotary drive unit 9 (shown in Figure 3).

[0056] Figure 1 shows a residual coil 20, the outer diameter of which is smaller than the limit diameter d0, and the residual coil 20 is still connected to the already fed portion of the metal strip 2 via the strip portion 20'. The feeding direction U when feeding the metal strip 2 from the residual coil 20 is clockwise, and the strip portion 20' that is not in contact with the residual coil 20 is held by a pair of drive rollers 23. A cutting device 24 is located behind the pair of drive rollers 23 in the feeding direction U, and the metal strip 2 can be cut from the residual coil 20 remaining on the coiler mandrel 22 using the cutting device 24.

[0057] Furthermore, Figure 1 shows a coil saddle 5 positioned vertically downwards, and above it, for the purpose of clearly illustrating the size comparison, a coil 20 is schematically shown with a dashed line in addition to the remaining coil 20. Its outer diameter is larger than the limit diameter d0 shown with a dashed line, and the free end 20" of its strip is positioned at the 7 o'clock position, close to the support roller 7 of the coil saddle 5. Since such a coil 20 does not need to be stabilized due to its own weight, the holding arm 11 of the coil transport carriage 1 in Figure 1 rotates to the stopping position P.

[0058] In Figure 2, the coil saddle 5 of the coil transport carriage 1 is schematically shown in both the same vertically downward position as in Figure 1, and in a vertically upward position where the holding arms 11 abut against the residual coil 20 on the coiler mandrel 22, and the holding arms 11 contact the residual coil 20 on their respective inner surfaces 11' on the periphery. Again, in Figure 2, the free end 20'' of the strip of residual coil 20 is positioned at the 7 o'clock position, close to the support roller 7 of the coil saddle 5. Furthermore, in Figure 2, the maximum extension d between the support arms 11 at the stop position P in the second horizontal direction X2 is shown. max In Figures 1 and 2, the maximum dimension d of the coil transport carriage 1 extending along the chassis 4 is shown. btw It is clear that it is smaller than that.

[0059] Figure 2A is a partially enlarged view of FIG. 2. The residual coil 20 is placed on the support roller 7 of the coil saddle 5 (not shown in FIG. 2A), and the holding arm 11 is adjusted with respect to the residual coil 20. The free end 20” of the strip of the residual coil 20 is below the longitudinal axis M of the residual coil 20 and within a predetermined angular range α with respect to the vertical line passing through the longitudinal axis M of the residual coil 20. max It is arranged near the left support roller 7 within the range, so its own weight advantageously resists the bounce of the residual coil 20. A friction reducing coating 14 is applied to the inner surface 11’ of the left holding arm 11, and a sliding roller 15 is attached to the inner surface 11’ of the right holding arm 11.

[0060] FIG. 3 shows an embodiment of the coil conveying carriage according to the present invention in a no-load state in the second horizontal direction X2. In FIG. 3, two of the four support rollers 7 or two of the four holding arms 11 are visible. The holding arm 11 is arranged between the support rollers 7 on the coil saddle 5 in the first horizontal direction X1. In a variant of this embodiment, the coil conveying carriage may have more than four support rollers 7, for example six or eight support rollers 7, or a different number of holding arms 11, for example two or six holding arms 11. Two of the support arms 11 are respectively driven by the rotary drive unit 9, whereby they can rotate around the first horizontal direction X1. The chassis 4 of the coil conveying carriage 1 is attached to the rail 8 via the wheels 12.

[0061] The data interface 17 connected to the control unit 16 of the coil conveying carriage 1 enables the control unit 16 to exchange data with the upper control unit 19. According to the first embodiment of the coil conveying carriage according to the present invention, the communication link to the upper control unit 19 is configured as a wireless transmission path in the form of, for example, a WLAN or a data laser link. However, alternatively, a wired transmission path between the data interface 17 and the upper control unit 19 is also possible, for example, in the form of a pendant cable or as a signal modulated on the power supply of the coil conveying carriage 1.

[0062] Figure 4 shows the coil transport carriage 1 according to the present invention, located at a receiving position A in front of the transfer station 30 when receiving the sleeve 21. The transfer station 30 includes a multi-tiered base 31, a roller conveyor 36 for transporting the sleeve 21, and a movable swivel device 32 for transferring the sleeve 21 to the coil transport carriage 1. The sleeve 21 can be transferred from the roller conveyor 36 to the swivel device 32 via a fixed longitudinal member 38 supported on the first tier of the base 31. The swivel device 32 includes two support arms 34 having upwardly curved runners connected via a lateral member 35. The support arms 34 can be lowered together with the sleeve 21 located on the support arms 34 using a swivel drive unit 37, which may be configured as a rotatably mounted hydraulic cylinder, for example as shown in Figure 4, and which is connected at its upper end to the lateral member 35.

[0063] To clarify the transfer process of the sleeve 21 to the coil transport carriage 1, Figure 4 shows the slewing device 32 in three slewing positions, with the sleeve 21 resting on the support arm 34 of the slewing device 32 at an initial height h1 in the highest slewing position. Similarly, the coil saddle 5 of the coil transport carriage 1 is shown in a lower vertical position where the holding arm 11 is at the stopping position P, and in a higher vertical position at a receiving height h0, where the transfer of the sleeve 21 from the slewing device 32 to the coil saddle 5 is performed by weight transfer. During the transfer, the holding arm 11 slewing to a fixed position S, thereby protecting the sleeve 21 from falling laterally in a second horizontal direction X2 as the slewing device 32 descends. The initial height h1 and the receiving height h0 correspond to the first step of the base 31, respectively. If necessary, the slewing device 32 and the coil saddle 5 may be lowered by adjusting the transfer of the sleeve 21 so as to avoid collision between the members of the slewing device 32 and the members of the coil transport carriage 1.

[0064] Figure 5 largely coincides with Figure 3, and further schematically shows the receiving position A of the coil transport carriage 1 in front of the transfer station 30, and the sleeve 21 and support arm 34 of the slewing device 32 at its highest slewing position.

[0065] Figure 6 shows a top view in the vertical direction of a transfer station 30 equipped with a roller conveyor 36, a slewing device 32 with support arms 34, a lateral member 35 and a slewing drive unit 37, and a sleeve 21 fixed by the runner of the slewing arm 34 to prevent it from falling in a second horizontal direction X2. Furthermore, a receiving position A for the coil transport carriage 1 is shown, which is located in the center between the support arms 34 in a first horizontal direction X1.

[0066] Figure 7 schematically illustrates the method according to the present invention for removing a coil 20 from a coiler mandrel 22 using a coil transport carriage 1 according to the present invention, in the form of a sequence consisting of the steps S1 to S6 described above. The control unit 16 of the coil transport carriage 1 first receives key data for the coil transport to be performed from the higher-level control unit 19 via interface 17 and via a wireless connection link to the higher-level control unit 19. At this time, the key data includes at least the state m of the coiler mandrel 22, the dimensions of the coil 20 (outer diameter, dimensions along its longitudinal axis M, etc.), the weight g of the coil, and the target position Z to which the coil 20 should be transported by the coil transport carriage 1. The control unit 16 is configured to automatically execute the sequence in steps S1, S2, S5, S5', and S6 by operating the corresponding mechanical devices of the coil transport carriage (as described above, the first drive unit 3 and the second drive unit 13 for moving the coil saddle 5 or coil transport carriage 1, and the rotary drive unit 9 for displacing the holding arm 11). These operations are represented in Figure 7 by dashed arrows from the corresponding steps to the aforementioned mechanical devices.

[0067] In the third step S3 and the fourth step S4, the control unit 16 is notified that the cutting device 24 has performed separation cutting, or that the coiler mandrel 22 has rotated the coil 20 in the opposite direction to the feed direction U, followed by the collapse of the coiler mandrel 22, which is represented in Figure 7 by dashed arrows from each mechanical device to the corresponding step. This notification can also be made, for example, by a corresponding confirmation signal, via an external control unit 19 and interface 17. In other words, the control unit 16 waits for confirmation from the external mechanical device that it has performed the above process before executing any further steps in the sequence.

[0068] Similar to Figure 7, Figure 8 schematically shows a sequence of the method according to the present invention for attaching the sleeve 21 to the coiler mandrel 22 in the form of a sequence consisting of the steps S11 to S18 described above. Again, the control unit 16 of the coil transport carriage 1 first receives key data for the sleeve transport to be performed from the higher control unit 19 via a wireless connection link to the higher control unit 19 via interface 17. The key data includes at least the dimensions of the sleeve 21 (outer diameter, dimensions along its longitudinal axis M, etc.), the state m of the coiler mandrel 22, and the receiving position A of the transfer station 30 where the sleeve 21 is to be received from the coil transport carriage 1. The control unit 16 is also configured to automatically execute the sequence in steps S11 to S16 and S19 by operating the corresponding mechanical devices of the coil transport carriage (as described above, the first drive unit 3 and the second drive unit 13 and the rotary drive device 9) (represented again in Figure 8 by dashed arrows to the mechanical devices).

[0069] In the second step S12, the control unit 16 is informed that the sleeve 21 has been placed using the transfer device 32, which can be done, for example, by transmitting a corresponding confirmation signal via an external control unit 19 and interface 17. Furthermore, while the sleeve 21 is being placed, the control unit 16 may receive additional signals (e.g., the latest position signal of the transfer device 32) to synchronize the movement of the coil saddle 5 and the movement of the transfer device 32. In the seventh step S17, the control unit 16 is informed that the coiler mandrel 22 has been extended, meaning that the sleeve 21 is now passively held by the coiler mandrel 22, and the control unit 16 then proceeds to the final step S18. [Explanation of symbols]

[0070] 1. Coil transport carriage 2 metal strips 3. First drive unit 4 Chassis 5 Coil Saddles 7 Support rollers 8 rails 9 Rotary drive unit 11 Holding arm 11' Inner surface 12 wheels 13. Second drive unit 14 Coating 15 Sliding roller 16 Control Unit 17 Interfaces 19. Higher-level control unit 20 coils, residual coils 20' Strip section 20" strip free end 21 sleeves 22 Coiler Mandrels 23 Drive rollers 24 Cutting device 30 Handover Stations 31 Base 32 Transfer device, swivel device 34 Support Arms 35 Lateral members 36 Roller conveyor 37 Swivel drive unit 38 Longitudinal members α max Angle range a. Dimensions of the coil and sleeve d max maximum extension d0 limit diameter d btw Dimensions of the coil transport carriage g Coil weight h0 receiving height h1 initial height m Condition of the Coiler Mandrel M Long axis P Stop position S fixed position A Receptor location S1...S18 Method Steps U-direction of feed X1, X2 horizontal direction Z target position

Claims

1. A coil transport carriage (1) for reliably handling a coil (20) or sleeve (21) on a coiler mandrel (22), - A coil saddle (5) that is displaceable in the vertical direction using a first drive unit (3), and having a plurality of first horizontal (X) for receiving the coil (20) or the sleeve (21) １ A coil saddle (5) is provided with a support roller (7) that is axially rotatable around the coil saddle (5), - Using the rotary drive unit (9), the first horizontal direction (X １ A retaining arm (11) that is rotatable around the first horizontal direction (X) and for stabilizing the coil (20) or the sleeve (21), wherein the outer diameter of the coil is not greater than the limit diameter d 0, and the pair is such that the first horizontal direction (X) １ A second horizontal direction (X) oriented perpendicular to ) ２ In this configuration, the holding arms (11) are positioned on the coil saddle (5) facing each other, and rotate when the coil (20) or sleeve (21) is on the coil saddle (5) to contact the coil (20) or sleeve (21) on its periphery, - A second drive unit (13) for moving the coil transport carriage (1) in the horizontal direction, - A first control unit (16) for operating the first drive unit (3) and the second drive unit (13) and the rotary drive unit (9), - A data interface (17) for communicating with a higher-level second control unit (19), A coil transport carriage (1) having the following features.

2. The coil transport carriage (1) according to claim 1, wherein the rotational drive unit (9) is configured as a gear motor.

3. The holding arm (11) is capable of rotating to the stop position P, thereby allowing the second horizontal direction (X ２ ) Maximum extension between the holding arms (11) (d ｍａｘ ) is the second horizontal direction (X ２ The maximum dimension (d) of the coil transport carriage (1) in ) ｂｔｗ The coil transport carriage (1) according to claim 1 or 2, which is smaller than or equal to ).

4. The holding arm (11) has an outer diameter between 500 mm and the limit diameter d ０ In order to actively stabilize the coil (20) or the sleeve (21) having an outer diameter therebetween, each of the holding arms is configured to contact the coil or the sleeve on the peripheral side at at least one point above a horizontal center plane passing through the longitudinal axis M of the coil or the sleeve. The coil transfer carriage (1) according to any one of claims 1 to 3.

5. The coil transport carriage (1) according to any one of claims 1 to 4, wherein the retaining arm (11) is provided with a friction-reducing coating (14) or a sliding roller (15) on the inner surface (11') of the retaining arm.

6. Using the coil transport carriage (1) according to any one of claims 1 to 5, the outer diameter is the limit diameter d ０ A method for removing a smaller coil (20) from a coiler mandrel (22), - In the first step (S1), the coil saddle (5) is displaced vertically using the first drive unit (3) and adjusted relative to the coil (20) connected to the unfurled strip portion (20') located on the coiler mandrel (22), and the support roller (7) of the coil saddle (5) contacts the coil (20) on its circumferential side, with respect to the lower surface of the coil. - In the second step (S2), the holding arm (11) is rotated onto the coil (20) using the rotation drive unit (9), - In the third step (S3), the unwound strip portion (20') is cut from the coil (20) using a cutting device (24). - In the fourth step (S4), the free end (20") of the strip of the coil (20) is positioned within a predetermined angular range (α) with respect to a vertical line passing through the longitudinal axis (M) of the coil (20) on the surrounding side. ｍａｘ Until positioned within the ), the coil (20) rotates using the coiler mandrel (22) in the opposite direction to the unwinding direction (U) of the coil (20), the predetermined angular range (α max) being the angular range in which the free end (20") of the strip of the coil (20) is near the support roller (7), and subsequently the coiler mandrel (22) is crushed, - In the fifth step (S5), the coil transport carriage (1) is moved away from the coiler mandrel (22) using the second drive unit (13) until the coil (20) is completely removed from the coiler mandrel (22), and at the same time, the coiler mandrel (22) rotates in the opposite direction to the feed direction (U). - In the sixth step (S6), the coil is transported to the target position by the coil transport carriage (1) through the operation of the second drive unit (13).

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

8. The method according to claim 6 or 7, wherein a first control unit (16) receives data from a higher-level second control unit (19) via a data interface (17), and based on the data, the first control unit (16) operates the first drive unit (3) and the second drive unit (13) and the rotary drive unit (9) so that the sequence of the first step (S1), the second step (S2), the third step (S3), the fourth step (S4), the fifth step (S5), and the sixth step (S6) is executed.

9. The method according to claim 8, wherein the data includes the state (m) of the coiler mandrel (22) and / or the dimensions (a) of the coil (20) on the coiler mandrel (22) and / or the weight (g) of the coil and / or the target position (Z).

10. A method for attaching a sleeve (21) to a coiler mandrel (22) using a coil transport carriage (1) according to any one of claims 1 to 5, - In the first step (S11), the coil transport carriage (1) moves to the receiving position (A) in front of the transfer station (30) using the second drive unit (13), and the coil saddle (5) moves to the receiving height (h) using the first drive unit (3). ０ The holding arm (11) moves to the fixed position (S) using the rotary drive unit (9), - In the second step (S12), the sleeve (21) is placed on the coil saddle (5) of the coil transport carriage (1) using the transfer device (32) of the transfer station (30). - In the third step (S13), the holding arm (11) is rotated on the sleeve (21) using the rotation drive unit (9), so that the inner surface (11') of the holding arm (11) contacts the sleeve (21) on the circumferential side. - In the fourth step (S14), the coil transport carriage (1) is moved to a position directly in front of the coiler mandrel (22) using the second drive unit (13). - In the fifth step (S15), the coil saddle (5) is displaced vertically using the first drive unit (3), thereby positioning the longitudinal axis (M) of the sleeve (21) at the height of the coiler mandrel (22). - In the sixth step (S16), the coil transport carriage (1) moves toward the crushed coiler mandrel (22) using the second drive unit (13) until the sleeve (21) is fully attached to the coiler mandrel (22). - In the seventh step (S17), the coiler mandrel (22) expands, thereby holding the sleeve (21) by the coiler mandrel (22). - In the eighth step (S18), the holding arm (11) is rotated away from the sleeve (21) using the rotation drive unit (9), and the coil saddle (5) is lowered vertically using the first drive unit (3).

11. The method according to claim 10, wherein during the second step (S12), the coil saddle (5) moves vertically using the first drive unit (3), so that the coil transport carriage (1) does not collide with any part of the transfer device (32).

12. The method according to claim 10 or 11, wherein a first control unit (16) receives data from a higher-level second control unit (19) via a data interface (17), and based on the data, the first control unit (16) operates the first drive unit (3) and the second drive unit (13) and the rotary drive unit (9) so that the sequence of the first step (S11), the second step (S12), the third step (S13), the fourth step (S14), the fifth step (S15), the sixth step (S16), the seventh step (S17), and the eighth step (S18) is executed.

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

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