JPH0761825B2 - Steel plate reversing machine with rotation angle tuning controller - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a steel plate reversing machine, and in particular, in the case where a steel plate reversing machine is additionally installed, a plurality of steel plate reversing machines that can be driven independently are synchronously controlled in rotation. The present invention relates to a steel plate reversing machine provided with a control device for enabling.

[Prior Art] As shown in FIG. 4, a conventional steel plate reversing machine has a transfer side reversing arm 2a and a receiving side reversing arm 2a each having a plurality of reversing arms on two main shafts 1a and 1b provided in parallel. Arm 2b
Are rotatably attached to each other. Then, as shown in FIGS. 5 (a) to 5 (e), (a) the reversing arms 2a and 2b are placed in a horizontal state, and the steel plate 3 is placed on the transfer side reversing arm 2a. In the vertical direction so that both the reversing arms are opposed to each other slightly on the transfer side from the vertical, (c) With the reversing arms facing each other, they are rotated from the vertical to the receiving side, and (d) From the transfer side reversing arm 2a. The steel plate 3 is transferred to the receiving side reversing arm 2b, and (e) both the reversing arms are reversed to the horizontal state again, and the steel plate is sent out from the receiving side reversing arm.

[Problems to be Solved by the Invention] By the way, in recent years, in the steel industry, there is a tendency to increase the size of a steel sheet to be produced per veneer due to demands such as improvement in productivity. Therefore, an extremely long steel sheet is inverted. The need is increasing.

However, if the size of the reversing machine is increased accordingly, a large installation area is always required, and even when reversing a short length of steel plate, an unnecessary arm is driven, resulting in extremely large drive loss. .

Therefore, it is conceivable to use a plurality of reversing machines and appropriately combine them in accordance with the length of the steel sheet to form a reversing machine having an appropriate length as necessary, but the following problems occur. Will end up.

Generally, the driving of the reversing arm of the reversing machine is performed by the reversing arm 2a,
Since extremely large load, force, and shock are generated during the transfer between 2b and between each arm and the transfer device, the rotation speed of the arm is slowed down during the above transfer, and the rotation speed of the arm is slowed down otherwise. It is controlled so that the reversing work time is shortened as much as possible. In this way, since it is necessary to control the rotation speed of the reversing arms in a complicated manner, when a plurality of reversing machines are installed in the longitudinal direction, the rotation speed and the rotation angle of the reversing arms of the respective reversing machines are synchronized. Control is very difficult.

For example, if another reversing machine is added to the existing reversing machine to lengthen the total length of the reversing machine and a mechanical clutch means is used to synchronize these reversing machines, the equipment becomes large in scale. There was also a problem such as whether the rotary drive source provided in the existing reversing machine has the ability to drive the rotation of the additional reversing machine, and it was not possible to easily add the reversing machine.

The present invention solves the above problems and enables the drive speed of each reversing arm of a plurality of reversing machines to be synchronously controlled, so that the length of the reversing machine can be adjusted according to the lengthening of the steel sheet. It is an object of the present invention to provide a steel plate reversing machine that can be easily expanded.

[Means for Solving the Problems] In order to achieve the above object, in the steel sheet reversing machine of the present invention, a plurality of steel sheet reversing machines having different drive sources and independently drivable are arranged adjacent to each other in the longitudinal direction. , Monitoring the difference in the rotation angle of the reversing arm between the reference reference reversing machine as a reference and another reversing machine, and accelerating the rotation speed of the other reversing machine so that the difference becomes 0 if the difference occurs. When decelerating and the rotation angles are the same, the other reversing machine is rotated at the same speed as the reversing arm of the reference reversing machine, and the reversing arms of the plurality of reversing machines are substantially synchronously driven to rotate. It is something that is done.

[Example] An example will be described with reference to the drawings. Fig. 1 shows a steel plate reversing machine in a state in which another reversing machine 200 is adjacently added to an existing reversing machine 100 as a reference reversing machine. 1 (a) is a plan view in which the reversing arms are opened horizontally, FIG. 1 (b) is a cross-sectional view of an existing reversing machine in which one of the reversing arms is in a vertical state, and FIG. 1 (C) is It is sectional drawing of the additional reversing machine which made one of the reversing arms the vertical state.

The two main shafts 101a, 101b and 201a, 201b of the existing reversing machine 100 and the additional reversing machine 200 are equipped with rotation detectors 103a, 103b and 203a, 203b for detecting the rotation of the arm, respectively. The transfer side reversing arms 102a and 202a and the receiving side reversing arms 102b and 202b of the respective reversing machines
The signal corresponding to the rotation speed and the rotation angle of is output. The rotation detector is composed of a photoelectric detector or the like, and is configured to output a pulse signal having a frequency proportional to the rotation speed of the main shaft.

The existing reversing machine 100 is configured to transmit the driving force from the drive motors 105a and 105b and the power cylinders 104a and 104b to the reversing arms via a link mechanism so that each reversing arm fixed to the main shaft can be rotated. The additional reversing machine 200 is configured to transmit the rotational driving force from the drive motors 205a and 205b to the main shaft itself and rotate each reversing arm fixed to the main shaft. The additional reversing machine 200 includes motor rotation speed detectors 206a and 206b for detecting the rotation speed of the drive motor and a brake.
207a and 207b are provided.

In the above example, the additional reversing machine 200 and the existing reversing machine 100 are described as using different driving means, but the present invention does not use mechanical connecting driving means as described below. Therefore, it goes without saying that the driving means of the reversing arms of the existing reversing machine and the additional reversing machine may be reverse means, or the same driving means may be adopted. Still another arbitrary driving means can be adopted.

FIG. 2 shows a rotation angle tuning control device for controlling the rotation angles of the existing reversing device and the additional reversing device in synchronization with each other, and only the tuning control device 300a for the reversing arm on the transfer side is shown. However, the receiving side reversing arm tuning controller 30
0b has the same configuration.

The detection signal from the rotation detector 103a is converted by the existing reversing machine rotation speed calculation circuit 301a and the existing reversing machine rotation angle calculation circuit 302a into a rotation speed signal v ₁ and a rotation angle signal θa ₁ representing the rotation angle from the horizontal position. To be separated. Rotation speed calculation circuit 30
1a is configured to detect the period or frequency of the pulse signal from the detector 103a to calculate the rotation speed, and the rotation angle calculation circuit 302a can calculate the rotation angle by accumulating the number of pulses of the pulse signal. Is configured. The circuit
The rotation angle signal θa ₁ from 302a is subtracted by the subtractor 303a from the rotation detector 203a of the additional reversing machine 200 and the rotation angle signal θa ₂ from the additional reversing machine rotation angle calculation circuit 304a, which is Δθa (= θa ₁
−θa ₂ ) is obtained, and the speed correction signal Δθa / T (where T is a predetermined time) corresponding to the angle difference Δθa is calculated by the correction signal admiration circuit 305a. The rotation speed signal v ₁ and the speed correction signal Δθa / T are added by the adder 306a and input to the extension reversing machine drive control circuit 308a via the amplifier with limiter 307a. The amplifier 307a is configured to amplify the input signal by the ratio A of the rotation speed of the drive motor 205a to the rotation speed of the reversing arm of the additional reversing machine 200, and the rotation speed signal of the reversing arm corresponds to it by the amplifier. Converted to a motor rotation speed signal.

The additional reversing machine drive control circuit 308a includes a motor rotation speed detector 20 for detecting the rotation speed of the rotation driving motor 205a of the additional reversing machine.
A motor speed detector 309a that receives the output of 6a and detects the rotation speed of the motor is provided, and the speed signal from the detector is a current command calculation circuit 31 via a field setting device 310a.
1a and the amplifier 30 in the subtractor 312a.
The difference from the signal A × (v ₁ + Δθa / T) from 7a is obtained, and the signal of the difference is also input to the current command calculation circuit 311a.

The current command calculation circuit 311a receives the signals from the field setting device 310a and the subtractor 312a, and accelerates the rotation speed of the motor 205a so that the rotation speed corresponds to the signal A × (v ₁ × Δθa / T). Or slow down. When the angle difference Δθa becomes 0, the amplifier 30
Since the output of 7a is A × v ₁ , the output of the current command calculation circuit 311a corresponds to it, and eventually the additional reversing device 200 is rotationally controlled at a speed equal to the speed of the existing reversing device 100.

According to the present invention, even when the additional reversing machine is added to the existing reversing machine, each reversing machine can be independently driven to rotate by shutting off the operation of the tuning control device. Alternatively, the drive control can be performed in conjunction with each other.

By the way, in the steel plate reversing machine provided with the tuning control device configured as described above, when an abnormality occurs in the arm angle detector 103a or 103b of the existing reversing machine that generates a reference angle signal, the reversing machine 100, 200 There is a possibility that he was going out of control while intending to normally control the synchronization. If it runs out of control, the reversing machine body and the steel plate will be damaged in some way, making normal operation impossible.

In addition, if the rotation of the receiving side reversing arm and the receiving side reversing arm is not properly performed, for example, if the rotation of the receiving side reversing arm is relatively fast or conversely too slow, the steel plate will be caught between both arms. If it falls or the tip of the arm abuts the steel plate, the steel plate may not be turned over and handed over, or the reversing machine may be damaged.

Further, if an abnormality occurs in the operation of the tuning control device itself, the existing reversing machine and the additional reversing machine cannot be synchronized with each other, which may cause the steel plate to be twisted or damaged.

FIG. 3 shows an embodiment in which a supervisory control device is added for monitoring these abnormal operations of the reversing machine and stopping the operation of the reversing machine when an abnormality occurs. . In the figure, 400a, 400b and 500a, 500b are the passing side,
A rotation detector failure monitoring device on the receiving side and an existing / expansion interlocking angle monitoring device, and 600 is a transfer / receiving side mutual angle monitoring device.

The rotation detector failure monitoring device 400a includes a passage detection circuit 401a, a time difference signal generation circuit 402a, and a time difference determination circuit 403a. The passage detection circuit 401a has two predetermined angles θ
a ₁₁ and θa ₁₂ are set, the output θa ₁ from the rotation angle calculation device 302a of the tuning control device 300a is input, and pulses are generated when the reversing arm 102a is positioned at predetermined angles θa ₁₁ and θa ₁₂ , respectively. Output. The time difference signal generation circuit 402a receives the signal from the passage detection device 401a and generates a signal corresponding to the time difference from the time when the reversing arm is located at the angle θa ₁₁ to the time when it is located at θa ₁₂ , and the time difference signal is The determination circuit 403a determines whether or not the predetermined time has passed. If it is longer than the predetermined time, it is determined that the rotation detector 103a is in an abnormal state, and an operation stop signal is sent to the drive control device of the reversing machine.

The predetermined time, which is the reference for judgment set in the time difference judgment circuit, is the desired rotation speed (angle θ) of the reversing arm of the existing reversing machine.
a _{11 to} θa ₁₂ ).

The rotation detector failure monitoring device 400b is also configured similarly to the device 400a, monitors the rotation of the receiving side reversing arm 102b, and outputs an operation stop signal when it is determined that the rotation detector 103b is in an abnormal state.

The time difference signal generation circuit can be configured by appropriately combining logical circuits such as an OR circuit, an AND circuit, an inverter circuit, and can be configured by using an appropriate circuit such as an RS flip-flop.

As described above, the rotation angle calculation circuit 302 of the existing reversing machine is used.
Instead of inputting the signals from a and 302b to the passage detection circuits 401a and 401b, a pair of limit switches are arranged at the positions of angles θa ₁ and θa ₂ near the spindles 101a and 101b, respectively, depending on the rotation of the reversing arm. A signal that is inverted when each limit switch is turned on may be input to each time difference signal generation circuit 402a, 402b.

The interlocking angle monitoring devices 500a and 500b monitor whether or not the respective reversing arms of the existing and additional reversing machines are driven in conjunction with each other, and output an abnormal signal when the difference exceeds a predetermined value. When the operations of the synchronous control devices 300a and 300b become abnormal and normal interlocking control cannot be performed, the operation of the reversing machine is stopped. The monitoring device is composed of allowable angle deviation calculation circuits 501a and 501b and interlocking abnormality determination circuits 502a and 502b, and the transfer side reversing arms 102a and 202a of the existing and additional reversing machines, the receiving side reversing arm 102b, The angular deviations Δθa and Δθb between the 202b are input from the subtraction circuits 303a and 303b in the tuning control devices 300a and 300b. In the allowable value calculation circuits 501a and 501b, based on the rotation angle of the reversing arm of the existing reversing machine, the angle deviation allowable value with respect to the rotation angle of the reversing arm that changes over time is Δθa ₀ , Δ
Calculate θb ₀ . The interlocking abnormality determination circuit 502a, in 502b, △ .theta.a and △ θa _0, △ θb and △ .theta.b ₀ were compared respectively, that an abnormality conjunction when at least one of the deviation value is larger than the deviation allowable value occurs Then, an operation stop signal for stopping the operation of the reversing machine is generated.

It should be noted that instead of changing the deviation allowable value according to the rotational position of the reversing arm, a fixed value such as 2 degrees may be used.

The mutual angle monitoring device 600 monitors the difference in rotation angle between the transfer side reversing arm 102a and the receiving side reversing arm 102b of the existing reversing machine 100, and if the difference exceeds a predetermined level, an abnormality has occurred. Is configured to output a signal for stopping the operation of the reversing machine. As described above with reference to FIG. 5, in the steel plate reversing machine, the transfer-side reversing arm and the receiving-side reversing arm do not operate symmetrically, but the transfer-side reversing arm starts to rotate with a slight delay. Therefore, a predetermined angle difference occurs, and the mutual angle monitoring device 600 monitors whether or not the angle difference is within an allowable range.

The monitoring device 600 includes an angle deviation calculation circuit 601, an angle deviation allowable value calculation circuit 602, and a mutual angle abnormality determination circuit 603. In the angle deviation calculation circuit 601, the tuning control device 3 is provided.
The rotation angle signals θa ₁ and θb ₁ from the rotation angle calculation circuits 302a and 302b in 00a and 300b are received, the difference Δθab between them is calculated, and the difference and the allowable value Δθab ₀ calculated in the allowable value calculation circuit 602 are calculated. When the angle deviation Δθab becomes larger than the allowable value Δθab ₀ by comparing with the determination circuit 603, the drive stop signal of the reversing machine is output.

Since the interlocking angle monitoring devices 500a and 500b monitor whether or not the existing reversing device and the additional reversing device are out of synchronization, the mutual angle monitoring device 600 monitors the angle difference between the reversing arms of the existing reversing device only. Just do it.

[Effects of the Invention] Since the present invention is configured as described above, it is possible to add a reversing machine by an inexpensive method and obtain a reversing machine that can handle both short and long steel plates. Further, since the electric tuning control means is adopted, accurate and high-speed response synchronization control can be performed. Furthermore, a plurality of reversing machines can be driven independently or in conjunction with each other as needed.

In addition, if a reversing machine operation monitoring device is added, the reversing machine operation can be automatically stopped at that time even if some abnormality occurs in the rotation detector, so the reversing machine runaway can be prevented. In addition, even if an abnormality occurs in the control operation of the tuning control device or an abnormality occurs in the operation timing of the transfer side and receiving side reversing arms, the operation of the reversing machine can be automatically stopped. Therefore, it is possible to prevent damage to the reversing machine and the steel sheet.

[Brief description of drawings]

FIG. 1 (a) is a plan view showing a state in which an existing reversing machine and an extension reversing machine according to an embodiment of the present invention are arranged adjacent to each other in the longitudinal direction, and FIGS. 1 (b) and (c) show the existing reversing machine and the extension. FIG. 2 is a cross-sectional view for explaining the drive unit of the reversing machine, FIG. 2 is a circuit diagram showing an embodiment of a rotation angle tuning control device used in the present invention, and FIG. 3 is an embodiment of the present invention to which an abnormality monitoring device is added. FIG. 4 is a circuit diagram for explaining an embodiment, FIG. 4 is a plan view showing an example of a conventional reversing machine, and FIG. 5 is an explanatory diagram for explaining a rotating operation of a reversing arm of the reversing machine. 102a, 102b, 202a, 202b ... Reversing arms 103a, 103b, 203a, 203b ... Rotation detectors 300a, 300b ... Rotation angle tuning control devices 301a, 301b ... Rotation speed calculation circuits 301a, 302b, 304a, 304b ... … Rotation angle calculation circuit 308a, 308b …… Additional reversing machine drive control circuit 400a, 400b …… Rotation detector failure monitoring device 500a, 500b …… Existing / expansion interlocking angle monitoring device 600 …… Passing side / receiving side mutual angle monitoring apparatus

Claims (2)

[Claims] 1. A steel plate reversing machine, comprising: a plurality of reversing machines, including a reference reversing machine, which are arranged adjacent to each other in the longitudinal direction and can be driven independently, and a reversing arm between the reference reversing machine and another reversing machine. According to the output of the rotation angle difference detection means for detecting the difference in the rotation angle, and the output of the rotation angle difference detection means, when the rotation angle difference occurs, the rotation speed of the other reversing machine is set in the direction in which the difference becomes zero. It consists of rotation angle tuning control means for controlling to rotate the other reversing machine at the same speed as the rotation speed of the reversing arm of the reference reversing machine when the rotation angle is accelerated or decelerated and the rotation angles match. A steel plate reversing machine in which the arm can be driven to rotate substantially in synchronization. 2. The steel plate reversing machine according to claim 1, wherein the reversing machine further comprises a rotation detector failure monitoring means for monitoring abnormality of the rotation detector of the reference reversing machine, the reference reversing machine and the other reversing machine. Interlocking angle monitoring means for monitoring the interlocking abnormality of the reversing arm, the mutual angle monitoring means for monitoring the mutual angular abnormality between the transfer side reversing arm and the receiving side reversing arm of the reference reversing machine, and when any of the above abnormalities occurs The steel sheet reversing machine according to claim 1, further comprising means for outputting a drive stop signal for stopping the operation of all the reversing machines.