JP7126399B2 - Conveyor for plate material - Google Patents

Description

TECHNICAL FIELD The present disclosure relates to a plate material conveying apparatus.

In order to smoothly convey the plate material while preventing out-of-plane deformation of the plate material in the production line of the plate material, a device is used that pinches the plate material with a pair of upper and lower pinch rolls and conveys the plate material while applying tension to the plate material (for example, See Patent Document 1).

JP-A-8-108208

In the apparatus for conveying the plate material as described above, there is a case where the plate width center position of the plate material deviates (meanders) from the center of the transfer line during the transfer of the plate material. In the worst case, a part of the plate may stick out from the pinch roll body and the plate may be damaged.

The present disclosure has been made in view of the above circumstances, and an object of the present disclosure is to obtain with high reliability the force in the conveying direction acting between the pinch rolls and the plate material when the plate material is conveyed using the pinch rolls.

A plate material conveying apparatus according to the present disclosure includes a pair of upper and lower pinch rolls that sandwich a plate material to be conveyed, a housing that holds the pinch rolls, and a movable mechanism that moves the housing in the conveying direction of the plate material and in the direction opposite to the conveying direction. , a regulating portion for regulating movement of the housing in the conveying direction and in a direction opposite to the conveying direction; and a force measuring device for detecting a force acting between the housing and the regulating portion.

The movable mechanism may hold the housing so as to be rotatable about an axis of rotation remote from the plate. The axis of rotation is parallel to the pinch rolls and may be positioned so as to sandwich one of the pinch rolls with the plate material. The restricting portion has an entry-side facing portion that faces the housing from the entry side of the pinch roll and an exit-side facing portion that faces the housing from the exit side of the pinch roll. and an entry-side sensor for detecting force acting between the housing and the exit-side facing portion and an exit-side sensor for detecting force acting between the exit-side facing portion and the housing.

A driving device for driving the pinch rolls, a screw down device at each of the axial ends of at least one of the upper and lower pinch rolls, a load measuring device at each of the axial ends of at least one of the upper and lower pinch rolls, and the pinch rolls Detects the width center position current value of the plate material that is being pinched, aims to bring the width center position current value closer to the width center position target value, and drives the pinch rolls toward the plate material in the conveying direction. When a force is applied, regarding the plate width direction distribution of the load acting between the plate material and the pinch roll, the load on the side of the target width center position is compared with the other with the current value of the width center position as a reference. Control the pressure reduction device on the working side and the drive side of the pinch roll in the direction of relatively increasing, conversely, when the pinch roll does not give the driving force in the conveying direction to the plate material, between the plate material and the pinch roll With respect to the distribution of the applied load in the strip width direction, the working side and the drive side of the pinch roll are shifted in the direction of making the load on the strip width center position target value side relatively smaller than the other side with the strip width center position current value as a reference. and a control device for controlling the screw down device.

A driving device for driving the pinch rolls, a screw down device at each of the axial ends of at least one of the upper and lower pinch rolls, a load measuring device at each of the axial ends of at least one of the upper and lower pinch rolls, and the pinch rolls Aiming to detect the current width center position value of the plate material being clamped in the width center position current value and bring the width center position current value closer to the width center position target value, the width center position current value and the width A difference from the center position target value is calculated as a plate position error, and in addition to the plate position error at the current time, a plate position error control amount is calculated in consideration of the history of the plate position error before the current time, A load application point position offset amount is calculated as a value proportional to the plate position error control amount. By subtracting the point position offset amount, the target value of the load application point position of the load distribution acting between the plate material and the pinch roll is calculated, and based on the load application point position target value, the working side and the driving side of the pinch roll Calculate the load target value, control the pressure reduction device on the work side and the drive side of the pinch roll so as to realize the load target value on the work side and the drive side of the pinch roll. When no driving force is applied, the load application point position offset amount is added to the plate width center position current value to calculate the target value of the load application point position of the load distribution acting between the plate material and the pinch roll. Then, based on the target position of the load application point, the target values of the load on the working side and the driving side of the pinch roll are calculated, and the working side of the pinch roll is adjusted so as to realize the target values of the load on the working side and the driving side of the pinch roll. and a control device for controlling the driving-side screw-down device.

Advantageous Effects of Invention According to the present disclosure, in conveying a plate material using pinch rolls, it is possible to obtain with high reliability the force in the conveying direction acting between the pinch rolls and the plate material .

It is a figure which shows the schematic structure of the board|plate material conveying apparatus which concerns on this indication. FIG. 3 is a side view of the pinch roll housing; 4 is a flow chart showing an outline of a control method for a plate material conveying device according to the present disclosure; The figure which shows the positional relationship of a pinch roll and a board|plate material. FIG. 10 is a diagram showing the target value of the load distribution between the plate material and the pinch rolls and the load application point position when the plate material is closer to the work side under the condition that the pinch rolls apply a driving force in the conveying direction to the plate material. FIG. 10 is a diagram showing the target value of the load distribution between the plate material and the pinch rolls and the position of the load application point when the plate material is closer to the drive side under the condition that the pinch rolls apply a driving force in the conveying direction to the plate material. FIG. 10 is a diagram showing the target value of the load distribution between the plate material and the pinch rolls and the load application point position when the plate material is closer to the work side under the condition that the pinch rolls do not apply a driving force in the conveying direction to the plate material. FIG. 10 is a diagram showing the target value of the load distribution between the plate material and the pinch rolls and the position of the load application point when the plate material is closer to the drive side under the condition that the pinch rolls do not apply a driving force in the conveying direction to the plate material. FIG. 5 is a diagram showing the relationship between work side and drive side load measurements and pinch roll position. It is a figure which illustrates the hardware constitutions of a control apparatus. 4 is a flowchart illustrating a control procedure by a control device; FIG. 10 is a diagram schematically showing the force in the conveying direction applied to the plate material in the vicinity of pinch rolls when the tension on the entry side is greater than the tension on the exit side. FIG. 10 is a diagram showing the lateral difference in conveying direction force and the moment applied to the plate material when the tension on the entry side is greater than the tension on the exit side and the pinch rolls pinch the work side of the plate material more strongly than the drive side. FIG. 5 is a diagram schematically showing the force in the conveying direction applied to the plate in the vicinity of pinch rolls when the tension on the entry side is smaller than the tension on the exit side. FIG. 10 is a diagram showing the lateral difference in conveying direction force and the moment applied to the plate material when the tension on the entry side is smaller than the tension on the exit side and the pinch rolls pinch the work side of the plate material more strongly than the drive side.

Hereinafter, embodiments will be described in detail with reference to the drawings. In the description, the same reference numerals are given to the same elements or elements having the same function, and overlapping descriptions are omitted.

First, with reference to FIG. 1, an overview of a plate material conveying apparatus 100 according to the present disclosure will be described. The transport device 100 is a device that transports the plate material 2 in a predetermined transport direction while pinching the plate material 2 between a pair of upper and lower pinch rolls 1a and 1b in a manufacturing/processing line for the plate material 2. As shown in FIG. A conveying device 100 for a plate material includes pinch rolls 1a and 1b, rolling devices 3a and 3b, and load measuring devices 4a and 4b. The pinch rolls 1a and 1b are driven by an electric motor 6 via spindles 7a and 7b and a pinion stand 8. As shown in FIG. Further, the conveying apparatus 100 of FIG. 1 is provided with a plate edge position measuring device 5 for measuring the plate edge position on the working side of the plate material as an example of the embodiment of the present disclosure.

The pinch rolls 1a and 1b are rotating bodies that pinch the plate material 2 from above and below with a predetermined pressure and transport the plate material 2 in a predetermined transport direction. One axial end (working side) of the upper pinch roll 1a is connected to the screw down device 3a via a chock, and the other axial end (driving side) is connected to the screw down device 3b via a chock. ing. The working side of the lower pinch roll 1b is connected to the load measuring device 4a via a chock, and the driving side is connected to the load measuring device 4b via a chock.

The pressing devices 3a and 3b press down the pinch roll 1a on the working side and the driving side (both ends in the axial direction) of the pinch roll 1a, respectively. The roll-down device 3a rolls down the working side of the pinch roll 1a at a set pinch-roll roll-down position. The roll-down device 3b rolls down the driving side of the pinch roll 1a at a set pinch-roll roll-down position.

The load measuring devices 4a, 4b measure loads on the working side and the driving side of the pinch roll 1b, respectively. The load measuring device 4a measures the load on the working side of the pinch roll 1b. The load measuring device 4b measures the load on the driving side of the pinch roll 1b.

The plate edge position measuring device 5 continuously (always) measures the plate edge positions of the plate 2 being conveyed by the pinch rolls 1a and 1b. The plate edge position measuring device 5 is fixed at a predetermined position, for example, in the vicinity of the conveying device 100, and determines the thickness of the plate material 2 being conveyed based on the detected plate edge position and the known plate width of the plate material 2. Derive the strip width center position. Alternatively, when the plate width of the plate 2 is not known, the plate edge position measuring device 5 may derive the plate width center position of the plate 2 by measuring both end positions of the plate 2 in the plate material width direction. The position measurement method by the plate edge position measuring device 5 is not limited, and known sensors such as photomicrosensors, area sensors, photoelectric sensors, proximity sensors, fiber sensors, or laser sensors can be used. can.

The conveying device 100 further includes two pinch roll housings 16, 16 and two frames 18, 18 as structures for holding the pinch rolls 1a, 1b. As shown in FIG. 2, two pinch roll housings 16 surround opposite ends of the pinch rolls 1a, 1b, respectively. At one end side of the pinch rolls 1a and 1b (hereinafter referred to as "working side"), a screw down device 3a is provided in the upper portion of the pinch roll housing 16, and a load measuring device 4a is provided in the lower portion of the pinch roll housing 16. ing. On the other end side of the pinch rolls 1a and 1b (hereinafter referred to as "driving side"), a screw down device 3b is provided in the upper part of the pinch roll housing 16, and a load measuring device 4b is provided in the lower part of the pinch roll housing 16. It is The working side end of the upper pinch roll 1a is connected to the screw down device 3a via the pinch roll chock 15a, and the drive side end is connected to the screw down device 3b via the pinch roll chock 15a. The working side of the lower pinch roll 1b is connected to the load measuring device 4a via the pinch roll chock 15b, and the drive side is connected to the load measuring device 4b via the pinch roll chock 15b.

Two frames 18, 18 hold two pinch roll housings 16, 16 respectively. The frame 18 includes a movable mechanism 33 for moving the pinch roll housing 16 in the conveying direction 11 of the plate material 2 and in the direction opposite to the conveying direction 11, and movement of the pinch roll housing 16 in the conveying direction 11 and in the opposite direction to the conveying direction 11. A restricting portion 37 for restricting and a force measuring device 17 for detecting a force acting between the pinch roll housing 16 and the restricting portion 37 are provided. The movable mechanism 33 has a base 34 and a pivot 19 . A base 34 supports the pinch roll housing 16 . A pivot 19 connects the pinch roll housing 16 to the base 34 for rotation about an axis of rotation 38 remote from the plate 2 . The rotation axis 38 is parallel to the pinch rolls 1a and 1b and positioned below the pinch roll 1b. That is, the axis of rotation 38 is positioned so as to sandwich the pinch roll 1b between the plate member 2 and the plate member 2. As shown in FIG. Since the pinch roll housing 16 is rotatable around the rotation axis 38, at least the portions of the pinch roll housing 16 where the pinch rolls 1a and 1b are arranged can move in the conveying direction 11 of the plate material 2 and in the direction opposite to the conveying direction 11. becomes movable. The configuration of the movable mechanism 33 can be changed as appropriate as long as the pinch roll housing 16 is movable in the conveying direction 11 of the plate material 2 and in the direction opposite to the conveying direction 11 . For example, instead of the pivot 19, the movable mechanism 33 may have a carriage that allows the entire pinch roll housing 16 to be translated in the conveying direction 11 and in the direction opposite to the conveying direction 11.

The restricting portion 37 has an entry-side facing portion 35 and an exit-side facing portion 36 . The entry side facing portion 35 is provided on the base 34 and faces the pinch roll housing 16 from the entry side. The delivery side facing portion 36 is provided on the base 34 and faces the pinch roll housing 16 from the delivery side. The structure of the restricting portion 37 can be changed as appropriate as long as it restricts movement of the pinch roll housing 16 in the conveying direction 11 and in the direction opposite to the conveying direction 11 . For example, the restrictor 37 may be configured to hold the pinch roll housing 16 from the work side or the drive side.

The force measuring device 17 includes an entry-side sensor 17a that detects the force acting between the entry-side facing portion 35 and the pinch roll housing 16, and a force acting between the exit-side facing portion 36 and the pinch roll housing 16. and an exit sensor 17b for detection. The entry-side sensor 17 a and the exit-side sensor 17 b are arranged near the pass line of the board 2 . With such a configuration, the force in the conveying direction acting on the pinch rolls 1a and 1b from the plate material 2 is measured by the force measuring device 17, and the forces measured by the entry side sensor 17a and the exit side sensor 17b on the work side are measured. , and the force measured by the drive-side entry-side sensor 17a and exit-side sensor 17b, the force in the conveying direction acting on the pinch rolls 1a and 1b from the plate material 2 can be detected. The configuration of the force measuring device 176 can be changed as appropriate as long as the force acting between the pinch roll housing 16 and the restricting portion 37 can be detected. For example, if the restraint 37 is configured to hold the pinch roll housing 16 from the work side or the drive side, the force measurement device 17 measures the shear force acting between the pinch roll housing 16 and the restraint 37 . It may be configured to measure bending moments.

なお板幅の値が不確定な場合は駆動側にも板端位置測定装置を配し、駆動側板端位置ｚ_Ｄを実測して、作業側板端位置ｚ_Ｗと駆動側板端位置ｚ_Ｄの平均値として板幅中心位置現在値ｚ_Ｃを算出する。板幅中心位置現在値は厳密にはピンチロール直下の板幅中心位置であることが好ましいが、板端位置測定装置５が搬送装置に十分近ければ上記計算値ｚ_Ｃを板幅中心位置現在値とみなしてよい。さらに正確さを期する場合、搬送装置の入側と出側双方に板端位置測定装置を配備し、それぞれの実測値から計算される板幅中心位置ｚ_Ｃの平均をとって板幅中心位置現在値とすることが好ましい。本開示では以上のように実測値から演算によって板幅中心位置現在値を得ることを“板幅中心位置現在値を検出”と表現している。 Next, with reference to FIG. 3, an embodiment of the control method of the conveying device of the present disclosure will be described in detail. First, the strip width center position current value is detected. When the device 5 capable of continuously measuring the strip edge position as shown in FIG. 1 is arranged in the vicinity of the conveying device, the strip width center position current value is calculated from this measured value and the known strip width. For example, as shown in FIG. 1, the position is indicated by defining a coordinate z with the line center as the origin and the work side being positive along the pinch roll axis. When the measured strip edge position on the working side is z _W and the known strip width is b, the strip edge position on the drive side is estimated by z _W - b, so the strip width center position current value z _C is the average of these The value is calculated by the following formula.

If the strip width value is uncertain, a strip edge position measuring device is placed on the drive side, and the strip edge position zD on the drive side is actually measured, and the average of the _strip edge position _zW on the work side and the strip edge position _zD on the drive side is obtained. A strip width center position current value _zC is calculated as a value. Strictly speaking, the strip width center position current value is preferably the strip width center position directly below the pinch rolls, but if the strip edge position measuring device 5 is sufficiently close to the conveying device, the above calculated value z _C can be used as the strip width center position current value. can be regarded as If more accuracy is desired, a strip edge position measuring device is installed on both the inlet and outlet sides of the conveying device, and the strip width center position is calculated by taking the average of the strip width center position _zC calculated from each actual measurement value. It is preferable to use the current value. In the present disclosure, obtaining the current strip width center position value by calculation from the measured values as described above is expressed as "detecting the current strip width center position value".

Returning to the flowchart of FIG. 3, the description of the method for controlling the conveying apparatus according to the present disclosure continues. After detecting the current value of the width center position of the plate material 2, the force in the conveying direction acting from the plate material to the pinch rolls is measured in the conveying device, and based on the measured value of the conveying direction force, the pinch rolls apply a driving force to the plate material. It is determined whether or not the force is applied, and the roll-down leveling operation is performed based on the result of the determination. Specifically, based on the detection result of the force measuring device 17 described above, it is determined whether or not the pinch rolls 1a and 1b apply a driving force to the plate material 2 in the conveying direction.

Furthermore, in the flowchart of FIG. 3, when it is determined that the pinch rolls 1a and 1b are applying a driving force in the conveying direction to the plate material 2, the distribution of the load acting between the plate material and the pinch rolls in the plate width direction is Based on the current center position value, the screw-down device on the work side and the drive side of the pinch roll is operated in the direction in which the load on the target width center position value side of the pinch roll between the work side and the drive side becomes relatively large. . This screw down position operation will be described with reference to FIG. In FIG. 4, the strip width center position current value 10 is closer to the work side than the line center 9 which is the center of the trunk length of the pinch roll. To simplify the explanation, it is assumed that the strip width center position target value at this time coincides with the line center 9, but the target value may be other positions. In this case, the control target is to return the plate 2 to the drive side. The screw-down device is operated in a direction in which the load on the target value (line center 9) side, that is, the load on the drive side becomes relatively larger than the load on the work side. Specifically, the pressing position on the working side is operated in the direction of opening the roll gap, and the pressing position on the driving side is operated in the direction of closing the roll gap. In this disclosure, performing the same magnitude of the roll position operation in opposite directions on the working side and the drive side is referred to as a roll roll leveling operation. The load distribution changes without change, and the plate material 2 in FIG. 4 returns to the drive side as the pinch roll rotates.

On the other hand, when it is determined that the pinch rolls 1a and 1b do not apply a driving force in the conveying direction to the plate material 2, the current value of the plate width center position is calculated with respect to the plate width direction distribution of the load acting between the plate material and the pinch rolls. As a reference, between the working side and the driving side of the pinch rolls, the screw-down devices on the working side and the driving side of the pinch rolls are operated in the direction in which the load on the side of the strip width center position target value is relatively small. In the example of FIG. 4, with respect to the plate width direction distribution of the load acting between the plate material and the pinch rolls, the load on the side of the plate width center position target value (line center 9), that is, the drive side, is based on the plate width center position current value 10. , the screw-down device is operated in a direction in which the load on the working side becomes relatively small. That is, by performing a roll-down leveling operation in the direction of closing the roll gap on the work side and opening the roll gap on the drive side, the plate material 2 in FIG. 4 returns to the drive side as the pinch roll rotates. The case where the pinch rolls do not apply a driving force to the plate material means the case where the pinch rolls apply a braking force in the conveying direction to the plate material, and the case where the pinch rolls are rotating in an unloaded state, that is, in an idle state. refers to both cases.

Next, the details of the roll-down leveling operation indicated by S1 and S2 in the flow chart of FIG. 3 will be described by showing a more specific embodiment.

ここで、δは制御パラメータである。式（２）は板幅中心位置現在値ｚ_Ｃと板幅中心位置目標値ｚ_Ｔとの差で板位置誤差を算出し、これに制御パラメータδを掛けたものを板幅中心位置現在値ｚ_Ｃに加算して荷重作用点位置ｚ_{ｐ＿ｒｅｆ}を演算している。なお荷重作用点位置とは作業側荷重測定装置による荷重測定値Ｐ_Ｗと駆動側荷重測定装置による荷重測定値Ｐ_Ｄの二つの力を、荷重およびモーメントバランスのとれる一つの集中荷重Ｐに置き換えた場合の荷重作用点の位置を示すものである。そして荷重Ｐ_Ｗ，Ｐ_Ｄは板材からピンチロールに作用する荷重の反力であるから、当該荷重作用点位置は、板材とピンチロール間に作用する荷重分布を、荷重およびモーメントバランスの観点から集中荷重に置き換えた場合の荷重作用点位置とも一致する。 As shown in FIG. 5, the plate width of the plate material 2 is defined as b, the coordinate z is defined with the line center 9 as the origin and the working side along the pinch roll axis is positive, and the plate width center position current value 10 is defined as z _C , and let _zT be the coordinate of the strip width center position target value. In the example of FIG. 5, it is assumed that z _T =0, that is, the strip width center position target value coincides with the line center 9 in order to simplify the explanation. At this time, the load application point position target value _{zp_ref} is derived, for example, by the following equation (2).

where δ is a control parameter. Equation (2) calculates the strip position error from the difference between the current strip width center position value _zC and the target strip width center position value _zT , and multiplies this by the control parameter δ to obtain the current strip width center position value z _C is added to calculate the load application point position _{zp_ref} . The position of the load application point is the load measurement value _PW by the work-side load measurement device and the load measurement value PD by the drive-side load measurement device, which is replaced by one concentrated load _P that balances load and moment. It shows the position of the load application point in the case. Since the loads P _W and P _D are reaction forces of the loads acting on the pinch rolls from the plate material, the positions of the load application points concentrate the load distribution acting between the plate material and the pinch rolls from the viewpoint of load and moment balance. It also matches the position of the load application point when it is replaced by the load.

First, a specific example of the roll-down leveling operation in S1 of FIG. 3 will be described in detail when the pinch rolls apply a driving force in the conveying direction to the plate material. In this case, the control parameter δ in equation (2) is set to a negative value. For example, if δ=−0.5, then z p — ref = _{0.5z C} is obtained from equation (2) considering z _T =0. In this _way , as shown in FIG. As a result, the plate width direction distribution 20 of the load acting between the plate material and the pinch roll is, as shown in FIG. The load on the target value side, that is, the load on the drive side becomes relatively larger than that on the working side.

ここで、ζは板幅中心を原点とし作業側を正とする板幅方向座標、ｐ_Ｃは板幅中心位置の線荷重、ｐ_ｄｆは作業側板端の線荷重と駆動側板端の線荷重の差異である。式（３）の荷重分布による板幅中心まわりのモーメントＭを計算すると次のようになる。

したがって、板材～ピンチロール間の荷重分布を力およびモーメントに関して等価な集中荷重で置き換えたときの力の作用点の板幅中心からの距離ζ_Ｐは次式で計算される。

式（５）より、荷重作用点位置が板幅中心より駆動側にある場合、すなわちζ_Ｐ＜０の場合、ｐ_ｄｆ＜０となり、駆動側の板材～ピンチロール間荷重が作業側の板材～ピンチロール間荷重よりも大きくなることが理解できる。 The relationship between the load application point position and the load distribution between the plate material and the pinch roll is shown quantitatively. The load distribution between the plate material and the pinch roll is approximated by a linear distribution, and the load p per unit width at an arbitrary position is expressed by the following equation. Hereinafter, the load per unit width will be referred to as line load.

Here, ζ is the strip width direction coordinate with the strip width center as the origin and the work side as positive, p _C is the linear load at the strip width center position, and p _df is the linear load at the strip edge on the working side and the strip edge on the drive side. Difference. Calculation of the moment M about the strip width center based on the load distribution of Equation (3) yields the following.

Therefore, when the load distribution between the plate material and the pinch roll is replaced with a concentrated load equivalent to the force and moment, the distance ζ _P from the plate width center of the force application point is calculated by the following equation.

From equation (5), when the load application point position is on the drive side from the strip width center, that is, when ζ _P < 0, p _df < 0, and the load between the plate material on the drive side and the pinch roll is between the plate material on the work side and the plate on the work side It can be understood that it becomes larger than the load between pinch rolls.

Ｐ_{Ｗ＿ｒｅｆ}，Ｐ_{Ｄ＿ｒｅｆ}は、式（６）で計算されるＰ_{ｄｆ＿ｒｅｆ}とトータル荷重の目標値Ｐ_＿ｒｅｆ＝Ｐ_{Ｗ＿ｒｅｆ}＋Ｐ_{Ｄ＿ｒｅｆ}とから以下の式（７）および式（８）で計算される。

After the load application point position target value _{zp_ref} is obtained as described above, an example of a specific procedure up to the roll-down leveling operation will be continued. First, load target values P _{W — ref} and P D — _ref on the work side and drive side are derived. Specifically, based on the load application point position target value _{zp_ref} given by equation (2), the pinch roll load left-right difference (working side - drive side), that is, the target value of the differential load _{Pdf_ref} is calculated as the pinch roll load. It is calculated by the following formula derived from the roll moment balance.

P _{W_ref} and P _{D_ref} are calculated by the following equations (7) and (8) from P _{df_ref} calculated by equation (6) and target value of total load P _{_ref} =P _{W_ref} + _{PD_ref} .

Next, based on the load target values P _{W_ref} and P _{D_ref} on the work side and the drive side, respectively, and the current load values on the work side and the drive side measured by the load measuring devices 4a and 4b, the work side and the drive side A target value of the pinch roll reduction position control amount is derived for each. Assuming that the rigidity of the conveying device considering the plate thickness, plate width, and elastic constant of the plate material 2 is K for one side, and the current values of the loads measured by the load measuring devices 4a and 4b are _PW and _PD , the pinch roll is The working-side target value _{Δg W_ref} and the driving-side target value Δg _{D_ref} of the screw position correction amount are given by the following equations (9) and (10).

式（１１）に基づいて導出した作業側ピンチロール圧下位置制御量の目標値Δｇ_Ｗに基づき作業側の圧下装置３ａを制御すると共に、式（１２）に基づいて導出した駆動側ピンチロール圧下位置制御量の目標値Δｇ_Ｄに基づき駆動側の圧下装置３ｂを操作して、作業側および駆動側それぞれのピンチロール圧下位置を制御する。このようにして圧下位置制御を行うことにより、制御の１サイクルが完結し、以後この一連の操作を繰り返すことで圧下レベリング操作による良好な蛇行制御が実現できる。 Here, _{Δg W_ref} and Δg _{D_ref} are defined as positive in the direction in which the gap between the upper and lower pinch rolls is increased. By multiplying the target values _{Δg W — ref} and _Δg D — ref of the reduction position correction amounts by the scale factor α, the pinch roll reduction position control amounts Δg _W and Δg _D are calculated by the following equations (11) and (12).

Based on the target value Δg _W of the working side pinch roll screw down position control amount derived based on the equation (11), the working side screw down device 3a is controlled, and the drive side pinch roll screw down position derived based on the equation (12). The driving-side screw-down device 3b is operated based on the target value _ΔgD of the control amount to control the pinch roll screw-down positions on the working side and the driving side. By performing the screw down position control in this manner, one cycle of control is completed, and by repeating this series of operations thereafter, it is possible to realize excellent meandering control by the screw down leveling operation.

In the above specific example, the roll position control may include a simultaneous roll down component in the same direction on the work side and the drive side, but this component controls the pinch roll load, which is the sum of the work side load and the drive side load. will do. On the other hand, what is essential to the control method of the present disclosure is the roll-down leveling component in opposite directions on the work side and the drive side, and this component controls the differential load, which is the difference between the work side load and the drive side load. Therefore, it is also effective to entrust the load control by the simultaneous reduction component to other control functions and to specialize the reduction leveling operation for the meandering control of the plate. Specifically, the differential load control amount ΔP _df is calculated from the difference between the differential load target value P _{df_ref} and the differential load current value P _df calculated by the equation (6), and the reduction leveling control amount target for achieving this is calculated. The value _{Δg df_ref} is obtained in consideration of the plate thickness, width, elastic constant, and deformation characteristics of the conveying device, and the roll-down leveling control amount Δg _df is obtained in consideration of the scale factor.

Next, with reference to FIG. 6, the procedure of S1 in FIG. 3 when the strip width center position current value 10 is on the drive side of the line center 9 will be described. Also in this case, the position of the load application point is calculated by the formula (2). Considering δ=−0.5 and z _T =0, the position of the point of load application is z _{p_ref} =0.5z _C as in FIG. However, in the case of FIG. 6, since z _C <0, the position of the load application point is located on the working side of the current strip width center position value 10 . Therefore, in the case of FIG. 6, contrary to FIG. 5, the load between the plate material and the pinch rolls on the working side is made larger than the load between the plate material and the pinch rolls on the driving side.

Next, a specific example of the roll-down leveling operation in S2 of FIG. 3 will be described with reference to FIG. The procedure of S2 is executed when it is determined that the pinch rolls do not apply a driving force in the conveying direction to the plate material. The procedure in this case is also the same as the procedure of S1 described above, except for one point. The only difference is that the control parameter δ in equation (2) is set to a positive value. For example, if δ=0.5 and _{zT=0 in Equation (2), zp_ref = 1.5zC} is obtained. As a result, as shown in FIG. 7, when z _C >0, that is, when the strip width center position current value 10 is on the working side of the line center 9, the load application point position target value is further than the strip width center position current value 10. As shown in FIG. 7, the plate width direction distribution 20 of the load acting between the plate material and the pinch roll is located on the work side, and the plate width center position target value side is based on the plate width center position current value as shown in FIG. , that is, the load between the drive-side plate material and the pinch rolls is relatively smaller than the load between the work-side plate material and the pinch rolls. The procedure after the load application point position target value is obtained as described above is exactly the same as the procedure of S1.

Next, with reference to FIG. 8, the procedure of S2 in FIG. 3 when the strip width center position current value 10 is on the driving side of the line center 9 will be described. Also in this case, the position of the load application point is calculated by the formula (2). If δ=0.5 and _{zT=0 as in the example of FIG. 7, zp_ref = 1.5zC} is obtained. However, in the case of FIG. 8, since z _C <0, the position of the load application point is located on the drive side of the current strip width center position value 10 . Therefore, in the case of FIG. 8, contrary to FIG. 7, the load between the plate material and the pinch rolls on the working side is made smaller than the load between the plate material and the pinch rolls on the drive side.

In one aspect of the control method of the conveying device of the present disclosure, when calculating the target value of the load application point position of the load distribution acting between the plate material and the pinch roll, the current plate width center position value and the target plate width center position value are used. is calculated as the plate position error, and in addition to the plate position error at the current time, the history of the plate position error before the current time is taken into account to calculate the plate position error control amount, and this plate position error control amount is Calculate the target value of the load acting point position based on the target value of the load acting point position, calculate the load target value of the working side and the driving side of the pinch roll based on the target value of the load acting point position, and calculate the load on the working side and the driving side of the pinch roll Operate the screw down devices on the work side and the drive side of the pinch rolls to achieve the target value. The reason why the history of the plate position error is used in this way is to improve the performance of the control. It is possible to perform optimum control in consideration of past tendencies of plate position errors, such as whether or not A specific example of this embodiment is described in detail below.

ここでΔｚ_Ｃは現在時刻の板位置誤差（Δｚ_Ｃ＝ｚ_Ｃ－ｚ_Ｔ）、Δｚ_{Ｃ＿ｉｎｔ}（Ｔ_ｉｎｔ）はΔｚ_Ｃの積分値、Ｔ_ｉｎｔは積分時間、Δｚ_{Ｃ＿ｄｉｆ}（Ｔ_ｄｉｆ）はΔｚ_Ｃの微分値、Ｔ_ｄｉｆは微分時間、α_ｉｎｔは積分ゲイン、α_ｄｉｆは微分ゲインである。式（１３）で計算される板位置誤差制御量Δｚ_Ｃ＿ｍは、板位置誤差が大きくなりつつある場合、微分値が正の値となるので板位置誤差現在値に該微分値が加算され誤差を大きく評価する。また正値の定常的板位置誤差がある場合は積分値が正の値となるので板位置誤差現在値に該積分値が加算され誤差を大きく評価する。このような性質を有する板位置誤差制御量Δｚ_Ｃ＿ｍに基づいて荷重作用点位置を決めることで、誤差の履歴を考慮した適正な制御が可能となる。そして、ピンチロールが板材に搬送方向に向かう駆動力を与えている場合、式（２）においてδ＜０としたのと同様の考え方に基づき、例えば、板位置誤差制御量Δｚ_Ｃ＿ｍに正値の制御パラメータを掛けて板位置誤差制御量Δｚ_Ｃ＿ｍに比例する荷重作用点位置オフセット量を演算し、これを板幅中心位置現在値から減算して荷重作用点位置目標値を求める。逆に、ピンチロールが板材に搬送方向に向かう駆動力を与えていない場合は、式（２）においてδ＞０としたのと同様の考え方に基づき、板位置誤差制御量Δｚ_Ｃ＿ｍに正値の制御パラメータを掛けて板位置誤差制御量Δｚ_Ｃ＿ｍに比例する荷重作用点位置オフセット量を演算して、これを板幅中心位置現在値に加算して荷重作用点位置目標値を演算する。荷重作用点位置目標値が求められた後は、これまでの実施態様と同様に、荷重作用点位置目標値に基づき、ピンチロールの作業側および駆動側の荷重目標値を演算し、該ピンチロールの作業側および駆動側の荷重目標値を実現するようにピンチロールの作業側および駆動側の圧下装置を操作する。 After detecting the strip width center position current value, the strip position error is calculated by taking the difference from the strip width center position target value. Considering this, the plate position error control amount is calculated. To give a specific example, in order to quantify whether the strip width center position is approaching or moving away from the strip width center position target value along with the speed information, the differential operation of the strip position error history with respect to time is performed. Consider. Also, the strip width center position has a steady deviation from the strip width center position target value, and if it is desired to correct this, the history of the strip position error is integrated with respect to time and taken into consideration. In this case, the plate position error control amount Δz _{C_m} is calculated by the following equation.

where Δz _C is the plate position error at the current time (Δz _C =z _C −z _T ), Δz _{C_int} (T _int ) is the integral value of Δz _C , T _int is the integration time, and Δz _{C_dif} (T _dif ) is Δz _C is the differential value of , T _dif is the differential time, α _int is the integral gain, and α _dif is the differential gain. When the plate position error is increasing, the plate position error control amount Δz _{C_m} calculated by equation (13) has a positive differential value. appreciate greatly. Also, when there is a steady plate position error of a positive value, the integral value becomes a positive value, so the integral value is added to the plate position error current value, and the error is greatly evaluated. By determining the position of the load application point based on the plate position error control amount Δz _{C_m} having such properties, appropriate control can be performed in consideration of the error history. Then, when the pinch rolls apply a driving force in the conveying direction to the plate material, based on the same concept as δ<0 in Equation (2), for example, a positive value is applied to the plate position error control amount Δz _{C_m} . A load application point position offset amount proportional to the strip position error control amount Δz _{C_m} is calculated by multiplying by the control parameter, and this is subtracted from the strip width center position current value to obtain the load application point position target value. Conversely, when the pinch rolls do not apply a driving force in the conveying direction to the plate material, a positive value is applied to the plate position error control amount Δz _{C_m} based on the same concept as δ>0 in Equation (2). A load application point position offset amount proportional to the strip position error control amount _{ΔzC_m} is calculated by multiplying by the control parameter, and this is added to the strip width center position current value to calculate the load application point position target value. After obtaining the target position of the load application point, as in the previous embodiments, based on the target value of the load application point position, the target load values of the working side and the drive side of the pinch roll are calculated. The screw down devices on the work side and the drive side of the pinch rolls are operated to achieve the load target values on the work side and the drive side of the pinch roll.

式（１４）をｚ_Ｃについて解くと板幅中心位置現在値ｚ_Ｃが次式で得られる。

式（１５）によれば作業側および駆動側の荷重測定値より板材の板幅中心位置を求めることができる。ただし、式（１５）は板材～ピンチロール間荷重分布が板幅方向に左右対称となっていることを前提とした計算式であり、左右非対称となっている場合は、その非対称性が荷重測定値の左右差Ｐ_Ｗ－Ｐ_Ｄにおよぼす影響を除外した上で板幅中心位置ｚ_Ｃを計算しなければならない。例えば、板材～ピンチロール間荷重分布が直線分布であり、作業側の線荷重と駆動側の線荷重との差異すなわち荷重分布左右差がｐ_ｄｆとなっている場合、この荷重分布左右差がＰ_Ｗ－Ｐ_Ｄにおよぼす影響は、板幅をｂとするとき、ｐ_ｄｆ・ｂ^２／（６ａ）で与えられるから式（１５）の代わりに次式を用いて板幅中心位置ｚ_Ｃを計算する。

In one aspect of the control method of the conveying device of the present disclosure, from the load measurement values on the working side and the drive side measured by the load measuring devices arranged at both ends in the axial direction of the pinch roll, the width center position of the plate material is calculated. A value is detected, and a roll-down leveling operation is performed based on this current strip width center position value. Hereinafter, an example of a method for calculating the strip width center position current value from the load measurement value will be specifically described with reference to FIG. 9 . In FIG. 9, the load P acting on the pinch roll from the plate material is represented by a concentrated load acting on the width center of the plate material. The plate width center of the plate material is located at the position _zC from the line center 9, the load measurement value measured by the load measuring device on the working side of the pinch roll axial direction both ends is _PW , and the load measuring device on the driving side is PW. Let _PD be the measured load measurement. When the distance between the work-side load measuring device and the drive-side load measuring device is a, the following relational expression holds between these loads from the balance condition of the moment of the pinch roll.

Solving equation (14) for z _C yields the strip width center position current value z _C by the following equation.

According to the formula (15), the width center position of the plate can be obtained from the load measurement values on the working side and the driving side. However, formula (15) is a calculation formula assuming that the load distribution between the strip material and the pinch rolls is symmetrical in the strip width direction. The strip width center position z _C must be calculated after excluding the influence on the left-right difference P _W −P _D of the value. For example, if the load distribution between the plate material and pinch rolls is a linear distribution, and the difference between the linear load on the work side and the linear load on the drive side, that is, the lateral difference of the load distribution is p _df , the lateral difference of the load distribution is P The effect on _W -P _D is given by p _df · b ² /(6a) where b is the strip width, so the following formula is used instead of formula (15) to calculate the strip width center position z _C do.

ここで、ｍは板材を単位厚さだけピンチロール圧下したときの線荷重増分を表す板材の弾性定数であり、Ｄは、第二種平行剛性と呼ばれ、荷重分布左右差が単位量だけ変化したときにピンチロールを含めた搬送装置の弾性変形により生ずる板厚左右差を表わすパラメータであり、何れも設備仕様および板材の寸法と弾性係数が与えられれば公知の方法により予め計算できるものである。 Here, the load distribution left-right difference p _df is assumed to be zero at the initial roll-down position, and the subsequent roll-down leveling operation Δg _df is calculated in consideration of the elastic deformation of the pinch roll and the plate material. The amount of change Δp _df in the lateral difference in the load distribution between the plate material and the pinch roll can be obtained by calculating, for example, using the following equation and integrating it in time series.

Here, m is the elastic constant of the plate material that represents the linear load increment when the plate material is pressed down by a unit thickness with pinch rolls, and D is called the second type parallel stiffness, and the load distribution lateral difference changes by the unit amount. It is a parameter that expresses the lateral difference in plate thickness caused by elastic deformation of the conveying device including pinch rolls when it is pressed. .

[Example of control device]
As shown in FIG. 1, the transport device 100 may further include a control device 200 for automatically executing the control method described above. The control device 200 includes a tension information acquisition unit 211, a rotation control unit 212, a drive state determination unit 213, and a load application point target position setting unit 214 as functional components (hereinafter referred to as “function modules”). , a pressing position control unit 216 and a position information acquisition unit 217 .

The tension information acquiring unit 211 acquires, as an example of information on the conveying state of the plate material 2, information on the difference in tension of the plate material 2 between the entrance side and the exit side of the pinch rolls 1a and 1b.

The rotation control unit 212 controls the electric motor 6 (driving device) so as to adjust the rotational torque of the pinch rolls 1a and 1b according to the conveying state of the plate material 2. FIG. The rotational torque of the pinch rolls 1a, 1b is the rotational torque that the electric motor 6 imparts to the pinch rolls 1a, 1b. For example, the rotation control unit 212 sets the target value of the rotational torque of the pinch rolls 1a and 1b so that the information on the tension difference on the entry and exit side acquired by the tension information acquisition unit 211 approaches a preset target value, and the target The electric motor 6 is controlled so that the rotational torque of the pinch rolls 1a and 1b approaches the value.

The position information acquiring unit 217 acquires the detection result of the position of the edge of the strip 2 (the strip edge position) from the strip edge position measuring device 5, and derives the strip width center current position based on the detection result. For example, the position information acquisition unit 217 calculates the current position of the strip width center using the above formula (1).

The driving state determination unit 213 determines whether or not the pinch rolls 1a and 1b apply a driving force in the conveying direction to the plate material 2 based on the detection result of the force measuring device 17 .

When it is determined that the pinch rolls 1a and 1b are applying a driving force in the conveying direction to the plate material 2, the load application point target position setting unit 214 and the roll-down position control unit 216 determine the force between the plate material 2 and the pinch rolls 1a and 1b. Regarding the strip width direction distribution of the load acting on the strip width center current position 10 as a reference, among the working side and the drive side of the pinch rolls 1a and 1b, the strip width center target position 10A (for example, the line center 9) Load on the side is relatively increased, the working side and drive side screw down devices 3a and 3b of the pinch rolls 1a and 1b are operated. On the other hand, when it is determined that the pinch rolls 1a and 1b do not apply a driving force in the conveying direction to the plate material 2, the current position 10 of the plate width center is determined with respect to the plate width direction distribution of the load acting between the plate material and the pinch rolls. As a reference, between the work side and the drive side of the pinch rolls 1a and 1b, the screw down devices 3a and 3a on the work side and the drive side of the pinch rolls 1a and 1b are arranged in the direction in which the load on the target strip width center position 10A side becomes relatively small. Operate 3b.

The load application point target position setting unit 214 sets a target position of the load application point controlled by the screw down devices 3a and 3b (hereinafter referred to as "load application point target position"). The load application point position is the application point position of the distributed load acting on the plate material 2 from the pinch rolls 1a and 1b and the equivalent concentrated load from the viewpoint of load and moment balance. When the pinch rolls 1a and 1b are applying a driving force to the plate material 2, the load application point target position setting unit 214 determines the magnitude of the error of the plate width center current position 10 with respect to the plate width center target position 10A. A position offset from the current strip width center position 10 toward the target strip width center position 10A by an offset amount is set as the load application point target position, and when the pinch rolls 1a and 1b do not apply a driving force to the strip 2, the above-mentioned A position offset from the current strip width center position 10 to the opposite side of the strip width center target position 10A by an offset amount is set as the load application point target position. For example, the load application point target position setting unit 214 uses the above equation (2), and when the pinch rolls 1a and 1b apply the above driving force to the plate material 2, the control parameter δ in the equation (2) is set to a negative value. , and the pinch rolls 1a and 1b do not apply the driving force to the plate 2, the control parameter .delta. in the equation (2) is set to a positive value to calculate the load application point target position.

Note that the load application point target position setting unit 214 calculates the difference between the current strip width center position 10 and the strip width center target position 10A as a strip position error. A plate position error control amount may be calculated in consideration of the history of the plate position error, and the load application point target position may be calculated based on this plate position error control amount. For example, the load application point target position setting unit 214 calculates the plate position error control amount Δz _{C_m} using the above equation (13). Then, when the pinch rolls 1a and 1b apply a driving force in the conveying direction to the plate material 2, the load application point target position setting unit 214 is based on the same concept as δ<0 in Equation (2). For example, the strip position error control amount Δz _{C_m} is multiplied by a positive control parameter to calculate an offset amount proportional to the strip position error control amount Δz _{C_m} , which is subtracted from the strip width center current position 10 to obtain the load application point Find the target position. Conversely, when the pinch rolls 1a and 1b do not apply a driving force in the conveying direction to the plate material 2, the load application point target position setting unit 214 has the same idea as setting δ>0 in the formula (2). Based on, the strip position error control amount Δz _{C_m} is multiplied by a positive value control parameter to calculate an offset amount proportional to the strip position error control amount Δz _{C_m} , which is added to the strip width center current position 10 to obtain the load action Calculate the point target position.

The screw-down position control unit 216 controls the screw-down devices 3a and 3b so that the load application point position approaches the load application point target position. For example, the screw-down position control unit 216 first derives load target values P W — _ref and P D — _ref on the working side and the drive side, respectively, based on the above equations (6) to (8). Next, the screw-down position control unit 216 determines load target values P _{W_ref} and P _{D_ref} on the work side and the drive side, respectively, and current load values on the work side and the drive side measured by the load measuring devices 4a and 4b. Based on this, the target value of the pinch roll reduction position control amount for each of the work side and the drive side is derived. For example, the screw down position control unit 216 calculates the pinch roll screw down position control amounts Δg _W and Δg _D using the above equations (9) to (12). The screw-down position control unit 216 controls the screw-down device 3a on the work side based on the target value _ΔgW of the work-side pinch roll screw-down position control amount, and also controls the drive-side screw-down device 3a based on the target value _ΔgD of the drive-side pinch roll screw-down position control amount. The screw down device 3b is operated to control the pinch roll screw down positions on the working side and the driving side.

Although the configuration of the control device 200 has been illustrated above, this configuration is merely an example and can be changed as appropriate. For example, the position information acquisition unit 217 obtains the current strip width center position 10 may be detected. For example, the position information acquisition unit 217 may obtain the coordinate _zC of the strip width center current position 10 using the above equations (14) and (15). If the load distribution between the plate material and the pinch roll is left-right asymmetric, the coordinate z _C may be calculated using the above equation (16).

FIG. 10 is a schematic diagram illustrating the hardware configuration of the control device 200. As shown in FIG. As shown in FIG. 10, controller 200 includes circuitry 220 . Circuitry 220 includes at least one processor 221 , memory 222 , storage 223 and input/output ports 224 . The storage 223 is a computer-readable non-volatile storage medium (eg, hard disk or flash memory). The storage 223 stores programs for configuring each functional module of the control device 200 . The memory 222 temporarily stores the programs loaded from the storage 223 and the results of operations performed by the processor 221 . The processor 221 configures each functional module of the control device 200 by executing the program in cooperation with the memory 222 . The input/output port 224 inputs/outputs electrical signals to/from the rotary drive device 31, the load measuring devices 4a and 4b, the plate edge position measuring device 5, and the screw-down devices 3a and 3b in accordance with commands from the processor 221. conduct.

[Example of control procedure by control device]
Next, a control procedure executed by the control device 200 will be described as an example of a control method for the plate material conveying device. As shown in FIG. 11, the control device 200 first executes steps S11 and S12. In step S11, the position information acquisition unit 217 detects the current width center position 10 of the width direction center of the plate material 2 . In step S12, based on the detection result of the force measuring device 17, the drive state determination unit 213 confirms whether the pinch rolls 1a and 1b are applying a driving force in the conveying direction to the plate material 2 or not.

When it is determined in step S12 that the pinch rolls 1a and 1b are applying the driving force to the plate material 2, the control device 200 executes step S13. In step S13, the load application point target position setting unit 214 shifts the target strip width center position from the current strip width center position 10 to the target strip width center position 10A by an offset amount according to the magnitude of the error of the current strip width center position 10 with respect to the target strip width center position 10A. The position offset to the position 10A side is set as the load application point target position.

When it is determined in step S12 that the pinch rolls 1a and 1b are not applying the driving force to the plate material 2, the control device 200 executes step S14. In step S14, the load application point target position setting unit 214 shifts the target strip width center position from the current strip width center position 10 to the target strip width center position 10A by an offset amount corresponding to the magnitude of the error of the current strip width center position 10 with respect to the target strip width center position 10A. A position offset to the opposite side of the position 10A is set as the load application point target position.

Next, the control device 200 executes steps S15, S16 and S17. In step S15, the screw position control unit 216 derives the target value of the load measured by the load measuring devices 4a and 4b according to the load application point target position set in step S13 or step S14. In step S16, the screw-down position control unit 216 derives the target value of the screw-down position correction amount of the screw-down devices 3a and 3b according to the load target value derived in step S15. In step S17, the screw-down position control unit 216 controls the screw-down devices 3a and 3b according to the target value of the screw-down position correction amount derived in step S16. This completes one cycle of the load control procedure. After that, the control device 200 repeats this series of operations at a predetermined control cycle. Accordingly, excellent meandering control is continuously performed by the roll-down leveling operation.

[Action and effect of the present embodiment]
Conventionally, in the production and processing line of plate materials, in order to smoothly convey the plate material while applying tension to the plate material and preventing out-of-plane deformation, a device that pinches and conveys the plate material with a pair of upper and lower pinch rolls is used. In such an apparatus, the center of the width of the plate may deviate from the center of the plate manufacturing/processing line, and in the worst case, a part of the plate may stick out from the pinch roll body and the plate may be damaged. . In order to avoid this phenomenon, for example, in Patent Document 1, in addition to controlling the pinch roll profile and bending force, the loads on the working side and the driving side are measured, and the rolling position on the side with the larger load is relatively determined. An apparatus is disclosed for implementing roll-down leveling control in the tightening direction. The concept of this reduction leveling control is the same as that of meandering control of a rolling mill. Since the load on the side where the plate meanders increases, this is detected and the reduction position on the side where the load increases is relatively tightened. It implements the roll-down leveling control in the direction. Here, as a specific example, consider a case where the plate is shifted toward the working side. In the case of rolling, the roll reduction and elongation on the work side increase due to the roll-down leveling operation that tightens the work side. will lean to the side. By rolling the inclined plate in this manner, the plate returns to the drive side. In the case of a conveying device using pinch rolls, the sheet material does not undergo plastic deformation unlike rolling, but since the sheet material elastically stretches in the conveying direction due to the compression of the pinch rolls, the same meandering control effect as rolling is qualitatively expected. It was thought possible.

Based on the concept described above, the inventors conducted an experiment using a conveying device and a reduction leveling control method similar to those disclosed in Patent Document 1. FIG. As a result, although there were conditions under which meandering was well controlled, there were also cases in which meandering became severe due to roll-down leveling control. Therefore, as a result of investigating the relationship between the meandering characteristics of the pinch roll and the experimental conditions in detail, the following facts were clarified.

(A) When the tension applied to the plate material on the entry side of the pinch roll and the tension applied to the plate material on the delivery side are equal, the plate material is Meandering was suppressed, and stable strip threading was achieved.

(B) When the tension on the entry side of the pinch rolls is greater than the tension on the exit side, the meandering of the plate material tends to diverge due to the roll-down leveling operation in the direction of tightening the roll-down position on the side where the plate meanders, and the plate position can be stabilized. could not. Conversely, by performing a roll-down leveling operation in the direction of opening the roll-down position on the side where the plate meandered, the meandering of the plate was suppressed, and stable threading was achieved.

(C) When the tension on the exit side of the pinch roll is greater than the tension on the entry side, the meandering of the plate material is suppressed by the roll-down leveling operation in the direction of tightening the roll-down position on the side where the plate meanders, and stable threading can be achieved. .

As described above, when the entry-side tension is greater than the exit-side tension, not only does the prior art roll-down leveling control, that is, the roll-down leveling control for relatively tightening the roll-down position on the side where the plate meanders, not only does it not function, but conversely, the roll-down leveling control does not function. It became clear that it promotes meandering. In this case, it has been clarified that roll-down leveling control in which the roll-down position is relatively opened in the direction opposite to that of the conventional technique, ie, the roll-down position on the side where the plate meanders, is effective.

In order to examine whether this experimental result is universal, the mechanism of the above phenomenon was considered.

Conventionally, the elastic elongation of the plate material has been considered as the basic mechanism of meandering control by the leveling operation of pinch rolls. However, this mechanism alone cannot explain the reversal phenomenon of meandering characteristics caused by the change in tension balance on the entry and exit sides. As a result of earnestly examining the mechanism of this phenomenon, the inventors of the present invention arrived at a new pinch roll meandering mechanism through the following thought process.

In the conventional meandering mechanism due to the elastic elongation of the plate material, only the pinch force acting on the plate material from the pinch rolls, that is, the rolling force in the plate thickness direction, was considered. cannot explain the phenomenon. Therefore, we considered the effect of the tension balance on the entry and exit sides on the force acting on the plate from the pinch rolls. FIG. 12 schematically shows the force in the conveying direction applied to the plate in the vicinity of the pinch rolls. FIG. 12 shows a case where the tension on the entry side is greater than the tension on the exit side. In this case, the plate material is conveyed from the pinch rolls to the plate material as indicated by arrows 23a and 23b depending on the equilibrium condition of the conveying direction force acting on the plate material. A directional driving force must be acting. In other words, since the driving forces 23a and 23b are acting on the plate material from the pinch rolls, the tension on the entry side becomes greater than the tension on the exit side.

FIG. 13 shows a top plan view of FIG. 12. In this example, it is assumed that the load distribution 20 between the plate material and pinch rolls is greater on the working side. In this case, since the pinch rolls press the working side of the plate more strongly than the driving side, the driving force acting on the plate from the pinch rolls is such that the working side driving force 23a-1 is greater than the driving side driving force 23b-2. Conceivable. As a result, a moment 25 acts on the plate material from the pinch rolls, and the advancing speed of the plate material becomes slightly faster on the working side than on the driving side, and the plate material is tilted as shown in FIG. In this way, the plate material inclined toward the work side upstream of the entry side is sent in the conveying direction by the pinch rolls, so that the plate meanders toward the work side. In other words, it is possible to explain that the screw-down leveling operation increases the screw-down and meanders to the side where the load increases. The driving force acting on the plate material from the pinch rolls is actually a force distributed over the contact area between the plate material and the pinch rolls. Let me show you.

Contrary to FIG. 12, FIG. 14 shows the force applied to the plate material in the conveying direction when the tension on the delivery side is greater than the tension on the entry side. In this case, depending on the balance condition of the force acting on the plate in the conveying direction, the pinch rolls must exert braking forces on the plate in the direction opposite to the conveying direction as indicated by arrows 24a and 24b. In other words, since the braking forces 24a and 24b are applied from the pinch rolls to the plate material, the exit side tension becomes larger than the entry side tension.

FIG. 15 shows a top plan view of FIG. 14. In this example, it is assumed that the load distribution 20 between the plate material and pinch rolls is greater on the working side. In this case, since the pinch rolls press the working side of the plate more strongly than the driving side, the braking force acting on the plate from the pinch rolls is that the working side braking force 24a-1 is greater than the driving side braking force 24b-2. Conceivable. As a result, a moment 25 acts on the plate material from the pinch rolls, and the advancing speed of the plate material is slightly slower on the working side than on the driving side, and the plate material is tilted as shown in FIG. In this way, the plate material inclined toward the driving side upstream of the entry side is sent in the conveying direction by the pinch rolls, so that the plate meanders toward the driving side. In other words, by the roll-down leveling operation, roll-down is strengthened and the roll meanders to the side opposite to the side where the load is increased. This meandering characteristic is qualitatively the same as the mechanism considering the elastic elongation of the plate material.

Based on the above considerations, it has been found that it is crucial for meandering control to grasp whether the conveying direction force acting on the plate material from the pinch rolls is the driving force or the braking force. Furthermore, by considering the change in the left-right balance of the driving force or braking force due to the reduction leveling operation, the above experimental facts (B) and (C) can be explained, and these phenomena are universal. It could be confirmed.

Furthermore, the roll-down leveling operation is effective as a means of changing the lateral balance of the load acting between the strip and the pinch rolls in the strip width direction, and the load acting between the strip and the pinch rolls in the strip width direction is effective. By changing the distribution, it is possible to change the left-right balance of the driving force or braking force acting on the plate material from the pinch rolls, thereby changing the inclination of the plate material on the plan view when it enters the pinch rolls. It was found that the meandering control of the plate material is possible.

The present invention was made through the above discoveries and considerations, and uses a plate material conveying device that conveys a plate material by pinching and compressing the plate material with pinch rolls to bring the current width center position value closer to the width center position target value. It discloses a technique that can satisfactorily implement control targeting at in response to all situations. In particular, it is essential to determine whether or not the pinch rolls are applying a driving force to the plate material in the conveying direction. With respect to the strip width direction distribution, operating the screw down devices on the working side and the drive side of the pinch rolls in the direction of making the load on the strip width center position target value side relatively larger than the other, based on the strip width center position current value, Conversely, if it is determined that the pinch rolls do not apply a driving force in the conveying direction to the plate material, the distribution of the load acting between the plate material and the pinch rolls in the plate width direction is based on the current value of the plate width center position. The screw-down devices on the work side and drive side of the pinch rolls are operated in a direction to make the load on the side of the strip width center position target value relatively smaller than on the other side.

By performing such control, meandering control of the conveying apparatus corresponding to all conditions can be realized. In order to realize this meandering control, it is desirable to acquire the force acting between the pinch rolls 1a and 1b and the plate material 2 in the conveying direction with high reliability. The conveying apparatus 100 described above includes a pair of upper and lower pinch rolls 1a and 1b that sandwich the plate material 2, a pinch roll housing 16 that holds the pinch rolls 1a and 1b, and pinch rolls in the conveying direction of the plate material 2 and in the opposite direction of the conveying direction. A movable mechanism 33 for moving the roll housing 16, a regulating portion 37 for regulating movement of the pinch roll housing 16 in the conveying direction and the direction opposite to the conveying direction, and acting between the pinch roll housing 16 and the regulating portion 37. and a force measuring device 17 for detecting force.

Since the pinch roll housing 16 holds the pinch rolls 1a and 1b, making the pinch roll housing 16 movable in the conveying direction and in the direction opposite to the conveying direction allows the pinch roll 1a to move in the conveying direction and in the opposite direction to the conveying direction. , 1b are made movable. Further, restricting movement of the pinch roll housing 16 in the transport direction and in the direction opposite to the transport direction is nothing other than restricting movement of the pinch rolls 11a and 11b in the transport direction and in the direction opposite to the transport direction. Therefore, the force acting between the pinch roll housing 16 and the restricting portion 37 is closely correlated with the force acting between the pinch rolls 1a, 1b and the plate material 2 in the conveying direction. Therefore, according to the configuration for detecting the force acting between the pinch roll housing 16 and the restricting portion 37, the force acting between the pinch rolls 1a, 1b and the plate material 2 in the conveying direction can be detected with high reliability. can be done.

Here, as another configuration capable of detecting the force acting between the pinch rolls 1a, 1b and the plate material 2 in the conveying direction, a configuration for detecting the force acting between the pinch roll chocks 15a, 15b and the pinch roll housing 16 is provided. However, in this case, a force measuring device is required for each of the pinch rolls 1a and 1b. On the other hand, the configuration for detecting the force acting between the pinch roll housing 16 and the regulating portion 37 makes it possible to collectively detect the forces acting on the pinch rolls 1a and 1b, thereby simplifying the device configuration. contribute.

The movable mechanism 33 may hold the housing so as to be rotatable about an axis of rotation 38 remote from the plate 2 . In this case, further simplification of the device configuration is possible.

The rotation axis 38 is parallel to the pair of upper and lower pinch rolls 1a and 1b, and may be positioned so as to sandwich one of the pinch rolls 1a and 1b between the plate member 2 and the plate member 2. As shown in FIG. In this case, since the movement direction of the pinch rolls 1a and 1b accompanying the rotation of the rotation axis 38 is along the conveying direction of the plate material 2, the force acting between the pinch rolls 1a and 1b and the plate material 2 in the conveying direction is highly reliable. can be detected by sex.

The restricting portion 37 has an entry-side facing portion 35 that faces the pinch roll housing 16 from the entry side of the pair of upper and lower pinch rolls 1a and 1b, and the pinch roll housing 16 from the exit side of the pair of upper and lower pinch rolls 1a and 1b. The force measuring device 17 includes an entry sensor 17a for detecting a force acting between the entry side facing portion 35 and the pinch roll housing 16, and an entry side facing portion 36 and the pinch roll housing 16. It may also have an output side sensor 17b that detects force acting between it and the housing 16 . In this case, the force in the conveying direction acting between the pinch roll housing 16 and the regulating portion 37 is more directly detected, so the force in the conveying direction acting between the pinch rolls 1a, 1b and the plate material 2 can be detected more effectively. It can be detected with high reliability.

Although the embodiments have been described above, the present invention is not necessarily limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention.

1a, 1b... pinch roll 2... plate material 3a, 3b... screw down device 4a, 4b... load measuring device 5... plate edge position measuring device 6... electric motor 7a, 7b... spindle 8... pinion stand 9 Line center 10 Plate width center position current value 11 Plate conveying direction 12 Entrance side tension measurement device 13 Delivery side tension measurement device 14a, 14b Tension roll 15a, 15b Pinch Roll chock (bearing box) 16 Pinch roll housing 17a, 17b, 17c, 17d Conveyance direction force measuring device 18 Frame 19 Pivot 20 Load distribution between plate material and pinch roll 21 Entrance tension 22... delivery side tension, 23a, 23b, 23a-1, 23a-2... driving force acting on the plate material from the pinch rolls, 24a, 24b, 24a-1, 24a-2... braking force acting on the plate material from the pinch rolls, 25 -- Moment acting on the plate material from pinch rolls, 100 -- Plate material conveying device, 200 -- Control device.

Claims (6)

An upper pinch roll and a lower pinch roll that sandwich the plate material to be conveyed,
an upper pinch roll chock that holds the end of the upper pinch roll;
a lower pinch roll chock that holds the end of the lower pinch roll;
a housing holding both the upper pinch roll chock and the lower pinch roll chock ;
a movable mechanism for moving the housing in the conveying direction of the plate material and in a direction opposite to the conveying direction;
a regulating portion that regulates movement of the housing in the transport direction and in a direction opposite to the transport direction;
and a force measuring device that detects a force acting between the housing and the restricting portion. 2. The plate material conveying apparatus according to claim 1, wherein said movable mechanism holds said housing so as to be rotatable about a rotation axis separated from said plate material. The rotation axis is parallel to the upper pinch roll and the lower pinch roll, and positioned so as to sandwich either the upper pinch roll or the lower pinch roll with the plate member. 3. The conveying device for plate material according to 2 above. The restricting portion includes an entry-side facing portion facing the housing from the entry side of the upper pinch roll and the lower pinch roll , and an exit-side facing portion facing the housing from the exit side of the upper pinch roll and the lower pinch roll . and
The force measuring device includes an entry-side sensor that detects a force acting between the entry-side facing portion and the housing, and an exit-side sensor that detects a force acting between the exit-side facing portion and the housing. 4. The plate material conveying device according to claim 1, comprising: a driving device for driving the upper pinch roll and the lower pinch roll ;
a screw down device at each of axial ends of at least one of the upper pinch roll and the lower pinch roll ;
a load measuring device at each of the other axial ends of at least the upper pinch roll and the lower pinch roll ;
Detecting the width center position current value of the plate material pinched by the upper pinch roll and the lower pinch roll , and aiming to bring the width center position current value closer to the width center position target value , When the pinch roll and the lower pinch roll apply a driving force to the plate material in the conveying direction, the plate width direction distribution of the load acting between the plate material and the upper pinch roll and the lower pinch roll Using the current width center position as a reference, the screw-down devices on the working side and the drive side of the upper pinch roll and the lower pinch roll are controlled in a direction in which the load on the side of the target width center position is made relatively larger than the other. , Conversely, when the upper pinch roll and the lower pinch roll do not apply a driving force to the plate material in the conveying direction, the plate width of the load acting between the plate material and the upper pinch roll and the lower pinch roll Regarding the directional distribution, the working side and the drive of the upper pinch roll and the lower pinch roll are moved in a direction in which the load on the side of the target width center position is relatively smaller than the other, based on the current width center position value. 5. The plate material conveying apparatus according to claim 1, further comprising a control device for controlling the side screw down device. a driving device for driving the upper pinch roll and the lower pinch roll ;
a screw down device at each of axial ends of at least one of the upper pinch roll and the lower pinch roll ;
a load measuring device at each of the other axial ends of at least the upper pinch roll and the lower pinch roll ;
The plate width center position current value of the plate material pinched by the upper pinch roll and the lower pinch roll is detected, and the target is to bring the plate width center position current value closer to the plate width center position target value, and the plate The difference between the width center position current value and the strip width center position target value is calculated as the strip position error, and in addition to the strip position error at the current time, the history of the strip position error before the current time is taken into account to calculate the strip position error. A position error control amount is calculated, a load application point position offset amount is calculated as a value proportional to the plate position error control amount, and the upper pinch roll and the lower pinch roll apply a driving force in the conveying direction to the plate material. If it is, subtract the load application point position offset amount from the plate width center position current value to obtain the target value of the load application point position of the load distribution acting between the plate material and the upper pinch roll and the lower pinch roll is calculated, and based on the target load application point position value, the load target values of the working side and the driving side of the upper pinch roll and the lower pinch roll are calculated, and the working side of the upper pinch roll and the lower pinch roll and Control the roll-down device on the working side and the driving side of the upper pinch roll and the lower pinch roll so as to achieve the load target value of the driving side, and conversely, the upper pinch roll and the lower pinch roll in the conveying direction of the plate material. If no driving force is applied toward the plate width center position, the load application point position offset amount is added to the plate width center position current value, and the load of the load distribution acting between the plate material and the upper pinch roll and the lower pinch roll A target value of the point of application is calculated, and based on the target value of the load application point position, the target values of the load on the working side and the drive side of the upper pinch roll and the lower pinch roll are calculated, and the upper pinch roll and the lower pinch roll are calculated. and a control device that controls the roll-down devices on the working side and the driving side of the upper pinch roll and the lower pinch roll so as to realize the load target values of the working side and the driving side of the pinch roll. 5. The plate material conveying apparatus according to any one of Claims 4 to 5.

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