JP2020116588A - Transport device controlling method - Google Patents

Abstract

To suppress meander of a plate while applying tensile force of a prescribed range to the plate in a transport device which has plural pinch roll units in series.SOLUTION: In order to control tensile force of a plate to a prescribed allowable range, at least one pinch roll unit gives drive power to the plate, and further, at least one other pinch roll unit performs control for giving brake force to the plate. In the pinch roll unit which gives drive power to the plate, a rolling device at a working side and a driving side of the pinch roll unit is operated in a direction in which a load at a plate width center position target value side is relatively increased compared to the other with a plate width center position current value as a reference. In the pinch roll unit which gives brake force to the plate, a rolling device at the working side and the driving side of the pinch roll unit is operated in a direction in which the load at the plate width center position target value side is relatively decreased compared to the other with a plate width center position current value as a reference.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a control method for a transfer device.

In the plate material manufacturing line, a pinch roll device is used that clamps the plate material with a pair of upper and lower pinch rolls and conveys the plate material while applying tension to the plate material in order to smoothly transport the plate material while preventing out-of-plane deformation of the plate material. (For example, refer to Patent Document 1).

JP-A-8-108208

In the apparatus for transporting the plate material as described above, the center position of the plate width of the plate material may deviate from the center of the transport line when the plate material is transported. Although this phenomenon will be referred to as “plate meandering” in the present disclosure, in the worst case, a phenomenon may occur in which a part of the plate material bites out of the pinch roll body and damages the plate material.

The present disclosure has been made in view of the above circumstances, and particularly in a plate material conveying device in which a plurality of pinch roll devices are arranged in series in a conveying line, the plate width center position of the plate material is favorably controlled to the plate width center target position. The purpose is to do.

The inventors of the present invention have earnestly conducted research on a conveyance device capable of suppressing meandering of a plate material and a control method thereof. The present inventors first measure the load at both axial end portions of the pinch roll, consider that the plate material meanders to the side where the load is large, and relatively tighten the reduction position on the side where the load is large. It was considered that the configuration of the prior art is effective in that the plate material is allowed to escape to the side where the load is small and the meandering is improved by performing the rolling position control in the direction. However, even when the rolling position control is performed, the plate material cannot be released to the side where the load is small, and the meandering may not be sufficiently improved.

Therefore, as a result of diligent studies, the inventors of the present invention, when the pinch roll device applies a braking force in the transport direction to the plate material and the exit side tension is larger than the entrance side tension, the meandering of the plate material by the above-described conventional technique. However, in the opposite case, that is, when the pinch roll device applies a driving force in the conveying direction to the plate material and the entrance side tension is larger than the exit side tension, the meandering of the plate material is reversed in the above-mentioned conventional method. In addition, it is possible to suppress the meandering by controlling the rolling position in the direction opposite to that of the conventional technique, that is, by operating the rolling position on the side where the plate material meanders relatively in the opening direction, and the pinch roll device is substantially effective for the plate material. It was found that the meandering behavior of the plate material cannot be effectively controlled even if the rolling position control is performed when the tension on the inlet side and the tension on the outlet side are substantially equal without giving a driving force or a braking force. Based on this finding, the present inventors have solved the problems of the prior art and have found a control method of an apparatus that conveys a plate material while controlling the center position of the plate width to a target value.

In one aspect of the control method of the transport device according to the present disclosure, a pair of upper and lower pinch rolls that transport the plate material, a drive device that drives the pinch rolls, and at least both axial end portions of either the upper or lower pinch rolls. A conveying device having a plurality of pinch roll devices in series, each of which includes a pressing device for pressing down the pinch roll, and a load measuring device for measuring a load on at least one of the upper and lower ends of the pinch roll. At least one of the devices applies a driving force to the plate material in the conveying direction, and at least another device applies a braking force to the plate material in a direction opposite to the conveying direction.

Further, in one aspect of the control method of the conveying device according to the present disclosure, a pair of upper and lower pinch rolls that convey the plate material, a driving device that drives the pinch rolls, and at least both axial end portions of the upper and lower pinch rolls, respectively. In a rolling down device for rolling down the pinch roll, at least a plurality of pinch roll devices in series on the same line, each of which is equipped with a load measuring device for measuring the load at each axial end of either one of the upper and lower pinch rolls, At least one of the pinch roll devices applies a driving force to the plate material in the conveying direction, and at least one of the pinch roll devices is a method for controlling the plate material conveying device that applies a braking force to the plate material in a direction opposite to the conveying direction. , Detecting the plate width center position current value of the plate material that is pinched in each of the pinch roll device, the target to bring the plate width center position current value close to the plate width center position target value, the pinch roll is In the pinch roll device that applies a driving force to the plate material in the conveying direction, the plate width center position is used as a reference with respect to the plate width center position with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll. The work side and drive side reduction devices of the pinch roll device are operated in a direction in which the load on the position target value side becomes relatively larger than the other, and the pinch roll controls the plate material in the direction opposite to the conveying direction. In the pinch roll device applying power, with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll, the load on the plate width center position target value side with respect to the plate width center position current value is used as a reference. The work side and drive side reduction devices of the pinch roll device are operated in a direction in which they are relatively smaller than the other.

Further, in one aspect of the control method of the transport device according to the present disclosure, a pair of upper and lower pinch rolls that transport the plate material, a drive device that drives the pinch rolls, and at least both axial end portions of the upper and lower pinch rolls, respectively. In the pressing device for pressing down the pinch roll in, at least one of the plate material having a plurality of pinch roll device in series on the same line in series on the same line, the load measuring device for measuring the load at each axial end of either one of the upper and lower pinch rolls. A method of controlling a conveying device, wherein, at the time of passing the leading end portion of the plate material, every time the leading edge of the plate material bites into a pinch roll device arranged on the downstream side, the most downstream end gripping the leading end portion of the plate material. The leading end portion of the plate material so that the driving force applied to the plate material from the side pinch roll device has a value significantly different from the driving force applied when the leading edge of the plate material bites into the adjacent upstream pinch roll device. The electric motor torque of the drive unit of the most downstream pinch roll device that grips is controlled.

Further, in one aspect of the control method of the conveying device according to the present disclosure, a pair of upper and lower pinch rolls that convey the plate material, a driving device that drives the pinch rolls, and at least both axial end portions of the upper and lower pinch rolls, respectively. In the pressing device for pressing down the pinch roll in, at least one of the plate material having a plurality of pinch roll device in series on the same line in series on the same line, the load measuring device for measuring the load at each axial end of either one of the upper and lower pinch rolls. A method of controlling a conveying device, wherein a plate material existing between pinch roll devices on the upstream side of the most downstream pinch roll device that grips the front end portion of the plate material when the plate material is threaded The motor torque of the drive device of the upstream pinch roll device is controlled so that the tension does not change with time.

Further, in one aspect of the control method of the conveying device according to the present disclosure, a pair of upper and lower pinch rolls that convey the plate material, a driving device that drives the pinch rolls, and at least both axial end portions of the upper and lower pinch rolls, respectively. In the pressing device for pressing down the pinch roll in, at least one of the plate material having a plurality of pinch roll device in series on the same line in series on the same line, the load measuring device for measuring the load at each axial end of either one of the upper and lower pinch rolls. A method of controlling a conveying device, wherein when the tail end portion of the plate material is passed, the tail end portion of the plate material is gripped at each time when the tail end of the plate material passes through the pinch roll device arranged on the upstream side. The tension acting on the plate material existing between the upstreammost side pinch roll device and the adjacent downstream side pinch roll device is adjusted so that the motor torque of the drive device of the most upstream side pinch roll device is not changed over time. Control.

Further, in one aspect of the control method of the conveying device according to the present disclosure, a pair of upper and lower pinch rolls that convey the plate material, a driving device that drives the pinch rolls, and at least both axial end portions of the upper and lower pinch rolls, respectively. In the pressing device for pressing down the pinch roll in, at least one of the plate material having a plurality of pinch roll device in series on the same line in series on the same line, the load measuring device for measuring the load at each axial end of either one of the upper and lower pinch rolls. A method for controlling a conveying device, wherein, when the leading edge of the plate material is threaded, the most downstream side grips the leading edge of the plate material every time the leading edge of the plate material bites into the pinch roll device arranged on the downstream side. The pinch roll device located upstream of the side pinch roll device and gripping the plate material operates the rolling down device to release the rolling force, and at the same time, the tension acting on the plate material at the position where the rolling force is released is released. The motor torque of the drive device of the most downstream pinch roll device is controlled so as to maintain it.

Further, in one aspect of the control method of the conveying device according to the present disclosure, a pair of upper and lower pinch rolls that convey the plate material, a driving device that drives the pinch rolls, and at least both axial end portions of the upper and lower pinch rolls, respectively. In the pressing device for pressing down the pinch roll in, at least one of the plate material having a plurality of pinch roll device in series on the same line in series on the same line, the load measuring device for measuring the load at each axial end of either one of the upper and lower pinch rolls. A method of controlling a conveying device, wherein, at the time of passing the tail end portion of the plate material, the tail end of the plate material passes through the pinch roll device arranged on the upstream side, and each time the rolling force is released, at that time, The pinch roll device arranged on the downstream side of the most upstream side pinch roll holding the tail end of the plate material and waiting in the state where the rolling force is released holds the plate material by the most upstream pinch roll device and predetermined. The pinch roll device is operated so as to apply the rolling force of the pinch roll device, and at the same time, the motor torque of the drive device of the pinch roll device is controlled so as to maintain the tension of the plate material on the downstream side of the pinch roll device. ..

According to the present disclosure, in transporting a plate material using a transport device that arranges a plurality of pinch roll devices in series, while controlling the tension acting on the plate material within a predetermined range, without deteriorating the shape of the plate material, The center position of the plate width can be favorably controlled to the target value, and stable plate passing can be realized.

It is a figure which shows the outline of the control method of the board|plate material conveying apparatus which concerns on this indication. It is a figure which shows the outline of the control method of the board|plate material conveying apparatus which concerns on this indication. It is a figure which shows the outline of the control method of the board|plate material conveying apparatus which concerns on this indication. It is a figure which shows the outline of the control method of the board|plate material conveying apparatus which concerns on this indication. It is a figure which shows schematic structure of the pinch roll apparatus which concerns on this indication. 3 is a flowchart showing an outline of a method of controlling the plate material conveying device according to the present disclosure. The figure which shows the positional relationship of a pinch roll and a board|plate material. It is a figure which shows the target value of the load distribution between plate material-pinch rolls, and a load action point position when a plate material is approaching the working side under the condition that the pinch roll applies a driving force to the plate material in the conveying direction. It is a figure which shows the target value of the load distribution between plate material-pinch rolls, and a load action point position when a plate material is approaching the drive side on the condition that the pinch roll gives the drive force which goes to a board material in a conveyance direction. A diagram showing the target value of the load distribution between the plate material and the pinch roll and the position of the load action point when the plate material is close to the working side under the condition that the pinch roll applies a braking force to the plate material in the direction opposite to the conveying direction. Is. Diagram showing the target value of the load distribution between the plate material and the pinch roll and the position of the load action point when the plate material is close to the driving side under the condition that the pinch roll applies a braking force to the plate material in the direction opposite to the conveying direction Is. It is a figure which shows the relationship between the work side and drive side load measured value, and a board position. It is a figure which shows the outline of the control method of the board|plate material conveying apparatus of this indication at the time of a board|plate material front-end board|plate targeting for the runout table of the thin plate hot rolling installation which has arrange|positioned several pinch roll apparatuses. It is a figure which shows the outline of the control method of the board|plate material conveyance apparatus of this indication in the process of introducing the winder of a board|plate front-end|tip part targeting the runout table of the thin plate hot rolling installation which has arrange|positioned several pinch roll apparatuses. It is a figure which shows the run-out table of the thin-plate hot rolling installation which has arrange|positioned several pinch roll apparatuses, and is a figure which shows the outline of the control method of the plate material conveying apparatus of this indication at the time of plate board tail end part passing. It is a figure which shows the outline of the control method of the board|plate material conveying apparatus of this indication at the time of a board|plate material front-end board|plate targeting for the runout table of the thin plate hot rolling installation which has arrange|positioned several pinch roll apparatuses. It is a figure which shows the outline of the control method of the board|plate material conveyance apparatus of this indication in the process of introducing the winder of a board|plate front-end|tip part targeting the runout table of the thin plate hot rolling installation which has arrange|positioned several pinch roll apparatuses. It is a figure which shows the run-out table of the thin-plate hot rolling installation which has arrange|positioned several pinch roll apparatuses, and is a figure which shows the outline of the control method of the plate material conveying apparatus of this indication at the time of plate board tail end part passing. It is a figure which shows the outline of the control method of the board|plate material conveying apparatus of this indication at the time of a board|plate material front-end board|plate targeting for the runout table of the thin plate hot rolling installation which has arrange|positioned several pinch roll apparatuses. It is a figure which shows the outline of the control method of the board|plate material conveyance apparatus of this indication in the process of introducing the winder of a board|plate front-end|tip part targeting the runout table of the thin plate hot rolling installation which has arrange|positioned several pinch roll apparatuses. It is a figure which shows the run-out table of the thin-plate hot rolling installation which has arrange|positioned several pinch roll apparatuses, and is a figure which shows the outline of the control method of the plate material conveying apparatus of this indication at the time of plate board tail end part passing. It is a figure which shows typically the force of the conveyance direction applied to a board|plate material in the pinch roll vicinity when an entrance side tension is larger than an exit side tension. It is a figure which shows the left-right difference and the moment of the conveyance direction load applied to a board|plate material, when an entrance side tension is larger than an exit side tension and the pinch roll has pinched the working side of a plate material stronger than the drive side. It is a figure which shows typically the force of the conveyance direction applied to a board|plate material in the vicinity of a pinch roll when an entrance side tension is smaller than an exit side tension. It is a figure which shows the left-right difference and the moment of the conveyance direction load applied to a board|plate material when the entrance side tension is smaller than the exit side tension, and the pinch roll is pinching the working side of a plate material stronger than the drive side. It is not preferable in comparison with FIG. 13 which shows the outline of the control method of the plate material conveying device of the present disclosure at the time of passing the plate material front end portion, which is targeted for the runout table of the thin plate hot rolling equipment in which a plurality of pinch roll devices are arranged. It is a figure which shows embodiment.

Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same function will be denoted by the same reference symbols, without redundant description.

First, the outline of the plate pinch roll device 100 according to the present disclosure will be described with reference to FIG. 5. The pinch roll device 100 is a device that conveys the plate material 2 in a predetermined conveying direction while sandwiching the plate material 2 by a pair of upper and lower pinch rolls 1a and 1b in a plate material 2 manufacturing/processing line. The plate pinch roll device 100 includes pinch rolls 1a and 1b, reduction devices 3a and 3b, and load measuring devices 4a and 4b. The pinch rolls 1a and 1b are configured to be driven by the electric motor 6 via the spindles 7a and 7b and the pinion stand 8. In the present disclosure, the spindles 7a and 7b, the pinion stand 8, the electric motor 6, and the drawings are shown. The control device of the electric motor 6 which is not present is collectively referred to as a drive device. Further, the pinch roll device 100 of FIG. 5 includes a plate edge position measuring device 5 that measures the plate edge position on the working side of the plate material as an example of the embodiment of the present disclosure.

The pinch rolls 1a and 1b are rotating bodies that sandwich the plate material 2 from above and below with a predetermined pressure and convey the plate material 2 in a predetermined conveyance direction. One end side (working side) in the axial direction of the upper pinch roll 1a is connected to the reduction device 3a via a chock, and the other end side (driving side) in the axial direction is connected to the reduction device 3b via a chock. ing. The working side of the lower pinch roll 1b is connected to the load measuring device 4a via a chock, and the driving side is connected to the load measuring device 4b via a chock.

The pressing devices 3a and 3b press down the pinch roll 1a on each of the working side and the driving side (both axial end portions) of the pinch roll 1a. The rolling down device 3a rolls down the working side of the pinch roll 1a at the set pinch roll rolling down position. The rolling down device 3b rolls down the driving side of the pinch roll 1a at the set pinch roll rolling down position.

The load measuring devices 4a and 4b measure loads on the working side and the driving side of the pinch roll 1b. The load measuring device 4a measures the load on the working side of the pinch roll 1b. The load measuring device 4b measures the load on the drive side of the pinch roll 1b.

The electric motor 6 plays a role of applying a predetermined tension to the plate material by applying a predetermined driving torque or braking torque to the pinch rolls 1a and 1b via the pinion stand 8 and the spindles 7a and 7b.

The plate edge position measuring device 5 for the plate material continuously (at all times) measures the plate edge position of the plate material 2 being conveyed by the pinch rolls 1a, 1b. The plate edge position measuring device 5 is fixedly arranged, for example, at a predetermined position in the vicinity of the pinch roll device 100, and the plate material 2 being conveyed is detected based on the detected plate edge position and the known plate width of the plate material 2. The plate width center position of is derived. Alternatively, when the plate width of the plate member 2 is not known, the plate edge position measuring device 5 may derive the plate width center position of the plate member 2 by measuring both end positions of the plate member 2 in the plate member width direction. The position measuring method by the plate edge position measuring device 5 is not limited, and for example, a known sensor such as a photomicro sensor, area sensor, photoelectric sensor, proximity sensor, fiber sensor, or laser sensor may be used. it can.

Next, with reference to FIG. 1, one aspect of the control method of the transfer device of the present disclosure will be described in detail. FIG. 1 exemplifies a control method in a transport device having two pinch roll devices. In FIG. 1A, the motor torque of the #1 pinch roll device located upstream of the two pinch roll devices in the sheet material conveying direction 11 is α·T, and the #2 pinch roll device located downstream of the pinch roll device. The motor torque of the device is -α·T. Here, T(>0) is the motor torque of the pinch roll device that gives the tension σ(>0) to the plate material, and α is a constant in the range of 0<α<1. When the motor torque is a positive value, the pinch roll device applies a driving force to the plate material in the conveying direction, and when the motor torque is a negative value, the pinch roll device applies a braking force to the plate material in the opposite direction to the conveying direction. Will be given. In FIG. 1(a), the tension on the inlet side of the #1 pinch roll device is controlled to σ by a facility (not shown) such as a bridle roll, and the motor torque of the #1 pinch roll device is α·T. The tension on the exit side of the #1 pinch roll device is smaller than the tension on the entrance side by α·σ, which is (1-α)σ. Further, in FIG. 1A, since the braking force is given by setting the motor torque of the #2 pinch roll device to -α·T, the #2 pinch roll device outlet side tension is α/σ less than the inlet side tension. It becomes larger and becomes σ, that is, the same tension as the #1 pinch roll device entrance side tension.

In FIG. 1A, if the motor torque of the #2 pinch roll device is set to the same driving force of α·T as that of the #1 pinch roll device, the #2 pinch roll device output side tension is (1-2α)σ. Become. In this case, the tension on the exit side of the #2 pinch roll device is significantly smaller than σ, and there is a high risk of the threading becoming unstable. If α is greater than 0.5, the #2 pinch roll device exit side tension is a negative value, that is, a compressive force. If this compressive force exceeds the buckling limit of the plate material, stable tension is maintained. The board becomes impossible. From the above, based on the above-mentioned findings by the inventors of the present invention that it is necessary to give a significant driving force or braking force to the pinch roll device in order to carry out effective rolling position control for suppressing the meandering of the plate, In order to keep the tension of the plate material within a certain range in which stable plate passing is possible, as shown in FIG. 1A, one of the pinch roll devices gives a driving force to the plate material in the conveying direction and the other one of them It is necessary to control the plate material so as to apply a braking force in a direction opposite to the conveying direction.

In contrast to FIG. 1A, in FIG. 1B, the motor torque of the #1 pinch roll device is −α·T, and the motor torque of the #2 pinch roll device is α·T. As a result, the tension between the #1 pinch roll device and the #2 pinch roll device becomes (1+α)σ, but the #2 pinch roll exit side tension becomes the same σ as the #1 pinch roll entrance side tension, and From the point of view, stable striping is possible.

In FIG. 1B, if the motor torque of the #2 pinch roll device is set to the same braking force of -α·T as that of the #1 pinch roll device, the exit side tension of the #2 pinch roll device is (1+2α)σ. .. In this case, when the value of α is relatively large, the tension on the exit side of the #2 pinch roll device becomes significantly larger than σ, and the risk of breakage of the plate material increases. In order to perform effective meandering control in the pinch roll device, the pinch roll device needs to add a sufficient driving force or braking force, and therefore, a larger value of α is preferable.

In the embodiment of FIG. 2A, the motor torque of the #1 pinch roll device is α·T, and the motor torque of the #2 pinch roll device is −β·T. Here, β is a constant in the range of 0<β<1 like α. As a result, in the embodiment of FIG. 2(a), the #2 pinch roll device exit side tension is (1-α+β)σ, and while keeping the tension level within a certain range according to the value of β, the subsequent plate material processing is performed. It becomes possible to control the tension to be different from the tension on the inlet side of the #1 pinch roll so as to be suitable.

In the embodiment of FIG. 2B, the motor torque of the #1 pinch roll device is -α·T, and the motor torque of the #2 pinch roll device is β·T. As a result, in the embodiment of FIG. 2B, the #2 pinch roll device exit side tension is (1+α−β)σ, and in this case as well, the tension level is kept within a certain range according to the value of β, and The tension can be controlled to be different from the tension on the #1 pinch roll entrance side so as to be suitable for plate material processing.

FIG. 3 shows an embodiment of the control method of the present disclosure in a transport device having more pinch roll devices, that is, n pinch roll devices. In FIG. 3A, the #1 pinch roll device and the #2 pinch roll device give the same electric motor torque as in the case of FIG. 1A, and after the #3 pinch roll device, the electric motor torque of the repeating pattern is given. Are controlled. As a result, the tension of the plate material is repeated in two levels of σ and (1-α)σ, and the tension level does not become abnormal even if many pinch roll devices are arranged, and a good meandering control function is provided. It is possible to achieve stable and stable threading.

In FIG. 3(b), the #1 pinch roll device and the #2 pinch roll device give the same electric motor torque as in the case of FIG. 1(b), and after the #3 pinch roll device, give the electric motor torque of the repeating pattern. Control. As a result, the tension of the plate material repeats two levels of σ and (1+α)σ, and even if many pinch roll devices are arranged, the tension level does not become abnormal, and stable threading is possible. Become.

Unlike FIG. 3A, FIG. 3C shows an embodiment in which two continuous pinch roll devices are provided with the same electric motor torque. That is, the motor torque of the #1 pinch roll device is α·T, but the motor torque of the #2 pinch roll device and the #3 pinch roll device is −α·T, and the motor torque of the #4 pinch roll device and the #5 pinch roll device. The torque is α·T, and the motor torque control is performed in the repeating pattern up to #n pinch rolls. As a result, the tension of the plate material repeats the pattern of σ, (1-α)σ, σ, and (1+α)σ, and even in this case, the tension level becomes abnormal even if many pinch roll devices are arranged. Stable passing is possible without any problem.

Similar to FIG. 3C, FIG. 3D is an embodiment in which two continuous pinch roll devices are given the same electric motor torque, but the sign of the electric motor torque is reversed from that in FIG. 3C. It is a pattern. That is, the motor torque of the #1 pinch roll device is −α·T, but the motor torque of the #2 pinch roll device and the #3 pinch roll device is α·T, and the motor torque of the #4 pinch roll device and the #5 pinch roll device. The torque is -α·T, and the motor torque control is executed in the repeating pattern up to #n pinch rolls. As a result, the tension of the plate material repeats the pattern of σ, (1+α)σ, σ, and (1-α)σ, and even in this case, the tension level becomes abnormal even if many pinch roll devices are arranged. Stable passing is possible without any problem.

FIG. 3(e) shows an embodiment of a conveyance device in which pinch roll devices with zero electric motor torque are mixed. The motor torque of the #1 pinch roll device is −α·T, but the motor torque of the #2 pinch roll device and the #3 pinch roll device is 0, the motor torque of the #4 pinch roll device is α·T, and the #5 pinch roll device. The electric motor torque of the roll device is −α·T, and the electric motor torque control is performed in the same pattern as in FIG. As a result, the tension of the plate material between the #1 pinch roll device and the #4 pinch roll device becomes (1+α)σ, and the tension after #4 pinch roll becomes a pattern of σ and (1+α)σ, and in this case as well. , Even if many pinch roll devices are arranged, the tension level does not become abnormal. In addition, although the #2 pinch roll device and the #3 pinch roll device with the electric motor torque of 0 cannot perform effective meandering control, in the upstream #1 pinch roll device and the downstream #4 pinch roll device. Since effective meandering control can be performed, stable sheet passing can be performed as the entire conveying device.

したがってα_ｉ＝β_ｉ≡αであれば図３（ａ）と同じ張力状態となるが、例えば、α_ｉ＜β_ｉであれば下流側で次第に張力が大きくなる。このような張力分布は、例えば、板材の温度が、上流が高く、下流が低くなるようなプロセスに対しては、下流側の方が板材の変形抵抗が高くなるため好適となる場合が多い。逆に、α_ｉ＞β_ｉとすれば下流側で次第に張力を小さくすることもできる。なお、この実施態様では、α_ｉ、β_ｉの値をｉの値に応じて変更することによって、種々の張力パターンを得ることができ、板材の加熱、冷却、表面処理等の種々の処理装置の配置に応じて最適な張力状態を実現しつつ、有効な蛇行制御実施し、安定通板を実現することが可能となる。 FIG. 4 shows an embodiment in which the tension level of the plate material can be gradually changed from the upstream side to the downstream side of the transport line. The transport device of FIG. 4A has 2n pinch rolls, and the motor torque of the #(2i−1) pinch roll device is α _i ·T( for any integer i of 1≦i≦n. 0<α _i <1), the motor torque of the #2i pinch roll device is −β _i ·T (0<β _i <1). As a result, the exit side tension σ _2i of the #2i pinch roll device is expressed by the following equation.

Therefore, if α _i =β _i ≡α, the tension state is the same as in FIG. 3A, but if α _i <β _i , for example, the tension gradually increases on the downstream side. Such a tension distribution is often suitable, for example, for a process in which the temperature of the plate material is high in the upstream and low in the downstream because the deformation resistance of the plate material is higher on the downstream side. On the contrary, if α _i >β _i , the tension can be gradually reduced on the downstream side. In this embodiment, various tension patterns can be obtained by changing the values of α _i and β _{i according to} the value of i, and various processing devices such as heating, cooling, and surface treatment of the plate material can be obtained. It is possible to implement effective meandering control and realize stable threading while achieving an optimal tension state according to the arrangement of the.

したがって図４（ｂ）の実施態様は図４（ａ）の実施態様に比べて、α_ｉ、β_ｉの符号を反転したものとなっており、＃（２ｉ−１）ピンチロール装置出側張力が入側張力に比べて高く設定されることが特徴となっている。 The transport device of FIG. 4B has 2n pinch rolls, and the motor torque of the #(2i-1) pinch roll device is -α _i ·T for any integer i of 1≦i≦n. (0<α _i <1), the motor torque of the #2i pinch roll device is β _i ·T (0<β _i <1). As a result, the exit side tension σ _2i of the #2i pinch roll device is expressed by the following equation.

Therefore, in the embodiment of FIG. 4B, the signs of α _i and β _i are inverted as compared with the embodiment of FIG. 4A, and the tension on the exit side of the #(2i-1) pinch roll device is increased. Is characterized by being set higher than the entrance tension.

なお板幅の値が不確定な場合は駆動側にも板端位置測定装置を配し、駆動側板端位置ｚ_Ｄを実測して、作業側板端位置ｚ_Ｗと駆動側板端位置ｚ_Ｄの平均値として板幅中心位置現在値ｚ_Ｃを算出する。板幅中心位置現在値は厳密にはピンチロール直下の板幅中心位置であることが好ましいが、板端位置測定装置５が搬送装置に十分近ければ上記計算値ｚ_Ｃを板幅中心位置現在値とみなしてよい。さらに正確さを期する場合、搬送装置の入側と出側双方に板端位置測定装置を配備し、それぞれの実測値から計算される板幅中心位置ｚ_Ｃの平均をとって板幅中心位置現在値とすることが好ましい。本開示では以上のように実測値から演算によって板幅中心位置現在値を得ることを“板幅中心位置現在値を検出”と表現している。 Next, with reference to Drawing 6, an embodiment of a control method of a rolling down device of a pinch roll device of this indication is explained in detail. First, the current value of the plate width center position is detected. When the device 5 capable of continuously measuring the plate edge position as shown in FIG. 5 is provided near the conveying device, the plate width center position current value is calculated from this measured value and the known plate width. For example, as shown in FIG. 5, it is assumed that the position is defined by defining a coordinate z with the line center as the origin and the working side is positive along the pinch roll axis, and the position is measured by the plate edge position measuring device 5 provided on the working side. When the measured work-side plate end position is z _W and the known plate width is b, the drive-side plate end position is estimated by z _W −b, so the plate width center position current value z _C is the average of these. The value is calculated by the following formula.

When the plate width value is indeterminate, a plate end position measuring device is also arranged on the drive side, the drive side plate end position z _D is measured, and the working side plate end position z _W and the drive side plate end position z _D are averaged. As the value, the plate width center position current value z _C is calculated. Strictly speaking, the plate width center position current value is preferably the plate width center position immediately below the pinch roll, but if the plate edge position measuring device 5 is sufficiently close to the conveying device, the calculated value z _C is set to the plate width center position current value. May be considered For further accuracy, a plate edge position measuring device is provided on both the inlet side and the outlet side of the conveying device, and the average of the plate width center position z _C calculated from the respective measured values is averaged to determine the plate width center position. The current value is preferable. In the present disclosure, obtaining the plate width center position current value from the actual measurement value as described above is expressed as “detecting the plate width center position current value”.

Returning to the flowchart of FIG. 6, the description of the control method of the transport device according to the present disclosure will be continued. After detecting the current value of the plate width center position of the plate member 2, it is determined whether the pinch rolls 1a and 1b apply a driving force to the plate member 2 in the conveying direction. In one aspect of the control method of the transport device according to the present disclosure, the electric motor 6 that drives the pinch rolls 1 a and 1 b performs torque control to apply a predetermined tension to the plate material 2. This specifically controls the current supplied to the electric motor. Therefore, it is determined whether or not the pinch rolls 1a and 1b apply a driving force to the plate material 2 in the transport direction by extracting the control target value of the electric current of the electric motor or measuring the actual current value.

Further, in the flowchart of FIG. 6, when it is determined that the pinch rolls 1a and 1b apply a driving force to the plate material 2 in the transport direction, the plate width is distributed with respect to the plate width direction distribution of the load acting between the plate material and the pinch rolls. Using the current center position as a reference, of the working side and the driving side of the pinch rolls, the pressing devices on the working side and the driving side of the pinch rolls are operated in the direction in which the load on the plate width center position target value side becomes relatively large. .. This operation of the rolling position will be described with reference to FIG. In FIG. 7, the plate width center position current value 10 is closer to the working side with respect to the line center 9 which is the center of the body length of the pinch roll. Here, for simplification of description, the plate width center position target value at this time is assumed to coincide with the line center 9, but the target value may be at another position. In this case, the control target is to return the plate material 2 to the driving side. At that time, with respect to the distribution in the plate width direction of the load acting between the plate material and the pinch roll, the plate width center position is set with the plate width center position current value 10 as a reference. The reduction device is operated in a direction in which the load on the target value (line center 9) side, that is, the drive side becomes relatively larger than the load on the working side. Specifically, the working side rolling position is operated in the roll gap opening direction, and the driving side rolling position is operated in the roll gap closing direction. In this disclosure, performing the reduction position operation in the opposite direction on the working side and the driving side by the same amount is referred to as a reduction leveling operation.However, the total load between the pinch roll and the plate material is reduced by the reduction leveling operation described above. The load distribution changes without change, and the plate material 2 in FIG. 7 returns to the drive side as the pinch roll rotates.

On the other hand, when it is determined that the pinch rolls 1a and 1b apply the braking force to the plate material 2 in the direction opposite to the transport direction, the plate width center position is determined with respect to the plate width direction distribution of the load acting between the plate material and the pinch rolls. Using the current value as a reference, of the working side and the driving side of the pinch roll, the reduction devices on the working side and the driving side of the pinch roll are operated in the direction in which the load on the plate width center position target value side becomes relatively small. In the example of FIG. 7, with respect to the distribution in the plate width direction of the load acting between the plate material and the pinch rolls, the load on the plate width center position target value (line center 9) side, that is, the driving side is set with the plate width center position current value 10 as a reference. , Operate the reduction device in a direction in which it becomes relatively smaller than the load on the working side. That is, the plate material 2 in FIG. 7 returns to the driving side as the pinch roll rotates by performing the reduction leveling operation in the direction of closing the working side roll gap and opening the driving side roll gap. When the pinch roll does not apply a driving force or a braking force to the plate material, that is, when the pinch roll is in an idle rotation state, the reduction leveling operation is not always effective for the meandering control, and conversely there is a risk of disturbing the shape of the plate material. Yes, so don't do it.

Next, details of the reduction leveling operation shown in S1 and S2 in the flowchart of FIG. 6 will be described with reference to more specific embodiments.

ここで、δは制御パラメータである。式（４）は板幅中心位置現在値ｚ_Ｃと板幅中心位置目標値ｚ_Ｔとの差で板位置誤差を算出し、これに制御パラメータδを掛けたものを板幅中心位置現在値ｚ_Ｃに加算して荷重作用点位置ｚ_{ｐ＿ｒｅｆ}を演算している。なお荷重作用点位置とは作業側荷重測定装置による荷重測定値Ｐ_Ｗと駆動側荷重測定装置による荷重測定値Ｐ_Ｄの二つの力を、荷重およびモーメントバランスのとれる一つの集中荷重Ｐに置き換えた場合の荷重作用点の位置を示すものである。そして荷重Ｐ_Ｗ，Ｐ_Ｄは板材からピンチロールに作用する荷重の反力であるから、当該荷重作用点位置は、板材とピンチロール間に作用する荷重分布を、荷重およびモーメントバランスの観点から集中荷重に置き換えた場合の荷重作用点位置とも一致する。 The plate width of the plate member 2 is defined as b, and the coordinate z having the line center 9 as the origin and the positive side on the working side along the pinch roll axis is defined as shown in FIG. _c , and the coordinate of the plate width center position target value is z _T. In the example of FIG. 8, for simplicity of explanation, it is assumed that z _T =0, that is, the plate width center position target value matches the line center 9. At this time, the load action point position target value z _{p_ref} is derived, for example, by the following equation (4).

Here, δ is a control parameter. Formula (4) calculates the plate position error by the difference between the plate width center position current value z _C and the plate width center position target value z _T, and multiplies this by the control parameter δ to obtain the plate width center position current value z _{T. The} load action point position z _{p_ref} is calculated by adding to _C. The position of the load acting point is to replace the two forces of the load measured value P _W by the work side load measuring device and the load measured value P _D by the drive side load measuring device with one concentrated load P that can balance the load and the moment. In this case, the position of the load acting point is shown. Since the loads P _W and P _D are reaction forces of the load acting on the pinch roll from the plate material, the load action point positions concentrate the load distribution acting between the plate material and the pinch roll from the viewpoint of load and moment balance. It also coincides with the position of the load application point when replaced with a load.

First, a case where the pinch roll applies a driving force to the plate material in the conveying direction, that is, a specific example of the reduction leveling operation of S1 in FIG. 6 will be described in detail. In this case, the control parameter δ in equation (4) is set to a negative value. For example, when δ=−0.5, z _{p _ref} =0.5z _C is obtained from the equation (4) in consideration of z _T =0. In this way, as shown in FIG. 8, when z _C >0, that is, when the plate width center position current value 10 is on the working side of the line center 9, the load action point position target value is lower than the plate width center position current value 10. Since it is located on the drive side, the distribution 20 of the load acting between the plate material and the pinch rolls in the plate width direction is, as shown in FIG. 8, based on the plate width center position current value as a reference. The load on the target value side, that is, the load on the drive side becomes relatively larger than that on the working side.

ここで、ζは板幅中心を原点とし作業側を正とする板幅方向座標、ｐ_Ｃは板幅中心位置の線荷重、ｐ_ｄｆは作業側板端の線荷重と駆動側板端の線荷重の差異である。
式（５）の荷重分布による板幅中心まわりのモーメントＭを計算すると次のようになる。

したがって、板材〜ピンチロール間の荷重分布を力およびモーメントに関して等価な集中荷重で置き換えたときの力の作用点の板幅中心からの距離ζ_Ｐは次式で計算される。

式（７）より、荷重作用点位置が板幅中心より駆動側にある場合、すなわちζ_Ｐ＜０の場合、ｐ_ｄｆ＜０となり、駆動側の板材〜ピンチロール間荷重が作業側の板材〜ピンチロール間荷重よりも大きくなることが理解できる。 The relationship between the position of the load acting point and the load distribution between the plate material and the pinch roll is quantitatively shown. The load distribution between the plate material and the pinch roll is approximated by a linear distribution, and the load p per unit width at an arbitrary position is expressed by the following equation. Hereinafter, the load per unit width is referred to as a line load.

Here, ζ is the plate width direction coordinate with the plate width center as the origin and the working side is positive, p _C is the linear load at the plate width center position, and p _df is the linear load at the working side plate end and the driving side plate end. There is a difference.
Calculation of the moment M about the plate width center by the load distribution of the equation (5) is as follows.

Therefore, when the load distribution between the plate material and the pinch roll is replaced with the concentrated load equivalent to the force and the moment, the distance ζ _P from the plate width center of the action point of the force is calculated by the following formula.

From the formula (7), when the position of the load acting point is on the drive side from the plate width center, that is, when ζ _P <0, p _df <0, and the plate material on the drive side-the plate material on the working side is the load between the pinch rolls- It can be understood that the load is larger than the load between pinch rolls.

Ｐ_{Ｗ＿ｒｅｆ}，Ｐ_{Ｄ＿ｒｅｆ}は、式（８）で計算されるＰ_{ｄｆ＿ｒｅｆ}とトータル荷重の目標値Ｐ_＿ｒｅｆ＝Ｐ_{Ｗ＿ｒｅｆ}＋Ｐ_{Ｄ＿ｒｅｆ}とから以下の式（９）および式（１０）で計算される。

Now, after the load action point position target value z _{p_ref} is obtained as described above, an example of a specific procedure up to the reduction leveling operation will be continued. First, the load target values P _{W_ref} and P _{D_ref} on the working side and the driving side are derived. Specifically, based on the load action point position target value z _{p_ref} given by the equation (4), the lateral difference of the pinch roll load (working side-driving side), that is, the target value P _{df_ref} of the differential load is set to the pinch. It is calculated by the following formula derived from the roll moment balance.

P _{W_ref} and P _{D_ref} are calculated by the following formulas (9) and (10) from P _{df_ref} calculated by the formula (8) and the target value of the total load _{P_ref} =P _{W_ref} +P _{D_ref} .

Next, based on the load target values P _{W_ref} and P _{D_ref} on the working side and the driving side, respectively, and the current load values on the working side and the driving side measured by the load measuring devices 4a and 4b, respectively, the working side and the driving side. The target value of the pinch roll rolling position control amount in each case is derived. If the rigidity of the pinch roll device considering the plate thickness, plate width and elastic constant of the plate member 2 is K on one side and the current values of the loads measured by the load measuring devices 4a and 4b are P _W and P _D , the pinch rolls are The working side target value _{Δg W_ref} and the driving side target value _{Δg D_ref} of the _rolling position correction amount of the device are given by the following equations (11) and (12).

式（１３）に基づいて導出した作業側ピンチロール圧下位置制御量の目標値Δｇ_Ｗに基づき作業側の圧下装置３ａを制御すると共に、式（１４）に基づいて導出した駆動側ピンチロール圧下位置制御量の目標値Δｇ_Ｄに基づき駆動側の圧下装置３ｂを操作して、作業側および駆動側それぞれのピンチロール圧下位置を制御する。このようにして圧下位置制御を行うことにより、制御の１サイクルが完結し、以後この一連の操作を繰り返すことで圧下レベリング操作による良好な蛇行制御が実現できる。 Here, _{Δg W_ref} and _{Δg D_ref} are defined as positive in the direction in which the vertical pinch roll gap is increased. The target values _{Δg W_ref} and _{Δg D_ref} of the _rolling position correction amounts are multiplied by the scale factor α to _calculate the pinch roll rolling position control amounts Δg _W and Δg _D by the following equations (13) and (14).

While controlling the working-side rolling reduction device 3a based on the target value Δg _W of the working-side pinch roll reduction position control amount derived based on the equation (13), the driving-side pinch roll reduction position derived based on the equation (14). Based on the target value Δg _D of the control amount, the driving side rolling down device 3b is operated to control the pinch roll rolling down positions on the working side and the driving side. By performing the rolling position control in this way, one cycle of control is completed, and by repeating this series of operations thereafter, good meandering control by the rolling leveling operation can be realized.

In the above specific example, the rolling position control may include a simultaneous rolling component in the same direction on the working side and the driving side, but this component controls the pinch roll load, which is the sum of the working side load and the driving side load. Will be done. On the other hand, what is essentially important for the control method of the present disclosure is a reduction leveling component that is in opposite directions on the working side and the driving side, and this component controls the differential load that is the difference between the working side load and the driving side load. Therefore, it is effective to entrust the load control by the simultaneous rolling components to other control functions and to specialize the rolling leveling operation for the meandering control of the plate. Specifically, the differential load control amount ΔP _df is calculated by the difference between the differential load target value P _{df_ref} calculated by the equation (8) and the differential load current value P _df, and the reduction leveling control amount target for achieving this is calculated. The value _{Δg df — ref} is _{calculated in consideration} of the plate thickness, plate width, elastic constant, and deformation characteristics of the pinch roll device, and the reduction leveling control amount Δg _df is calculated in consideration of the scale factor.

Next, with reference to FIG. 9, the procedure of S1 of FIG. 1 when the current value 10 of the plate width center position is on the driving side of the line center 9 will be described. Also in this case, the position of the load acting point is calculated by the equation (4). Considering δ=−0.5 and z _T =0, the position of the load acting point is z _{p_ref} =0.5z _C as in the case of FIG. However, in the case of FIG. 9, since z _C <0, the load acting point position is located on the working side with respect to the plate width center position current value 10. Therefore, in the case of FIG. 9, contrary to FIG. 8, the load between the work-side plate material and the pinch rolls is made larger than the load between the drive-side plate material and the pinch rolls.

Next, a specific example of the reduction leveling operation of S2 of FIG. 6 will be described with reference to FIG. The procedure of S2 is executed when it is determined that the pinch roll applies a braking force to the plate material in the conveying direction. The procedure in this case is also the same as the procedure of S1 described above except for one point. The only difference is that the control parameter δ in equation (4) is set to a positive value. For example, when δ=0.5 and z _T =0 in the equation (4), z _{p_ref} =1.5z _C is obtained. As a result, as shown in FIG. 10, when z _C >0, that is, the plate width center position current value 10 is on the working side of the line center 9, the load action point position target value is further than the plate width center position current value 10. As shown in FIG. 10, the distribution in the plate width direction 20 of the load acting between the plate material and the pinch rolls is located on the working side, and the plate width center position target value side is based on the plate width center position current value as a reference. Load, that is, the load between the plate material on the driving side and the pinch roll is relatively smaller than the load between the plate material on the working side and the pinch roll. The procedure after the load action point position target value is obtained as described above is exactly the same as the procedure in S1.

Next, with reference to FIG. 11, the procedure of S2 in FIG. 6 when the current value 10 of the plate width center position is on the driving side of the line center 9 will be described. Also in this case, the position of the load acting point is calculated by the equation (4). Similar to the embodiment of FIG. 10, if δ=0.5 and z _T =0, then z _{p_ref} =1.5z _C is obtained. However, in the case of FIG. 11, since z _C <0, the load action point position is located on the drive side with respect to the plate width center position current value 10. Therefore, in the case of FIG. 11, contrary to FIG. 10, the load between the work-side plate material and the pinch rolls is made smaller than the load between the drive-side plate material and the pinch rolls.

式（１５）をｚ_Ｃについて解くと板幅中心位置現在値ｚ_Ｃが次式で得られる。

式（１６）によれば作業側および駆動側の荷重測定値より板材の板幅中心位置を求めることができる。ただし、式（１６）は板材〜ピンチロール間荷重分布が板幅方向に左右対称となっていることを前提とした計算式であり、左右非対称となっている場合は、その非対称性が荷重測定値の左右差Ｐ_Ｗ−Ｐ_Ｄにおよぼす影響を除外した上で板幅中心位置ｚ_Ｃを計算しなければならない。例えば、板材〜ピンチロール間荷重分布が直線分布であり、作業側の線荷重と駆動側の線荷重との差異すなわち荷重分布左右差がｐ_ｄｆとなっている場合、この荷重分布左右差がＰ_Ｗ−Ｐ_Ｄにおよぼす影響は、板幅をｂとするとき、ｐ_ｄｆ・ｂ^２／（６ａ）で与えられるから式（１６）の代わりに次式を用いて板幅中心位置 を計算する。

In one aspect of the control method of the transporting device of the present disclosure, the work measured by the load measuring devices provided at both axial ends of the pinch roll without providing the plate end position measuring device 5 shown in FIG. The plate width center position current value of the plate material is detected from the load side and drive side load measurement values, and the reduction leveling operation is performed based on the plate width center position current value. Hereinafter, an example of a method of calculating the plate width center position current value from the load measurement value will be specifically described with reference to FIG. 12. In FIG. 12, the load P acting on the pinch roll from the plate material is expressed by the concentrated load acting on the plate width center of the plate material. The plate width center of the plate material is located at the position z _C from the line center 9, and the load measurement value measured by the load measuring device on the working side is P _W , and the load measuring device on the driving side is The measured load measurement value is P _D. When the distance between the working-side load measuring device and the driving-side load measuring device is a, the following relational expression is established between these loads according to the equilibrium condition of the moment of the pinch roll.

When the equation (15) is solved for z _C , the plate width center position current value z _C is obtained by the following equation.

According to the equation (16), the plate width center position of the plate material can be obtained from the load measurement values on the working side and the driving side. However, the formula (16) is a calculation formula on the assumption that the load distribution between the plate material and the pinch roll is bilaterally symmetric in the plate width direction. The plate width center position z _C must be calculated after excluding the influence on the left-right difference P _W −P _D of the values. For example, when the load distribution between the plate material and the pinch roll is a linear distribution and the difference between the line load on the working side and the line load on the drive side, that is, the left-right difference in the load distribution is p _df , this left-right difference in the load distribution is _The influence on _W- P _D is given by p _df ·b ² /(6a) where the plate width is b, so the plate width center position is calculated using the following formula instead of formula (16).

ここで、ｍは板材を単位厚さだけピンチロール圧下したときの線荷重増分を表す板材の弾性定数であり、Ｄは、第二種平行剛性と呼ばれ、荷重分布左右差が単位量だけ変化したときにピンチロールを含めた搬送装置の弾性変形により生ずる板厚左右差を表わすパラメータであり、何れも設備仕様および板材の寸法と弾性係数が与えられれば公知の方法により予め計算できるものである。 Here, the load distribution left-right difference p _df is assumed to be zero at the initially set rolling position, and the subsequent rolling leveling operation Δg _df is calculated in consideration of elastic deformation of the pinch roll and the plate material. The change amount Δp _df of the load distribution lateral difference between the plate material and the pinch roll can be calculated by, for example, the following formula and integrating the changes in a time series.

Here, m is the elastic constant of the plate material that represents the linear load increment when the plate material is pinch-rolled down by a unit thickness, and D is called second-class parallel rigidity, and the lateral difference in load distribution changes by a unit amount. It is a parameter that represents the difference in plate thickness left and right caused by elastic deformation of the conveying device including the pinch roll, and both can be calculated in advance by a known method if given equipment specifications and plate material dimensions and elastic coefficients. ..

FIG. 13 shows a thin sheet hot rolling facility in which n pinch roll devices are arranged on a runout table from the finish rolling mill 12 to the pre-winding pinch rolls 13 and the winding machine 14 to form a transport device. An embodiment of a control method of the present disclosure which passes a plate while applying tension to the tip of the plate is shown. As the pinch roll device, the #1 pinch roll device is arranged immediately upstream of the finish rolling mill 12 and the #n pinch roll device is arranged immediately upstream of the pre-winding pinch roll 13. In FIG. 13A, the finish rolling mill 12 drives the work rolls by speed control as a speed pivot of the rolling line to perform rolling, and the leading edge of the plate material is gripped by the #1 pinch roll device, By setting the motor torque of the pinch roll device to α·T, tension α·σ is applied to the plate material between the finish rolling mill 12 and the #1 pinch roll device.

In FIG. 13B, the plate material advances from FIG. 13A, the leading edge of the plate material is gripped by the #2 pinch roll device, and the motor torque of the #2 pinch roll device is set to T, whereby #1 A tension σ is applied between the pinch roll device and the #2 pinch roll device. Further, at the same time that the motor torque T of the #2 pinch roll device is added, the motor torque of the #1 pinch roll device is changed from α·T to −(1-α)T. By doing so, the tension α/σ of the plate material between the finish rolling mill 12 and the #1 pinch roll device can be maintained at the same value.

In FIG. 13(c), the plate material further advances from FIG. 13(b), the leading edge of the plate material is gripped by the #3 pinch roll device, and the motor torque of the #3 pinch roll device is set to α·T. Thus, tensions α and σ are applied between the #2 pinch roll device and the #3 pinch roll device. Further, at the same time as the motor torque α·T of the #3 pinch roll device is added, the motor torque of the #2 pinch roll device is changed from T to (1-α)T. By doing so, the tension σ of the plate material between the #1 pinch roll device and the #2 pinch roll device and the tension α/σ of the plate material between the finish rolling mill 12 and the #1 pinch roll device can be maintained. ..

In FIG. 13D, the plate material further advances from FIG. 13C, the leading edge of the plate material is gripped by the #4 pinch roll device, and the motor torque of the #4 pinch roll device is set to T, A tension σ is applied between the #3 pinch roll device and the #4 pinch roll device. Further, the motor torque T of the #4 pinch roll device is added, and at the same time, the motor torque of the #3 pinch roll device is changed from α·T to −(1-α)T. By doing so, the tension α·σ of the plate material between the #2 pinch roll device and the #3 pinch roll device, the tension σ of the plate material between the #1 pinch roll device and the #2 pinch roll device, and the finish rolling mill 12 The tension α·σ of the plate material between the #1 pinch roll devices can be maintained.

In FIG. 13(e), the plate material further advances from FIG. 13(d), the leading edge of the plate material is gripped by the #5 pinch roll device, and the motor torque of the #5 pinch roll device is set to α·T. Thus, tensions α and σ are applied between the #4 pinch roll device and the #5 pinch roll device. Further, the electric motor torque α·T of the #5 pinch roll device is added, and at the same time, the electric motor torque of the #4 pinch roll device is changed from T to (1-α)T. By doing so, the tension of the plate material on the upstream side of the #4 pinch roll device can be maintained in the state of FIG. 13(d).

In FIG. 13(f), the plate material further advances from FIG. 13(e), the leading edge of the plate material is gripped by the #6 pinch roll device, and the motor torque of the #6 pinch roll device is set to T, A tension σ is applied between the #5 pinch roll device and the #6 pinch roll device. Further, the electric motor torque T of the #6 pinch roll device is added, and at the same time, the electric motor torque of the #5 pinch roll device is changed from α·T to −(1-α)T. By doing so, the tension of the plate material on the upstream side of the #5 pinch roll device can be maintained in the state of FIG. 13(e).

In FIG. 13, the value of the electric motor torque or the tension of the plate material enclosed by a square in FIG. 13 shows a value changed or changed from the state of FIG. 13(e) in FIG. 13(f), for example. 13(a) to 13(f), in the present embodiment, the motor torque of the most downstream pinch roll device that grips the front end portion of the plate material and the upstream one pinch roll device adjacent thereto. It is understood that the tension acting on the plate material can be maintained without changing the electric motor torque of the pinch roll device on the upstream side simply by changing the above. This is possible because the driving force applied to the plate material from the most downstream pinch roll device gripping the plate material tip portion, for example, the motor torque T of the #2 pinch roll device in FIG. 13B, Is significantly different from the driving force applied when the leading edge of the plate material bites into the adjacent upstream pinch roll device, for example, the motor torque α·T of the #1 pinch roll device in FIG. 13(a). This is due to That is, when the electric motor torques of the pinch roll device on the upstream side to the pinch roll device on the upstream side are listed in order from the pinch roll device on the most downstream side that grips the leading end of the plate material, the state where the leading edge of the plate material is gripped by the #5 pinch roll device, that is, FIG. ), #5:α·T, #4:(1-α)T, #3:-(1-α)T, #2:(1-α)T, #1:-(1- α)T, but in the state where the leading edge of the plate material is gripped by the #6 pinch roll device, that is, in the state of FIG. 13(f), #6:T, #5:-(1-α)T, #4: (1-α)T, #3:-(1-α)T, #2: (1-α)T, #1:-(1-α)T, #4 pinch It can be confirmed that the motor torque of the pinch roll device on the upstream side of the roll device does not need to be changed, and the tension acting on the plate material does not change.

26, in the same manner as FIG. 13, in the thin sheet hot rolling equipment in which n pinch roll devices are arranged on the run-out table to constitute the conveying device, the plate material is passed while tension is applied to the tip thereof. An example of the control method will be shown. In the example of FIG. 26, the electric motor torque of the pinch roll device on the most downstream side that grips the leading end of the plate material is always α·T. Therefore, assuming that the tension acting on the plate material is two levels of σ and α·σ, as in the case of FIG. 13, the motor torque of the pinch roll device is the state where the leading edge of the plate material is gripped by the #5 pinch roll device. That is, in the state of FIG. 26E, #5: α·T, #4: (1-α)T, #3:-(1-α)T, #2: (1-α)T, #1. :-(1-α)T, but in the state where the leading edge of the plate material is gripped by the #6 pinch roll device, that is, in the state of FIG. 26(f), #6:α·T, #5:( 1-α)T, #4:-(1-α)T, #3:(1-α)T, #2:-(1-α)T, #1:(1-α)T. Therefore, it is necessary to change the motor torques of all the pinch roll devices when shifting from the state of FIG. 26(e) to the state of FIG. 26(f). Such an operation is not preferable because it frequently causes reversal of the electric motor torque, becomes an impediment factor to the stable threading, and leads to the accelerated deterioration of the equipment of the pinch roll device. Further, in the example of FIG. 26, in the state of FIG. 26(f), the tip portion of the plate material existing between the #5 pinch roll device and the #6 pinch roll device has the state shown in FIG. 26(a) to (e). Also, the tension α/σ is always applied, and the tension σ is always applied to the portion of the plate material existing between the #4 pinch roll device and the #5 pinch roll device in the state of FIG. 26(f). Since the tension level acting depending on the longitudinal position of the plate material is always different as described above, the risk of causing the longitudinal variation of the plate width is increased particularly in the case of hot rolling, and the example of FIG. 26 is not preferable in this respect as well. ..

FIG. 14 shows the subsequent procedure of the control method of the carrier device in which n pinch roll devices are arranged on the runout table of the thin plate hot rolling equipment shown in FIG. In FIG. 14(a), the leading edge of the plate material reaches the front of the #n-1 pinch roll device, and in FIG. 14(b), the leading edge of the plate material is gripped by the #n-1 pinch roll device, The motor torque of the -1 pinch roll device is T. As a result, the #n-1 pinch roll device entrance side tension is σ.

In FIG. 14C, the leading edge of the plate material is gripped by the #n pinch roll device, and the motor torque of the #n pinch roll device is set to α·T, whereby the #n-1 pinch roll device and the #n pinch roll device are set. The tension between the devices becomes α and σ, and at the same time, by changing the motor torque of the #n-1 pinch roll device from T to (1-α)T, the tension on the upstream side of the #n-1 pinch roll device is increased. Can be maintained.

In FIG. 14( d ), the leading end of the plate material passes through the pre-winding pinch roll 13 and is wound onto the winder 14, and the motor torque of the pre-winding pinch roll 13 and the winder 14 causes #n pinch roll to before winding. The tension σ acts between the pinch rolls 13, and at the same time, the motor torque of the #n pinch roll device is changed to −(1-α)T, so that the tension acting on the plate material on the upstream side of the #n pinch roll device. Can be maintained.

FIG. 15 shows a procedure subsequent to the procedure of the control method of the conveying device in which n pinch roll devices are arranged on the runout table of the thin plate hot rolling equipment shown in FIG. 14, that is, when the tail end of the plate material is passed. The control method is shown. First, before the trailing edge of the plate material passes through the finish rolling mill 12, the speed pivot of the rolling line is transferred from the finish rolling mill 12 to the winding machine 14, and the winding machine 14 is controlled from the torque control until then to the speed control of the plate material. Switch to. Then, as shown in FIG. 15A, when the trailing edge of the plate material passes through the finish rolling mill 12, the tension between the finish rolling mill 12 and the #1 pinch roll device becomes 0. In order to maintain the tension σ between the #2 pinch roll devices, the motor torque of the #1 pinch roll device is changed from α·T to −T. By this operation, the tension of the plate material on the downstream side of the #1 pinch roll device can be maintained in the state of FIG.

In FIG. 15B, the trailing edge of the plate material passes through the #1 pinch roll device, and when the plate material tension between the #1 pinch roll device and the #2 pinch roll device becomes 0, the motor of the #2 pinch roll device is driven. Change the torque from (1-α)T to -α·T. By this operation, the tension of the plate material on the downstream side of the #2 pinch roll device can be maintained in the state of FIG.

15C to 15F, the uppermost stream side pinch holding the plate material at each time point each time the tail end of the plate material passes through the #2, #3, #4, and #5 pinch roll devices in sequence. By changing the electric motor torque of the roll device to −T or −α·T, the tension acting on the plate material on the downstream side of the pinch roll device is not changed with time.

13 to 15 show an embodiment in which the tension acting on the plate material between the pinch roll devices is two levels, but FIGS. 16 to 18 show an embodiment in which the tension acting on the plate material between the pinch roll devices is three levels. Is shown. In this embodiment, as shown in FIGS. 16 and 17, when the leading edge of the plate material is sequentially gripped from the #1 pinch roll device to the #n pinch roll device, the leading edge of the plate material is gripped at each time point. The motor torque of the most downstream side pinch roll device is cyclically changed to α·T, 2α·T, 3α·T, 2α·T, α·T, 2α·T,... The motor torque of the upstream pinch roll device adjacent to the side pinch roll is changed so that the plate material tension on the upstream side of the pinch roll device does not change. By doing so, finally, the electric motor torque of each pinch roll device is -α·T, −α·T, α·T, α·T, −α·T from the upstream side to the downstream side. , −α·T,..., and the tension acting on the plate material changes cyclically as α·σ, 2α·σ, 3α·σ, 2α·σ, α·σ, 2α·σ, and so on. To do. Further, FIG. 18 shows a control method at the time of passing the tail end portion of the plate material. As in the case of FIG. 15, the plate material is gripped at each time point each time the tail end of the plate material passes through each pinch roll device in sequence. By changing the motor torque of the most upstream side pinch roll device to any of -αT, -2αT, -3αT, the tension acting on the plate material on the downstream side of the pinch roll device is changed. I try not to change it over time. By carrying out such control, the electric motor of each pinch roll device always exerts a significant driving force or braking force, and the meandering control effective for the entire conveying device is carried out to achieve stable threading. Can be realized.

13 to 15 and the embodiments of FIGS. 16 to 18 all assume a constant value of α from the upstream pinch roll device to the downstream pinch roll device, the embodiment of FIG. It is needless to say that an embodiment in which the tension level acting on the plate material is changed according to the situation by changing the value of α from the upstream side to the downstream side as shown in FIG.

19 to 21, as an application example of the embodiment in which the tensions acting on the plate material shown in FIGS. 16 to 18 are three levels, a required pinch roll device is used to apply a required tension to the plate material to stabilize the plate. An embodiment for realizing is shown. FIG. 19 shows a control method at the time of passing the plate end portion. 19(a) to 19(c), in which the plate material tip portion is gripped by the #1 to #3 pinch roll devices, the control mode is exactly the same as in FIGS. 16(a) to 16(c), but FIG. ), the leading edge of the plate material is gripped by the #4 pinch roll device and the motor torque of the #4 pinch roll device is set to 3α·T, and at the same time, the pressing device of the #3 pinch roll device is operated to open the upper pinch roll to form the plate material. Not in contact. Further, the electric motor of the #3 pinch roll device switches the driving torque control of 3α·T up to then to speed control by the synchronous speed with the plate material. After that, in FIGS. 19E and 19F, the leading edge of the plate material reaches the #5 pinch roll device and the #6 pinch roll device, respectively, and the motor torque 3α·T is sequentially added, and at the same time, the #4 pinch roll device and the #5 pinch roll device. Operate the reduction device of the pinch roll device to open the upper pinch roll.

FIG. 20 shows an embodiment in which the plate material further advances from the state of FIG. 19 and the leading end of the plate material is wound around the winding machine 14. In FIG. 20(a), the leading edge of the plate material is gripped by the #n-1 pinch roll device and a driving torque of 3α·T is added, and at the same time, although not shown, the reduction device of the #n-2 pinch roll device is operated. The upper pinch roll is open. In FIG. 20B, the leading edge of the plate material is gripped by the #n pinch roll device to apply a driving torque of 3α·T, and at the same time, the pressing device of the #n-1 pinch roll device is operated to open the upper pinch roll. There is. In FIG. 20(c), the winding machine 14 is wound at the tip of the plate material, and the tension of 3α·σ is added to the plate material by the winding machine 14 and the pre-winding pinch roll 13 to reduce the #n pinch roll device. To open the upper pinch roll. In the state of FIG. 20C, that is, in the region of the pinch roll device in the non-contact state, the rolling of the steady portion of the plate material proceeds with the tension 3α·σ of the plate material added.

FIG. 21 shows a control method when the steady rolling state of FIG. First, before the trailing edge of the plate material passes through the finish rolling mill 12, the speed pivot of the rolling line is transferred from the finish rolling mill 12 to the winding machine 14, and the winding machine 14 is controlled from the torque control until then to the speed control of the plate material. Switch to. Then, as shown in FIG. 21(a), when the trailing edge of the plate material leaves the finishing mill 12, the pressing device of the #3 pinch roll device, which has been in the upper pinch roll open state until then, is operated to form the plate material. After bringing them into contact with each other and applying a predetermined rolling force, the electric motor is switched to torque control to apply a braking torque of -α·T. Then, as shown in FIGS. 21(b), (c), and (d), the trailing edge of the plate material sequentially passes through the #1, #2, and #3 pinch roll devices, and at the same time, the upper pinch roll is open. The #4, #5, and #6 pinch roll devices that have been operated are operated to bring them into contact with the plate material to give a predetermined rolling force, and then the electric motor is switched to torque control to give a braking torque of -αT. By doing so, it becomes possible to wind up the plate material with almost no change in the tension near the tail end of the plate material. Then, in FIG. 21E, when the trailing edge of the plate material passes through the #n-2 pinch roll device (not shown), the motor torque of the #n-1 pinch roll device is set to -α·T, the #n pinch roll device. The electric motor torque is set to −2α·T, and the tension 3α·σ between the #n pinch roll device and the pre-winding pinch roll 13 is maintained. Although not shown, as a pre-stage of FIG. 21E, the #n-3 pinch roll device and the #n-1 pinch roll device are removed when the trailing edge of the plate material comes out of the #n-3 pinch roll device. , #N There is a state in which the pinch roll device grips the vicinity of the tail end portion of the plate material and applies a motor torque of −α·T. Then, as shown in FIG. 21( f ), when the trailing edge of the plate material passes through the #n−1 pinch roll device, the motor torque of the #n pinch roll device is set to −3α·T, and the #n pinch roll device The tension 3α·σ between the pinch rolls 13 before winding is maintained.

In the embodiments of FIGS. 19 to 21, at the time of passing the plate material tip portion, at least one pinch roll device always grips the leading edge of the plate material, and on the most upstream side, the two or three pinch roll devices always plate the plate material. However, it is needless to say that the radix of the pinch rolls that constantly hold these plates can be changed as necessary.

[Operation and effect of this embodiment]
2. Description of the Related Art Conventionally, in a plate material manufacturing/processing line, in order to prevent the out-of-plane deformation and smoothly transfer the plate material while applying tension to the plate material, a device for pressing and transferring the plate material with a pair of upper and lower pinch rolls is used. In such an apparatus, the plate width center of the plate material deviates from the center of the plate material manufacturing/processing line, and in the worst case, a part of the plate material may be bitten out of the pinch roll body and the plate material may be damaged. .. In order to avoid the phenomenon, for example, in Patent Document 1, in addition to the control of the profile and bending force of the pinch roll, the loads on the working side and the driving side are measured, and the rolling position on the side with the large load is relatively set. There is disclosed a device for performing a reduction leveling control in the direction of tightening. The concept of this reduction leveling control is the same as the concept of the meandering control of the rolling mill.Since the load on the side where the plate material meanders increases, this is detected and the reduction position on the side where the load increases becomes relatively tightened. This is to carry out reduction leveling control in the direction. Here, as a specific example, consider a case where the plate material is closer to the working side. In the case of rolling, the rolling leveling operation to tighten the working side increases the rolling rate and elongation rate on the working side.As a result, the reverse rate on the working side increases and the plate material on the inlet side remains and the plate material on the upstream side drives. Will lean to the side. By rolling the inclined plate material in this manner, the plate material returns to the drive side. In the case of a conveying device using pinch rolls, the plate material does not plastically deform like rolling, but the plate material elastically extends in the conveying direction due to the pinch roll reduction, so qualitatively the same meandering control effect as rolling is expected. It has been considered possible.

Based on the above idea, the present inventors conducted an experiment using the same transporting device and rolling reduction leveling control method as those disclosed in Patent Document 1. As a result, although there was a condition that the meandering could be controlled well, there was also a case where the meandering became severe due to the reduction leveling control. Therefore, as a result of detailed investigation of the relationship between the meandering characteristics of the pinch roll device and the experimental conditions, the following was revealed.

(A) When the tension applied to the plate material on the inlet side of the pinch roll device and the tension applied to the plate material on the outlet side are equal, by the reduction leveling operation in the direction of tightening the reduction position on the side where the plate material meanders. Although the meandering of the plate material was slightly suppressed, its sensitivity was low, and when the disturbance was large, the reduction leveling operation for suppressing the meandering became excessive, and the plate material sometimes plastically deformed to deteriorate the plate shape.

(B) When the entrance side tension of the pinch roll device is larger than the exit side tension, the meandering of the plate material tends to diverge by the reduction leveling operation in the direction to tighten the reduction position on the side where the plate material meanders, and the plate position is stabilized. I couldn't. On the contrary, the meandering of the plate material was suppressed by the reduction leveling operation in the direction of opening the pressing position on the side where the plate material meandered, and stable striping could be realized.

(C) When the tension on the outlet side of the pinch roll device is larger than the tension on the inlet side, meandering of the plate material is suppressed by the reduction leveling operation in the direction of tightening the reduction position on the side where the plate material meanders, and stable plate passing can be realized. It was

As described above, when the entrance side tension is larger than the exit side tension, not only the conventional reduction leveling control, that is, the reduction leveling control that relatively tightens the reduction position on the side where the plate material meanders does not work, but conversely It became clear that it promotes meandering. Then, in this case, it became clear that the reduction leveling control in which the reduction position on the side in which the plate material meanders is relatively opened is effective in the opposite direction to the conventional technique.

In order to examine whether or not this experimental result is universal, we considered the mechanism of the above phenomenon.

Conventionally, elastic elongation of a plate material has been considered to be a basic mechanism of meandering control by a rolling leveling operation of a pinch roll. However, this mechanism alone cannot explain the reversal phenomenon of the meandering characteristics due to the change in the tension balance between the inlet and outlet sides. Therefore, as a result of intensive studies on the mechanism of this phenomenon, the present inventors have come up with a new meandering mechanism of the pinch roll device through the following thought process.

In the conventional meandering mechanism by elastic elongation of the plate material, only the pinch force acting on the plate material from the pinch roll, that is, the rolling force in the plate thickness direction has been taken into consideration. The phenomenon cannot be explained. Therefore, the influence of the tension balance between the inlet and outlet sides on the force acting on the plate material from the pinch roll was considered. FIG. 22 schematically shows the force in the transport direction applied to the plate material near the pinch roll. FIG. 22 shows the case where the inlet tension is larger than the outlet tension, but in this case, depending on the equilibrium condition of the conveying direction force acting on the plate material, the conveyance from the pinch roll to the plate material as indicated by the arrows 23a and 23b is performed. There must be a driving force in the direction. In other words, since the driving forces 23a and 23b are applied from the pinch rolls to the plate material, the entrance side tension becomes larger than the exit side tension.

FIG. 23 shows a plan view of FIG. 22 seen from above, and in this example, it is assumed that the load distribution 20 between the plate material and the pinch rolls is large on the working side. In this case, since the pinch roll pinches the working side of the plate material more strongly than the driving side, the driving force acting on the plate material from the pinch roll is such that the working side driving force 23a-1 becomes larger than the driving side driving force 23b-2. Conceivable. As a result, a moment 25 acts on the plate material from the pinch roll, the traveling speed of the plate material becomes slightly faster on the working side than on the driving side, and the plate material tilts as shown in FIG. In this way, the plate material inclined toward the working side upstream of the entrance side is fed in the transport direction by the pinch rolls, so that the plate material meanders toward the working side. That is, it can be explained that the reduction leveling operation makes the reduction stronger and meanders to the side where the load increases. From such a consideration, it can be confirmed that the experimental fact (B) is a universal phenomenon. The driving force acting on the plate material from the pinch roll is actually a force distributed over the contact area between the plate material and the pinch roll, but here, in order to simplify the explanation, it is represented by arrows on the working side and the driving side. I showed it.

Contrary to FIG. 22, FIG. 24 shows the force in the carrying direction applied to the plate material when the outlet tension is larger than the inlet tension. In this case, depending on the equilibrium condition of the conveying direction force acting on the plate material, the braking force in the direction opposite to the conveying direction as indicated by the arrows 24a and 24b from the pinch roll must be applied to the plate material. In other words, since the braking forces 24a and 24b act on the plate material from the pinch rolls, the tension on the outlet side becomes larger than the tension on the inlet side.

FIG. 25 is a plan view of FIG. 24 seen from above, and in this example, it is assumed that the load distribution 20 between the plate material and the pinch rolls is large on the working side. In this case, since the pinch roll pinches the working side of the plate material more strongly than the driving side, the braking force acting on the plate material from the pinch roll becomes larger when the working side braking force 24a-1 becomes larger than the driving side braking force 24b-2. Conceivable. As a result, a moment 25 acts on the plate material from the pinch roll, the traveling speed of the plate material becomes slightly slower on the working side than on the driving side, and the plate material tilts as shown in FIG. In this way, the plate material inclined toward the drive side upstream of the entrance side is fed in the transport direction by the pinch roll, so that the plate material meanders to the drive side. That is, the reduction leveling operation causes the reduction to be strengthened and meanders to the side opposite to the side where the load increases. This meandering property is qualitatively the same as the mechanism considering elastic elongation of the plate material. From such consideration, it can be confirmed that the above-mentioned experimental fact (C) is a universal phenomenon.

By the way, when the entrance side tension is significantly larger than the exit side tension, that is, when the pinch roll gives a driving force to the plate material in the conveying direction, the plate material meanders to the side where the reduction is increased and the load is increased without exception. .. Considering that this meandering characteristic is in the opposite direction to the mechanism considering elastic elongation of the plate material, the effect of elastic elongation of the plate material on the meandering characteristic is the difference in tension between the inlet and outlet sides, that is, the driving force or braking force of the pinch roll. It is concluded that it is extremely small compared to the effect of. From such consideration, it can be confirmed that the above-mentioned experimental fact (A) is a universal phenomenon. Therefore, it can be confirmed that the pinch roll device needs to apply a significant driving force or braking force to the plate material in order to perform effective meandering control by the rolling leveling operation of the pinch roll device.

The present invention has been made through the discoveries and considerations as described above, and in a conveying device having a plurality of pinch roll devices in series for narrowing and conveying a plate material with pinch rolls, the tension of the plate material is controlled within a predetermined allowable range. At the same time, a control method for implementing good meandering control is disclosed. In particular, in order to control the tension of the plate material within a predetermined allowable range, at least one of the pinch roll devices applies a driving force to the plate material in the transport direction, and at least another one of the pinch roll devices applies a drive force to the plate material in a direction opposite to the transport direction. With regard to the meandering control of the plate material, the pinch roll device that applies the driving force toward the conveying direction to the plate material performs the control to apply the braking force, and the plate width direction distribution of the load acting between the plate material and the pinch roll. , The plate width center position current value is used as a reference, and the work side and drive side reduction devices of the pinch roll device are operated in a direction in which the load on the plate width center position target value side becomes relatively larger than the other, and In the pinch roll device that applies a braking force in the direction opposite to the transport direction, the plate width center position target is used as a reference for the plate width direction distribution of the load acting between the plate material and the pinch rolls. The work side and drive side reduction devices of the pinch roll device are operated in a direction in which the load on the value side is made relatively smaller than the load on the other side.

By carrying out such control, the tension control and the meandering control of the plate material corresponding to all states can be realized in the conveying device having a plurality of pinch roll devices in series.

1a, 1b... Pinch roll, 2... Plate material, 3a, 3b... Reduction device, 4a, 4b... Load measuring device, 5... Plate edge position measuring device of plate material, 6... Electric motor, 7a, 7b... Spindle, 8... Pinion stand , 9... Line center, 10... Current value of center position of plate width, 11... Transfer direction of plate material, 12... Finishing rolling machine, 13... Pinch roll before winding, 14... Winding machine, 20... Load between plate material and pinch roll Distribution, 21... Inlet side tension, 22... Outlet side tension, 23a, 23b, 23a-1, 23a-2... Driving force acting on the plate material from the pinch rolls, 24a, 24b, 24a-1, 24a-2... Pinch rolls A braking force acting on the plate material from 25, a moment acting on the plate material from the pinch roll, 100 a plate material conveying device.

Claims (7)

A pair of upper and lower pinch rolls, a driving device for driving the pinch rolls, a rolling-down device at each axial end of at least one of the upper and lower pinch rolls, and at least axial ends of at least one of the upper and lower pinch rolls. A method of controlling a plate material conveying device having a plurality of pinch roll devices in series on the same line equipped with a load measuring device,
At least one of the pinch roll devices applies a driving force to the plate material in the conveying direction, and at least another one of the pinch roll devices applies a braking force to the plate material in a direction opposite to the conveying direction. .. The plate width center position current value of the plate material being pinched in the pinch roll is detected, and the target is to bring the plate width center position current value close to the plate width center position target value.
In the pinch roll device in which the pinch roll applies a driving force to the plate material in the conveying direction, the current value of the plate width center position is used as a reference with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll. As the plate width center position target value side is operated in a direction to relatively increase the load relative to the other side, the working side and the driving side reduction device of the pinch roll device,
In the pinch roll device in which the pinch roll applies a braking force to the plate material in a direction opposite to the conveying direction, in the plate width direction distribution of the load acting between the plate material and the pinch roll, the plate width center position current The work-side and drive-side reduction devices of the pinch roll device are operated in a direction in which the load on the plate width center position target value side is relatively smaller than the other on the basis of the value. 2. The control method of the transfer device according to 1. When the leading edge of the plate material is passed, every time the leading edge of the plate material bites into the pinch roll device arranged on the downstream side, the drive is caused to act on the plate material from the most downstream pinch roll device that grips the plate material tip portion. 3. The control of the conveying device according to claim 1, wherein the force is set to a value significantly different from the driving force applied when the leading edge of the plate material bites into the adjacent upstream pinch roll device. Method. At the time of passing the leading end portion of the plate material, the tension acting on the plate material existing between the pinch roll devices on the upstream side of the most downstream pinch roll device that grips the plate material tip portion is not changed over time. 4. The method of controlling a carrier device according to claim 3, wherein the motor torque of the drive device of the upstream side pinch roll device is controlled. At the time of passing the tail end of the plate material, every time the tail end of the plate material exits the pinch roll device arranged on the upstream side, the uppermost stream side pinch roll device gripping the tail end part of the plate material at that time The electric motor torque of a drive device of the most upstream side pinch roll device is controlled so that the tension acting on the plate material existing between the adjacent downstream side pinch roll devices is not changed with time. Alternatively, the method of controlling the transfer device according to the item 2. At the time of passing the leading end of the plate material, each time the leading edge of the plate material bites into the pinch roll device arranged on the downstream side, the plate material is positioned on the upstream side of the most downstream side pinch roll device that grips the plate material tip portion. The most downstream pinch roll is operated so as to release the reduction force by operating the reduction device of the pinch roll device that holds the plate material, and at the same time maintain the tension acting on the plate material at the position where the reduction force is released. 3. The method for controlling a carrier device according to claim 1, wherein the motor torque of the drive device of the device is controlled. When the tail end portion of the plate material is passed, the tail end portion of the plate material is gripped at each time when the trailing end of the plate material passes through the pinch roll device arranged on the upstream side and the rolling force is released. Of the pinch roll devices, which are arranged on the downstream side of the most upstream pinch roll and are standing by in the released state of the rolling force, the most upstream pinch roll device grips the plate material and applies a predetermined rolling force to the plate material. 3. At the same time, the electric motor torque of the driving device of the pinch roll device is controlled so as to maintain the tension of the plate material on the downstream side of the pinch roll device. Control method.

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