JPS6349574B2 - - Google Patents

Description

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

Coils that have been rolled and wound in the rolling process may have flaws due to vibrations at the ends of the coil during conveyance by roller conveyor to the next process and contact with the circular surface of the coil. In order to check for this, the ends were manually unfolded and visually inspected.

Deploying the ends manually is labor intensive, and the coil itself has a residual heat of several hundred degrees.
It was dangerous work.

The object of the present invention is to eliminate the above-mentioned manual work and provide a device that automatically performs this work.

An embodiment of this invention will be described below.

Figure 1 shows the overall mechanism of the device, with 1 indicating the eye
This device is installed above the coil 2 placed horizontally and can move along the traveling rail 3. 4 is a traveling girder, and this traveling girder 4
A transverse club 5 rides on top and can move along the direction orthogonal to the traveling rail 3. Reference numeral 6 denotes an elevating mast, which is suspended from the transverse club 5 and held at an arbitrary height in the vertical direction, and has a clamping device 7 fixed to its lower part for clamping a steel plate. Further, the elevating mast 6 is free to rotate so that it can rotate freely due to the reaction force of the steel plate applied to the clamp device 7.

FIG. 2 shows the control system of this device, where 8 is an encoder for detecting the turning angle of the lifting mast 6, 9 is a microcomputer, and 10 and 11 are running. This is a drive control device that controls the rotational speed of the traversing motors 12 and 14. The traversing motor 12 drives the traversing girder wheels 41 via the torque limiter 16, and the traversing motor 14 drives the traversing club wheels 51 via the torque limiter 17.

Each drive control device 10, 11 has a rotation speed detection pulse generator (hereinafter abbreviated as PG as appropriate) 1
3 and 15, the rotational speeds of the motors 12 and 14 are fed back, respectively. Furthermore, an encoder 18 for detecting the current position of the traveling girder and an encoder 19 for detecting the current position of the traversing club are attached to each wheel, and their outputs are fed back to the microcomputer 9.

Figure 3 shows the control principle. In the same figure, the coordinate
traverse direction Y indicates the traveling direction.

Incidentally, a powder type clutch or an eddy current joint is used for the torque limiters 16 and 17, and the amount of torque transmission is adjusted by adjusting the excitation current.

The operation of this device will be explained in detail below. In Figure 3, the coil end of coil 2 is at point A,
It is assumed that the clamping device 7 is used for clamping.

In this state, when a start command is given to the microcomputer 9 by an operation switch (not shown), the microcomputer 9 takes in the output of the encoder 8, and the turning angle of the lifting mast 6, that is, the coil end clamped by the clamping device 7 at that point. Find the expansion angle (deployment direction) at
From this, determine the tangential direction and normal direction of the coil end at point A in Figure 3, and each velocity vector V→
Set sa, V→na. The magnitude of the tangential velocity vector V→sa is determined by the amount of tension to be applied to the steel plate in the tangential direction. Further, the magnitude of the velocity vector V→na in the normal direction is an amount determined by the required development speed, and both of the above amounts are set in advance. The microcomputer 11 calculates the composite vector V→a of the set V→sa and V→na, and then converts this into each X,
Decompose the Y-direction component force V → xa, V → ya, and its magnitude,
After converting the direction (positive, negative) into analog, each traveling and traversing drive control device 10 and 11 is used as a speed command value.
Output to. Each of the drive control devices 10 and 11 matches the given speed command value with the feedback input from each PG 13 and 15, and drives and controls the motors 12 and 14 to a rotational speed corresponding to the speed command value. The generated rotational force is transmitted to each wheel via torque limiters 16 and 17. At this time, it starts moving at a speed of approximately Vna in the normal direction to the steel plate, but in the tangential direction it slips due to the action of the torque limiter and acts only as a tension force. When the coiled starts moving, the elevating mast 6 turns due to the reaction force of the steel plate. The microcomputer 9 takes in the output of the encoder 8 at sufficiently short intervals, performs the above calculation, and then cyclically outputs a speed command.

Here, each velocity vector when the coil end is expanded and moved to point B in FIG. 3 is shown in comparison with point A. At point B, the magnitude of V→sb is V→sa
, and the magnitude of V→na is equal to V→nb, respectively.
As is clear from the above explanation, the coil end is given appropriate tension by this device.
It will automatically deploy at a constant deployment speed. The microcomputer 9 detects when the amount of expansion has exceeded a certain value using shaft encoders 18 and 19 that function as current position detectors provided for each axis.
This is detected as the AND condition, and the microcomputer 9 ends the expansion control. It should be noted that the amount of development to be made is read in advance into the microcomputer 9 by a setting device (not shown).

By the way, if the configuration is as in this example, the coil end can be expanded by performing simple trigonometric calculations in real time without having to calculate the complicated trajectory of the coil end in real time, resulting in a quick response. This has the effect of not applying excessive force.

In the above embodiment, a case has been described in which the running garter 4 and the transverse club 5 run perpendicularly in directions perpendicular to each other, but the structure may be such that they intersect diagonally, for example. Note that such a configuration has the disadvantage that the software for arithmetic control in the microcomputer 9 is somewhat complicated.

As described above, according to the present invention, the drive system includes the traveling means that travel linearly in directions that intersect with each other;
An elevating body that is attached to the traveling means and moves vertically and holds the coil end at its tip, and a control system that controls the drive system in response to the operation of the elevating body and the traveling means are provided. This has the effect of automatically and quickly developing sections.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing the overall configuration of an embodiment of the device of the present invention, Fig. 2 is a diagram showing the control system of the device shown in Fig. 1, and Fig. 3 is a diagram showing the control principle of the device shown in Fig. 2. FIG. In the figure, 2 is a steel plate coil, 3 is a traveling rail, 4 is a traveling girder, 5 is a transverse clamp, 6 is a mast, 7 is a clamp device, 9 is a microcomputer, and 12 and 13 are drive control devices. In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Scope of Claims] 1. A first drive system that is installed above the winding shaft of a steel plate coil placed vertically to the winding shaft, and includes a traveling means that travels in an arbitrary linear direction on a plane perpendicular to the winding shaft;
a second drive system including a running means that runs in a straight line intersecting the running direction; the second drive system is mounted on the running means of the second drive system and moves in the vertical direction, and the end portion of the steel plate coil is moved at the tip end; a control system that controls the first and second drive systems in response to the operation of the elevating body and the traveling means, the elevating body being suspended on the traveling means of the second drive system; The mast is configured to rotate smoothly about its central axis as a rotation axis, and the control system detects the rotation angle of the mast. The direction of deployment of the coil end is determined by the output from the detector, and based on the determined direction of deployment, a constant tension is applied in the tangential direction of the coil end, and a constant tension is applied in the normal direction perpendicular to the tangential direction. It is characterized by comprising a calculation control means for outputting a command signal to give a deployment speed, and a drive control device for controlling the operation of the first and second drive systems based on the command signal from the calculation control means. Coil end deployment device. 2. The first and second drive systems consist of a traveling means consisting of a drive vehicle, a torque limiter that is provided between a drive motor that drives this traveling means, and a drive axle, and can be set arbitrarily, and a calculation control system for the control system. The means determines a velocity vector in the tangential direction that is uniquely determined by the amount of tension in order to give a constant tension in the tangential direction of the coil end to each drive motor, and sets the velocity vector in each reference direction at that time. The vector is decomposed and given as a speed command to each drive motor, and the motor is slid at a constant torque through a torque limiter, and the calculation control is performed so that the resultant of the slip torque generated on the load side of the torque limiter becomes the tangential tension amount. A coil end deployment device according to claim 1, characterized in that: 3. The coil end deployment device according to claim 2, wherein the torque limiter is comprised of a powder type clutch. 4. The coil end deployment device according to claim 2, wherein the torque limiter is comprised of an eddy current joint. 5. The arithmetic control means inputs output signals from the detectors for detecting the positions of the traveling means of the first and second drive systems and output signals from the detector for detecting the turning angle of the mast, and The coil end deployment device according to any one of claims 2 to 4, wherein the drive system is controlled so as to stop the coil end at an arbitrary position. 6. The coil end deployment device according to any one of claims 1 to 5, wherein the arithmetic and control means comprises a microcomputer.