JPH0722776B2 - Positioning device for the flying head - Google Patents

Description

Detailed Description of the Invention [Industrial applications]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning control device for a raying head, which controls the angle of the raying head when the tail end of the wire rod is discharged from the raying head that winds the wire rod into a coil in a wire rod rolling mill.

[Prior art]

FIG. 3 is a block diagram showing a conventional position control device of a raying head for controlling the position of the tip of a wire as disclosed in Japanese Patent Publication No. 54-34113, for example.
Is a wire rod transferred in the direction of the arrow Y, NT is a finishing rolling mill through which the wire rod 1 passes, LH is a laying head that winds the wire rod 1 that has passed through the finishing mill NT, and 2 is wound by the laying head LH. The coil of the wire rod 1 that has been processed, BL is the belt conveyor on which the coil 2 is placed, M1 is the motor that drives the finishing mill NT, PLG1 is the pulse transmitter that detects the rotation of the motor M1, and M2
Is the motor that drives the laying head LH, PLG2 is the motor M2
LS is a limit switch for detecting a predetermined rotation position of the motor M2, that is, the leading head LH. HD1 and HD2 are wire rod detectors provided on the inlet side and the outlet side of the finish rolling mill NT. FIG. 4 shows the controlled rotation, and the portions corresponding to those in FIG. 3 are designated by the same reference numerals. In FIG. 4, GT is a gate for passing the pulse output from the pulse generator PLG1 for a predetermined period, CTR1 is a counter for counting the pulses passing through the gate 1, DA1 is a count value of the counter CTR1, and an analog value V ₁ CTR2 and CTR3 are the counters that count the pulses output from the pulse generator PLG2, the counter CTR3 is reset by the limit switch LS, and the count value is preset in the counter CTR3. Is made. DA2 is D / A converter for converting the count value of the counter CTR2 into an analog value V _2, R ₁ ~R
₉ is a resistance, RH1, RH2, RH3, RH4 are resistors for adjustment, OA1, OA2, OA
Reference numeral 3 is an operational amplifier through which the signal obtained by adding the analog values V ₁ and V ₂ passes. FIG. 5 shows the construction of the raying head. 3 is a main body composed of a hollow conical body, D is an inlet of the wire rod 1 provided on the top of the main body 3, and P is one end provided on the inner surface of the main body 3. Is a spiral pipe connected to the inlet D, and E is a discharge port of the wire rod 1 provided at the other end of the pipe P. Next, the operation will be described. In FIG. 3, the wire rod 1 is passed through the finishing rolling mill NT and then wound by the laying head LH to form a coil 2. This coil 2 is a belt conveyor.
Placed on the BL. The wire head 1 fed from the inlet D is rotated by the motor M2 to rotate the laying head LH.
Is passed through the pipe P and then discharged from the discharge port E to form the coil 2. In that case, as shown in FIG. 6, the tip T of the coil 2 discharged onto the belt conveyor BL protrudes outside the belt conveyor BL and comes into contact with a nearby object or is entangled by being caught on the belt conveyor BL. However, this may force the line to stop. In order to prevent such a situation, when the tip end T of the coil 2 is discharged from the discharge port E, it is placed at a predetermined position on the belt conveyor BL, that is,
The rotation of the laying head LH is controlled so that the ejection port E comes to a predetermined rotation position. FIG. 4 shows a circuit for performing the above control, which is controlled by the wire rod 1.
The same control is performed by dividing it into two stages: control from the time the tip of the wire passes the wire rod detector HD1 until it reaches the wire rod detector HD2, and after it passes the wire rod detector HD2. ing. First, the control after the tip of the wire rod 1 has passed through the wire rod detector HD2 will be described.
When detected at 2, the pulse from the pulse generator PLG1 is counted by the counter CTR1 through the gate GT. The coefficient of this count value is determined by the variable resistor RH2 D
/ A converters DA1 analog value V ₁ which is converted by the linear material detector HD2
Corresponds to the distance S from to the tip of the wire 1. That is, the rotation speed of the motor M1 is n ₁ while the wire 1 travels S (m),
If the pulse number of the pulse generator PLG1 when the motor M2 makes one rotation is P _M , it corresponds to n ₁ · P _M pulses S (m). On the other hand, the output pulses of the pulse generator PLG2 on the side of the head LH are counted by the counters CTR2 and CTR3. Wire 1
Until the tip of the wire reaches the wire detector HD2
Every time H rotates once, the counter CTR3 is reset by the limit switch LS and starts counting from zero again. Wire 1
When the tip of the wire reaches the wire rod detector HD2, the count value of the counter CTR3 is preset in the counter CTR2. counter
After that, CTR2 continuously counts the output pulses of the pulse generator PLG2. Counter CTR when the tip of wire rod 1 reaches wire rod detector HD2
The count value of 3 is P ₀ , the pulse number of the pulse generator PLG2 generated while traveling the distance S (m) from the wire rod detector HD2 of the wire rod 1 to the ejection port E of the raying head LH is P ₂ , the raying head number of pulses P _L of the pulse transmitter PLG2 that LH is generated during one rotation, the count of the counter CTR3 of when the discharge port E of the laying head LH has reached the ejection target point If However, if the speed of the laying head LH is controlled to increase or decrease so that the integer K = 1, 2, 3, ... Is established, the tip of the wire rod 1 can be placed at a desired position on the belt conveyor BL. It should be possible. For this purpose, the analog values V ₁ and V ₂ obtained from the D / A converters DA1 and DA2 are added, the gain is adjusted by the variable resistor RH4 through the operational amplifier OA1, and the operational amplifier OA2
After leading to, it is added to the speed reference value V ₃ operational amplifier OA3
Is output as a control signal V ₄ . The control signal V ₄ controls the motor V ₂ , and the speed thereof is increased or decreased so as to satisfy the above expression (1). In addition, the tip T of the wire rod 1 is a wire rod detector on the inlet side of the finishing rolling mill NT.
The control from HD1 to the wire rod detector HD2 on the exit side of the finish rolling mill NT can be performed in the same manner. The above is the angle control of the raying head LH with respect to the tip T of the wire rod 1 by the conventional position controlling apparatus for the raying head LH.

[Problems to be Solved by the Invention]

Since the conventional positioning head position control device is configured as described above, in order to control the position of the tip T of the wire rod 1, the speed of the flying head LH is raised or increased so as to satisfy the above expression (1). Although it descends, whether the speed increases or decreases is determined by the position of the tip T of the wire 1 at the start of control and the position (angle) of the ejection port E of the raying head LH, and is not known in advance. Further, the above-mentioned conventional example relates to the position control of the tip T of the wire rod 1. However, when considering the position control of the tail end of the wire rod 1, especially when the wire rod 1 has a large size, the tail end of the wire rod 1 is considered. Has insufficient kinetic energy to get out of the pipe P of the Raying Head LH,
The wire rod 1 is caught in the pipe P and causes a cobble or the like. Therefore, in the case of a thick wire rod 1, when the tail end of the wire rod 1 exits the finishing rolling mill NT, the railing head LH
It is necessary to increase the speed of the wire rod 1 so that the wire material 1 can be sufficiently given kinetic energy. However, in the case of the above-mentioned conventional example, before starting the control, the flying head LH
Since it is unknown whether the speed of the wire rod increases or decreases, this cannot be directly applied to the position control of the tail end of the wire rod 1. When applied to the conventional example, after the tail end of the wire rod 1 exits the finishing rolling mill NT, the pulse transmitter PLG1 becomes irrelevant to the wire rod 1 and becomes wasteful, and after the wire rod 1 exits. The finish rolling mill NT has an increased speed due to the reduced load, which is rather a cause of disturbance. The present invention has been made to solve the above problems, and it is possible to control the position of the tail end of a wire rod. At that time, the control is performed so as to always increase the speed of the flying head. An object of the present invention is to obtain a position control device for a raying head.

[Means for Solving the Problems]

A position control device for a raying head according to the present invention detects a rotation angle of a raying head when a tail end of a wire rod passes a predetermined position, and the ray head after the tail end of the wire rod passes the predetermined position. Calculate the time to advance to the discharge port and the rotation angle of the raying head at this time,
As a result of this calculation, a position control signal is generated based on the detected rotation angle and target value.

[Action]

The position control device of the raying head according to the present invention controls the rotation of the raying head and corrects the angle of the discharge port to the target angle while the tail end of the wire reaches from the wire rod detector to the discharge port of the raying head. At the same time, the control can be performed while the speed of the raying head is increased.

【Example】

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, parts corresponding to those in FIG. 3 are designated by the same reference numerals, and description thereof will be omitted. CTR4 is a counter that counts the output pulses of the pulse generator PLG2 and is reset by the limit switch LS, HLD is a hold circuit that holds the count value of the counter CTR4, and 4 is from the wire rod detector HD1 to the discharge port E of the leading head LH. Outputs a signal indicating the distance L ₀ of
L ₀ setter, 5 is an L setter that outputs a signal indicating the distance L from the wire rod detector HD2 to the ejection port E of the raying head LH,
G1 is a contact that allows the signal from the L ₀ setting device 4 to pass, G2 is a contact that opens and closes in the opposite direction to the contact G1 that allows the signal from the L setting device 5 to pass, and 6 is a K setting device that sets a constant K, 7 is a contact
A multiplier that multiplies the signal from G1 or G2 by a constant K, 8 is a divider that divides the signal from the contact point G1 or G2 and the speed V of the wire 1, and 9 is a target angle θ ₀ of the raying head LH. Θ ₀ setter, 10 is output values θ, θ _R , t ₀ , t, θ ₀ of the hold circuit HLD, the multiplier 7, the divider 8 and the θ ₀ setter 9.
Is a main calculation circuit for performing a predetermined calculation based on the above to obtain the position control signal V ₅ of the flying head LH. The pulse transmitter PLG2, the limit switch LS, the counter CTR4, and the hold circuit HLD constitute a rotation angle detection means for detecting the rotation angle of the flying head LH. Further, by the L ₀ setter 4, the L setter 5, the contacts G1 and G2, the multiplier 7, the K setter 6, the divider 8, the θ ₀ setter 9, and the main arithmetic circuit 10,
Arithmetic means is configured. Next, the operation will be described. While the conventional example of FIG. 3 described above controls the tip of the wire 1, this embodiment controls the tail of the wire 1. That is, unless the tail end of the wire rod 1 is placed at a predetermined position on the belt conveyor BL from the discharge port E of the laying head LH, the tail end sticks out from the belt conveyor BL as in the case of the tip. Various inconveniences occur. Therefore, when the tail end of the wire 1 is discharged, it is necessary to control the position (angle) of the discharge port E to the target position. At this time, the speed V of the raying head must be sufficiently increased so that the tail end of the wire rod 1 can exit the pipe P of the raying head LH to give the wire rod 1 a sufficiently large kinetic energy. . In the tail end position control of the wire rod 1 according to this embodiment, as shown in FIG. 2, the tail end of the wire rod 1 is detected by the wire rod detectors HD1 to HD2.
The preparatory control that is performed until reaching the discharge point E and the main control that is performed until the tail end of the wire rod 1 reaches the discharge port E from the wire rod detector HD2 are divided into two stages and performed in substantially the same manner. Be seen. Then, at each stage, the position control signal V ₅ of the flying head LH is obtained. In FIG. 1, the output pulses of the pulse generator PLG2 are counted by the counter CTR4. The counter CTR4 is reset by the limit switch LS every time the flying head LH makes one revolution, and counts from zero again. Therefore, the pulse generator PLG2 per revolution of the heading LH
If the number of output pulses of P is P _L , then the rotation angle θ of the ejection port E of the laying head LH at any time is P ₁ , the count value at that time is Is required as. The count value P ₁ indicating this θ is held in the hold circuit HLD according to the detection of the wire rod detector HD1 or HD2. First, the stage of the preliminary control will be described. Wire 1 is the distance
If the laying head LH has a certain lead rate α with respect to the wire rod 1, the rotation angle θ _R of the laying head LH when traveling through L ₀ is However, D: rotating diameter of the discharge port E, K = (1 + α) / πD ×
Required at 360 °. Equation (3), the contact G1 is closed, by the contact G2 is opened, and L ₀ signal and K from L ₀ setter 4 is executed by being multiplied by the multiplier 7. Further, if the count value of the counter CTR4 when the tail end of the wire rod 1 is detected by the wire rod detector HD1 is P ₀ , this count value P ₀ is held by the hold circuit HLD according to the detection of the wire rod detector HD1.
The rotation angle θ of the raying head LH at this time is held by Required by. Therefore, if you do not control anything,
The rotation angle θ _LH of the discharge port E when the tail end of the wire 1 exits the discharge port E is Required by. Therefore, if the target angle (target position) of the traveling head LH is θ ₀ , it is sufficient to correct the angle of the traveling head LH by the difference of α = θ _LH −θ ₀ . That is, However, α ≦ α <360 °, a positive integer of N = 0,1,2,3 ... Also, the time t ₀ for the tail end of the wire 1 to travel from the wire detector HD1 to the discharge port E is If the speed is V, Required by. The equation (7) is executed by the divider 8. Therefore, in this preliminary control, at the time of t ₀
The angle of LH should be corrected by α. The main arithmetic circuit 10 calculates the position control signal ΔV ₅ for performing the above correction by the following equation. However, G _R : Gear ratio between the railing head LH and the motor M2 This ΔV ₅ is supplied to the motor M2 in steps as shown in FIG. 2, whereby the tail end of the wire rod 1 is detected by the wire rod detector HD.
The tail end of the wire rod 1 is discharged from the discharge port E at a predetermined angle just t ₀ hours after passing through 1. At that time, since α is selected to be positive according to the above equation (6), ΔV ₅ becomes positive, and
The speed V of LH can be increased. Next, this control is started when the tail end of the wire rod 1 is detected by the wire rod detector HD2. At this time, the contact G1 is opened and the contact G2 is closed. Thus, in the above formula (3),
L is applied instead of L ₀ to determine the rotation angle θ _R of the raying head LH. Then, the correction angle α of the raying head LH is obtained by applying L instead of L _{0 according} to the equations (5) and (6) using this θ _R.
Further, the time t at which the tail end of the wire rod 1 passes through the wire rod detector HD2 and then advances to the discharge port E is also L in place of L ₀ in the above equation (7).
Is applied. Based on these calculation results, the main arithmetic circuit 10 calculates the position control signal ΔV ₅ by performing the following equation. However, a positive integer of N = 0,1,2,3 ... In the above formula (9), since α is a positive and N is a positive integer, ΔV ₅ becomes positive, and the velocity of the flying head LH is increased. Can be raised. In the above embodiment, the preliminary control and the main control are divided into two stages, but the preliminary control may be omitted if the main control alone is sufficient for the control. Moreover, in the calculation of the control output V ₅ ,
The value is calculated assuming that the response speed of the actual flying head LH is as shown in equations (7) and (8). However, if the actual response time is delayed enough to cause a problem, it is necessary to correct it according to the delay. The control output should be increased.

【The invention's effect】

As described above, according to the present invention, the rotation angle of the raying head when the tail end of the wire rod passes a predetermined position is detected, and thereafter, the time until the wire rod advances to the ejection port of the raying head and this The rotation angle in time is calculated, and based on the calculation result and the detected rotation angle and target angle, the position of the raying head is corrected, so that the tail end of the wire rod on the belt conveyor is corrected. In addition to being able to discharge at a predetermined position, the discharge is performed with the speed of the raying head increasing, so the movement required for the wire to come out of the pipe of the raying head, especially for thick and thick wire rods. Energy can be obtained, operation can be performed reliably, and the pulse transmitter on the finishing rolling mill side used in the device for controlling the position of the tip of the wire rod can be omitted. There is an effect such as kill.

[Brief description of drawings]

FIG. 1 is a block diagram showing a position control device for a flying head according to an embodiment of the present invention, FIG. 2 is a characteristic diagram showing control steps of the device, and FIG. 3 is a conventional position control device for a flying head. FIG. 4 is a block diagram showing the control circuit of the apparatus, FIG. 5 is a side view and a front view of the laying head, and FIG. 6 is a plan view showing the relationship between the laying head and the belt conveyor. HD2 is a wire rod detector, LH is a raying head, E is a discharge port, P
LG2 is a pulse oscillator, LS is a limit switch, CTR4 is a counter, HLD is a hold circuit, 5 is an L setter, 6 is a K setter, 7 is a multiplier, 8 is a divider, 9 is a θ ₀ setter, 10 Is the main arithmetic circuit. In the drawings, the same reference numerals indicate the same or corresponding parts.

Claims (1)

[Claims] 1. A wire rod detector for detecting that a tail end of the wire rod has passed a predetermined position, a rotation angle detector for detecting a rotation angle of a raying head according to the detection of the wire rod detector, and a wire rod The time to go from the wire rod detector to the ejection port of the raying head and the rotation angle of the raying head at this time are calculated, and a predetermined value is calculated based on the calculation result, the detected value of the rotation angle detector and the target angle. A position control device for a flying head, comprising a calculating means for outputting the position control signal of the flying head by performing a calculation.