JP3650434B2 - Steel conveying equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
TECHNICAL FIELD The present invention relates to an apparatus for joining before and after steel materials sent on a conveying line by welding, and in particular, although not intended to be limited to this, a plurality of steel materials are supplied to a rolling mill as a single unit. Therefore, the present invention relates to speed control of a joining carriage for welding front and rear conveying steel materials.
[0002]
[Prior art]
In continuous rolling, where a plurality of steel materials are conveyed to the rolling mill and supplied to the rolling mill as a continuous body by welding, a joining carriage is arranged on the conveying line, before the joining carriage (upstream in the conveying direction). The tail end of the steel material (preceding steel material) sent in advance and the tip of the succeeding steel material sent so as to follow it are cut (shaped) by a cut shear. On the joining carriage, a tail end clamping device that clamps the tail end portion of the preceding steel material (hereinafter simply referred to as the preceding steel material), a tip clamping device that clamps the tip end portion of the following steel material (hereinafter simply referred to as the following material), And the welding apparatus which joins the tail end of the preceding steel materials clamped by these and the front-end | tip of a succeeding material is provided.
[0003]
When the tail end of the preceding steel material is cut by the cut shear, the joining carriage starts to accelerate in the direction approaching the rolling mill (conveying direction: forward direction), and the tail end is just below the welding torch. The carriage start timing (time) and the acceleration characteristics of the carriage relative to the tail end cutting (time) by the cutter are determined so that the carriage speed is substantially the same as the transport speed of the preceding steel material. When it is directly under the welding torch, the preceding steel material is clamped to the joining cart. At the time of the tail end clamping and thereafter, the traveling speed of the carriage is matched with the sheet feeding speed by constant speed control with the sheet feeding speed of the downstream rolling mill (rolling material entry side speed) as a target value. Controlled. The trailing material whose tip is cut by the cut shear is accelerated by the feed roll drive system and the conveyance table to catch up with the carriage, and decelerated so as to reduce the relative speed difference of the trailing material with respect to the carriage, When the leading edge of the succeeding material is within a predetermined distance from the tail end of the preceding steel material, the leading edge of the trailing material is clamped by the tip clamping device, and the tail end of the preceding steel material and the leading edge of the following material are joined by the welding device. . Thus, since the steel materials before and after are clamped and welded while running on the transport line, continuous rolling can be performed in the rolling mill, and the rolling efficiency is improved.
[0004]
However, in a tandem rolling mill with a plurality of rolling stands, for example, a finishing rolling mill, if the rolling mill entry side speed fluctuates in order to perform plate thickness control according to the constant mass flow for each stand, the rolling plate thickness Fluctuates. Therefore, the cart with the clamped end of the rolled material must travel at substantially the same speed as the rolling material target speed on the rolling mill entry side (entry side target speed). However, the entry side target speed may be changed for the plate thickness control or may vary for the plate thickness control. Therefore, conventionally, the cart drive control for generating the torque corresponding to the load by the drive motor of the cart and following the cart speed to the rolling material so that the cart does not become a conveyance load (mechanical loss) with respect to the rolled material. It has been adopted.
[0005]
[Problems to be solved by the invention]
However, the work drive system of the rolling mill (the entry side stand), the rolling material and the joining carriage clamped at its tail end approximately constitute a system of two mass points and one spring, and the joining carriage is rolled. Even if it follows the material, there is a possibility of generating a resonance operation. Resonant operation may cause fluctuations in the rolling mill entry-side tension, resulting in fluctuations in the rolled sheet thickness. In some cases, when the clamp is released upon completion of welding, high tension is applied to the weld and the weld breaks. There is a possibility of doing this. When a laser welding apparatus is used as the welding apparatus, the temperature of the welding surface is as high as 800 to 1200 ° C. When welding is performed, the rolled material is fixed to the joining carriage by a clamping device, but when the welding is completed, the temperature of the welded surface is not sufficiently lowered. For example, if a tension of 0.4 kg or more is applied in the direction in which the welds are separated, there may be a problem that the welded portion breaks. During welding, fracture may occur even at a lower tension. Therefore, there is a need for a large clamping device that firmly clamps the rolled material (preceding steel material, following material) so that no tension is applied to the welded part, and can withstand even a large fluctuation in tension. As the system becomes larger and the energy consumption for moving the carriage increases, the production cost of the rolled product increases. In addition, a cart equipped with a large clamper is heavy, and causes excessive tension when a resonance operation occurs.
[0006]
The first object of the present invention is to suppress the transfer load fluctuation caused by the joining cart in the steel material transportation, and the second object is to prevent the excessive tension applied to the conveying steel material by the joining cart. The third object is to reduce the possibility of breakage of the welded portion between the welded preceding steel material and the succeeding steel material, and the fourth object is to make it possible to reduce the size of the clamping device on the joining carriage. To do.
[0007]
[Means for Solving the Problems]
The conveying steel material joining apparatus according to the first aspect of the present invention is a carriage (1) that is on a steel material conveying line and can move forward and backward in the steel material feeding direction of the conveying line, that is, in the forward direction and in the opposite direction.
Carriage drive means (M, MD) for driving the cart (1) back and forth;
A preceding material tail end clamping device (Ca, 5a, 6a) mounted on the carriage (1) so as to be movable in the forward and reverse directions;
The trailing material tip clamping device (Cb, 5b, 6b) mounted on the carriage (1) at a position away from the preceding material tail end clamping device (Ca, 5a, 6a) in the reverse direction;
It is clamped by the trailing material tip clamping device (Cb, 5b, 6b) on the tail end of the preceding steel material (Wa) mounted on the carriage (1) and clamped by the leading material tail end clamping device (Ca, 5a, 6a). Welding equipment (3, 50, 40) for welding the tip of the following steel material (Wb);
Forward tension detecting means (Ra) for detecting the tension (xRa) of the preceding material (Wa) between the preceding material tail end clamping device (Ca, 5a, 6a) and the carriage (1); and
While driving the carriage (1) in the forward direction via the carriage drive means (M, MD), the tail end of the preceding steel material (Wa) fed into the carriage (1) in the forward direction along the transfer line Corresponding to the tension (xRa) detected by the forward tension detecting means (Ra), the carriage is clamped by the preceding material tail end clamping device (Ca, 5a, 6a) in the direction in which it matches the set value (ry) (1) is added and decelerated, and the trailing steel (Wb) tip fed to the carriage (1) in the forward direction along the transfer line is the trailing material. tip Control means (31, 32) for clamping with a clamping device (Cb, 5b, 6b) and welding a trailing steel tip to a leading steel tail via the welding device (3, 50, 40);
Is provided.
[0008]
In addition, in order to facilitate understanding, symbols of corresponding elements or corresponding matters in the examples shown in the drawings and described later are added for reference (the same applies hereinafter).
[0009]
According to this, when the tail end of the preceding steel material (Wa) is clamped by the preceding material tail end clamping device (Ca, 5a, 6a), the control means (31, 32) is detected by the front tension detecting means (Ra). Corresponding to the tension (xRa), the carriage (1) is accelerated and decelerated in the direction that matches the set value (ry), so the tension between the preceding steel (Wa) and the carriage (1) is set substantially. Value (ry). By setting this set value (ry) to a low value (most typically 0), the transport load (load due to the carriage) of the preceding steel material (Wa) is light (the transport load is 0 when the set value ry is 0). When the set value ry is negative, the conveyance load is a negative value), and the traveling load of the preceding steel material is small due to the joining cart (1) clamping the tail end of the preceding steel material (Wa). Conventional tension fluctuations between the preceding steel material (Wa) and the carriage (1) due to disturbance or due to fluctuations in the conveyance speed of the conveyance line are absorbed by the above-described tension control of the control means (31, 32), and the joining carriage ( The running load fluctuation of the preceding steel material due to disturbances other than the clamp of 1) is also suppressed.
[0010]
Therefore, for example, when there is a rolling mill in front of the conveyance line and continuously rolling the steel materials connected by the joining carriage (1), the fluctuation in the tension or speed of the steel material on the inlet side of the rolling mill is small, and the rolling mill The plate thickness control is stable.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
In the conveying steel material joining device according to the second aspect of the present invention, the trailing material tip clamping device (Cb, 5b, 6b) of the first aspect is also movable in the forward and reverse directions on the carriage (1). . Along with this, there is a rear tension detection means (Rb) that detects the tension (xRb) of the trailing material (Wb) between the trailing material tip clamping device (Cb, 5b, 6b) / cart (1). Yes. In this second mode, the control means (31, 32) is configured so that the tension (xRa, xRb) detected by the front tension detection means (Ra) and the rear tension detection means (Rb) after clamping the tip of the trailing material (Wb). ), The vehicle (1) is accelerated and decelerated in the direction in which the sum (xRa + xRb) matches the set value (ry).
[0012]
According to this, the above-mentioned operation and effect of the first aspect can be obtained similarly. In addition, after clamping the leading edge of the trailing material (Wb), the control means (31, 32) is the sum of the tensions (xRa, xRb) detected by the front tension detecting means (Ra) and the rear tension detecting means (Rb). Since the carriage (1) is added and decelerated in the direction in which (xRa + xRb) matches the set value (ry), the tension (xRa) between the preceding steel material (Wa) and the carriage (1) and the following material (Wb) / carriage The sum (xRa + xRb) of the tension (xRb) between (1), that is, the tension (xRa + xRb) between the preceding steel material (Wa) / following material (Wb) is substantially the set value (ry). In other words, it acts between the preceding steel material (Wa) and the succeeding material (Wb) when welding with both the preceding steel material (Wa) and the following material (Wb) clamped and when the welding is finished and both clamps are released. The tension (xRa + xRb) is substantially the set value (ry).
[0013]
By setting the set value (ry) to a low value (typically 0), the tension between the preceding steel material (Wa) and the following material (Wb) is low (if the set value ry is 0, the tension is Is 0, and if the set value ry is negative, a compressive force is applied to the welded part between the two materials Wa and Wb), and between the preceding steel material and the following material during welding and when the welding is finished and both clamps are released. There is no breakage of the weld due to high tension applied to the weld. Conventional tension fluctuations between the preceding steel material and the following material due to the disturbance on the steel material (preceding steel material, following material) or the carriage on the transfer line are absorbed by the above-described tension control of the control means (31, 32). Therefore, the possibility that the welded portion breaks due to disturbance is reduced.
[0014]
According to a third aspect of the present invention, there is provided a joining apparatus for conveying steel materials, wherein the control means (31, 32) of the second aspect is configured such that a set time (Tx) after the completion of welding elapses and a trailing end of a preceding steel material (Wa) and a trailing material. The clamp at the tip of (Wb) is to be released together.
[0015]
According to this, the effect | action and effect of the above-mentioned 2nd aspect are obtained similarly. In addition, since the control means (31, 32) releases both clamps after the set time (Tx) after welding is completed, the temperature of the weld decreases during this set time (Tx) and the tensile strength Since the strength is increased, the possibility that the weld will break when both clamps are released is further reduced.
[0016]
A transport steel material joining apparatus according to a fourth aspect of the present invention is a carriage (1) that is on a steel material transport line and is movable forward and backward in the steel material feed direction of the transport line, that is, in the forward direction and in the opposite direction.
Carriage drive means (M, MD) for driving the carriage back and forth
Trolley speed detecting means (Em, 31) for detecting the traveling speed of the trolley (1) on the transfer line;
Means (finishing mill) for generating conveyance speed (rxy) information of the preceding steel material (Wa) on the conveyance line;
A preceding material tail end clamping device (Ca, 5a, 6a) mounted on the carriage (1) so as to be movable in the forward and reverse directions;
The trailing material front end clamping device mounted on the carriage (1) so as to be movable in the forward and reverse directions at a position away from the preceding material tail end clamping device (Ca, 5a, 6a) in the reverse direction. Cb, 5b, 6b);
It is clamped by the trailing material tip clamping device (Cb, 5b, 6b) on the tail end of the preceding steel material (Wa) mounted on the carriage (1) and clamped by the leading material tail end clamping device (Ca, 5a, 6a). Welding equipment (3, 50, 40) for welding the tip of the following steel material (Wb);
Forward tension detecting means (Ra) for detecting the tension (xRa) of the preceding material (Wa) between the preceding material tail end clamping device (Ca, 5a, 6a) and the carriage (1);
Following material tip A rear tension detecting means (Rb) for detecting the tension (xRb) of the trailing material (Wb) between the clamping device (Cb, 5b, 6b) and the carriage (1);
A trolley that detects the trolley speed detection means (Em, 31) by accelerating the trolley (1) by driving it forward through the trolley drive means (M, MD) in response to a travel command (leading steel cutting signal). First speed control means (31) for controlling the traveling speed of the carriage (1) so that the traveling speed (rxy) information becomes the speed indicated by the conveying speed (rxy) information when the traveling speed substantially matches the speed indicated by the conveying speed (rxy) information;
Clamp the tail end of the preceding steel material (Wa) fed to the carriage (1) in the forward direction along the transfer line with the preceding material tail end clamping device (Ca, 5a, 6a), and in the forward direction along the transfer line The tip of the trailing steel (Wb) sent to the cart (1) is the trailing material. tip A joining control means (31) for clamping with a clamping device (Cb, 5b, 6b) and welding a trailing steel tip to a leading steel tail via a welding device (3, 50, 40);
Corresponding to the tension (xRa, xRb) detected by the front tension detection means (Ra) and the rear tension detection means (Rb), it passes through the carriage drive means (M, MD) in the direction that matches the tension reference value. Second speed control means (32) for accelerating and decelerating the carriage (1); and
The speed control of the carriage (1) by the first speed control means (31) is performed until the leading material tail end clamping device (Ca, 5a, 6a) clamps the tail end of the preceding steel material, and the second speed after the clamping. Speed command switching means (31, Sm) for selecting speed control of the carriage (1) by the control means (32);
Is provided.
[0017]
According to this, the speed command switching means (31, Sm) is a carriage by the first speed control means (31) until the preceding material tail end clamping device (Ca, 5a, 6a) clamps the tail end of the preceding steel material. The speed control of (1) is selected, and the first speed control means (31) forwards the carriage (1) via the carriage drive means (M, MD) in response to the travel command (leading steel tip cutting signal). Accelerates by driving in the direction, and executes control to set the carriage speed to the conveyance speed (rxy). The joining control means (31) clamps the tail end of the preceding steel material (Wa) with the preceding material tail end clamping device (Ca, 5a, 6a).
[0018]
Thus, the speed command switching means (31, Sm) selects the speed control of the carriage (1) by the second speed control means (32) after the clamping, and the second speed control means (32) Corresponding to the tension (xRa, xRb) detected by the detection means (Ra) and the rear tension detection means (Rb), the carriage is passed through the carriage drive means (M, MD) in the direction that matches the tension reference value. Add (1) and decelerate. The joining control means (31) uses the trailing edge of the trailing steel (Wb) fed to the carriage (1) in the forward direction on the transport line as the trailing material tip Clamping is performed with the clamping device (Cb, 5b, 6b), and the trailing steel material tip is welded to the tail end of the preceding steel material via the welding device (3, 50, 40).
[0019]
Therefore, after clamping the tail end of the preceding steel material (Wa), the tension between the preceding steel material (Wa) and the carriage (1) (xRa) and the tension between the carriage (1) and the following material (Wb) ( xRb) is equal to or less than the set value (ry).
[0020]
By setting this set value (ry) to a low value (most typically 0), the transport load (load due to the carriage) of the preceding steel material (Wa) is light (the transport load is 0 when the set value ry is 0). When the set value ry is negative, the conveyance load is a negative value), and the traveling load of the preceding steel material is small due to the joining cart (1) clamping the tail end of the preceding steel material (Wa). Conventional tension fluctuations between the preceding steel material (Wa) and the carriage (1) caused by disturbance or the conveyance speed fluctuation of the conveyance line are absorbed by the above-described tension control of the control means (31, 32), and the joining carriage (1 The load fluctuation of the preceding steel material due to disturbances other than the clamp of) is also suppressed. Therefore, for example, when there is a rolling mill in front of the conveyance line and continuously rolling the steel materials connected by the joining carriage (1), the fluctuation in the tension or speed of the steel material on the inlet side of the rolling mill is small, and the rolling mill The plate thickness control is stable.
[0021]
Furthermore, after clamping the tip of the succeeding steel material (Wb), the tension (xRa + xRb) between the preceding steel material (Wa) and the succeeding steel material (Wb) is substantially equal to or less than the set value (ry). By setting this setting value (ry) to a low value (most typically 0), when the clamp at the rear end of the preceding steel (Wa) and the clamp at the front end of the subsequent steel (Wb) are both released, The tension (xRa + xRb) acting between the steel material (Wa) and the succeeding steel material (Wb) is substantially below the set value (ry). This reduces the possibility that the weld will break due to high tension during welding and when both clamps are released. Conventional tension fluctuations between the preceding steel material (Wa) and the following steel material (Wb) due to the disturbance applied to the steel material (preceding steel material, following steel material) or the carriage (1) are caused by the joining control means (31, 32). Absorbed by the tension control described above, the possibility that the weld will break due to disturbance is reduced.
[0022]
The second speed control means (32) of one embodiment of the fourth aspect is a trailing material. tip Until the clamping device (Cb, 5b, 6b) clamps the tip of the following steel material, it corresponds to the tension (xRa) detected by the front tension detection means (Ra), in the direction that matches the tension reference value. , Forward tension control means for accelerating and decelerating the carriage (1) via the carriage driving means (M, MD), and the trailing material tip After the clamp device (Cb, 5b, 6b) clamps the tip of the subsequent steel material, the tension (xRa) detected by the front tension detection means (Ra) and the tension (xRb) detected by the rear tension detection means (Rb) And a longitudinal tension control means for accelerating and decelerating the carriage (1) via the carriage driving means (M, MD) in a direction corresponding to the tension reference value.
[0023]
According to this, the tension (xRa) between the preceding steel material (Wa) and the bogie (1) and the bogie (1) from the time when the leading steel material (Wa) is clamped to the end of the trailing steel material (Wb) is clamped. ) And the following steel material (Wb) (xRb) is equal to or less than the set value (ry). By setting this set value (ry) to a low value (most typically 0), the transport load (load due to the carriage) of the preceding steel material (Wa) is light (the transport load is 0 when the set value ry is 0). When the set value ry is negative, the conveyance load is a negative value), and the traveling load of the preceding steel material is small due to the joining cart (1) clamping the tail end of the preceding steel material (Wa). Conventional tension fluctuations between the preceding steel material (Wa) and the carriage (1) caused by disturbance or due to fluctuations in the conveyance speed of the conveyance line are absorbed by the above-described tension control of the control means (31, 32), and are joined to the carriage. The load fluctuation of the preceding steel material due to disturbances other than the clamp in (1) is also suppressed. Therefore, for example, when there is a rolling mill in front of the conveyance line and continuously rolling the steel materials connected by the joining carriage (1), the fluctuation in the tension or speed of the steel material on the inlet side of the rolling mill is small, and the rolling mill The plate thickness control is stable. Further, when both the clamps are released during welding and after the end of welding, the tension (xRa + xRb) between the preceding steel material (Wa) / following steel material (Wb) is low, and the possibility that the weld will break is reduced.
[0024]
Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.
[0025]
【Example】
FIG. 1 shows an embodiment of the present invention. A strip (strip) rolled by a roughing mill (not shown) is conveyed in the direction of the white arrow in FIG. 1 (this is referred to as the forward direction, and the opposite direction is referred to as the reverse direction). It will be sent to the finishing mill. That is, the joining cart 1 shown in FIG. 1 exists on the strip conveying line between the upstream rough rolling mill and the downstream finishing mill. Hereinafter, the band plate that has already been joined to the tail end of the band plate (previous material) that has already passed through the carriage 1 and flows further downstream (forward direction) and has the tail end on the carriage 1 is referred to as the preceding material Wa, A band plate whose leading end is fed into the carriage 1 next to the preceding material Wa and joined to the tail end of the preceding material Wa is referred to as a trailing material Wb. FIG. 1 shows a state in which the tail end of the leading material Wa and the tip of the following material Wb are brought into contact with each other and clamped to the receiving bases 6a and 6b by the clamps 5a and 5b. The preceding material Wa and the following material Wb are collectively referred to as a work.
[0026]
In FIG. 1, when the upper side in the vertical direction z is set to the upper side and the lower side is set to the lower side, rails are laid in the x direction (parallel to the transfer direction of the workpiece) on the floor below the workpiece in the transfer state (not shown). ), The carriage 1 is placed on the rail through the wheels 9 so as to be able to move forward (forward direction) / backward (reverse direction) freely.
[0027]
The rotating shaft of the electric motor M is connected to the rotating shaft of the wheel 9 via a speed reduction mechanism (not shown), and the motor driver MD energizes the motor M. When the motor M is rotated forward / reversely by energization of the motor driver MD, the carriage 1 is in a forward / reverse direction parallel to the workpiece conveyance line (a line connecting the workpiece passing points on the z-axis in FIG. 1). Move to. A rotary encoder Em is connected to the motor M, and an electric signal (motor speed synchronization pulse) of one pulse is generated every time the motor M rotates by a predetermined angle. The motor speed synchronization pulse is given to the control circuit 30 and the motor driver MD.
[0028]
In response to the energization command nMD (direction command and speed command) given by the control circuit 30, the motor driver MD supplies a current to the motor M for rotationally driving the motor M at the designated speed in the designated direction. Energize. In this case, the motor driver MD F / V converts the motor speed synchronization pulse given by the rotary encoder Em to obtain an analog motor speed signal, and the motor driver MD so as to match the command speed (target speed). Increase or decrease the current value. Therefore, when the carriage 1 starts running, the control circuit 30 increases the command speed with a predetermined pattern, so that the carriage 1 starts to run and gradually accelerates. When the change of the command speed is stopped, the carriage 1 becomes a constant speed.
[0029]
On the other hand, the control circuit 30 counts the speed synchronization pulses generated by the rotary encoder Em from the rotation driving start point of the motor M. That is, it counts up when the motor M is rotating in the forward direction and counts down when it is rotating in the reverse direction. The count value (motor speed synchronization pulse count value) is a cart in the forward direction (to the left in FIG. 1) from the home position of the cart 1 (upstream standby position close to the shape detection sensor t1). Represents the position (x direction). The control circuit 30 detects the rotary encoder connected to the table roller ra when the shape detection sensor t1 detects the end of the steel material (the tail end of the preceding material Wa and the tip of the following material Wb). -Start counting up the pulses (carrier synchronization pulse) generated by da En. When the count is started by detecting the tail end of the preceding material Wa, the count value is the position of the tail end of the preceding material Wa in the forward direction (to the left in FIG. 1) from the position of the shape detection sensor t1. The count value when the count is started by detecting the leading edge of the following material Wb is the forward value (to the left in FIG. 1) of the following material Wb from the position of the shape detection sensor t1. tip Represents a position. The control circuit 30 includes the above-described carriage position (motor speed synchronization pulse count value), the tail position of the preceding material Wa (conveyance synchronization pulse count value), and the tip position of the following material Wb (conveyance synchronization pulse count value). Based on the above, the leading material Wa tail end position and the trailing material Wb tip position with respect to the carriage 1 are calculated, and where on the carriage 1 the leading material Wa tail edge position and the trailing material Wb tip position are monitored.
[0030]
The frame 10 of the carriage 1 supported by the wheels 9 hangs along the left end face side edge on a rectangular flat plate whose longitudinal direction is parallel to the x axis and an upper surface near the forward end face (left end face) of the flat plate. A front wall is provided, and a rear wall is provided on the upper surface near the opposite end face (right end face) opposite to the front wall, and is also suspended along the right end face side edge. On the upper surface of the frame 10, a leading material clamping device 2a, a welding torch 3 and a trailing material clamping device 2b are mounted from the left.
[0031]
The preceding material clamping device 2a is driven up and down by a carriage 7a, a clamp cradle 6a supported by the carriage 7a, a cylinder support frame 8a, a clamp cylinder Ca supported by the cylinder support frame 8a, and a clamp cylinder Ca. The clamp shoe 5a is disposed above the clamp 6a and faces the upper surface of the clamp cradle 6a. The carriage 7a of the clamping device 2a is supported by a wheel that is rotatable in the x-axis direction, and is connected to the front wall of the carriage frame 10 via a bending correction cylinder Sa and a load cell Ra. The cylinder support frame 8a is a plate-like support plate that is wide in the y direction and is suspended from the top surface of the carriage 7a along the end surface in the x direction. It is U-shaped. An opening is opened in a surface parallel to the zy plane of the support frame 8a, and the preceding material Wa and the following material Wb pass through the opening. In a state where an energization command nCa, which will be described later, does not arrive at the clamp cylinder Ca from the control circuit 30, the clamp cylinder Ca retracts the clamp shoe 5a upward, so that the preceding material Wa or the following material Wb is The vehicle 1 passes through the carriage 1 substantially without contacting any of the carriage 1 and the object mounted thereon.
[0032]
However, when the control circuit 30 determines that the tail end of the leading material Wa has arrived below the welding torch 3, the control circuit 30 sends the energization command nCa to the clamp cylinder Ca (more precisely, a solenoid valve that applies high pressure to the cylinder). Is output to the solenoid driver (in the interface 35 in FIG. 2), and the clamp cylinder Ca drives the clamp shoe 5a downward. As a result, the preceding material Wa is clamped between the clamp shoe 5a and the clamp cradle 7a.
[0033]
The trailing material clamping device 2b is also configured in accordance with the preceding material clamping device 2a, but the carriage 7b is connected to the rear wall via the bending correction cylinder Sb and the load cell Rb. Then, the control circuit 30 determines that the leading end of the succeeding material Wb whose tip portion has not yet been joined to the preceding material Wa arrives below the welding torch 3 and enters the tail end of the preceding material Wa within a predetermined short distance. When the determination is made, the energization command nCb is output to the clamp cylinder Cb (more precisely, the solenoid driver energizing the solenoid valve that applies high pressure to the cylinder: in the interface 35 of FIG. 2), and the clamp cylinder Cb Then, the tip of the trailing material Wb is clamped.
[0034]
The clamp devices 2a and 2b are rotationally driven around an axis parallel to the z axis by the bending correction cylinders Sa and Sb, respectively. The control circuit 30 corresponds to the inclination of the cutting line given by the cutting shape detection circuit 70 (the angle between the tail end of the preceding material Wa and the cutting line of the succeeding material Wb and the y axis at the position of the shape detection sensor t1). Then, correction commands nSa and nSb for making them zero (parallel to the y-axis) are respectively supplied to the correction cylinders Sa and Sb (to be precise, solenoid drivers for energizing the solenoid valves that apply high pressure to the cylinders: FIG. The leading edge cutting line of the preceding material pressed by the preceding material clamping device 2a and the leading edge cutting line of the following material pressed by the following material clamping device 2b. Both are driven to rotate in a direction substantially parallel to the y-axis.
[0035]
Further, a support base 4 that supports the welding torch 3 is supported between the preceding material clamping device 2a and the following material clamping device 2b at the center of the upper surface of the carriage 1. The support base 4 is composed of two support plates that are wide in the y direction and are suspended in parallel to the front wall and the rear wall of the frame 10 and an upper frame that is continuously supported by the support plates. Although not shown, a y-direction traveling carriage is mounted on the upper frame, and an elevating mechanism that supports the welding torch 3 is supported on the carriage. Similar to the cylinder support frames 8a and 8b, the support plate of the support base 4 has openings through which the preceding material Wa and the following material Wb pass, and the preceding material Wa and the following material Wb pass therethrough. When welding both materials, the control circuit 30 gives the drive circuit 40 a welding command, a torch height command, a steel material width (y-direction welding start and end position), and a steel material thickness. The drive circuit 40 positions the y-direction traveling carriage so that the torch 3 supported by the y-direction traveling carriage becomes the welding start position, positions the torch 3 at the command height, and supplies the steel material to the welding torch 3 from the welding power source 50. The welding power corresponding to the thickness is supplied, and the y-direction traveling carriage is driven to the welding end position. When this is finished, the drive circuit 40 cuts off the power supply to the welding torch 3 and notifies the control circuit 30 of the completion of welding, drives the torch up to the upper standby position, and moves the y-direction traveling carriage in the y-direction. Drive to the parking position.
[0036]
The front and rear ends of the strip (leading material, trailing material) carried out from the upstream rough rolling mill are cut in parallel with the y-axis by the cut shear 20. This is because the end shape (fish tail) is a rectangular end. The cutting control device 60 controls cutting of the cut shear 20 and also includes cutting information x60 indicating that cutting has actually been performed (tip cutting completion, tail end cutting completion: tail end cutting completion information indicates that the carriage 1 travels in the forward direction. (Synonymous with start command) is given to the control circuit 30.
[0037]
A shape detection sensor t1 is downstream of the cut shear 20. As already mentioned, the rotary encoder En is connected to the transport roller ra slightly upstream of the shape detection sensor t1, and every time the transport roller ra rotates by a predetermined angle, that is, every time the strip travels a predetermined distance. 1 pulse of carrier synchronization pulse is generated. The shape detection sensor t1 detects an inclination angle (shift angle) of the cutting line by the front and rear cut shears 20 of the strip (the preceding material Wa and the following material Wb) with respect to the y axis. Specifically, the shape detection sensor t1 includes a plurality of sets of photoelectric edge sensors arranged in parallel to the y-axis, and the cut shape detection circuit 70 detects a cut edge. Starts counting carrier synchronization pulses, saves (reads) each count value when each of the other groups detects a cutting edge, and stores each group in the y-direction position (fixed) and count data. The cutting line is estimated and calculated based on this, the angle (deviation angle) between the calculated cutting line and the y-axis is calculated, and the calculated angle information is supplied to the control circuit 30 together with the tail end / tip identification information.
[0038]
The operation panel 80 is an input board for setting the control timing value, the reference value, and various information values in the control circuit 30 and the drive circuit 40, and a display (notification) button for performing status display and abnormality notification. -It is also a de. For controlling the traveling speed of the carriage 1, the operator sends the tension reference value ry, the mechanical compensation term my, the joining carriage reference speed vy, and the finishing mill entry side speed reference value xy to the control circuit 30 via the operation panel 80. give.
[0039]
In this embodiment, the tension reference value ry is controlled by the speed control corresponding to the detected tension executed by the speed command circuit 232, which will be described later. The preceding material clamping device 2a clamps the preceding material Wa, but the following material clamping device. 2b is a state in which the trailing material Wb is not clamped, and becomes a target value of the tension applied to the preceding material Wa by the carriage 1, and both the clamping devices 2a and 2b both clamp the preceding material Wa and the following material Wb. In this state, the target value is the tension applied between the two materials Wa and Wb (the detected tension xRa of the load cell Ra + the detected tension xRb of the load cell Rb).
[0040]
The mechanical compensation term my substantially corresponds to the required torque (for example, the minimum torque) of the motor M required to drive the carriage 1 and is also an adjustment allowance for adjusting the carriage speed control characteristic of the operator. Variations in travel load of individual carts due to dimensional errors at the time of manufacture of the cart 1, variations in cart travel load due to the rail (installation individual) on which the cart travels, or aging of the cart and rail or motor driver The operator adjusts the mechanical compensation term my so that the traveling characteristic of the carriage becomes a desired one in response to the change in the truck running load or the change in the motor energization characteristic.
[0041]
The joining carriage reference speed vy is determined in correspondence with the strip conveyance reference speed (the reference entry side speed of the finishing mill≈the reference exit side speed of the roughing mill), and is usually set to the strip conveyance reference speed.
[0042]
The finishing mill entry side speed reference value xy is the entry side reference speed of the finishing mill that rolls the strips connected by the carriage 1 downstream of the carriage 1.
[0043]
FIG. 2 shows the configuration of the control circuit 30. The control circuit 30 includes a speed command circuit 1 31, a speed command circuit 2 32, signal processing circuits 36 a to 39 a and 36 b to 39 b, interfaces 34, 35 and 36, and a switch Sm. Each of the speed command circuit 1 31 and the speed command circuit 2 32 includes a CPU (microprocessor) as a main body, and executes data stored in the CPU to execute data processing based on data input and input data. The control signal is output.
[0044]
FIG. 3 shows a functional configuration of the speed command circuit 232. The tension reference value ry is stored in the tension reference storage register (latch) rmy of the speed command circuit 232, the mechanical compensation term my is stored in the mechanical compensation term storage register (latch) rmy, and the joint carriage reference speed vy is stored. Is stored in the joining carriage reference speed storage register (latch) rvy, and the finishing mill entry side speed reference value xy is stored in an internal register (latch) of the mill entry side speed fluctuation corrector Δrxy. These four registers latch the data indicating each value and always output it. The mill entry side speed fluctuation corrector Δrxy is a deviation of the rolling material entry side speed rxy (≈conveying speed of the preceding material Wb) given by the downstream finishing mill from the latched finish mill entry side speed reference value xy, Δrxy. = Calculation material speed rxy on the entry side of the finishing rolling mill-finish rolling mill entry speed reference value xy is calculated and output. The processing function of the speed command circuit 232 for these input data will be described later with reference to FIG.
[0045]
Referring to FIG. 2 again, the tension xRa between the preceding material Wa and the carriage 1 detected by the load cell Ra is applied to the speed command circuit 131 and the speed command circuit 2 32 via the signal processing circuit 36a and the interface 35. Similarly, the tension xRb between the carriage 1 and the following material Wb detected by the load cell Rb is given to the speed command circuit 131 and the speed command circuit 2 32 via the signal processing circuit 36b and the interface 35. The motor speed synchronization pulse generated by the rotary encoder Em is counted by the pulse counter 38a, and the count data xEm is given to the speed command circuit 131 through the interface 35. This data xEm represents the position (x direction) of the carriage 1.
[0046]
The carrier synchronization pulse generated by the rotary encoder En is counted by the pulse counter 39a, and the pulse and count data xEn are given to the speed command circuit 131 via the interface 35. The cutting information x60 output from the cutting control device 60 is provided to the speed command circuit 131 via the interface 34. The cutting shape data x 70 output from the cutting shape detection circuit 70 is given to the speed command circuit 131 via the interface 34.
[0047]
The switch Sm in the control circuit 30 includes a connection piece connected to the external motor driver MD, a selection contact (normally closed contact) connected to the output terminal of the speed command circuit 131, and the speed command circuit 232. A changeover switch having a selection contact connected to an output terminal (shown in the form of a relay in the figure, but actually a switching circuit), which is one of the speed commands output from the speed command circuit 1 31 and the speed command circuit 2 32 Is selectively given to the motor driver MD, and the speed command circuit 131 performs this selection designation. In addition, the speed command circuit 133 is clamped at the tail end of the preceding material Wa, clamps the tip of the subsequent material Wb, and then welds both materials to release both clamps. The switch Sm is switched so that the speed command output from the speed command circuit 2 32 is given to the motor driver MD. However, in other time intervals, the speed command output from the speed command circuit 1 31 as shown in FIG. Is returned to the motor driver MD.
[0048]
Please refer to FIG. 3 again. The tension reference value ry given to the speed command circuit 232 from the operation panel 80 is stored in the register ry, and the forward tension xRa detected by the load cell Ra outputted from the interface 35 is subtracted from the value. At this time, when the xRb take-in signal xs arrives from the speed command circuit 131 and the open / close switch Sr is closed (while both the clamping devices 2a and 2b are clamping the leading material and the trailing material), the interface further 34, the rear tension XRb detected by the load cell Rb is subtracted. The value thus subtracted is the tension deviation ry *. Then, a value ry ** obtained by adding the proportional term (P) value obtained by multiplying ry * by the coefficient Kp and the integral term (I) value obtained by integrating ry * and multiplying by the coefficient 1 / Kp is calculated. This is the cart speed correction amount for maintaining the tension at a constant value (reference value ry).
[0049]
On the other hand, the mechanical compensation term my, the joining cart reference speed vy and the finishing mill entering side speed fluctuation correction value Δrxy = rxy−xy are added to the calculated value ry ** and given to the motor driver MD as a speed command (however, When the changeover switch Sm is connected to the speed command circuit 232 side). Here, all the speed commands output from the speed command circuit 232 are forward rotation instructions, and the rotational drive of the motor M is controlled via the motor driver MD by the speed command output from the speed command circuit 232. In the meantime, the motor M is driven forward, and the carriage 1 moves forward (forward direction) while being speed controlled.
[0050]
FIG. 4 shows the control operation of the speed command circuit 131 shown in FIG. When the power is turned on, the speed command circuit 131 (CPU thereof, the same applies hereinafter) clears each register (register in the CPU) and timer (program timer) (step 1). Hereinafter, the step number is omitted and only the step number is written in parentheses.
[0051]
When the initialization is completed, the speed command circuit 131 waits until the cutting information x60 indicating the tail end cutting of the preceding material Wa comes from the cutting control circuit 60 (2). When the cutting information x60 arrives, a normal rotation command and a target speed command are given to the motor driver MD, and the target speed command is sequentially changed to a high value at a speed corresponding to the joining cart speed reference value rvy (3). At this time, the switch Sm is in the state shown in FIG. 2, the command of the speed command circuit 131 is given to the motor driver MD, and the carriage 1 starts from the home position and moves forward (leftward in FIG. 1). The travel speed of the carriage 1 gradually increases. Then, the position of the tail end of the preceding material Wa with respect to the carriage 1 is tracked, and the above acceleration (change to the target speed command high value) is continued until the welding torch 3 catches up with the tail end of the preceding material Wa (3a, 4). ).
[0052]
When the welding torch 3 catches up with the tail end of the preceding material Wa, the rolling material entry side speed rxy given by the finishing mill gives a target speed command to the motor driver MD (when this cannot be obtained, the joining carriage speed reference value rvy). (4, 5). Then, a clamp command nCa is output to the clamp cylinder Ca (6). As a result, the preceding material clamping device 2a clamps the tail end portion of the preceding material Wa in a state where it is directly under the welding torch 3 of the carriage 1 that travels at substantially the same speed as the preceding material Wa.
[0053]
Here, the speed command circuit 1 31 switches the switch Sm so as to give the motor driver MD the speed command output by the speed command circuit 2 32. This is performed by the selection signal xSm (7). The cart speed control by the speed command circuit 232 while switching in this way will be described with reference to FIG. 3 again. When the switch Sm is switched as described above, the switch Sr is open, and the speed command The circuit 232 calculates a deviation ry * = rry−xRa of the tension xRa detected by the load cell Ra with respect to the tension reference value ry, a value (proportional term) obtained by multiplying the deviation ry * by the proportional gain Kp, and the deviation The integral value (integral term) of ry * is calculated, and the sum (proportional term + integral term) ry ** of both is calculated as the mechanical compensation term value rmy + joining carriage reference speed rvy + finishing mill entry side speed fluctuation correction value Δrxy. A value obtained by further subtraction is calculated, and the value calculated in this way is given to the motor driver MD as a speed command value. This process is repeated at a predetermined short cycle. The mill entry side speed fluctuation correction value Δrxy = rolling material speed rxy on the finishing mill entry side−finishing mill entry side speed reference value xy, and the rolling material speed rxy on the finishing mill entry side is given from the finishing mill. The finishing rolling mill input speed reference value xy is previously latched in the mill entrance speed fluctuation corrector Δrxy. The data rry, rmy, rvy, and xy described here are values (values that do not vary) held in the latch, and the variation values are xRa and rxy.
[0054]
As described above, when the speed command circuit 232 gives a speed command to the motor driver MD and the tension xRa detected by the load cell Ra is larger than the tension reference value rry, the deviation is proportional to the integral value ry **. Becomes a negative value and has a large absolute value. The absolute value is added to rry, rmy, and Δrvy to be given to the motor driver MD as a target speed, and the motor driver MD accelerates the motor M and the carriage 1 Will accelerate. As a result, the tension xRa detected by the load cell Ra decreases. Then, the target speed decreases, the motor driver MD decelerates the motor M, and the carriage 1 decelerates. As described above, the traveling speed of the carriage 1 is increased or decreased so that the tension xRa detected by the load cell Ra substantially matches the tension reference value rry, and the tension xRa is substantially maintained at the tension reference value rry. .
[0055]
When the rolling material speed rxy on the finishing mill entry side for rolling the strip that has passed through the carriage 1 fluctuates downstream of the carriage 1, for example, when it rises, the finishing mill entry side speed fluctuation correction value Δrxy rises, and the motor driver The speed command value to MD rises and the carriage 1 is accelerated. In this way, the bogie speed is controlled so as to follow the fluctuation of the rolling material speed rxy on the entry side of the finishing mill. Note that the fluctuation of the rolling material speed rxy on the finishing rolling mill entry side causes the tension xRa to fluctuate, and the carriage 1 is accelerated and decelerated so that the tension xRa becomes the reference value rry as described above. Although it may seem unnecessary to control the carriage speed corresponding to the fluctuation of the rolling material speed rxy on the entry side, if a speed fluctuation is applied to the strip due to a disturbance between the carriage 1 and the finishing mill downstream thereof, When the bogie speed control corresponding to the rolling material speed rxy on the finishing rolling mill entry side brings about the effect of suppressing the tension fluctuation between the preceding material Wa / the car 1 in advance, and when the load fluctuation is added to the car 1 due to the disturbance, The above-described cart speed control corresponding to the detected tension xRa has an effect of suppressing the tension fluctuation between the preceding material Wa / the cart 1.
[0056]
As described above, after the speed command to the motor driver MD is switched from that output by the speed command circuit 1 31 to that output by the speed command circuit 2 32 (7), the speed command circuit 1 31 Refer to the data x70 representing the tail end cutting shape (angle with respect to the y-axis) of the preceding material Wa transferred by the cutting shape detection circuit 70 in advance, and if it exceeds a predetermined value, the bending is corrected. A correction command nSa is output to the cylinder Sa for designating a stroke which causes the preceding material clamping device 2a to turn corresponding to the tail end cutting shape (8). As a result, the correction cylinder Sa rotationally drives the preceding material clamping device 2a in a direction to correct the meandering of the preceding material Wa (inclination angle of the tail end cutting line with respect to the y axis), and the meandering of the preceding material Wa is corrected (inclination angle zero). I.e. parallel to the y-axis). Here, when the data representing the tail end cutting shape (angle with respect to the y-axis) is equal to or smaller than a predetermined value, the correction drive is not performed and the process proceeds to the next step 9.
[0057]
And it waits until the cutting | disconnection information x60 showing the cutting | disconnection (tip cutting | disconnection) of the succeeding material Wb comes from the cutting | disconnection control circuit 60 (9). Then, when this cutting information x60 arrives, it waits until the cutting shape detection circuit 70 gives data x70 indicating the leading edge cutting shape of the succeeding material Wb, and the cutting shape detection circuit 70 receives the data x70. When given, it is saved (stored) in the internal register and a clear signal is given to the pulse counter 39a to clear the count value. Thus, thereafter, the count data of the counter 39a represents the x position of the tip of the trailing material Wb. Further, the x position of the carriage 1 counted by the counter 38a is repeatedly compared with the x position of the tip of the trailing material Wb, and the leading edge of the trailing material Wb catches up directly below the welding torch 3 of the carriage 1, It is monitored whether or not the tail end of the preceding material Wa is within a predetermined short distance (the succeeding material Wb is substantially in contact with the preceding material Wa) (10, 11).
[0058]
When it is determined that this is the case, a clamp command nCb is output to the clamp cylinder Cb (12). As a result, the trailing material clamping device 2b clamps the leading end of the trailing material Wb. In this state, the joint between the two materials is directly under the welding torch 3.
[0059]
Here, the speed command circuit 1 31 outputs a signal (xRb take-in instruction signal) instructing the switch Sr (FIG. 3) to be turned on to the speed command circuit 2 32, and the speed command circuit 2 32 responds to the switch. Sr is closed (13). As a result, the speed command nMD given from the speed command circuit 232 to the motor driver MD via the changeover switch Sm (FIG. 2) is changed to the value including the tension xRb between the carriage 1 and the trailing material Wb. That is, the above-described tension deviation ry * = rry−xRa is changed to ry * = rry− (xRa + xRb), and therefore, the proportionality and integral value ry ** of the deviation are those of the deviation value ry * = rry− (xRa + xRb). Changes to. As a result, the traveling speed of the carriage 1 is increased or decreased so that the sum (xRa + xRb) of the tensions xRa and xRb detected by the load cells Ra and Rb substantially matches the tension reference value rry, and the tension (xRa + xRb) is increased. The tension reference value rry is substantially maintained. Here, the tension (xRa + xRb) is a tension applied between the tail end of the front end material Wa and the front end of the succeeding material Wb, and when the two are during welding or just after welding, a welded portion (welded portion). This is the tension applied to. Since the carriage 1 is added and decelerated so as to match the tension reference value rry, excessive tension (which greatly exceeds the tension reference value rry) is not applied to the welded portion.
[0060]
In this way, when the speed control of the cart corresponding to the tension is switched from the one corresponding to the front tension (xRa) to the one corresponding to the front tension + the rear tension (xRa + xRb), the speed command circuit 131 is saved first. Referring to the tip cutting shape data x70 of the trailing material Wb, if it exceeds a predetermined value, the stroke that causes the bending correction cylinder Sb to turn to the clamp device 2b corresponding to the tip cutting shape. The correction command nSb for designating the mark is output (14). As a result, the correction cylinder Sb rotationally drives the trailing material clamping device 2b in a direction to correct the meandering of the trailing material Wb (inclination angle of the tip cutting line with respect to the y axis), and the meandering of the trailing material Wb is corrected (inclined). Angle zero, ie parallel to the y-axis). Here, when the data representing the tip cutting shape (angle with respect to the y-axis) is equal to or smaller than a predetermined value, the correction drive is not performed and the process proceeds to the next step 15.
[0061]
Next, the speed command circuit 131 instructs the welding circuit to the drive circuit 40 which is a sequence control circuit (15). The contents of this “welding” have already been mentioned, and since this “welding” is a known one, detailed description thereof is omitted here.
[0062]
When joining welding is finished, the drive circuit 40 notifies the speed command circuit 131 that welding is finished. In response to the end of the welding, the speed command circuit 131 sets the time limit value Tx already input by the operator via the operation panel 80 to the timer (program timer) and starts the time measurement. Wait until the set time limit is exceeded. When the timed value reaches the set time limit value Tx, that is, when the timer has timed out, the preceding material Wa and the succeeding material Wb (becoming the preceding material Wa in the next joining welding process) are applied to the clamp cylinders Ca and Cb. (16). From the state in which both the preceding material Wa and the following material Wb are clamped together, until the both clamps are released, that is, immediately before the start of the joint welding of both, the joint welding is finished and from this end the time limit value To is Until the time elapses, the traveling speed of the carriage 1 is increased or decreased so that the sum (xRa + xRb) of the tensions xRa and xRb detected by the load cells Ra and Rb substantially matches the tension reference value rry, and the tension (xRa + xRb) Is substantially maintained at the tension reference value rry. The tension (xRa + xRb) is a tension applied between the tail end of the preceding material Wa and the tip of the succeeding material Wb, and the tension applied to the welded portion (welded portion) during and immediately after welding is substantially the tension reference value. It is maintained at the same value as rry, and an excessive tension (significantly exceeding the tension reference value rry) is not applied to the welded portion, and the welded portion does not break. The time limit value Tx is the time to wait for the weld to drop to a high strength temperature.
[0063]
When both clamps are released, the speed command circuit 131 returns the changeover switch Sm to the state in which the speed command output from the speed command circuit 131 is supplied to the motor driver MD (FIG. 2) (17), and compares the speed commands. Then, the pattern which decreases at a high deceleration rate is changed to one representing a low speed sequentially, and is set to zero. Next, after waiting for the lapse of a delay time for which the forward traveling of the carriage 1 substantially stops, the speed command is raised as a reverse rotation command with a predetermined return activation pattern, and during this time the carriage 1 In response to this position (the count value of the motor speed synchronization pulse: here the countdown is performed), the speed command value is sequentially lowered from the position before the home position of the carriage 1 so that the carriage 1 changes to the home position. When returning, the speed command is set to 0 (18). A limit switch for detecting the arrival of the home position is provided on the carriage 1, and in the motor driver MD, the limit switch is inserted in the reverse energization circuit of the motor M. When the switch hits the striker on the ground at the home position and is opened from the closed state, the reverse energization to the motor M is automatically stopped.
[0064]
When the home position return is completed, the speed command circuit 131 receives cutting information indicating completion of the tail end cutting of the preceding material (previously referred to as the following material) from the cutting control device 60. Wait (2). And when it arrives, the above-mentioned control after step 2 shown in FIG. 4 is resumed.
[0065]
The overall flow of the control operation from step 2 to step 18 in FIG. 4 and the repetition described above are controlled by the speed control circuit 131, and the processing in each step is performed by the speed command circuit 131 or the speed control circuit. Circuit 2 32 executes.
[0066]
FIG. 5 shows the speed and the like of the carriage 1 expressed by the processing in steps 2 to 18 in FIG. 4 described above. By repeating the processing of steps 2 to 18 in FIG. 4 described above, the operation of each mechanism shown in FIG. 5 is repeated in the same manner, and the strips successively carried out from the upstream roughing mill are sequentially transferred by the joining cart 1. To form a continuous body and conveyed to a downstream finishing mill.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an embodiment of the present invention.
FIG. 2 is a block diagram showing a configuration of a control circuit 30 shown in FIG.
FIG. 3 is a block diagram showing processing functions appearing by control operations of a speed command circuit 232 shown in FIG. 2 in block sections.
4 is a flowchart showing a control operation of a speed command circuit 131 shown in FIG.
FIG. 5 is a time chart showing an outline of the timing of the operation appearing by the control by the control circuit 30 of the mechanism element shown in FIG. 1;
[Explanation of symbols]
1: Cart 2a: Preceding material clamping device
2b: trailing material clamping device 3: welding torch
4: Support base 5a, 5b: Clamp shoe
20: Cut shear 30: Control circuit
M: Motor MD: Motor driver
Em, En: Rotary encoder r, ra: Transport roller
Ra, Rb: load cell
t1: Shape detection sensor
Wa: preceding material Wb: following material

Claims (5)

A carriage that is on the steel material transfer line and can move forward and backward in the steel material feed direction of the transfer line, that is, in the forward direction and in the opposite direction;
A carriage driving means for driving the carriage forward and backward; a leading material tail end clamping device mounted on the carriage so as to be movable in the forward and reverse directions;
Trailing material tip clamping device mounted on the carriage at a position away from the preceding material tail end clamping device in the opposite direction; on the tail end of the preceding steel material mounted on the carriage and clamped by the leading material tail end clamping device A welding device for welding the tip of the succeeding steel material clamped by the trailing material tip clamping device;
Forward tension detecting means for detecting the tension of the preceding material between the preceding material tail end clamping device and the carriage; and
Clamping the tail end of the preceding steel material fed to the carriage in the forward direction along the transfer line with the preceding material tail end clamping device while driving the carriage in the forward direction via the carriage driving means, and detecting the front tension means in response to the tension detected by the, it dolly pressure, decelerated in the direction that matches the set value, the trailing member distal tip of line steel after sent into the truck in the forward direction along the transport line Control means for clamping with a clamping device and welding a trailing steel tip to a leading steel tail via the welding device;
An apparatus for joining a conveying steel material. A carriage that is on the steel material transfer line and can move forward and backward in the steel material feed direction of the transfer line, that is, in the forward direction and in the opposite direction;
Carriage drive means to drive the carriage back and forth;
A leading material tail end clamping device mounted on a carriage so as to be movable in the forward and reverse directions;
A trailing material front end clamping device mounted on the carriage so as to be movable in the forward direction and the reverse direction at a position away from the preceding material tail end clamping device in the reverse direction;
A welding device for welding the tip of the subsequent steel clamped by the trailing material tip clamping device to the tail end of the preceding steel material mounted on the carriage and clamped by the leading material tail end clamping device;
Forward tension detecting means for detecting the tension of the preceding material between the preceding material tail end clamping device and the carriage;
A rear tension detecting means for detecting the tension of the trailing material between the trailing material tip clamping device and the carriage; and
Clamping the tail end of the preceding steel material fed to the carriage in the forward direction along the transfer line with the preceding material tail end clamping device while driving the carriage in the forward direction via the carriage driving means, and detecting the front tension means in response to the tension detected by the, it dolly pressure, decelerated in the direction that matches the set value, the trailing member distal tip of line steel after sent into the truck in the forward direction along the transport line Corresponding to the tension detected by the front tension detecting means and the tension detected by the rear tension detecting means clamped by the clamping device, the carriage is accelerated and decelerated in a direction in which the sum of the two matches the set value. Control means for welding the trailing steel tip to the leading steel tail;
An apparatus for joining a conveying steel material. A carriage that is on the steel material transfer line and can move forward and backward in the steel material feed direction of the transfer line, that is, in the forward direction and in the opposite direction;
A carriage driving means for driving the carriage forward and backward; a leading material tail end clamping device mounted on the carriage so as to be movable in the forward and reverse directions;
A trailing material front end clamping device mounted on the carriage so as to be movable in the forward direction and the reverse direction at a position away from the preceding material tail end clamping device in the reverse direction;
A welding device for welding the tip of the subsequent steel clamped by the trailing material tip clamping device to the tail end of the preceding steel material mounted on the carriage and clamped by the leading material tail end clamping device;
Forward tension detecting means for detecting the tension of the preceding material between the preceding material tail end clamping device and the carriage;
A rear tension detecting means for detecting the tension of the trailing material between the trailing material tip clamping device and the carriage; and
Clamping the tail end of the preceding steel material fed to the carriage in the forward direction along the transfer line with the preceding material tail end clamping device while driving the carriage in the forward direction via the carriage driving means, and detecting the front tension means in response to the tension detected by the, it dolly pressure, decelerated in the direction that matches the set value, the trailing member distal tip of line steel after sent into the truck in the forward direction along the transport line Corresponding to the tension detected by the front tension detecting means and the tension detected by the rear tension detecting means clamped by the clamping device, the carriage is accelerated and decelerated in a direction in which the sum of the two matches the set value. Control means for welding the leading end of the succeeding steel to the tail end of the preceding steel, and releasing the clamping of the trailing end of the preceding steel and the leading end of the following steel after a set time has elapsed after completion of welding;
An apparatus for joining a conveying steel material. A carriage that is on the steel material transfer line and can move forward and backward in the steel material feed direction of the transfer line, that is, in the forward direction and in the opposite direction;
Carriage drive means to drive the carriage back and forth;
Cart speed detecting means for detecting the running speed of the cart on the transfer line;
Means for generating transport speed information of a preceding steel material on the transport line;
A leading material tail end clamping device mounted on a carriage so as to be movable in the forward and reverse directions;
A trailing material front end clamping device mounted on the carriage so as to be movable in the forward direction and the reverse direction at a position away from the preceding material tail end clamping device in the reverse direction;
A welding device for welding the tip of the subsequent steel clamped by the trailing material tip clamping device to the tail end of the preceding steel material mounted on the carriage and clamped by the leading material tail end clamping device;
Forward tension detecting means for detecting the tension of the preceding material between the preceding material tail end clamping device and the carriage;
Back tension detecting means for detecting the tension of the trailing material between the trailing material tip clamping device and the carriage;
The leading end of the preceding steel material fed to the carriage in the forward direction along the conveyance line is clamped by the leading material tail end clamping device, and the leading edge of the following steel material fed to the carriage in the forward direction along the conveyance line is followed. A joining control means for clamping with a material tip clamping device and welding a trailing steel tip to a tail end of a preceding steel material via a welding device;
The carriage speed information indicates that the carriage traveling speed detected by the carriage speed detecting means substantially coincides with the speed indicated by the carriage speed information by accelerating the carriage by driving forward through the carriage driving means in response to the running command. First speed control means for controlling the traveling speed of the carriage so as to be the speed;
Second speed control means for accelerating and decelerating the carriage via the carriage drive means in a direction in which they are lowered in accordance with the tension detected by the front tension detection means and the rear tension detection means; and
Speed command switching for selecting the speed control of the carriage by the first speed control means until the tail end clamping apparatus of the preceding material clamps the tail end of the preceding steel material, and selecting the speed control of the carriage by the second speed control means after the clamping. means;
An apparatus for joining a conveying steel material. Second speed control means, until the next strip tip clamping device clamps the leading end of the trailing steel, in a direction corresponding to the tension detected by the front tension detecting means, it meets the tension reference value, the bogie The front tension control means for applying and decelerating the carriage via the drive means, and the tension and the rear tension detection means detected by the front tension detection means after the trailing material tip clamp device clamps the tip of the trailing steel material. 5. A conveying steel material joining apparatus according to claim 4, further comprising front and rear tension control means for applying and decelerating the carriage through the carriage driving means in a direction corresponding to a tension reference value corresponding to the sum of the detected tensions. .

Images