JPS5823517A - Developing device for coil end - Google Patents

Abstract

PURPOSE:To develop a coil end automatically and rapidly by controlling a driving system in response to operations of a up-and down-moving body and traveling means. CONSTITUTION:A microcomputer having an actuating command and incorporating the output of an encorder indexes a tangential and normal direction of a coil end by reading the turning angle of a up- and down-moving mast 6 or the existent angle of a clamp device 7. The microcomputer calculates the resultant vector of the prescribed velocity vectors in the tangential and normal direction and resolves the resultant vector into X and Y direction components and performs analog conversion of the resolved components with respect to the magnitudes and directions, and outputs the results as velocity commands to each traveling and traversing controllers. Each drive controller compares the given velocity commands with feed back inputs and drives and controls the motors in rotating numbers corresponding to the velocity commands. On starting the displacement of the coil end, the up-and down-moving mast 6 begins to turn by the reaction of a steel plate. The coil end automatically continues to develop out at a fixed developing speed while receiving appropriate tension.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a coil end unfolding device for inspecting the presence or absence of flaws inside the coil end portion of a rolled and wound steel plate coil.

Coils that have been rolled and wound in the rolling process may have flaws due to vibrations at the ends of the coil during transportation by roller conveyor to the secondary process and contact with the circular surface of the coil. Conventionally, these flaws were checked for. Therefore, the ends of the wires were manually unfolded and visually inspected.

When unfolding the edges manually, it is a labor intensive task. The coil itself had a residual heat of several 100 degrees Celsius, and the work was dangerous.

This invention eliminates the manual work described above.

1) The purpose of this invention is to provide a device that automatically performs the above tasks.

An embodiment of this invention will be described below.

Figure 1 shows the overall mechanism of the device, and shows the device installed above the coil (21) placed in the horizontal direction, and can move along the running rail (3).
+F1 is a traveling girder, and a horizontally running rub (51) rides on this traveling girder (41) and can move along the direction perpendicular to the traveling rail (3). 5) More suspended.

A clamp device (71 is fixed) that is held vertically at an arbitrary height and clamps the steel plate at the bottom.

Moreover, this elevating mast (6) is free to rotate so that it can rotate freely due to the reaction force of the steel plate applied to the clamp device (7).

Figure 2 shows the control system of this device, where (8) is an encoder that detects the turning angle of the lifting mast (6), (9) is a microcomputer, and α0 is a motor for traveling and traversing, respectively. The traveling motor υ drives the traveling girder wheel 111 through a torque limiter a, and the traversing motor a4 drives the love wheel traverse through a torque limiter .

Each drive control device 1lIa11K#i rotational speed detection pulse generator (hereinafter abbreviated as PG as appropriate) a3°α9 generates a pulse generator Q3. The rotational speed of Q4 is fed back. In addition, a large encoder al for detecting the current position of the traveling girder and an encoder αl for detecting the current position of the traversing rub are attached to each wheel, and their outputs are fed back to the microcomputer (91K).

FIG. 3 shows the control principle. In the figure, coordinates XFi, traversal direction, and Yd are shown in the traveling direction.

Note that a powder clutch or an eddy current joint is used for the torque limiter αe011, and the amount of torque transmission is adjusted by adjusting the excitation current.

The operation of this device will be explained in detail below. In FIG. 3, it is assumed that the coil end of the coil (2) is clamped at a point by a wrinkle clamp device (7).

In this state, a start command is given to the microcomputer (9) by an operation switch (not shown), and the microphone computer (9) receives the output of the encoder (8).
The turning angle of the lifting mast (6), that is, the current angle of the clamping device (7) is determined, the tangential direction and the normal direction of the coil end at point M in Fig. 3 are determined, and each velocity vector vaa is determined. The magnitude of is determined by the amount of tension that should be applied to the steel plate in the tangential direction. Also.

The magnitude of the velocity vector in the normal direction is determined by the required deployment speed, and both of the above quantities are set in advance.

The resultant vector υ1 of
, ! Calexa out of direction (, sya K decomposition.

After converting the magnitude and direction (positive, negative) into analog, the speed command value is set as the speed command value for each traveling and traversing drive control device and (II
K output. Each drive control device 11@ and an matches the given speed command value with the feedback input of each PG (11, Ql, etc.), and adjusts the motor to a rotational speed corresponding to the speed command value.
3. Drive control of α-.

The generated rotational force is transmitted to each wheel via the torque limiter αe and the surface. At this time, it starts moving in the normal direction to the steel plate at a speed of approximately Hina.

In the tangential direction, it slips due to the action of the torque limiter and acts only as a tension force. When the coil end begins to move, the lifting mast (61) rotates due to the reaction force of the steel plate. The process of outputting the speed command above is performed cyclically.

Here, each velocity vector when the coil end is expanded and moved to point B in Fig. 3 is shown in comparison with point M.
At point B, the size of 17sb becomes 1781L and 1
As is clear from the explanation that the size of 7na is equal to or greater than vnb, the coil end automatically deploys at a constant deployment speed while being given an appropriate tension. Then, the amount of expansion exceeds a certain value.

The microcomputer (9) is equipped with a shaft encoder (9) that functions as a current position detector for each axis.
), Ql is detected as the AND condition, and the microcomputer (9) ends the deployment control. In addition,
The amount to be expanded is previously read into the microcomputer (9) using the setting device shown in the figure.

By the way, if it is configured like this example.

Since the coil end can be developed by performing simple trigonometric calculations in real time without performing complex locus calculations of the coil end in real time, the response is quick and there is an effect that no unreasonable force is applied to the coil.

In the above embodiment, a case was explained in which the running gutter (4) and the horizontally running rub (5) run in directions perpendicular to each other. Well then.

There is one point in which the software for calculating and controlling the microcombinator (9) is somewhat complicated.

As described above, according to this issue 11, there is provided a drive system including running means that run linearly in directions that intersect with each other, and an elevating system that is attached to the running means and moves in the vertical direction and holds the coil end at its tip. Since a control system is provided to control the drive system in response to the operation of the body, the elevating body, and the traveling means, the end portion of the coil can be automatically and quickly deployed.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the overall configuration of an embodiment of the apparatus of the present invention, FIG. 2 is a diagram showing the control system of the device shown in FIG. 1, and FIG.
This figure is a diagram showing the control principle of what is shown in FIG. 2. In the figure, (2) is a steel plate coil, (3) is a running rail, (4) is a running girder, (6) is a horizontal rub, (6) is a mast, (7) is a clamp device, and (9) is a micro The computer is the drive control device. In the drawings, the same reference numerals indicate the same or similar parts. Agent Shin Kuzuno −

Claims (1)

[Scope of Claims] (υ A second drive system that is installed above the winding shaft of a steel plate coil placed vertically to the winding shaft and includes an arbitrary traveling means on a plane perpendicular to the winding shaft; an elevating body that is attached to the traveling means of the drive system and moves in the vertical direction and holds the end of the copper plate coil at its tip; (2) The elevating body is a system consisting of a mast on which the traveling means Kll of the second drive system is suspended and a clamp attached to the tip of this mast. , the mast rod is configured to rotate smoothly about its center axis as a rotation axis, and the control system determines the deployment direction of the coil end based on the rotation angle of the mast from the output from the detector. a calculation control means for outputting a command signal to give a constant tensile force in the tangential direction of the coil end and a constant deployment speed in the tangential direction; The coil end deployment device according to claim ζl), characterized in that it includes a drive control device that controls the operation of the drive system. (3) The first and second drive systems consist of a traveling means consisting of a drive vehicle, a drive motor for driving this traveling means, and a drive shaft provided between the drive axle and arbitrarily settable. In addition, the arithmetic control means of the control system determines a velocity vector in the tangential direction that is uniquely determined for the amount of tension in order to give each drive motor a constant tensile strength in the tangential direction of the coil end. The speed vector is vector-decomposed into each reference direction at that time, given as a speed command to each drive motor, and is caused to slide at a constant torque through a torque limiter. The coil end deployment device according to claim (2), wherein the coil end deployment device is computationally controlled so that the amount of tension is expanded in the tangential direction. (4) The coil end deployment device according to claim (3), wherein the torque limiter is comprised of a powder clutch. (6) The coil end deployment device according to claim (3), wherein the torque limiter is comprised of an eddy current joint. (-) A patent characterized in that the arithmetic control means includes output signals from detectors that detect the positions of the traveling means of the first and second drive systems and output signals from a detector that detects the rotation angle of the mast. A coil end deployment device according to any one of claims (2) to (5). (n) Claims (1) to (6) characterized in that the arithmetic control means is a microcomputer.
) The coil end deployment device according to any one of paragraphs 1 and 2.