JPH0663815A - Crop shear controller - Google Patents

Abstract

PURPOSE:To improve the cutting position accuracy of a shear to cut the crop of the head and rear end of a steel plate in a hot rolling line, for example. CONSTITUTION:A crop shape reader is installed to read out two-dimensionally a crop shape in the head and rear end of a steel plate 12 along a carrying passage 11, and based on the crop shape read out, cutting distance from the head 12a or rear end 12b of the steel plate 12 is calculated by a cutting distance calculating means 26. A plurality of optical steel plate detecting means 18 for detecting the head 12a and rear end 12b of the steel plate from the side of the carrying passage 11 in the direction to cross the carrying passage 11 are arranged to measure the moving distance of the steel plate carried through the carrying passage 11 by distance detectors 17 and 20, controlling the timing to drive a crop shear 19 based on the distance L0 between the moving distance and the crop shear 19 and cutting distance by a crop shear start timing control section 28.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crop shear control device for driving and controlling a crop shear (crop cutting machine) for cutting crops at the leading end and the trailing end of a steel plate in a hot rolling line of an iron mill, for example. In particular, it relates to a crop shear control device with improved cutting position accuracy.

[0002]

2. Description of the Related Art Deformations such as fish tails are apt to occur at the leading end and the trailing end of a steel plate in a hot rolling line,
If the finish rolling is performed as it is because of the temperature decrease, misrolls, winding, roll flaws, etc. are likely to occur. Therefore, before entering finish rolling, with a crop shear,
The cropped portion is cut and removed. in this case,
Controlling the portion to be cut and removed to the minimum necessary is an important matter for improving the product yield.

FIG. 4 is a diagram showing a method for determining a cutting position of a crop shear for improving the cutting accuracy by performing crop cutting in consideration of the bulge widths on both sides of the steel plate (Japanese Patent Laid-Open Publication No. Sho. 63-312015).

A plane shape recognizing device 3, a pair of moving amount measuring rolls 4a, 4a, which measures the moving amount (moving distance) of the steel plate 1 along the conveying path 2 of the steel plate 1 conveyed in the direction of arrow F in the figure.
4b, marking device 5, laser beam translucent device 6, and crop shear 7 are provided. Then, the crop cutting of the steel plate 1 is executed in the following procedure.

(1) First, the shape characteristic calculation device 8
The plane shape recognizing device 3 recognizes the crop shapes of the front end portion and the rear end portion of the steel plate 1, and the product width from the host computer 9
Using the rolling conditions and the like, the cutting distances Ls and Le from the front and rear ends of the width center line of the steel sheet 1 are determined. Specifically, each cutting distance Ls, Le is obtained from the intersection of the width center line of the steel plate 1 and the front end or the rear end. Then, the determined cutting distances Ls and Le are transmitted to the position display device 10.

(2) The presence or absence of the steel plate 1 is detected by the γ-ray type steel plate detector arranged at the width center at an arbitrary position in the conveying direction of the conveying path 2 in front of the crop shear 7. And
It is detected that the front end and the rear end of the steel plate 1 have passed through the width center line of the transport path 2. (3) The movement amount by the movement amount measuring roll 4b is measured from the front end detection and the rear end detection of the steel plate 1 by the γ-ray steel plate detector.

(4) The moving amount is the moving amount measuring roll 4b.
The position display device 10 operates to indicate the cutting position by the marking device 5 when a value determined by the distance between the marking device 5 and the installation position of the marking device 5 and the determined cutting distances Ls and Le is reached. Marks are attached to the front end and the rear end of the steel plate 1. (5) Then, the crop shear 7 cuts the marking position of the conveyed steel plate 1.

[0008]

However, the method for determining the cutting position of the crop shear shown in FIG. 4 still has the following problems to be solved.

That is, as described above, the detector for detecting the leading end position and the trailing end position of the steel sheet 1 used for obtaining the cutting position of the steel sheet 1 is a gamma ray arranged on the width center line of the conveying path 2. Type steel plate detector. However, in the steel plate 1 in which the crop is not cut, the leading end or the rear end in the transport direction does not always exist on the width center line of the steel plate 1. Also,
The center line of the steel plate 1 and the center line of the transport path 2 do not always match.

However, the tip position and the rear end position adopted when calculating the cutting distances Ls and Le obtained by the shape characteristic calculating device 8 are the tip obtained by the planar shape recognizing device 3 in the shape characteristic calculating device 8. It is the intersection of the front and rear ends of the steel plate 1 in the longitudinal direction in the two-dimensional image of the portion and the rear end, and the central axis of the steel plate 1.

Therefore, the leading end position and the trailing end position of the steel plate 1 in the shape characteristic calculating device 8 do not match the leading end position and the trailing end position used for calculating the cutting position marked by the marking device 5. This means that the cutting position varies depending on the crop shape, and the cutting position accuracy of the crop decreases.

Further, even if the front end position or the rear end position exists on the center line of the steel sheet 1, the steel sheet 1 may vibrate during conveyance, or the steel sheet 1 may bend or meander. At the installation position of the γ-ray steel plate detector, the center line of the transport path 2 and the center line of the steel plate 1 itself do not always coincide. Therefore, as described above, the shape characteristic calculation device 8
There is a problem that the leading end position and the trailing end position in the above does not match the leading end position and the trailing end position used for the marking position determination.

Further, the γ-ray type steel plate detector judges that the steel plate 1 is present when the transmitted dose of the γ-rays emitted from the detector to the steel plate 1 exceeds a preset threshold value. When it is below the threshold value, it is judged that the steel sheet 1 is not present. In general, steel plates 1 having various thicknesses flow on the production line,
It is necessary to reset the threshold value each time, and the handling becomes complicated.

Further, since the detection characteristics of this γ-ray type steel plate detector have a large hysteresis between the presence and absence of the steel plate, when the conveying speed of the steel plate 1 is high, the detection response is delayed and the corresponding There are also problems that cannot be solved. That is,
There is a concern that the detected front end position and rear end position may not match the actual front end position and rear end position of the steel plate 1.

Further, in this cutting position determining method,
Since the crop shear 7 is a device independent of the position display device 10 that drives the marking device 8, it is necessary to detect the marked cutting position by some method and activate it. If the operator performs the manual operation, the cutting accuracy is further reduced. As described above, in the conventional cutting position determination method shown in FIG. 4, there is a problem that a high crop cutting position accuracy cannot always be ensured.

The present invention has been made in view of the above circumstances, and it is possible to correctly detect the leading end and the trailing end of a steel sheet to be conveyed, and even if the center line of the steel sheet to be conveyed in the conveying path is the center position of the conveying path. Even when the steel plate is bent or warped, the crop of the steel plate can be automatically cut with the correct cutting distance, reducing the burden on the operator and further improving the quality of the steel plate. An object of the present invention is to provide a crop shear control device that can be improved and the yield of steel sheets as products can be improved.

[0017]

In order to solve the above problems, the present invention provides a crop shear for driving and controlling a crop shear that cuts the crops at the leading end and the trailing end of a strip-shaped steel sheet that is being transported along a transport path. In the control device,

A crop shape reading device which is arranged along the conveying path and which two-dimensionally reads the crop shape at the front end portion and the rear end portion of the steel plate, and a steel plate based on the crop shape read by this crop shape reading device. Cutting distance calculation means for calculating the cutting distance from the leading or rear end of the cutting position to the cutting position, and arranged in a direction orthogonal to the conveying direction on the conveying direction side position from the installation position of the crop shape reading device of the conveying path,
A plurality of optical steel plate detectors that detect the front and rear ends of the steel plate from the side of the conveying path, a distance detector that detects the moving distance of the steel sheet conveyed on the conveying path, and this distance detector and the crop shear A crop shear start timing control unit that controls the drive timing of the crop shear based on the distance to the installation position and the cutting distance.

[0019]

With the crop shear control device having such a configuration, the two-dimensional shapes of the respective crop shapes at the leading end portion and the trailing end portion of the steel sheet conveyed on the conveying path are read by the crop shape reading device. Then, the cutting distance Ls of the tip portion, which indicates the distance for removing the crop portion from the tip end, according to a predetermined algorithm from each of the read crop shapes.
And the cutting distance Le of the rear end portion is calculated.

On the other hand, a plurality of optical steel plate detecting devices are arranged in the direction orthogonal to the conveying direction on the conveying direction side of the crop shape reading device in the conveying path. Furthermore, this optical steel plate detection device detects the presence or absence of a steel plate from the side of the transport path.

Therefore, even if the front end is not located on the center line of the steel plate, or even if the center line of the steel plate is off the center line of the conveying path, the front end and the rear end can be reliably detected. Further, even if the front end or the rear end of the steel plate warps upward and the presence or absence of the steel plate cannot be detected by the optical steel plate detector near the conveying path, a large number of optical steel plates are formed in the direction orthogonal to the conveying direction. Since the detectors are stacked, one of the optical steel plate detectors located above detects the front end and the rear end. Specifically, the logical sum signal of the steel plate presence signals of the stacked optical type steel plate detectors may be obtained.

Further, the crop shear start timing control unit calculates the distance between the moving distance from the distance detector for detecting the moving distance of the steel sheet conveyed on the conveying path and the installation position of the crop shear, and previously calculated. The drive timing of the crop shear is controlled based on the cutting distance. Therefore,
The steel plate is cut by the crop shear at the cutting distance position calculated from the front end and the rear end.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic diagram showing a schematic configuration of the crop shear control device of the embodiment. For example, the steel plate 12 hot-rolled on the conveying path 11 is in a direction of an arrow A, for example, a substantially constant speed V.
Be transported in.

Then, along the conveying path 11, the R5 mill 1
3, entrance side measuring roll 14 for measuring the moving amount of the steel plate 12,
One-dimensional CCD camera 15, output side measuring roll 16, tip side distance measuring roll 17, a plurality of laser detectors 18 as a plurality of optical steel plate detectors stacked in a direction orthogonal to the conveying direction, a crop shear 19, and a rear side. End side distance measuring roll 2
0 and F mills 21 and 22 are provided.

Then, the measuring roll movement control section 23 selectively urges the entrance measuring roll 14 and the exit measuring roll 16 upward from below the conveying path 11. The rotation speeds of the inlet side measuring roll 14 and the outlet side measuring roll 16 are converted into pulse signals by the tachometers (PLG) 14a and 16a and input to the crop shape calculating circuit 24. Also,
The one-dimensional CCD camera 15 is a steel plate 1 that is transported on the transport path 11 at the installation position of the one-dimensional CCD camera 15.
The image data for one line in the width direction 2 is read at once and sent to the crop shape calculation processing unit 24. Next, the reading operation of the crop shape reading device including the one-dimensional CCD camera 15 and the crop shape calculation processing unit 24 will be described in order.

(1) The R5 mill 13 is a steel plate 1 that has been loaded.
When the front end 12a of No. 2 is bitten, a biting signal is sent to the measuring roll movement control unit 23. The measurement roll movement control unit 23 that has received the biting signal raises the entrance side measurement roll 14. Then, when the detection data of the steel plate 12 is input from the one-dimensional CCD camera 15, the exit side measurement roll 16 is raised to prepare for the crop shape measurement of the rear end portion.

(2) The crop shape calculation processing unit 24 outputs one from the one-dimensional CCD camera 15 each time a pulse signal indicating the movement amount (movement distance) of the steel plate 12 from the tachometer 14a of the entrance side measurement roll 14 is input. By sequentially reading the image data for the lines, a two-dimensional image 25 of the crop at the tip of the steel plate 12 is created as shown in FIG. The reading length of the two-dimensional image 25 is about 1 to 2 m. The created cropped two-dimensional image 25 of the tip portion is sent to the cutting distance calculation unit 26.

(3) Next, in the R5 mill 13, the steel plate 12 currently sandwiched is finished, and the rear end 12b of the steel plate 12 is R-shaped.
When the 5 mil 12 is disengaged, a biting signal is sent to the measuring roll movement control unit 23. The measuring roll movement control unit 23 lowers the entrance side measuring roll 14 in response to the release signal input.

(4) The crop shape calculation processing unit 24 outputs one from the one-dimensional CCD camera 15 every time when a pulse signal indicating the moving amount (moving distance) of the steel plate 12 from the tachometer 16a of the output side measuring roll 16 is input. By sequentially reading the image data for the lines, a two-dimensional image of the crop at the rear end of the steel plate 12 is created. The reading length of this two-dimensional image is about 1 to 2 m. The created crop shape of the rear end is sent to the cutting distance calculator 26. (5) When the reading processing of the crop shape of the rear end portion of the steel plate 12 is completed, the measurement roll movement control unit 23 lowers the delivery side measurement roll 16.

The cutting distance calculation unit 26 uses the process computer 27 from the two-dimensional image 25 of the leading edge and the trailing edge of the steel sheet 12 input from the cropping shape calculation processing unit 24, for example, as shown in FIG. The cutting distance Ls (Le) from the front end 12a (rear end 12b) to the cutting position is calculated according to the optimum cutting position determination algorithm in consideration of conditions such as the thickness and material of the specified steel plate 12. There are various methods for determining the optimum cutting position, but the optimum cutting position is determined to be, for example, how many times the position is compared with the uneven portion of the tip. The calculated cutting positions Ls and Le of the front end portion and the rear end portion are sent to the next crop shear activation timing control unit 28.

On the other hand, the leading end side distance measuring roll 17 and the trailing end side distance measuring roll 20 arranged on the conveying side by a predetermined distance with respect to the crop shape reading apparatus described above are always urged upward and are conveyed. The distance traveled by the steel plate 12 conveyed on the road 11 is detected by the tachometers 17a and 20a and transmitted to the crop shear activation timing control unit 28.

Each laser detector 18 outputs a [H] level detection signal while the steel plate 12 is being detected. Then, the respective detection signals to be outputted from the respective laser detectors 18 are subjected to signal synthesis by an agate not shown and then inputted to the crop shear start timing control section 28. That is, when even one of the laser detectors 18 stacked in the direction orthogonal to the transport direction detects the steel plate 12, a steel plate detection signal is output to the crop shear activation timing control unit 28. Therefore, the crop shear activation timing control unit 28 detects the leading end 12a of the steel plate 12 at the rising timing of this detection signal, and detects the rear end 12b of the steel plate 12 at the falling timing.

The rotation speed ω of the crop shear 19 is measured by the tachometer 19a, and the current angular position θ of the blade of the crop shear 19 is measured by the angle meter 19b and transmitted to the crop shear start timing controller 28, respectively. To be done. Further, the crop shear 19 is drive-controlled by a crop shear drive controller 29. Next, a procedure for obtaining the activation timing of the crop shear 19 in the crop shear activation timing control unit 28 will be described.

(1) When the detection signal input from the laser detector 18 rises and the tip 12a of the steel plate 12 is detected, the number of pulses of the pulse signal from the tachometer 17a of the tip side distance measuring roll 17 is counted. Then, the moving distance X by which the tip 12a moves from the position of the laser detector 18 to the transport direction side
Find s.

(2) Laser detector 18 and crop shear 1
Since the distance L0 from the installation position of 9 is a fixed value, the moving distance Xs is a distance Xsc obtained by adding the fixed distance L0 and the cutting distance Ls of the tip end calculated by the cutting distance calculation unit 26.
When it reaches, the disconnection command is sent to the crop shear drive control unit 29. XSC = L0 + Ls-α

(3) However, actually, the timing of outputting the cutting command to the crop shear drive control device 29 is advanced by the variable α as shown in the above equation. this is,
This is because a predetermined delay time occurs after the cutting command is output and before the steel plate 12 is actually cut. This variable α is obtained by adding optimum weighting functions K1 to K4 to the respective parameters shown below and using a predetermined arithmetic expression. a) moving speed V of the steel plate 12 b) current blade angular position θ of the crop shear 19 (starting position) c) lead rate ω 1 of rotation speed ω of the crop shear 19 d) acceleration rate of rotation speed ω of the crop shear 19 ω2 α = K1 ・ V + K2 ・ θ + K3 ・ ω1 + K4 ・ ω2

(4) When the detection signal input from the laser detector 18 falls and the rear end 12b of the steel plate 12 is detected, the pulse number of the pulse signal from the tachometer 20a of the rear end side distance measuring roll 20 is measured. Is counted, and the moving distance Xe by which the rear end 12b moves away from the position of the laser detector 18 in the carrying direction is obtained.

(5) Laser detector 18 and crop shear 1
Since the distance L0 to 9 is a fixed value, the moving distance Xe
Sends a cutting command to the crop shear drive control unit 29 at a time point when a distance Xec obtained by subtracting the cutting distance Le at the rear end calculated by the cutting distance calculation unit 26 from the fixed distance L0 is reached. XSC = L0-Ls-α

The crop shear drive control unit 29 drives the crop shear 19 when the cutting command is input from the crop activation timing control unit 28 at the above-mentioned timing.
As a result, the steel plate 12 is cut at the cutting position calculated by the cutting distance calculation unit 26. The steel plate 12 from which the front and rear crops have been cut and discarded is the next F mill 21,2.
It is transported to 2. FIG. 2 is a flow chart showing the operation of each of the above-described parts when cutting and discarding the crop portion at the leading end and the crop portion at the trailing end of one steel plate 12.

As shown in the figure, first, the crop shape of the tip of the steel plate 12 is measured, and then the cutting distance Ls is calculated. Then, when the laser detector 18 detects the tip 12a of the steel plate 12, the start timing of the crop shear 19 is calculated by the crop shear start timing control unit 28, and the crop shear 19 is started at this timing.

Next, the crop shape of the rear end of the steel plate 12 is measured, and the cutting distance Le of the rear end is calculated. When the laser detector 18 detects the rear end 12e of the steel plate 12,
The start timing of the crop shear 19 is calculated by the crop shear start timing control unit 28, and the crop shear 19 is started at this timing.

With the crop shear control device thus constructed, the front end 12a and the rear end 12b of the steel plate 12 are
A plurality of laser detectors 18 stacked in a direction orthogonal to the transport direction of the steel sheet 12 is used as a detector for detecting the. Therefore, even if the center line of the steel sheet 12 in the width direction does not coincide with the center line of the transport path 11 in the width direction, the leading end 12a and the trailing end 12b can be reliably detected. Further, even if the front end or the rear end of the steel plate 12 is warped or bent, and the front end 12a or the rear end 12b has passed the upper position of the transport path 11, these can be reliably detected.

Further, in the crop shear start timing control unit 28, the steel plate 12 is placed at a position designated by the cutting distances Ls and Le calculated by the cutting distance calculating unit 26.
Drive control unit 29
The sending timing of the disconnection command is calculated and set digitally.

Therefore, the cutting position accuracy of the crop portion at the front end portion and the rear end portion of the steel plate 12 can be greatly improved. Therefore, the cutting distance L calculated by the cutting distance calculation unit 26
s. Le can be set to the necessary minimum, the crop portion to be cut and discarded can be suppressed to the necessary minimum, and the yield of the steel sheet 12 as a product can be improved.

Since the crop shear 19 is automatically driven by the crop shear drive control device 29 at the optimum timing, the crop shear 19 is different from the conventional device shown in FIG.
The burden on the operator can be significantly improved, and productivity can be improved and labor can be saved.

[0047]

As described above, according to the crop shear control device of the present invention, a steel plate to be conveyed is obtained by using a plurality of optical steel plate detectors arranged in a direction orthogonal to the conveying direction of the conveying path. The leading and trailing edges of the sheet can be detected correctly, and even if the center line of the steel sheet transported in the transport path deviates from the center position of the transport path, and even if the steel sheet is bent or warped, correct cutting is always performed. Crop of steel plate can be cut and discarded automatically at a distance, the burden on the operator can be reduced, the quality of the steel plate can be improved, and the yield of the steel plate as a product can be improved.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing a schematic configuration of a crop shear control device according to an embodiment of the present invention,

2 is a flow chart showing the operation of the apparatus of the embodiment, FIG.

FIG. 3 is a diagram showing a relationship between a crop shape of a steel plate and a cutting distance,

FIG. 4 is a schematic diagram showing a conventional cutting position determination method.

[Explanation of symbols]

11 ... Conveyance path, 12 ... Steel plate, 12a ... Tip, 12b ... Rear end, 13 ... R5 mil, 14 ... Incoming side measuring roll, 15 ... One-dimensional CCD camera, 16 ... Outgoing side measuring roll, 17 ... Tip side distance measurement Roll, 18 ... Laser detector, 19 ... Clock shear, 20 ... Rear end side distance measuring roll, 24 ... Crop shape calculation processing section, 26 ... Cutting distance calculation section, 28 ... Crop shear start timing control section, 29 ... Crop shear Drive controller.

Claims (1)

[Claims] 1. A crop shear control device that drives and controls a crop shear that cuts a crop at a front end portion and a rear end portion of a strip-shaped steel sheet that is being transported through a transport path, the crop shear control device being disposed along the transport path, A crop shape reading device that two-dimensionally reads the crop shape at the front and rear ends of the steel plate, and cutting from the front or rear end of the steel plate to the cutting position based on the crop shape read by this crop shape reading device. Cutting distance calculating means for calculating a distance, and a front end and a rear end of the steel sheet are arranged in a direction perpendicular to the conveyance direction at a position on the conveyance direction side of the installation position of the crop shape reading device of the conveyance path. A plurality of optical steel plate detectors that detect from the side of the sheet, a distance detector that detects a moving distance of the steel sheet conveyed on the conveying path, the distance detector and the clock. Crop shear controller having a crop shear activation timing control unit for controlling the drive timing of the crop shear based on the distance and the cutting distance between the installation position of the shear.