JPH11188423A - Coast stopping position control of transfer machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve accuracy of coil car stopping position at low cost. SOLUTION: In a stop position control method of a transfer machine such as a coil car to transfer the coil with a device to be driven by a linear motor 5 or a hydraulic equipment 10, which is controlled by an electrode valve 9, a transfer control to stop the machine at several given positions is made by a sequencer 1 having a CPU 22, a RAM 23. A coasted distance at the time of previous stopping is memorized in the RAM 23 and at the time of next stop, the coast distance information of the previous stopping is obtained from the RAM 23 to correct the stop coasting distance by the CPU 22 so as to improve the stop position accuracy of the transfer machine.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a coasting machine for conveying a metal strip in a process line of steel or non-ferrous, etc., into which a strip is wound in a coil shape, etc., by directly inserting the strip and using an electric motor or a solenoid valve. It relates to the running stop position control.

[0002]

2. Description of the Related Art Conventionally, when a coil is attached to or detached from a coil attachment portion (mandrel) of a rewind or take-up reel of a steel or non-ferrous process line, a lifting / lowering function that moves up and down in the radial direction of the reel, and A coil car equipped with a transport function that moves in the axial direction of the reel is used. As a typical example of the conventional function of raising and lowering a coil car, there is known a "lifting and lowering force switching type coil car" disclosed in Japanese Patent Application Laid-Open No. 5-138247. FIG. 5 is a configuration diagram of the lifting / lowering force switching type coil car, and shows an example of a V-skid coil car. In FIG. 5, a coil car 120 is provided for supporting the tail end of the coil 210 below the reel 220 to take up the coil without loosening and paying out the wound coil. The coil car body 230 has a V-shaped skid 240
Is supported by a V-shaped skid lifting cylinder 260 of a lifting drive mechanism via a guide rod 250 so as to be able to move up and down. By positioning the solenoid valve 130 on the ascending side and supplying hydraulic fluid from the pressure oil port to the a side of the lifting cylinder 260 through the solenoid valve 130, the V-shaped skid 240 is raised. Also, if the solenoid valve 130 is located on the descending side,
The V-shaped skid 240 descends. Thus, the solenoid valve 13
0, the lifting cylinder 260 and the V-shaped skid 240 constitute a lifting drive mechanism. In addition, the lifting drive force can be switched between low and high pressures by a pressure switching valve 140, pressure reducing valves 150 and 160, and a relief valve 170. With this configuration, when the winding of the coil approaches the end, the coil car 120 is raised, and the V-shaped skid 240 comes into contact with the coil 210, and in this state, the lifting cylinder 260 is pushed down by the weight of the coil 210, and the lifting cylinder 260 side When the pressure increases, the relief valve 170 operates, and the hydraulic fluid flows to the oil return port side through the relief valve 170, so that the coil 210 is stably supported and transferred to the coil car 130 without any flaws or loose winding. .

[0003]

However, in the above-mentioned conventional example, even in the transfer control of the coil car, especially the stop control is also a relatively rough running environment, and the precision is not considered so much and the space is not much considered. Since the motor control was limited, the control using an expensive inverter was not performed and the low-cost direct-insertion control method was used. The coasting distance was not constant, and stop position correction and the like were performed using the average value of the coasting distances measured several times. . Therefore, an object of the present invention is to provide a coasting stop position control method for a transport machine that can improve the stop accuracy of a coil car by a simple improvement that does not depend on an expensive inverter control method or the like.

[0004]

According to a first aspect of the present invention, there is provided a transport machine for transporting an article to be transported using a direct insertion motor, which is stopped at a fixed position by a sequencer having a CPU and a RAM. In the method of controlling the coasting stop position of the transporting machine to be controlled, the coasting distance at the time of the previous stop is stored in the RAM, and at the next stop, the previous coasting distance information is obtained from the RAM, and the CPU stops coasting. It is characterized by correcting the running distance. According to a second aspect of the present invention, a conveyed object is conveyed by using a hydraulic device controlled by a solenoid valve, instead of the direct insertion motor according to the first aspect. In this way, the previous stop coasting distance is corrected at the next stop to improve the stop position accuracy of the transport machine, so that even if the inertial mass of the transported object changes, the coasting distance determined by the inertial mass is changed. When used, the sequencer outputs a fixed position stop command based on the learning function, so that stop position accuracy can be ensured regardless of a change in inertial mass.

[0005]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a conceptual block diagram of a sequencer and a transport machine according to an embodiment of the present invention, and FIG. 2 is a flowchart of a control operation of the sequencer shown in FIG. FIG. 3 is a block diagram of the sequencer shown in FIG. FIG. 4 is a diagram showing a stop command output timing of the sequencer shown in FIG. In FIG. 1, reference numeral 1 denotes a sequencer for controlling a transfer machine in response to a command from a transfer process computer (not shown) on the command side. Reference numeral 2 denotes a coil car as a transport machine. An object to be transported (for example, a metal strip coil) 4 is loaded on the coil car 2, and a motor control circuit 7 such as an SSR module or the like is provided via a power supply switch (direct insertion switch) 8. The wheel 2a of the coil car 2 is driven to rotate by a direct-insertion motor (motor) 5 fed from the coil car 2, and the coil car 2 is transported. Reference numeral 6 denotes a motor forward / reverse SW circuit composed of an SSR parallel circuit or the like. Numeral 3 denotes an elevating mechanism for the coil car 2, and a solenoid valve 9 for adjusting the hydraulic pressure
The coil 4 is supported and loaded on the V-shaped skid 3a by a cylinder that moves the V-shaped skid 3a up and down. Next, the operation will be described with reference to the flowchart of FIG. A transfer command from a transfer control process computer (not shown) is sent to the sequencer 1 as shown in FIG.
Is received via the I / O 20 (S20). When the sequencer 1 receives the transfer command, the sequencer 1
The electromagnetic valve 9 of the lifting mechanism 3 is operated to load the coil 4 on the coil car 2 (S21). The sequencer 1 confirms the fixed position of the stop point specified in the transfer command, calculates the rotation direction and speed of the motor 5 by the motor control circuit 7, drives the power supply by the SW 8, and starts the transfer of the coil car 2 (S22). ). The sequencer 1 reads the previous coasting distance at the fixed position as the next stop point from the RAM 23 (S23), and executes the actual stop command when the previous coasting distance is subtracted from the normal stop command execution point. Then, the power supply to the motor 5 is turned off by turning off the SW8 (S24). In this processing, as shown in FIG. 4, since the stop position 1 is shifted from the stop command execution point by the coasting distance (shaded portion), the stop position is corrected by reducing this. Did it stop in place? Confirm the position of (S2
5) If the vehicle has stopped at the scheduled position, information such as the stop position is notified to the process computer, the coasting distance in the RAM 23 is updated, and the process ends (S26). If the stop position is deviated, the position is corrected, the coasting distance is calculated again at S26, and the process is terminated (S27). As described above, according to the present embodiment, since the correction control is performed based on the previous coasting distance data, compared with the conventional fixed value control using the average value of several measured values as in the related art, Real-time follow-up control is achieved, and accurate stop position control becomes possible by updating the data to the previous one by the learning function. Also, as shown in FIG.
Instead of the direct insertion motor 5, a conveyed object may be conveyed using a hydraulic device 10 (for example, a hydraulic motor, a hydraulic cylinder, or the like) controlled by a solenoid valve 9. In the example of a steel process line, the coasting distance data due to the inertia of the coil is exchanged for each lot, such as a steel sheet production line for automobiles, a stainless steel production line, and a magnetic steel production line, and a stop command is issued. If the data is updated each time the execution is performed, it is possible to accurately cope with a change in the inertial mass of the coil.

[0006]

As described above, according to the present invention,
The coasting distance at the time of the previous stop of the coil car is stored and stored, and at the next stop, the previous stop coasting distance is corrected to improve the stop position accuracy of the transfer machine. This has the effect of improving accuracy.

[Brief description of the drawings]

FIG. 1 is a conceptual block diagram of a sequencer and a transport machine according to an embodiment of the present invention.

FIG. 2 is a flowchart of a control operation of the sequencer shown in FIG.

FIG. 3 is a block diagram of the sequencer shown in FIG. 1;

FIG. 4 is a diagram showing a stop instruction output timing of the sequencer shown in FIG. 1;

FIG. 5 is a configuration diagram of a conventional lifting / lowering force switching type coil car.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Sequencer 2 Colker 3 Elevating mechanism 4 Coil 5 Direct insertion motor 6 Inverting switch 7 Motor control circuit 8 Direct insertion SW 9 Solenoid valve 10 Hydraulic equipment 20, 21 I / O CPU 22 RAM 23 ROM 24

Claims (2)

[Claims] 1. A method of controlling a coasting stop position of a transport machine in which a transport machine that transports a transported object using a direct insertion motor is stopped at a fixed position by a sequencer having a CPU and a RAM. The distance is stored and stored in the RAM,
A method for controlling a coasting stop position of a transport machine, comprising: obtaining the previous coasting distance information from the RAM at the next stop and correcting the stop coasting distance by the CPU. 2. A coasting stop position control method for a transport machine that stops a transport machine that transports a transported object using a hydraulic device controlled by an electromagnetic valve at a fixed position by a sequencer having a CPU and a RAM. The coasting distance at the time of stop is stored and stored in the RAM,
A method for controlling a coasting stop position of a transport machine, comprising: obtaining the previous coasting distance information from the RAM at the next stop and correcting the stop coasting distance by the CPU.