JPS6142686B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a method for confirming that an object to be transported has been transferred from the first transport device to the second transport device between the first and second transport devices connected in cascade. It is related to a circuit, and is a conveyed object in a conveying device suitable for use when confirming that a dummy bar conveyed by a storage pinch roll has been transferred to a charging car, especially in continuous casting equipment. Regarding the delivery confirmation circuit.

providing first and second conveying devices connected in cascade;
A conveyance device in which a conveyed object conveyed by a first conveyance device is successively conveyed by a second conveyance device is used for casting a dummy bar in continuous casting equipment installed at a steel mill, etc. It is used when loading into a passenger car. 1 and 2 are side views showing an overview of a continuous casting facility and the above-mentioned conveying device in this continuous casting facility. In FIG. 2, when molten metal is poured into mold 1 and casting starts,
After being moved in the direction of the arrow 7 along the casting drawing line 6 by the pinch rolls 3, 3 to 5, 5 and separated from the casting drawing line 6 at point A in the direction of the arrow 8, the storage pinch rolls 9, 9 is conveyed toward the charging car 10, and the state is as shown in FIG. 2. FIG. 3 is an enlarged side view showing the relationship between the dummy bar 2 and the charging car 10 that hoists up the dummy bar 2 in the state shown in FIG. The rolls 9, 9 are pressed against the dummy bar 2 by a drive device (not shown), and are rotated by a motor 11 (first drive device).
The dummy bar 2 is transported upward in the figure. The second conveying device provided on the charging car 10 has a sprocket 13 and a guide sprocket 14 driven by a motor 12 (second electric motor).
Chain 1 is run in the direction of arrow 15 by
This chain 16 has pawls 17a, 1 which act only in the running direction of the chain 16.
7b is attached. Now, when the dummy bar 2 is conveyed to the state shown in FIG. 3 by the pinch rolls 9, 9, the claw 17a engages with the hole 2a formed at the tip of the dummy bar 2, It is hoisted onto the charging car 10 by the chain 16 so as to be in the state shown by the chain line 2'.

By the way, in the case where the dummy bar 2 is delivered from the storage pinch rolls 9, 9 side to the charging car 10 side in the cascade-connected conveyance device consisting of the storage pinch rolls 9, 9 and the chain 16 on the charging car 10 described above, Conventionally, the operator monitors the conveyance state of the dummy bar 2 and the running state of the chain 16, and delicately adjusts the rotational speed of the motors 11 and 12 while transferring the dummy bar, and the dummy bar is transferred with the operator's eyes. I made sure it was done correctly. For this reason, in the past, there was a problem in that manual labor was always required to transfer the dummy bar, and it took time to transfer the dummy bar.

The present invention has been made in view of the above circumstances, and its purpose is to provide a method for transporting objects transported by the first transport device in first and second transport devices that are cascade-connected. To provide a delivery confirmation circuit for a conveyed object in a conveyance device that can automatically detect and confirm that an object has been reliably transferred to a second conveyance device without manual intervention, thereby solving the above-mentioned problems. It is in.

Hereinafter, one embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 4 shows an example in which the present invention is applied to a conveying device comprising storage pinch rolls 9, 9 (first conveying device) and a chain 16 of a charging car 10 (second conveying device) in the above-mentioned continuous casting equipment. FIG. 2 is a block diagram showing the configuration of one embodiment of the present invention. In this figure, 18 indicates the storage pinch rolls 9, 9.
A first speed setting device for commanding the rotational speed N ₁₀ at no-load to the drive DC motor 11 (first electric motor) of the chain 16, 19 to the drive DC motor 12 (second electric motor) of the chain 16. Rotational speed at no load N ₂₀
The setting output _N20 of the speed setting device 19 is supplied as a span signal to the speed setting device ₁₈ . 20
21 is a first drooping characteristic setting device for setting a first drooping characteristic such that the rotational speed N ₁ of the motor 11 is decreased in accordance with an increase in the load current I ₁ of the motor 11; This is a second drooping characteristic setting device for setting a second drooping characteristic such that the rotational speed N ₂ of the motor 12 is decreased in accordance with the amount of increase in the load current I ₂ of the motor 12 . Further, 22 is a first tachometer generator for detecting the rotation speed _N1 of the motor 11, and 23 is a second tachometer generator for detecting the rotation speed _N2 of the motor 12. 24 is an addition point that subtracts the output of the droop characteristic setter 20 and the output _N1 of the tachogenerator 22 from the output _N10 of the speed setter 18, and supplies the subtraction result to the amplifier 25; 26 is the speed setter 19 outputs
This is an addition point that subtracts the output of the droop characteristic setter 21 and the output N ₂ of the tachogenerator 23 from N ₂₀ and supplies the subtraction result to the amplifier 27 . Also 2
8 and 29 are motor drive circuits that drive and control the motors 11 and 12, respectively; the motor drive circuit 28 is supplied with motor drive power through a terminal 30, and is also supplied with a rotation control signal from an amplifier 25;
Further, the motor drive circuit 29 is supplied with motor drive power through a terminal 31 and is also supplied with a rotation control signal from the amplifier 27 . Reference numerals 32 and 33 indicate current detectors that detect the load currents I ₁ and I ₂ flowing through the motors 11 and 12, respectively, and the output I ₁ of the current detector 32 is supplied as a span signal to the droop characteristic setting device 20 and also as a span signal. 1 comparator 34 as the first comparison input signal, and the output I ₂ of the current detector 33
is supplied to the droop characteristic setter 21 as a span signal, and is also supplied to the comparator 34 as a second comparison input signal. This comparator 34 is configured to output a "1" signal of the binary logic signal when the second comparison input signal is greater than the first comparison input signal, that is, when I ₂ > I ₁ . has been done. Further, 35 is a comparator that compares the respective outputs N ₁ and N ₂ of the tachometer generators 22 and 23, and this comparator 35 is configured to output a "1" signal when N ₁ = N ₂ . . 36 is the comparator 3
an AND circuit that takes the AND of the output signals of 4 and 35;
37 is a delivery confirmation signal generation circuit that generates a delivery confirmation signal indicating that the dummy bar 2 has been delivered from the storage pinch rolls 9, 9 side to the charging car 10 side when the AND circuit 36 outputs a "1" signal. . When the delivery confirmation signal is generated, 38 generates a command signal to command the motor 11 to stop and to release the storage pinch rolls 9 from the pressed state against the dummy bar 2.
_M1 is a stop command circuit, and 39 is a stop command circuit when the motor ₁₁ is stopped and the storage pinch rolls 9, 9 are released.
This is an M2 high-speed hoisting command circuit that instructs M2 to rotate at high speed and hoist the dummy bar ₂ onto the charging car 10 at high speed. In the above portions, a portion 40 surrounded by a chain line indicates a rotational speed control circuit for the motors 11 and 12.

Next, the operation of this embodiment with the above configuration will be explained below with reference to FIG.
This will be explained with reference to rotational speed characteristics. In this case, for convenience, it is assumed that the no-load currents of the motors 11 and 12 are zero, and that the rated load currents I ₁ n and I ₂ n of the motors 11 and 12 are equal. In addition, here, the respective rotational speeds N ₁ and N ₂ of the motors 11 and 12 when no load is applied
are set to predetermined values N ₁₀ and N ₂₀ (N ₂₀ >N ₁₀ ) as shown in FIG. 5 by the speed setters 18 and 19, respectively.
Suppose that it is set to . In addition, the motor 11 has
The drooping characteristic setting device 20 determines, for example, the first setting such that when the load current I ₁ of the motor 11 increases from the no-load current to the rated current I ₁ n, the rotation speed N ₁ decreases by ΔN ₁ . A drooping characteristic as shown by the solid line _M1 in Fig. 5 is provided. The drooping characteristic in this case can be expressed as N ₁ =N ₁₀ −ΔN ₁ /I ₁ n·I ₁ (1). Similarly, the motor 12
For example, when the load current I ₂ of the motor 12 increases from the no-load current to the rated current I ₂ n by the droop characteristic setting device 21, the rotation speed N ₂ decreases by ΔN ₂ . Assume that a drooping characteristic as shown by the solid line _M2 in FIG. 5 is provided. The drooping characteristic in this case can be expressed as N ₂ =N ₂₀ −ΔN ₂ /I ₂ n·I ₂ (2).

Now, if the dummy bar 2 is being conveyed in the direction of the charging car 10 by the storage pinch rolls 9, 9, and the chain 16 is running idle, the motor 11 has no power to convey the dummy bar 2. A large load current I ₁₁ required for this purpose flows, so that the motor 11 rotates at a rotational speed N ₁₁ , while a small load current I ₂₁ necessary to make the chain 16 run idle flows through the motor 12. , therefore, the motor 12 is rotating at a rotational speed _N21 . When the dummy bar 2 is conveyed to the state shown in FIG. 3, the rotation speed N ₂₁ of the motor 12 is greater than the rotation speed N ₁₁ of the motor 11,
Therefore, since the traveling speed of the chain 16 is greater than the moving speed of the dummy bar 2, the dummy bar 2 is continuously conveyed by the claws 17a of the chain 16 at a faster speed. When the dummy bar 2 is transferred in this way, a large load current I ₂₂ required to transport (roll up) the dummy bar 2 flows through the motor 12, and therefore the rotational speed N ₂ of the motor 12 is reduced. will decrease from N ₂₁ to N ₂₂ , and on the other hand, the load on the motor 11 will become lighter, so the load current I ₁ of the motor 11 will decrease from N 21 to N 22.
decreases from I ₁₁ to I ₁₂ , and its rotational speed N ₁ decreases from N ₁₁
It will rise from N to ₁₂ . In this case, the relationship between the load current I ₁₂ and the load current I ₂₂ is I ₂₂ > _I 12 (3). In this case, the chain 16 and the storage pinch rolls 9, 9 are made to have the same speed via the dummy bar 2, so the rotational speed _N12 of the motor 11 and the rotational speed _N22 of the motor 12 are _N12 = N ₂₂ …(4) The relationship becomes as follows.

As a result of the above, in FIG.
5 will both output a "1" signal, so the AND circuit 36 will open and the delivery confirmation signal generation circuit 37 will output a delivery confirmation signal. In addition, along with this, storage pinch rolls 9, 9
is released and the motor 11 is stopped, then the motor 12 shifts to high speed rotation, and the dummy bar 2 is hoisted onto the charging car 10 at high speed.

As described above, in this embodiment, the dummy bar 2 is moved from the side of the storage pinch rolls 9, which are the first conveying device, to the chain 1, which is the second conveying device.
It is possible to automatically and reliably confirm that the vehicle has been delivered to the charging car 10 having the vehicle 6.

As explained above, the delivery confirmation circuit for the conveyed object in the conveyance device according to the present invention commands the first rotational speed to the electric motor of the first conveyance device and gives the first drooping characteristic, and A second rotational speed higher than the first rotational speed is commanded to the electric motor of the device, and a second drooping characteristic is given to the electric motor of the device, and the rotational speed of the first electric motor and the rotational speed of the second electric motor match, and It is configured to confirm that the transferred object has been transferred from the first transfer device to the second transfer device under the condition that the load current of the second electric motor is larger than the load current of the first electric motor. From this, it is possible to automatically and reliably confirm that the object to be transported has been transferred from the first transport device to the second transport device without manual intervention, thereby saving labor. .

[Brief explanation of the drawing]

Figures 1 and 2 are side views showing an overview of the continuous casting equipment, Figure 3 is an enlarged side view showing the hoisting of the dummy bar to the charging car in Figure 2, and Figure 4 is FIG. 5 is a block diagram showing the configuration of an embodiment of the present invention, and FIG. 5 is a load current-rotational speed characteristic diagram of a motor for explaining the embodiment. 2...Transferred object (dummy bar), 9...First transport device (storage pinch roll), 11...First electric motor (motor), 12...Second electric motor (motor), 16...First 2 conveying device (chain), 34
. . . first comparison means (comparator), 35 . . . second comparison means (comparator), 40 . . . rotation speed control circuit.

Claims (1)

[Claims] 1. A transport device configured such that an object to be transported by a first transport device is successively transported by a second transport device cascade-connected to the first transport device, issuing a first rotational speed command to a first electric motor that drives the first conveying device, and giving the first electric motor a first rotational speed drooping characteristic in accordance with an increase in its load current; A second rotational speed command having a rotational speed higher than the rotational speed in the first rotational speed command is issued to a second electric motor that drives the second conveyance device, and a load current of the second electric motor is increased. a rotational speed control circuit that provides a second rotational speed drooping characteristic in response to an increase in the rotational speed; a first comparing means that compares each load current of the first and second electric motors; and a second comparison means for comparing the respective rotational speeds of the electric motors, and the rotational speeds of the first and second electric motors are equal and the rotational speeds of the first and second electric motors are equal based on the first and second comparison means. When the load current of the second motor becomes larger than the load current of the first motor, it is determined that the object to be transported has been transferred from the first transport device to the second transport device. A delivery confirmation circuit for a transported object in a transport device, characterized in that: