JP7727001B2 - Rolling device control device, rolling equipment, and rolling device control method - Google Patents

Description

The present disclosure relates to a control device for a rolling device, rolling equipment, and a control method for a rolling device.

A reverse rolling device is known in which a metal plate is passed between a pair of rolling rolls and rolled back and forth.

Patent Document 1 discloses a reverse-type rolling mill equipped with a rolling stand including rolls and two reels (an unwinder and a winder) positioned before and after the rolling stand. In this rolling mill, during a process (rolling pass) in which a rolled material unwound from a first reel is rolled in the rolling stand and wound up on a second reel, the rolling mill is stopped when the tail end of the rolled material that has left the first reel reaches the exit side of the rolling stand, and the next pass of rolling (a process in which the rolled material unwound from the second reel is rolled in the rolling stand and wound up on the first reel) begins.

Japanese Patent Application Laid-Open No. 2000-202503

As with the reverse rolling mill described in Patent Document 1, continuing rolling after the tail end of the strip (rolled material) has separated from the unwinder improves yield compared to rolling while the tail end of the strip remains gripped by the unwinder. However, it takes time to accurately stop the tail end of the strip unwound from the unwinder in a position appropriate for the start of rolling on the next pass. Furthermore, after the tail end of the strip has stopped, it can be difficult to smoothly pass the leading edge of the strip (the tail end of the previous pass) through deflector rolls and other devices installed between the unwinder and the rolling rolls when rolling on the next pass begins, resulting in lost time.

In view of the above circumstances, at least one embodiment of the present invention aims to provide a control device for a rolling device, rolling equipment, and a control method for a rolling device that can improve yield while suppressing an increase in the time required for rolling.

A control device for a rolling mill according to at least one embodiment of the present invention includes:
A control device for controlling a rolling mill including a pair of rolling rolls for rolling a metal strip, an unwinder for unwinding the strip toward the pair of rolling rolls, and a winder for winding up the strip rolled by the pair of rolling rolls,
a rotation control unit for controlling the rotation of the rolling roll;
a speed acquisition unit configured to acquire a speed of the strip between the unwinder and the rolling roll;
a separation detection unit configured to detect when the tail end of the strip is separated from the unwinder;
Equipped with
The rotation control unit is configured to stop the rotation of the pair of rolling rolls based on the separation timing, which is the timing when the separation of the tail end from the unwinder is detected by the separation detection unit, and the speed of the strip acquired by the speed acquisition unit.

The rolling equipment according to at least one embodiment of the present invention includes:
a rolling device including a pair of rolling rolls for rolling a metal strip, an unwinder for unwinding the strip toward the pair of rolling rolls, and a winder for winding up the strip rolled by the pair of rolling rolls;
the control device described above for controlling the rolling mill;
Equipped with.

A method for controlling a rolling apparatus according to at least one embodiment of the present invention includes:
A control method for controlling a rolling apparatus including a pair of rolling rolls for rolling a metal strip, an unwinder for unwinding the strip toward the pair of rolling rolls, and a winder for winding up the strip rolled by the pair of rolling rolls, comprising:
a rotation control step of controlling the rotation of the rolling rolls;
a speed acquisition step of acquiring a speed of the strip between the unwinder and the rolling roll;
a separation detection step of detecting that the tail end of the strip has separated from the unwinder;
Equipped with
In the rotation control step, the rotation of the pair of rolling rolls is stopped based on the separation timing, which is the timing at which the separation of the tail end from the unwinder is detected in the separation detection step, and the speed of the strip plate acquired in the speed acquisition step.

At least one embodiment of the present invention provides a rolling device control device, rolling equipment, and rolling device control method that can improve yield while suppressing an increase in the time required for rolling.

1 is a schematic configuration diagram of a rolling facility to which a control device according to an embodiment is applied; FIG. 1 is a partial cross-sectional view of an unwinder (winder) according to an embodiment. FIG. 2 is a schematic configuration diagram of a control device according to an embodiment. 3 is a flowchart of a control method for a rolling mill according to one embodiment. FIG. 2 is a diagram for explaining a control flow of a rolling mill according to an embodiment. FIG. 2 is a diagram for explaining a control flow of a rolling mill according to an embodiment. FIG. 2 is a diagram for explaining a control flow of a rolling mill according to an embodiment. FIG. 2 is a diagram for explaining a control flow of a rolling mill according to an embodiment. 10 is a graph showing an example of time-dependent changes in the detected values of the sensors, the speed of the strip, and the open/closed state of the grippers. 10 is a graph showing an example of time-dependent changes in the detected values of the sensors, the speed of the strip, and the open/closed state of the grippers. FIG. 10 is a diagram for explaining the number of turns of the band plate in the unwinder. FIG. 10 is a diagram for explaining the number of turns of the band plate in the unwinder. FIG. 2 is a schematic diagram of a pressing unit according to an embodiment. FIG. 2 is a schematic diagram of a pressing unit according to an embodiment. FIG. 2 is a schematic diagram of a pressing unit according to an embodiment. 10A and 10B are diagrams illustrating an example of a procedure for correcting the shape of the tail end portion of the strip. 10A and 10B are diagrams illustrating an example of a procedure for correcting the shape of the tail end portion of the strip. 10A and 10B are diagrams illustrating an example of a procedure for correcting the shape of the tail end portion of the strip. 10A and 10B are diagrams illustrating an example of a procedure for correcting the shape of the tail end portion of the strip.

Several embodiments of the present invention will be described below with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described as embodiments or shown in the drawings are merely illustrative examples and are not intended to limit the scope of the present invention.

(Configuration of rolling equipment)
1 is a schematic diagram of a rolling facility to which a control device according to one embodiment is applied. As shown in FIG. 1, the rolling facility 100 includes a rolling mill 1 for rolling a metal strip S (e.g., a strip-shaped steel plate) and a control device 50 for controlling the rolling mill 1.

The rolling apparatus 1 includes a rolling mill 10 for rolling the strip S, an unwinder 2 provided on the entry side of the rolling mill 10 (i.e., upstream of the rolling mill 10 in the direction of travel of the strip S being rolled), and a winder 3 provided on the exit side of the rolling mill 10 (i.e., downstream of the rolling mill 10 in the direction of travel of the strip S being rolled). The rolling apparatus 1 may include, for example, one rolling mill 10 as shown in FIG. 1, or may include two or more rolling mills 10.

The rolling mill 10 includes a pair of rolls (work rolls) 15, 16 that are provided on both sides of the strip S, sandwiching the strip S. As shown in FIG. 1, the rolling mill 10 may also include a pair of intermediate rolls 17, 18 and a pair of backup rolls 19, 20 that are provided on opposite sides of the strip S, sandwiching the pair of rolls 15, 16. The intermediate rolls 17, 18 and the backup rolls 19, 20 are configured to support the rolls 15, 16. The rolling mill 10 also includes a reduction device (hydraulic cylinder, etc.; not shown) that applies a load to the pair of rolls 15, 16 to reduce the strip S between the pair of rolls 15, 16.

A motor 11 is connected to the rolling rolls 15, 16 via a spindle (not shown) or the like, and the rolling rolls 15, 16 are rotated by the motor. When rolling the strip S, the rolling rolls 15, 16 are rotated by the motor 11 while the strip S is being pressed down by the reduction device, generating friction between the rolling rolls 15, 16 and the strip S, and this friction sends the strip S to the exit side of the rolling rolls 15, 16.

The unwinder 2 is configured to unwind a coil of strip S toward the rolling mill 10. The unwinder 2 includes a mandrel 4, which is driven to rotate by a motor (not shown) to unwind the strip S toward the rolling mill 10. The mandrel 4 of the unwinder 2 is driven by a motor (not shown) to apply entry tension to the strip S when rolling the strip S.

The winding machine 3 is configured to wind the strip S from the rolling mill 10. The winding machine 3 includes a mandrel 5, which is rotated by a motor (not shown) to wind the strip S. When the strip S is rolled while being wound around the mandrel 5 of the winding machine 3, the mandrel 5 of the winding machine 3 applies tension to the strip S on the outlet side.

As shown in FIG. 1, a guide section 12 may be provided between the mandrel 4 of the unwinder 2 and the rolling mill 10 to guide the strip S introduced from the mandrel 4 of the unwinder 2 into the rolling mill 10. A guide section 13 may be provided between the rolling mill 10 and the mandrel 5 of the winder 3 to guide the strip S fed from the rolling mill 10 to the mandrel 5 of the winder 3. The guide sections 12, 13 may include deflector rolls 6, 7 and/or guide tables 8, 9.

In some embodiments, the rolling mill 1 is a reverse-type rolling mill (reverse mill) that rolls the strip S passing between a pair of roll rolls 15, 16 by reciprocating the motion. In the reverse-type rolling mill 1, rolling is stopped just before the tail end St of the strip S unwound from the mandrel 4 of the unwinder 2, and the odd-numbered rolling pass (e.g., the first pass) is completed with the strip S pressed down by the roll rolls 15, 16. Next, the strip S is unwound from the mandrel 5 of the winder 3 toward the rolling mill 10, and while the strip S is being wound around the mandrel 4 of the unwinder 2, the strip S is advanced in the opposite direction to the previous rolling pass, thereby performing the even-numbered rolling pass (e.g., the second pass). In other words, the roles of the unwinder 2 and the winder 3 are interchanged depending on the direction of travel of the strip S.

Figure 2 is a partial cross-sectional view of the unwinder 2 (winder 3) according to one embodiment, and is a diagram for explaining the operation of the unwinder 2 (winder 3). As shown in Figures 1 and 2, the unwinder 2 includes a gripper 22 for gripping the tail end portion Sa, including the tail end St, of the strip S. In addition, the winder 3 includes a gripper 23 for gripping the leading end portion, including the leading end, of the strip S.

In the exemplary embodiment shown in Figure 2, the grippers 22, 23 are arranged radially inward of the mandrels 4, 5 relative to the outer circumferential surfaces of the mandrels 4, 5 and are movable radially. The mandrels 4, 5 are provided with slots 24 that open to the surface of the mandrels 4, 5 and can receive the tail or leading end of the strip S.

The trailing or leading end of the strip S is gripped by moving the grippers 22, 23 radially outward using an actuator (not shown) or the like and applying a force from the grippers 22, 23 toward the mandrels 4, 5 to the strip S. The grip of the trailing or leading end of the strip S by the grippers 22, 23 is released by moving the grippers 22, 23 radially inward using an actuator or the like and releasing the force acting on the strip S from the grippers 22, 23.

When rolling strip S using the rolling mill 1, basically, the grippers 22, 23 grip the tail and front ends of the strip S, and tension is applied to the strip S while the rolling rolls 15, 16 and the mandrels 4, 5 of the unwinder 2 and winder 3 are rotated.

As shown in Figure 1, the rolling equipment 100 may be equipped with a pressing unit 30 for correcting the shape of the tail end portion Sa of the strip S. A more specific configuration of the pressing unit 30 will be described later.

As shown in FIG. 1, the rolling equipment 100 may be equipped with a speed sensor 40 for detecting the speed of the strip S between the unwinder 2 and the rolling rolls 15, 16. The speed sensor 40 and the control device 50 are electrically connected, and a signal indicating the speed of the strip S detected by the speed sensor 40 is sent to the control device 50.

As shown in FIG. 1, the rolling equipment 100 may be equipped with a sensor 42 for detecting the separation of the tail end St of the strip S from the unwinder 2. The sensor 42 may be a sensor capable of detecting the presence or absence of the strip S at a position above, below, or to the side of the unwinder 2. The sensor 42 may be a rangefinder (such as a laser rangefinder) capable of detecting the distance from the sensor 42 to the strip S. The sensor 42 and the control device 50 are electrically connected, and a signal indicating the detection result by the sensor 42 is sent to the control device 50.

The sensor 42 shown in Figure 1 is a sensor capable of detecting the presence or absence of the strip S at a position below the unwinder 2. The sensor 42 shown in Figure 1 is a distance sensor that is provided at a position below the unwinder 2 and is capable of detecting the distance between the sensor 42 and the strip S in the horizontal direction.

Figure 3 is a schematic diagram of a control device 50 according to one embodiment. As shown in Figure 3, the control device 50 includes a rotation control unit 52, a speed acquisition unit 54, and a separation detection unit 56. The control device 50 may further include a grip control unit 58 and/or a pressure control unit 60.

The rotation control unit 52 is configured to control the rotation of the rolling rolls 15, 16. More specifically, the rotation control unit 52 is configured to stop the rolling rolls 15, 16 based on the separation timing, which is the timing at which the separation of the tail end St of the strip S from the unwinder 2 is detected by the separation detection unit 56 (described below), and the speed of the strip S acquired by the speed acquisition unit 54 (described below). The rotation control unit 52 may be configured to stop the rotation of the rolling rolls 15, 16 based on the length of the strip S from the position of the tail end St at the separation timing to the planned stopping position of the tail end St, in addition to the above-mentioned separation timing and speed of the strip S.

The speed acquisition unit 54 is configured to acquire the speed of the strip S between the unwinder 2 and the rolling rolls 15, 16. The speed acquisition unit 54 may acquire the speed of the strip S based on a signal indicating the speed of the strip S received from the speed sensor 40. Alternatively, the speed acquisition unit 54 may acquire the rotational speed of the rolling rolls 15, 16 or the motor 11 driving the rolling rolls 15, 16 from a rotational speed sensor or the like, and estimate the speed of the strip S from the rotational speed using a reverse rate or the like to acquire the speed of the strip S.

The separation detection unit 56 is configured to detect when the tail end St of the strip S has separated from the unwinder 2. The separation detection unit 56 may be configured to detect the separation of the tail end St from the unwinder 2 based on a signal from a sensor 42 that can detect the presence or absence of the strip S at a position at the same position as the guide unit 12 (deflector roll 6 or guide table 8, etc.) or closer to the unwinder 2 than the guide unit 12 in the traveling direction of the strip S (direction from the unwinder 2 to the winder 3), and at a position above, below, or to the side of the unwinder 2.

The sensor 42 may be configured to detect the presence or absence of the strip S at a position below the unwinder 2 (see sensor 42 in FIG. 1 and sensor 42A in FIGS. 5A-5D). In this case, the detachment detection unit 56 may be configured to determine that the tail end St has detached from the unwinder 2 when the presence of the strip S at a position below the unwinder 2 is detected based on a signal from the sensor 42.

Sensor 42 in Figure 1 and sensor 42A in Figures 5A to 5D are distance sensors that are located below the unwinder 2 and can detect the distance between the sensor 42, 42A and the strip S in the horizontal direction.

Alternatively, the sensor 42 may be configured to detect the presence or absence of the strip S above the unwinder (see sensors 42B or 42C in Figures 5A to 5D). In this case, the detachment detection unit 56 may be configured to determine that the tail end St has detached from the unwinder 2 when it detects, based on a signal from the sensor 42, that the strip S is no longer present above the unwinder 2.

Sensor 42B in Figures 5A to 5D is a distance sensor that is provided above the unwinder 2 and is capable of detecting the distance between sensor 42B and the strip S in the horizontal direction. Sensor 42C in Figures 5A to 5D is a distance sensor that is provided above the unwinder 2 and is capable of detecting the distance between sensor 42C and the strip S in the vertical direction.

Note that Figures 5A to 5D are diagrams for explaining the control flow of a rolling mill according to one embodiment. Figures 5A to 5D show three sensors 42A, 42B, and 42C as the sensor 42, but if only one sensor 42 (for example, any one of sensors 42A to 42C in Figures 5A to 5D) is provided, it is possible to detect the separation of the tail end St of the strip S from the unwinder 2.

The gripping control unit 58 is configured to control the operation of the gripper 22 (i.e., gripping and/or releasing of the tail end or leading end of the strip S by the gripper 22). The gripping control unit 58 may be configured to release the gripper's grip of the tail end Sa of the strip S based on the number of turns (number of turns) of the strip S in the unwinder 2. The number of turns of the strip S in the unwinder 2 may be calculated from the number of turns or length of the strip S at the start of the rolling pass and/or the angular position of the gripper 22 around the rotation axis of the mandrel 4.

The pressing control unit 60 is configured to control the operation of the pressing unit 30. A more specific configuration of the pressing control unit 60 will be described later.

The control device 50 includes a computer equipped with a processor (e.g., CPU), a main memory device (memory device; e.g., RAM), an auxiliary memory device, and an interface. The control device 50 receives signals from the speed sensor 40 and/or the sensor 42 via the interface. The processor is configured to process the signals received in this manner. The processor is also configured to process programs deployed in the main memory device. This realizes the functions of each of the functional units described above (e.g., rotation control unit 52, speed acquisition unit 54, and separation detection unit 56).

The processing content of the control device 50 is implemented as a program executed by the processor. The program may be stored, for example, in an auxiliary storage device. When the program is executed, it is expanded into the main storage device. The processor reads the program from the main storage device and executes the instructions contained in the program.

(Control flow of rolling mill)
Next, a control method for the rolling mill 1 according to several embodiments will be described with reference to Figures 4 to 9. Note that, although the following describes a case where the above-mentioned control device 50 is used to control the above-mentioned rolling mill 1, in some embodiments, the control method for the rolling mill may be executed using another device, or some of the procedures described below may be performed manually.

Figure 4 is a flowchart of a method for controlling a rolling mill according to one embodiment. Figures 5A to 5D are diagrams for explaining the control flow of a rolling mill according to one embodiment, and show changes in the position of the strip S over time when controlling the rolling mill.

As shown in FIG. 4, in one embodiment of the control method, while the strip S is being rolled by the rolling mill 1, the gripping control unit 58 releases the grip of the tail end Sa of the strip S by the gripper 22 of the unwinder 2 (S2). The speed acquisition unit 54 acquires the speed of the strip S between the unwinder 2 and the rolling rolls 15, 16 (S4). The separation detection unit 56 detects that the tail end St of the strip S has separated from the unwinder 2 (S6). The rotation control unit 52 then controls and stops the rotation of the rolling rolls 15, 16 based on the speed of the strip S acquired in step S4 and the timing (separation timing) at which the separation of the tail end St from the unwinder 2 is detected in step S6.

In step S2, while the strip S is being rolled by the rolling device 1, when the number of turns of the strip S on the unwinder 2 decreases, the actuator for moving the gripper 22 of the unwinder 2 is appropriately operated to release the grip of the tail end Sa of the strip S by the gripper 22 (S2). In step S2, the grip of the tail end Sa by the gripper 22 is typically released when the strip S has been wound around the mandrel 4 of the unwinder 2 one or more times.

Before the grip of the tail end Sa of the strip S by the gripper 22 is released in step S2, the tail end and tail end of the strip S have not yet separated from the mandrel 4, as shown in Figure 5A. When the grip of the tail end Sa of the strip S by the gripper 22 is released in step S2, the tail end St and tail end Sa of the strip S separate from the mandrel 4 (unwinder 2), as shown in Figure 5B. Then, over time, the positions of the strip S and tail end St change as shown in Figure 5C and then as shown in Figure 5D.

In step S4, the speed of the strip S between the unwinder 2 and the rolling rolls 15, 16 is acquired. In step S4, the speed of the strip S may be acquired from before the gripper 22 releases the grip on the tail end Sa in step S2, or the speed of the strip S after that point may be acquired. The speed of the strip S may also be acquired until the rolling rolls 15, 16 are stopped in the subsequent step S8. In step S4, the speed of the strip S may be acquired continuously or at predetermined intervals.

In step S6, the separation of the tail end St from the unwinder 2 is detected based on a signal from a sensor 42 capable of detecting the presence or absence of a strip plate above or below the mandrel 4 of the unwinder 2.

In one embodiment, the detection signal of sensor 42A (see Figures 5A to 5D), which is configured to detect the presence or absence of the strip at a position below the mandrel 4 of the unwinder 2, is used to determine whether the tail end St of the strip S has detached from the unwinder 2.

6 is a graph showing an example of the change over time in the detection value of the sensor 42A during the period when the rolling device is controlled, the speed of the strip S between the unwinder 2 and the rolling rolls 15, 16 (hereinafter also simply referred to as the speed of the strip S), and the open/closed state of the gripper 22. When the detection value of the sensor 42A is equal to or greater than _DA , the detection value indicates the horizontal distance between the sensor 42A and the strip S detected by the sensor 42A, and when the detection value is less than _DA , it indicates that the presence of the strip S is not detected.

In the example shown in Fig. 6, the rolling mill 1 rolls the strip S at a steady speed until time t11. Then, at time t12, which is after time t11, the gripping of the tail end Sa by the grippers 22 is released (step S2). Until time t12, as shown in Fig. 5A, the tail end and tail end of the strip S have not separated from the mandrel 4. Also, at time t12, as shown in the graph in Fig. 6, the detection value of the sensor 42A is less than _DA , and the presence of the strip S is not detected.

For a while from time t14 after time t12, the detection value of the sensor 42A is equal to or greater than _DA . That is, during this period, the sensor 42A detects the presence of the strip S below the unwinder 2.

Note that Figure 5B shows the state after time t12 and before time t14, in which the tail end St has separated from the unwinder 2 but has not yet reached the detection position of sensor 42A, and the presence of the strip plate S is not detected by sensor 42A. Figure 5C shows the state immediately after time t14, in which the tail end St has reached a position below the detection position of sensor 42A, and therefore the presence of the strip plate S is detected by sensor 42A. Thereafter, when the tail end St moves above the detection position of sensor 42A, the presence of the strip plate S is no longer detected by sensor 42A.

The detachment detection unit 56 determines that the tail end St has detached from the unwinder 2 at time t14 when the sensor 42A detects the presence of the strip S at a position below the unwinder 2. In this case, the timing at which the tail end St of the strip S detaches from the unwinder 2 (detachment timing) is time t14.

In one embodiment, the detection signal of sensor 42B or 42C (see Figures 5A to 5D), which is configured to detect the presence or absence of the strip at a position above the mandrel 4 of the unwinder 2, is used to determine whether the tail end St of the strip S has detached from the unwinder 2.

7 is a graph showing an example of the change over time in the detection value of the sensor 42B during the period when the rolling device is controlled, the speed of the strip S between the unwinder 2 and the rolling rolls 15, 16, and the open/closed state of the gripper 22. When the detection value of the sensor 42B is equal to or greater than D _B , the detection value indicates the horizontal distance between the sensor 42B and the strip S detected by the sensor 42B, and when the detection value is less than D _B , it indicates that the presence of the strip S has not been detected.

In the example shown in Fig. 7, the rolling mill 1 rolls the strip S at a steady speed until time t21. Then, at time t22, which is after time t21, the gripping of the tail end Sa by the grippers 22 is released (step S2). Until time t22, as shown in Fig. 5A, the tail end and tail end of the strip S have not separated from the mandrel 4. Also, at time t22, as shown in the graph in Fig. 6, the detection value of the sensor 42A is equal to or greater than _DB , and the presence of the strip S is detected.

During the period from time t22 onwards, that is, from time t24 onwards, the detection value of the sensor 42B is less than D _B. That is, during this period, the presence of the strip S above the unwinder 2 is no longer detected by the sensor 42B.

Note that Figure 5C shows the state after time t22 and before time t24, in which the tail end St has detached from the unwinder 2, but the strip S is present at the detection position of sensor 42B, so the presence of the strip S is detected by sensor 42B. Figure 5D shows the state immediately after time t24, in which the tail end St has reached a position above the detection position of sensor 42B, so the presence of the strip S is no longer detected by sensor 42A.

The detachment detection unit 56 determines that the tail end St has detached from the unwinder 2 at time t24 when the sensor 42B no longer detects the presence of the strip S above the unwinder 2. In this case, the detachment timing (the timing at which the tail end St of the strip S detaches from the unwinder 2) is time t24.

In step S8, the rotation of the motor 11 is controlled based on the speed of the strip S obtained in step S4 and the timing (detachment timing) at which the tail end St is detected to be detached from the unwinder 2 in step S6, and the rotation of the rolling rolls 15 and 16 is stopped (S8).

In this way, by stopping the rotation of the rolling rolls 15, 16 based on the speed of the strip S and the timing of the separation of the tail end St, the strip S can be stopped so that the tail end St is located at the desired position (for example, a position where rolling of the next pass can be started smoothly; for example, just before the deflector roll 6 or at the position of the guide table 8). Therefore, in the reverse-type rolling device 1, rolling can continue even after the tail end St leaves the unwinder 2 until the rolling rolls 15, 16 stop, and rolling of the next pass can be started smoothly. This makes it possible to improve yield while suppressing an increase in the time required for rolling.

In step S8, the rotation of the rolling rolls 15, 16 may be stopped based on the speed of the strip S and the separation timing of the tail end St, as well as the length of the strip S from the position of the tail end St at the separation timing to the planned stopping position of the tail end St. Since the movement length of the strip S (i.e., the movement length of the tail end St) can be expressed as the time integral of the speed of the strip S, the rotation control unit controls the rotation and stopping of the rolling rolls 15, 16 (motor 11) so that the time integral of the speed of the strip S acquired by the speed acquisition unit 54 becomes the above-mentioned length of the strip S. This makes it easier to stop the strip S so that the tail end St is located at the desired planned stopping position. This makes it easier to start rolling the next pass smoothly.

In addition, the length of the strip S from the position of the tail end St at the time of its separation from the unwinding machine 2 to the intended stopping position of the tail end St may be calculated geometrically based on the sensor 42 (sensors 42A to 42C, etc.) for detecting the separation of the tail end St and the intended stopping position of the tail end St, etc.

6 and 7, the speed of the strip S may be increased or decreased from the time when the tail end St is released from the unwinder 2 until the rolling rolls 15, 16 are stopped. In the example shown in FIGS. 6 and 7, the speed of the strip S is increased from time t15 or t25 after the release timing (time t14 or t24) to time t16 or t26, and the speed of the strip S is decreased from time t16 or t26 to time t17 or t27 (when the rolling rolls 15, 16 are stopped). In this way, by increasing the speed of the strip S as much as possible until just before the strip S is stopped, the time required to roll the strip S can be shortened, and by decelerating the speed of the strip S just before the strip S is stopped, it becomes easier to stably position the tail end St at the desired planned stopping position.

8 and 9 are diagrams for explaining the number of turns of the strip S in the unwinder 2. The number of turns of the strip S is counted based on the angular position of the gripper 22 around the rotation axis of the mandrel 4 of the unwinder 2. In FIG. 8, the angular position of the gripper 22 is the same as the angular position T (the position where the shape of the strip S changes from an arc shape to a linear shape) at which the strip S wound on the unwinder 2 is unwound toward the rolling rolls 15, 16. That is, FIG. 8 shows a state in which the strip S has been wound one turn around the mandrel 4 of the unwinder 2. In FIG. 9, the angular position of the gripper 22 is a position rotated 180 degrees from the above-mentioned angular position T. That is, FIG. 9 shows a state in which the strip S has been wound 1.5 turns around the mandrel 4 of the unwinder 2.

In the above-described method, in step S2, the gripper 22 may release the grip on the tail end portion Sa of the strip S just before the tail end St is released from the unwinder 2.

While the gripper 22 of the unwinder 2 grips the tail end Sa of the strip S, tension acts on the strip S, and the portion of the strip S that is rolled during this period can become a product. In this regard, as described above, by releasing the grip of the tail end Sa by the gripper 22 just before the tail end St separates from the unwinder 2, tension acting on the strip S can be maintained until just before the tail end St separates from the unwinder 2. This makes it possible to more effectively improve yield.

More specifically, in step S2, the grip of the tail end portion Sa by the gripper 22 may be released while the strip S is wound around the unwinder 2 by 2 turns or less or 1.7 turns or less.

In this way, by releasing the grip of the tail end portion Sa by the gripper 22 while the strip is wound around the unwinder 2 by 2 or less turns or 1.7 or less turns, the tension acting on the strip S can be maintained until just before the tail end St is released from the unwinder 2.

Also, in step S2, the gripper 22 may release the grip of the tail end portion Sa while the strip S is wound around the unwinder 2 by more than 1 or 1.5 turns.

The tail end St of the strip S can be detached from the unwinder 2 when one or fewer turns of the strip S are wound around the unwinder 2. As described above, the gripper releases the grip on the tail end while more than one or 1.5 turns of the strip S are wound around the unwinder 2, i.e., before the tail end of the strip S can be detached from the unwinder. This allows the tail end of the strip to be smoothly detached from the unwinder.

In some embodiments, the gripper 22 may release the grip of the tail end Sa while the strip S is wound around the unwinder 2 by 1 to 2 turns. In some embodiments, the gripper 22 may release the grip of the tail end Sa while the strip S is wound around the unwinder 2 by 1.5 to 1.7 turns.

In the above-described method, in step S2, the rotational speed of the rolling rolls 15, 16 may be decelerated during a period including the timing when the gripper 22 releases the grip of the tail end portion Sa. For example, in the example shown in Figure 6 or Figure 7, the rotational speed of the rolling rolls 15, 16 is decelerated during a period including time t12 or t22 (the period from t11 to t13 or the period from t21 to t23) when the gripper 22 releases the grip of the tail end portion Sa.

In this way, by slowing down the rotational speed of the rolling rolls 15, 16 when the gripper 22 releases the grip of the tail end Sa, the rotational speed of the rolling rolls 15, 16 is maintained relatively high until just before the timing when the grip of the tail end Sa is released. Therefore, the increase in the time required for rolling can be effectively suppressed.

(Regarding shape correction of the tail end using the pressing part)
Next, the specific configurations of the pressing unit 30 and the pressing control unit 60 for correcting the shape of the tail end Sa of the strip S will be described.

As shown in Figure 1, the pressing unit 30 is positioned at least partially closer to the rolling rolls 15, 16 in the direction of travel of the strip S than the rotation axis O of the deflector roll 6 provided between the unwinder 2 and the rolling rolls 15, 16. The pressing unit 30 is configured to apply a pressing force to the strip S in the thickness direction of the strip S.

The pressing control unit 60 (see Figure 3) is configured to control the operation of the pressing unit 30. The pressing control unit 60 may be configured to operate the pressing unit 30 so that the pressing unit 30 applies a pressing force to the strip S after the tail end St of the strip S has been released from the unwinder 2. The pressing control unit 60 may be configured to apply a pressing force to the strip S by the pressing unit 30 while the rolling rolls 15, 16 are rotating (i.e., while the strip S is being transported).

The tail end Sa of the strip S released from the unwinder 2 typically has a relatively large curvature (strong curling tendency). According to the above-described configuration, after the tail end St leaves the unwinder 2, the rolling rolls 15, 16 are rotated while a pressing force is applied to the strip S by the pressing unit 30 provided near the deflector roll 6. This reduces the degree of curvature of the tail end Sa. Correcting the shape of the tail end Sa of the strip S in this manner allows for smoother rolling in the next pass. For example, this makes it easier for the leading end of the strip S in the next pass (the tail end Sa in the previous pass) to pass through the guide unit 12, or for the leading end of the strip S in the next pass to be gripped by the gripper of the winder (the unwinder 2 in the previous pass). This effectively reduces the time required for rolling.

Figures 10 to 12 are each schematic diagrams of the pressing portion 30 according to one embodiment.

The pressing section 30 shown in FIG. 10 includes a pinch roll 32 that is partially located closer to the deflector roll 6 than the rolls 15 and 16 and configured to sandwich the strip S together with the deflector roll 6, and a push roll 34 that is located closer to the rolls 15 and 16 than the deflector roll 6 in the traveling direction of the strip S, on the opposite side of the pinch roll 32 across the strip S. The push roll 34 is configured to apply an upward pressing force to the strip S. As shown in FIG. 10, the center of the pinch roll 32 in the traveling direction of the strip S (hereinafter simply referred to as the traveling direction) is offset by a distance L1 toward the rolls 15 and 16 from the rotation axis of the deflector roll 6. The center of the push roll 34 in the traveling direction is offset by a distance L2 toward the rolls 15 and 16 from the center of the pinch roll 32.

In this embodiment, the strip S is sandwiched between the deflector roll 6 and the pinch roll 32, and the rolling rolls 15 and 16 are rotated while a pressing force from the push roll 34 is applied to the strip S, thereby correcting the shape of the tail end Sa of the strip S.

The pressing section 30 shown in Figure 11 includes a pinch roll 33 that is partially located closer to the rolling rolls 15 and 16 than the deflector roll 6 and is configured to sandwich the strip S together with the deflector roll 6. The pinch roll 33 is configured to apply a pressing force to the strip S in a direction from the center of the pinch roll 33 toward the center of the deflector roll 6. As shown in Figure 11, the center of the pinch roll 33 in the traveling direction of the strip S is shifted toward the rolling rolls 15 and 16 by a distance L3 from the rotation axis of the deflector roll 6 in the traveling direction.

In this embodiment, the strip S is sandwiched between the deflector roll 6 and the pinch roll 33, and the rolling rolls 15, 16 are rotated while the deflector roll 6 and the pinch roll 33 are rotated with a pressing force from the pinch roll 33 acting on the strip S. In this way, tension is applied to the strip S, thereby correcting the shape of the tail end Sa of the strip S.

The pressing unit 30 shown in Figure 12 includes a forming unit 36 provided closer to the rolling rolls 15 and 16 than the deflector roll 6, and a receiving unit 38 provided on the opposite side of the forming unit 36 with the strip S sandwiched between them. The forming unit 36 is provided so as to be able to move up and down. The receiving unit 38 has a contact surface 38a that can contact the surface of the strip S while sandwiching the strip S together with the forming unit 36. The receiving unit 38 is also configured so that its position changes in response to the up and down movement of the forming unit 36. In the embodiment shown in Figure 12, a pinch roll 35 configured to sandwich the strip S together with the deflector roll 6 is provided above the deflector roll 6.

12, the cross section of the forming section 36 has a circular shape, but the shape of the forming section 36 is not limited to this. For example, the cross section of the forming section 36 may be rectangular, polygonal, home plate-shaped, elliptical, etc.

In this embodiment, the strip S is sandwiched between the deflector roll 6 and pinch roll 33, and also between the forming section 36 and receiving section 38. The forming section 36 is moved downward to apply a pressing force from the forming section 36 to the strip S, and the rolling rolls 15, 16 are then rotated. This allows the shape of the tail end Sa of the strip S to be corrected.

In some embodiments, the rotation control unit 52 may be configured to repeatedly rotate and stop the rolling rolls 15, 16 while a pressing force is applied to the strip S by the pressing unit 30.

In the above-described embodiment, the pair of rolling rolls 15, 16 are repeatedly rotated and stopped while a pressing force is applied to the strip S by the pressing unit 30, so the shape of the tail end can be corrected by gradually shifting the position of the strip S. This allows for more precise adjustment of the shape of the tail end.

Figures 13A to 13D are diagrams illustrating an example of a procedure for correcting the shape of the tail end portion Sa while repeatedly rotating and stopping the rolling rolls 15, 16 (i.e., while inching the strip S). In this example, the shape of the tail end portion Sa of the strip S is corrected using the pressing unit 30 shown in Figure 12.

First, as shown in Figure 13A, the position of the forming section 36 is adjusted so that the vertical position (height) of the strip S at the position of the forming section 36 in the direction of travel is approximately the same as that of the strip S between the rolling rolls 15, 16. In this state, the strip S is sandwiched between the forming section 36 and the receiving section 38, and while applying a pressing force from the forming section 36 to the strip S, the rolling rolls 15, 16 are rotated slightly and then stopped.

Next, as shown in Figure 13B, the position of the forming section 36 is adjusted to a lower position than in Figure 13A. In this state, the strip S is sandwiched between the forming section 36 and the receiving section 38, and while a pressing force from the forming section 36 is applied to the strip S, the rolling rolls 15 and 16 are rotated slightly and then stopped.

Furthermore, as shown in Figure 13C, the position of the forming section 36 is adjusted to a lower position than in Figure 13B. In this state, the strip S is sandwiched between the forming section 36 and the receiving section 38, and the rolling rolls 15, 16 are rotated slightly and then stopped while the pressing force from the forming section 36 is applied to the strip S. In this way, by increasing the pressing amount (pressing down amount) of the forming section 36, the portion of the strip S near the tail end St, which has a stronger curling tendency, can be effectively straightened.

Furthermore, once the tail end St of the strip S passes the deflector roll 6 and the forming section 36, the forming section 36 may be moved upward and separated from the receiving section 38, as shown in Figure 14D, thereby releasing the pressing force exerted by the forming section 36 on the strip S.

In this way, by appropriately moving the forming section 36 in response to changes in the shape of the tail end section Sa, and repeating the procedure of slightly rotating and stopping the rolling rolls 15, 16 while applying a pressing force from the forming section 36 to the strip S, the shape of the tail end section Sa can be effectively corrected while gradually shifting the position of the strip S.

Below, we provide an overview of rolling device control devices, rolling equipment, and rolling device control methods according to several embodiments.

(1) A control device (50) for a rolling mill (1) according to at least one embodiment of the present invention includes:
A control device for controlling a rolling mill including a pair of rolling rolls (15, 16) for rolling a metal strip (S), an unwinder (2) for unwinding the strip toward the pair of rolling rolls, and a winder (3) for winding up the strip rolled by the pair of rolling rolls,
a rotation control unit (52) for controlling the rotation of the rolling roll;
a speed acquisition unit (54) configured to acquire the speed of the strip between the unwinder and the rolling roll;
a separation detection unit (56) configured to detect when the tail end (St) of the strip is separated from the unwinder;
Equipped with
The rotation control unit is configured to stop the rotation of the pair of rolling rolls based on the separation timing, which is the timing when the separation of the tail end from the unwinder is detected by the separation detection unit, and the speed of the strip acquired by the speed acquisition unit.

According to the configuration (1) above, the rotation of the rolling mill is controlled and stopped based on the timing when the separation of the tail end of the strip from the unwinder is detected and the speed of the strip between the unwinder and the rolling rolls, so the strip can be stopped at an appropriate position (for example, a position where rolling of the next pass can be started smoothly). Therefore, in a reverse-type rolling mill, rolling can continue even after the tail end has separated from the unwinder until the rolling mill stops, and rolling of the next pass can be started smoothly. This makes it possible to improve yield while suppressing increases in the time required for rolling.

(2) In some embodiments, in the configuration of (1),
The separation detection unit is configured to detect the separation of the tail end from the unwinder based on a signal from a sensor (42) capable of detecting the presence or absence of the band plate at a position above or below the unwinder.

According to the configuration described in (2) above, a sensor capable of detecting the presence or absence of the strip above or below the unwinder can properly detect the separation of the tail end from the unwinder. Therefore, as described in (1), it is possible to improve yield while suppressing an increase in the time required for rolling.

(3) In some embodiments, in the configuration of (2),
The rolling device includes a guide unit (12) for guiding the strip between the unwinder and the pair of rolling rolls,
The detachment detection unit is configured to detect the detachment of the tail end from the unwinder based on a signal from a sensor (42) that can detect the presence or absence of the strip at a position at the same position as the guide unit or closer to the unwinder than the guide unit in the traveling direction of the strip, and at a position above or below the unwinder.

The passage for the strip in the guide section usually has a narrow gap in the thickness direction, making it relatively difficult to pass the leading edge of the strip. In this regard, the configuration (3) above uses a sensor that can detect the presence or absence of the strip at a position at the same position as the guide section or closer to the unwinder in the direction of strip travel to detect the separation of the tail end from the unwinder. This makes it easier to stop the tail end of the strip (i.e., the leading edge of the next pass) at a position at the same position as the guide section or closer to the unwinder than the guide section. This makes it easier to start rolling the next pass smoothly.

(4) In some embodiments, in the configuration of (2) or (3),
The detachment detection unit is configured to determine that the tail end has detached from the unwinder when the presence of the strip plate is detected at a position below the unwinder based on the signal from the sensor.

According to the configuration (4) above, the separation of the tail end from the unwinder is detected based on the presence of the band plate at a position below the unwinder, so it is possible to quickly determine that the band plate has separated from the unwinder.

(5) In some embodiments, in the configuration of (2) or (3),
The detachment detection unit is configured to determine that the tail end has detached from the unwinder when it detects, based on the signal from the sensor, that the strip plate is no longer present at a position above the unwinder.

According to the configuration (5) above, the separation of the tail end from the unwinder is detected based on the absence of the strip at a position above the unwinder, so it is possible to determine relatively quickly that the strip has separated from the unwinder.

(6) In some embodiments, in any of the configurations (1) to (5) above,
The rotation control unit is configured to stop the rotation of the pair of rolling rolls based on the separation timing, the speed of the strip, and the length of the strip from the position of the tail end at the separation timing to the planned stopping position of the tail end.

According to the configuration (6) above, the rotation of the rolling rolls is stopped based on the timing of the tail end's release from the unwinder, the speed of the strip, and the length of the strip from the position of the tail end at the time of release to the planned stopping position (predetermined position). This makes it possible to stop the strip so that the tail end is positioned at the desired position (planned stopping position). This makes it easier to start rolling the next pass smoothly.

(7) In some embodiments, in any of the configurations (1) to (6) above,
The control device
a gripping control unit (58) provided in the unwinder for controlling a gripper (22) for gripping a tail end portion (Sa) including the tail end of the strip;
The gripping control section is configured to release the gripping of the tail end portion by the gripper immediately before the tail end is released from the unwinder.

Since tension acts on the strip while the grippers of the unwinder grip the tail end of the strip, the portion of the strip that is rolled during this period can become the finished product. In this regard, with the configuration described in (7) above, the grippers release the tail end just before the tail end separates from the unwinder, so tension acting on the strip can be maintained until just before the tail end separates from the unwinder. This allows for more effective improvement in yield.

(8) In some embodiments, in the configuration of (7),
The gripping control section is configured to release the gripping of the tail end portion by the gripper while the strip is wound around the unwinder by more than one turn.

The tail end of the strip can be released from the unwinder when one or less rolls of strip are wound around the unwinder. In this regard, with the configuration (8) above, the gripper releases the grip on the tail end before the tail end of the strip can be released from the unwinder and just before the tail end is released from the unwinder. This allows the tail end of the strip to be released smoothly from the unwinder, and maintains the tension acting on the strip until just before the tail end is released from the unwinder, improving yield.

(9) In some embodiments, in the configuration of (7) or (8),
The gripping control section is configured to release the gripping of the tail end section by the gripper while the strip is wound around the unwinder by two or fewer turns.

According to the configuration (9) above, the gripper releases the tail end while two or fewer turns of the strip are wound around the unwinder, so tension acting on the strip can be maintained until just before the tail end is released from the unwinder. This makes it possible to more effectively improve yield.

(10) In some embodiments, in any of the configurations (7) to (9) above,
The rotation control unit is configured to reduce the rotation speed of the pair of rolls during a period that includes the timing at which the grip control unit releases the grip on the tail end portion.

According to the configuration (10) above, the rotational speed of the rolling roll is slowed down when the grip on the tail end is released, so the rotational speed of the rolling roll is maintained relatively high until just before the grip on the tail end is released. Therefore, the increase in the time required for rolling can be effectively suppressed.

(11) In some embodiments, in any of the configurations (1) to (10) above,
The rolling device includes a deflector roll (6) provided between the unwinder and the pair of rolling rolls, and a pressing unit (30) at least partially positioned closer to the pair of rolling rolls than the deflector roll in the traveling direction of the strip, and configured to apply a pressing force to the strip along the thickness direction of the strip,
The control device
a pressing control section (60) configured to operate the pressing section so that the pressing section applies a pressing force to the band plate after the tail end is separated from the unwinder,
The rotation control section is configured to rotate the pair of rolls while the pressing section applies a pressing force to the strip.

The tail end of a strip released from the unwinder typically has a relatively large curvature (strong curling tendency). According to the configuration (11) above, after the tail end leaves the unwinder, the rolling rolls are rotated while a pressing force is applied to the strip by a pressing section provided near the deflector roll, thereby reducing the degree of curvature of the tail end. Correcting the shape of the tail end of the strip in this way makes it easier to grip the leading end of the strip in the next pass (the tail end in the previous pass) with the gripper of the winder (the unwinder in the previous pass), for example, and allows for a smoother start to the rolling in the next pass. This effectively prevents an increase in the time required for rolling.

(12) In some embodiments, in the configuration of (11),
The rotation control section is configured to repeatedly rotate and stop the pair of rolls while the pressing section applies a pressing force to the strip.

According to the configuration (12) above, the pair of rolling rolls are repeatedly rotated and stopped while a pressing force is applied to the strip by the pressing unit, so the shape of the tail end can be corrected by gradually shifting the position of the strip. This allows for more precise adjustment of the shape of the tail end.

(13) At least one embodiment of the rolling equipment (100) of the present invention comprises:
A rolling device (1) including a pair of rolling rolls (15, 16) for rolling a metal strip (S), an unwinder (2) for unwinding the strip toward the pair of rolling rolls, and a winder (3) for winding up the strip rolled by the pair of rolling rolls;
a control device (50) according to any one of (1) to (12) above for controlling the rolling device;
Equipped with.

According to the configuration (13) above, the rotation of the rolling mill is controlled and stopped based on the timing when the separation of the tail end of the strip from the unwinder is detected and the speed of the strip between the unwinder and the rolling rolls, so the strip can be stopped at an appropriate position (for example, a position where rolling of the next pass can be started smoothly). Therefore, in a reverse-type rolling mill, rolling can continue even after the tail end has separated from the unwinder until the rolling mill stops, and rolling of the next pass can be started smoothly. This makes it possible to improve yield while suppressing an increase in the time required for rolling.

(14) A method for controlling a rolling mill according to at least one embodiment of the present invention includes:
A control method for controlling a rolling mill (1) including a pair of rolling rolls (15, 16) for rolling a metal strip (S), an unwinder (2) for unwinding the strip toward the pair of rolling rolls, and a winder (3) for winding up the strip rolled by the pair of rolling rolls,
a rotation control step (S8) of controlling the rotation of the rolling roll;
a speed acquisition step (S4) of acquiring the speed of the strip between the unwinder and the rolling roll;
a separation detection step (S6) of detecting that the tail end of the strip has separated from the unwinder;
Equipped with
In the rotation control step, the rotation of the pair of rolling rolls is stopped based on the separation timing, which is the timing at which the separation of the tail end from the unwinder is detected in the separation detection step, and the speed of the strip plate acquired in the speed acquisition step.

According to the method (14) above, the rotation of the rolling mill is controlled and stopped based on the timing when the separation of the tail end of the strip from the unwinder is detected and the speed of the strip between the unwinder and the rolling rolls, so the strip can be stopped at an appropriate position (for example, a position where rolling of the next pass can be started smoothly). Therefore, in a reverse-type rolling mill, rolling can continue even after the tail end has separated from the unwinder until the rolling mill stops, and rolling of the next pass can be started smoothly. This makes it possible to improve yield while suppressing an increase in the time required for rolling.

The above describes embodiments of the present invention, but the present invention is not limited to the above-described embodiments and also includes variations on the above-described embodiments and appropriate combinations of these embodiments.

In this specification, expressions expressing relative or absolute arrangement such as "in a certain direction,""along a certain direction,""parallel,""orthogonal,""center,""concentric," or "coaxial" not only express such an arrangement strictly, but also express a state in which there is a relative displacement with a tolerance or an angle or distance to the extent that the same function is obtained.
For example, expressions such as "identical,""equal," and "homogeneous" that indicate that something is in an equal state not only indicate a state of strict equality, but also indicate a state in which there is a tolerance or a difference to the extent that the same function is obtained.
Furthermore, in this specification, expressions representing shapes such as a rectangular shape or a cylindrical shape not only represent rectangular shapes or cylindrical shapes in the strict geometric sense, but also represent shapes including uneven portions, chamfered portions, etc., to the extent that the same effect can be obtained.
Furthermore, in this specification, the expressions "comprise,""include," or "have" a component are not exclusive expressions that exclude the presence of other components.

DESCRIPTION OF SYMBOLS 1 Rolling device 2 Unwinder 3 Winder 4, 5 Mandrels 6, 7 Deflector rolls 8, 9 Guide table 10 Rolling mill 11 Motor 12, 13 Guide section 15, 16 Rolling rolls 17, 18 Intermediate rolls 19, 20 Backup rolls 22, 23 Gripper 24 Slot 30 Pressing section 32 Pinch roll 33 Pinch roll 34 Push roll 35 Pinch roll 36 Forming section 38 Receiving section 38a Contact surface 40 Speed sensors 42, 42A to 42C Sensor 50 Control device 52 Rotation control section 54 Speed acquisition section 56 Separation detection section 58 Grip control section 60 Pressing control section 100 Rolling equipment S Strip Sa Tail end section St Tail end section

Claims (15)

A control device for controlling a rolling mill including a pair of rolling rolls for rolling a metal strip, an unwinder for unwinding the strip toward the pair of rolling rolls, and a winder for winding up the strip rolled by the pair of rolling rolls,
a rotation control unit for controlling the rotation of the rolling roll;
a speed acquisition unit configured to acquire a speed of the strip between the unwinder and the rolling roll;
a separation detection unit configured to detect when the tail end of the strip is separated from the unwinder;
Equipped with
The rotation control unit is a control device for a rolling device configured to stop the rotation of the pair of rolling rolls so that the tail end is located at a planned stop position between the unwinder and the rolling rolls , based on a separation timing, which is the timing when the separation of the tail end from the unwinder is detected by the separation detection unit, and the speed of the strip acquired by the speed acquisition unit. 2. The control device for a rolling device according to claim 1, wherein the detachment detection unit is configured to detect detachment of the tail end from the unwinder based on a signal from a sensor capable of detecting the presence or absence of the strip plate at a position above or below the unwinder. the rolling device includes a guide unit for guiding the strip between the unwinder and the pair of rolling rolls,
3. The control device for a rolling device according to claim 2, wherein the separation detection unit is configured to detect separation of the tail end from the unwinder based on a signal from a sensor capable of detecting the presence or absence of the strip at a position at the same position as the guide unit or closer to the unwinder than the guide unit in the traveling direction of the strip, and at a position above or below the unwinder. 4. The control device for a rolling mill according to claim 2 or 3, wherein the detachment detection unit is configured to determine that the tail end has detached from the unwinder when the presence of the strip plate is detected at a position below the unwinder based on the signal from the sensor. 4. The control device for a rolling mill according to claim 2 or 3, wherein the detachment detection unit is configured to determine that the tail end has detached from the unwinder when it is detected, based on the signal from the sensor, that the strip plate is no longer present at a position above the unwinder. 6. The control device for a rolling mill according to claim 1, wherein the rotation control unit is configured to stop the rotation of the pair of rolling rolls based on the length of the strip from the position of the tail end at the time of separation to the planned stop position of the tail end, in addition to the separation timing and the speed of the strip. a gripping control unit provided in the unwinder for controlling a gripper for gripping a tail end portion including the tail end of the strip;
The control device for a rolling mill according to any one of claims 1 to 6, wherein the gripping control unit is configured to release the gripping of the tail end portion by the gripper immediately before the tail end is released from the unwinder. The control device for a rolling mill according to claim 7, wherein the gripping control section is configured to release the gripping of the tail end portion by the grippers while the strip is wound around the unwinder by more than one turn. 9. The control device for a rolling mill according to claim 7, wherein the gripping control section is configured to release the gripping of the tail end portion by the grippers while two or less turns of the strip are wound around the unwinder. 10. The control device for a rolling mill according to claim 7, wherein the rotation control unit is configured to reduce the rotational speed of the pair of rolls during a period including a timing when the grip control unit releases the grip of the tail end portion. the rolling device includes a deflector roll provided between the unwinder and the pair of rolling rolls, and a pressing unit at least partially positioned closer to the pair of rolling rolls than the deflector roll in the traveling direction of the strip, and configured to apply a pressing force to the strip along a thickness direction of the strip,
a pressing control unit configured to operate the pressing unit so that the pressing unit applies a pressing force to the band plate after the tail end is separated from the unwinder,
The control device for a rolling mill according to any one of claims 1 to 10, wherein the rotation control unit is configured to rotate the pair of rolls while a pressing force is applied to the strip by the pressing unit. The control device for a rolling mill according to claim 11, wherein the rotation control section is configured to repeatedly rotate and stop the pair of rolls while the pressing force is being applied to the strip by the pressing section. The rotation control unit is configured to stop the rotation of the pair of rolling rolls based on the separation timing and the speed of the strip so that the tail end stops at a position just before a deflector roll provided between the unwinder and the pair of rolling rolls, or at a position on a guide unit provided between the unwinder and the pair of rolling rolls for guiding the strip.
A control device for a rolling mill according to any one of claims 1 to 12. a rolling device including a pair of rolling rolls for rolling a metal strip, an unwinder for unwinding the strip toward the pair of rolling rolls, and a winder for winding up the strip rolled by the pair of rolling rolls;
a control device according to any one of claims 1 to 13 for controlling the rolling mill;
Rolling equipment equipped with: A control method for controlling a rolling apparatus including a pair of rolling rolls for rolling a metal strip, an unwinder for unwinding the strip toward the pair of rolling rolls, and a winder for winding up the strip rolled by the pair of rolling rolls, comprising:
a rotation control step of controlling the rotation of the rolling rolls;
a speed acquisition step of acquiring a speed of the strip between the unwinder and the rolling roll;
a separation detection step of detecting that the tail end of the strip has separated from the unwinder;
Equipped with
In the rotation control step, the method stops the rotation of the pair of rolling rolls so that the tail end is positioned at a planned stop position between the unwinder and the rolling rolls based on the separation timing, which is the timing at which the separation of the tail end from the unwinder is detected in the separation detection step, and the speed of the strip acquired in the speed acquisition step.