JP7446846B2 - How to adjust the cooling bed equipment and the stopping position of long steel products - Google Patents

Description

The present invention relates to cooling bed equipment and a method for adjusting the stopping position of a long steel product.

A high-temperature product rolled and formed in a long steel rolling facility is divided into predetermined lengths by a dividing shear (DS) and transported toward a cooling bed located downstream. A braking plate (BP) is arranged on the inlet side of the cooling bed, and the product is braked to a stop by friction with the braking plate.

Patent Document 1 discloses that a friction coefficient between a bar and a braking lifter according to the type of bar is stored in a storage means, and a braking distance is calculated from the bar speed detected by a speed detector and the stored friction coefficient. A control device that performs braking control is disclosed.

Japanese Unexamined Patent Publication No. 1-162511

However, in the transition state from the start of operation to a continuous stable state, if conditions such as the temperature on the top surface of the braking plate and the surrounding humidity change, the frictional resistance between the product and the braking plate changes, and the stopping position of the product changes. Also fluctuates. For this reason, operators visually check the stopping position of the product on the cooling bed and perform operations to bring the stopping position of the product closer to the target stopping position. It was hoped that the workload would be reduced.

The present invention has been made in view of the above circumstances, and provides a cooling bed facility and a method for adjusting the stopping position of long steel products, which can adjust the stopping position of long steel products while reducing the work burden on the operator. With the goal.

A cooling bed facility according to an embodiment of the present invention includes a cooling bed for cooling a long steel product formed by hot rolling, and a conveying device for transporting the long steel product to a position adjacent to the cooling bed. The conveying device protrudes upward from a reference plane, which is a surface in contact with the upper side of the plurality of conveyance rollers and the plurality of conveyance rollers, and comes into contact with the long steel product, thereby transporting the long steel product. A braking device including a braking plate that decelerates and stops, and a drive device that moves the braking plate up and down between a protruding state in which it protrudes from the reference surface and a retracted state in which it is retracted below the reference surface. The cooling bed equipment includes a camera for photographing the long steel product on the conveying device, and position information regarding the stop position of the long steel product based on the image data obtained by photographing with the camera. and a control device that controls the conveying device based on the position information so that the position where the long steel product stops due to the action of the braking device approaches a predetermined stopping position adjacent to the cooling bed.

The method for adjusting the stop position of a long steel product according to an embodiment of the present invention includes a cooling bed for cooling a long steel product formed by hot rolling, and a transport system for transporting the long steel product to a position adjacent to the cooling bed. and a plurality of conveyance rollers arranged in parallel, and a reference surface that is a surface in contact with the upper side of the plurality of conveyance rollers, and the conveyance device protrudes upwardly from the reference surface and comes into contact with the long steel product. A braking device including a braking plate that decelerates and stops the product, and a drive device that moves the braking plate up and down between a protruding state in which it protrudes from the reference surface and a retracted state in which it is retracted below the reference surface. A method for adjusting a stop position of a long steel product when decelerating and stopping the long steel product on the transport device in a cooling bed facility comprising: photographing the long steel product on the transport device with a camera; Position information regarding the stopping position of the steel bar product is acquired based on the image data obtained by photographing, and based on the acquired position information, the position where the bar bar product stops due to the action of the braking device is determined to be the position on the cooling bed. The conveying device is controlled so as to approach a predetermined stop position adjacent to.

According to the present invention, it is possible to adjust the stopping position of a long steel product while reducing the work burden on the operator.

It is a schematic diagram showing an outline of cooling bed equipment. FIG. 2 is a schematic diagram showing an example of the configuration of control equipment. FIG. 3 is a schematic diagram showing the change in speed after cutting a long steel product. It is a schematic diagram which shows an example of various parameters for each long steel product. It is a schematic diagram which shows the 1st example of the adjustment method of a stop position. It is a schematic diagram which shows the 2nd example of the adjustment method of a stop position. It is a schematic diagram which shows the 1st example of the display screen of the operating status of cooling bed equipment which can be displayed by a controller. It is a schematic diagram which shows the 2nd example of the display screen of the operating status of cooling bed equipment which can be displayed by a controller. 3 is a flowchart illustrating an example of a processing procedure of a controller.

Embodiments of the present invention will be described below based on the drawings. FIG. 1 is a schematic diagram showing an overview of the cooling bed equipment 30, in which (A) is a schematic perspective view of the whole, (B) is a schematic partial plan view, and (C) is a schematic partial cross-sectional view. The cooling bed equipment 30 includes a cooling bed 34 for cooling the long steel product formed by hot rolling, a conveying device 31 for transporting the long steel product P to a position adjacent to the cooling bed 34, and a camera 40. Be prepared. The conveying device 31 decelerates and stops the long steel product P by protruding upward from a reference surface, which is a surface in contact with the upper side of the plurality of transport rollers 32, and contacting the long steel product P. A braking system that includes a braking plate 33 (also referred to as "BP") that moves the braking plate 33 up and down between a protruding state in which the braking plate 33 protrudes from a reference surface and a retracted state in which it is retracted below the reference surface. and a device. The reference plane is a geometrical virtual plane, and becomes a virtual plane if the plurality of conveyance rollers 32 are perfect circular cylinders without constrictions or the like. The camera 40 is arranged so as to be able to photograph the vicinity of the stop position at the head end or the stop position at the tail end of the bar product P, and can photograph the bar product P on the conveying device 31 . In the illustrated example, the camera 40 is arranged so as to be able to photograph the tail end of the long steel product P at the stop position, but the camera 40 is not limited thereto. In FIG. 1, the symbol M is a motor 16, which will be described later.

Each long steel product P stopped on the conveyor 31 is discharged from the conveyor 31 to the cooling bed 34 by lifting the breaking plate 33 further upward, so that the target stopping position (predetermined (stop position) is set at a position where the long steel product P discharged from the position enters a predetermined area on the cooling bed 34 (an area where the long steel product P is cooled).

On the upstream side of the cooling bed equipment 30 in the pass line of the long steel products P, a long steel rolling equipment is provided. The long steel rolling equipment includes rolling mills 10a, 10b, and 10c to form billets in a high temperature state into a predetermined shape. Note that the number of rolling mills is not limited to the example shown in the figure. On the downstream side of the rolling mills 10a, 10b, and 10c, a cutting device (also referred to as "DS" or "dividing shear") 12 is provided that cuts (divides) the rolled steel bar into lengths equal to or less than the limit length of the cooling bed 34. The divided steel bar products P are transported to the entrance side of the cooling bed 34.

FIG. 2 is a schematic diagram showing an example of the configuration of the control equipment. The control equipment includes a controller 20 as a control device, a BP drive device 15 as a drive device, a motor 16, and a PC 50. The controller 20 includes a stop position determination section 21 , a difference calculation section 22 , a correlation coefficient calculation section 23 , a target stop position setting section 24 , a BP increase timing calculation section 25 , a BP protrusion state duration calculation section 26 , and a cutting timing detection section 27 , an interface unit 28.

By driving the motor 16, the BP drive device 15 performs braking between a protruding state in which the braking plate 33 protrudes above the reference surface and a retracted state in which the braking plate 33 retracts below the reference surface. The holding plate 33 can be moved up and down.

The PC 50 can be configured with an information processing device such as a computer including a display panel, an operation section, etc., and has a user interface function of the controller 20.

The interface section 28 has an interface function between the controller 20 and each of the cutting device 12, BP drive device 15, and PC 50.

The camera 40 outputs image data obtained by photographing the long steel product P on the cooling bed 34 to the controller 20.

The target stop position setting unit 24 sets a target stop position of the long steel product P on the cooling bed 34. The target stop position can be set in advance by the operator using the PC 50. The target stopping position can be set as appropriate depending on the type and size of the long steel product P.

The stop position determination unit 21 can determine (acquire) position information regarding the actual stop position of the long steel product P based on image data obtained by photographing with the camera 40.

The difference calculation unit 22 can calculate the difference between the target stopping position (predetermined stopping position) of the long steel product P on the cooling bed 34 and the actual stopping position. Note that the difference has both positive and negative signs. For example, if the actual stop position exceeds the target stop position (downstream of the target stop position), it is set as "positive", and if the actual stop position is before the target stop position (upstream of the target stop position), it is set as "positive". side), it can be set to "negative". Note that the positive and negative values may be reversed.

The correlation coefficient calculation unit 23 calculates the correlation coefficient between the position where the bar product P stops due to the action of the braking plate 33 and the control parameter of the braking plate 33 based on the difference calculated by the difference calculation unit 22. It can be calculated. Specifically, the correlation coefficient includes the friction coefficient between the bar product P and the braking plate 33. The control parameters include parameters used to decelerate and stop the long steel product P on the conveyor 31. Specifically, the control parameters include the duration of the protruding state of the braking plate 33 and the timing at which the braking plate 33 starts rising. When the stopping position of the long steel product P changes due to changes in conditions such as the temperature on the upper surface of the braking plate 33 and the ambient humidity, the difference also changes. In order to bring the actual stop position closer to the target stop position, a correlation coefficient may be calculated based on the difference, and the control parameters may be updated based on the calculated correlation coefficient.

The controller 20 acquires positional information regarding the actual stopping position of the long steel product P based on image data obtained by photographing with the camera 40, and controls the operation of the braking plate 33 based on the acquired positional information. Can be done. Specifically, the controller 20 updates the control parameters using the calculated correlation coefficient, and controls the operation of the braking plate 33 so that the position where the long steel product P stops approaches the target stopping position. Can be done.

By photographing the long steel product P on the cooling bed 34 with the camera 40, visual inspection by the operator is no longer necessary. Furthermore, since the positional information regarding the actual stopping position of the long steel product P is acquired based on the image data obtained by photographing with the camera 40, the positional information regarding the actual stopping position of the long steel product P is obtained, so that Changes in the stopping position of the long steel product P can also be acquired as numerical data. Changes in the friction coefficient corresponding to changes in the stopping position can also be calculated as numerical data. This eliminates the need for the operator to manually set the friction coefficient, and it is possible to automate the setting of the friction coefficient. By controlling the conveying device 31 based on the set friction coefficient, it is possible to adjust the stopping position of the long steel product P to be closer to the target stopping position, reducing the work burden on the operator while stopping the long steel product P. The position can be adjusted.

The details of the BP rise timing calculating section 25, the BP protruding state duration calculating section 26, and the cutting timing detecting section 27 will be described later.

Next, a method of adjusting the stopping position of the long steel product P using the controller 20 will be explained.

FIG. 3 is a schematic diagram showing the change in speed after cutting the long steel product P. In FIG. 3, the vertical axis shows speed, and the horizontal axis shows distance (position, time). Let V be the conveying speed immediately before cutting into the long steel product P, and let α·V be the conveying speed when the long steel product P starts decelerating. α is the acceleration coefficient. The reason why the long steel products P are accelerated by the speed increase coefficient α is that if each long steel product P is conveyed at the conveyance speed V and one long steel product P is decelerated, the subsequent long steel products P at the conveyance speed V will be This is because there is a risk of overtaking and contacting and colliding with one long steel product P, so by increasing the speed once before decelerating, the following long steel product P does not come into contact with it.

Ldr is the distance from the cutting device 12 to the inlet of the cooling bed 34, Ls is the distance from the inlet of the cooling bed 34 to the stop position of the tail end of the long steel product P, and from the position of the tail end of the long steel product P at the time of starting deceleration to the stop position. Let the distance be Lb. With reference to the cutting timing of the cutting device 12, the timing at which the cut steel bar product P decelerates (that is, the timing at which the braking plate 33 starts to rise) is defined as tr. When the friction coefficient (dynamic friction coefficient) between the long steel product P and the braking plate 33 is μ, and the gravitational acceleration is g, the formula Lb=(α·V) ² /(2·μ·g) holds true.

Various parameters as shown in FIG. 3 differ depending on the type of long steel product P.

FIG. 4 is a schematic diagram showing an example of various parameters for each bar product. Various parameters include conveyance speed, acceleration coefficient, conveyance speed at the start of deceleration, BP rise start timing (based on cutting timing), BP protrusion state duration, target stop position, friction coefficient, etc. for each type of long steel product. include. For the BP increase start timing, BP protrusion state duration time, and friction coefficient, data in a stable state can be used, for example. The BP rise start timing and the BP protrusion state duration time are control parameters of the conveyance device 31 including the braking plate 33 and the BP drive device 15.

Types of long steel products include, for example, angle steel, channel steel, round steel, square steel, flat steel, and other special shaped steel, each of which has different sizes and unit weights (kg/m). As shown in FIG. 4, for example, for angle A1 (A1 is just an identifier), the conveyance speed is V1, the acceleration coefficient is α1, the conveyance speed at the start of deceleration is α1・V1, the BP increase start timing is tr1, BP The protruding state duration time can be determined as th1, the target stop position as Ls1, and the friction coefficient as μ1. The same applies to other types.

FIG. 5 is a schematic diagram showing a first example of a method of adjusting the stop position. As shown in FIG. 5, if the actual stop position is before the target stop position, Lb is shorter than the target value, which means that the BP rise start timing tr1 is too early or that the braking plate 33 This means that the protrusion state duration time th is too long. That is, when the braking plate 33 is in the protruding state, the resistance force including the frictional force between the bar product P and the braking plate 33 acts as a braking force on the bar product P, but the estimated braking force is small; The long steel product P is stopped earlier than expected because the timing to start braking is earlier than the appropriate timing or the duration of its action is longer than required. It is. Therefore, in order to bring the stopping position closer to the target stopping position, by increasing the set value of the friction coefficient μ (increasing the estimated braking force), the BP increase start timing is calculated using the value of this friction coefficient μ. What is necessary is to slow down tr1 or shorten the duration time th of the protruding state of the braking plate 33.

FIG. 6 is a schematic diagram showing a second example of the method of adjusting the stop position. As shown in FIG. 6, when the actual stop position exceeds the target stop position, Lb is longer than the target value, which means that, contrary to the case of FIG. This means that it is too late, or that the duration th of the protruding state of the braking plate 33 is too short. Therefore, in order to bring the stopping position closer to the target stopping position, by decreasing the set value of the friction coefficient μ (reducing the estimated braking force), the BP increase start timing is calculated using the value of this friction coefficient μ. What is necessary is to make tr1 faster or to lengthen the duration time th of the protruding state of the braking plate 33. In this way, the friction coefficient μ can be automatically set according to the stopping position of the long steel product P, eliminating the need to rely on the operator's experience and intuition.

That is, the BP protruding state duration calculation unit 26 performs braking so that the actual stop position approaches the target stop position based on the correlation coefficient (for example, friction coefficient μ) calculated by the correlation coefficient calculation unit 23. It can be determined by calculating the duration th of the protruding state of the plate 33.

The cutting timing detection unit 27 detects the cutting timing of the cutting device 12 for long steel products.

The BP increase timing calculation unit 25 calculates the BP increase start timing using this cutting timing as a reference. Specifically, when the actual stop position exceeds the target stop position, the timing at which the braking plate 33 starts rising is brought forward. That is, the time from the cutting timing to the BP increase start timing is shortened. Further, when the actual stop position is before the target stop position, the BP rise timing calculation unit 25 delays the rise start timing of the braking plate 33. That is, the time from the disconnection timing to the BP increase start timing is lengthened. Furthermore, for a long steel product with a high conveyance speed V (α・V), the BP rise timing calculation unit 25 moves the stopping position of the long steel product far from the target stopping position by advancing the rise start timing of the braking plate 33. You can keep it from shifting. In addition, for a long steel product with a slow conveyance speed V (α・V), the BP rise timing calculation unit 25 delays the rise start timing of the braking plate 33 so that the stop position of the long steel product is far from the target stop position. You can keep it from shifting.

The controller 20 can calculate and update a correlation coefficient (for example, a friction coefficient) when the moving average of the differences calculated by the difference calculation unit 22 exceeds a predetermined threshold. The moving average can be, for example, the average value of differences calculated a predetermined number of times recently. If the moving average of the differences is less than or equal to the threshold value, it can be determined that fluctuations in the stopping position of the bar product due to changes in conditions such as the temperature on the upper surface of the braking plate 33 and the ambient humidity are within tolerance. If the moving average of the differences exceeds the threshold value, the variation in the stopping position of the long steel product P is large and it is necessary to update the control parameters, so the correlation coefficient is calculated and updated. Thereby, the control parameters can be updated as appropriate according to changes in the stopping position of the long steel product P, and the stopping position of the long steel product P can be adjusted.

The control parameters may be updated by updating only the protruding state duration time of the braking plate 33, by updating only the rising start timing of the braking plate 33, or by updating both.

FIG. 7 is a schematic diagram showing a first example of a display screen of the operating status of the cooling bed equipment that can be displayed by the controller 20. On the left side of FIG. 7, the actual stopping position and target stopping position of the long steel product are clearly displayed. The actual stopping position of the long steel product may be displayed as an image taken by the camera 40, as shown in FIG. 7, or the positional information of the stopping position may be displayed as a numerical value or the like. On the right side of FIG. 7, the moving average of the difference between the actual stop position and the target stop position and its threshold value are displayed. Even if the moving average of the difference between the actual stopping position and the target stopping position exceeds the threshold value, the difference between the actual stopping position and the target stopping position remains within a certain tolerance range (a range in which the long steel product P can be delivered to the cooling bed). Therefore, the threshold value is set so that its absolute value is smaller than the absolute value of the allowable range. However, if the absolute value of the moving average of the difference exceeds the allowable range due to some kind of trouble, etc., even though control is being performed, an alert will light up or flash, and a warning will be sounded. may be output. Further, on the right side of FIG. 7, control parameters such as BP rise start timing, BP protrusion state duration time, and friction coefficient as a correlation coefficient are displayed. Note that the arrangement of the structure in FIG. 7 is an example, and the present invention is not limited to this.

FIG. 8 is a schematic diagram showing a second example of a display screen of the operating status of the cooling bed equipment that can be displayed by the controller 20. As shown in FIG. 8, the current BP rise start timing, BP protrusion state duration time, and friction coefficient are displayed on the left side of FIG. On the right side of FIG. 8, the BP rise start timing, BP protrusion state duration time, and friction coefficient recommended by the controller 20 are displayed. For example, the operator can update the current value to the recommended value by operating an "OK" icon with a mouse or the like (or by touching the screen in the case of a touch panel). This allows the operator to make judgments when updating control parameters and the like. Note that the present invention is not limited to the example shown in FIG. 8, and the updated control parameters etc. may be automatically updated and displayed without the consent of the operator. Note that the arrangement of the structure in FIG. 8 is an example, and the present invention is not limited to this.

FIG. 9 is a flowchart showing an example of the processing procedure of the controller 20. The controller 20 sets initial parameters (S11) and starts transporting the long steel product (S12). The initial parameters can be, for example, the initial values of various parameters illustrated in FIG. 4 . The controller 20 photographs the stopping position of the tail end of the long steel product with the camera 40 (S13), and calculates the difference between the actual stopping position and the target stopping position (S14). Note that the stopping position may be at the head end of the long steel product.

The controller 20 determines whether the moving average of the differences is larger than a predetermined threshold (S15). If the moving average of the differences is not greater than the threshold (NO in S15), the controller 20 continues the processing from step S13 onwards. If the moving average of the differences is larger than the threshold (YES in S15), the controller 20 calculates the friction coefficient (S16) and calculates the duration of the BP protruding state (S17).

The controller 20 determines whether or not to adjust the BP increase start timing (S18), and if adjusted (YES in S18), calculates the BP increase start timing (S19), and performs the process of step S20, which will be described later. . If the BP rise start timing is not adjusted (NO in S18), the controller 20 controls the BP drive device 15 using the calculated control parameters (S20), and determines whether or not the conveyance has ended (S21). ). If the conveyance has not been completed (NO in S21), the controller 20 continues the processing from step S13 onwards. When the conveyance is completed (YES in S21), the controller 20 ends the process.

The cooling bed equipment of the present embodiment includes a cooling bed for cooling a long steel product formed by hot rolling, and a conveying device for transporting the long steel product to a position adjacent to the cooling bed, The conveying device decelerates and stops the long steel product by protruding upward from a reference surface that is a surface that is in contact with the upper side of the plurality of conveyance rollers arranged in parallel and contacting the long steel product. a braking device that includes a driving device that moves the braking plate up and down between a protruding state in which it protrudes from the reference surface and a retracted state in which it is retracted below the reference surface. A camera that photographs the long steel product on the conveyance device, and position information regarding the stop position of the long steel product based on image data obtained by photographing with the camera, and the acquired position information is and a control device that controls the conveying device so that the position where the long steel product stops due to the action of the braking device approaches a predetermined stopping position adjacent to the cooling bed.

The method for adjusting the stop position of a long steel product according to the present embodiment includes a cooling bed that cools a long steel product formed by hot rolling, and a conveying device that transports the long steel product to a position adjacent to the cooling bed. The conveyance device decelerates the long steel product by protruding upward from a reference surface that is a surface that contacts the upper side of the plurality of conveyance rollers and the plurality of conveyance rollers and comes into contact with the long steel product. and a braking device including a braking plate that stops the braking plate, and a driving device that moves the braking plate up and down between a protruding state in which the braking plate protrudes from the reference surface and a retracted state in which the braking plate is retracted below the reference surface. In floor equipment, a method for adjusting a stop position of a long steel product when decelerating and stopping the long steel product on the transport device, the method comprising: photographing the long steel product on the transport device with a camera; acquiring positional information regarding a stopping position of the long steel product based on the obtained image data, and based on the acquired positional information, a position where the long steel product stops due to the action of the braking device is adjacent to the cooling bed; The conveyance device is controlled so as to approach a predetermined stop position.

The cooling bed equipment includes a cooling bed, a transport device, a camera, and a control device. The conveying device is for conveying the long steel products to a position adjacent to the cooling bed, and is equipped with a plurality of conveying rollers arranged side by side to convey the long steel products, and a braking device to stop the long steel products. ing. The braking device includes a braking plate (BP) and a drive device. The braking plate protrudes above the reference surface, which is the surface in contact with the upper side of multiple conveyor rollers, and contacts the long steel product, thereby decelerating and stopping the long steel product through friction between the braking plate and the long steel product. can be done. The drive device can move the braking plate up and down between a protruding state in which the braking plate protrudes from the reference surface and a retracted state in which the braking plate is retracted below the reference surface. The camera is arranged so as to be able to photograph the vicinity of the stop position at the head end or the stop position at the tail end of the steel bar product, and can photograph the steel bar product on the conveying device. The control device acquires positional information regarding the actual stopping position of the long steel product based on image data obtained by photographing with a camera, and determines the position at which the long steel product stops due to the action of the braking device based on the acquired position information. The transport device can be controlled such that the transport device approaches a predetermined stop position adjacent to the cooling bed.

By using a camera to photograph the long steel products on the cooling bed, visual inspection by the operator is no longer necessary. In addition, since positional information regarding the stopping position of the long steel product is acquired based on image data obtained by shooting with a camera, the stopping position of the long steel product due to changes in conditions such as the temperature on the top surface of the braking plate and surrounding humidity can be easily detected. Fluctuations in can also be obtained as numerical data. Changes in the friction coefficient corresponding to changes in the stopping position can also be calculated as numerical data. This eliminates the need for the operator to manually set the friction coefficient, and it is possible to automate the setting of the friction coefficient. By controlling the conveyor device based on the set friction coefficient, it is possible to adjust the stopping position of the long steel product closer to the target stopping position, reducing the work burden on the operator while adjusting the stopping position of the long steel product. can do.

In the cooling bed equipment of the present embodiment, the control device includes a difference calculation unit that calculates a difference between the predetermined stopping position of the long steel product on the conveying device and a stopping position of the long steel product, and a correlation coefficient calculating section that calculates a correlation coefficient between a position where the long steel product stops due to the action of the braking device and a control parameter of the conveying device, based on the difference calculated by the calculating section, The control device controls the conveyance device using the correlation coefficient calculated by the correlation coefficient calculation section.

The control device includes a difference calculation section and a correlation coefficient calculation section. The difference calculation unit can calculate a difference between a predetermined stopping position of the long steel product on the conveyance device and a stopping position of the long steel product. Note that the difference has both positive and negative signs. For example, when the stop position of the long steel product exceeds the target stop position, it can be set as "positive", and when the stop position of the long steel product is before the target stop position, it can be set as "negative". The stopping position of the long steel product can be determined based on image data obtained by photographing with a camera. The correlation coefficient calculation section can calculate the correlation coefficient between the position where the long steel product stops due to the action of the braking device and the control parameter of the conveyance device, based on the difference calculated by the difference calculation section. The control parameters include parameters used to slow down and stop the long steel product on the conveyor. If the stopping position changes due to changes in conditions such as the temperature on the upper surface of the braking plate or the ambient humidity, the difference also changes. In order to bring the stopping position of the long steel product closer to the target stopping position, a correlation coefficient may be calculated based on the difference, and the control parameters may be updated based on the calculated correlation coefficient. The control device can update the control parameters using the calculated correlation coefficient and control the conveyance device so that the position where the long steel product stops approaches a predetermined stop position.

In the cooling bed equipment of this embodiment, the correlation coefficient includes a friction coefficient between the long steel product and the braking plate.

The correlation coefficient includes the friction coefficient between the long steel product and the braking plate. If the conveyance speed of the long steel product at the start of deceleration is (α・V), the distance from the deceleration start position to the stop position is Lb, the friction coefficient is μ, and the gravitational acceleration is g, then Lb=(α・V) The formula ² /(2・μ・g) holds true. Here, V is the conveyance speed of the long steel product, and α is the speed increase coefficient for speed increase before deceleration. Assuming that α·V is constant, when the actual stop position exceeds the target stop position, Lb becomes longer and the friction coefficient μ becomes smaller. Therefore, in order to bring the stop position closer to the target stop position, the friction coefficient μ may be increased. Furthermore, if the actual stop position is before the target stop position, Lb will be short, and therefore the friction coefficient μ will be large. Therefore, in order to bring the stop position closer to the target stop position, the friction coefficient μ may be reduced. In this way, the friction coefficient μ can be automatically set depending on the stopping position of the long steel product, eliminating the need to rely on the operator's experience and intuition.

In the cooling bed equipment of this embodiment, the control parameter includes the duration of the protruding state of the braking plate.

The control parameters include the duration of the protruding state of the braking plate. When the braking plate is in the protruding state, friction occurs between the bar product and the braking plate. The stopping position can also be adjusted by changing the duration of the protruding state. Specifically, assuming that α・V is constant, if the actual stopping position exceeds the target stopping position, the duration of the protruding state (the time during which the braking force is applied) is lengthened, and the stop is stopped. The position can be brought closer to the target stop position. Further, if the actual stop position is before the target stop position, the stop position can be brought closer to the target stop position by shortening the duration of the protruding state (the time during which the braking force acts).

The cooling bed equipment of the present embodiment further includes a cutting timing detection device that detects the cutting timing of the long steel product cutting device provided upstream of the cooling bed equipment in the pass line of the long steel products, and The control parameter includes a rising start timing of the braking plate of the braking device, and the control device determines the rising start timing based on the cutting timing.

The cutting timing detection device detects the cutting timing of a cutting device for long steel products provided upstream of the cooling bed equipment in the pass line for long steel products. The control parameters include the timing at which the braking plate of the braking device starts rising. If the rising start timing of the braking plate is delayed, the timing of deceleration of the steel bar product will be delayed, the distance (time) to be transported at the transport speed will become longer, and as a result, the actual stopping position will move toward the downstream side. In addition, if the timing at which the braking plate starts rising is earlier, the timing at which the steel bar product decelerates will be earlier, and the distance (time) transported at the transport speed will be shortened, and as a result, the actual stopping position will move toward the upstream side. Become. Therefore, when the actual stop position exceeds the target stop position, the actual stop position can be brought closer to the target stop position by advancing the raising timing of the braking plate. Further, when the actual stop position is before the target stop position, the actual stop position can be brought closer to the target stop position by delaying the timing at which the braking plate starts rising. The control device can determine the rising start timing based on the cutting timing.

In the cooling bed equipment of the present embodiment, when the moving average of the differences calculated by the difference calculation unit exceeds a predetermined threshold, the control device calculates and updates a correlation coefficient by the correlation coefficient calculation unit. do.

The control device calculates and updates the correlation coefficient when the calculated moving average of the differences exceeds a predetermined threshold. The moving average can be, for example, the average value of differences calculated a predetermined number of times recently. If the moving average of the differences is less than or equal to the threshold value, it can be determined that fluctuations in the stopping position of the long steel product due to changes in conditions such as the temperature on the upper surface of the braking plate and ambient humidity are within tolerance. If the moving average of the differences exceeds the threshold value, there is a large variation in the stopping position of the long steel product and it is necessary to update the control parameters, so the correlation coefficient is calculated and updated. Thereby, it is possible to adjust the stopping position of the long steel product by appropriately updating the control parameters in accordance with changes in the stopping position of the long steel product.

The cooling bed equipment of the present embodiment uses position information of the long steel product based on image data obtained by photographing with the camera, a moving average of the difference calculated by the difference calculating section, and a control parameter of the conveying device. and display data for displaying the output unit.

The output unit outputs display data for displaying position information of the long steel product based on image data obtained by photographing with a camera, a moving average of the difference calculated by the difference calculation unit, and control parameters of the braking device. Output.

Although the present invention has been described above using an embodiment, the present invention is not limited to the configuration of this embodiment. The scope of the present invention is determined based on the description of the appended claims, and within that scope, all omissions and modifications of the constituent elements shown in the embodiments, as well as improvements thereof, are included. are included in the present invention.

For example, in FIG. 2, the controller 20 is shown as an integrated unit for the sake of simplicity, but any device that realizes the functions of the present invention may be used, and the functions included in the controller 20 may be realized by a combination of multiple devices. .

10a, 10b, 10c rolling mill 12 cutting device 15 BP drive device 16 motor 20 controller 21 stop position determination section 22 difference calculation section 23 correlation coefficient calculation section 24 target stop position setting section 25 BP rise timing calculation section 26 BP protrusion state continuation Time calculation section 27 Cutting timing detection section 28 Interface section 30 Cooling bed equipment 31 Conveyance device 32 Conveyance roller 33 Breaking plate 34 Cooling bed 40 Camera 50 PC

Claims (3)

A cooling bed for cooling a long steel product formed by hot rolling, and a conveyance device for conveying the long steel product to a position adjacent to the cooling bed, the conveyance device being a plurality of parallelly arranged a braking plate that decelerates and stops the long steel product by protruding upward from a reference surface that is a surface in contact with the upper side of the plurality of transport rollers and coming into contact with the long steel product; and the braking plate. A cooling bed facility comprising a braking device including a drive device that moves the cooling bed up and down between a protruding state in which the cooling bed protrudes from the reference surface and a retracted state in which the cooling bed is retracted below the reference surface,
a camera that photographs the long steel product on the conveyance device;
Positional information regarding the stopping position of the steel bar product is acquired based on image data obtained by photographing with the camera, and based on the acquired position information, the position at which the bar bar product stops due to the action of the braking device is determined as described above. a control device that controls the conveying device so that it approaches a predetermined stopping position adjacent to a cooling bed ;
The control device includes:
a difference calculation unit that calculates a difference between the predetermined stopping position of the long steel product on the conveying device and the stopping position of the long steel product;
a friction coefficient calculation unit that calculates a friction coefficient between the long steel product and the braking plate based on the difference calculated by the difference calculation unit;
a cutting timing detection unit that detects the cutting timing of a cutting device for the long steel product provided upstream of the cooling bed equipment in the pass line for the long steel product;
Equipped with
Calculating the duration of the protruding state of the braking plate using the friction coefficient calculated by the friction coefficient calculation unit, and calculating the rising start timing of the braking plate of the braking device based on the cutting timing. controlling the conveyance device;
If the moving average of the differences exceeds a predetermined threshold, the friction coefficient is calculated and updated, the duration of the protruding state of the braking plate is calculated and updated, and the rising start timing is calculated. perform at least one of the following:
Cooling bed equipment. Display data for displaying position information of the long steel product based on image data obtained by photographing with the camera, a moving average of the difference calculated by the difference calculating section, and control parameters of the conveying device. The cooling bed equipment according to claim 1 , further comprising an output section for outputting an output. A cooling bed that cools a long steel product formed by hot rolling, and a conveyance device that conveys the long steel product to a position adjacent to the cooling bed, the conveyance device comprising a plurality of conveyors arranged in parallel. a braking plate that decelerates and stops the long steel product by protruding upward from a reference surface that is a surface in contact with the upper side of the plurality of conveying rollers and comes into contact with the long steel product; In a cooling bed facility comprising a braking device including a drive device that moves up and down between a protruding state protruding from a reference surface and a retracted state retracted below the reference surface, the long steel product is decelerated on the conveying device. and a method for adjusting the stopping position of a long steel product when stopping,
photographing the long steel product on the conveying device with a camera;
acquiring positional information regarding the stopping position of the long steel product based on image data obtained by photographing with the camera;
Based on the acquired position information, controlling the conveying device so that the position where the long steel product stops due to the action of the braking device approaches a predetermined stopping position adjacent to the cooling bed ,
moreover,
calculating a difference between the predetermined stopping position of the long steel product on the conveying device and the stopping position of the long steel product;
Calculating a coefficient of friction between the long steel product and the braking plate based on the calculated difference;
detecting a cutting timing of a cutting device for the long steel product provided upstream of the cooling bed equipment in a pass line for the long steel product;
Calculating the duration of the protruding state of the braking plate using the calculated friction coefficient, and controlling the conveying device by calculating the timing to start raising the braking plate of the braking device based on the cutting timing. to do, and
When the moving average of the differences exceeds a predetermined threshold, the friction coefficient is calculated and updated, and the duration of the protruding state of the braking plate is updated, and the rising start timing is calculated and updated. including doing at least one of the following:
How to adjust the stopping position of long steel products.

Images