EP4067274A1 - Secure handling of sleeves or metal collars having a small external diameter on a mandrel - Google Patents

Abstract

The invention relates to a coil transport carriage (1) with adjustable holding arms (11) and a method for safely handling metal coils (20) with a small outside diameter or sleeves (21) on a coiler mandrel (22). The coil transport carriage (1) has a vertically movable coil saddle (5) for receiving a coil (20) or a sleeve (21), two holding arms (11) arranged opposite one another on the coil saddle (5) and pivotable by means of rotary drives (9) for stabilizing the coil Bund (20) or the sleeve (21) and a second drive unit (13) for moving the coil transport carriage (1). To pull off a coiler mandrel (22), the collar saddle (5) is placed against a collar (20) on the coiler mandrel (22) and the retaining arms (11) are pivoted onto the collar (20). To push it onto a coiler mandrel (22), a sleeve (21) is first placed on the coil saddle (5) of the coil transport carriage (1) and is guided by the holding arms (11).

Description

The invention relates to a coil transport vehicle with adjustable holding arms and a method for safely handling metal coils with a small outside diameter or tubes on a coiler mandrel.

Horizontally displaceable coil transport carriages with vertically displaceable coil saddles are known from the prior art. A plurality of support rollers can be arranged on the upper side of the collar saddle for receiving a collar, each of which can be rotated axially about a horizontal direction. Such bundle transport trolleys are suitable for the safe handling (e.g. transport from a starting position to a target position, pushing onto or pulling off a coiler mandrel, etc.) of bundles that have a sufficient dead weight so that they do not tend to spring open without further shearing measures.

Depending on the production specifications, however, metal strips to be unwound from a coiler mandrel are sometimes not completely unwound (e.g. in the case of a reversing coiler), but a remnant of the metal strip in question remains on the coiler mandrel, which must be transported away by it. If their outside diameter does not exceed a certain value d ₀ , for example 750 mm, such remnants are also referred to as so-called 'remnant bundles' and generally also have a correspondingly low intrinsic weight. The value d ₀ is referred to below as the 'limit diameter'.

To remove such a remnant from a coiler mandrel, after a large part of the original strip still connected to the remnant has been unwound, the coil saddle of a coil transport carriage is positioned against the underside of the remnant. This is followed by a separating cut, by means of which the reeled-off part of the strip is separated from the one on the The remainder of the reel mandrel is cut off. The remnant remaining on the coiler mandrel is then wound back (ie rotated against the unwinding direction) so that the free end of the strip comes to rest on the circumference near the collar saddle (the so-called 5 o'clock or 7 o'clock position).

If the outside diameter of the remnant is below the maximum limit diameter d ₀ , such a remnant bundle - especially if the strip material has a high inherent strength - can be mechanically unstable and tend to burst open due to the residual elastic tension in the metal strip, which naturally poses a high safety risk during transport and its handling. Various solutions for transporting unstable bundles are known from the prior art.

That's how she beats EP 2 648 860 B1 for removing high-strength coils from a coiler mandrel using a coil removal carriage, to stabilize a respective coil by means of two hold-down arms, with the hold-down arms each exerting a hold-down force on the outer peripheral surface or in the coil eye of the coil. Such a solution requires a high level of structural complexity and has only a limited transport range, since the hold-down arms are each designed as separately movable units and must be synchronized with the movements of the coil exit carriage.

From the EP 3 366 381 A1 a coil transport carriage with a clamping unit that can be lowered into the coil saddle is known which, when activated, can press a metal coil placed on the coil transport carriage against the coil saddle and thus stabilize it in its position by exerting a hold-down force in the coil eye. In principle, it is possible to rotate a bundle on such a bundle transport carriage even when the clamping unit is activated, but it is not possible to take over a bundle that is still completely on a coiler mandrel directly onto the coil transport carriage extended clamping unit at the same time, as this would collide with the coiler mandrel.

the EP 2 544 835 B1 discloses checking a high-strength collar to determine whether it is in an unstable equilibrium position after it has been placed on two stationary support points and, in this case, to position another, movable support point below the center plane of the metal collar against its outer peripheral surface. Since the bundle is only held below its center level and therefore not along more than half of its outer circumference, there is no form fit to the support points, so that even a bundle that has already been put down in a stabilized manner will open itself due to strong residual stress, e.g. triggered by strong vibrations or thermal shrinkage of the federal government itself, cannot be ruled out with certainty.

Furthermore, there is occasionally a need to wind coils with a larger inner diameter than would be permitted by an existing coiler mandrel. For this purpose, before the coiling process as such, a so-called 'sleeve' is pushed onto the relevant coiler mandrel. Since sleeves, similar to remaining coils, only have a low dead weight, there is a risk of them falling or rolling off to the side when they are handled using a coil transport carriage, which is why sleeves are pushed onto a coiler mandrel using a separate mechanism in the form of a sleeve manipulator.

None of those in the docs EP 2 648 860 B1 , EP 3 366 381 A1 and EP 2 544 835 B1 However, the proposed solutions can be used both to mechanically stabilize a residual bundle after the separating cut has been made as it is being wound back onto the coiler mandrel, and also to push a sleeve onto a coiler mandrel.

It is therefore the object of the present invention to provide a coil transport carriage known from the prior art to be further developed in such a way that it enables safe handling of coils, in particular coils with an outside diameter that is smaller than a limit diameter d ₀ , and of sleeves on a coiler mandrel.

The object is achieved according to the invention by a coil transport carriage having the features of claim 1 and a method having the features of claim 6 and a method having the features of claim 10 .

Advantageous configurations of the invention are the subject matter of the dependent claims.

A coil transport carriage according to the invention for safely handling coils, in particular coils with an outer diameter smaller than a limit diameter d ₀ , or tubes on a coiler mandrel includes a coil saddle that can be moved vertically by means of a first drive unit. A plurality of support rollers for receiving a collar or a sleeve are arranged on the upper side of the collar saddle, with the support rollers each being rotatable axially about a first horizontal direction X ₁ . The first horizontal direction X ₁ preferably coincides with the longitudinal axis of the coiler mandrel.

The bundle transport carriage also has holding arms for stabilizing the bundle, in the event that its outside diameter is not greater than a limit diameter d ₀ , or the sleeve. The support arms are arranged in pairs opposite one another on the collar saddle along a second horizontal direction X ₂ , the second horizontal direction X ₂ being oriented normal to the first horizontal direction X ₁ . The holding arms can be pivoted about the first horizontal direction X ₁ by means of rotary drives and can therefore be pivoted onto a collar or sleeve on the collar saddle and thus prevent the collar from springing open or the collar or sleeve from rolling down to the side . The coil transport carriage preferably has two or four holding arms up. If the outside diameter of the collar exceeds a maximum limit diameter d ₀ , the holding arms are not required.

Furthermore, the coil transport carriage according to the invention has a second drive unit, by means of which it can be moved horizontally. As a result, the coil transport carriage can be moved towards the coiler mandrel and moved away from the coiler mandrel, for example in order to deduct a coil from the coiler mandrel or to slide a sleeve onto the coiler mandrel. The horizontal direction along which the coil transport carriage can be moved by means of the second drive unit preferably corresponds to the first horizontal direction X ₁ in the area of the coiler mandrel or in the receiving area for a sleeve.

The coil transport carriage according to the invention also has a control unit for actuating the first and second drive unit and the rotary drives, as well as a data technology interface for communication with a higher-level control unit. The data-technical interface enables the control unit of the coil transport carriage to receive data relating to a transport process to be carried out from the higher-level control unit, which can be, for example, a system automation.

The data received from the higher-level control unit can only be in the form of key data of the pending transport process, which, for example, the condition m of the coiler mandrel (collapsed or spread), dimensions a and/or weight g of the bundle, a target position Z to which the bundle is transported is to be or a receiving position A, at which a sleeve is to be taken over by the coil transport carriage. In this case, the control unit is set up to automatically determine the chronological sequence and the control signals for the actuation of the first and second drive unit and the rotary drives and carry out. The parameters include, for example, the travel distances or the contact forces of the individual trades.

The control unit can also be set up to use the status signal for the coiler mandrel to automatically determine whether a bundle can be pulled off the coiler mandrel or a sleeve can be pushed onto the coiler mandrel. For example, the control unit can automatically detect an impermissible operating state (e.g. if a bundle is to be pulled off the coiler mandrel or a tube is pushed onto the coiler mandrel, but the coiler mandrel is still spread) and report it to the higher-level control unit via the data-technical interface and wait for further control commands.

Additional sensor signals (e.g. light barriers for detecting obstacles) can also be fed to the control unit, and this can be designed in such a way that it is able to automatically determine on the basis of these additional sensor signals whether a transport process can be carried out without a collision. Again, the control unit can automatically recognize an imminent collision of the coil transport carriage or a part of it with an obstacle as an impermissible operating state and report back to the higher-level control unit via the data-technical interface and interrupt or not start any transport process.

In one embodiment of the coil transport carriage according to the invention, the rotary drives are designed as geared motors. Since the holding arms of the coil transport carriage have to perform a rotary movement to fix a coil or a sleeve, a combination of a motor with a rotating output shaft and a corresponding reduction gear can advantageously achieve a small design for the respective rotary drives, which reduces the risk of collisions during the Handling of a collar or a sleeve is minimized.

In a further embodiment of the coil transport carriage according to the invention, the holding arms can be pivoted into a parking position P, so that the greatest extension d _max between the holding arms along the second horizontal direction X ₂ is less than or equal to the largest dimension d _btw of the coil transport carriage along the second horizontal direction X ₂ is. The 'greatest extent' d _max between the holding arms along the second horizontal direction X ₂ is understood to mean the greatest possible distance that is spanned by two points located on one of the two holding arms along the second horizontal direction X ₂ when the holding arms are in are in parking position P. Likewise, the 'largest dimension' d _btw of the coil transport carriage along the second horizontal direction X ₂ is the greatest possible distance spanned by two points located on opposite sides of the coil transport carriage along the second horizontal direction X ₂ .

Put simply, the pivoting of the holding arms into the parking position means that the holding arms in the parking position P are not 'wider' than the coil transport carriage itself if the width direction of the coil transport carriage is equated with the second horizontal direction X ₂ . This has the advantage that when transporting bundles that do not require stabilization due to their dimensions, the holding arms can be pivoted into the parking position to save space and no additional space is required compared to bundle transport vehicles known from the prior art. The coil transport carriage according to the invention is therefore suitable as a replacement or retrofit solution for existing transport devices, since no structural changes are required on the corresponding route.

The retaining arms are preferably designed in such a way that collars or sleeves with an outside diameter that is in a range between 500 mm and a limit diameter d ₀ are stabilized in a form-fitting manner. The limit diameter d ₀ can be 750mm, for example. This is achieved by appropriately shaping the holding arms. "Stabilize in a form-fitting manner" means that each of the retaining arms of the coil transport carriage, when set appropriately by the rotary drives against the collar or sleeve located on the collar saddle, stabilizes the collar or sleeve on the circumference at least at one point above a horizontal central plane by a Longitudinal axis M of the federal government or the sleeve contacted.

To avoid scratches or dents on the peripheral surface of the collar or the sleeve during the adjustment process of the holding arms and during transport by the coil transport carriage, the holding arms are preferably provided on their insides with a friction-reducing coating or rollers.

In the method according to the invention for pulling a coil from a coiler mandrel whose outer diameter is smaller than a limit diameter d ₀ using a coil transport carriage according to the invention, in a first step S1 the coil saddle of the coil transport carriage is moved vertically by means of the first drive unit and against the coiler mandrel located on the coiler mandrel Bund, which at this point is still connected to an unwound strip section, is adjusted so that the support rollers of the Bundsattel contact the bottom of the Bund.

The adjustment of the collar saddle to the collar located on the coiler mandrel can, for example, be force-controlled or position-controlled. A position-controlled adjustment can take place either on the basis of the corresponding collar diameter or on the basis of a sensor signal (eg from a distance or touch sensor). A force-controlled adjustment can take place with the aid of a force measuring device for the collar saddle based on the corresponding collar weight g or on the basis of a predetermined maximum adjustment force. Also a combination of force-controlled and position-controlled employment is possible. For this purpose, the relevant bundle diameter or the relevant bundle weight g can have been transmitted to the control unit of the bundle transport vehicle via the data-technical interface.

The coil saddle is particularly preferably placed against the coil on the coiler mandrel with a force that corresponds to the weight of the coil after the decoiled section of strip has been separated: this relieves the coiler mandrel of the weight of the coil, so that in a subsequent step it can be easily removed from the coiler Coiler mandrel can be deducted, because with a necessary collapse of the coiler mandrel no elastic bending - caused by the weight of the federal government or by an excessive contact force of the collar saddle - must be compensated.

In a second step S2 of the method according to the invention, the holding arms are pivoted onto the collar by means of the rotary drives. The holding arms can be pivoted onto the collar, for example, by applying a certain torque, so that it is ensured that the holding arms actually contact the outer peripheral surface of the collar. As a result, the free end of the strip, which is produced in a subsequent third step S3 by separating the unwound strip section from the bundle, is pressed against the outer peripheral surface of the bundle and mechanically secured against uncontrolled falling or jumping open. The decoiled strip section is separated from the bundle in the third step S3 by means of a separating device which is arranged to the side of the coiler mandrel, i.e. in a direction transverse to its longitudinal axis.

In a fourth step S4 of the method according to the invention, the coil is rotated against an unwinding direction U of the coil with the aid of the coiler mandrel until the free end of the coil is positioned circumferentially within a predetermined angular range α _max relative to the vertical through a longitudinal axis M of the coil. The angle range α _max can be determined by the geometric arrangement of the support rollers of the collar saddle, so that the free end of the belt is positioned, for example, a maximum of 20 cm from one of the support rollers (so-called 5 o'clock or 7 o'clock position). When rotating the bundle against an unwinding direction U, the free end of the strip is preferably not rotated past one of the support rollers in order to avoid impressions of the strip edge on the underlying layers of the bundle. The unwinding direction U of the bundle is to be understood as meaning that direction of rotation in which the bundle is rotated when it is unwound from the coiler mandrel. When the coiler mandrel is in the expanded state, there is mechanical contact between the coiler mandrel and the collar in its coil eye. Therefore, subsequently, i.e. after rotation against the unwinding direction U, the previously spread coiler mandrel collapses (ie its outer diameter is reduced so that there is no longer any mechanical contact between the coiler mandrel and the collar)

In a subsequent fifth step S5 of the method according to the invention, the coil transport carriage is moved away from the coiler mandrel by means of the second drive unit until the coiler has been completely pulled off the coiler mandrel, so that no part of the coiler mandrel protrudes into the coil eye of the coil. At the same time, while the coil transport carriage is being moved away, the coiler mandrel is rotated counter to the unwinding direction U in order to prevent the inner winding of the coil from getting caught on the coiler mandrel. In a final sixth step S6, the bundle is transported by the bundle transport carriage to a target position, for example a binding station, by activating the second drive unit.

According to one embodiment of the method according to the invention, in a step S5′, which is carried out between the fifth and the sixth step S5 and S6, the collar saddle is lowered vertically by means of the first drive unit. This increases the mechanical stability of the coil transport carriage along the second horizontal direction X ₂ during the transport process.

According to a further embodiment of the method according to the invention, the control unit of the coil transport carriage receives data from a higher-level control unit via the data-technical interface, on the basis of which the control unit actuates the first and second drive unit and the rotary drives, so that the sequence of steps S1 to S6 is carried out.

According to one embodiment of the method according to the invention, the data received from the higher-level control unit can only be present in the form of previously described key data of the pending transport process. The data can include the condition m of the coiler mandrel, dimensions a of the coil on the coiler mandrel, a coil weight g or a target position Z to which the coil is to be transported after being pulled off the coiler mandrel.

In this case, the control unit is set up to automatically determine and implement the chronological sequence and the control signals for actuating the first and second drive unit and the rotary drives, so that the sequence of steps S1 to S6 is carried out autonomously by the coil transport carriage or its control unit , which is referred to as the so-called fully automatic operating mode of the coil transport carriage. The advantage of this is that the control and monitoring effort for the respective bundle transport is minimized on the part of the higher-level control unit.

Alternatively, the control unit of the coil transport carriage can also receive corresponding data packets from the higher-level control unit via the data-technical interface for individual sub-steps of the transport process to be carried out, for example for each of the above-mentioned steps S1 to S6, with the control signals for actuating the first and second Drive unit and the rotary drives are determined by the control unit of the coil transport carriage, but the timing of the individual sub-steps is specified by the higher-level control unit. This corresponds to a semi-automatic operating mode of the coil transport carriage and offers greater flexibility with regard to the timing of a transport process.

According to a further alternative, the control unit of the coil transport carriage can also transmit the control signals for the operation of the individual sections, such as the first and second drive unit and the rotary drives, directly via the data-technical interface from a higher-level control unit in order to carry out the above-mentioned sequence of steps S1 to S6 or an operator (e.g. by pressing the appropriate button or switch). This corresponds to a manual operating mode (also referred to as jog mode) of the coil transport carriage.

In the method according to the invention for pushing a tube onto a coiler mandrel with the aid of a coil transport carriage according to the invention, in a first step S11 the coil transport carriage is moved by means of the second drive unit to a receiving position A in front of a loading station 30 and the coil saddle for taking over the tube by means of the first Move the drive unit to a vertical transfer height h ₀ . The holding arms are pivoted into a securing position S by means of the rotary drives, while the coil transport carriage is in a receiving position A. The pickup position A is at the same position as the induction station with respect to the first horizontal direction X ₁ such that the center of the collar saddle with respect to the direction X ₁ coincides with the center of the sleeve along its longitudinal axis M.

The transfer height h ₀ depends on the tube diameter and the structural dimensions of the loading station from which the tube is transferred to the coil transport carriage. For example, the transfer height h ₀ 500 to 1000mm lie below an initial height h ₁ of the sleeve at the delivery station, with the transfer height h ₀ and the initial height h ₁ each relating to the same reference height (eg a foundation level of the delivery station).

In the securing position S, the holding arms are pivoted into such a position that they are for the most part located above the support rollers of the bundle saddle, with the inner sides of the holding arms being spaced so far apart from one another along the second horizontal direction X ₂ that the transferring sleeve can be lowered onto the collar saddle between the holding arms without touching the holding arms themselves. This prevents the sleeve from accidentally falling or rolling down during the transfer process.

The structural dimensions of the loading station and the relevant tube diameter can be transmitted to the control unit of the bundle transport vehicle via the data-technical interface, so that the control unit automatically determines the transfer height h ₀ of the bundle saddle and the securing position S of the holding arms. Alternatively, the transfer height h ₀ and the safety position S can also be stored as fixed values in the control unit.

In a second step S12, the sleeve is deposited from the loading station onto the coil saddle of the coil transport carriage by means of a loading device. For example, the feeding device can be designed as a pivoting device, by means of which the sleeve is transferred from the initial height h ₁ to the collar saddle, which is at the transfer height h ₀ at this point in time.

In a third step S13, the holding arms are pivoted onto the sleeve by means of the rotary drives so that the inner sides of the holding arms contact the sleeve on its outer peripheral side in a form-fitting manner, whereupon in a fourth step S14 the coil transport carriage is moved to a position directly in front of the Coiler mandrel is moved and in a fifth step S15 the collar saddle is moved vertically by means of the first drive unit until a longitudinal axis M of the sleeve is level with the coiler mandrel.

Then, in a sixth step S16, the coil transport carriage is moved towards the collapsed coiler mandrel along its longitudinal axis by means of the second drive unit until the sleeve has been pushed completely onto the coiler mandrel but has not yet touched it, since the inner diameter of the sleeve is larger than the diameter of the coiler mandrel in the collapsed state. The coiler mandrel is then expanded in a seventh step S17, so that the sleeve is held by the coiler mandrel in a non-positive manner.

In an eighth step S18, the holding arms are pivoted away from the sleeve by means of the rotary drives and the collar saddle is lowered vertically by means of the first drive unit. As a result, there is no longer any mechanical contact between the coil saddle and the holding arms on the one hand and the sleeve on the other hand, so that, for example, the coil transport carriage can then be moved away from the coiler mandrel by means of the second drive unit. As a result, the working space in the area of the coiler mandrel can be released for the winding devices assigned to it (e.g. so-called basket rollers), so that a metal strip can be wound up on the core.

In one embodiment of the method according to the invention for pushing a tube onto a coiler mandrel, the coil saddle is moved in the vertical direction by means of the first drive unit during the second step S12, so that the coil transport carriage does not collide with any part of the feeding device of the feeding station.

For example, a feeder in the form of a pivoting device comprise two support arms, which are spaced apart along the first horizontal direction X ₁ and from which the sleeve when transferred to the Bund transport car is held. Since when placing the sleeve on the collar saddle, parts of the support arms have to be swiveled in the vertical direction below the support rollers and can collide with parts of the coil transport carriage, for example with the rotary drives for the swivel arms, in such a case the movement of the collar saddle must be synchronized with the movement of the Swivel device or the support arms are synchronized to avoid a collision.

According to a further embodiment of the method according to the invention for pushing a sleeve onto a coiler mandrel, the control unit receives data from the higher-level control unit via the data-technical interface, on the basis of which the control unit actuates the first and second drive unit and the rotary drives, so that the sequence of steps S11 to S18 is carried out becomes. In this case - in analogy to the method described above for pulling a bundle from a coiler mandrel - the data can again include the dimensions a of the sleeve, the condition m of the coiler mandrel and/or the receiving position A, in which case the control unit is set up to chronological sequence and the control signals for the actuation of the first and second drive unit and the rotary drives and to carry them out automatically, so that the sequence of steps S11 to S18 is carried out autonomously by the coil transport carriage or its control unit (fully automatic operating mode). Again, the control and monitoring effort for the respective sleeve transport is advantageously minimized on the part of the superordinate control unit.

Equally, however, a sleeve transport can also be carried out in a semi-automatic or manual operating mode, as already described above.

• FIG 1 und 2 ein erstes Ausführungsbeispiel eines erfindungsgemäßen Bundtransportwagens entlang einer ersten horizontalen Richtung X₁ gesehen bei der Übernahme eines Bundes bzw. Restbundes
• FIG 2A einen Ausschnitt aus FIG 2 mit dem Restbund,
• FIG 3 das Ausführungsbeispiel des Bundtransportwagens aus FIG 1 und 2 entlang einer zweiten horizontalen Richtung X₂,
• FIG 4 einen erfindungsgemäßen Bundtransportwagen entlang der ersten horizontalen Richtung X₁ gesehen in einer Aufgabeposition A zur Übernahme einer Hülse,
• FIG 5 den erfindungsgemäßen Bundtransportwagen aus FIG 4 entlang der zweiten horizontalen Richtung X₂ gesehen,
• FIG 6 eine Aufgabestation für eine Hülse,
• FIG 7 eine Sequenz eines erfindungsgemäßen Verfahrens zum Abziehen eines Bundes von einem Haspeldorn, und
• FIG 8 eine Sequenz eines erfindungsgemäßen Verfahrens zum Aufschieben einer Hülse auf einen Haspeldorn.

The properties, features and advantages of this invention described above and the manner in which they are achieved will become clearer and more clearly understood in connection with the following description of FIG Exemplary embodiments that are explained in more detail in connection with the drawings. show:

• FIG 1 and 2 a first exemplary embodiment of a coil transport carriage according to the invention seen along a first horizontal direction X ₁ when taking over a coil or residual coil
• 2A a snippet FIG 2 with the rest of the bunch
• 3 the exemplary embodiment of the bundle transport carriage FIG 1 and 2 along a second horizontal direction X ₂ ,
• FIG 4 a coil transport carriage according to the invention seen along the first horizontal direction X ₁ in a loading position A for taking over a sleeve,
• 5 the bundle transport carriage according to the invention FIG 4 seen along the second horizontal direction X ₂ ,
• 6 a loading station for a sleeve,
• FIG 7 a sequence of a method according to the invention for pulling a collar off a coiler mandrel, and
• 8 a sequence of a method according to the invention for pushing a sleeve onto a coiler mandrel.

Corresponding parts are provided with the same reference symbols in the figures.

Figure 1 (FIG 1 ) and Figure 2 (FIG 2 ) show a coil transport carriage 1 according to the invention in the direction of a first horizontal direction X ₁ when taking over a coil 20 from a coiler mandrel 22. The longitudinal axis M of the coiler 20 coincides with the longitudinal axis M of the coiler mandrel 22 and is oriented along the first horizontal direction X ₁ . The bundle transport carriage 1 has a bundle saddle 5 which is moved in the vertical direction by means of a first drive unit 3 can be proceeded. The first drive unit 3 can be configured as a hydraulic cylinder, for example. On the upper side of the collar saddle 5, four support rollers ₇ are arranged in pairs along the first horizontal direction X1, each of which can be rotated axially about the _first horizontal direction X1, of which two support rollers in each case FIG 1 , 2 and 2A are visible. The coil transport carriage 1 also has a chassis 4 and a second drive unit 13 arranged thereon, by means of which the coil transport carriage 1 can be moved on rails 8 along the first horizontal direction X ₁ .

Furthermore, the bundle transport carriage 1 comprises four holding arms 11 for stabilizing a remaining bundle 20 or a sleeve 21, of which two holding arms in FIG 1 , 2 and 2A are visible. The holding arms 11 are arranged in pairs opposite one another on the collar saddle 5 along a second horizontal direction X ₂ , the second horizontal direction X ₂ being oriented normal to the first horizontal direction X ₁ . The holding arms are rotated by means of rotary drives 9 (shown in FIG 3 ) designed to be pivotable about the first horizontal direction X ₁ .

In FIG 1 a residual collar 20 is shown, the outer diameter of which is smaller than a limit diameter d ₀ and which is still connected to an already unwound section of the metal strip 2 via a strip section 20'. The unwinding direction U when unwinding the metal strip 2 from the remainder of the bundle 20 runs clockwise, with the strip section 20 ′ not lying against the remainder of the bundle 20 being held by a pair of driver rollers 23 . A separating device 24 is arranged behind the pair of driver rollers 23 as viewed in the unwinding direction U, by means of which the metal strip 2 can be separated from the residual coil 20 remaining on the coiler mandrel 22 .

Furthermore shows FIG 1 the waistband saddle 5 in a lower vertical position and above it schematically - in addition to the rest of the waistband 20 for the purpose of clarifying the proportions - a collar 20 shown in dashed lines, the outer diameter of which is greater than a limit diameter d ₀ shown in dash-dotted lines and the free belt end 20" is positioned in a 7 o'clock position near the support rollers 7 of the collar saddle 5. Since such a collar 20 is not stabilized due to its own weight must be, the holding arms 11 of the coil transport carriage 1 in FIG 1 pivoted into a parking position P.

In FIG 2 the bundle saddle 5 of the bundle transport carriage 1 is both in the same lower vertical position as in FIG 1 as well as shown schematically in a raised vertical position, in which the holding arms 11 are placed on a remaining collar 20 on the coiler mandrel 22, so that the holding arms 11 touch the remaining collar 20 with their respective inner sides 11' on the peripheral side. Again, the free end of the band 20" of the remainder of the collar 20 is also in FIG 2 positioned at a 7 o'clock position near the support rollers 7 of the collar saddle 5. Furthermore, in FIG 2 It can be seen that along the second horizontal direction X ₂ the greatest extension d _max between the holding arms 11, which are in the parking position P, is smaller than the greatest dimension d _btw of the bundle transport carriage 1, which is shown in FIG FIG 1 and 2 along the chassis 4 extends.

Figure 2A (FIG 2A ) shows a detail enlargement of FIG 2 , wherein a residual collar 20 on the support rollers 7 of the collar saddle 5 (in 2A not shown) rests and the holding arms 11 are employed against the rest of the collar 20. The free belt end 20" of the remainder of the bundle 20 is positioned below the longitudinal axis M of the remainder of the bundle 20 and in the vicinity of the left support roller 7 within a predetermined angular range α _max in relation to the vertical through the longitudinal axis M of the remainder of the bundle 20, so that its own weight advantageously prevents the Residual collar 20. A friction-reducing covering 14 is attached to the inside 11' of the left-hand holding arm 11, and sliding rollers 15 are attached to the inside 11' of the right-hand holding arm 11.

Figure 3 (FIG 3 ) shows the exemplary embodiment of the coil transport carriage according to the invention in the unloaded state along a second horizontal direction X ₂ , in which 3 two of the four support rollers 7 and two of the four support arms 11 are visible. The holding arms 11 are arranged along the first horizontal direction X ₁ between the support rollers 7 on the collar saddle 5 . In a modification of the exemplary embodiment, the coil transport carriage can also 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 holding arms 11 are driven by a rotary drive 9 and can thus be pivoted about the first horizontal direction X ₁ . The chassis 4 of the coil transport carriage 1 is mounted on the rails 8 via wheels 12 .

A data technology interface 17 connected to a control unit 16 of the coil transport carriage 1 enables the control unit 16 to exchange data with a higher-level control unit 19. According to a first exemplary embodiment of the coil transport carriage according to the invention, the communication link to the higher-level control unit 19 is a wireless radio link, for example in the form of a WLAN or a data laser connection. As an alternative to this, however, a wired transmission path between the data technology interface 17 and the superordinate control unit 19 is also possible, for example in the form of a trailing cable or as a signal modulated onto a power supply of the coil transport carriage 1 .

In Figure 4 (FIG 4 ) shows the coil transport carriage 1 according to the invention in a receiving position A in front of a loading station 30 when a sleeve 21 is being taken over. The task station 30 includes a multi-level foundation 31, a roller table 36 for transporting a sleeve 21 and a movable pivoting device 32 for transferring a sleeve 21 to the coil transport carriage 1. About a fixed longitudinal beam 38 supported on a first step of the foundation 31, a sleeve 21 can be transferred from the roller table 26 to the pivot device 32. The pivoting device 32 comprises two supporting arms 34 which are connected via a cross member 35 and have runners which are bent upwards. With the help of a swivel drive 37, which can be operated, for example, as in FIG 4 shown can be designed as a rotatably mounted hydraulic cylinder and is connected at its upper end to the cross member 35, the support arms 34 can be lowered with the sleeve 21 located thereon.

To illustrate the transfer process of the sleeve 21 to the coil transport carriage 1, FIG 4 the pivoting device 32 is shown in three pivoting positions, with the sleeve 21 resting on the support arms 34 of the pivoting device 32 in the uppermost pivoting position at an initial height h ₁ . Likewise, the coil saddle 5 of the coil transport carriage 1 is shown in a lower vertical position, in which the holding arms 11 are in the parking position P, and in an overlying vertical position at the transfer height h ₀ , in which the transfer by a weight shift of the sleeve 21 from the pivoting device 32 to the Bundsattel 5 takes place. During the transfer, the holding arms 11 are pivoted into a securing position S in order to secure the sleeve 21 against falling down to the side in the direction of the second horizontal direction X ₂ when the pivoting device 32 is lowered. The initial height h ₁ and the transfer height h ₀ each refer to the first step of the foundation 31. If necessary, the pivoting device 32 and the collar saddle 5 can be lowered in a coordinated manner when the sleeve 21 is transferred, so that a collision between parts of the pivoting device 32 and Parts of the coil transport carriage 1 is avoided.

Figure 5 (FIG 5 ) agrees in essential parts 3 match, with the additional recording position A of the coil transport carriage 1 in front of the loading station 30 and a sleeve 21 and the support arms 34 are shown schematically in the uppermost pivoting position of the pivoting device 32 .

Figure 6 (FIG 6 ) shows in a top view along a vertical direction the loading station 30 with the roller table 36, the pivoting device 32 with the support arms 34, the crossbeam 35 and the pivoting drive 37 as well as a sleeve 21, which is held by the runners of the pivoting arms 34 against rolling down along the second horizontal direction X ₂ is secured. Furthermore, the receiving position A for the coil transport carriage 1 is shown, which is located centrally between the support arms 34 along the first horizontal direction X ₁ .

In Figure 7 (FIG 7 ) shows a method according to the invention for removing a coil 20 from a coiler mandrel 22 with the aid of a coil transport carriage 1 according to the 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 is first transmitted via the interface 17 and via a wireless link to a higher-level control unit 19 from which the key data of a coil transport to be carried out. The key data include at least the condition m of the coiler mandrel 22, the dimensions of the coil 20 (outer diameter, dimensions along its longitudinal axis M, etc.), the coil weight g and a target position Z to which the coil 20 is to be transported by the coil transport carriage 1 . The control unit 16 is set up to carry out the sequence automatically in that, in steps S1, S2, S5, S5' and S6, the corresponding sections of the coil transport carriage - as described above, the first and second drive units 3 and 13 for moving the coil saddle 5 or The coil transport carriage 1 and the rotary drives 9 for adjusting the holding arms 11 are activated by the control unit 16. These activations are in FIG 7 respectively by dashed arrows from the corresponding steps to the trades mentioned.

In the third and fourth steps S3 and S4, control unit 16 is informed that the separating cut has been carried out by a separating device 24 or that coiler mandrel 22 has rotated counter to unwinding direction U and that coiler mandrel 22 has subsequently collapsed, which is FIG 7 is symbolized by dashed arrows from the respective trades to the relevant steps. This message can, for example, take place again via the external control unit 19 and the interface 17 by appropriate confirmation signals. In other words, the control unit 16 waits for the external trades to confirm that the aforementioned operations have been carried out before carrying out further steps in the sequence.

Analogous to Figure 7 (FIG 7 ) is in Figure 8 (FIG 8 ) a sequence of a method according to the invention for pushing a sleeve 21 onto a coiler mandrel 22 is shown schematically in the form of a sequence consisting of the steps S11 to S18 described above. Once again, the control unit 16 of the coil transport carriage 1 first transmits the key data of a tube transport to be carried out via the interface 17 and via a wireless connection to a higher-level control unit 19 . The key data include at least the dimensions of the sleeve 21 (outer diameter, dimensions along its longitudinal axis M, etc.), the condition m of the coiler mandrel 22 and a pick-up position A of a delivery station 30 from which the sleeve 21 is to be taken over by the coil transport carriage 1. In turn, the control unit 16 is set up to carry out the sequence automatically, in that in steps S11 to S16 and S19 the corresponding sections of the coil transport carriage - as described above, the first and second drive units 3 and 13 as well as the rotary drives 9 - are activated by the control unit 16 become (in 8 again symbolized by dashed arrows pointing to the trades mentioned).

In the second step S12, the control unit 16 is informed that the sleeve 21 has been deposited by means of the feed device 32, which in turn can be done, for example, by transmitting a corresponding confirmation signal via the external control unit 19 and the interface 17. Furthermore, while the sleeve 21 is being laid down, the control unit 16 can be informed of further signals (eg current position signals of the feed device 32) for the above-described synchronization of the movement of the collar saddle 5 and the feed device 32. In the seventh step S17, the control unit 16 is informed that the coiler mandrel 22 has been spread open, which means that the sleeve 21 is held by the coiler mandrel 22 in a non-positive manner from this point in time, whereupon the control unit 16 proceeds to the final step S18.

Reference List

1

bundle transport car

2

metal strap

3

first drive unit

4

chassis

5

fret saddle

7

support roller

8th

rails

9

rotary drive

11

holding arm

11'

inside

12

wheel

13

second drive unit

14

topping

15

sliding roller

16

control unit

17

interface

19

superior control unit

20

bundle, remainder bundle

20'

tape section

20"

free end of tape

21

sleeve

22

mandrel

23

driver roles

24

separator

30

feeding station

31

foundation

32

Feeding device, swiveling device

34

Beam

35

cross member

36

roller table

37

slewing drive

38

side members

αmax

angle range

a

Dimension collar, sleeve

d max

maximum extent

d0

limit diameter

btw

Dimension of bundle transport car

G

waist weight

h0

transfer height

h1

starting height

m

condition reel mandrel

M

longitudinal axis

P

parking position

S

security position

A

recording position

S1...S18

process step

u

unwind direction

X1, X2

horizontal direction

Z

target position

Claims (13)

Coil transport carriage (1) for safely handling a coil (20) or a sleeve (21) on a coiler mandrel (22). - a collar saddle (5) that can be moved vertically by means of a first drive unit (3) and has a plurality of support rollers (7) that can each be rotated axially about a first horizontal direction (X ₁ ) for receiving the collar (20) or the sleeve (21), - Holding arms (11) which can be pivoted about the first direction (X ₁ ) by means of rotary drives (9) in order to stabilize the collar (20) if its outer diameter is not greater than a limit diameter d ₀ , or the sleeve (21), the holding arms ( 11) are arranged in pairs opposite each other on the collar saddle (5) along a second horizontal direction (X ₂ ) oriented normal to the first horizontal direction (X ₁ ), - a second drive unit (13) for moving the coil transport carriage (1) horizontally, - a control unit (16) for actuating the first and second drive units (3, 13) and the rotary drives (9), and - A data technology interface (17) for communication with a higher-level control unit (19). Coil transport carriage (1) according to Claim 1, in which the rotary drives (9) are designed as geared motors. Coil transport carriage (1) according to claim 1 or 2, wherein the holding arms (11) can be pivoted into a parking position (P) so that the greatest extent (d _max ) between the holding arms (11) along the second horizontal direction (X ₂ ) is smaller or is equal to the largest dimension (d _btw ) of the coil transport carriage (1) along the second horizontal direction (X ₂ ). Bund transport carriage (1) according to one of the preceding claims, wherein the holding arms (11) are designed, the collar (20) or the sleeve (21) with an outer diameter between 500mm and the limit diameter d ₀ to be stabilized in a form-fitting manner. Coil transport carriage (1) according to one of the preceding claims, in which the holding arms (11) have a friction-reducing coating (14) or sliding rollers (15) on their inner sides (11'). Method for pulling off a coil (20) with an outer diameter that is smaller than a limit diameter d ₀ from a coiler mandrel (22) with the aid of a coil transport carriage (1) according to one of Claims 1 to 6, wherein - in a first step (S1), the coil saddle (5) is moved vertically by means of the first drive unit (3) and is positioned against the coil (20) on the coiler mandrel (22) and connected to a coiled strip section (20'), so that the support rollers (7) of the collar saddle (5) contact the collar (20) on its underside on the circumference, - in a second step (S2), the holding arms (11) are pivoted onto the collar (20) by means of the rotary drives (9), - in a third step (S3), the unwound strip section (20') is separated from the bundle (20) with the aid of a separating device (24), - In a fourth step (S4), the collar (20) is rotated with the aid of the coiler mandrel (22) against an unwinding direction (U) of the collar (20) until the free end (20") of the collar (20) is circumferentially within a predetermined angular range (α _max ) is positioned relative to the vertical through a longitudinal axis (M) of the collar (20) and then the coiler mandrel (22) is collapsed, - In a fifth step (S5), the coil transport carriage (1) is moved away from the coiler mandrel (22) by means of the second drive unit (13) until the coiler (20) is completely pulled off the coiler mandrel (22), the coiler mandrel ( 22) is rotated against the unwinding direction (U), and - In a sixth step (S6), the bundle is transported by the bundle transport carriage (1) to a target position, for example a binding station, by activating the second drive unit (13). Method according to Claim 6, in which, in a step (S5') between the fifth and sixth steps (S5, S6), the collar saddle (5) is lowered vertically by means of the first drive unit (3). The method of claim 6 or 7, wherein the control unit (16) via the data technology
Interface (17) receives data from the higher-level control unit (19), on the basis of which the control unit (16) actuates the first and second drive unit (3, 13) and the rotary drives (9), so that the sequence of steps (S1) to (S6 ) is performed. Method according to claim 8, wherein the data the condition (m) of the coiler mandrel (22) and/or dimensions (a) of the coil (20) on the coiler mandrel (22) and/or a coil weight (g) and/or a target position (Z ) include. Method for pushing a tube (21) onto a coiler mandrel (22) with the aid of a coil transport carriage (1) according to one of claims 1 to 6, wherein - in a first step (S11), the coil transport carriage (1) moves to a pick-up position (A) in front of a loading station (30) using the second drive unit (13) and the coil saddle (5) moves to a transfer height (h ₀ ) is moved and the holding arms (11) are pivoted into a securing position (S) by means of the rotary drives (9), - in a second step (S12), the sleeve (21) is placed on the coil saddle (5) of the coil transport carriage (1) by means of a loading device (32) of the loading station (30), - in a third step (S13), the holding arms (11) are pivoted onto the sleeve (21) by means of the rotary drives (9), so that the inner sides (11') of the holding arms (11) contact the sleeve (21) on the circumference, - in a fourth step (S14), the coil transport carriage (1) is moved to a position directly in front of the coiler mandrel (22) by means of the second drive unit (13), - in a fifth step (S15), the collar saddle (5) is moved vertically by means of the first drive unit (3), so that a longitudinal axis (M) of the sleeve (21) is level with the coiler mandrel (22), - in a sixth step (S16), the coil transport carriage (1) is moved towards the collapsed coiler mandrel (22) by means of the second drive unit (13) until the sleeve (21) is pushed completely onto the coiler mandrel (22), - In a seventh step (S17), the coiler mandrel (22) is expanded so that the sleeve (21) is held by the coiler mandrel (22) in a non-positive manner, and - In an eighth step (S18), the holding arms (11) are pivoted away from the sleeve (21) by means of the rotary drives (9) and the collar saddle (5) is lowered vertically by means of the first drive unit (3). Method according to Claim 10, wherein during the second step (S12) the coil saddle (5) is moved in the vertical direction by means of the first drive unit (3) so that the coil transport carriage (1) does not collide with any part of the feed device (32). The method of claim 10 or 11, wherein the control unit (16) via the data technology
Interface (17) receives data from the higher-level control unit (19), on the basis of which the control unit (16) actuates the first and second drive unit (3, 13) and the rotary drives (9), so that the sequence of steps (S11) to (S18 ) is performed. Method according to claim 12, wherein the data comprises dimensions (a) of the sleeve (21) and/or the condition (m) of the coiler mandrel (22) and/or the pick-up position (A).

Images