JP2020203307A - Control method for conveyance apparatus and conveyance apparatus - Google Patents

Abstract

To satisfactorily control, in plate-material conveyance using pinch rolls, a plate-width middle position of a plate material such that it has a target value.SOLUTION: In a control method for a conveyance apparatus for a plate material, which sandwiches and conveys the plate material by a pair of upper and lower pinch rolls having a roll temperature distribution control device, the roll temperature distribution control device is controlled such that, when it is determined that the plate material is more likely to meander toward a work side, a roll temperature on the work side is made low relative to that on a drive side, and the roll temperature distribution control device is controlled such that, conversely when it is determined that the plate material is more likely to meander toward the drive side, a roll temperature on the drive side is made low relative to that on the work side.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a method for transporting a plate material and a transport device.

In the plate material production line, a device is used in which the plate material is sandwiched and conveyed by a pair of upper and lower pinch rolls in order to smoothly convey the plate material while preventing out-of-plane deformation of the plate material. (See, for example, Patent Document 1).

JP-A-59-191510

In the device for transporting the plate material as described above, when the plate material is transported, the plate width center position of the plate material which is narrowly pressed by the vertical pinch roll and transported is detected, and the difference between the plate width center position detection value and the target value, that is, When a meandering amount is generated, reduction leveling control may be implemented in which the load on the working side and the driving side is controlled according to the meandering amount to correct the meandering of the plate material.

However, if there is a large disturbance to the meandering of the plate material such as poor roll alignment or meandering of the plate material on the upstream side, the laterality of the load generated to correct the meandering becomes excessive, and the plate material undergoes plastic deformation on the high load side. It sometimes caused a serious trouble that the shape of the plate material was disturbed.

The present disclosure has been made in view of the above circumstances. In the roll temperature distribution control device of the plate material transport device using the pinch roll device, the roll temperature distribution control in consideration of the left-right asymmetry of the roll is performed, and the plate material is subjected to the roll temperature distribution control. The purpose is to satisfactorily control the plate width center position to the plate width center target position.

The control method of the plate material transport device according to one aspect of the present disclosure is a control method in which the plate material is sandwiched and transported by a pair of upper and lower pinch rolls equipped with a roll temperature distribution control device, and the plate material meanders to the work side. If it is determined that there is a strong tendency to do so, the roll temperature distribution control device is controlled in a direction in which the roll temperature on the working side is relatively lower than that on the driving side, and conversely, the plate material tends to meander to the driving side. When it is determined that the temperature is strong, the roll temperature distribution control device is controlled in a direction in which the roll temperature on the driving side is relatively lower than that on the working side.

The plate width center position of the plate material is detected based on the plate edge position measurement value measured by the plate edge position measurement device installed near the transport device, and the plate material is on the work side based on the history of the plate width center position detection value. It may be determined which of the drive side and the drive side has a stronger tendency to meander.

The center position of the plate width of the plate material is detected from the load measurement values on the work side and the drive side measured by the load measurement devices installed at both ends of the pinch roll in the axial direction, and the history of the plate width center position detection value is recorded. Based on this, it may be determined whether the plate material tends to meander to the working side or the driving side.

The roll bending device that applies a bending moment to the pinch roll may be controlled so as to suppress the occurrence of a non-contact state between at least the vicinity of the plate end portion of the plate material and the pinch roll.

The current value of the plate width center position of the plate material sandwiched by the pinch roll is detected, the target is to bring the plate width center position current value closer to the plate width center position target value, and the pinch roll is conveyed to the plate material in the transport direction. When a driving force is applied toward, the load on the plate width center position target value side is applied with reference to the plate width center position current value with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll. The reduction device on the working side and the driving side of the pinch roll is operated in a direction to be relatively larger than the other, and conversely, when the pinch roll does not give a driving force toward the transport direction to the plate material, the said Regarding the distribution of the load acting between the plate material and the pinch roll in the plate width direction, the load on the plate width center position target value side is made relatively smaller than the other with reference to the plate width center position current value. While performing reduction control to operate the reduction device on the work side and drive side of the pinch roll, the work side load measurement value and the drive side load measurement value by the load measurement devices installed at both ends in the axial direction of the pinch roll The difference, that is, the difference between the left and right loads is detected, and the work side load tends to be larger than the drive side load from the history of the load left and right difference, and the pinch roll does not give the plate material a driving force in the transport direction and the work side. When the load tends to be smaller than the drive side load and the pinch roll gives the plate material a driving force in the transport direction, it is determined that the plate material tends to meander toward the work side, and the work side load is driven. When the pinch roll gives a driving force to the plate material in the transport direction and the work side load tends to be smaller than the drive side load, the pinch roll tends to be larger than the side load in the transport direction. It may be determined that the plate material has a strong tendency to meander toward the driving side when no driving force is applied.

The plate material conveying device according to one aspect of the present disclosure includes a pair of upper and lower pinch rolls that sandwich and convey the plate material, a reduction device at both ends of at least one of the upper and lower pinch rolls in the axial direction, and a plate width of the plate material. The meandering tendency determination device for the plate material that determines whether the center position tends to be closer to the work side or the drive side, the roll temperature distribution control device for the pinch roll, and the meandering tendency determination device among the work side and the drive side. It is characterized by having a meandering tendency control device that controls the roll temperature distribution control device in a direction in which the roll temperature on the side where the plate material is determined to have a strong tendency to approach is relatively lower than the roll temperature on the opposite side. And.

It further has a plate edge position measuring device for measuring the plate edge position of the plate material, and a plate position detecting device for detecting the plate width center position of the plate material based on the plate end position measurement value measured by the plate end position measuring device. Based on the history of the plate width center position detected by the plate position detecting device, the meandering tendency determining device determines whether the plate width center position of the plate material tends to be closer to the working side or the driving side. You may.

A load measuring device installed at each end of the pinch roll in the axial direction, and a plate position detecting device that detects the center position of the plate width of the plate material from the load measurement values on the working side and the driving side measured by the load measuring device. The serpentine tendency determination device has a strong tendency for the plate width center position of the plate material to be closer to either the working side or the driving side based on the history of the plate width center position detected by the plate position detecting device. May be determined.

It may further have a roll bending device for applying a bending moment to the pinch roll.

The drive device that drives the pinch roll, the load measuring device at least at both ends of the pinch roll in the axial direction, and the plate width center position current value of the plate material detected by the plate position detector are set to the plate width center position. When the target is to approach the target value and the pinch roll gives the plate material a driving force in the transport direction, the plate width is related to the distribution of the load acting between the plate material and the pinch roll in the plate width direction. The reduction device on the working side and the driving side of the pinch roll is controlled in a direction in which the load on the target value side of the center position position of the plate width is relatively larger than that of the other based on the current value of the center position. When no driving force is applied to the plate material in the transport direction, the plate width center position target is based on the current value of 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. It further has a reduction control device that controls the reduction device on the working side and the drive side of the pinch roll in a direction in which the load on the value side is relatively smaller than the other, and the meandering propensity determination device is the load. The difference between the work-side load measurement value measured by the measuring device and the drive-side load measurement value, that is, the load left-right difference is detected, and the work-side load tends to be larger than the drive-side load from the history of the load left-right difference. The case where the roll gives a braking force in the transport direction to the plate material and the work side load tends to be smaller than the drive side load and the pinch roll gives the plate material a driving force in the transport direction. When it is determined that the plate material has a strong tendency to meander to the work side, the work side load tends to be larger than the drive side load, and the pinch roll gives the plate material a driving force in the transport direction, and the work side load is It may be determined that the plate material has a strong tendency to meander toward the drive side when the pinch roll gives a braking force to the plate material in the transport direction because the load tends to be smaller than the drive side load.

According to the present disclosure, in transporting a plate material using a pinch roll, the plate width center position of the plate material can be satisfactorily controlled to a target value.

It is a control flow which shows the outline of the control method of the plate material transfer apparatus which concerns on this disclosure. It is a control flow which shows the outline of the control method of the plate material transfer apparatus which concerns on this disclosure. It is a control flow which shows the outline of the control method of the plate material transfer apparatus which concerns on this disclosure. It is a figure which shows the positional relationship between a pinch roll and a plate material. It is a figure which shows the relationship between the work side and drive side load measurement values, and a plate position. It is a figure which shows typically the force in the transport direction which is applied to a plate material when a pinch roll applies a driving force to a plate material. It is a figure which shows typically the force in the direction opposite to the transport direction which is applied to a plate material when a pinch roll applies a braking force to a plate material. It is a figure which shows the laterality and moment of the transport direction force applied to the plate material when the pinch roll applies the driving force to the plate material, and the pinch roll presses the working side of the plate material stronger than the driving side. It is a figure which shows the laterality and moment of the transport direction force applied to the plate material when the pinch roll applies a braking force to the plate material, and the pinch roll presses the working side of the plate material stronger than the drive side. It is a schematic structure of the pinch roll device which concerns on this disclosure. It is a schematic structure of the pinch roll device which concerns on this disclosure. It is a schematic structure of the pinch roll device which concerns on this disclosure. It is a schematic structure of the pinch roll device which concerns on this disclosure. It is a schematic structure of the pinch roll device which concerns on this disclosure. It is a figure which showed the approach speed of a plate material with respect to a pinch roll when the roll diameter of a pinch roll work side is relatively large with respect to the roll diameter of a drive side. It is a figure which showed the approach speed of a plate material with respect to a pinch roll when the roll diameter of a pinch roll work side is relatively small with respect to the roll diameter of a drive side. It is a figure which showed the state which applies the decrease force to a pinch roll by a roll bending apparatus. It is a figure which showed the state which applies the increase force to a pinch roll by a roll bending apparatus.

Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same elements or elements having the same function are designated by the same reference numerals, and duplicate description will be omitted.

First, the outline of the plate material conveying device 100 according to the present disclosure will be described with reference to FIG. The transport device 100 is a device that transports the plate material 2 in a predetermined transport direction while sandwiching the plate material 2 between a pair of upper and lower pinch rolls 1a and 1b in the production / processing line of the plate material 2. The plate material conveying device 100 includes pinch rolls 1a and 1b, reduction devices 3a and 3b, and a roll temperature distribution control device 13.

The roll temperature distribution control device 13 is a device for controlling the temperature distribution in the roll axis direction, and has a roll cooling device, a roll heating device, or a combination thereof, and has a cooling capacity in the roll axis direction and heating. It has the function of adjusting the ability.

The pinch rolls 1a and 1b are rotating bodies that sandwich the plate material 2 from above and below at a predetermined pressure and transport the plate material 2 in a predetermined transport 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 (drive side) in the axial direction is connected to the reduction device 3b via a chock. ing. The working side and the driving side of the lower pinch roll 1b are supported by chock, respectively.

The reduction devices 3a and 3b reduce the pinch roll 1a on the working side and the driving side (both ends in the axial direction) of the pinch roll 1a, respectively. The reduction device 3a reduces the working side of the pinch roll 1a at a set pinch roll reduction position. The reduction device 3b reduces the drive side of the pinch roll 1a at a set pinch roll reduction position.

Next, one aspect of the control method of the transport device of the present disclosure will be described in detail with reference to FIG. First, the meandering tendency of the plate material, which is more likely to be closer to the work side or the drive side during transportation, is determined. An example of a state in which the plate material has a strong tendency to move toward the work side or the drive side includes, but is not necessarily limited to, a state in which the plate material actually moves toward the work side or the drive side. For example, a state in which some force is applied to the plate material so as not to move the plate material to the work side or the drive side is also included in a state in which the plate material tends to move toward the work side or the drive side.

After determining the meandering tendency of the plate material, the roll temperature distribution control shown in S1 and S2 in the flowchart of FIG. 1 is performed. Regarding the control method shown in S1, when it is determined that the meandering tendency of the conveyed plate material is on the work side (the plate material tends to move toward the work side), the roll temperature on the pinch roll work side is the roll on the drive side. The roll temperature distribution control device is controlled in a direction that is relatively lower than the temperature. It is only necessary to control the roll temperature on the pinch roll work side so that it is relatively lower than the roll temperature on the drive side, and the roll temperature on the pinch roll work side is compared with the roll temperature on the drive side. It is not essential to keep it low. At that time, for example, in the case of a configuration in which a roll cooling device and a roll heating device are combined, control or control is performed so as to increase or increase the injection amount or injection pressure of the cooling jet sprayed onto the roll from the roll cooling device corresponding to the working side. , Control to raise the roll temperature on the roll drive side by the roll heating device corresponding to the drive side, or perform both the above-mentioned work side and drive side control at the same time, or from the roll cooling device corresponding to the roll drive side. Control to reduce or reduce the injection amount or injection pressure of the cooling jet sprayed on the roll, or control to suppress heating of the roll work side by the roll heating device corresponding to the work side, or the above-mentioned work side and drive side. Both controls are performed at the same time to suppress the tendency of the plate material to meander to the work side.

When the roll temperature distribution control device is composed only of the roll cooling device, the control or the driving side is controlled so as to increase or increase the injection amount or injection pressure of the cooling jet sprayed from the roll cooling device corresponding to the working side to the roll. By controlling the injection amount or injection pressure of the cooling jet blown from the roll cooling device corresponding to the above to be reduced or lowered, or by simultaneously performing both the above-mentioned work side and drive side controls, the plate material can be moved to the work side. Suppresses the tendency to meander. When the roll temperature distribution control device is composed of only a roll heating device, the roll heating device corresponding to the working side controls the roll to suppress heating on the working side, or the roll heating device corresponding to the driving side rolls. By controlling to promote heating on the driving side or simultaneously performing both the above-mentioned control on the working side and the driving side, the meandering tendency of the plate material toward the working side is suppressed.

The control method of S2 in FIG. 1 shows a case where the meandering tendency of the conveyed plate material is on the drive side (the plate material tends to move toward the drive side). In this case, the control opposite to the control when the meandering tendency is on the working side is performed, and the meandering tendency of the plate material toward the driving side is suppressed.

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ｚＷ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。 The tendency of the plate material to move toward either the work side or the drive side of the transport device is called the meandering tendency. This meandering tendency can be determined from the history of the plate width center position obtained by obtaining the plate width center position of the plate material. It is possible. As one of the methods for obtaining the plate width center position of the plate material, there is a method of deploying a plate end position measuring device 5 capable of continuously measuring the plate end position as shown in FIG. 11 in the vicinity of the transport device. The plate width center position current value is calculated from the value measured by the plate edge position measuring device 5 and the known plate width. For example, as shown in FIG. 4, the position is indicated by defining the coordinate z with the line center as the origin and the work side as positive along the pinch roll axis, and the plate end position measuring device 5 deployed on the work side. When the measured working side plate edge position is z _W and the known plate width is b, the plate edge position on the drive side is estimated by z _W −b, so the current value z _C of the plate width center position is the average of these. The value is calculated by the following formula.

If the value of the plate width is uncertain, a plate end position measuring device is also arranged on the drive side, the drive side plate end position z _D is actually measured, and the average value of the work side plate end position zW and the drive side plate end position z _D. The current value z _C of the plate width center position is calculated as. Strictly speaking, the current value of the plate width center position is preferably the plate width center position directly under the pinch roll, but if the plate edge position measuring device 5 is sufficiently close to the transport device, the above calculated value z _C is used as the plate width center position current value. Can be regarded as. For further accuracy, plate edge position measuring devices are installed on both the entrance and exit sides of the transport device, and the plate width center position z _C calculated from each measured value is taken as the average of the plate width center position. The current value is preferable.

式（２）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（３）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（３）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（３）の代わりに次式を用いて板幅中心位置を計算する。

Alternatively, the work side measured by the load measuring devices 4a and 4b provided at both ends of the pinch roll in the axial direction as shown in FIG. 12 without deploying the plate end position measuring device 5 shown in FIG. There is also a method of detecting the current value of the plate width center position of the plate material from the load measurement value on the drive side. Hereinafter, an example of a method of calculating the current value of the plate width center position from the load measurement value will be specifically described with reference to FIG. In FIG. 5, the load P acting on the pinch roll from the plate material is represented by a concentrated load acting on the center of the plate width of the plate material. The center of the plate width of the plate material is located at z _C from the line center 9, and the load measurement value measured by the load measurement device on the work side of both ends in the axial direction of the pinch roll is P _W , and the load measurement device on the drive side measured as the measured load and 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 holds between these loads from the equilibrium condition of the pinch roll moment.

When equation (2) is solved for z _C , the current value z _{C at the} center position of the plate width is obtained by the following equation.

According to the equation (3), the center position of the plate width of the plate material can be obtained from the load measurement values on the working side and the driving side. However, equation (3) is a calculation formula on the premise that the load distribution between the plate material and the pinch roll is symmetrical in the plate width direction, and if it is left-right asymmetric, the asymmetry is the load measurement. It must be calculated sheet width center position z _C on excluding the effect on laterality P _W -P _D values. For example, a load distribution between the plate members ~ pinch rolls linear distribution, if the difference i.e. load distribution laterality of the line load of the driving side and the line load of the working side is a p _df, laterality the load distribution P _{Since the} influence on _{WP D} is given by p _df · b ² / (6a) when the plate width is b, the plate width center position is calculated using the following equation instead of the equation (3).

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。 In the case of performing the reduction leveling operation, the expressions of the load distribution laterality p _df indicated by the number (4), for example, in the pressing position of the initialization assuming zero, the subsequent reduction leveling operation Delta] g _df On the other hand, the amount of change Δp _df of the left-right difference in the load distribution between the plate material and the pinch roll, which is calculated in consideration of the elastic deformation of the pinch roll and the plate material, is calculated by, for example, the following equation, and this is integrated over time. Can be calculated by.

Here, m is the elastic constant of the plate material representing the linear load increment when the plate material is pinch-rolled by the unit thickness, and D is called the second type parallel rigidity, and the laterality of the load distribution changes by the unit amount. It is a parameter representing the laterality of the plate thickness caused by the elastic deformation of the transport device including the pinch roll, and all of them can be calculated in advance by a known method if the equipment specifications, the dimensions of the plate material and the elastic modulus are given. ..

There are many possible causes for the plate material to meander, but as an example, a case where there is a difference in roll diameter between the work side and the drive side of the plate material transfer device due to roll wear and roll temperature distribution will be described. When the plate material tends to be closer to the working side with respect to the transport device, it is considered that the state is as shown in FIG. That is, the roll diameter on the working side is larger than the roll diameter on the driving side. At this time, the transfer speed of the plate material on the working side and the driving side of the pinch roll device is proportional to the roll diameter if no slip occurs between the plate material and the roll. That is, the speed at which the plate material enters the pinch roll on the working side is relatively faster than the speed at which the plate material enters the pinch roll on the drive side. Due to this difference in approach speed of the plate material, the plate material is insufficient on the pinch roll entry side on the working side, and conversely, the plate material is left over on the pinch roll entry side on the drive side. Then, the plate material is tilted to the work side on the pinch roll entry side, and as a result of being conveyed in that state, the plate material meanders to the work side.

In this transport situation, when the roll temperature distribution control device corrects the meandering of the plate material due to the difference in roll diameter, the roll diameter on the working side shown in FIG. 15 is controlled to be small and the roll diameter on the driving side is controlled to be large. .. With this change in roll diameter, the approach speed of the plate material on the work side on the pinch roll entry side becomes slower, and the approach speed of the plate material on the drive side becomes faster, so that the approach speed difference between the work side and the drive side of the roll Is generated, and the meandering of the plate material to the working side is corrected. However, in the implementation of this roll temperature distribution control, if the plate material and the roll are not in contact with each other, the meandering controllability cannot be ensured and the meandering of the plate material progresses because the difference in the approach speed of the plate material between the roll work side and the drive side does not occur. Resulting in.

From this idea, it can be seen that in order to secure the difference in approach speed between the plate material on the working side and the driving side, it is necessary that at least the vicinity of the plate end and the roll are in constant contact with each other. FIG. 13 shows the equipment configuration when the roll bending devices 14a-1, 14a-2, 14b-1, and 14b-2 are provided on the working side and the driving side of the pinch roll device. By using the roll bending device, it is possible to arbitrarily change the deflection of the roll. The roll deflection amount is calculated from the distance between the reduction device on the work side and the drive side, the load generated by the reduction device, the roll diameter and roll profile information, the plate width of the plate material, and the profile in the plate width direction, and the plate material in the axial direction of the roll. Determine the state of contact and non-contact with. Then, by calculating the roll bending force required to bring the non-contact portion into the contact state, the roll bending device can increase the roll deflection in the decay direction as shown in FIG. 17, for example, or as shown in FIG. By controlling the roll deflection to increase in the increase direction, the vicinity of the plate edge and the roll are brought into contact with each other, and an appropriate contact load is realized. Therefore, as a result of the difference in the approach speed of the plate material to the pinch roll, the meandering tendency of the plate material to the working side due to the effect of the roll temperature distribution control is corrected.

FIG. 16 illustrates a case where the plate material tends to be closer to the drive side with respect to the transport device, which is the opposite state to the case where the plate material tends to be closer to the work side. That is, the approach speed of the plate material on the drive side is relatively faster than the approach speed of the plate material on the work side. Therefore, the plate material is insufficient on the pinch roll entry side on the drive side, while the plate material is left on the pinch roll entry side on the work side. Therefore, the plate material is tilted to the drive side on the pinch roll entry side and is conveyed in that state. As a result, the plate material meanders to the drive side. In this case as well, the roll bending force is calculated so that the roll is in constant contact with the vicinity of the plate end of the plate, and the roll deflection is controlled by the roll bending device, as in the case when the plate shows a meandering tendency toward the work side. Then, by performing the roll temperature distribution control as described above, the meandering tendency of the plate material toward the drive side is corrected.

Next, with reference to FIG. 3, the embodiment of the control method of the reduction device of the pinch roll device having the electric motor for the pinch roll drive of the present disclosure will be described in detail. It should be noted that, on the premise that symmetrical control, that is, simultaneous reduction control, of the reduction device on the working side and the drive side of the pinch roll device for controlling the pinch roll load is performed, here, a pinch for the purpose of meandering control. A control method for reduction leveling control, characterized in that the reduction devices on the working side and the drive side of the roll device are controlled asymmetrically, will be described. First, the current value of the center position of the plate width is detected. The detection method is derived based on the mathematical formula (1) or the mathematical formula (3).

Subsequently, after detecting the current value of the plate width center position of the plate material 2, it is determined whether or not the pinch rolls 1a and 1b give the plate material 2 a driving force in the transport direction. In one aspect of the control method of the transport device according to the present disclosure, for example, when the equipment configuration is as shown in FIG. 14, the electric motor 6 driving the pinch rolls 1a and 1b applies a predetermined tension to the plate material 2. Torque control is performed to add. Specifically, this controls the current supplied to the electric motor. Therefore, by extracting the control target value of the electric current of the electric motor or measuring the actual current value, it is determined whether or not the pinch rolls 1a and 1b give the plate material 2 a driving force in the transport direction.

Further, in the flowchart of FIG. 3, when it is determined that the pinch rolls 1a and 1b give the plate material 2 a driving force in the transport direction, the plate width with respect to the distribution of the load acting between the plate material and the pinch roll in the plate width direction. With reference to the current value of the center position, operate the reduction device on the work side and drive side of the pinch roll in the direction in which the load on the plate width center position target value side of the work side and drive side of the pinch roll becomes relatively large. .. This reduction position operation will be described with reference to FIG. In FIG. 4, the plate width center position current value 10 is closer to the work side with respect to the line center 9 which is the center of the body length of the pinch roll. Here, for the sake of simplicity, it is assumed that the plate width center position target value at this time coincides with the line center 9, but the target value may be any other position. In this case, the control target is to return the plate material 2 to the drive side. At that time, regarding the distribution of the load acting between the plate material and the pinch roll in the plate width direction, the plate width center position is based on the current value of the plate width center position 10. 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 is relatively larger than the load on the work side. Specifically, the reduction position on the working side is operated in the direction of opening the roll gap, and the reduction position on the driving side is operated in the direction of closing the roll gap. In the present disclosure, performing the reduction position operation by the same magnitude in the opposite directions on the work side and the drive side is referred to as a reduction leveling operation, but the total load between the pinch roll and the plate material is increased by the above reduction leveling operation. The load distribution changes without change, and the plate material 2 in FIG. 4 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 give the plate material 2 a braking force in the direction opposite to the transport direction, the plate width center position with respect to the distribution of the load acting between the plate material and the pinch roll in the plate width direction. With the current value as a reference, the reduction device on the working side and the driving side of the pinch roll is operated in the direction in which the load on the plate width center position target value side of the working side and the driving side of the pinch roll becomes relatively small. In the example of FIG. 4, regarding the distribution of the load acting between the plate material and the pinch roll in the plate width direction, the load on the plate width center position target value (line center 9) side, that is, the drive side is based on the plate width center position current value 10. , Operate the reduction device in a direction that is relatively small compared to the load on the work side. That is, by performing the reduction leveling operation in the direction of closing the work side roll gap and opening the drive side roll gap, the plate material 2 in FIG. 4 returns to the drive side as the pinch roll rotates.

The pinch roll meandering mechanism that can correct the meandering tendency of the plate material by changing the reduction leveling control according to the driving force or braking force applied to the plate material by the pinch roll device is shown below. FIG. 6 shows a state in which the pinch roll device applies a driving force to the plate material, and the driving force as shown by the arrows 23a and 23b is applied to the plate material from the pinch roll device. FIG. 8 shows a plan view of FIG. 6 as viewed from above. In this example, it is assumed that the load distribution 20 between the plate material and the pinch roll is large on the working side. In this case, since the pinch roll presses the work side of the plate material more strongly than the drive 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, the moment 25 acts on the plate material from the pinch roll, the traveling speed of the plate material is slightly faster on the working side than on the driving side, and the plate material is tilted as shown in FIG. In this way, the plate material tilted toward the work side upstream of the entry side is sent in the transport direction by the pinch roll, so that the plate material meanders to the work side. That is, it can be explained that the reduction leveling operation increases the reduction and meanders to the side where the load increases. 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, for the sake of simplicity, the arrows on the working side and the driving side are representative. I showed it.

FIG. 7 shows a state in which the pinch roll device applies a braking force to the plate material, and the pinch roll device exerts a braking force on the plate material as shown by the arrows 24a and 24b. FIG. 9 shows a plan view of FIG. 7 as viewed from above. In this example, it is assumed that the load distribution 20 between the plate material and the pinch roll is large on the working side. In this case, since the pinch roll presses 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 is such that the working side braking force 24a-1 becomes larger than the driving side braking force 24b-2. Conceivable. As a result, the moment 25 acts on the plate material from the pinch roll, the traveling speed of the plate material is slightly slower on the working side than on the drive side, and the plate material is tilted as shown in FIG. As described above, the plate material inclined to the drive side upstream of the entry side is sent in the transport direction by the pinch roll, so that the plate material meanders to the drive side. That is, by the reduction leveling operation, the reduction is strengthened and meanders to the side opposite to the side where the load is increased.

Subsequently, with reference to FIG. 2, the embodiment of the control method of the roll temperature distribution control device of the plate material transport device will be described in detail. FIG. 2 shows the meandering control in the transfer of the plate material as shown in FIG. 3 in the device configuration as illustrated in FIG. 14, and the work side and the drive side of the transfer device are shown from the devices 4a and 4b in FIG. It is assumed that the load acting on the is detected. First, the moving average value of the difference between the value measured by the load measuring device 4a and the load value measured by the load measuring device 4b from the current time to the time retroactive by a certain time is calculated. In addition to the above method, the calculation method may be a method using an integrated value of time series data up to the calculated time.

Next, S5 of FIG. 2 will be described. In S5, it is determined whether the plate material tends to be closer to the working side or the driving side with respect to the pinch roll device. Then, by controlling S6 and S7, the meandering tendency of the plate material is determined by considering whether the pinch roll gives the plate material a driving force in the transport direction or a braking force in the direction opposite to the transport direction. To.

Whether the calculation result of the load difference between the work side and the drive side obtained by performing the meandering control in the transportation of the plate material as shown in FIG. 3 for a certain period of time was calculated as having a large load on the work side according to the judgment standard of S5. Or, it is determined whether the load on the drive side is calculated to be large. For example, the determination result determines that the load on the work side is large, and the determination result in S6 is that the pinch roll gives the plate material a driving force. If it is determined that the plate material has a meandering tendency toward the drive side, it is concluded. Therefore, the roll temperature distribution control device is controlled by the meandering propensity control device so that, for example, the roll diameter on the driving side becomes smaller and the roll diameter on the working side becomes larger. As a result, the meandering tendency of the plate material is corrected.

Further, for example, when the determination result determines that the load on the work side is large and the determination result in S6 determines that the pinch roll gives a braking force to the plate material, the plate material has a meandering tendency toward the work side. Is concluded to have. Therefore, the roll temperature distribution control device is controlled by the meandering propensity control device so that, for example, the roll diameter on the working side becomes smaller and the roll diameter on the driving side becomes larger. As a result, the meandering tendency of the plate material is corrected.

Further, for example, when the determination result determines that the load on the drive side is large and the determination result in S7 determines that the pinch roll gives a braking force to the plate material, the plate material has a meandering tendency toward the drive side. Is concluded to have. Therefore, the roll temperature distribution control device is controlled by the meandering propensity control device so that, for example, the roll diameter on the driving side becomes smaller and the roll diameter on the working side becomes larger. As a result, the meandering tendency of the plate material is corrected.

Further, for example, when the determination result determines that the load on the drive side is large and the determination result in S7 determines that the pinch roll gives the plate material a driving force, the plate material has a meandering tendency toward the work side. Is concluded to have. Therefore, the roll temperature distribution control device is controlled by the meandering propensity control device so that, for example, the roll diameter on the working side becomes smaller and the roll diameter on the driving side becomes larger. As a result, the meandering tendency of the plate material is corrected.

The driving force or braking force applied to the plate material by the pinch roll can be determined by, for example, measuring the tension acting on the plate material on the inlet / outlet side of the pinch roll device and subtracting the inlet side tension and the outlet side tension. is there. Then, the method of determining the driving force or the braking force acting on the plate material may be obtained by a method other than the method of measuring and calculating the tension on the pinch roll inlet / outlet side described above.

Further, the control cycle of the roll temperature distribution control shown in FIG. 2 and the control cycle of the reduction leveling control shown in FIG. 3 may be arbitrarily set, but the control cycle of the roll temperature distribution control is based on the control cycle of the reduction leveling control. Slow conditions are also preferred. For example, the control cycle of the reduction leveling control device is set to a short cycle of 10 ms, and the control cycle of the roll temperature distribution control device is set to a long cycle of 60 s.

In one aspect of the meandering tendency determination method of the transport device of the present disclosure, the plate edge position of the plate material is measured by the plate edge measuring device, and the plate width center position is calculated by processing with the known plate width information to calculate the plate material. Judge the meandering tendency of. FIG. 11 shows the equipment configuration of the transport device when the plate edge measuring device is close to the transport device. In addition to the pinch rolls 1a and 1b, the reduction devices 3a and 3b, and the roll temperature distribution control device 13, the plate material transfer device 100 includes a plate material plate end position measuring device 5, a meandering tendency determining device 12, and a meandering tendency control. The device 16 is provided. The plate edge position measuring device 5 continuously (always) measures the plate edge position of the plate material 2 conveyed by the pinch rolls 1a and 1b. The plate edge position measuring device 5 is fixedly arranged at a predetermined position near, for example, the conveying device 100, and the plate material 2 being conveyed is based on the detected plate end position and the known plate width of the plate material 2. Derivation of the plate width center position. Alternatively, when the plate width of the plate material 2 is not known, the plate edge position measuring device 5 may derive the plate width center position of the plate material 2 by measuring the positions of both ends of the plate material 2 in the plate material 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, an area sensor, a photoelectric sensor, a proximity sensor, a fiber sensor, or a laser sensor can be used. it can. The meandering tendency control device 16 is a device that controls the roll temperature distribution control device 13, and compares the roll temperature of the work side and the drive side, which is determined to have a strong tendency for the plate material, with the roll temperature of the opposite side. It is a device characterized in that a command is issued to control the roll temperature distribution control device in a direction of making it relatively low.

Further, in one aspect of the meandering tendency determination method of the transport device of the present disclosure, a plate of a plate material is obtained from the load measurement values on the work side and the drive side measured by the load measurement devices provided at both ends in the axial direction of the pinch roll. Detects the current value of the width center position and determines the meandering tendency of the plate material. FIG. 12 shows the equipment configuration of the transport device when the load measuring device is deployed on the working side and the drive side of the transport device. The plate material conveying device 100 includes pinch rolls 1a and 1b, reduction devices 3a and 3b, meandering tendency determination device 12, roll temperature distribution control device 13, and meandering tendency control device 16, as well as on the work side and the drive side. The load measuring devices 4a and 4b for measuring the generated load are provided. The load measuring devices 4a and 4b measure the load on the working side and the driving side of the pinch roll 1b, respectively, and 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.

Further, as a method of improving the meandering controllability by the control method of the pinch roll reduction device of the transport device of the present disclosure, there is a method of controlling the amount of deflection of the pinch roll by using a roll bending device. FIG. 13 shows the equipment configuration of the transport device when the roll bending device is deployed for the upper and lower pinch rolls at both ends of the reduction device on the working side and the drive side of the transport device. The plate material conveying device 100 includes pinch rolls 1a and 1b, reduction devices 3a and 3b, meandering tendency determination device 12, roll temperature distribution control device 13, and meandering tendency control device 16, as well as on the work side and the drive side. The load measuring devices 4a and 4b for measuring the generated load, the plate end position measuring device 5 for the plate material, and the roll bending devices 14a-1, 14a-2, 14b-1 and 14b-2 are provided. The roll bending devices 14a-1, 14a-2, 14b-1, and 14b-2 apply bending moments to the pinch rolls on the pinch roll working side and the driving side (both ends in the axial direction), respectively.

Further, as an example of the embodiment of the meandering control method of the transport device of the present disclosure, there is a reduction leveling control that causes a difference in the load of the reduction device provided on the work side and the drive side of the pinch roll with respect to the meandering tendency of the plate material. At the same time, there is roll temperature distribution control in which the meandering tendency of the plate material is determined from the center position of the plate width of the plate material calculated from the difference between the left and right loads, and the meandering tendency is determined based on the result. FIG. 14 shows an example of the equipment configuration of the transport device when performing the reduction leveling control and the roll temperature distribution control. The plate material conveying device 100 is generated on the pinch rolls 1a and 1b, the reduction devices 3a and 3b, the meandering tendency determination device 12, the roll temperature distribution control device 13, the meandering tendency control device 16, and the work side and the drive side. In addition to the load measuring devices 4a and 4b for measuring the load, the plate edge position measuring device 5 for the plate material, and the roll bending devices 14a-1, 14a-2, 14b-1, and 14b-2, the meandering control operation due to the laterality of the load. It is provided with a reduction leveling control device 17 for controlling the above, an electric motor 6, spindles 7a and 7b, and a pinion stand 8. The pinch rolls 1a and 1b are connected to the electric motor 6 via the spindles 7a and 7b and the pinion stand 8, and are driven by the electric motor. Further, in the reduction leveling control device 17, when the pinch roll gives a driving force to the plate material and the plate material meanders to the work side or the drive side, the reduction device on the meandering side is released, and the pinch roll releases the plate material. When the plate material meanders to the work side or the drive side, the reduction device is controlled so as to tighten the reduction device on the meandering side.

[Action and effect of this embodiment]
As described above, according to the present invention, the meandering phenomenon of the plate material caused by the difference in heat input between the left and right rolls due to the contact between the plate material and the pinch roll is eliminated, and the meandering phenomenon of the plate material due to the reduction leveling operation is eliminated. The control effect can be fully exhibited, and the plate width center position of the plate material can be satisfactorily controlled to the plate width center target position.

1a, 1b ... Pinch roll, 2 ... Plate material, 3a, 3b ... Reduction device, 4a, 4b ... Load measuring device, 5 ... Plate edge position measuring device, 6 ... Electric motor, 7a, 7b ... Spindle, 8 ... Pinion stand , 9 ... Line center, 10 ... Plate width center position current value, 11 ... Plate material transport direction, 12 ... Serpentine tendency determination device, 13 ... Roll temperature distribution control device, 14a-1, 14a-2, 14b-1, 14b -2 ... Roll bending device, 16 ... Serpentine propensity control device, 17 ... Reduction leveling control device, 23 ... Enter side tension, 23a-1, 23b-2 ... Driving force acting on the plate material from pinch roll, 24 ... Outer side tension , 24a-1, 24b-2 ... Braking force acting on the plate material from the pinch roll, 25 ... Moment acting on the plate material from the pinch roll, 100 ... Plate material conveying device.

Claims (10)

If it is a control method of a plate material transfer device that sandwiches and conveys a plate material by a pair of upper and lower pinch rolls equipped with a roll temperature distribution control device, and it is determined that the plate material has a strong tendency to meander to the work side, When the roll temperature distribution control device is controlled in a direction in which the roll temperature on the working side is relatively lower than that on the driving side, and conversely, when it is determined that the plate material tends to meander toward the driving side, the driving side A method for controlling a transport device, which comprises controlling the roll temperature distribution control device in a direction in which the roll temperature of the roll temperature is relatively lower than that on the working side. The plate width center position of the plate material is detected based on the plate edge position measurement value measured by the plate edge position measurement device installed near the transport device, and the plate material is on the work side based on the history of the plate width center position detection value. The method for controlling a transport device according to claim 1, wherein it is determined which of the drive side and the drive side has a stronger tendency to meander. The center position of the plate width of the plate material is detected from the load measurement values on the work side and the drive side measured by the load measurement devices installed at both ends of the pinch roll in the axial direction, and the history of the plate width center position detection value is recorded. The method for controlling a transport device according to claim 1, wherein the plate material is determined to have a stronger tendency to meander to the working side or the driving side based on the method. The first, second or third aspect of the present invention, wherein the roll bending device for applying a bending moment to the pinch roll is controlled so as to suppress the occurrence of a non-contact state between the vicinity of the plate end portion of the plate material and the pinch roll. Control method of the transport device. The current value of the plate width center position of the plate material sandwiched by the pinch roll is detected, the target is to bring the plate width center position current value closer to the plate width center position target value, and the pinch roll is conveyed to the plate material in the transport direction. When a driving force is applied toward, the load on the plate width center position target value side is applied with reference to the plate width center position current value with respect to the plate width direction distribution of the load acting between the plate material and the pinch roll. The reduction device on the working side and the driving side of the pinch roll is operated in a direction to be relatively larger than the other, and conversely, when the pinch roll does not give a driving force toward the transport direction to the plate material, the said Regarding the distribution of the load acting between the plate material and the pinch roll in the plate width direction, the load on the plate width center position target value side is relatively smaller than the other with reference to the plate width center position current value. While performing reduction control to operate the reduction device on the work side and drive side of the pinch roll, the work side load measurement value and the drive side load measurement value by the load measurement devices installed at both ends in the axial direction of the pinch roll When the difference, that is, the laterality of the load is detected, and the work side load tends to be larger than the drive side load from the history of the load laterality, the pinch roll does not give the plate material a driving force in the transport direction, and the work side. When the load tends to be smaller than the drive side load and the pinch roll gives the plate material a driving force in the transport direction, it is determined that the plate material tends to meander toward the work side, and the work side load is driven. When the pinch roll gives a driving force to the plate material in the transport direction and the work side load tends to be smaller than the drive side load, the pinch roll tends to be larger than the side load in the transport direction. The control method for a transport device according to claim 1, 2, 3 or 4, wherein it is determined that the plate material has a strong tendency to meander to the drive side when no direct driving force is applied. A pair of upper and lower pinch rolls that sandwich and convey the plate material,
At least one of the upper and lower pinch rolls has a reduction device at both ends in the axial direction.
A meandering propensity determination device for the plate material, which determines whether the plate width center position of the plate material tends to be closer to the work side or the drive side.
The roll temperature distribution control device for the pinch roll and
The roll temperature distribution control device is set in a direction in which the roll temperature of the work side and the drive side, which is determined by the meandering tendency determination device to have a strong tendency to approach the plate material, is relatively lower than the roll temperature of the opposite side. A plate material transporting device comprising a meandering tendency control device for controlling. A plate edge position measuring device that measures the plate edge position of the plate material,
It also has a plate position detecting device that detects the center position of the plate width of the plate material based on the plate edge position measured value measured by the plate edge position measuring device.
The meandering propensity determination device is
6. The claim 6 is characterized in that it is determined whether the plate width center position of the plate material tends to be closer to the working side or the driving side based on the history of the plate width center position detected by the plate position detecting device. The plate material transport device described. Load measuring devices installed at both ends of the pinch roll in the axial direction,
It also has a plate position detecting device that detects the center position of the plate width of the plate material from the load measurement values on the working side and the driving side measured by the load measuring device.
The meandering propensity determination device is
6. The claim 6 is characterized in that it is determined whether the plate width center position of the plate material tends to be closer to the working side or the driving side based on the history of the plate width center position detected by the plate position detecting device. The plate material transport device described. The plate material transporting device according to claim 6, 7, or 8, further comprising a roll bending device for applying a bending moment to the pinch roll. The drive device that drives the pinch roll and
At least one of the upper and lower pinch rolls has a load measuring device at both ends in the axial direction,
When the target is to bring the current value of the plate width center position of the plate material detected by the plate position detection device closer to the plate width center position target value, and the pinch roll gives the plate material a driving force in the transport direction, Regarding the distribution of the load acting between the plate material and the pinch roll in the plate width direction, the load on the plate width center position target value side is relatively larger than the other with reference to the plate width center position current value. It controls the reduction device on the working side and the driving side of the pinch roll, and conversely, when the pinch roll does not give the plate material a driving force in the transport direction, a plate with a load acting between the plate material and the pinch roll. With respect to the distribution in the width direction, the reduction device on the working side and the driving side of the pinch roll is set in a direction in which the load on the target value side of the center position of the plate width is relatively smaller than the current value of the center position of the plate width. It also has a reduction control device to control and control.
The meandering propensity determination device is
The difference between the work-side load measurement value and the drive-side load measurement value measured by the load measuring device, that is, the load left-right difference is detected, and the work-side load tends to be larger than the drive-side load from the history of the load left-right difference. When the pinch roll gives the plate material a braking force in the transport direction, and when the work side load tends to be smaller than the drive side load and the pinch roll gives the plate material a driving force in the transport direction. When it is determined that the plate material has a strong tendency to meander to the work side, the work side load tends to be larger than the drive side load, and the pinch roll gives the plate material a driving force in the transport direction, and the work side. The claim is characterized in that when the load tends to be smaller than the drive side load and the pinch roll applies a braking force to the plate material in the transport direction, it is determined that the plate material tends to meander toward the drive side. Item 6. The plate material conveying device according to Item 6, 7, 8 or 9.

Images