KR20170075415A - Transfer control device and roller table having the same - Google Patents

Transfer control device and roller table having the same Download PDF

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Publication number
KR20170075415A
KR20170075415A KR1020150185038A KR20150185038A KR20170075415A KR 20170075415 A KR20170075415 A KR 20170075415A KR 1020150185038 A KR1020150185038 A KR 1020150185038A KR 20150185038 A KR20150185038 A KR 20150185038A KR 20170075415 A KR20170075415 A KR 20170075415A
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South Korea
Prior art keywords
pallet
roller table
control device
transfer control
signal
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KR1020150185038A
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Korean (ko)
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KR101774419B1 (en
Inventor
박창권
김관수
김남진
김정석
Original Assignee
주식회사 포스코
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C47/00—Winding-up, coiling or winding-off metal wire, metal band or other flexible metal material characterised by features relevant to metal processing only
    • B21C47/24—Transferring coils to or from winding apparatus or to or from operative position therein; Preventing uncoiling during transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B65G13/02—Roller-ways having driven rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors 
    • B65G39/02—Adaptations of individual rollers and supports therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/02—Control devices, e.g. for safety, warning or fault-correcting detecting dangerous physical condition of load carriers, e.g. for interrupting the drive in the event of overheating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0232—Coils, bobbins, rolls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0267—Pallets

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)
  • Rollers For Roller Conveyors For Transfer (AREA)

Abstract

The present invention relates to a roller table provided with a transfer control device. A roller table equipped with a transfer control device according to an embodiment of the present invention includes: a pallet on which the hot-rolled coil is mounted; An entry detection sensor for detecting entry of the pallet onto the roller table; A plurality of rollers arranged at regular intervals on the roller table to move the pallet by rotation; An electric motor rotating the roller; An inverter for controlling the rotation of the electric motor and outputting a frequency feedback signal including a rotation result of the electric motor; And a transmission control unit for estimating a movement distance and a position of the pallet based on the frequency feedback signal output from the inverter and outputting to the inverter a control signal for controlling movement of the pallet based on the estimated movement distance and position, Device.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a roller table having a transfer control device,

The present invention relates to a roller table provided with a transfer control device. More particularly, the present invention relates to a roller table provided with a transfer control device for estimating a movement distance of a pallet based on a frequency feedback signal as a feedback signal according to rotation of an electric motor for driving the roller.

The present invention relates to a pallet conveyor transfer facility for transferring hot coils produced in a winding facility, which is the final step of a hot rolling operation, to a cooling field.

In the hot rolling system, all hot coils are conveyed by a conveyor conveying system. The skid system, working beam system, and chain system have been used for more than 40 years. Recently, pallet conveying systems have been widely used have.

1 is a side view of a roller table according to a conventional pallet transporting method, FIG. 2 is a front view of the roller table, and FIG. 3 is a plan view of a roller table excluding a pallet of the roller table .

1, the conventional roller table 10 has seven rollers 40 arranged on a table 50 at regular intervals, and a pallet 30 for transporting the hot coils 20 is provided on the rollers. . The roller table 10 is provided with position detection sensors 62, 64, 66 for detecting the position of the pallet 30. The detection of the first sensor 62 can determine that the pallet 30 has entered the roller table 10 and the detection of the second sensor 64 will cause the pallet 30 to move to the next roller table And the conveyance speed of the pallet 30 is adjusted accordingly, and whether or not the pallet 30 is stopped by the detection of the third sensor 66 is determined.

The roller table 10 to which the transfer method using the conventional pallet 30 is applied has a problem in that the transfer control of the pallet 30 is impossible when the position detection sensors 62, 64, 66 malfunction. The position detecting sensors 62, 64 and 66 may be broken by the heat emitted from the hot coils 20. [

The conveying system using the roller table 10 uses a one-way system for the reason of cost or the like in conveying the pallet 30 by continuously connecting the plurality of roller tables 10. Since the trailing roller table also has to stop its operation when one roller table 10 stops operating in the one way system, the failure of the sensor can cause a serious operation rate and a decrease in productivity.

Therefore, it is required to provide a technique capable of controlling the conveyance of the pallet without using the position detection sensor.

Korean Patent Publication No. 1997-0030996

SUMMARY OF THE INVENTION It is an object of the present invention to provide a roller table equipped with a transfer control device capable of controlling the transfer of a pallet while using less position detection sensors.

The technical objects of the present invention are not limited to the above-mentioned technical problems, and other technical subjects not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a roller table having a transfer control device, the pallet including: a pallet on which the hot-rolled coil is mounted; An entry detection sensor for detecting entry of the pallet onto the roller table; A plurality of rollers arranged at regular intervals on the roller table to move the pallet by rotation; An electric motor rotating the roller; An inverter for controlling the rotation of the electric motor and outputting a frequency feedback signal including a rotation result of the electric motor; And a transmission control unit for estimating a movement distance and a position of the pallet based on the frequency feedback signal output from the inverter and outputting to the inverter a control signal for controlling movement of the pallet based on the estimated movement distance and position, Device.

According to the present invention, it is possible to control the pallet transport by estimating the pallet position based on the frequency feedback signal output from the motor using only one position detection sensor and driving the rollers.

1 is a side view of a roller table for conveying a conventional hot-rolled coil in a pallet manner.
2 is a front view of a roller table for conveying a conventional hot-rolled coil in a pallet manner.
Fig. 3 is a plan view of a conventional roller table for transferring hot-rolled coils in a pallet manner, with the pallet removed.
4 is a plan view of a roller table provided with a transfer control device according to an embodiment of the present invention.
5 is a configuration diagram of a transfer control device according to an embodiment of the present invention.
6 and 7 are views for explaining a transfer control method according to an embodiment of the present invention.
8 is a flowchart of a control method of the conveyance control device according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and the manner of achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Is provided to fully convey the scope of the invention to those skilled in the art, and the invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless defined otherwise, all terms (including technical and scientific terms) used herein may be used in a sense commonly understood by one of ordinary skill in the art to which this invention belongs. Also, commonly used predefined terms are not ideally or excessively interpreted unless explicitly defined otherwise.

4 is a plan view of a roller table provided with a transfer control device according to an embodiment of the present invention.

4, a roller table 100 having a transfer control device according to an embodiment of the present invention includes a pallet, an entrance detection sensor 120, an electric motor 110, an inverter 115, and a transfer control device 200 ).

The roller table 100 according to the embodiment of the present invention shown in Fig. 4 has the same arrangement as the conventional roller table 10 shown in Figs. 1 to 3 and the pallet, roller and electric motor. Although the pallet is not shown in FIG. 4, referring again to FIGS. 1 and 2, the pallet 30 shown in FIGS. 1 and 2 is the same as the roller table 100 according to an embodiment of the present invention It is omitted in FIG.

The pallet may be a carrier on which the deliveries can be loaded. For example, it may be a carrier on which hot coils produced in a winding facility, which is the final step of a hot rolling operation, are loaded.

The entry detection sensor 120 is a sensor for detecting entry of the pallet onto the roller table 100. The entrance detection sensor 120 may be an optical sensor, an ultrasonic sensor, a decompression sensor, an image sensor, or a magnetic sensor, but this is merely an example, and is not limited thereto.

The entry detection sensor 120 may be located around the entrance of the roller table 100. For example, it may be located near the position of the first roller on the inlet side as shown in Fig.

When the entry detection sensor 120 detects that the pallet has entered the roller table 100, it can output a detection signal to the transfer control device 200. [ The entrance of the pallet is detected by the entrance detection sensor 120 so that the transfer control device 200 can start the conveyance control of the pallet.

The electric motor 110 may rotate the roller 130 by transmitting power to the roller 130 of the roller table. The rotation of the roller 130 causes the other rollers to rotate through the chain 130.

The electric motor 110 may be a variable voltage variable frequency exclusive electric motor capable of coping with an alternating current power supply variable voltage variable frequency control. The motor 110 can rotate at the predetermined speed when the reference output is inputted to be driven at a constant speed and can output the frequency feedback signal to the transfer control device 200 via the inverter 115 while rotating. The frequency feedback signal may be a percentage value indicating the ratio of the current speed to the rated speed of the electric motor 110, or may be a frequency unit representing the current speed.

For example, when the rated rotation number of the electric motor 110 is 1730 [rpm], if the average rotation number of rotation of the electric motor 110 for a predetermined time is 500 [rpm], the electric motor 110 outputs a frequency of 28.9 [%] A feedback signal can be output.

The inverter 115 can supply AC power to the electric motor 110. [ The inverter 115 receives a control signal for controlling the rotation speed of the electric motor 110 from the feed control device 200 and supplies the AC power corresponding to the rotation speed to the electric motor 110. The inverter 115 can receive the frequency feedback signal output by the motor while rotating according to the AC power, and can transmit the frequency feedback signal to the transfer controller 200.

The transfer control device 200 can control the movement of the pallet to the oncoming roller table or the stop on the roller table 100 while entering the roller table 100. [

The transfer control device 200 can receive the detection signal of the entrance detection sensor 120 or the frequency feedback signal output from the inverter 115 to detect that the pallet has entered the roller table 100.

The feed control device 200 controls the movement distance of the pallet based on the predefined motor rated rotation, the speed reducer ratio, the roller diameter and the parameter values relating to the scan interval, and the frequency feedback signal received from the inverter 115, The position on the table 100 can be estimated. The transfer control device 200 can control the pallet conveying speed based on the estimated movement distance and position of the pallet. The transfer control device 200 can output to the inverter 115 a control signal indicating the moving speed.

5 is a configuration diagram of a transfer control device according to an embodiment of the present invention.

5, the transport control apparatus 200 includes a frequency feedback signal receiving unit 210, an operation time recording unit 220, a parameter storage unit 230, a movement distance estimation unit 240, A transfer control unit 250, and a control signal output unit 260. [

The frequency feedback signal receiving unit 210 may receive the frequency feedback signal output from the inverter 115. The frequency feedback signal may include a current rotation number of the electric motor 110, an average number of revolutions per a predetermined time, or a ratio of a current number of revolutions to a rated number of revolutions. Hereinafter, for convenience of explanation, it is assumed that the frequency feedback signal indicates the ratio of the current number of revolutions to the rated number of revolutions.

The operation time recording unit 220 may store the accumulated operation time from the start of the feeding operation. The operation time recording unit 220 may include a timer. The operating time indicates the driving time of the electric motor 110 after the pallet enters the roller table 100 and is detected by the entrance detection sensor 120. [ The operating time may be used to cumulatively calculate the moving distance of the pallet.

The parameter storage unit 230 may store a predefined motor rated rotation speed, a ruler diameter, a scan interval, and a reduction gear ratio.

The rated rotational speed of the motor indicates the maximum rotational speed of the electric motor 110, and the roller diameter indicates the diameter of the roller 130. The scan interval indicates a time interval or period in which the movement distance estimating unit 240 estimates the movement distance of the pallet. The gear ratio indicates the gear ratio of the electric motor 110 and the roller 130.

The travel distance estimating unit 240 derives the travel distance per second of the pallet based on the motor rated rotation speed, the scan interval, and the speed reducer ratio, and calculates the travel distance per second and the frequency feedback signal By performing integral processing, the movement distance of the pallet can be derived.

The movement distance estimating unit 240 can estimate the total movement distance of the pallet at predetermined scan intervals. That is, the total travel distance can be estimated once every cycle with the scan interval as a period. In order to estimate the total travel distance, the travel distance estimating unit 240 derives the travel distance according to the following steps.

First, the motor speed per unit scan is derived using the following equation. The numerical values used in the following formulas are illustrative and not restrictive.

Figure pat00001

Next, based on the motor rotation speed per unit scan derived from above, the roller rotation speed per unit scan is derived using the following equation.

Figure pat00002

In the above equation, the speed reducer ratio represents the gear ratio of the electric motor and the roller.

Next, based on the number of roller rotations per unit scan derived from above, the moving distance per second of the pallet is obtained as follows.

Figure pat00003

Next, the continuous movement distance of the pallet can be derived by cumulatively integrating the movement distance per second derived from the above as the operation time, and then using the formula.

Figure pat00004

Since the frequency feedback signal represents the ratio of the number of rotations of the motor 110 to the number of revolutions of the motor 110, the number of rotations per second of the roller is multiplied by the frequency feedback signal value, And the total moving distance can be derived by cumulatively integrating the derived value during the operating time.

The movement distance estimating unit 240 may output the pallet movement distance estimation value to the transfer control unit 250 based on the value derived by the above equation.

The transfer control unit 250 controls the transfer position of the pallet 100 in accordance with the estimated movement distance based on the first position 150, the second position 160 and the third position 170 on the roller table 100, And generate a control signal for controlling the movement of the pallet according to the determination result.

The first position 150 is the point at which the pallet enters the roller table 100. The second position 160 is a point at which the speed control is determined depending on whether or not the on-coming roller table of the pallet is vacant. The third position 170 is a point at which the stop is determined depending on whether the pallet is stopped or not.

The first position 150, the second position and the third position can be sequentially arranged from the point where the pallet enters the roller table 100 to the point where the pallet escapes the roller table 100.

The transfer control unit 250 may output a control signal for causing the pallet to move at a predefined first speed when it is determined that the position of the pallet has reached the first position 150. [

When the position of the pallet is determined to have reached the second position 160, the transfer control unit 250 determines whether the next-row roller table connected to the roller table 100 is empty It is possible to control the conveying speed of the pallet depending on whether or not the pallet is conveyed.

If the trailing roller table is empty and the differential row roller table is empty, the transfer control unit 250 may output a control signal for causing the pallet to move at the first speed.

If the trailing roller table is empty and the differential row roller table is not empty, the pallet must stop at the trailing roller table, so that the traversing control unit 250 determines that the pallet is in a predefined And to output the control signal to move the second speed.

When the trailing roller table is not empty, the pallet must be stopped, so that the feed control unit 250 can output a control signal that the pallet decelerates.

The transfer control unit 250 may output a control signal for stopping the pallet when it is determined that the position of the pallet has reached the third position 170. [

According to another embodiment of the present invention, the feed control unit 250 may additionally receive a power consumption signal including the consumed power of the motor 110 from the inverter 115. [ The transfer control unit 250 can determine whether the roller table 100 is abnormal based on the received power consumption and the frequency feedback signal.

The feed control unit 250 determines that overload occurs when the frequency feedback signal is less than 2 Hz with respect to the rated frequency and the consumed power is equal to or greater than 270% of the rated power, Can be output.

If the consumed electric power is equal to or more than 150% and equal to or less than 270% of the rated electric current, the feed control unit 250 determines that an overload has occurred. After one minute, the pallet stops It is possible to output the control signal.

If the consumed electric power is less than 5% of the rated current and the frequency feedback signal is a normal signal, the feed control unit 250 may determine that the chain driving the roller is broken and output a control signal to stop the pallet .

The feed control unit 250 may determine that information transmission is missed and output a control signal to stop the pallet if a frequency feedback signal is not received for a time longer than a predefined signal waiting time.

The feed control unit 250 includes a signal that the frequency feedback signal is fed back to less than 2 Hz with respect to the rated frequency, and the consumed power is detected at 270% or more of the rated current for one second, If no return signal is received, it is determined that a collision has occurred with the pallet, and a control signal can be output to stop the pallet.

The feed control unit 250 may include a signal that the feedback signal is fed back to less than 1 Hz with respect to the rated frequency and the consumed power is detected for more than 270% of the rated current for one second. If the estimated position of the pallet does not change , It is judged that a brake error has occurred and a control signal can be outputted so that the pallet stops.

If the frequency feedback signal is not received for more than the predefined signal waiting time or the signal is not in the predefined signal format, the transfer control unit 250 determines that the inverter is faulty and stops the control signal output .

The transfer control unit 250 may determine that the electric motor is abnormal and output the control signal to stop the pallet if the consumed electric power is 270% or more of the rated current for 2 seconds or 150% or more for 1 minute.

The control signal output unit 260 can output the control signal output from the feed control unit 250 to the inverter 115. [ The control signal output unit 260 may output the control signal to the inverter 115 using wire communication or wireless communication.

6 and 7 are views for explaining a transfer control method according to an embodiment of the present invention.

6 and 7, a method of controlling the conveyance of the pallet according to whether or not the conveying control device 200 is in the empty state of the roller table will be described.

When the pallet reaches the second position 160 of the first roller table 610, the transfer control device 200 determines whether or not the second roller table 620, which is the trailing roller table, is empty. When the second roller table 620 is empty, it is determined whether or not the third roller table 630, which is the running roller table of the second roller table 620, is empty.

If the second roller table 620 is empty and the third roller table 630 is not empty, as shown in FIG. 6, then the transfer control device 200 sends a control signal to move the pallet at the second speed And the pallet is decelerated at the second speed and transported by the control signal.

7, when the pallet reaches the second position of the fifth roller table 710, the conveyance control device 200 moves to the next row of the fifth roller table 710, Since the roller table 730 is all empty, it outputs a control signal for causing the pallet to move at the first speed.

8 is a flowchart of a control method of a transfer control device according to an embodiment of the present invention.

A control method of the transfer control device according to an embodiment of the present invention will be described with reference to FIG.

The transfer control device 200 detects whether the pallet reaches the first position on the roller table (S100). The transfer control device 200 can detect whether the first position 150 is reached based on a frequency feedback signal generated when the entrance detection sensor 120 or the palette enters the roller table.

The transfer control device 200 outputs a control signal for causing the pallet to move at the first speed (S110). The pallet may be transported on the roller table at a first speed by the control signal.

The transfer control device 200 checks whether or not the scan period has arrived (S115). The transfer control device 200 continues to wait until the scan period comes, and when it arrives, it starts pallet movement distance and position estimation.

The transfer control device 200 may estimate the distance and position of the pallet on the roller table based on the predefined parameters and the frequency feedback signal output from the inverter 115 (S120). Estimating the traveled distance uses the equation discussed above, which can be estimated by adding the travel distance from the first location 150 entering on the roller table.

The transfer control device 200 checks whether the pallet reaches the second position on the roller table (S130).

If it is determined that the pallet has reached the second position 160, the transfer control device 200 checks whether the on-coming roller table connected to the roller table is empty (S140).

If it is determined in step S140 that the trailing roller table is empty, the transfer control device 200 checks whether the differential row roller table connected to the trailing roller table is empty (S150).

When it is determined that both of the trailing roller table and the differential roller table are empty, the transfer control device 200 outputs a control signal to move the pallet at the first speed (S160).

The transfer control device 200 outputs a control signal for causing the pallet to be moved at a second speed lower than the first speed, if the differential roller table is empty and the differential row roller table is not empty (S170).

If it is determined that the trailing roller table is not empty, the conveying control device 200 outputs a control signal for reducing the conveying speed of the pallet (S180).

The transfer control device 200 checks whether the pallet reaches the third position after step S180 (S190).

The feed control apparatus 200 outputs a control signal for stopping the pallet when it is determined that the pallet has reached the third position (S195).

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

100: roller table 110: electric motor
115: Inverter 120: Entry detection sensor
200: Feeding control device

Claims (15)

A roller table for conveying hot coils,
A pallet on which the hot-rolled coil is mounted;
An entry detection sensor for detecting entry of the pallet onto the roller table;
A plurality of rollers arranged at regular intervals on the roller table to move the pallet by rotation;
An electric motor rotating the roller;
An inverter for controlling the rotation of the electric motor and outputting a frequency feedback signal including a rotation result of the electric motor; And
A transmission control unit for estimating a movement distance and position of the pallet based on the frequency feedback signal output from the inverter and outputting a control signal for controlling the movement of the pallet based on the estimated movement distance and position, Containing
A roller table equipped with a transfer control device. The method according to claim 1,
The frequency-
And a signal indicating a ratio of the number of revolutions during the scan interval to the rated number of revolutions of the motor.
A roller table equipped with a transfer control device. The method according to claim 1,
The transfer control device includes:
A parameter storage section for storing a predefined number of motor rated revolutions, a ruler diameter, a scan interval, and a decelerator ratio;
A frequency feedback signal receiving unit for receiving a frequency feedback signal output from the inverter;
A running time recording unit for storing accumulated running time from the start of the feeding;
The moving distance per second of the pallet is derived on the basis of the rated rotation speed of the motor, the scan interval and the speed reducer ratio, and the moving distance of the palette is calculated by cumulatively integrating the derived moving distance per second and the frequency feedback signal during the operating time, A movement distance estimating unit for deriving the distance;
The controller determines a position of the pallet based on the estimated movement distance on the basis of the first position, the second position, and the third position on the roller table, and generates a control signal for controlling the movement of the pallet in accordance with the determination result A transfer control unit; And
And a control signal output unit for outputting the generated control signal to the inverter,
A roller table equipped with a transfer control device. The method of claim 3,
The movement distance estimating unit estimates,
The number of rotations of the roller per unit scan is derived based on the number of rotations of the motor per unit scan and the ratio of the speed reducer, A roller movement distance per unit scan is derived on the basis of the number of revolutions of the sugar roller and the roller diameter, a roller movement distance per second is derived based on the roller movement distance per unit scan and the scan interval, Estimating a cumulative pallet movement distance during the scan interval based on the frequency feedback signal,
A roller table equipped with a transfer control device. The method of claim 3,
The first position, the second position,
A point on the roller table pointing in advance to be positioned sequentially from an entry point to an exit point of the pallet;
A roller table equipped with a transfer control device. The method of claim 3,
Wherein the feed control unit comprises:
Outputting a control signal for causing the pallet to move at a predefined traveling speed when it is determined that the position of the pallet has reached the first position,
A control signal for causing the pallet to decelerate when the roller table connected to the roller table is not empty or when the roller table is the final destination of the pallet when the position of the pallet is determined to have reached the second position Respectively,
And outputting a control signal for causing the pallet to stop when the pallet is decelerated when it is determined that the position of the pallet has reached the third position,
A roller table equipped with a transfer control device. The method according to claim 1,
The inverter includes:
Outputting a power consumption signal including consumed electric power of the electric motor,
The transfer control device includes:
Determining whether an abnormality has occurred in the conveyance of the pallet based on an estimated position of the pallet and a power consumption signal of the motor,
A roller table equipped with a transfer control device. 8. The method of claim 7,
The transfer control device includes:
Wherein the controller determines that an overload occurs when the power consumption exceeds 270% of the rated power, and outputs a control signal to stop the pallet after 1 second.
A roller table provided with a transfer control device 8. The method of claim 7,
The transfer control device includes:
A feedback signal indicating that the frequency feedback signal is less than 2 Hz relative to the rated frequency, and if the consumed power is equal to or more than 150% and equal to or less than 270% of the rated current, it is determined that an overload has occurred, and a control signal is output ,
A roller table provided with a transfer control device 8. The method of claim 7,
The transfer control device includes:
And outputting a control signal to stop the pallet when the consumed power is less than 5% of the rated current and the frequency feedback signal is a normal signal,
A roller table provided with a transfer control device 8. The method of claim 7,
The transfer control device includes:
And a control signal output unit for outputting a control signal to stop the pallet if the frequency feedback signal is not received for a time longer than a predefined signal waiting time,
A roller table provided with a transfer control device 8. The method of claim 7,
The transfer control device includes:
Wherein the frequency feedback signal includes a signal that is fed back to less than 2 Hz of the rated frequency and the consumed power is detected for more than 270% of the rated current for one second and the frequency feedback signal is not received for a time longer than the predefined signal waiting time And a controller for determining that a collision of the pallet occurs and outputting a control signal to stop the pallet,
A roller table provided with a transfer control device 8. The method of claim 7,
The transfer control device includes:
Wherein the frequency feedback signal includes a signal that is fed back to less than 1 Hz with respect to a rated frequency, and wherein the consumed power is detected for at least 270% of a rated current for one second and if the estimated position of the pallet does not change, And outputting a control signal to stop the pallet,
A roller table equipped with a transfer control device. 8. The method of claim 7,
The transfer control device includes:
Wherein the controller determines that the inverter fails if the frequency feedback signal is not received for a predetermined period of the signal waiting time or longer than a predetermined signal format,
A roller table equipped with a transfer control device. 8. The method of claim 7,
The transfer control device includes:
Wherein the controller determines that the consumed electric power is greater than or equal to 270% of the rated current for 2 seconds or more than 150% for 1 minute and outputs a control signal to stop the pallet,
A roller table equipped with a transfer control device.
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CN108188367A (en) * 2018-03-21 2018-06-22 山东钢铁股份有限公司 Automatically control the system and method for the roller-way start and stop of no detection device
EP3398697A1 (en) * 2017-04-28 2018-11-07 Primetals Technologies Japan, Ltd. Transport pallet
CN113420432A (en) * 2021-06-18 2021-09-21 马鞍山钢铁股份有限公司 Automatic simulation operation method for hot-rolling tray type steel coil conveying line
KR102629809B1 (en) * 2022-12-10 2024-01-29 주식회사 에스케이경금속 Slide product feeder

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JP3170196B2 (en) * 1996-02-29 2001-05-28 矢崎総業株式会社 Terminal board connection structure
JP2014231400A (en) * 2013-05-28 2014-12-11 三菱電機エンジニアリング株式会社 Material transport controller and material transport control method

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3398697A1 (en) * 2017-04-28 2018-11-07 Primetals Technologies Japan, Ltd. Transport pallet
CN108188367A (en) * 2018-03-21 2018-06-22 山东钢铁股份有限公司 Automatically control the system and method for the roller-way start and stop of no detection device
CN108188367B (en) * 2018-03-21 2024-02-02 山东钢铁股份有限公司 System and method for automatically controlling start and stop of roller way without detection device
CN113420432A (en) * 2021-06-18 2021-09-21 马鞍山钢铁股份有限公司 Automatic simulation operation method for hot-rolling tray type steel coil conveying line
KR102629809B1 (en) * 2022-12-10 2024-01-29 주식회사 에스케이경금속 Slide product feeder
KR20240086661A (en) * 2022-12-10 2024-06-18 주식회사 에스케이경금속 Aluminum extruded product transfer device

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