JP2003200313A - Revolving type side trimmer equipment and controlling method therefor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide revolving type side trimmer equipment for efficiently cutting both end parts of a strip material and a controlling method therefor. <P>SOLUTION: A control starting position to a control termination position of moving of the position of a knife is largely divided by a few intermediate points. The section between the divided intermediate points is further finely divided to perform a locus calculation for a moving predetermined position of the knife. While successively performing the locus calculation for the section between each intermediate point, the moving position of the knife is controlled on a calculation locus. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a swivel type side trimmer equipment and a control method therefor, for example, for forming a predetermined width by cutting an end portion of a strip (band steel sheet) continuously fed. It is applied.

[0002]

2. Description of the Related Art Side trimmer equipment is used to strip strips, which are rolled from steel slabs and are continuously fed, in order to align the strips with a predetermined width according to the end product application. It is cut.

FIG. 9 is a schematic view of a conventional side trimmer equipment viewed from above. As shown in FIG. 9, the conventional side trimmer equipment 21 has trimmers 3 and 4 symmetrically arranged on both sides of the strip 2 in the plate width direction, and is a drive side trimmer (hereinafter referred to as a DS trimmer). .) 3 and an operating-side trimmer (hereinafter, referred to as WS trimmer) 4. Each trimmer 3, 4 has a round knife 5 for cutting the strip 2 and a housing 6 for supporting said round knife 5, and both trimmers 3, 4 are installed on one support base 7. ing.

Although not shown, a trimmer traverse shaft is installed on the support base 7 at a right angle to the traveling direction of the strip 2. The trimmer traverse shaft linearly connects two feed screws to each other. It is arranged in the direction of the screw and is configured to rotate in conjunction with each other. DS trimmer 3 and WS trimmer 4
Is attached so as to engage with each feed screw, and the feed screw is rotated by a trimmer traverse rotary electric motor (not shown) connected to the trimmer traverse shaft so that the DS trimmer 3 and the WS trimmer 4 are trimmed. By moving in opposite directions along the transverse axis, the position of the round knife 5, that is, the trimming plate width is set.

Although the detailed structure of the trimmers 3 and 4 is not shown in FIG. 9, the trimmers 3 and 4 have two round knives 5 so as to sandwich the strip 2 from above and below. By cutting the strip 2 while the knife 5 rotates, the strip 2 is cut. In order to rotate the upper and lower round knives 5, the trimmers 3 and 4 may be provided with rotary electric motors for blades.
Rotate while synchronizing with the progressing speed of to trim.

The strips 2 which are continuously fed may have the same plate width and plate thickness, but if the plate widths are different,
Since the trailing material 2b is welded to the leading material 2a at the plate joint welding portion 2c and sent, a welding point identification hole (Welding Point) 2d is provided to identify a change in the plate width.
Further, when the plate width of the strip 2 is changed, a corner portion is formed in the plate joint weld portion 2c. However, in order to avoid troubles during the transportation of the strip 2 due to the corner portion, the notcher should be eliminated. 8 forms an arc-shaped notcher portion (cut) 2e. Also, this notcher portion 2e
Is also used as a place for traversing trimmers 3 and 4.

Before and after the side trimmer equipment 21 of the process line of the strip 2, a notcher 8 for forming a notch (cut) in the strip 2 is arranged at the front side and cut by trimmers 3 and 4 at the rear side. Further, a masher roll (not shown) for arranging the cut end of the strip 2 is arranged, and further, an outlet shear 9 for cutting the strip into a predetermined length is arranged in the rear.

A series of operations in the side trimmer equipment 21 accompanying the change of the plate width will be described. When changing the strip width for trimming the rolled strip 2 that is continuously fed, normally, the trailing strips 2b having different strip widths are welded to the preceding strip 2a and continuously sent out. The preceding material 2a is temporarily stored in a loop that adjusts the traveling speed of the strip 2 provided on the upstream side of the process line, and the following material 2 is added to the preceding material 2a.
Weld b without stopping the line. At that time, a hole of the welding point identification hole 2d for simultaneously identifying the welding point is provided.

The side trimmer equipment 21 has a welding point identification hole 2
Welding point identification hole detector (Weld not shown) for detecting d
ing Point Detector) is provided, and when the welding point identification hole 2d of the strip 2 reaches the side trimmer equipment 21,
The welding point identification hole detector detects the welding point identification hole 2d and starts the tracking operation for changing the plate width.
At this time, the traveling speed of the strip 2 starts decelerating and finally stops.

The timing of the temporary stop is set when the notcher portion 2e described above comes to the position of the upper and lower round knives 5 and the upper and lower round knives 5 and the strip 2 stop contacting each other. Since the upper and lower round knives 5 are in contact with the strip 2 while the upper and lower round knives 5 are cutting the strip 2, the round knife 5,
That is, the trimmers 3 and 4 cannot be moved in the plate width (transverse) direction.

While the line is temporarily stopped, the trimmers 3 and 4 are retracted to the outside in the plate width direction and are manually replaced with a round knife 5 adapted to the trailing material 2b to adjust the clearance and the lap. After that, the trimmers 3 and 4 are set to new trimming positions, the strip 2 is advanced again at a low speed, and the trimming is restarted. The trimming locus on the strip 2 is the cutting locus 2h shown by the dotted line in FIG.

After the trimming is restarted, the line operation is switched to, the progressing speed is accelerated to the normal speed, and the continuous trimming is started. The trimmed strip 2 has its ends cut by a masher roll, cut by a delivery shear 9 to a predetermined length, and delivered. The end portion separated by trimming is wound up with a scrap ball or the like.

In the side trimmer equipment 21, the side trimmer equipment 21 is temporarily stopped, and the setting of the trimming plate width, the exchange of the upper and lower round knives 5 and the clearance thereof, the adjustment of the lap, etc. are performed manually or automatically. ing. Usually, strips 2 having various plate widths are combined and welded, and the strips 2 are trimmed to have a predetermined plate width.

However, when the side trimmer equipment 21 is stopped and the knife position is changed, a large amount of time is required for the preparatory operation and work efficiency is poor, and the side trimmer equipment 2 is used.
Since the other equipment in the process line cannot be stopped even if 1 is stopped, it is necessary to increase the size of the loop for temporarily storing the strip 2 and the like. It was a major obstacle in terms of line automation and productivity improvement.

Further, in order to temporarily stop the progress of the strip 2, it is necessary to stop the strip completely while gradually decelerating the traveling speed. Therefore, when the strip 2 stops on the line, a roll mark is attached and scraps are generated. Occurred, and the yield of the product was deteriorated. Further, when the round knife 5 is cut into the strip 2 when the trimming is restarted, a crack is generated at the strip end portion, the line is stopped due to the breakage of the strip, and a large amount of scrap is generated, which deteriorates the yield.

Further, since there is a notcher portion 2e between the trimmed end portion of the preceding material 2a and the trimmed end portion of the following material 2b, they are separated from each other, as can be seen from the cutting locus 2h. And when resuming trimming,
There was a problem that the trimmed end of the trailing material 2b had to be rewound on the scrap ball or the like again. In addition, the first trimmed strip 2 after resumption had angular protrusions at the ends, which was also a work safety problem.

As for the side trimmer equipment 21, there is a swivel type side trimmer equipment having a trimmer swiveling function as equipment capable of arbitrarily changing the strip trimming width while continuously performing trimming.

The swivel side trimmer equipment incorporated in a series of process lines does not have a pause for changing the strip width, and continuously trims the strip while controlling the position of the knife. We are moving. Therefore, during the movement of the knife position, the strip does not have a predetermined plate width, so that the strip having the length during the movement of the knife becomes scrap.

In the above swivel side trimmer equipment, it is important to minimize the amount of scrap scrap. Especially, since the position of the knife is moved while performing side trimming, the position of the knife must be moved so as not to damage the knife and the strip by applying an excessive load. You can limit the movement. Therefore, it is necessary to change the plate width at the shortest without applying an excessive load to the knife and the strip.

In the swivel side trimmer equipment, in order to change the position of the knife to the change end position without applying an excessive load to the knife and the strip, a large number of points from the change start position to the change end position are set in advance. The position of the knife is calculated for each point, the control values of the traverse movement and the turning movement for moving the knife to that position are calculated, and the knife position is controlled.

[0021]

In the above method, in order to change the position of the knife and the strip without applying an excessive load, it is ideal that the movement of the knife position is a smooth locus. For that purpose, it is better that there are more points for correcting the trajectory. Therefore, the number of points for trajectory correction is divided in advance, and the trajectory of the knife position is calculated. However, when the number of divisions is large, a large amount of memory is required in the control device for enormous control calculations and calculation results, and calculation time is also required. Therefore, if it is known in advance that the plate width will be changed, the calculation must be started considerably earlier than the change start position. Also, if the plate width is to be changed immediately before the start position, the calculation will not be in time and wasteful scrap will be produced.

On the other hand, when the number of division points is small (the distance between trajectory corrections is wide), the locus of the knife position becomes a step, and the knife is particularly loaded, causing troubles.
In addition, a load is also applied to the moving mechanism itself.

Also in the above method, it is difficult for the knife to pass on the calculation locus with an accuracy of the order of μm because it is affected by the strip plate thickness, the moving speed, the error of the control device, etc. Then, it becomes necessary to correct the knife position, and in order to complete the change of the knife position up to the change end position, the knife may be forced to traverse and rotate. In such a case, not only the blade of the knife will be worn out quickly, but also the knife may be broken or the strip may be broken. Further, when the correction amount is large, the correction amount cannot be followed, the change of the knife position cannot be finished even after the change end position, and an extra scrap is created, so that the yield of the strip is reduced. Usually, a large amount of scrap is taken from the beginning in consideration of the correction amount.

In view of the above problems, the present invention efficiently calculates the locus of knife position control, and controls the knife position accurately on the calculated locus so that the plate width can be continuously applied without applying a load to the knife. The present invention provides a swivel side trimmer equipment and method for controlling knife position to reduce wasteful scrap by changing the above.

[0025]

Means for Solving the Problems The swivel side trimmer equipment according to the present invention which solves the above-mentioned problems, is provided on both sides of the traveling line of the strip material, and has a cutting means having knives for cutting the strip material, and Traverse moving means for moving the cutting means in the plate width direction of the strip plate material, turning movement means for turning the cutting means in a horizontal plane, and knife position measuring means for measuring the position of the knife moved by the both moving means. In the swivel side trimmer equipment having, the length of the strip material required to change the strip width is divided into a large number of intermediate points,
Based on the change information of the plate width, at the intermediate point, calculate the planned movement position of the knife in the plate width direction, based on the planned movement position of the knife corresponding to the intermediate point, divided by the intermediate point. Further, one section is divided into smaller parts, and the planned movement position of the knife in the plate width direction is calculated as a locus, and the planned movement position of the knife on the locus and the actual knife position by the knife position measuring means are calculated. And the deviation amount is calculated, and based on the deviation amount, the target angle of the turning movement means and the target position of the traverse movement means are set so that the deviation amount becomes smaller, and the intermediate points are sequentially set. And a control means for moving the knife to a final target position by controlling the moving position of the knife on the locus.

A method for controlling a swivel side trimmer equipment according to the present invention which solves the above-mentioned problems, is provided with a cutting means which is arranged on both sides of a traveling line of a strip material and has a knife for cutting the strip material, and the cutting means. Swivel having traverse moving means for moving in the plate width direction of the strip material, swivel moving means for swiveling the cutting means in a horizontal plane, and knife position measuring means for measuring the position of the knife moved by the both moving means. In the method of controlling the side trimmer equipment, the length of the strip material required to change the strip width is largely divided by a small number of intermediate points, and based on the strip width change information, at the intermediate point,
Calculates the planned movement position of the knife in the plate width direction, based on the planned movement position of the knife corresponding to the intermediate point,
One section divided by the intermediate point is further finely divided to calculate the planned movement position of the knife in the plate width direction as a locus, and the knife's planned movement position on the locus and the knife position measuring means. By comparing the actual position of the knife, calculate the deviation amount, based on the deviation amount,
The target angle of the turning movement means and the target position of the traverse movement means are set so that the deviation amount becomes small, and the movement position of the knife between the respective intermediate points is sequentially controlled on the locus to finally The knife is moved to a different target position.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a schematic view of a swivel side trimmer equipment showing an example of an embodiment according to the present invention as viewed from above. The same components as those of the conventional side trimmer equipment 21 described with reference to FIG. 9 are designated by the same reference numerals, and duplicate description will be omitted.

As shown in FIG. 1, the swivel side trimmer equipment 1 is symmetrically arranged on both sides of the strip 2 in the plate width direction, and a drive side trimmer (hereinafter referred to as DS trimmer) 3 serving as cutting means. Operating side trimmer (hereinafter referred to as DS trimmer)
4 and each trimmer 3, 4 is a strip 2
There is a round knife 5 for cutting the round knife and a housing 6 for supporting the round knife 5, and both trimmers 3, 4 are installed on one support base 7.

As components not shown in FIG. 1,
On the support base 7, a trimmer traverse shaft and a trimmer traverse rotary electric motor of traverse movement means for moving the trimmers 3 and 4 in the strip width direction of the strip 2 are installed.
4 has a trimmer turning shaft and a trimmer turning rotary electric motor of a turning and moving means that can turn 4 in a horizontal plane. The position of the round knife 5 can be moved in order to change the plate width for trimming the strip 2 by the traverse movement in the plate width direction by the trimmer traverse axis and the pivotal movement by the trimmer pivot shaft. The function of controlling the position of the knife (trimming plate width) by performing the traverse movement and the turning movement as described above is called AWC (Automatic Width Changing).

Further, as a constituent element not shown other than the above, the swivel side trimmer equipment 1 is a scanning measurement of a knife position measuring means for measuring the positions (trimming plate width) of the round knives 5 at both ends of the strip 2. And a welding point identification hole detector for detecting the welding point identification hole 2d, which serves as tracking for the start of AWC control.

In the swivel side trimmer equipment 1, the horizontal positions of the upper and lower round knives 5 are set in order to automatically adjust the clearance and the lap of the upper and lower round knives 5 according to the conditions such as the thickness of the strip 2. It has a clearance adjusting mechanism and a lap adjusting mechanism for setting a vertical position, and each has a rotary electric motor. Normally, the clearance and lap are automatically adjusted each time the board width is changed. Other additional mechanisms are the same as those of the side trimmer equipment 21 shown in FIG. 9, and since they are not directly related to the present invention, description thereof will be omitted.

The swivel side trimmer equipment 1 is equipped with a trimmer 3 when the strip 2 has a constant trimming width.
4 trims the strip 2 without moving its position. Then, when the strip width of the strip 2 is changed, the trimmers 3 and 4 perform the pivotal movement and the transverse movement so that the round knife 5 comes to the position of the predetermined strip width of the strip 2. The position of the round knife 5 is moved. In this case, since the strip 2 changes the position (trimming plate width) of the round knife 5 without stopping, the swivel side trimmer equipment 1 must move the position of the round knife 5 while continuously trimming. Thus, for example, the trimming locus pattern such as the cutting locus 2f shown in FIG. 1 is passed.

2 and 3 are block diagrams of the AWC control of the swing side trimmer equipment showing an example of the embodiment according to the present invention. Since all the blocks cannot be shown in one figure, they are shown in two figures. Further, in order to make the control operation easy to understand, the devices controlled in each block are simply described on the right side of the drawing.

As shown in FIG. 2, the AWC controller 10
Is connected to a line control device 11 that manages a strip process line online, and is sent from the line control device 11 based on an instruction value (coil data) serving as change information of the plate width. The width and rotation speed of the round knife are controlled. As the instruction value (coil data), for example, the coil width of the preceding material, the plate thickness, the coil width of the following material, the plate thickness, the trimming plate width, the trimming pattern,
The reference value of the clearance of the round knife, the reference value of the lap, etc. are instructed to the AWC controller 10 for each process. Also, AWC
A computer 12 is connected to the control device 10, and the computer 12 is also online to the AWC control device 1.
The operating state of 0 and the control value are monitored.

An arithmetic circuit 10a having a program is built in the AWC control device 10, and based on an instruction value (coil data) of the line control device 11, a locus pattern for knife position control according to the present invention. Is being calculated.

Below the AWC control device 10 are a plurality of control blocks for driving controlled equipment, which will be described later. Each control block includes a rotary motor 13 and a rotary motor 13.
A speed control circuit 14 for controlling the rotation speed of the motor, a drive circuit 15 for generating a signal for driving the rotary motor 13, and a pulse tacho-generator 16 for generating a pulse at a constant rotation angle by the rotation of the rotary motor 13. There is.

Based on the control value calculated by the arithmetic circuit 10a, the AWC control device 10 gives a control value to each control block, and the speed control circuit 14 based on the control value.
Outputs a control signal corresponding to the rotation speed of the rotary electric motor 13, and based on the control signal, the drive circuit 15 outputs a drive signal to the rotary electric motor 13 to rotate the rotary electric motor 13.

A controlled device is connected to the rotary electric motor 13. For example, in the control block A, a trimmer traverse shaft 17 is connected as the controlled device, and the rotary electric motor 13 is rotated to cause a trimmer. The transverse shaft 17 rotates, and the DS trimmer 3 and the WS trimmer 4 move in the plate width direction. At this time, the pulse tachogenerator 16 counts the rotation angle of the rotary electric motor 13, and the count number is used as a feedback value for the speed control circuit 14 and the AWC.
The signal is sent to the control device 10, the moving distance and the moving speed proportional to the count number are calculated, and the drive signal of the rotary electric motor 13 is controlled.

As described above, the control block A controls the trimmer transverse axis 17, and thereby controls the position of the trimmer knife, that is, the strip width. The control blocks B and C control the pivot axis of the trimmer, and thereby control the pivot position of the knife of the trimmer, that is, the angle of the knife with respect to the strip advancing direction. The control block D controls the rotating shaft of the masher roll. The control blocks E and F control the rotating shafts of the round knives 5a and 5b, thereby performing trimming in synchronization with the traveling speed of the strip. Control blocks G, H
Controls the clearances of the trimmer round knives 5a, 5b, which allows the trimmer round knives 5a, 5b to be positioned above and below the trimmer.
The gap in the horizontal direction of b is controlled. Control block I,
J controls the wrap of the round knives 5a and 5b of the trimmer, and thereby controls the vertical position of the round knives 5a and 5b of the trimmer.

FIG. 4 is a diagram showing an example of the change in line speed when the plate width for trimming is changed along the time axis.

In the turning side trimmer equipment 1, the strip 2 is normally moved at a line speed for trimming. When changing the plate width for trimming, decelerate to the automatic width changing speed, which is slower than the line speed, and perform a series of operations to change the plate width.When the plate width change is completed, accelerate and trim at the line speed again. To do.

The operation for changing the plate width for specific trimming will be described below. Based on the instruction value sent from the line control device 11 in advance, the arithmetic circuit 10a of the AWC control device 10 calculates the trajectory pattern of the planned moving position of the knife. At this time, properly divided by the midpoint,
The trajectory pattern of the planned moving position of the knife is calculated for one divided section. When the welding point identification hole 2d of the strip 2 reaches a predetermined position of the swivel side trimmer equipment 1,
Tracked by the weld point identification hole detector, the line speed is decelerated with the knife position change start point as the target. When the starting point of the plate width change is reached, a locus pattern signal is output to switch to the automatic width changing speed, and a series of plate width changing operations is started.

When a series of operations starts, the AWC controller 1
The signal for controlling the trajectory pattern of the expected moving position of the knife calculated at 0 is input to the speed control circuit 14 for the trimmer traverse axis 17 and the trimmer turning axis, and the output thereof is input to the drive circuit 15 to generate a drive signal. Let the trimmer traverse axis 1
7 and the rotary electric motor 13 of the trimmer turning shaft are driven.

According to the calculated trajectory pattern of the planned moving position of the knife, the DS trimmer 3 and the WS trimmer 4
The swivel axis is swung, and the DS trimmer 3 and the WS trimmer 4 traverse horizontally on the trimmer traverse axis 17 in synchronization with the swivel angle of the swivel axis. This movement controls the position of the round knife 5 of each trimmer, that is, the strip width.

At this time, the round knife 5 of the DS trimmer 3 and the WS trimmer 4 trims both ends of the strip 2 along the locus pattern while synchronizing with the automatic width changing speed by the rotary motor of the round knife rotating shaft.

In addition, the clearance adjusting mechanism and the lap adjusting mechanism of the round knife 5 determine the start timing according to the amount of change in the plate thickness of the strip 2 and the welding point identification hole 2d is tracked, so that the clearance signal and the lap are obtained. A signal is output, and the operation is started with the activation timing. The current clearance and lap with respect to the signal value are detected by the pulse tachogenerator, and the detection signal is fed back to automatically control the clearance and lap to predetermined amounts.

FIG. 5 is a diagram showing an example of a locus pattern of the planned moving position of the knife during automatic width changing. The trajectory pattern of the planned moving position of the knife in the automatic width-changing mode is shown in FIG.
The V-cut mode shown in FIG. 5A and the N-cut mode shown in FIG. 5B are mainly divided into two.

In addition to the automatic width changing (trim) mode performed while trimming, the plate width can be changed by a stop width changing (stop) mode performed by temporarily stopping the equipment. Normally, the automatic width changing (trim) mode is used. When the equipment is operated in, and the condition is not suitable for the automatic width change mode, the stop width change (stop) mode is selected.

The V-cut mode shown in FIG. 5 (a) corresponds to the case where the plate joint welding portion 2c has the notcher portion 2e,
Notched part 2e input to the indicated value (coil data)
Based on information such as the size, depth, and position of the knife, the trajectory pattern of the planned moving position of the knife is calculated. An example of the locus pattern is the cutting locus 2f shown in FIG. Also, FIG.
The N-cut mode shown in (b) corresponds to the case where the plate joint welding portion 2c does not have the notcher portion 2e, and calculates the trajectory pattern of the planned moving position of the knife without considering the shape of the notcher portion or the like. An example of the trajectory pattern is shown in FIG.
The cutting locus 2g shown in (b) is obtained.

Further, in this equipment, it is possible to correspond to a trajectory pattern other than the above by inputting data to the indicated value (coil data) according to the situation of the strip 2.

FIG. 6 and FIG. 7 are flowcharts for changing the plate width for trimming in this equipment. A series of operations will be briefly described.

Normally, this equipment is in line operation, and the strips rolled and continuously fed are trimmed to a predetermined strip width at a predetermined traveling speed (step S1). At this time, the pivot axis of each trimmer holds a predetermined toe-in angle with respect to the traveling direction of the strip.

When changing the order, that is, changing the strip trimming strip width, coil data, trimmer upper and lower blade data, etc. are input to the line control device, which is the host control device of this equipment, and these data It is sent to the equipment and the width changing mode is set (steps S2 to S).
4).

When the condition is not suitable for the trim mode (automatic width changing mode), the stop mode is set, the equipment is temporarily stopped, the plate width is changed manually, and then the line speed is accelerated again (step S5 → S11 → S20).

In the trim mode (automatic width changing mode), an arbitrary trimming pattern is selected, the locus pattern of the expected knife movement position is calculated based on the coil data, and the locus pattern position data is calculated. Then, the line speed is reduced to the automatic width changing speed (steps S5 → S6 to S8).

When the welding point identification hole 2d is tracked,
Set the automatic width changing speed. At this time, if the speed is not proper, an error occurs as a line control abnormality (steps S9, S10 → S12).

If the speed is appropriate, the calculated AWC
From the control start point of (1), AWC control, that is, the turning movement and the traverse movement of the trim for changing the plate width of the trimming are started (steps S10 → S13, S14).

The AWC is controlled on the basis of the calculated trajectory pattern of the planned moving position of the knife at the automatic width changing speed so that the length of the strip falls within a predetermined strip length. Therefore, the toe angle is turned to a predetermined turning angle so that the knife can follow the calculated trajectory pattern. Therefore, the trimmer,
That is, the knife will have a greater swivel angle, and a lateral force, which is opposite to the swivel direction, is exerted on the knife by the strip. Thus, the trimmer traverse axis is controlled to traverse the position of the knife without breaking the strip so as to impart a force to the knife that balances this force.
Finally, when the turning angle calculated by the indicated value is reached, the turning is stopped (step S15).

The adjustment of the clearance and lap of the upper and lower round knives of each trimmer is determined by the amount of change in the strip thickness, and the starting timing is determined.
At the time of tracking d, the activation timing and the adjustment value are output, and the adjustment is automatically performed at an appropriate timing (step S16).

When the knife position moves close to the target position, that is, when it approaches the plate width of the predetermined trimming, the turning angle starts to return to the original toe-in angle, and the moving speed of the trim traverse axis also changes. The speed is decelerated accordingly (step S17).

Finally, the turning operation is stopped when the normal toe-in angle is restored, the position of the knife at that time becomes the plate width for trimming, and the AWC operation ends (steps S18 and S19).

Then, the line speed is accelerated and trimming is performed again at a predetermined line speed (steps S20, S).
21).

FIG. 8 is a flow chart of knife position control showing an example of the embodiment according to the present invention. This will be specifically described by focusing on the trajectory calculation of the knife movement position and the knife movement position control in the flowcharts of FIGS. 6 and 7.

In this embodiment, the AWC control start position to the AWC control end position is largely divided by a small number of intermediate points, and the section between the divided intermediate points is further finely divided to move the knife. Calculate the trajectory of the planned position,
While sequentially calculating the trajectory for the section between each intermediate point,
The feature is that the moving position of the knife is controlled on the calculation locus. In this embodiment, the memory in the arithmetic circuit can be effectively used without using a large amount, and the minimum necessary pre-calculation is performed to enable the arithmetic processing in a short time. Specifically, it will be described with reference to the flowchart of FIG.

In the present embodiment, before starting AWC control, A
From the control start position of WC to the control end position of AWC,
A small number of intermediate points are divided into a plurality of, for example, two stages, and an intermediate target position (position in the length direction of the strip) at that intermediate point is set, and a knife movement planned position (strip) relative to the intermediate target position is set. (A position in the plate width direction) is calculated (steps Sa-1 to Sa-3).

Next, the first intermediate target position (or between each intermediate target position) from the control start position of the AWC is divided into a plurality of finer parts, for example, 200 parts, and the knife movement planned position at the fine division point is set. Calculate the trajectory of. The locus calculation may be a linear approximate locus calculation connecting a straight line from the AWC control start position to the first intermediate target position (or between the intermediate target positions) or a curved approximate locus calculation. Good (step Sa-4).

A turning target angle is set based on the above trajectory calculation, and each turning axis operates so as to reach the turning target angle. Further, the traverse target position is also set in correspondence with the turning target angle, and the traverse axis operates simultaneously with the turning axis (steps Sa-5 to Sa-8).

The movement of the knife position of each trimmer due to the operation of the above-mentioned turning axis and traverse axis is performed at a constant time interval, for example, 100 m, by a scanning measuring device which is a knife position measuring means.
sec. Etc., and the knife position of each trimmer is measured (step Sa-9).

Comparing the calculated knife position by the above trajectory calculation between each intermediate target position and the actual knife position based on the above measurement results, there is no deviation in that position, and it must be the final movement target position. For example, the turning target angle and the traverse target position are set with respect to the next target position, and the turning axis and the traverse axis are operated (steps Sa-10 → Sa-13 → S).
a-5 to Sa-8).

The calculated knife position by the above trajectory calculation between the intermediate target positions and the actual knife position by the above measurement result are compared, and if there is a deviation, the deviation amount is calculated and the deviation is calculated. Calculate the correction movement amount based on the amount,
The movement trajectory to the intermediate target position is calculated again, the turning target angle and the traverse target position are set with respect to the next target position based on the calculation, and the turning axis and the traverse axis operate (step Sa-10). → Sa-11, 12 → Sa4 to S
a-8).

The above trajectory calculation and control are sequentially repeated between the intermediate target positions, and the moving position of the knife is controlled to the calculated trajectory position between the intermediate target positions.
Finally, in order to maintain the accuracy of the position of the knife, the swivel axis approaches the final target position with a slight angle, and it is measured that the knife is the final target position at the AWC control end position. That is, after confirming that the plate width is a predetermined trimming width, the AWC control is completed (step S
a-10 → Sa-13, 14). At this time, when the knife comes close to the final target position, it gently swivels to return the angle of the swivel axis to the normal toe-in angle, the traverse axis also moves in accordance with this swivel motion, and the final target position. In, the turning axis maintains the toe-in angle.

By the above trajectory calculation and control, the knife position can be efficiently controlled, and moreover, the knife position has a smooth trajectory, so that no extra load is applied to the knife or strip. Further, since the knife position is controlled on the preliminarily calculated locus, useless scrap is not generated.

[0073]

According to the inventions of claims 1 and 2, the cutting means having the knives arranged on both sides of the traveling line of the strip material and for cutting the strip material, and the cutting means are the strip material. Swivel side trimmer having traverse moving means for moving in the plate width direction, swivel moving means for swiveling the cutting means in a horizontal plane, and knife position measuring means for measuring the position of the knife moved by the both moving means. In equipment, the length of the strip material required to change the plate width is divided into a large number of intermediate points, and based on the change information of the plate width, at the intermediate point, the planned movement position of the knife in the plate width direction. Based on the planned moving position of the knife corresponding to the intermediate point, one section divided by the intermediate point is further finely divided to trace the planned moving position of the knife in the plate width direction. Then, the expected movement position of the knife on the locus is compared with the actual position of the knife by the knife position measuring means to calculate the deviation amount, and the deviation amount is reduced based on the deviation amount. The target angle of the turning movement means and the target position of the traverse movement means are set so that the knife movement positions between the intermediate points are sequentially controlled on the locus so that the knife reaches the final target position. It is possible to effectively use the memory in the arithmetic circuit without using a large amount by providing the control means to move the arithmetic circuit. Also, by performing the minimum necessary pre-calculation, the arithmetic processing can be performed in a short time. Is. Therefore, even when recalculation is necessary due to a change in the trimming condition immediately before, it is possible to flexibly deal with it. For example, even if the line speed changes, you can recalculate without changing the number of divisions, so the arithmetic processing ends quickly,
A control operation that reflects the result is possible.

Since the position of the knife is confirmed and the position is controlled for each scanning between the intermediate points, the position of the knife can be accurately controlled on the calculated locus, and the locus becomes smooth. , The load on the knife and strip is reduced.

[Brief description of drawings]

FIG. 1 is a schematic view of a swivel side trimmer equipment showing an example of an embodiment according to the present invention.

FIG. 2 is a block diagram of AWC control of a swing side trimmer equipment showing an example of an embodiment according to the present invention.

FIG. 3 is a block diagram of AWC control of a swing-type side trimmer equipment showing an example of an embodiment according to the present invention.

FIG. 4 is a diagram showing an example of the line speed of the strip when the plate width is automatically changed.

FIG. 5 is a diagram showing an example of a strip trimming locus at the time of automatic plate width change. (A) is a figure which shows the locus pattern in V cut mode, (b) is a figure which shows a locus pattern in N cut mode.

FIG. 6 is a flowchart of the side trimmer equipment when changing the board width.

FIG. 7 is a flowchart of the side trimmer equipment when changing the board width.

FIG. 8 is a flowchart of knife position control showing an example of an embodiment according to the present invention.

FIG. 9 is a schematic view of a conventional side trimmer facility.

[Explanation of symbols]

1 Swivel side trimmer equipment 2 strips 2a Leading material 2b trailing material 2c Plate joint weld 2d Welding point identification hole 2e Notcher part 2f cutting locus 2g cutting locus 2h cutting locus 3 Drive side trimmer 4 Operation side trimmer 5 round knife 5a Upper round knife 5b Lower round knife 6 housing 7 Support 8 Notcher 9 Departure shear 10 AWC control device 10a arithmetic circuit 11 Line control device 12 computers 13 rotary electric motor 14 Speed control circuit 15 Drive circuit 16 pulse tacho generator 17 Trimmer transverse axis 18 masher roll

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Tomikawa Fumio             4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture               Inside Mitsubishi Heavy Industries Hiroshima Works (72) Inventor Hidenori Hattori             4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture               Inside Mitsubishi Heavy Industries Hiroshima Works F-term (reference) 3C039 CB24

Claims (2)

[Claims] 1. Arranged on both sides of the running line of the strip material,
Cutting means having a knife for cutting the strip material, traverse movement means for moving the cutting means in the width direction of the strip material, swivel movement means for swiveling the cutting means in a horizontal plane, and both the movement means. In the swivel side trimmer equipment having knife position measuring means for measuring the position of the knife moved by, the length of the strip material required to change the strip width is divided into a large number of intermediate points, and the strip width change information On the basis of the above, the expected movement position of the knife in the plate width direction at the intermediate point is calculated, and based on the expected movement position of the knife corresponding to the intermediate point, one section divided by the intermediate point is calculated. It is further divided into smaller parts, and the planned moving position of the knife in the plate width direction is calculated as a locus, and the planned moving position of the knife on the locus and the actual nudge by the knife position measuring means are calculated. If the positions of the IFs are compared with each other, the shift amount is calculated, and the target angle of the turning movement means and the target position of the traverse movement means are set based on the shift amount so that the shift amount becomes smaller, A swivel side trimmer equipment comprising a control means for controlling the moving position of the knife between the intermediate points on the locus to move the knife to a final target position. 2. Arranged on both sides of the running line of the strip material,
Cutting means having a knife for cutting the strip material, traverse movement means for moving the cutting means in the width direction of the strip material, swivel movement means for swiveling the cutting means in a horizontal plane, and both the movement means. In the control method of the swivel side trimmer equipment having a knife position measuring means for measuring the position of the knife moved by, the length of the strip material required to change the strip width is divided into a large number of intermediate points, Based on the change information, the planned movement position of the knife in the plate width direction at the intermediate point is calculated, and based on the planned movement position of the knife that corresponds to the intermediate point, 1 is divided by the intermediate point. The two sections are further finely divided to calculate the planned moving position of the knife in the plate width direction as a locus, and the planned moving position of the knife on the locus and the knife position measuring means are calculated. Therefore, the actual knife position is compared, the deviation amount is calculated, and the target angle of the turning movement means and the target position of the traverse movement means are set based on the deviation amount so that the deviation amount becomes small. A method for controlling a swivel side trimmer equipment, characterized in that the moving position of the knife between the respective intermediate points is sequentially controlled on the locus to move the knife to a final target position.