JPH07309490A - Meandering control device for strip - Google Patents

Abstract

PURPOSE:To maintain a meandering correcting effect by steering devices at a comparatively long distance in the downstream. CONSTITUTION:A meandering control device for a strip is provided with first detecting means 9L, 9R and 12 to detect positional dislocation DELTAxi in the strip lateral direction in the upstream of steering devices in the strip carrying direction of the steering devices 2 to 6 to adjust a position in the lateral direction (x) of a strip 1 on a carrying line, and is provided with second detecting means 10L, 10R and 13 to detect positional dislocation DELTAxo in the strip lateral direction in the downstream and a steering control means 14 to apply displacing force to the strip through the steering devices so that positional dislocation downstream of the steering devices by these becomes small in response to the positional dislocation quantities DELTAxi and DELTAxo.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to correction of positional deviation in the width direction of a strip during conveyance, and more specifically, although not intended to be limited thereto, cold rolling line, heat treatment line, surface treatment. The present invention relates to control of positional deviation in the width direction of strips in continuous thin plate processing equipment such as lines.

[0002]

2. Description of the Related Art In a thin plate continuous processing facility, for example, a thin plate is supported by a large number of upper and lower rolls and conveyed in a zigzag manner, and there is always a very long thin plate in the facility. If a thin plate is caught or broken somewhere on this transportation line, a large amount of thin plates will be defective. The trouble of the thin plate in the equipment is caused by the meandering of the thin plate. Here, the meander is a positional deviation in a direction (width direction of the thin plate) orthogonal to the transport direction. In order to avoid troubles due to meandering, conventionally, a plurality of steering devices are distributed and arranged in the facility,
Each steering device corrects the meandering of the thin plate. One type of steering device and the meandering control theory using it are described in, for example, Nireco News No. 6 (March 1982; March 15, 1982, issued by Nippon Regulator Co., Ltd.), pp27-31. It is described as "Basic Theory of EPC". Conventionally, as disclosed on page 31 of this document, a detection end for detecting the positional deviation (meandering) of the thin plate in the width direction is provided on the downstream side of the steering device in the conveying direction of the thin plate, and the detection end is provided on the downstream side of the steering device. The steering device is operated so that the meandering amount (positional deviation) becomes zero.

[0003]

Therefore, the meandering at the position where the misregistration detecting end is located downstream of the steering device is corrected. That is, the displacement is reduced. However, a positional deviation is likely to occur in the same direction as the positional deviation downstream of the detection end and upstream of the detection end, and similar meandering correction is often required at the downstream position relatively close to the detection end. One aspect of this is shown in FIG. In this FIG. 4, a thin plate having a displacement in the + direction in the width direction x at the correction position (steering device) has a substantially zero displacement (+) immediately after it at the correction position (steering device). As described above, it means that the driving is performed in the negative direction. Immediately after the correction position (steering device), therefore, the positional displacement virtually disappears, but the thin plate itself has a tendency to deviate in the + direction for some reason such as a defective shape, or a force for deviating in the + direction acts. Then, as it goes downstream from the correction position (steering device), the deviation starts again in the + direction. Therefore, the downstream running length from the correction position (steering device) until the meandering amount reaches the allowable limit (roll-out limit; if it exceeds this, the thin plate protrudes outside the transport roller or guide roller) is compared. Relatively short. This means that a high density arrangement of many steering devices is required.

An object of the present invention is to maintain the effect of the meandering correction by the steering device at a comparatively long distance downstream thereof.

[0005]

Means for Solving the Problems A meandering control device for a strip according to the present invention is arranged on a conveyor line for a strip, and determines the position in the width direction (x) of the strip (1) on the conveyor line. Steering device (2 to 6) for adjusting; Detects a positional deviation (Δxi) in the width direction of the strip (1) on the upstream side of the steering device (2 to 6) with respect to the conveyance direction of the strip (1). First detecting means (9L, 9R, 1
2); the steering device with respect to the conveying direction of the strip (1)
On the downstream side of (2 to 6), the displacement of the strip (1) in the width direction (Δ
xo) second detection means (10L, 10R, 13); and first detection means (9L, 9R, 12) and second detection means (10L, 10R, 13)
Corresponding to the positional deviation amount (Δxi, Δxo) detected by the steering device (2 to 6) so that the positional deviation downstream of the steering device (2 to 6) becomes small. Steering control means (1
4); In addition, in order to facilitate understanding, the reference numerals of corresponding elements in the embodiments shown in the drawings and described later are added in parentheses for reference.

[0006]

[Operation] The second detecting means (10L, 10R, 13) is the steering device.
Not only the downstream side positional deviation (Δxo) of (2 to 6) is detected, but also the first detecting means (9L, 9R, 12) detects the upstream side positional deviation (Δx).
i) is also detected. And the steering control means (14)
Corresponding to both positional deviation amounts (Δxi, Δxo), the belt plate (1) is passed through the steering devices (2 to 6) so that the positional deviation downstream of the steering devices (2 to 6) due to them becomes small.
Give a bias to. That is, according to the present invention, in addition to the conventional structure, the steering control means (14) also handles the steering device (14) so as to reduce the downstream positional displacement due to the upstream side positional displacement amount (Δxi). 2-6) via strip
A biasing force is applied to (1).

Therefore, according to the present invention, for example, when both the upstream side displacement amount (Δxi) and the downstream side displacement amount (Δxo) are in the same direction, the correction amount is proportional to the downstream side displacement amount (Δxo). Further, the thin plate is eccentrically driven in the direction opposite to the displacement direction by the correction amount that cancels the upstream displacement amount (Δxi). That is, as shown in FIG. 3, on the output side of the correction position (steering device), the positional deviation of the strip (1) is not zero, and the upstream side positional deviation amount (Δxi) is offset by the amount of the correction amount. Is a displacement in the opposite direction. Straightening position (steering device)
Immediately after that, there is a displacement in the opposite direction to the entry side,
The thin plate itself has a tendency to deviate in the entry side displacement direction for some reason such as a defective shape, or a force that displaces in the entry side displacement direction acts, and it goes downstream from the correction position (steering device). Accordingly, the deviation starts in the entry side deviation direction, the deviation becomes zero to some extent downstream from the correction position, and the position deviation becomes similar to the deviation on the correction position entry side as it goes further downstream. Therefore,
The traveling length on the downstream side from the correction position (steering device) until the meandering amount reaches the allowable limit (rollout limit) is relatively long. This means that the number of steering devices to be arranged on the line can be small.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an outline of a mechanical portion of an embodiment of the present invention, and FIG. 2 shows the whole structure of the embodiment. In the steering apparatus used in this embodiment, as shown in FIG. 1, a belt 1 to be drooped and conveyed is supported substantially horizontally by steering rolls 2 and 3, and a line from the steering roll 3 is moved to a line. The upper support roller is supported so as to move vertically upward. In FIG. 2, the positional relationship between the center line 1c of the strip 1 and the center line Lc of the transport line (distance between the two: In order to clarify the positional deviations Δxi and Δxo, the strip 1 is shown in a simplified form in which it is simply conveyed horizontally by the steering device part, the mechanism part therefore being understood on the basis of FIG.

First, referring to FIG. 1, the steering base frame 4 includes two steering rollers, which are guide rollers.
Las 2 and 3 are rotatably supported in parallel with each other.
The base frame 4 is horizontally rotatable around a pin 5 located on the center line (Lc: FIG. 2) of the transport line of the strip plate 1. A piston rod 6r of a hydraulic cylinder 6 is connected to the steering base frame 4, and when a high hydraulic pressure is applied to the rear surface of the piston in the cylinder 6c and a low hydraulic pressure is applied to the front surface, the piston rod 6r is pushed out so that the base frame 4 is formed as shown in FIG. Is horizontally rotated clockwise (the strip 1 is driven to the right). When low hydraulic pressure is applied to the rear surface of the piston in the cylinder 6c and high hydraulic pressure is applied to the front surface, the piston rod 6r is drawn into the cylinder 6c, and the base frame 4 is driven to rotate in the counterclockwise direction in FIG. Driven).

The strip 1 moves downward and is first supported by the steering roller 2 to be horizontal, then supported by the steering roller 3, and then vertically moved up to be supported by the upper support roller 20. To be done. The left and right end positions of the strip 1 before reaching the roller 3, that is, the left and right end positions on the entrance side, are detected by the linear image sensors 9L and 9R, and pass through the roller 3 to support the upper support roller.
The linear image sensors 10L and 10R detect the left and right end positions of the strip 1 toward the la 20, that is, the output side left and right end positions. Illuminators 7 and 8 illuminate strip 1.

Referring to FIG. Linear image sensor 9
L and 9R, the input side left and right end position information to the position calculator 12,
The linear image sensors 10L and 10R provide the output side left and right end position information to the position calculator 13. The position calculator 12 calculates the entrance side deviation amount Δxi of the center line 1c of the strip 1 with respect to the line center line Lc from the entrance side left and right end position information, and supplies this to the controller 14. Further, the position calculator 13 calculates an output side deviation amount Δxo of the center line 1c of the strip 1 with respect to the line center line Lc from the output side left and right end position information, and supplies this to the controller 14.

The controller 14 multiplies the input side deviation amount Δxi by an adjustment value C for determining the distribution of the output correction amount with respect to the input side deviation amount Δxi and the output side deviation amount Δxo (14c).
Sum Δ of product C · Δxi and output side deviation amount Δxo obtained by this
x = C · Δxi + Δxo is calculated (14a), and the error correction value Ex corresponding to this sum Δx is calculated by the following PID calculation (14b): Ex = K ₁ · Δx + K ₂ · ∫Δx · dt + K ₃ · d (Δx) / dt (1) The controller 14 gives the error correction value Ex to the PWM circuit (pulse width modulation circuit) 15. PWM circuit 15
Converts the error correction value Ex into a pulse duty, generates a pulse of the pulse duty, and supplies it to the solenoid driver 16. The solenoid driver 16 energizes the electric coil of the electromagnetic switching valve 11 while the pulse is at the high level H, and cuts off the energization when the pulse is at the low level L. The electromagnetic switching valve 11 is a hydraulic cylinder 6 while the electric coil is energized.
To the hydraulic cylinder 6 while the electric coil is not energized, the rod 6r is pushed out (the strip 1 is driven to the right).
To give hydraulic pressure. When the error correction value Ex is large (the left shift amount is large), the H level section of the pulse is narrow (the L level section is wide), and the base frame 4 is driven to rotate clockwise about the pin 5 to move the band. Plate 1 is driven to the right greatly,
For example, as shown in the “correction position” in FIG. 3, a right displacement occurs on the exit side. When the error correction value Ex is small (a negative value has a large absolute value = a large amount of right shift), the H level section is wide (the L level section is narrow), and the base frame 4 is counterclockwise about the pin 5. As the belt 1 is rotated and driven, the strip 1 is largely driven to the left, causing a left displacement on the exit side. The output side displacement due to such steering is in the opposite direction to the input side displacement as shown in FIG. 3, for example. In this case, the belt plate 1 has a tendency to be displaced in the entrance side positional deviation Δxi direction for some reason, or a force that is displaced in the entrance side positional deviation Δxi direction is acting, so that the correction position (steering device) As it goes downstream, it starts to deviate in the entrance side positional deviation Δxi direction, the positional deviation becomes zero to some extent downstream from the correction position, and further downstream, the positional deviation becomes similar to the positional deviation at the correction position inlet side. Go. Therefore,
The traveling length on the downstream side from the correction position (steering device) until the meandering amount reaches the allowable limit (rollout limit) is relatively long. This means that the number of steering devices to be arranged on the line can be small.

The adjustment coefficient C is for determining the distribution ratio of the output correction amount (deviation correction amount) with respect to the input side deviation amount Δxi and the output side deviation amount Δxo, and the operator controls the controller 14. To be set to. This adjustment coefficient C is
0 <C ≦ 1. That is, the contribution of the input deviation amount Δxi to the output correction amount is set to be equal to or less than the contribution of the output deviation amount Δxo. 0 <C has the meaning of reflecting the deviation tendency on the input side in the deviation correction (output side), and C ≦ 1 has the meaning of suppressing the excessive correction deviation on the output side. The operator is shown in Figure 1.
Corresponding to the deviation tendency of the strip 1 before and after the steering apparatus shown in FIG. 2, when the deviation tendency in the same direction before and after the steering apparatus is strong, a large adjustment coefficient C is set in the controller 14, and the deviation tendency is set. When is in the opposite direction, a small adjustment coefficient C is given to the controller 14. By setting (adjusting) the adjustment coefficient C in this way, the deviation is suppressed below the roll-out limit over a long distance downstream of the steering device.

In the above-described embodiment, the linear image sensors 9L and 9R for detecting the left and right end positions of the entrance side and the left and right end positions of the exit sides of the steering devices 2 to 6 are provided immediately near the entrance and exit sides of the steering devices 2 to 6. Linear image sensor 10L, 1
Although 0R is provided and the position calculators 12 and 13 calculate the inlet side positional deviation Δxi and the outgoing side positional deviation Δxo, they are located upstream of the steering device and the linear image sensors 9L and 9R shown in FIG. If there is a position shift detector, the position shift amount data may be obtained from the position shift detector and applied to the controller 14. In that case, the linear image sensors 9L and 9R and the position calculator shown in FIGS. 12 is omitted. Similarly, when there is a displacement detector on the downstream side of the steering device and the linear image sensors 10L and 10R shown in FIG. 1, the displacement amount data may be obtained from it and given to the controller 14, In that case, the linear image sensor 10 shown in FIGS.
The L, 10R and the position calculator 13 are omitted. vice versa,
The positional deviation amount Δx of the position calculator 12 shown in FIGS. 1 and 2.
i is one more upstream of the steering device shown in FIG.
It may be given to the controller of the pair of steering devices as the output side displacement amount, and the displacement amount Δxo of the position calculator 13 shown in FIGS. 1 and 2 may be provided downstream of the steering device shown in FIG. It may be provided to the controller of another set of steering devices as the amount of displacement on the entry side. That is, when a plurality of steering devices are arranged in tandem in the front-rear direction, adjacent steering devices in an upstream / downstream relationship may share the means for detecting or calculating the positional deviation amount. Further, in the above-mentioned embodiment, the steering device is used to correct the positional deviation of the strip 1 in the width direction by pivotally driving the steering roller, but tilting due to the roll tilting in the vertical direction is used. -Shaped steering device, electromagnetic drive type steering device in which electromagnetic force is applied to the strip plate 1 (thin steel plate), steering device in which gas or liquid is applied to the strip plate 1 or press-fitted between it and the roll. Any device that can correct the lateral displacement of the strip 1 can be used in the practice of the invention, such as a steering device that partially heats or cools the roll to adjust the roll crown.

[0016]

As described above, according to the present invention, the steering control means is also adapted to the positional deviation amount (Δxi) on the upstream side.
The (14) applies a biasing force to the strip (1) via the steering devices (2 to 6) so that the positional deviation in the downstream due to this becomes small.

Therefore, for example, the upstream side positional deviation amount (Δxi)
If both the downstream side misalignment (Δxo) and the downstream side misalignment (Δxo) are in the same direction, the amount of correction that is proportional to the upstream side misalignment amount (Δxi) is offset by the amount of correction that offsets the downstream side misalignment (Δxo). The thin plate is eccentrically driven in the opposite direction. That is, as shown in FIG. 3, at the exit side of the correction position (steering device), the displacement of the strip (1) is not zero, but the upstream displacement amount (Δx
The correction amount is proportional to i), and the displacement is in the opposite direction to the entrance side. Immediately after the correction position (steering device), therefore, there is a displacement in the direction opposite to the entry side, but the thin plate itself has a tendency to be displaced in the entry side displacement direction for some reason, or is displaced in the entry side displacement direction. The force that acts on the position is acting, and as it goes downstream from the correction position (steering device), it also starts to shift in the direction of the inward position shift, the position shift becomes zero to some extent downstream from the correction position, and as it goes further downstream. The positional deviation is similar to the positional deviation on the entry side of the correction position. Therefore, the traveling length on the downstream side from the correction position (steering device) until the meandering amount reaches the allowable limit (rollout limit) is relatively long. This means that the number of steering devices to be arranged on the line can be small.

[Brief description of drawings]

FIG. 1 is a perspective view showing an appearance of a steering mechanism according to an embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of an electric system coupled to the steering mechanism shown in FIG. 2, and the steering mechanism is shown in a simplified manner.

FIG. 3 is a graph showing a transition of displacement of the strip 1 from the upstream side to the downstream side of the steering mechanism shown in FIG.
The horizontal axis represents the transport distance of the strip 1 and the vertical axis represents the widthwise positional deviation of the strip 1.

FIG. 4 is a graph showing a transition of displacement of the strip due to conventional steering control, in which the horizontal axis represents the transport distance of the strip and the vertical axis represents the amount of displacement in the width direction of the strip.

[Explanation of symbols]

1: Strip plate 2, 3: Steering roller 4: Steering base frame 5: Pin 6: Hydraulic cylinder 6c: Cylinder 6r: Piston rod 7,8: Illuminator 9L, 9R, 10L, 10R: Linear image sensor 11: Electromagnetic switching valve 12, 13: Position calculator 14: Controller 15: PWM circuit 16: Solenoid driver 20: Upper support roller

Claims (4)

[Claims] 1. A steering device for adjusting the position of the strip in the width direction of the strip, which is arranged on the strip transport line; at the upstream side of the steering device with respect to the strip transport direction. First detecting means for detecting the positional deviation of the strip in the width direction; second detecting means for detecting the positional deviation of the strip in the width direction on the downstream side of the steering device with respect to the conveying direction of the strip; Steering control for applying a biasing force to the strip through the steering device so that the positional shift downstream of the steering device due to the positional shift amounts detected by the detection means and the second detection means becomes small. means;
A meandering control device for strips. 2. The steering control means applies a biasing force to the strip through the steering device in a direction in which the steering control means decreases in correspondence with the sum of the positional deviation amounts detected by the first detection means and the second detection means. The strip meandering control device according to claim 1, which is provided. 3. The steering control means has a small deviation amount C · Δxi + Δxo corresponding to the positional deviation amount Δxi detected by the first detecting means, the positional deviation amount Δxo detected by the second detecting means and the adjustment coefficient C. 2. The meandering control device for a strip according to claim 1, wherein a biasing force is applied to the strip in the different directions via the steering device. 4. The adjustment coefficient C is 0 <C ≦ 1.
A meandering control device for the strip as described.