JPH1180830A - Device for controlling carrying of beam in walking beam type steel material heating furnace and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the working rate of an equipment by shortening one cycle of carrying time of walking beam without developing slantly shift of a steel material. SOLUTION: In a beam carrying control device in a walking beam type steel material heating furnace, a position detecting means 11 for detecting the rotating position of an eccentric ring for elevating/lowering a movable beam, a torque changing rate detecting means 16 for detecting the changing rate of output torque of a driving motor 5 for elevating/lowering the movable beam, a load-on/off detecting means 17, 18, 21, 22 for detecting the load-on of the steel material onto the moving beam and/or the load-off of the steel material onto a fixed beam based on the changing rate of the torque and the rotating position of the eccentric ring.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a beam transport control device and a recording medium for a walking beam type steel heating furnace.

[0002]

2. Description of the Related Art Walking beam steel heating furnaces have been widely used for heating steel materials. A plurality of fixed beams and a plurality of mechanically coupled movable beams are provided in the furnace of the walking beam steel heating furnace. When the steel material is loaded one by one on the fixed beam in the furnace, the movable beam is taken into the furnace by one cycle operation of ascending, advancing, descending, and retreating. At the same time, all the steel materials in the furnace are transported forward by the length of the forward stroke of the movable beam by one cycle operation.

Here, the ascending and descending strokes are mechanically fixed amounts, but the advancing stroke is controlled so as to be constant according to the width of the steel material and the pitch between the steel materials. After lowering the beam, retract the beam by the forward stroke length to complete one cycle operation, stop at the beam standby position and wait for the next material to be charged or for the extraction of heated steel at the furnace exit side. Become.

[0004] At the furnace insertion port, the next material is charged onto the fixed beam at the movable beam stop, and the preceding material in the furnace is conveyed in the furnace by the movable beam. Then, at the extraction port of the furnace, the heated steel material is extracted while the movable beam is stopped while being conveyed in the furnace, and sent to the next process such as rolling.

FIG. 2 is a plan view for explaining the internal structure of the heating furnace. The steel material 1 is prepared in front of the heating furnace charging door 9 of the heating furnace 2 and the charging door 9 is opened. When the steel material 1 is placed on the fixed beam 3 at the furnace interior charging position, the charging door is closed again. Charging is completed.

As shown in FIG. 2, the steel material 1 is loaded so that the longitudinal direction of the steel material is orthogonal to the longitudinal direction of the beam, and after loading, the movable beam 4 is moved toward the extraction side by one cycle operation of ascending, advancing, descending, and retreating. Conveyed.

The steel material 1 charged in the furnace is a movable beam 1
When the cycle operation is repeated and reaches the extraction position, the heating furnace extraction door 10 is opened, and the steel material heated in the furnace is extracted outside the furnace.

FIG. 3 is a plan view for explaining the mechanism of the movable beam. The movable beam 4 has a plurality of eccentric wheels 7 (the eccentric wheels 7a to 7) which rotate at the same eccentric angle with the same outer diameter and the same eccentric size.
g, hereinafter simply referred to as the eccentric ring 7). The eccentric wheel 7 is rotationally driven by a lifting drive motor 5 via gears 6 (gears 6a to 6d, hereinafter also simply referred to as gear 6). Further, the movable beam 4 is pushed and pulled by a forward / backward drive hydraulic cylinder 8 to move forward / backward.

FIG. 4 is a side view for explaining an operation transition between the rotation angle of the eccentric wheel and the beam elevating position. FIG. 4A shows that the movable beam position is at the lower limit position and the rotation angle θ of the eccentric wheel 7 is 0 °, that is, the movable beam position is at the standby position. At this time, the vertical position of the movable beam 4 is at the lower limit, and the furnace steel 1
Is on the fixed beam 3.

FIG. 4B shows a state in which the movable beam 4 starts to be conveyed, the eccentric wheel 7 rotates in the normal direction by θ = θ3 °, and the upper surface of the movable beam 4 rises to the upper surface of the fixed beam 3. This shows a state in which the steel material 1 is in contact with the movable beam 4, that is, a loading position (material touch position).

FIG. 4C shows that the eccentric wheel 7 rotates further in the normal rotation direction than the material touch position, and the movable beam 4 pushes up the steel material 1 from the fixed beam. Indicates the 180 ° state, that is, the ascending limit position.

FIG. 4D shows that the eccentric wheel 7 further rotates in the normal rotation direction from the ascending limit position, the upper surface of the movable beam 4 descends to the upper surface of the fixed beam, and the eccentric wheel rotation angle is θ = θ8 °. This shows a state in which the steel material 1 on the movable beam is in contact with the fixed beam 3, that is, the unloading position (material placing position). FIG.
When the eccentric wheel 7 is further rotated in the normal rotation direction from the material storage position shown in (d), the eccentric wheel rotation angle θ becomes 360 °, the movable beam position returns to the lower limit position, and the eccentric wheel rotation is stopped. .

FIG. 5 is a diagram showing an example of the transition of the speed of the movable beam driving motor and the load torque applied to the motor shaft during one rotation of the eccentric wheel. Hereinafter, the operation cycle of the walking beam will be described with reference to FIG. 4 along the transition of the eccentric wheel rotation angle θ shown in FIG.

First, the eccentric wheel rotation angle θ in FIG.
Is the lower limit position (FIG. 4A). The movable beam driving motor 5 is accelerated forward from the lower limit position to N1 rpm at a high speed to raise the movable beam 4.

Next, in order to reduce the impact on the steel material 1 at the time of loading, an operation of lowering the beam rising speed is performed. That is, deceleration is performed at the position where the eccentric wheel rotation angle θ is θ1 °, and θ2
At the position of °, the motor speed is reduced to the low speed of N2 rpm.

The eccentric wheel rotation angle reaches the loading position (FIG. 4 (b)) at θ3 ° while maintaining the low N2 rpm speed, and at θ4 °, the drive motor 5 is again accelerated to Nlrpm at high speed. The drive motor 5 is decelerated when the eccentric wheel rotation angle is θ5 °, and is stopped when the movable beam ascending limit position (FIG. 4C) and the eccentric wheel rotation angle θ is 180 °.

After the beam advances, the movable beam drive motor 5
From the ascending limit position (FIG. 4 (c)) to the high-speed Nlrpm for forward rotation to lower the movable beam. When unloading steel 1
In order to reduce the impact on the beam, the beam lowering speed is reduced. That is, deceleration is started at the position where the eccentric wheel rotation angle θ is θ6 °, and the motor speed is reduced to the low speed N3 rpm at the position where θ7 °.

The eccentric wheel rotation angle reaches the stocking position (FIG. 4 (d)) where the rotation angle of the eccentric wheel is θ8 ° while maintaining the low N3 rpm speed, and θ9 °
, The driving motor 5 is reaccelerated to a high speed Nlrpm. When the eccentric wheel rotation angle is θ10 °, the drive motor 5 is decelerated, and stopped at the movable beam lower limit position (FIG. 4A) and the eccentric wheel rotation angle θ is 360 °. Then, the beam is retracted, and the movable beam returns to the first descent limit position where the eccentric wheel rotation angle θ is 360 °, that is, the standby position, and one cycle is completed.

On the other hand, the motor load torque is obtained by converting the load of the steel material 1 and the movable beam 4 into a motor shaft torque, and is a sine trigonometric function of the eccentric wheel rotation angle θ. As for the motor output torque, friction torque and inertial acceleration / deceleration torque are added to this load torque.

FIG. 5 shows the motor load torque T in addition to the motor speed N corresponding to the eccentric wheel rotation angle. As shown in the figure, since the weight of the steel material is added at the material touch position where the eccentric wheel rotation angle is θ3 °, the load torque increases stepwise. The step increase of the load torque is proportional to the weight of all steel materials in the furnace.

When the eccentric wheel rotation angle θ exceeds 180 °, a reverse load torque is applied to the motor shaft as the load torque, and the steel material loses its weight at the material storage position where the eccentric wheel rotation angle θ is θ8 °. Decreases stepwise. The step reduction of the load torque is proportional to the weight of all steel materials in the furnace.

By the way, one cycle transfer in the furnace is carried out after charging operation, securing necessary time for heating, and extracting operation, but depending on the type and size of steel material, the charging operation cycle from the previous process and the subsequent operation. In many cases, the extraction operation cycle for the process is earlier than one cycle of the beam. Further, the time required for heating may be short.

Even in such a case, it is inevitable that the charging from the previous process and the extraction to the subsequent process are performed after waiting for one cycle of the beam transport time. However, in this case, the operation rate of the entire process including the pre-process and post-process of the heating furnace can be suppressed by the cycle time of the walking beam.

In order to shorten the one cycle time of the walking beam, the length of one cycle stroke for elevating and lowering the beam and the length of one cycle stroke for reciprocating or lowering the beam elevating speed and the speed of reciprocating forward and backward are increased. It is necessary to do.

[0025]

However, the beam elevating stroke does not hit the movable beam even if the heated steel material supported by the fixed beam hangs, and the steel material supported by the movable beam has a sag. Also, a sufficient distance is required so as not to hit the fixed beam. That is, if the movable beam is moved forward and backward while being in contact with both the fixed and movable beams, the steel material 1 is skewed and conveyed in the furnace. 1 may fall from the beam.

On the other hand, if the steel material 1 on the beam is violently moved by increasing the beam elevating speed and the forward / backward moving speed, the steel material 1 is liable to be skewed as described above.
The beam elevating speed and the forward / backward moving speed need to be sufficiently low so as not to shift on the upper side.

As another method for shortening one cycle time of the walking beam, the difference between the loading position .theta.3 and the intermediate acceleration start position .theta.4 is reduced in order to accelerate the start of the intermediate acceleration of the beam rise, or to reduce the beam lowering. It is conceivable to reduce the interval between the unloading position θ8 and the intermediate acceleration start position θ9 in order to accelerate the intermediate acceleration start. However, since both the loading position θ3 and the unloading position θ8 are the expected loading position and the unloading expected position, and have an error with respect to the actual loading position and the unloading position, the detection of θ3 and θ4 and the detection of θ8 and θ9 are performed. When the positions are close to each other, acceleration is started before loading or unloading on the movable beam 4 is not completed, and it is not possible to reduce the impact given to the steel material 1 during loading or unloading. Therefore, it is necessary to ensure a sufficiently wide detection position interval between the loading position θ3 and the intermediate acceleration start position θ4 and a detection position interval between the unloading position θ8 and the intermediate acceleration start position θ9.

Further, when the movable beam 4 is raised to the stop position θ = 1
The beam may be moved forward or backward without waiting for the beam to reach 80 ° or the descent stop position θ = 360 °, but this forward / backward movement may involve loading steel on the movable beam or unloading steel on the fixed beam. The above-mentioned inconvenience may occur if the detection is performed without reliably detecting the error. That is, if the movable beam 4 is moved forward and backward while being in contact with both the fixed beam and the movable beam, the steel material 1 is skewed, causing a problem.

Therefore, the method of reducing the beam elevating stroke and the forward / backward moving stroke, increasing the beam elevating speed and the forward / backward moving speed, and accelerating the start timing of the intermediate acceleration of the beam elevating by detecting the rotational position of the beam eccentric wheel is required. It has been difficult to reduce the time required to carry one cycle of the walking beam without the occurrence of skew.

The present invention has been made in view of such circumstances, and aims to improve the equipment operation rate by shortening the one-cycle transporting time of a walking beam without causing skewing of steel materials. It is an object of the present invention to provide a beam transfer control device and a recording medium for a walking beam type steel material heating furnace that can perform the above-described steps.

[0031]

According to a first aspect of the present invention, there is provided a beam transfer control device for a walking beam type steel heating furnace, wherein a rotating eccentric wheel for raising and lowering a movable beam is provided. Position detecting means for detecting a position, torque change rate detecting means for detecting a change rate of an output torque of a drive motor for raising and lowering the movable beam, and a steel material based on a torque change rate and a rotational position of the eccentric wheel. A beam transfer control device for a walking beam type steel heating furnace, comprising: a loading / unloading detecting means for detecting loading on a movable beam and / or unloading of steel onto a fixed beam.

The present invention is provided with such means.
Based on the output torque of the drive motor, it can be reliably detected that the steel material has loaded on the movable beam and / or that the steel material has dropped on the fixed beam. For example, as shown in the timings of θ3 and θ8 in FIG. 5, when a steel material is loaded or unloaded, a sudden change occurs in the output torque of the drive motor, and this is used. Furthermore, the rotational position of the eccentric wheel is also checked, and whether or not the steel material has been loaded or unloaded is reliably detected by checking whether or not the rotational position is within a predetermined range.

According to a second aspect of the present invention, in the first aspect of the present invention, the loading / unloading detecting means detects that the steel material has been loaded on the movable beam and / or that the steel material has been loaded on the fixed beam. This is a beam transport control device for a walking beam type steel material heating furnace provided with a beam lifting / lowering intermediate acceleration control means for controlling to start intermediate acceleration of the movable beam when detecting that the movable beam has started.

The present invention is provided with such means.
The same operation and effect as those of the first aspect of the present invention can be obtained, and the one-cycle transport time of the walking beam can be reduced without occurrence of skewing of the steel material. In other words, the intermediate acceleration of the movable beam is started after reliable detection of loading or unloading of the steel material by the loading / unloading detection means, so that the movable beam can be moved immediately without any unnecessary waiting time. An intermediate acceleration of the beam is provided. Further, since the steel material has already been loaded or unloaded, the skew of the steel material can be prevented while shortening the one-cycle carrying time of the walking beam.

According to a third aspect of the present invention, in accordance with the first or second aspect, the loading / unloading detecting means detects that the steel material has been loaded on the movable beam and / or that the steel material has been placed on the fixed beam. This is a beam transport control device of a walking beam type steel material heating furnace provided with beam forward / backward control means for controlling the movable beam to start moving forward and / or backward when the unloading is detected.

According to the present invention, such means are provided.
The same operation and effect as the invention according to claim 1 or 2 can be obtained, and the one-cycle carrying time of the walking beam can be further reduced without occurrence of skewing of the steel material. That is, the forward / backward movement of the movable beam is started after the loading / unloading detecting means has surely detected the loading or unloading of the steel material. Since the loading or unloading of steel material has already been performed, one of the walking beams
It is possible to prevent the skew of the steel material while further shortening the cycle transport time.

Further, according to a fourth aspect of the present invention, there is provided a torque change rate calculating function for calculating a torque change rate based on an output torque value of a drive motor for raising and lowering a movable beam, and a torque change rate and the movable beam. Based on the rotational position of the eccentric wheel to be raised and lowered, a control program having a loading / unloading detection function for detecting that the steel material is loaded on the movable beam and / or that the steel material is loaded on the fixed beam is recorded. , A recording medium readable by a beam transport control device of a walking beam type steel material heating furnace. The present invention
Since such a means is provided, the same effect as that of the invention corresponding to claim 1 can be obtained in the control device that reads the control program.

[0038]

Embodiments of the present invention will be described below. FIG. 1 is a block diagram showing a configuration example of a beam transport control device of a walking beam type steel heating furnace according to an embodiment of the present invention. The beam transfer control device of the walking beam type steel material heating furnace is configured to be able to read a control program, and to perform the following control according to the read program.

The beam transport control device shown in FIG. 1 is used for a walking beam type steel heating furnace as described with reference to FIGS. Therefore, in the present embodiment, the description of the walking beam type steel heating furnace will be omitted, and only the beam transport control device will be described. In FIG. 1, the same parts as those in FIGS.

In this embodiment, although the operation time is different, the pattern of the walking beam operation cycle is the same as that shown in FIG. 5, so that the rotation angle θ, the speed N and the torque T at each timing are obtained. About FIG. 5
It is assumed that the same reference numerals are used.

This beam transport control device comprises a motor speed control device 15 for controlling the movable beam lifting drive motor 5.
And an eccentric wheel rotational position detector 11 for a hydraulic control device 13 for driving a movable beam forward / backward drive hydraulic cylinder 8.
The operation of the movable beam 4 is controlled by the beam lifting / lowering control device 14 and the beam forward / backward control device 12 based on the above.

In order to control the operation of the movable beam 4, the outputs from the motor speed control device 15 are sequentially processed by computing units 16, 17, 18, a steel material loading detector 21, and a steel material unloading detector 22. It is supposed to be.

The beam advance command signal generator 19 and the beam elevation intermediate acceleration command signal generator 23 which have received the output from the steel material loading detector 21 advance the beam forward / backward control device 12 and the beam elevation control device 14 respectively. , Elevation control is required. On the other hand, the beam retreat command signal generator 20 and the beam lowering intermediate acceleration command signal generator 24 which receive the output from the steel material unloading detector 22 retreat the beam forward and backward control device 12 and the beam elevating control device 14, respectively. ,
Lowering control is required.

Hereinafter, the configuration of each unit will be described in detail. The rotation position detector 11 is directly connected to the rotation axis of the movable beam eccentric wheel 7, and outputs a detected value of the eccentric wheel rotation angle θ. The output of the detected value is input to the beam forward / reverse control device 12, the beam lifting / lowering control device 14, the steel material loading detector 21, and the steel material unloading detector 22.

Basically, the beam forward / reverse control unit 12 inputs the eccentric wheel rotation angle θ and the lifting / lowering operation completion signal from the beam lifting / lowering control unit 14, and issues a beam forward / backward command to the hydraulic control unit 13. Output a signal. However, even if this condition is not satisfied, a command signal to the hydraulic control device 13 is output when receiving a signal from the beam forward command signal generator 19 or the beam backward command signal generator 20.

The hydraulic controller 13 moves the beam forward / backward drive hydraulic cylinder 8 forward / backward when the beam forward / backward command signal is input. The beam raising / lowering controller 14 receives the eccentric wheel rotation angle θ and the beam forward / reverse operation completion signal from the beam forward / backward controller 12 and outputs an operation speed command signal to the beam lifting / lowering drive motor speed controller 15. . However, even if this condition is not satisfied, if a signal from the signal from the beam rising intermediate acceleration command signal generator 23 or the beam lowering intermediate acceleration command signal generator 24 is received, a command signal to the beam raising / lowering drive motor speed controller 15 is output. It is supposed to.

The speed control device 15 controls the speed of the beam lifting / lowering drive motor 5. The arithmetic unit 16 obtains the operating torque Tm of the beam lifting / lowering drive motor from the load current by the motor speed control device 15, and calculates this as (1)
The time change rate a of the torque is output by substituting into the calculation of the equation.

DTm / dt = a (1) The arithmetic unit 17 receives the torque change rate a, compares it with the torque change rate reference value a0 which is a fixed value of the arithmetic unit 17, and calculates the equation (2). When the condition is satisfied, a torque change detection signal is output.

A ≧ a0 (2) Since the step increase in the load torque is proportional to the weight of all the steel materials in the furnace, the fixed value a0 is the torque change rate generated when the weight of all the steel materials in the furnace is the minimum value. .

The steel loading detector 21 receives the torque change detection signal from the computing unit 17 and the eccentric wheel rotation position θ from the detector 11 and outputs the torque change detection signal when θ satisfies the condition of equation (3). When input, it outputs a steel material loading detection signal.

Θ 4>θ> θ 2 (3) Upon input of the steel material loading detection signal from the detector 21, the signal generator 19 outputs a movable beam advance command signal to the movable beam forward / backward control device 12.

When the signal generator 23 receives the steel material loading detection signal, the signal generator 23 outputs a movable beam elevation intermediate acceleration command signal to the movable beam elevation control device 14. In response to the movable beam advance command signal from the signal generator 19, the movable beam forward / backward control device 12 advances the movable beam without waiting for the movable beam 4 to reach the ascending limit. Similarly, the signal generator 2
In response to the movable beam raising intermediate acceleration command signal from 3, the movable beam raising / lowering control device 14 intermediately accelerates the moving beam raising operation without waiting for the movable beam eccentric wheel rotation angle to reach the beam rising intermediate acceleration position of θ4. Let it.

The computing unit 18 inputs the torque change rate a,
Comparing with the torque change rate reference value a1, which is a fixed value of the arithmetic unit, calculates a torque change detection signal when the equation (4) is satisfied.

| A | ≧ | a1 | (4) Since the step reduction of the absolute value of the load torque is proportional to the weight of all steel materials in the furnace, the fixed value | a1 | Is the rate of change of torque that occurs in

The steel material unloading detector 22 receives the torque change detection signal from the computing unit 18 and the eccentric wheel rotation position θ from the detector 11 and, when θ satisfies the condition of the expression (5), the torque change detection signal. When a is input, a steel material unloading detection signal is output.

Θ 7>θ> θ 9 (5) Upon input of the steel material unloading detection signal from the detector 22, the signal generator 20 outputs a movable beam retreat command signal.

The signal generator 24 outputs a movable beam lowering intermediate acceleration command signal when the steel material unloading detection signal is input. In response to the movable beam retreat command signal from the signal generator 20, the movable beam forward / reverse control device 12 retracts the movable beam without waiting for the movable beam 4 to reach the lower limit. Similarly, the movable beam raising / lowering controller 14 is controlled by the movable beam lowering intermediate acceleration command signal from the signal generator 24.
Performs intermediate acceleration of the lowering operation of the movable beam without waiting for reaching the beam lowering intermediate acceleration position where the movable beam eccentric wheel rotation angle is θ9.

Next, the operation of the beam transfer control apparatus for a walking beam type steel heating furnace according to the embodiment of the present invention configured as described above will be described. The basic operating cycle of the walking beam is similar to the operation described in the prior art with reference to FIG. In the beam transfer control device of the walking beam type steel heating furnace according to the present embodiment, an intermediate moving up / down accelerating operation of the movable beam 4 and a forward / backward moving operation of the movable beam are added to this basic operation. Less than,
Only this point will be described.

First, when the steel material 1 is loaded on the movable beam 4 while the movable beam 4 is rising, the eccentric wheel rotation angle θ3 shown in FIG.
As shown in (1), the operating torque Tm of the beam lifting drive motor from the motor speed control device 15 rises sharply. Thereby, it is detected that the steel material 1 is loaded on the movable beam. This detection is based on the above processing of the computing units 16 and 17 and the steel material loading detector 21.

By this detection, a steel load detection signal is output from the steel load detector 21, and this signal is input to the beam rise intermediate acceleration command signal generator 23. As a result, an intermediate acceleration command signal for beam elevation is output from the beam elevation intermediate acceleration command signal generator 23 to the beam elevation control device 14. Therefore, the intermediate acceleration of the beam rise is started without waiting for the detection of the intermediate acceleration start position from the eccentric wheel rotation position detector 11. At this point, it has been confirmed that the steel material has been reliably loaded on the movable beam 4,
Starting the intermediate acceleration does not cause any trouble.

On the other hand, the steel material loading detection signal is also input to the beam forward command signal generator 19, and the beam forward command signal is output to the beam forward and backward control device 12. Therefore, advance of the beam is started without waiting for the beam to reach the upper limit. Also, about this beam advance,
Since the steel material is reliably loaded on the movable beam 4 and is being further raised, no trouble occurs.

Next, the operation during the descent of the movable beam 4 will be described. First, when the steel material 1 on the movable beam is unloaded onto the fixed beam 3 while the movable beam 4 is descending, as shown by the eccentric wheel rotation angle θ8 in FIG.
, The operating torque Tm of the beam lifting drive motor rises sharply. Thereby, it is detected that the steel material 1 has been unloaded onto the fixed beam. This detection is performed by the operation units 16 and 1
7. This is due to the above processing of the steel material unloading detector 22.

With this detection, a steel material unloading detection signal is output from the steel material unloading detector 22, and the signal is input to the beam descent intermediate acceleration command signal generator 24. As a result,
An intermediate acceleration command signal for beam lowering is output from the beam lowering intermediate acceleration command signal generator 24 to the beam elevation controller 14. Therefore, the intermediate acceleration of the beam descent is started without waiting for the detection of the intermediate acceleration start position from the eccentric wheel rotation position detector 11. At this point, since it has been confirmed that the steel material 1 has been reliably unloaded onto the fixed beam 3, there is no problem even if the intermediate acceleration is started.

On the other hand, the steel material unloading detection signal is also input to the beam retreat command signal generator 20, and a beam retreat command signal is output to the beam forward and backward control device 12. Therefore, the beam retreat starts without waiting for the beam lowering to reach the lower limit. Also about this beam retreat,
Since the steel member 1 is securely loaded on the fixed beam 3 and the movable beam 4 is further descending, no trouble occurs.

As described above, the beam transfer control device of the walking beam type steel heating furnace according to the embodiment of the present invention uses the eccentric wheel rotation position detector 11 of the movable beam 4 to rotate the eccentric wheel. While checking the position, based on the change rate of the motor load torque from the movable beam drive motor control device 15, steel loading or unloading is detected, so that the steel loading on the movable beam and the fixed beam on Can be reliably and quickly detected.

In the beam transfer control device of the walking beam type steel heating furnace, the intermediate and intermediate steps of the beam lifting and lowering are performed based on the reliable and quick detection of the loading of the steel on the movable beam or the loading of the steel on the fixed beam. Since the start of acceleration and the start of forward / backward movement of the beam are performed, it is possible to prevent the movable beam from moving forward and backward while the steel material is in contact with both the fixed and movable beams, and to prevent the steel material from skewing. The time required to carry one cycle of the beam can be greatly reduced. As a result, the facility operation rate can be improved.

The present invention is not limited to the above embodiments, but can be variously modified without departing from the scope of the invention. Further, the method described in the embodiment can be executed by a computer as a program (software means) such as a magnetic disk (floppy disk, hard disk, etc.), an optical disk (CD-ROM, DVD, etc.), a semiconductor memory, etc. It can also be stored in a storage medium and transmitted and distributed via a communication medium. The programs stored on the medium side include
A software program (including not only an execution program but also a table and a data structure) to be executed by the computer includes a setting program for configuring the computer. A computer that realizes the present apparatus reads a program recorded in a storage medium, and in some cases, constructs software means by using a setting program, and executes the above-described processing by controlling the operation of the software means.

[0068]

As described above, according to the present invention, the loading of steel on the movable beam and the unloading of steel on the fixed beam are reliably detected from the rate of change in torque generated in the motor, and the beam is accordingly detected. As we made intermediate acceleration and forward and backward,
Provided is a beam transport control device and a recording medium for a walking beam type steel heating furnace which can shorten the one-cycle transport time of a walking beam and improve the facility operation rate without causing skew of the steel material. be able to.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration example of a beam transport control device of a walking beam steel heating furnace according to an embodiment of the present invention.

FIG. 2 is a plan view illustrating an internal configuration of a walking beam steel heating furnace.

FIG. 3 is a plan view illustrating a mechanism of a movable beam.

FIG. 4 is a side view for explaining an operation transition between a rotation angle of an eccentric wheel and a beam elevating position.

FIG. 5 is a diagram showing an example of changes in the speed of a movable beam driving motor and the load torque applied to the motor shaft during one rotation of an eccentric wheel.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Steel material 2 ... Heating furnace 3 ... Fixed beam 4 ... Movable beam 5 ... Movable beam raising / lowering drive motor 6 ... Gear 7 ... Eccentric wheel 8 ... Hydraulic cylinder for movable beam forward / backward movement 9 ... Heating furnace loading door 10 ... Heating furnace Extraction door 11 ... Eccentric wheel rotation position detector 12 ... Movable beam forward / backward control device 13 ... Hydraulic control device 14 ... Beam elevating control device 15 ... Motor speed control device 16,17,18 ... Calculator 19 ... Beam advance command signal Generator 20: Beam retreat command signal generator 21: Steel loading detector 22 ... Steel unloading detector 23 ... Beam rising intermediate acceleration command signal generator 24 ... Beam lowering intermediate acceleration command signal generator

Claims (4)

[Claims] 1. A beam transport control device for a walking beam type steel heating furnace, comprising: a position detecting means for detecting a rotational position of an eccentric wheel for raising and lowering a movable beam; and an output torque of a drive motor for raising and lowering the movable beam. Torque change rate detecting means for detecting a change rate, based on the change rate of the torque and the rotational position of the eccentric wheel, that the steel material is loaded on the movable beam, and / or the steel material is unloaded on the fixed beam. And a loading / unloading detecting means for detecting the occurrence of a load. 2. When the unloading detecting means detects that the steel material is loaded on the movable beam and / or that the steel material is unloaded on the fixed beam, an intermediate acceleration of the movable beam is started. 2. The beam transport control apparatus for a walking beam type steel heating furnace according to claim 1, further comprising a beam elevation intermediate acceleration control means for controlling. 3. When the unloading detecting means detects that the steel material is loaded on the movable beam and / or that the steel material is unloaded on the fixed beam, the forward and / or backward operation of the movable beam is started. 3. The beam transport control device for a walking beam type steel heating furnace according to claim 1, further comprising a beam forward / backward control means for controlling the beam forward / backward movement. 4. A torque change rate calculating function for calculating a torque change rate based on an output torque value of a drive motor for raising and lowering the movable beam, and a rotation position of the eccentric wheel for raising and lowering the torque change rate and the movable beam. A walking beam type steel heating furnace which records a control program having a loading detection function for detecting that the steel material has been loaded on the movable beam and / or that the steel material has been loaded onto the fixed beam, based on the Recording medium readable by the beam transport control device.