JP7071170B2 - Transport device and transport method - Google Patents

Description

The present disclosure relates to a transport device and a transport method.

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

Japanese Unexamined Patent Publication No. 8-108208

In the device for transporting the plate material as described above, the center position of the plate width of the plate material may deviate (meander) from the center of the transport line when the plate material is transported. In the worst case, an event may occur in which a part of the plate material is squeezed out from the pinch roll body and the plate material is damaged.

The present disclosure has been made in view of the above circumstances, and an object of the present invention is to satisfactorily control the plate width center position of the plate material to the plate width center target position in the transportation of the plate material using a pinch roll.

The present inventors have conducted diligent research on a transport device capable of suppressing meandering of a plate material. The present inventors first measure the load at both ends of the pinch roll in the axial direction, consider that the plate material is meandering to the side where the load is large, and relatively tighten the reduction position on the side where the load is large. By controlling the rolling position in the direction, we came up with a configuration that allows the plate material to escape to the side where the load is small and improves meandering. However, when only one end of the plate material is in contact with the pinch roll, the plate material is placed on the side where the load is small even when the reduction position is controlled in the direction of relatively tightening the reduction position on the side where the load is large. In some cases, it could not be escaped (details will be described later), and the meandering could not be sufficiently improved. Therefore, the present inventors have solved the problems of the prior art and have found a device and a method for transporting the plate material while satisfactorily controlling the plate width center position to the plate width center target position.

The transport device according to one aspect of the present disclosure measures a pinch roll that transports a plate material, a reduction device that reduces the pinch roll at each of the axial end portions of the pinch roll, and a load at each of the axial end portions of the pinch roll. It includes a load measuring device, a position measuring device for measuring the plate width center position of the plate material conveyed by the pinch roll, and a control unit, and the control unit measures the plate width center position measured by the position measuring device. , Derivation of the load action point position target value to approach the plate width center position target value of the plate material determined in advance, and deriving the load target value at each of both ends in the axial direction based on the load action point position target value. The target of the pinch roll reduction position control amount at each of the axial ends based on the load target value at each of the axial ends and the current load value at each of the axial ends measured by the load measuring device. It is configured to derive a value and control the pinch roll reduction position at each of the axial ends based on the target value of the pinch roll reduction position control amount at each of the axial ends. ..

In the transport device according to the present disclosure, the plate width center position of the plate material is measured, and a load action point position target value that brings the position closer to the plate width center position target value of the plate material is derived. Then, the load target value at each of both ends in the axial direction is derived based on the load action point position target value, and the target value of the pinch roll reduction position control amount is derived based on the load target value and the current load value measured by the load measuring device. Is derived, and the pinch roll reduction position is controlled according to the target value of the pinch roll reduction position control amount. In this way, the plate width center position of the plate material is measured, the load action point position target value is derived so that the position becomes the plate width center position target value of the plate material, and the pinch roll is based on the load action point position target value. By controlling the reduction position, the pinch roll is reduced so that the position of the plate material approaches a desired position, so that it is avoided in advance that only one end of the plate material is in contact with the pinch roll. can do. As a result, in the transportation of the plate material using the pinch roll, the plate material can be satisfactorily controlled to the plate width center target position.

Even if the control unit derives the position where the separation distance from the plate width center position measured by the position measuring device is 1/4 or less of the length in the plate width direction of the plate material as the load action point position target value. good. By setting the position of the load acting point to 1/4 or less from the center position of the plate material, at least 3/4 of the plate material in the width direction of the plate material comes into contact with the pinch roll. As a result, it is possible to reliably avoid a state in which only one end of the plate material is in contact with the pinch roll, and it is possible to prevent the plate material from meandering during transportation of the plate material using the pinch roll.

Even if the control unit derives a position where the distance from the center position of the plate width measured by the position measuring device is 1/6 or less of the length in the plate width direction of the plate material as the load action point position target value. good. By setting the position of the load acting point to 1/6 or less from the center position of the plate material, the entire area of the plate material in the width direction of the plate material comes into contact with the pinch roll. As a result, it is possible to reliably avoid a state in which only one end of the plate material is in contact with the pinch roll, and it is possible to prevent the plate material from meandering during transportation of the plate material using the pinch roll.

The control unit derives the load increase target value at each of both ends in the axial direction according to the difference between the plate width center position of the plate material measured by the position measuring device and the plate width center position target value of the plate material. It is configured to further execute, and the load target value at each of both ends in the axial direction may be derived in consideration of the increase amount target value. Thereby, for example, even when the above-mentioned control is performed, the load target value can be controlled to increase when the plate width center position of the plate material does not quickly approach the plate width center position target value. As a result, the pinch roll load can be increased and the plate material can be brought closer to the plate width center target position with a stronger force.

In the transport method according to one aspect of the present disclosure, the pinch roll for transporting the plate material, the reduction device for reducing the pinch roll at each of the axial end portions of the pinch roll, and the load at each of the axial end portions of the pinch roll are measured. Using a transport device including a load measuring device and a position measuring device for measuring the center position of the plate width of the plate material transported by the pinch roll, the plate width center position of the plate material measured by the position measuring device is previously set. Derivation of the load action point position target value to approach the specified plate width center position target value, and deriving the load target value at each of both ends in the axial direction based on the load action point position target value. Based on the load target value at each end in the axial direction and the current load value at each end in the axial direction measured by the load measuring device, the target value of the pinch roll reduction position control amount at each end in the axial direction is derived. This includes controlling the pinch roll reduction position of each of the axial end portions based on the target value of the pinch roll reduction position control amount at each of the axial end portions.

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 the plate width center target position.

It is a schematic diagram which shows the schematic structure of the plate material transporting apparatus which concerns on this embodiment. It is a hardware configuration diagram of a controller. It is a flowchart which shows the execution procedure of a plate material transfer process. It is a figure which shows the state which the linear load distribution is distributed in a triangular shape over the entire plate width. It is a table which shows the experimental result about the relationship between the load action point position target value and controllability. It is a figure which shows the experimental result about the relationship between the load action point position target value and controllability. It is a schematic diagram which shows the state which only one end part of a plate material comes into contact with a pinch roll. It is a schematic diagram which shows the deformation state of a plate material when the line load on a work side is larger than that on a drive side. It is a schematic diagram which shows the deformation state of the plate material in consideration of the constraint condition of the plate material on the entry side. It is a schematic diagram which shows the schematic structure of the plate material transporting apparatus which concerns on the modification.

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.

[Plate transfer device]
First, with reference to FIG. 1, the outline of the plate material transfer device 100 (conveyor device) according to the present embodiment will be described. The plate material transport device 100 is an apparatus that transports the plate material 2 in a predetermined transport direction while sandwiching the plate material 2 with a pair of upper and lower pinch rolls 1a and 1b in the plate material 2 manufacturing / processing line. The plate material transfer device 100 includes pinch rolls 1a and 1b, reduction devices 3a and 3b, load cells 4a and 4b (load measuring device), a position measuring device 5, and a controller 50 (control unit).

The pinch rolls 1a and 1b are rotating bodies that sandwich the plate material 2 from above and below with a predetermined pressure and transport the plate material 2 in a predetermined transport direction. The pinch rolls 1a and 1b have, for example, a convex crown shape. One end side (drive 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 (working side) in the axial direction is connected to the reduction device 3b via a chock. ing. The drive side of the lower pinch roll 1b is connected to the load cell 4a via the chock, and the working side is connected to the load cell 4b via the chock.

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

The load cells 4a and 4b measure the load on the drive side and the work side of the pinch roll 1b, respectively. The load cell 4a measures the load on the drive side of the pinch roll 1b. The load cell 4b measures the load on the working side of the pinch roll 1b. The load cells 4a and 4b continuously (always) measure the load on the drive side and the work side and output the load to the controller 50. The load value output to the controller 50 is used for setting the reduction set value described above, and is fed back to the reduction devices 3a and 3b (details will be described later).

The position measuring device 5 continuously (always) measures the plate width center position cl of the plate material 2 conveyed by the pinch rolls 1a and 1b. The position measuring device 5 is fixedly arranged, for example, at a predetermined position, and the plate width center position cl of the conveyed plate material 2 is derived from the detected plate end position and the known plate width of the plate material 2. do. Alternatively, when the plate width of the plate material 2 is not known, the position measuring device 5 may derive the plate width center position cl 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 device 5 outputs the measured plate width center position cl of the plate material 2 to the controller 50. The position measuring method by the 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.

The controller 50 derives a load action point position target value for bringing the plate width center position cl of the plate material 2 measured by the position measuring device 5 closer to a predetermined plate width center position target value, and loads. Derivation of load target values on the drive side and work side based on the action point position target values, load target values on each of the drive side and work side, and drive side and work side measured by load cells 4a and 4b, respectively. Based on the current load value in, the target value of the pinch roll reduction position control amount on the drive side and the work side is derived, and based on the target value of the pinch roll reduction position control amount on the drive side and the work side, respectively. It is configured to control the pinch roll reduction position of each of the driving side and the working side, and to execute.

Hereinafter, a specific configuration example of the controller 50 will be described. The controller 50 has a load action point position derivation unit 7, a load target value derivation unit 8, a reduction position control amount target value derivation unit 9, and a reduction position control unit 10 as functional modules.

The load acting point position deriving unit 7 derives a load acting point position target value for bringing the plate width center position cl of the plate material 2 measured by the position measuring device 5 closer to a predetermined plate width center position target value. .. The load acting point position deriving unit 7 acquires the plate width center position cl from the position measuring device 5. Further, the load acting point position deriving unit 7 acquires the plate width center position target value of the plate material from the setting device 6. In the setter 6, the plate width center position target value of the plate material 2 at the time of transportation is set in advance as the plate material target position. The load action point position derivation unit 7 compares the plate width center position cl with the plate width center position target value, and derives the load action point position target value so that the plate width center position cl approaches the plate width center position target value. (Details will be described later).

The load target value derivation unit 8 derives the load target values on the drive side and the work side based on the load action point position target values derived by the load action point position derivation unit 7 (details will be described later). The load target value is a load target value measured by the load cells 4a and 4b.

The reduction position control amount target value derivation unit 9 is based on the load target values on the drive side and the work side, and the current load values on the drive side and the work side measured by the load cells 4a and 4b, respectively, on the drive side and the work side. The target value of the pinch roll reduction position control amount on each side is derived. That is, the reduction position control amount target value deriving unit 9 acquires the current load value on the drive side measured in the load cell 4a, compares the current load value with the current load value on the drive side, and measures in the load cell 4a. The target value of the pinch roll reduction position control amount on the drive side is derived so that the load on the drive side becomes the load target value. Further, the reduction position control amount target value deriving unit 9 acquires the current load value on the working side measured in the load cell 4b, compares the current load value with the current load value on the working side, and measures the current load in the load cell 4b. The target value of the pinch roll reduction position control amount on the work side is derived so that the load on the work side becomes the load target value.

The reduction position control unit 10 pinches the drive side to the reduction device 3a on the drive side based on the target values of the pinch roll reduction position control amount on the drive side and the work side derived by the reduction position control amount target value derivation unit 9. The roll reduction position is set, and the pinch roll reduction position on the work side is set in the reduction device 3b on the work side.

As shown in FIG. 2, the controller 50 is composed of a circuit 51 having one or more processors 53, a memory 54, a storage 55, an input / output port 56, and an input unit 57. The input / output port 56 receives a control signal related to the user's input from the input unit 57, receives a control signal related to the plate material target position from the setting device 6, and controls the plate width center position cl of the plate material 2 from the position measuring device 5. Upon receiving the signal, the load cells 4a and 4b receive the control signals related to the loads on the drive side and the working side, and output the control signals related to the reduction set values to the reduction devices 3a and 3b. The input unit 57 is connected to the input / output port 56 and receives input by the operator. The input unit 57 is composed of, for example, an operation switch, a keyboard, a mouse, a touch panel, or the like. The input unit 57 may be connected to the input / output port 56 via a network line, for example.

The storage 55 records a program for executing the process by the controller 50. The storage 55 may be any computer readable. Specific examples include hard disks, non-volatile semiconductor memories, magnetic disks, optical disks, and the like. The memory 54 temporarily stores the program loaded from the storage 55, the calculation result of the processor 53, and the like. The processor 53 constitutes each of the above-mentioned functional modules by executing a program in cooperation with the memory 54.

The hardware configuration of the controller 50 is not necessarily limited to the one that configures each functional module by a program. For example, each functional module of the controller 50 may be configured by a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) that integrates the logic circuit.

[Plate transport processing]
Next, as an example of the transport method, a transport processing procedure for the plate material 2 performed by the controller 50 will be described. As shown in FIG. 3, the controller 50 sequentially executes steps S1 to S4. In this description, the details of the transport process of the plate material 2 will be described with reference to FIGS. 4 to 6.

In step S1, the load action point position derivation unit 7 derives the load action point position target value. The load acting point position deriving unit 7 compares the plate width center position cl acquired from the position measuring device 5 with the plate width center position target value acquired from the setting device 6, and the plate width center position cl is the plate width center position target. The load action point position target value is derived so as to approach the value. Hereinafter, the derivation of the load action point position target value will be described in detail.

In the load acting point position deriving unit 7, for example, the separation distance from the plate width center position cl measured by the position measuring device 5 is 1/6 or less of the length (plate width) of the plate material 2 in the plate material width direction. The position is derived as the load action point position target value. The load action point position deriving unit 7 has, for example, the length of the plate 2 in the plate width direction b, and the plate width center position cl measured by the position measuring device 5 in Z _C (working side is positive) in the plate width direction coordinates. Definition), where the plate width center position target value is Z _T , the load action point position target value Z _P ^T is derived, for example, by the following equation (1).

Here, δ (Z _C : Z _T ) is a control parameter in the range of -1 ≤ δ (Z _C : Z _T ) ≤ + 1, which depends on the target position Z _T of the plate material and the current value Z _C of the measured plate material 2. Is. The simplest and most easily adjustable form of δ (Z _C : Z _T ) is, for example, the linear equation of Z _C − Z _T represented by the following equation (2).

Here, ΔZ _C ^A is the absolute value of the allowable value of Z _C − Z _T , and α is the adjustment parameter. As a result of substituting the current value Z _C into equation (2), if δ (Z _C : Z _T ) exceeds 1, δ (Z _C : Z _T ) = 1, and if it is smaller than -1, δ (Z). _C : Z _T ) = -1. By setting the absolute value of δ (Z _C : Z _T ) to 1 or less and determining the target value of the load action point position and controlling based on this, the load action point position is 1/6 of the plate width from the plate width center position cl. It becomes as follows. This makes it possible to control the plate width center position cl while sandwiching the entire plate width with the pinch rolls 1a and 1b. The grounds for this will be described in detail with reference to FIG.

As shown in FIG. 4, consider a case where the plate width center position cl is closer to the working side WS by Z _C. When the target position of the plate material is the line center, that is, z = 0, the pinch roll reduction position of the working side WS is tightened relative to the drive side DS in order to move the plate material 2 closer to the drive side DS. In this case, if the laterality of the rolling position (difference between the driving side DS and the working side WS) becomes excessive, a part of the plate material 2 becomes non-contact with the pinch roll 1a. When a part of the plate material 2 is not in contact with the pinch roll 1a, the centering effect of the plate material 2 is weakened (details will be described later), and it is preferable to avoid it for stable control.

In the case of FIG. 4, since the distance between the pinch rolls 1a and 1b of the drive side DS is relatively controlled in the direction of opening, the limit state in which the plate material 2 and the pinch rolls 1a and 1b start to be in non-contact is as shown in FIG. In addition, the linear load at the end of the plate 2 of the drive side DS becomes zero. Assuming that the load distribution in the plate width direction is a linear distribution, the load distribution is distributed in a triangular shape, and the position of the load acting point is the position from the plate width center position cl (z = Z _C ) to b / 6 as shown in FIG. Will be. From the above, by determining the load action point position target value by the equation (1), the reduction position can be controlled within the range where the plate material 2 and the pinch rolls 1a and 1b do not come into non-contact.

Furthermore, the present inventors conducted an experiment in which b / 6 on the right side of Eq. (1) was set to a larger value for the purpose of investigating the limit of the allowable range of the load acting point position. As a result, as shown in FIG. 5, it was confirmed that the control can be performed normally even if the image is enlarged to b / 4. Therefore, b / 6 on the right side of the equation (1) may be replaced with b / 4. In this case, 3/4 of the plate material 2 in the plate width direction comes into contact with the pinch rolls 1a and 1b, and 1/4 does not come into contact with the pinch rolls 1a and 1b. Board control is possible. This rationale will be described in detail with reference to FIGS. 6 (a) and 6 (b).

The present inventors set the diameter of the pinch roll to 350 mm, the plate width to 1500 mm, the pinch roll load to 10000 kgf, set the drive side and the work side to a uniform reduction state, and then gradually move the reduction devices on the work side and the drive side in opposite directions. Operated (compressed leveling was performed). As a result, as shown in FIG. 6A, the left-right difference pdf (horizontal axis) of the linear load gradually increases, and at the boundary of pdf = 13.33 kgf / mm, the pinch roll and the plate material are in a partial contact state and come into contact with each other. The range b0 (vertical axis) is smaller than the plate width of 1500 mm. The alternate long and short dash line in FIG. 6A shows the boundary position between the full width contact state and the partial contact state of the plate material, and the broken line indicates the pdf whose contact range is 3/4 of the plate width.

In FIG. 6 (b), the left-right difference eps_df (vertical axis) of the longitudinal strain generated in the entire plate material and the left-right difference pdf of the linear load, which are calculated in consideration of the resistance in the non-contact region of the plate material (details will be described later). The relationship with (horizontal axis) is shown. The alternate long and short dash line in FIG. 6B shows the boundary position between the full width contact state and the partial contact state of the plate material, and the broken line indicates the pdf whose contact range is 3/4 of the plate width. When the left-right difference eps_df of the longitudinal strain and the left-right difference pdf of the linear load are in a linear relationship, the center position in the width direction of the plate can be controlled by the reduction leveling operation. The longitudinal strain laterality eps_df is a parameter proportional to the inclination of the input side plate shown in FIG. 8 (details will be described later). From FIG. 6B, the longitudinal strain left-right difference eps_df and the linear load left-right difference pdf have a linear relationship within the range of the full-width contact state, and the center position in the width direction of the plate can be controlled by the reduction leveling operation. Can be confirmed. Further, even under the condition that the contact range shown by the broken line is 3/4 of the plate width, the longitudinal strain left-right difference eps_df and the linear load left-right difference pdf are generally in a linear relationship, and the center position in the width direction of the plate material by the reduction leveling operation. It can be confirmed that the control of is possible. On the other hand, when the contact range becomes smaller than 3/4 of the plate width, as is clear from FIG. 6B, the non-linearity between the longitudinal strain left-right difference eps_df and the linear load left-right difference pdf suddenly increases. Control may become unstable.

Ｐ_Ｄ ^Ｔ，Ｐ_Ｗ ^Ｔは、Ｐ_ｄｆ ^Ｔとトータル荷重Ｐ^Ｔ＝Ｐ_Ｗ ^Ｔ＋Ｐ_Ｄ ^Ｔとから以下の（４）式及び（５）式で計算される。

Returning to FIG. 3, in step S2, the load target value derivation unit 8 determines the load target value _PDT on each of the drive side and the work side based on the load action point position target value derived by the load action point position ^derivation unit 7. , _PWT is ^derived . Specifically, the target value P _df ^T of the laterality of the pinch roll load is calculated by the equation (3) based on the load action point position target value given by the equation (1).

^{PDT and PWT are calculated from P df T} _{and total load PT = P WT} ⁺ _{P DT} ^{by the} _{following equations} ^{( 4} ) and (5).

これらの圧下位置修正量の目標値Δｇ_Ｄ ^Ｔ，Δｇ_Ｗ ^Ｔにスケールファクターαをかけてピンチロール圧下位置制御量の目標値Δｇ_Ｄ，Δｇ_Ｗを以下の（８）式及び（９）式で演算する．

In step S3, the reduction position control amount target value deriving unit 9 is based on the load target values on the drive side and the work side, respectively, and the current load values on the drive side and the work side measured by the load cells 4a and 4b. The target value of the pinch roll reduction position control amount on the drive side and the work side is derived. The rigidity of the pinch roll considering the plate width of the plate material 2 is K for one side, the current value of the load measured by the load cells 4a and 4b is P _D and P _W , and the drive side target value of the reduction position correction amount of the pinch roll is set. The ^{Δg DT} _and the working side target value ^Δg _WT are given by the following equations (6) and (7).

The target values Δg _D ^T and ^Δg _W of these reduction position correction amounts are multiplied by the scale factor α to obtain the target values Δg _D and Δg _W of the pinch roll reduction position control amount by the following equations (8) and (9). Calculate.

In step S4, the reduction position control unit 10 controls the drive-side reduction device 3a based on the target value Δg _D of the drive-side pinch roll reduction position control amount derived based on the above equation (8), and also controls the drive-side reduction device 3a (9). ) The work side reduction device 3b is controlled based on the target value Δg _W of the work side pinch roll reduction position control amount derived based on the equation, and the pinch roll reduction position of each of the drive side and the work side is controlled. By performing the reduction position control in this way, one cycle of control is completed, and by repeating this series of operations thereafter, good plate passage control by the reduction leveling operation can be realized.

[Action and effect of this embodiment]
Conventionally, in a plate material manufacturing / processing line, in order to prevent out-of-plane deformation of the plate material and smoothly transport the plate material, a device for sandwiching and transporting the plate material with a pair of upper and lower pinch rolls is used. In such a device, the center of the plate width deviates from the center of the plate manufacturing / processing line, and in the worst case, a part of the plate may be squeezed out from the pinch roll body and the plate may be damaged. .. In order to avoid such an event, for example, in Patent Document 1, in addition to controlling the profile and bending force of the pinch roll, the load on the working side and the driving side is measured, and the reduction position on the side with a large load is relative. A device for performing reduction position control in the tightening direction is disclosed. In this device, the load is measured and the reduction position on the side with the larger load is relatively tightened, that is, the reduction is performed in the direction in which the load on the work side and the drive side, which has the larger load, further increases, at least temporarily. Carry out leveling.

The following problems may occur in the device as disclosed in Patent Document 1.

First, when the pinch roll load is relatively small, only the plate end portion may be in contact with the pinch roll due to the incompatibility between the pinch roll gap and the plate thickness distribution of the plate material. In this case, if the above-mentioned reduction leveling of Patent Document 1 is carried out, the incompatibility between the pinch roll gap and the plate thickness distribution only increases, and it does not lead to the improvement of the plate passing position. This can be understood as follows.

As in the reduction leveling disclosed in Patent Document 1, narrowing down the reduction position on the side with a large load is considered to be due to the fact that the plate material is closer to the work side when the load on the work side is large, for example. By narrowing down the reduction device, the load on the working side is further increased, and the plate material is intended to escape from the working side to the driving side. This is because it is expected that the vector of the load acting on the plate material from the pinch roll will tilt toward the drive side by narrowing the reduction position on the work side, and a component force in the plate width direction acting toward the drive side will be generated. be. However, for example, even with a pinch roll having a distance between the rolling fulcrums of about 2000 mm, the left and right rolling position deviation is about 1 mm at the maximum, and the component force in the plate width direction generated by the inclination of the pinch roll of this degree is 1 of the vertical force. /2000 = 0.0005. On the other hand, the coefficient of friction between the plate material and the pinch roll is about 0.3 without lubrication and about 0.01 even when lubricating oil is added, so the above-mentioned component force in the plate width direction overcomes the frictional force and the plate material. Is unlikely to move in the plate width direction.

Secondly, when there is a mismatch between the pinch roll gap and the plate thickness distribution of the plate material, the load in the direction opposite to the meandering direction (lateral runout direction) of the plate material may increase. For example, as shown in FIG. 7, when the plate thickness of the plate material 2 is larger on the working side WS than on the drive side DS, the plate material 2 is on the plate material 2 even though it is closer to the drive side DS. The lower surface may be in contact with the pinch rolls 1a and 1b only at the end of the working side WS. In this case, the load is larger on the working side WS than on the driving side DS. Therefore, when the control technique disclosed in Patent Document 1, that is, the reduction leveling for tightening the side with a large load is performed, a component force in the direction of promoting meandering, that is, the plate width direction toward the drive side DS is generated. Controls that go against the stabilization of the pass plate will be performed.

Focusing on the above-mentioned problems, the present inventors have repeatedly studied the control of the through-plate position by the reduction leveling of the pinch roll, and as a result, the following findings (A) to (C) have been obtained.

(A) The position in the width direction of the plate material can be controlled by the reduction leveling of the pinch roll because the load per unit width acting on the plate material from the pinch roll, that is, the linear load is distributed in the plate width direction as a result of the reduction leveling. There is a left-right difference (difference between the work side and the drive side) in the elastic elongation of the pinch roll, and this elastic elongation left-right difference accumulates with the rotation of the pinch roll, and the plate material on the entry side tilts to the side where the linear load is small. As a result, it is based on the mechanism that the plate material moves toward the side where the linear load is small as the pinch roll rotates. FIG. 8 shows a schematic view of the state of the pinch roll 1a and the plate material 2 when the line load of the working side WS is large in a plan view. When the linear load of the work side WS is large as shown in FIG. 8, the elastic elongation of the work side WS is larger than that of the drive side DS, and this accumulates on the entry side as the pinch roll 1a rotates, and the entry side of the plate material 2 Tilts to the drive side DS. Then, when the pinch rolls 1a and 1b bite into the plate material 2 in such a state, the plate material 2 approaches the drive side DS.

(B) The inclination of the entry side due to the laterality of the elastic elongation of the plate material 2 as shown in FIG. 8 occurs most efficiently when the elastic elongation of the plate material 2 is linearly inclined and distributed over the entire plate width. On the contrary, when the plate material 2 and the pinch rolls 1a and 1b are in contact with only a part of the plate width of the plate material 2, the load is applied to the portion (non-contact region) not in contact with the pinch rolls 1a and 1b. Not added. Since the non-contact region does not undergo elastic elongation due to rolling, it becomes a resistance to the inclination of the inlet plate material as shown in FIG. 8 and becomes a factor that dilutes the centering effect, which is the effect of rolling leveling.

(C) In most of the plate material transporting devices using the pinch roll, the plate material on the upstream side of the pinch roll is constrained in the plate width direction at least at a distance. In this case, the upstream side plate material is not tilted in the driving direction as a whole as shown in FIG. 8, but is restrained by the upstream side plate material and only the plate material 2 in the vicinity of the pinch rolls 1a and 1b is driven as shown in FIG. It will lean to the side DS. It should be noted that FIG. 9 also illustrates a state in the case where the line load of the working side WS is large as in FIG. 8 in a plan view. As shown in FIG. 9, when the plate material 2 distant on the upstream side is constrained in the plate width direction, a moment 13 acts on the plate material 2 in the vicinity of the pinch rolls 1a and 1b from the plate material 2 distant on the upstream side. This moment 13 is transmitted as a plate width direction distribution of stress in the transport direction of the plate material, and it is supported by the contact portion between the pinch rolls 1a and 1b and the plate material 2. In the case of FIG. 9, the moment 13 acts in a direction of suppressing a relatively large elastic elongation of the working side WS. When the contact portion between the pinch rolls 1a and 1b and the plate material 2 becomes narrower, the distribution of the transport direction stress in the vicinity of the contact portion generated by the moment 13 becomes steeper in the plate width direction, and the effect of suppressing elastic elongation is obtained. It becomes large and the effect of controlling the position of the through plate by the reduction leveling is diminished. As an extreme example, when only one end of the plate 2 is in contact with the pinch rolls 1a and 1b as shown in FIG. 7, it becomes impossible for the contact portion to support the moment 13, and it is shown in FIG. Such deformation of the input side plate material cannot occur, and the reduction leveling becomes invalid for the plate passing position control.

Based on the above findings, the present inventors have solved the problems of the prior art and have found a device and a method for transporting the plate material to the center position of the plate width while controlling the plate width.

That is, the plate material transporting device 100 of the present embodiment is a reduction device 3a that reduces the pinch rolls 1a and 1b for transporting the plate material 2, and the pinch rolls 1a and 1b on the drive side DS and the work side WS of the pinch rolls 1a and 1b, respectively. , 3b, load cells 4a and 4b for measuring the load on the drive side DS and work side WS of the pinch rolls 1a and 1b, and the plate width center position of the plate material 2 conveyed by the pinch rolls 1a and 1b. A position measuring device 5 and a controller 50 are provided, and the controller 50 brings the plate width center position cl of the plate material 2 measured by the position measuring device 5 closer to a predetermined plate width center position target value. Derivation of the load action point position target value, derivation of the load target value on the drive side and the work side based on the load action point position target value, and the load target value on the drive side and the work side respectively. Based on the current load values on the drive side and the work side measured by the load cells 4a and 4b, the target value of the pinch roll reduction position control amount on the drive side and the work side is derived, and the drive side and the work side. It is configured to control the pinch roll reduction position of each of the driving side and the working side based on the target value of the pinch roll reduction position control amount on each side.

In such a plate material transport device 100, the plate width center position of the plate material 2 is measured, and a load action point position target value that brings the position closer to the plate width center position target value of the plate material is derived. Then, the load target values on the drive side DS and the work side WS are derived based on the load action point position target values, and the pinch roll reduction position control is performed based on the load target values and the current load values measured by the load cells 4a and 4b. The target value of the amount is derived, and the pinch roll reduction position is controlled according to the target value of the pinch roll reduction position control amount. In this way, the position of the plate material 2 is measured, the load action point position target value is derived so that the position becomes the plate material target position, and the pinch roll reduction position is controlled based on the load action point position target value. As a result, the pinch rolls 1a and 1b are reduced so that the position of the plate material 2 approaches a desired position, so that it is avoided in advance that only one end of the plate material 2 comes into contact with the pinch roll 1a. be able to. Thereby, in the transportation of the plate material 2 using the pinch rolls 1a and 1b, the plate width center position of the plate material 2 can be satisfactorily controlled to the plate width center target position.

The controller 50 derives a position where the distance from the plate width center position cl measured by the position measuring device 5 is 1/4 or less of the length of the plate material 2 in the plate material width direction as a load action point position target value. do. By setting the position of the load acting point to 1/4 or less from the plate width center position cl of the plate material, at least 3/4 of the plate material 2 in the plate width direction comes into contact with the pinch rolls 1a and 1b. As a result, it is possible to reliably avoid a state in which only one end of the plate material 2 is in contact with the pinch rolls 1a and 1b, and it is possible to prevent the plate material 2 from meandering when the plate material 2 is conveyed using the pinch rolls 1a and 1b. be able to.

The controller 50 derives a position where the distance from the plate width center position cl measured by the position measuring device 5 is 1/6 or less of the length of the plate material 2 in the plate material width direction as a load action point position target value. do. By setting the position of the load acting point to 1/6 or less from the plate width center position cl of the plate material, the entire area of the plate material 2 in the plate width direction comes into contact with the pinch rolls 1a and 1b. As a result, it is possible to reliably avoid a state in which only one end of the plate material 2 is in contact with the pinch rolls 1a and 1b, and it is possible to prevent the plate material 2 from meandering when the plate material 2 is conveyed using the pinch rolls 1a and 1b. be able to.

Although the embodiments have been described above, the present invention is not limited to the above embodiments. For example, as in the plate material transfer device 100A shown in FIG. 10, a transfer device having a controller 50A having a load increase amount deriving unit 11 may be used. In this case, the controller 50A of the plate material transporting device 100A has the drive side and the drive side and the controller 50A according to the time change of the difference between the plate width center position of the plate material 2 measured by the position measuring device 5 and the plate width center position target value of the plate material. It is configured to further derive the load increase target value on each work side, and the load target value on each of the drive side and the work side may be derived in consideration of the increase target value. ..

The plate material conveying device 100A shown in FIG. 10 includes a controller 50A having a load increase amount deriving unit 11 and a setting device 12. The setter 12 has an absolute value ΔZ ^CA of the permissible error from the plate width center position target value Z _T , which is the target value of the plate width center position cl of the plate material 2, and a pinch roll load _P = P _W + P _D. The lower limit value _{PL, the upper limit value P U ,} and the evaluation target time Δt are set. The controller 50A acquires the information set in the setting device 12.

を算出し、次のように場合分けしてピンチロール荷重の調整機能を制御に組み込む。

ピンチロール荷重Ｐ＝Ｐ_Ｗ＋Ｐ_Ｄは変更せず、そのまま制御を継続する。

荷重作用点位置の調整余地が残っていると判断し、ピンチロール荷重は変更せず、そのまま制御を継続する。

荷重作用点位置の調整余地が残っていないと判断し、ピンチロール荷重を現在値から上限値Ｐ_Ｕに向けて段階的に増大する。 The load increase amount deriving unit 11 has a difference ΔZ _C between the current value Z _C of the plate width center position cl of the plate material and the plate width center position target value Z _T , and a load action point position target value Z _P ^T and the current value Z _C. Difference from Z _P ^T -Z _C Mean value at the latest evaluation time Δt

Is calculated, and the pinch roll load adjustment function is incorporated into the control by dividing it into cases as follows.

The pinch roll load P = P _W + P _D is not changed, and the control is continued as it is.

Judging that there is still room for adjusting the position of the load acting point, the pinch roll load is not changed and the control is continued as it is.

Judging that there is no room for adjusting the position of the load acting point, the pinch roll load is gradually increased from the current value toward the upper limit value _PU .

Thereby, for example, even when the above-mentioned control is performed, it is possible to control so that the load target value increases when the plate width center position of the plate material 2 does not sufficiently approach the plate material center position target value. As a result, the load of the pinch roll 1a can be increased, and the plate material 2 can be brought closer to the plate width center position target value of the plate material with a stronger force. As described above, more robust through-plate control can be realized by adding the function of increasing the pinch roll load by evaluating the control results.

1a, 1b ... pinch roll, 2 ... plate material, 3a, 3b ... reduction device, 4a, 4b ... load cell (load measuring device), 5 ... position measuring device, 50, 50A ... controller (control unit), 100, 100A ... plate material Conveyor device, cl ... Plate width center position.

Claims (5)

A pinch roll that conveys plate materials and
A reduction device that reduces the pinch roll at both ends in the axial direction of the pinch roll, and a reduction device that reduces the pinch roll.
A load measuring device for measuring the load at both ends of the pinch roll in the axial direction, and a load measuring device.
A position measuring device for measuring the center position of the plate width of the plate material conveyed by the pinch roll, and a position measuring device.
With a control unit,
The control unit
To derive the load action point position target value for bringing the plate width center position measured by the position measuring device closer to the plate width center position target value of a predetermined plate material.
Derivation of load target values at both ends in the axial direction based on the load action point position target values,
Based on the load target value at each of the axial end portions and the current load value at each of the axial end portions measured by the load measuring device, in the axial direction of the pinch roll at each of the axial end portions. Derivation of the target value of the pinch roll reduction position control amount, which is the control amount of the pinch roll reduction position, which is the position in the orthogonal direction ,
A transport device configured to control the pinch roll reduction position of each of the axial end portions based on a target value of the pinch roll reduction position control amount at each of the axial end portions. .. The control unit sets a position where the distance from the plate width center position measured by the position measuring device is 1/4 or less of the length of the plate material in the plate width direction, as the load action point position target. The transport device according to claim 1, which is derived as a value. The control unit sets a position where the distance from the plate width center position measured by the position measuring device is 1/6 or less of the length of the plate material in the plate width direction, and the load action point position target. The transport device according to claim 1, which is derived as a value. The control unit
According to the difference between the plate width center position of the plate material measured by the position measuring device and the plate width center position target value of the plate material, the load increase target value at each of both ends in the axial direction is derived. It is configured to do more things to do,
The transport device according to any one of claims 1 to 3, which derives a load target value at each of both ends in the axial direction in consideration of the increase amount target value. A pinch roll that conveys a plate material, a reduction device that reduces the pinch roll at each of the axial ends of the pinch roll, a load measuring device that measures the load at each of the axial ends of the pinch roll, and the pinch. Using a transfer device provided with a position measuring device for measuring the center position of the plate width of the plate material conveyed by the roll.
To derive the load action point position target value for bringing the plate width center position measured by the position measuring device closer to the plate width center position target value of a predetermined plate material.
Derivation of load target values at both ends in the axial direction based on the load action point position target values,
Based on the load target value at each of the axial end portions and the current load value at each of the axial end portions measured by the load measuring device, in the axial direction of the pinch roll at each of the axial end portions. Derivation of the target value of the pinch roll reduction position control amount, which is the control amount of the pinch roll reduction position, which is the position in the orthogonal direction ,
A transport method comprising controlling the pinch roll reduction position of each of the axial end portions based on a target value of the pinch roll reduction position control amount at each of the axial direction end portions.

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