JPH0919703A - Controller for continuous hot rolling equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To execute welding while accurately executing positioning among a preceding material, succeeding material and welder in running. SOLUTION: Selectively using two charge coupled device(CCD) cameras 91, 92 having the mutually different extent of visual field, respective positions of the tail end of a preceding material and tip of the succeeding material are detected and the positioning among rolled stocks and the welder is executed by this position information. A slave truck 82 which is freely movable is provided on a master truck 81 which is self-propelled and the welder and CCD cameras 91, 92 are mounted on the slave truck. After the rolled stocks and the master truck are fixed by clamping mechanisms, the positioning among the rolled stocks and the welder is executed by moving the slave truck.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a controller for continuous hot rolling equipment.

[0002]

2. Description of the Related Art Continuous hot rolling refers to a tail end (downstream end) of a preceding material of a plurality of materials to be rolled which is independent for each slab upstream of a rolling facility (finishing mill). While welding the front end (upstream side end) of the line material and welding the two together, the rolled material is continuously sent to the rolling equipment without interruption, eliminating the suspension period of the rolling operation. An extremely high effect can be obtained in reducing the manufacturing cost.

The following are known examples of prior art related to this type of continuous hot rolling.

JP-A-57-109504 JP-A-60-244401 JP-A-61-88903 JP-A-61-176405 JP-A-63-101011 JP-A-4-123804 Japanese Patent Laid-Open No. 4-300001 Japanese Patent Laid-Open No. 4-333305 Japanese Patent Laid-Open No. 4-370330

[0005]

In continuous hot rolling, a trailing material is added to the tail end of the leading material by controlling the speed of the trailing material while simultaneously transporting the leading material and the trailing material which are rolled materials. Precise position control must be implemented so that the tips of the In addition, welding must be carried out while moving the welding machine so as to accurately follow the position where the tail end of the preceding material and the tip end of the following material abut. Further, in the finish rolling process, the plate thickness of the rolled material on the delivery side of the rolling mill is controlled to be constant, but since the plate thickness and the plate temperature of the rolled material on the entry side of the finishing mill are not constant, Rolled material on the entry side of the rolling mill,
That is, the conveying speed of the preceding material constantly changes. Therefore, it is very difficult to control the speed and position of the welding machine and the trailing material.

In any case, in order to carry out running joining (joining of rolled material while conveying), the tail end position of the preceding material and the tip position of the following material are accurately grasped respectively. There is a need. For this purpose, in rolling material conveyance control, a position sensor that detects passage of the rolled material edge at a specific position and a speed sensor that detects the actual conveyance speed of the rolled material are used to track the rolled material edge position. Need to be implemented. That is, from the time when the position sensor detects the passage of the rolled material edge, the running distance of the rolled material from the installation position of the position sensor, which is obtained by integrating the speed information detected by the speed sensor, is It is used as the location information of.

However, the information output by the position sensor and the information detected by the speed sensor each include a detection error. In particular, since the detection error of the speed sensor is accumulated by integral calculation, the tracking error increases as the traveling distance of the rolled material increases.

If a large number of position sensors are installed at different positions and control is performed so that the position corresponding to the accumulated error is corrected each time the rolled material travels a relatively short distance, the tracking error is reduced. be able to. However, if a large number of position sensors are installed, the equipment cost will increase significantly.

In continuous hot rolling, it is important to accurately grasp the distance between the tail end position of the preceding material and the tip position of the following material, but the position of the preceding material and the position of the following material are important. Since there is no choice but to perform tracking based on information from speed sensors different from each other, the tracking error regarding the tail end position of the preceding material and the tracking error regarding the tip position of the following material do not necessarily match. Therefore, it is unavoidable that an error occurs in the detected distance between the tail end position of the preceding material and the tip position of the following material (calculated).

Japanese Unexamined Patent Publication (Kokai) No. 4-300001 proposes to detect the arrival state and the butting state of the rolled material by using a camera arranged on a traveling carriage. Although it is possible to detect the position of the rolled material edge from the image taken by using the camera, the position cannot be detected with high accuracy. If the field of view of the camera is narrowed in order to improve the position accuracy, the position can be detected only in a narrow range, and therefore it cannot be used unless the distance between the detection target material and the camera is close. Therefore, it cannot be used for the purpose of aligning the traveling carriage and the rolled material in a state where the distance between the traveling carriage and the rolled material is large, and can be used only for the purpose of confirming the situation. When the field of view of the camera is widened, the detection position accuracy deteriorates.
High precision alignment is not possible. Further, in this method, since the tip position of the rolled material is monitored obliquely from above, an uncorrectable error that changes depending on the thickness of the rolled material occurs.

When, for example, an arc welding machine or an induction heating device is used to join the preceding material and the following material, when the gap between the leading end of the preceding material and the leading end of the following material is relatively large, Even if there is some displacement between the joining position and the position of the welding machine, it is possible to weld them without any problem. However, in the region of the rolled material in the vicinity of the welded portion, burrs are generated, which causes problems such as scratches on the rolling roll when passing through the finishing mill.
Therefore, it is desirable to carry out welding using, for example, a laser welder to minimize the occurrence of burrs. However, when a laser welding machine is used as the joining device, the diameter of the laser beam is small, so the area to be welded is very small and the gap between the tail end of the preceding material and the tip of the following material is small. If they are relatively large, their welding becomes impossible.

Therefore, it is an object of the present invention to improve the alignment accuracy of the preceding material, the following material, and the joining device.

[0013]

In order to solve the above-mentioned problems, according to the invention of claim 1, a downstream preceding material (B1) which is a plurality of independent rolling objects upstream of the finishing rolling facility. In a control device of a continuous hot rolling facility that joins the upstream material and the trailing material on the upstream side during conveyance: a joining mechanism (W1, W2) that joins the leading material and the trailing material is mounted,
A self-propelled carriage (81) that can travel in a direction along the material-conveying route of the material to be rolled; it is arranged on the self-propelled carriage and its light-receiving surface is installed to face the material-conveying path of the material to be rolled. A first array of a large number of light receiving elements arranged in the transport direction of
One-dimensional image pickup means (91); arranged on the self-propelled carriage with its light-receiving surface facing the conveying path of the material to be rolled, and having a large number of light-receiving elements in the conveying direction of the material to be rolled. Second imaging means (9) arranged so that the size of the field of view is narrower than the field of view of the first one-dimensional imaging means and the range included in the field of view of the first one-dimensional imaging means is its field of view.
2); and, depending on the situation, the tail end position of the preceding material is detected by inputting the information obtained by imaging by either one of the first one-dimensional imaging means and the second imaging means. Position control means (301, 174, 175, 176) for controlling the position of the joining mechanism according to the detected position is provided.

According to a second aspect of the present invention, a self-propelled carriage (82) installed on the self-propelled carriage and capable of traveling on the self-propelled carriage in a direction along a conveyance route of a material to be rolled; A clamp mechanism (CL1a, CL1a, which is installed on the trolley and can fix the self-propelled trolley and the leading material and the self-propelled trolley and the trailing material respectively
CL1b, CL2a, CL2b); and the joining mechanism, the first one-dimensional imaging means, and the second imaging means,
When the self-propelled carriage is installed on the self-propelled carriage and the clamp mechanism fixes the self-propelled carriage and the preceding material, based on the information obtained by the second imaging means. A child carriage position control means (303, 194) for controlling the position of the self-propelled child carriage is provided.

According to a third aspect of the present invention, the information obtained by one of the first one-dimensional image pickup means and the second image pickup means is input depending on the situation, and the following material is input. The trailing material control means (301, 18) for detecting the tip position of the trailing material and controlling the conveying speed of the trailing material according to the detected position.
4, 185, 186).

The symbols shown in parentheses above are reference numerals of corresponding elements in the embodiments to be described later, but each component of the present invention is a specific element in the embodiments. It is not limited to only.

In the present invention, the joining mechanism (W1, W
A first one-dimensional image pickup means (91) and a second image pickup means (92) for detecting the position of the rolled material edge are installed on a self-propelled carriage (81) equipped with 2). The first one-dimensional image pickup means and the second image pickup means are both installed such that their light-receiving surfaces face the conveyance path of the material to be rolled,
Equipped with a large number of light receiving elements arranged in the conveying direction of the material to be rolled, it is possible to monitor the edge of the rolled material from directly above, regardless of the position of the edge in the field of view. It is possible to eliminate the error due to the thickness of the material. Therefore,
Within the field of view of the first one-dimensional imaging means or the second imaging means,
Joining mechanism (W1, W2) when the rolled material edge is located
The relative positional relationship between the rolled material edge and the rolled material edge can be detected with high accuracy by the first one-dimensional imaging means or the second imaging means.

In the present invention, the field of view of the second image pickup means (92) is smaller than the field of view of the first one-dimensional image pickup means (91), and the entire field of view of the second image pickup means is the first. It is set so as to be included in the visual field of the one-dimensional image pickup means. Therefore, by using the first one-dimensional imaging means, the position can be detected even when the distance between the joining mechanism and the rolled material end is relatively large. Therefore, based on the position information, the joining mechanism and the rolling member can be rolled. It is possible to control so that the distance to the material end becomes smaller (like copying). However, in that case, since the position accuracy that can be identified is low, highly accurate scanning control cannot be performed. However, when the distance between the joining mechanism and the rolled material edge is reduced to some extent by the scanning control using the first one-dimensional imaging means, the position of the rolled material edge falls within the visual field of the second imaging means. Therefore, when the position of the rolled material edge is surely within the visual field of the second imaging means, the second imaging means is used to reduce the distance between the joining mechanism and the rolled material edge. It can be controlled (like copying). When the second image pickup means is used, since the position accuracy that can be identified is high,
Highly accurate copying control is realized.

Position control means (301, 174, 175,
176) inputs the information obtained by imaging by one of the first one-dimensional imaging means and the second imaging means, detects the tail end position of the preceding material (B1), and detects it. The position of the joining mechanism is controlled according to the position.

In the second aspect, the self-propelled carriage (82) is installed on the self-propelled carriage. This self-propelled trolley is free to travel in the direction along the conveyance path of the material to be rolled. Further, the clamp mechanism (CL1a, CL1b, CL2a, CL2b) installed on the self-propelled carriage has a structure in which the self-propelled carriage and the leading material and the self-propelled carriage and the trailing material can be fixed to each other. The joining mechanism, the first one-dimensional image pickup means, and the second image pickup means are installed on the self-propelled carriage.

By fixing the self-propelled carriage and the leading material and the self-propelled carriage and the trailing material by the clamp mechanism, respectively, even if the speeds of the rolled material and the self-propelled carriage fluctuate, the joining position and the joining mechanism during welding. It is possible to prevent the positions of and from being displaced. Even when the self-propelled carriage and the leading material and the self-propelled carriage and the trailing material are fixed by the clamp mechanism, the self-propelled carriage equipped with the joining mechanism is movable. When the clamp mechanism fixes the self-propelled carriage and the preceding material, the child carriage position control means (303, 194) uses the information obtained by the second one-dimensional image pickup means. Based on this, the position of the self-propelled carriage is controlled.

Even when the rolling control and the self-propelled carriage are controlled with relatively high precision, the self-propelled carriage and the leading material and the self-propelled carriage and the trailing material are clamped by the respective clamping mechanisms. The position where the rolled material is to be joined, that is, the position of the abutting portion between the leading edge of the leading material and the leading edge of the trailing material is not always in a predetermined positional relationship with the self-propelled carriage when fixed with ,
It is inevitable that some misalignment will occur. In addition, the direction of the welding line may be slightly deviated from the axis orthogonal to the conveying direction of the rolled material.

According to a second aspect of the present invention, after the self-propelled carriage and the leading material and the self-propelled carriage and the trailing material are fixed by the clamp mechanism, respectively, based on the position information obtained by the second imaging means. Since the child carriage position control means controls the position of the self-propelled child carriage, the position of the joining mechanism can be adjusted so as to accurately follow the position of the welding line.

In the third aspect, the trailing material control means (3
01, 184, 185, 186) inputs the information obtained by the image pickup by one of the first one-dimensional image pickup means and the second image pickup means to detect the tip position of the trailing material. , The conveyance speed of the succeeding material is controlled according to the detected position. Therefore, it is possible to control the position of the trailing member so as to follow the position of the self-propelled carriage. By performing the control using the first one-dimensional image pickup means, the field of view is large, so that the position control can be performed even when the distance between the self-propelled carriage and the tip of the trailing material is large. Moreover, since the field of view is small by performing the control using the second image pickup means, the scanning control with high position accuracy is realized.

[0025]

BEST MODE FOR CARRYING OUT THE INVENTION The structure of the main part of one type of continuous hot rolling equipment is schematically shown in FIG. This will be described with reference to FIG. Rolled material B3 from the final stand 51 of the rough rolling equipment
Is wound into a coil, enters the coil box 52, and is sent to the next step. The rolled material that has undergone rough rolling is
Next, finish rolling is performed, but in order to continuously carry out finish rolling, the rolled materials independent of each other for each coil (each slab) are conveyed, and the first stand 6 of the finish rolling facility is used.
They are connected to each other before entering 2. This control will be described in detail later.

The exit guide 54, the simple leveler 55, the leveler guide 56, the joining shear (cutting device) 57, and the leveler are provided in or around the passage through which the rolled material drawn from the coil in the coil box 52 is conveyed. 58, a connecting device (joining device) 59, a CS guide 60, etc. are installed.
Although details will be described later, the coupling device 59 includes a self-propelled carriage and a self-propelled carriage mounted on the carriage, and a welding machine and a clamp mechanism are mounted on the self-propelled carriage. ing. When welding the tail end 1a of the preceding material B1 and the tip 2a of the following material B2 of the rolled material, the welding machine and the clamp mechanism travel in the same direction as the rolled material by the self-propelled carriage, and the clamp mechanism The welding machine automatically performs the welding operation with the relative position between the tail end 1a of the preceding material B1 and the tip 2a of the following material B2 fixed.

The conveying speeds of the preceding material B1 and the succeeding material B2 are usually set to be substantially the same, but the preceding material B1 and the succeeding material B2 are set.
When the are connected, the conveying speed of the trailing material B2 is temporarily increased, and the leading end 2a of the trailing material B2 is controlled to catch up with the tail end 1a of the leading material B1. In the equipment of FIG. 6, in the "catch-up section" between the joining shear 57 and the leveler 58, the tip 2a of the trailing material B2 is controlled so as to catch up with the tail end 1a of the preceding material B1. Then, in the "truck traveling section" between the leveler 58 and the CS guide 60, the tip end 2a of the trailing material B2 and the preceding material B are moved while the coupling device 59 travels.
The tail end 1a of No. 1 is welded. Therefore, the finishing rolling equipment 62
Since the rolled material is continuously fed into, the finish rolling is continuously performed.

The state transition of the connecting process of the preceding material B1 and the following material B2 in the equipment shown in FIG. 6 is as follows in the standard state.

1. 5 seconds have passed after the crop of the tail end (1a) of the preceding material B1 was cut by the joining shear 57 (time 0 second): a. Crop the tip (2a) of the trailing material B2 with the joining shear 57. b. Continue tightening the CS guide 60. c. Tighten the outlet guide 54 d. Tighten the leveler guide 56 2. When the tip of the following material B2 catches up with the tail end of the preceding material B1 (time 12 seconds): a. Make the conveying speed of the succeeding material B2 and the preceding material B1 the same b. Continue tightening the CS guide 60. c. Continue tightening the exit guide 54 d. Continue tightening the leveler guide 56 3. Time 14 seconds: a. Join the clamp mechanism of the coupling device 59 b. Open the CS guide 60 c. Tighten the outlet guide 54 d. Tighten the leveler guide 56. 4. Welding completed (time 19 seconds): a. Open the clamp mechanism of the coupling device 59. b. Open the CS guide 60 c. Tighten the outlet guide 54 d. Tighten the leveler guide 56. 5. The joint of the rolled material reaches the finishing mill (time 36
Seconds): a. Tighten the CS guide 60 b. Tighten the outlet guide 54. c. Tighten the leveler guide 56. 6. The tail end of the trailing material B2 passes the leveler guide 56: a. Tighten the CS guide 60 b. Open the outlet guide 54 c. Open the leveler guide 56 7. Time 83 seconds: a. Cut the tail end crop of the trailing material B2 with the joining shear 57. b. Tighten the CS guide 60. c. Open the exit guide 54 d. Although the leveler guide 56 is not shown in FIG. 6, a large number of table rolls are provided in the rolling material conveying path for conveying the rolled material. Particularly, in this embodiment, as shown in FIG. 2, a large number of table rolls TR1 and T1 installed in the "catch-up section" are provided.
Each of R2, TR3, ... Has a drive device (electric motor) M1, M2, M3 capable of individually controlling the speed.
... are connected. Further, as for the portion other than the "catch-up section", as in general equipment, a plurality of table rolls adjacent to each other are connected to a common drive device,
The number of drives is reduced.

Referring to FIG. 2, a plate detector (Laser Cold Metal Detector) LCM is provided between the uppermost table roll TR1 in the "catch-up section" and the joining chassis 57.
D and plate speed detector (Laser Doppler Velocity Detecto)
r) LDV1 is installed, and a plate speed detector (Laser Doppler Velocity Detector) LDV2 is installed on the downstream side of the table roll TR6 which is the most downstream of the "catch-up section". The installation position of the plate detector LCMD is downstream of the plate speed detector LDV1 and upstream of the plate speed detector LDV2. The plate detector LCMD discriminates whether or not the rolled material exists at a specific position on the conveying path facing the plate detector.

The structure of the drive control system for the table rolls TR1 to TR6 is shown in FIG. This will be described with reference to FIG. The drive speed switching control unit 100 receives the signals V1,
Based on V2, X1 and X2, the target speed signal Va,
Vb, Vc, Vd, Ve and Vf are generated. The target speed signals Va, Vb, Vc, Vd, Ve and Vf are output to the drivers 31, 32, 33, 34, 35 and 3 respectively.
6 is input. The driver 31 controls the driving speed of the driving device M1 to match the target speed signal Va, the driver 32 controls the driving speed of the driving device M2 to match the target speed signal Vb, and the driver 33 controls the driving device M3. Is controlled so that the driving speed of
The driver 34 controls the driving speed of the driving device M4 to match the target speed signal Vd, the driver 35 controls the driving speed of the driving device M5 to match the target speed signal Ve, and the driver 36 controls the driving device M6. The drive speed is controlled so as to match the target speed signal Vf.

The signal output from the plate detector LCMD is input to the tip end detection 12 and the tail end detection 11. Tail end detection 1
In 1, based on the signal output by the plate detector LCMD,
The switching from the plate (rolled material) detection state to the non-detection state is regarded as that the tail end of the rolled material has passed the position of the plate detector LCMD, and a signal is output at that time. Further, in the leading edge detection 12, it is considered that the leading edge of the rolled material has passed through the position of the sheet detector LCMD based on the signal output from the sheet detector LCMD, and the change from the non-detection state to the sheet detection state is regarded as that time. Output a signal to.

The output signal of the tail end detection 11 is applied to the integrator 13 as a reset signal, and the output signal of the tip end detection 12 is applied to the integrator 14 as a reset signal. The integrator 13 outputs the result of integrating the signal V1 output by the plate speed detector LDV2 as a signal X1, and the integrator 14 outputs the result of integrating the signal V2 output by the plate speed detector LDV1 as a signal X2. To do. The integrator 13 is a plate detector LC
Since the integration operation is reset when the tail end of the rolled material is detected at the MD position, the integration value X1 output by the integrator 13
Is the moving distance of the rolled material (the preceding material B1) after the tail end of the rolled material (the preceding material B1) has passed the position of the plate detector LCMD, and corresponds to the tail end position of the preceding material B1 as shown in FIG. To do. Further, the integrator 14 resets the integration operation when the tip of the rolled material is detected at the position of the plate detector LCMD,
The integrated value X2 output by the integrator 14 is equal to the rolled material (subsequent material B
2) is the moving distance of the rolled material after the tip has passed the position of the plate detector LCMD, and corresponds to the tip position of the following material B2 as shown in FIG.

When the preceding material B1 and the following material B2 pass through the "catch-up section", the signal V1 output by the plate speed detector LDV2 corresponds to the actual conveying speed of the preceding material B1. The signal V2 output by the plate speed detector LDV1 corresponds to the actual transport speed of the following material B2.

In the speed determination 15, the input signal V1,
A target speed signal Vs is generated based on V2, X1 and X2. This target speed signal Vs is the speed control device ASR.
Is input as the target value. The speed control device ASR controls so that the drive speed (conveyance speed of the rolled material B2) of the drive device (electric motor) M0 connected to the pinch roll of the simple leveler 55 matches Vs.

Among the elements shown in FIG. 1, tail detection 11, tip detection 12, integrators 13 and 14, speed determination 1
5, and the drive speed switching control unit 100 is actually realized by software processing of the process computer. The drivers 31 to 36 and the speed control device ASR exist as hardware.

The contents of the "driving speed switching" process corresponding to the driving speed switching control unit 100 of FIG. 1 are shown in FIG. This will be described with reference to FIG. In step 101, signals V1 and V
2, X1 and X2 are input respectively. In the following step 102, the value of the signal X1, that is, the tail end position of the preceding material B1 is compared with the constant La. The constant La corresponds to the distance between the position of the plate detector LCMD and the table roll TR1 as shown in FIG. Then, if “X1 ≦ La”,
That is, when the tail end position of the preceding material B1 has not yet passed through the table roll TR1, the process proceeds to step 111,
Otherwise, go to step 103.

In step 103, the value of the signal X1, that is, the tail position of the preceding material B1 is compared with the constant Lb. Constant Lb
Is the position and table of the plate detector LCMD as shown in FIG.
It corresponds to the distance from the bull roll TR2. And "X1
.Ltoreq.Lb ", that is, if the tail end position of the preceding material B1 is between the table rolls TR1 and TR2, the process proceeds to step 112, otherwise step 104.
Proceed to.

In step 104, the value of the signal X1, that is, the tail end position of the preceding material B1 is compared with the constant Lc. Constant Lc
Is the position and table of the plate detector LCMD as shown in FIG.
It corresponds to the distance from the bull roll TR3. And "X1
≦ Lc ”, that is, when the tail end position of the preceding material B1 exists between the table rolls TR2 and TR3, the process proceeds to step 113, and otherwise, step 105.
Proceed to.

In step 105, the value of the signal X1, that is, the tail end position of the preceding material B1 is compared with the constant Ld. Constant Ld
Is the position and table of the plate detector LCMD as shown in FIG.
It corresponds to the distance from the bull roll TR4. And "X1
≦ Ld ”, that is, when the tail end position of the preceding material B1 exists between the table rolls TR3 and TR4, the process proceeds to step 114, and otherwise, step 106.
Proceed to.

In step 106, the value of the signal X1, that is, the tail position of the preceding material B1 is compared with the constant Le. Constant Le
Is the position and table of the plate detector LCMD as shown in FIG.
It corresponds to the distance from the bull roll TR5. And "X1
≦ Le ”, that is, when the tail end position of the preceding material B1 exists between the table rolls TR4 and TR5, the process proceeds to step 115, and otherwise, step 107.
Proceed to.

In step 107, the value of the signal X1, that is, the tail position of the preceding material B1 is compared with the constant Lf. Constant Lf
Is the position and table of the plate detector LCMD as shown in FIG.
It corresponds to the distance from the bull roll TR6. And "X1
If ≦ Lf ”, that is, if the tail end position of the preceding material B1 is between the table rolls TR5 and TR6, the process proceeds to step 116, and otherwise step 117.
Proceed to.

At step 111, the target speed signal Va,
Vb, Vc, Vd, Ve and Vf are respectively V
1, V1, V1, V1, V1, V1 and V1 are output. Therefore, in this case, all the table rolls TR1 to TR6 are
It is driven at a speed that matches the actual transport speed V1 of the preceding material B1.

At step 112, the target speed signal Va,
Vb, Vc, Vd, Ve and Vf are respectively V
2, V1, V1, V1, V1 and V1 are output. Therefore, in this case, all the table rolls TR2 to TR6 are
The table roll TR1 is driven at a speed that matches the actual transport speed V1 of the preceding material B1, and the table roll TR1 is driven at a speed that matches the actual transport speed V2 of the following material B2.

At step 113, the target speed signal Va,
Vb, Vc, Vd, Ve and Vf are respectively V
2, V2, V1, V1, V1 and V1 are output. Therefore, in this case, the table rolls TR3 to TR6 are all
It is driven at a speed that matches the actual transport speed V1 of the preceding material B1, and the table rolls TR1 and TR2 are driven at a speed that matches the actual transport speed V2 of the following material B2.

At step 114, the target speed signal Va,
Vb, Vc, Vd, Ve and Vf are respectively V
2, V2, V2, V1, V1 and V1 are output. Therefore, in this case, the table rolls TR4 to TR6 are driven at a speed corresponding to the actual conveying speed V1 of the preceding material B1, and the table rolls TR1 to TR3 are actual conveying speed V2 of the succeeding material B2. Driven at a speed that matches.

At step 115, the target speed signal Va,
Vb, Vc, Vd, Ve and Vf are respectively V
2, V2, V2, V2, V1 and V1 are output. Therefore, in this case, the table rolls TR5 and TR6 are driven at a speed corresponding to the actual conveying speed V1 of the preceding material B1, and the table rolls TR1 to TR4 are actual conveying speed V2 of the succeeding material B2. Driven at a speed that matches.

At step 116, the target speed signal Va,
Vb, Vc, Vd, Ve and Vf are respectively V
2, V2, V2, V2, V2 and V1 are output. Therefore, in this case, the table roll TR6 is driven at a speed that matches the actual transport speed V1 of the preceding material B1, and the table rolls TR1 to TR5 match the actual transport speed V2 of the succeeding material B2. It is driven at a speed that

At step 117, the target speed signal Va,
Vb, Vc, Vd, Ve and Vf are respectively V
2, V2, V2, V2, V2 and V2 are output. Therefore, in this case, all the table rolls TR1 to TR6 are
The following material B2 is driven at a speed that matches the actual transport speed V2.

That is, in this embodiment, the table roll T
For each of R1 to TR6, the actual transport speed V1 of the preceding material B1 detected by the plate speed detector LDV2 is the driving speed of the table roll until the trailing edge of the preceding material B1 passes therethrough. When the speed is set and the passage is completed, the driving speed of the table roll is determined by the plate speed detector LD.
The actual conveying speed V2 of the succeeding material B2 detected by V1 is switched to. Therefore, even if the distance between the tail end of the preceding material B1 and the leading end of the following material B2 is very small, the preceding material B1
The driving speeds of all the table rolls (in the catch-up section) on which the number of is equal to the conveying speed of the preceding material B1 and the driving speeds of all the table rolls on which the following material B2 is ,
Since the conveying speed of the succeeding material B2 coincides with that of the succeeding material B1, the conveying system of the preceding material B1 and the conveying system of the succeeding material B2 do not interfere with each other, and slip occurs between the rolled material and the table roll. Since there is no such material, both the preceding material B1 and the following material B2,
Stable transportation is realized.

In this embodiment, the target speed signal Va,
Vb, Vc, Vd, Ve and Vf are set to the plate speed detector LDV.
2 is the same as the conveyance speed V1 detected by the plate speed detector LDV1 or the conveyance speed V2 detected by the plate speed detector LDV1, but the result of multiplying the speed V1 by a predetermined lag rate or the speed V2 by a predetermined release rate.
The target speed signals Va, Vb, Vc,
It may be set to Vd, Ve and Vf.

FIG. 4 shows a part of the processing executed in the "speed determination" 15 shown in FIG. In this process, the speed signal Vs applied to the speed control device ASR is controlled so that the tip of the trailing material B2 catches up with the tail of the preceding material B1. The speed control device ASR controls the speed of the electric motor M0 that drives the pinch roll of the simple leveler 55 so that the speed of the rolled material to be conveyed matches the speed signal Vs.

Normally, the speed of the electric motor M0 is controlled so as to match the speed of conveyance of the rolled material on the entry side of the finish rolling mill 62, but the tail end of the preceding material B1 and the leading end of the following material B2 are controlled. When and pass through the "catch-up section" shown in FIG. 6, the speed of the electric motor M0 is controlled by the process shown in FIG. 4, and the tip of the following material B2 catches up with the tail end of the preceding material B1. Controlled as.

FIG. 5 shows changes in the conveying speeds of the leading material and the trailing material, and changes in the positions of the trailing edge 1a of the leading material and the tip 2a of the trailing material when the processing of FIG. 4 is carried out. .

Description will be made with reference to FIGS. 4 and 5. FIG.
Is started when the position of the trailing edge 2a of the trailing material reaches the reference position facing the plate detector LCMD (X2 = 0.
State). At that time, in the standard state, the position X1 of the tail edge 1a of the preceding material is 7.5 m (relative to the reference position). Therefore, the distance between the first leading edge 1a of the leading material and the leading edge 2a of the trailing material is 7.5 m.

In the first step 151, X2 is compared with a predetermined position P0, and the process waits until the trailing material tip 2a reaches the position P0. During that time, the speed signal Vs is set so that the speed of the succeeding material B2 becomes the same as the speed of the preceding material B1. In this example, P0 = 1.0 m. X2 ≧ P0
At time (t1 in FIG. 5), the process proceeds to the next step 152.

In step 152, the speed signal Vs is updated, that is, the acceleration control is repeated until Vs = V2max so that the speed of the following material B2 increases at a predetermined constant acceleration ΔV2u. In this example, ΔV2u = 1.0
m / sec ² , V2max = 255 m / min. Since V1 <V2 due to the acceleration of the trailing material, the distance between the trailing edge 1a of the leading material and the tip 2a of the trailing material gradually becomes smaller as shown in FIG. When acceleration is completed, that is, V2 = V2max
When (time in FIG. 5: t2) is reached, the process proceeds to the next step. At this time, Vs = V2max is maintained.

At steps 153 and 154, a process for detecting the timing (time t3 in FIG. 5) at which deceleration is started is executed. In step 153, first the signal X
1, X2, V1 and V2 are input, and the distances L1 and L2 are obtained by executing the calculation described later based on these signals. The distance L1 is the amount of decrease in the relative distance between the leading edge 1a of the preceding material and the leading edge 2a of the following material during the period (t3 to t4) from the start of deceleration until V2 = V1, and the distance L2 is It is a distance (X1-X2) between the trailing edge 1a of the preceding material and the leading edge 2a of the following material at the present time.

Assuming that the deceleration during deceleration is constant (ΔV2d), the area of a right triangle having the points a, b, and c as vertices shown in FIG. 5 becomes the distance L1. Therefore, the distance L1 is calculated by the following equation.

[0060]

L1 = ((V2-V1) / 2) tx = ((V2-V1) / 2) ((V2-V1) / ΔV2d) = ((V2-V1) / 2) ² / (2 · ΔV2d) (1) In step 154, the result of adding the target value ΔL of the distance between the trailing edge 1a of the preceding material and the leading edge 2a of the following material at the end of deceleration to the distance L1 is compared with the distance L2. And L1 + ΔL>
The processes of steps 153 and 154 are repeated until L2 is reached, and when L1 + ΔL> L2 is reached (time: t4), the process proceeds to the next step 155. That is, the trailing edge 1a of the leading material and the leading edge 2 of the trailing material at the time of ending the deceleration (time: t4)
The process proceeds from step 154 to step 155 at a timing (time: t3) such that the interval with a matches the target value ΔL.

In step 155, the latest signal V1 is input and held as the reference value V1r.

In step 156, basically, the speed signal Vs is updated until V1 = V2 so that the conveying speed of the succeeding material decreases at a predetermined constant deceleration ΔV2d. In addition, the latest signal V1 is input, and the difference between the speed V1 and the reference value V1r determined in step 155 is calculated as the compensation amount Vc.
Is added to the speed signal Vs.

In steps 153 and 154, the deceleration start timing is determined on the assumption that the conveying speed V1 of the preceding material is constant during deceleration, but in reality, the conveying speed V1 of the preceding material fluctuates. If the fluctuation is not compensated for, the distance between the leading edge 1a of the preceding material and the leading edge 2a of the following material at the end of deceleration may deviate significantly from the target value ΔL. However, in step 156, since the difference Vc between the actual transport speed V1r of the preceding material sampled at the deceleration start timing and the transport speed V1 at each time point is constantly added to the speed signal Vs, when the transport speed V1 fluctuates. Even when the deceleration is completed (time: t4), the distance between the leading material trailing edge 1a and the trailing material leading edge 2a is accurately maintained at the target value ΔL. V1
= V2 and the deceleration operation ends, step 156
To the next step 157.

In step 157, the speed V1 of the preceding material is input and set to the speed signal Vs, and the following material is controlled so as to be conveyed at the same speed as the preceding material. Further, fine adjustment (APC control) of the interval between the preceding material and the following material is performed. That is, the signals V1, V2, X1 and X2 are input,
The deviation between V1 and V2 falls within the target range (for example, 2 m / min), and at the same time, the interval (X1-
The speed signal Vs is finely adjusted so that (X2) falls within the target range.

When the APC control is completed, that is, V1 and V2
When the deviation between the trailing edge of the leading material and the tip of the trailing material falls within the target range, the speed signal Vs is controlled so that the state is maintained. Then, the trailing edge of the leading material and the leading edge of the trailing material are connected to each other by welding while traveling to the next truck traveling section.

In this embodiment, as shown in FIG. 6, a CCD camera 75 is installed between the catch-up section and the truck traveling section. This CCD camera 75 has a large number (for example, 40 pixels) along the conveyance direction (X direction) of the rolled material.
A camera using a one-dimensional CCD image sensor in which light receiving elements (96 pieces) are arranged in one row is used as an imaging element, and fixed equipment with the imaging surface (light receiving surface) facing the conveyance path of the rolled material. It is attached so that it will not move. In this example, the CCD camera 75 is used so that the range of 1 m in the X direction on the rolled material transportation path can be simultaneously input as a one-dimensional image.
The size of the field of view has been adjusted.

When the end of each rolled material passes through the field of view of the CCD camera 75, a change depending on the presence or absence of the rolled material appears in the one-dimensional image. Therefore, this changed position should be detected as the rolled material end position. You can For example, when processing image information from the downstream side to the upstream side in the traveling direction of the rolled material, the position where the rolled material changes from the rolled material to the unrolled material is the tail end position of the preceding material, The position where the rolled material changes is the leading end position of the trailing material.

Since the position where the CCD camera 75 exists is on the downstream side of the catch-up section, at this position, the distance between the tail end of the preceding material and the tip of the following material is relatively small (target value of distance: 150 mm). ). Therefore, in the image captured by the CCD camera 75, the trailing edge of the leading material and the leading edge of the trailing material are shown at the same time. Therefore, by inputting the image information output from the CCD camera 75, the leading edge can be obtained without tracking. The distance between the tail end of the lumber and the tip of the trailing lumber can be directly detected. Since the interval detected in this way does not include accumulated error, it is very accurate as compared with the position information X1 and X2 detected by tracking.

FIG. 7 shows a part of the processing of the speed determination 15 shown in FIG. After the APC control is completed by the process of FIG. 4, that is, in a state where the leading end of the trailing material catches up near the tail end of the preceding material and the distance between them is controlled to be constant, the processing shown in FIG. Is executed. This will be described with reference to FIG.

At step 161, the tail end position X1 of the preceding material output by the integrator 13 and the trailing end position X2 of the following material output by the integrator 14 are repeatedly input, and the tail end position X1 of the preceding material is set to the reference position Pr1. Wait until you reach. X1
When ≧ Pr1, the process proceeds to the next step 162.

In step 162, first the CCD camera 7
The image information SG1 to be output by 5 is input. Then, the actual trailing edge position Px1 of the preceding material is obtained from the position of the trailing edge of the preceding material appearing in the image information SG1, and the tip of the actual trailing material is calculated from the position of the trailing material tip appearing in the image information SG1. The position Px2 is calculated. That is, the one-dimensional image information SG1
Is processed from the downstream side to the upstream side in the traveling direction of the rolled material, and the position where the image density level changes from the presence of the rolled material to the absence of the rolled material is set as the tail end position of the preceding material, and rolling is performed from the absence of the rolled material. The position where the material changes again is detected as the tip position of the trailing material. Then, by using a predetermined calculation formula, each detected position is converted from the position coordinates within the field of view of the CCD camera 75 into the actual position on the conveyance path of the rolled material to obtain Px1 and Px2.

Subsequently, the difference between the detected actual position Px1 and the tail end position X1 of the preceding material output from the integrator 13 is obtained as a tracking error ΔP1, and the detected actual position P
The difference between x2 and the tip position X2 of the trailing material output by the integrator 14 is obtained as a tracking error ΔP2, and the tracking error in the integrators 13 and 14 is corrected based on these. Further, from the detected positions Px1 and Px2, the difference between them is determined as the distance Pd between the trailing edge of the leading material and the leading edge of the trailing material.

In the next step 163, the calculated interval Pd
Is compared with a predetermined upper limit value Pdmax. Upper limit value Pdma
x is an interval that can be corrected within an allowable value before the tail end position of the preceding material reaches a specific reference position in the carriage traveling section. If Pd <Pdmax, the process proceeds to step 164, and if not, the process proceeds to step 166.

That is, the interval P between the trailing edge of the preceding material and the leading edge of the following material
If d is abnormally large and normal welding cannot be performed within the traveling section of the carriage, in step 166, a stop command (speed zero) is output to the speed signal Vs that determines the conveying speed of the following material. , And outputs a joining stop command to the coupling device 59.
As a result, the operation of conveying the trailing material, the traveling of the coupling device 59, the welding, and the like are stopped, and the continuous rolling operation is interrupted when the preceding material is rolled. This can minimize the adverse effect on the operation due to welding failure.

At step 164, the position information X1, X2
And the speed information V1 and V2 are input, and the interval Pd detected in step 162 and its target value (for example, 150 mm)
The speed signal Vs is controlled so as to correct the deviation between (APC control). By this control, the position is adjusted so that the distance between the trailing edge of the leading material and the leading edge of the trailing material approaches a predetermined target value. Then, the trailing edge of the leading material and the leading edge of the trailing material to be welded are fed into the trolley traveling section while the distance between them is maintained at the target value.

The structure of the main part of the connecting device 59 is shown in FIG. Further, a cross section taken along line IX-IX of FIG. 8 is shown in FIG. This will be described with reference to FIGS. A pair of rails 88 and 89 are laid at a position adjacent to the transportation path of the rolled materials B1 and B2 in a direction parallel to the transportation path. And this rail 8
A gate-type parent carriage 81 is arranged on the rollers 89 and 89 so as to straddle the conveyance path of the rolled materials B1 and B2. Parent cart 81
Is mounted on rails 88, 89 via rotatable wheels, and a parent carriage 81 is movable in the X-axis direction along the rails 88, 89. The parent carriage 81 is equipped with a drive mechanism including an electric motor (M12).
The wheels are driven by this drive mechanism. Therefore,
The parent cart 81 is a self-propelled cart.

On the upper surface of the parent carriage 81, a pair of rails 9
5, 96 are installed in a direction parallel to the rails 88, 89. A child carriage 82 having rotatable wheels is arranged on the rails 95 and 96.
Is movable along a rail 95, 96 within a predetermined range on the parent carriage 81 in the X-axis direction relative to the parent carriage 81. The child cart 82 is an electric motor (M1
The drive mechanism including 1) is mounted, and the wheels of the child carriage 82 are driven by this drive mechanism. Therefore, the child car 82 is a self-propelled car.

On the child carriage 82, the rolled material is conveyed in the conveying direction (X
Direction), that is, a pair of guide rails 8 arranged along the width direction (Y direction) of the rolled materials B1 and B2.
There are 6,87. And this guide rail 8
Two transverse carriages 83 and 84 are on top of 6,87. Further, a screw rod 85 having a screw formed on the outer peripheral surface is installed in a direction parallel to the guide rails 86 and 87.
Then, the nuts formed on the engaging portions 83, 84 a of the traverse carriages 83, 84 are screwed with the screw rod 85. The screw rod 85 is rotatably supported near both ends thereof, and the output shaft of the electric motor M10 is connected to one end thereof. When the electric motor M10 is driven, the screw rod 85 rotates, and the nut that engages with the screw on the outer periphery of the screw rod 85, that is, the engaging portion 8
3, 84a linearly moves in the arrow Y direction or the opposite direction. Therefore, the transverse carriages 83 and 84 can be moved in the Y direction.

At the lower ends of the traversing carriages 83 and 84, the laser welding tool is formed so as to face the conveyance path of the rolled materials B1 and B2.
Chi W1 and W2 are respectively supported. The laser welding torches W1 and W2 move in the Y direction, that is, in the direction along the welding line of the preceding material and the following material with the movement of the traverse carriages 83 and 84.

Two CCD cameras 91 and 92 are mounted on the transverse carriage 83. CCD camera 91
Reference numerals 92 and 92 respectively denote a one-dimensional image pickup apparatus including a large number of image pickup elements arranged in a line in the X direction, and image pickup surfaces for picking up images of the positions of the rolled materials B1 and B2 conveyed below each. Is installed facing down. Also in this example, C
The size of the field of view of the CD camera 91 is sufficiently larger than that of the CCD camera 92, and the field of view of the CCD camera 92 is adjusted in advance so that it is included in the field of view of the CCD camera 91. For example, the field of view of the CCD camera 91 is adjusted to a range of 1 m on the rolled material conveyance path, and the CCD camera 92 is adjusted.
The field of view is adjusted to a range of 300 mm on the rolled material conveying path. Further, in order to reduce the detection error, CC is used in this example.
As the D cameras 91 and 92, linear sensors of the same size are used. That is, n image sensors are arranged in a line at an interval of ((view field size) / n), and the size of the linear sensor and its field of view are almost the same, so Can detect its edge from a direction perpendicular to the plane of the rolled material. Therefore, the position of the rolled material edge can be accurately detected without being affected by the change in the thickness of the rolled material or the rising of the rolled material edge.

The rolled material edge position can be detected by processing the one-dimensional image information obtained by the CCD cameras 91 and 92. For example, when scanning one-dimensional image information from the downstream side to the upstream side in the rolled material conveying direction, the position where the image density changes from the level with rolled material to the level without rolled material, and the image density from the level without rolled material The positions at which the rolled material level changes again correspond to the leading material trailing edge position and the trailing material leading edge position, respectively. Since the field of view of the CCD camera 91 is relatively wide, the rolled material edge position can be detected over a wide range when the image information output by the CCD camera 91 is used, but the positional accuracy is relatively rough.
Further, since the CCD camera 92 has a narrow field of view, when using the image information output by the CCD camera 92, highly accurate position information can be obtained, but the range in which position detection is possible is narrow. In this embodiment, as will be described later, two CCD cameras 91 and 9 are used.
2 is used properly according to the conditions at that time.

When welding the trailing edge of the preceding material and the leading edge of the following material, the gap between the trailing edge of the preceding material and the leading edge of the following material is made sufficiently small, the gap is prevented from changing, and its position is maintained. It is necessary to avoid changing the welding machine position and the welding machine position.
To achieve this purpose, a clamp mechanism for fixing the rolled material is provided on the parent carriage 81. As shown in FIG. 9, this clamp mechanism includes clamp members CL1a and CL1b that clamp and fix the vicinity of the tail end of the preceding material and clamp members CL2a and CL that clamp and fix the vicinity of the tip of the trailing material.
2b. By sandwiching the vicinity of the tail end of the preceding material with the clamp members CL1a and CL1b, the relative position between the preceding material and the parent carriage 81 is fixed. Also, the clamp member C
By sandwiching the vicinity of the tip of the trailing member with L2a and CL2b, the relative position between the parent carriage 81 and the trailing member is fixed. The clamp mechanism further includes a butt mechanism (not shown). This butting mechanism has a function of mechanically moving the clamp members CL2a and CL2b that sandwich the trailing material in the X direction, and the butting operation causes the tail end of the leading material and the tip of the trailing material to move. The gap can be made small enough to ensure welding by a laser welder.

The lifting table 99 shown in FIG. 8 normally moves to the raised position to support the rolled materials B1 and B2. However, when the parent carriage 81 approaches, it will automatically interfere with it. It descends and retreats.

The structure of the control system associated with the coupling device 59 is shown in FIG. Note that FIG. 10 mainly shows the vicinity of the carriage traveling section of FIG. 6. An electric motor for driving the parent carriage 81.
The M12 is connected to the speed control device 302, and the child carriage 82
The electric motor M11 for driving the electric motor M10 is connected to the position control device 303, the clamp mechanism and the abutting mechanism are connected to the clamp control device 304, and the electric motor M10 and the laser for driving the traverse carriages 83, 84 are connected. Welding torch W1, W2
Is connected to the welding control device 305.

The trolley control 301 is realized by software processing of the process computer.
Signal SG2 output by the CD camera 91, CCD camera 9
2 outputs the signal SG3 and the above-mentioned position information X1,
X2 is input to control the speed control devices ASR, 302, the position control device 303, the clamp control device 304, and the welding control device 305.

The trolley control 301 includes "parent trolley control" shown in FIG. 11, "trailing material control" shown in FIG. 12, and FIG.
The "child vehicle control" shown in FIG. 3 is included, and these processes are executed substantially simultaneously (in parallel). First, the "parent vehicle control" will be described with reference to FIG.

At step 171, the tail end position X1 of the preceding material
Is repeatedly input to wait for the leading edge of the preceding material to reach the predetermined reference position Pr2 (see FIG. 5) in the catch-up section.
When the trailing edge of the preceding material reaches the reference position Pr2, the process proceeds to the next step 172, and the traveling of the parent carriage 81 is started. That is,
The electric motor M12 is driven to move the coupling device 59 in the same direction (X direction) as the rolling material conveyance direction.

In the next step 173, the speed V of the preceding material is
Enter 1 and make the parent carriage 81 match the speed V1.
Control the traveling speed Vt. In this example, as shown in FIG. 5, the traveling speed is V1 after the parent carriage 81 starts traveling.
During the acceleration period until reaching, the velocity Vt is controlled so that the acceleration becomes constant.

Further, in step 173, the CCD camera 9
The signal SG2 output by 1 is input to identify whether or not the trailing edge of the preceding material is detected, and the process of step 173 is repeated until the trailing edge of the preceding material is detected. As shown in FIG. 5, during the acceleration period of the parent carriage 81, the position X of the coupling device 59 is
Since No. 3 is located downstream of the tail end of the preceding material and Vt <V2, the tail end of the preceding material gradually approaches the position of the connecting device 59. When the trailing edge of the preceding material approaches the connecting device 59 to some extent, the trailing edge of the preceding material enters the field of view of the CCD camera 91.
The position of the tail end of the preceding material can be detected from G2. When the trailing edge of the preceding material enters the field of view of the CCD camera 91, the process proceeds to the next step 174.

In step 174, the signal SG2 output from the CCD camera 91 is input, the tail end position of the preceding material is detected, and it is discriminated whether or not the tail end position of the preceding material is within a specific area. The specific area is an area of the field of view of the CCD camera 91 that is common to the field of view of the other CCD camera 92. If the tail end position of the preceding material is out of the field of view of the CCD camera 92, the process proceeds to step 176. If the tail end position of the preceding material is also within the field of view of the CCD camera 92, Go to step 175.

At step 175, the signal SG3 output from the CCD camera 92 is input to detect the tail position of the preceding material more accurately. That is, the field of view of the CCD camera 92 is CC
Since the field of view of the D camera 91 is narrower, the CCD camera 9
When the tail end position of the preceding material is detected on the basis of the signal SG3 output by 2, the position detection accuracy is improved.

In step 176, the detected tail end position (relative position with respect to the visual fields of the CCD cameras 91 and 92) of the preceding material approaches a predetermined target position within the visual field.
The speed signal supplied to the speed control device 302 is controlled. As a result, the position (speed) of the parent carriage 81 is automatically adjusted so as to follow the tail end position of the preceding material. Here, when the tail end position of the preceding material is out of the visual field of the CCD camera 92, the position information (position information obtained in step 174) detected based on the signal SG2 output from the CCD camera 91 is controlled. If the tail end position of the preceding material is within the field of view of the CCD camera 92, the CCD camera 92
The position information (the position information obtained in step 175) detected on the basis of the signal SG3 output by the controller is used for control.
Therefore, when the tail position of the preceding material is close to the target position,
Achieves highly precise scanning control with high positional accuracy.

When the tail end position of the preceding material does not match the target position, the process returns from step 177 to step 174, and the above-mentioned copying control is repeated. When the tail end position of the preceding material matches the target position, the process proceeds from step 177 to step 178.

At step 178, the clamp controller 3
04 sends a predetermined signal to clamp members CL1a, CL
1b is pressed against the preceding material, and the tail end of the preceding material is clamped by the clamp member. As a result, the parent carriage 81 and the preceding material are temporarily fixed. In addition, flag 1 is set to 1 here to indicate that the clamping process of the preceding material is completed.

In the next step 179, the speed signal V1 indicating the speed of the preceding material is input, and the traveling speed of the parent carriage 81 becomes V.
The speed instruction value given to the speed control device 302 is controlled so as to match with 1. That is, the parent carriage is run at the same speed as the preceding material. Step 1 until the welding operation is completed
The processing of 79 is repeated. When welding is completed, the process proceeds to the next step 17A.

In step 17A, the clamp controller 3
04 sends a predetermined signal to clamp members CL1a, CL
The parent truck 81 is separated from the preceding material by releasing the clamp of the preceding material by 1b. Then, after giving a stop signal to the speed control device 302 to stop the traveling of the parent carriage 81, a signal is given to the speed control device 302 so that the parent carriage 81 returns to a predetermined reference position (initial position). To control.

Next, the "subsequent material control" will be described with reference to FIG. In step 181, it is checked whether the leading edge of the trailing material has caught up with the tail edge of the preceding material. That is, it is checked whether or not the processing shown in FIG. 7 has been completed. When the tip position of the trailing material catches up with the tail end of the preceding material at time t4 shown in FIG. 5, the process proceeds to the next step.

In step 182, the information on the traveling speed of the parent carriage 81, that is, the speed instruction value given to the speed control device 302 by the carriage control 301 is input, and the speed control is performed so that the speed V2 of the following material coincides. It controls the speed signal Vs applied to the device ASR. As a result, the succeeding material B2 is controlled so that its conveying speed is synchronized with the speed of the parent carriage 81. When the speed synchronization is completed, the process proceeds to the next step 183.

In step 183, the signal SG2 output from the CCD camera 91 is input to check whether or not the position of the leading edge of the trailing material is detected. When the leading edge position of the trailing material falls within the field of view of the CCD camera 91, the leading edge position of the trailing material is detected in step 183, and the flow advances to step 184.

In step 184, the signal SG2 output from the CCD camera 91 is input to input the tip position (C
The relative position with respect to the visual field of the CD camera 91) is checked to identify whether or not the leading end position of the trailing material is within a specific range. That is, it is checked whether or not the tip position of the trailing material exists in the area of the field of view of the CCD camera 91 that matches the field of view of the CCD camera 92. If the tip position of the trailing material is within the field of view of the CCD camera 92, then step 18
5, the process proceeds to step 186 if out of the visual field.

In step 185, the signal SG3 output from the CCD camera 92 is input to detect a more accurate leading end position of the trailing material (relative position to the visual field of the CCD camera 92). Then, the process proceeds to next Step 186.

In step 186, the position of the trailing material is controlled based on the leading edge position of the trailing material detected in step 184 or the leading edge position of the trailing material detected in step 185. That is, the speed signal Vs given to the speed control device ASR is controlled so that the relative position of the leading edge of the following material with respect to the visual fields of the CCD cameras 91 and 92 approaches the predetermined reference position. As a result, the tip position of the trailing member is controlled so as to follow the position of the connecting device 59.

When the reference position of the connecting device 59 is relatively far from the trailing material tip position, the trailing material tip position detected based on the image taken by the CCD camera 91 is used for the control of step 186. When the reference position of the connecting device 59 is relatively close to the trailing material tip position, the trailing material tip position detected based on the image captured by the CCD camera 92 is used for the control of step 186. It

Since the field of view of the CCD camera 91 is relatively wide, even if the distance between the reference position of the connecting device 59 and the leading end position of the trailing material is relatively large, the following material copying control can be performed. it can. Further, since the field of view of the CCD camera 92 is relatively narrow, by utilizing the trailing edge position of the trailing material detected based on the signal SG3 of the CCD camera 92, highly accurate scanning control can be realized.

When welding the tail end of the preceding material and the tip of the following material, for example, when arc welding or induction heating is used, the gap between the tail end of the preceding material and the tip of the following material is Welding is possible even if it is relatively large. However, when welding is performed using a laser welding machine as in this embodiment,
If the gap between the trailing edge of the preceding material and the leading edge of the following material is large, welding cannot be performed. Therefore, high accuracy is required for the alignment between the trailing edge of the preceding material and the leading edge of the following material. In this embodiment, the two CCD cameras 91 and 92 are selectively used to realize highly accurate alignment.

The trailing material copying control of step 186 is repeated until the detected leading edge position of the trailing material exactly coincides with the predetermined reference position. When the leading end position of the trailing member coincides with the reference position, the process proceeds from step 187 to the next step 188. Since flag 2 is cleared in the initial state,
The process proceeds from step 188 to step 189.

At step 189, the clamp controller 3
04 sends a predetermined signal to clamp members CL2a, CL
2b is pressed against the trailing material to clamp the leading edge of the trailing material with the clamp member. As a result, the parent carriage 81 and the trailing member are temporarily fixed. Then, a predetermined signal is sent to the clamp control device 304 to mechanically clamp the clamp members CL2a, C2.
The L2b is moved by a predetermined amount in the X direction (direction toward the preceding material) on the parent carriage 81. By this abutting operation, the trailing material sandwiched between the clamp members CL2a and CL2b approaches the leading material fixed by the clamp members CL1a and CL1b, so that the gap between the trailing edge of the leading material and the leading edge of the trailing material is sufficient. Becomes smaller. In particular, before performing the match,
By accurately aligning the leading material and the trailing material with respect to the coupling device 59 respectively, it is possible to make the gap very small. In step 189, the flag 2 is set to 1 to indicate that the trailing material is clamped and butted.

After the flag 2 is set, the abutting portion of the trailing edge of the preceding material and the leading edge of the following material is welded. Since the step 186 is repeatedly executed until the welding operation is completed, the speed of the following material is controlled to be the same as the speed of the parent carriage 81. When the welding operation is completed, the process proceeds from step 18A to step 18B.

At step 18B, the clamp controller 3
04 sends a predetermined signal to clamp members CL2a, CL
The clamp of the trailing material at 2b is released to separate the parent carriage 81 from the trailing material. Further, here, the flag 2 is cleared.

In the following step 18C, based on the speed signal V1 of the preceding material, the speed signal Vs given to the speed control device ASR so that the following material is conveyed at the same speed as that.
Control.

Next, the "child truck control" will be described with reference to FIG. In the first step 191, the position control device 3
03, a predetermined instruction is given to position the child carriage 82 at a predetermined reference position on the parent carriage 81, and then the electric motor M1
The drive of No. 1 is stopped and the child carriage 82 is fixed on the parent carriage 81.

In the next step 192, the process stands by until flag 2 is set. That is, it waits for the clamping of the preceding material and the clamping of the following material to be completed. When the flag 2 is set, the process proceeds to the next step 193.

In step 193, the signal SG3 output from the CCD camera 92 is input to detect the trailing edge position of the preceding material and the leading edge position of the following material, and identify whether or not the matching is correctly performed. . If the gap is too large, send a predetermined signal to the clamp controller 304,
Clamp members CL2a, CL so that the gap can be finely adjusted.
Move 2b in the X direction. When the tail end of the preceding material and the leading end of the following material are abutted with each other and the gap becomes sufficiently small, the process proceeds to the next step 194.

At step 194, the signal SG3 output from the CCD camera 92 is input to detect the planned joining position, that is, the position of the abutting portion of the trailing edge of the preceding material and the leading edge of the following material, and this position is the CCD camera 92. The electric motor M11 is driven through the position control device 303 so as to match the predetermined reference position within the field of view, and the position of the child carriage 82 in the X direction is adjusted.

Clamp members CL1a, CL1b, CL2
In a state in which the leading material and the trailing material are clamped by a and CL2b, the positional relationship between the abutment portion between the tail end of the leading material and the leading end of the trailing material to be welded and the parent carriage 81 is fixed. However, the welding line may be oriented in a direction slightly deviated from the direction (Y direction) orthogonal to the conveying direction X of the rolled material, so that the leading material and the trailing material are welded to the torches W1 and W2. Even if they are accurately positioned and clamped with respect to each other, if the traverse carriages 83 and 84 are moved in the Y direction for welding, the positions of the welding torches W1 and W2 may be slightly displaced from the welding line in the X direction. is there. Further, since the parent carriage 81 has relatively large inertia, the positioning responsiveness is poor, and if the speed of the preceding material changes rapidly immediately before the clamping is performed, the abutting portion of the preceding material and the following material and the parent carriage 81 There is a possibility that the relationship with will be slightly displaced from the target position.

As shown in FIG. 8, since the CCD camera 92 is installed at a position adjacent to the welding torch W1, the welding line, that is, the abutting portion between the tail end of the preceding material and the tip of the following material is welded. Whether or not the position with the torch W1 matches can be always accurately identified. If the positions are deviated, the position of the subsidiary carriage 82 is adjusted and the positions of the welding torches W1 and W2 in the X direction are corrected by the processing of step 194, so the welding torches W1 and W2 are adjusted. Moves following the welding line.

In step 195, the welding controller 305 is used.
To start welding operation. As a result, the welding control device 305 starts energizing the welding torches W1 and W2 and drives the electric motor M10 to drive the welding torch.
The traverse carriages 83 and 84 supporting the wheels W1 and W2 are simultaneously moved in the Y direction at a constant speed. Since the step 194 is repeatedly executed during the welding, the positions of the welding torches W1 and W2 are corrected if necessary.

When welding is completed, steps 195 to 1
After proceeding to 96 and setting a flag 3 indicating that welding is completed, a predetermined instruction is output to the position control device 303 to return the position of the child carriage 82 to a predetermined initial position.

When the joining stop command is output in step 166 shown in FIG. 7, the traveling of the parent carriage 81 is stopped, and the subsidiary carriage 82 and the traverse carriages 83 and 84 also do not move. Also, the welding torches W1 and W2 are not energized.
Therefore, even if the joining of the preceding material and the following material fails and the operation is interrupted, the extra work that must be performed before restarting the operation can be minimized.

In the above embodiment, the two welding torches W1 and W2 are installed on the single child carriage 82. However, two independent child carriages are provided on the parent carriage 81 and each child carriage is provided. If the welding torches W1 and W2 are installed on the
It is possible to align each of the jaws and the welding line more accurately. In that case, the CCD camera 92 is welded.
It is desirable to install another one in a position adjacent to the W2 and perform position detection and position adjustment individually for each welding torch.

[0121]

In the embodiment described above, the first one-dimensional image pickup means (for detecting the position of the rolled material edge is provided on the self-propelled carriage (81) equipped with the joining mechanism (W1, W2). 91) and the second imaging means (92) are installed. Each of the first one-dimensional image pickup means and the second image pickup means is installed with its light-receiving surface facing the conveyance path of the material to be rolled, and is arranged in a large number in the conveying direction of the material to be rolled. It is equipped with a light receiving element. Therefore, when the rolled material edge is located within the field of view of the first one-dimensional imaging means or the second one-dimensional imaging means, the relative positional relationship between the joining mechanism (W1, W2) and the rolled material edge is It can be detected by the first one-dimensional imaging means or the second one-dimensional imaging means. Also, the second
The size of the visual field of the image pickup means (92) is smaller than that of the first one-dimensional image pickup means (91), and the entire visual field of the second image pickup means is within the visual field of the first one-dimensional image pickup means. It is set to be included. Therefore, by using the first one-dimensional imaging means, the position can be detected even when the distance between the joining mechanism and the rolled material end is relatively large.
Based on the position information, it is possible to control so that the distance between the joining mechanism and the rolled material end becomes smaller (follows). However, in that case, since the position accuracy that can be identified is low, highly accurate scanning control cannot be performed. However, when the distance between the joining mechanism and the rolled material edge is reduced to some extent by the scanning control using the first one-dimensional imaging means, the position of the rolled material edge falls within the visual field of the second imaging means. Therefore, when the position of the rolled material edge is surely within the visual field of the second imaging means, the second imaging means is used to reduce the distance between the joining mechanism and the rolled material edge. It can be controlled (like copying). When the second image pickup means is used, since the position accuracy that can be identified is high, highly accurate copying control is realized.

Further, in the above-mentioned embodiment, the self-propelled carriage (82) is installed on the self-propelled carriage, and this self-propelled carriage can run freely in the direction along the conveyance route of the material to be rolled. ing. Further, the clamp mechanism (CL1a, CL1b, CL2a, CL2b) installed on the self-propelled carriage can fix the self-propelled carriage and the leading material and the self-propelled carriage and the trailing material respectively. The joining mechanism, the first one-dimensional image pickup means, and the second image pickup means are installed on the self-propelled carriage.

By fixing the self-propelled carriage and the leading material, and the self-propelled carriage and the trailing material by the clamp mechanism, even if the speeds of the rolled material and the self-propelled carriage fluctuate, the joining position and the joining mechanism can be maintained during welding. It is possible to prevent the positions of and from being displaced. Even when the self-propelled carriage and the leading material and the self-propelled carriage and the trailing material are fixed by the clamp mechanism, the self-propelled carriage equipped with the joining mechanism is movable. When the clamp mechanism fixes the self-propelled carriage and the preceding material, the child carriage position control means (303, 194) uses the information obtained by the second one-dimensional image pickup means. Based on this, the position of the self-propelled carriage is controlled. Therefore, when the self-propelled carriage and the leading material and the self-propelled carriage and the trailing material are fixed by the clamping mechanism, the position where the rolled material is to be joined, that is, the abutting portion between the tail end of the leading material and the tip of the trailing material The position of is slightly displaced from the self-propelled carriage, and the direction of the welding line is
The position of the joining mechanism can be adjusted so as to accurately follow the position of the welding line even when the position is slightly deviated from the axis orthogonal to the conveying direction of the rolled material.

Further, in the above embodiment, the trailing material control means (301, 184, 185, 186) is obtained by the one of the first one-dimensional image pickup means and the second image pickup means. By inputting the information, the leading end position of the trailing material is detected, and the conveying speed of the trailing material is controlled according to the detected position. Therefore, it is possible to control the position of the trailing member so as to follow the position of the self-propelled carriage. By performing the control using the first one-dimensional image pickup means, the field of view is large, so that the position control can be performed even when the distance between the self-propelled carriage and the tip of the trailing material is large. Moreover, since the field of view is small by performing the control using the second image pickup means, the scanning control with high position accuracy is realized.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a control system of the equipment of FIG.

FIG. 2 is a front view showing in detail a catch-up section of the equipment of FIG.

3 is a flowchart showing the processing of the control unit 100 in FIG.

FIG. 4 is a flowchart showing a part of the processing in the speed determination 15 of FIG.

FIG. 5 is a time chart showing changes in speed and position of each element in a catch-up section.

FIG. 6 is a front view showing main components of the continuous rolling facility of the embodiment.

FIG. 7 is a flowchart showing a part of the processing in the speed determination 15 of FIG.

FIG. 8 is a vertical cross-sectional view of a main portion of a coupling device 59 as seen from a direction orthogonal to a rolled material conveyance direction X.

9 is a cross-sectional view taken along the line IX-IX in FIG.

FIG. 10: Equipment and connection device 59 of the carriage traveling section of FIG.
3 is a block diagram showing the control system of FIG.

FIG. 11 is a flowchart showing a part of the processing of the carriage control 301 shown in FIG.

FIG. 12 is a flowchart showing a part of the processing of the carriage control 301 shown in FIG.

13 is a flowchart showing a part of the processing of the carriage control 301 shown in FIG.

[Explanation of symbols]

1a: tail end 2a: tip end 11: tail end detection 13, 14: integrator 12: tip end detection 51: final stand of rough rolling equipment 52: coil box 54: outlet guide 55: simple leveler 56: leveler guide 57: joining Shaft 58: Leveler 59: Connection device (joining device) 60: CS guide 62: First stand of finishing rolling equipment 75: CCD camera 81: Parent carriage 82: Child carriage 83, 84: Traverse carriage 83a, 84a: Engagement Joint part 85: Screw rod 86, 87: Guide rail 88, 89: Rail 91, 92: CCD camera 95, 96: Rail 100: Drive speed switching controller M10, M11, M12: Electric motor W1, W2: Laser welding torch B1 to B3: Rolled material B1: Leading material B2: Trailing material LCMD: Plate detector LDV1, LDV
2: Plate speed detector TR1 to TR6: Table roll

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Satomi Harakawa 20-1 Shintomi, Futtsu City, Chiba Shin Nippon Steel Co., Ltd. Technology Development Division

Claims (3)

[Claims] 1. Control of a continuous hot rolling facility for joining a downstream preceding material and an upstream trailing material, which are independent rolling materials, upstream of the finishing rolling equipment during transportation. In the device: a self-propelled carriage equipped with a joining mechanism for joining a preceding material and a succeeding material, and capable of traveling in a direction along the conveyance path of the material to be rolled; arranged on the self-propelled carriage, and its light-receiving surface is rolled. A first light-receiving element that is installed so as to face the conveyance path of the target material and has a large number of light-receiving elements arranged in the conveyance direction of the material to be rolled.
A one-dimensional imaging means; arranged on the self-propelled carriage, with its light-receiving surface facing the conveyance path of the material to be rolled,
A large number of light receiving elements are arranged in the direction of conveyance of the material to be rolled, and the size of the field of view is narrower than the field of view of the first one-dimensional image pickup means, and the range included in the field of view of the first one-dimensional image pickup means is set. The second imaging means serving as its field of view; and, depending on the situation, the information obtained by imaging by either one of the first one-dimensional imaging means and the second imaging means is input, and A controller for continuous hot rolling equipment, comprising position control means for detecting the tail end position of the material and controlling the position of the joining mechanism according to the detected position. 2. A self-propelled carriage installed on the self-propelled carriage and capable of traveling on the self-propelled carriage in a direction along a conveyance path of a material to be rolled; and on the self-propelled carriage, The self-propelled carriage and the leading material, and the clamp mechanism that can fix the self-propelled carriage and the trailing material respectively; and the joining mechanism, the first one-dimensional imaging means, and the second imaging means, the self-propelled element. If the clamp mechanism is installed on a trolley and the self-propelled trolley and the preceding material are fixed by the clamp mechanism, the self-propelled element is based on the information obtained by the second imaging means. The control device for continuous hot rolling equipment according to claim 1, further comprising: a child carriage position control unit that controls a position of the carriage. 3. Depending on the situation, the information obtained by imaging by one of the first one-dimensional imaging means and the second imaging means is input to detect the tip position of the trailing material. The controller for the continuous hot rolling equipment according to claim 1, further comprising a trailing material control unit that controls a conveying speed of the trailing material according to the detected position.