JP2003266107A - Equipment for hot rolling - Google Patents
Equipment for hot rollingInfo
- Publication number
- JP2003266107A JP2003266107A JP2003065286A JP2003065286A JP2003266107A JP 2003266107 A JP2003266107 A JP 2003266107A JP 2003065286 A JP2003065286 A JP 2003065286A JP 2003065286 A JP2003065286 A JP 2003065286A JP 2003266107 A JP2003266107 A JP 2003266107A
- Authority
- JP
- Japan
- Prior art keywords
- trailing
- tail end
- tip
- speed
- joining device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Metal Rolling (AREA)
Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、熱間圧延設備に係
り、特に、先行材の尾端と後行材の先端を走間で繋ぎ合
わせ、圧延機に連続的に供給して圧延する際に用いるの
に好適な、先行材と後行材を走間で確実に繋ぎ合わせる
ことができる熱間圧延設備に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hot rolling facility, and more particularly, when the tail end of a leading material and the tip of a trailing material are joined together during running and continuously fed to a rolling mill for rolling. The present invention relates to a hot rolling facility which is suitable for use in, and which can reliably connect a preceding material and a following material during running.
【0002】[0002]
【従来の技術】従来、熱間圧延ラインでは、圧延すべき
鋼片を複数加熱しておき、加熱完了後、一本ずつ、粗圧
延、次いで仕上げ圧延して、所望の厚みになる熱延板に
仕上げていた。この方法は、仕上げ圧延での圧延材料の
噛み込み不良によるライン停止や、圧延材の先端、尾端
の形状不良に由来した歩留り低下が大きいため、最近で
は、仕上げ圧延する前に、先行鋼片の尾端と後行鋼片の
先端を走間で繋ぎ合わせ、仕上げ圧延機に連続的に供給
する圧延方法が行われている。2. Description of the Related Art Conventionally, in a hot rolling line, a plurality of steel pieces to be rolled are heated, and after the heating is completed, they are roughly rolled and then finish-rolled to obtain a hot-rolled sheet having a desired thickness. Was finished. This method has a large yield reduction due to line stoppage due to defective biting of rolled material in finish rolling and defective shape at the tip and tail end of rolled material. A rolling method is used in which the tail end of the steel sheet and the tip of the trailing steel strip are connected to each other during running and continuously supplied to the finishing rolling mill.
【0003】例えば、連続圧延設備における板材の接合
方法に関する特許文献1には、対向する先行板材の後端
部と後行板材の先端部の隙間を正確、容易に形成し、該
対向部の加熱性能の向上を図り、良好な接合部を得るこ
とを目的として、該対向面を衝突させて隙間を零とし、
次いで先行板材又は後行板材のいずれかを移動させて両
板端面間に所要の隙間を形成した後、板厚方向に交番磁
束を印加し、板材に渦電流を誘起してジュール発熱によ
り加熱し、加圧手段によって両板材端部を接合する接合
方法が開示されている。For example, in Patent Document 1 relating to a method for joining plate materials in a continuous rolling facility, a gap between a rear end portion of a preceding plate material and a leading end portion of a trailing plate material which are opposed to each other is accurately and easily formed, and the opposing part is heated. For the purpose of improving the performance and obtaining a good joint, the opposing surfaces are collided to make the gap zero,
Next, either the preceding plate material or the following plate material is moved to form a required gap between both plate end faces, and then an alternating magnetic flux is applied in the plate thickness direction to induce an eddy current in the plate material and heat it by Joule heat generation. There is disclosed a joining method for joining the ends of both plate materials by a pressing means.
【0004】又、特許文献2には、粗圧延後の板材を所
定の位置で確実に接続して連続圧延するために、加熱炉
からの抽出タイミングを制御することが開示されてい
る。Further, Patent Document 2 discloses controlling the extraction timing from the heating furnace in order to reliably connect the plate materials after the rough rolling at a predetermined position and continuously roll them.
【0005】一方、特許文献3は、板材を接合しない熱
間圧延方法に関するものであるが、抽出ピッチを適正に
することを目的とし、圧延ラインの予期しない変動に対
して、処理材の目標抽出温度を維持し、炉温の急激な変
化を抑制するよう加熱炉の抽出ピッチを所望の値に制御
する方法が開示されている。On the other hand, Patent Document 3 relates to a hot rolling method in which plate materials are not joined, but for the purpose of optimizing the extraction pitch, target extraction of the processed material against unexpected fluctuation of the rolling line A method is disclosed in which the extraction pitch of the heating furnace is controlled to a desired value so as to maintain the temperature and suppress the rapid change in the furnace temperature.
【0006】[0006]
【特許文献1】特開平7−1008号公報[Patent Document 1] Japanese Patent Laid-Open No. 7-1008
【特許文献2】特開平6−226320号公報[Patent Document 2] JP-A-6-226320
【特許文献3】特開平7−188785号公報[Patent Document 3] JP-A-7-188785
【0007】[0007]
【発明が解決しようとする課題】しかしながら、前述し
た従来の方法では、搬送中の鋼片同士を追い付かせ、走
行する接合装置で接合可能とするには、十分なものでは
なかった。However, the above-mentioned conventional method is not sufficient to allow steel pieces being conveyed to catch up with each other and to be joined by a running joining device.
【0008】本発明は、熱間圧延ラインにおいて、搬送
中の鋼片同士を確実に追い付かせ、走間で接合可能とす
ることを課題とする。An object of the present invention is to reliably catch steel pieces being conveyed in a hot rolling line so that they can be joined to each other during running.
【0009】[0009]
【課題を解決するための手段】本発明は、熱間粗圧延
後、移動可能な接合装置で先行材の尾端と後行材の先端
とを走間で繋ぎ合わせ、連続的に仕上げ圧延機に送給し
て圧延する熱間圧延設備において、前記接合装置上に、
光学的に鋼片を検出する検知装置と、先行材の尾端と後
行材の先端を共に撮像可能な撮像装置を設けるようにし
て、前記課題を解決したものである。SUMMARY OF THE INVENTION According to the present invention, after hot rough rolling, a movable joining device connects a tail end of a preceding material and a tip of a following material between running runs, and continuously finishes a rolling mill. In a hot rolling facility for feeding and rolling to, on the joining device,
The problem is solved by providing a detection device that optically detects a steel slab and an imaging device that can image both the tail end of the preceding material and the tip end of the following material.
【0010】又、熱間粗圧延後、板厚方向に交番磁束を
印加して板材に渦電流を誘起して加圧手段によって先行
材の尾端と後行材の先端とを接合する移動可能な接合装
置で先行材の尾端と後行材の先端とを走間で繋ぎ合わ
せ、連続的に仕上げ圧延機に送給して圧延する熱間圧延
設備において、前記接合装置上に、先行材の尾端と後行
材の先端を共に撮像可能な撮像装置を設けるようにし
て、前記課題を解決したものである。After the hot rough rolling, an alternating magnetic flux is applied in the plate thickness direction to induce an eddy current in the plate material, and the tail end of the preceding material and the tip of the following material are joined by the pressurizing means. In a hot rolling facility that connects the tail end of the preceding material and the tip of the trailing material with a different joining device while running, and continuously feeds it to the finishing rolling mill and rolls it on the joining device. The above problem is solved by providing an image pickup device capable of picking up images of both the tail end and the tip end of the trailing member.
【0011】[0011]
【発明の実施の形態】以下、図面を参照して、本発明の
実施形態を詳細に説明する。DETAILED DESCRIPTION OF THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings.
【0012】本発明の第1実施形態が適用される熱間圧
延ラインは、図1に示す如く、鋼片を加熱する加熱炉2
0と、該加熱炉20で加熱された鋼片を粗圧延する、例
えばR1〜R3の3スタンドの粗圧延機22と、先行鋼
片(先行材とも称する)10の尾端と後行鋼片(後行材
とも称する)12の先端を走間で繋ぎ合わせる、移動式
の接合装置24と、該接合装置24により接合された鋼
片を熱間で仕上げ圧延する、例えばF1〜F6の6スタ
ンドの仕上圧延機(ホットストリップミル)26と、該
仕上圧延機26で圧延されたストリップを、巻取りに適
した長さに切断するためのスリップ切断装置28と、該
ストリップ切断装置28で切断されたストリップを巻取
る巻取装置30とを備えている。The hot rolling line to which the first embodiment of the present invention is applied is, as shown in FIG. 1, a heating furnace 2 for heating a steel slab.
0, rough rolling of the steel slab heated in the heating furnace 20, for example, a three-stand rough rolling machine 22 of R1 to R3, a tail end of a preceding steel slab (also referred to as a preceding material) 10 and a trailing steel slab. (Also referred to as a trailing material) A movable joining device 24 that joins the tips of 12 during running, and hot finish rolling of the steel pieces joined by the joining device 24, for example, 6 stands of F1 to F6 Finishing mill (hot strip mill) 26, a slip cutting device 28 for cutting the strip rolled by the finishing mill 26 into a length suitable for winding, and the strip cutting device 28. And a winding device 30 for winding the strip.
【0013】前記接合装置24は、レール24R上で、
走行ストロークS(接合装置の基準位置の走行範囲で示
す)内を往復動しており、図中の左から右へ走行中に接
合を行うようにされている。この接合装置24のスター
ト位置は、後行鋼片12の先端が先行鋼片10の尾端に
追付く目標位置(点)Tとするのが好ましい。更に、実
際に追付が完了する位置が、目標とする点に対していく
らか外れたとしても、その外れ量が最大でも追付範囲Z
に収まるようにする。このとき、接合装置24の走行ス
トロークSのうち、追付開始から完了迄に要した走行範
囲を除いた接合ゾーンCにおいて、接合処理が行われ
る。The joining device 24 is provided on the rail 24R,
It reciprocates within a traveling stroke S (indicated by the traveling range of the reference position of the joining device), and joining is performed during traveling from left to right in the drawing. The start position of the joining device 24 is preferably set to a target position (point) T at which the tip of the trailing steel piece 12 catches up with the tail end of the preceding steel piece 10. Furthermore, even if the position at which the catching is actually completed deviates somewhat from the target point, the catching range Z
To fit in. At this time, in the traveling stroke S of the joining device 24, the joining process is performed in the joining zone C excluding the traveling range required from the start of the catching to the completion.
【0014】前記接合装置24には、例えば図2に詳細
に示す如く、液圧又は空圧の流体圧シリンダであるクラ
ンプシリンダ60、62により押されて、鋼片を上下か
ら挾持するクランプ64、66と、後行鋼片12側の入
側クランプ66を搬送方向に移動するための流体圧シリ
ンダであるアプセットシリンダ68が設けられている。As shown in detail in FIG. 2, for example, the joining device 24 is clamped by clamp cylinders 60 and 62, which are hydraulic or pneumatic fluid pressure cylinders, and clamp the steel pieces from above and below, respectively. 66 and an upset cylinder 68 which is a fluid pressure cylinder for moving the entry side clamp 66 on the trailing steel piece 12 side in the transport direction.
【0015】本発明では、更に、鋼片の位置と速度を検
出する位置・速度検出装置40、42と、鋼片の有無
を、例えばレーザ光を用いて光学的に検出する鋼片検知
装置44と、鋼片の上方から鋼片の平面形状を撮像する
一次元又は二次元の撮像装置(例えばCCDカメラ)4
6を、所定の位置に配置する。In the present invention, further, position / speed detecting devices 40 and 42 for detecting the position and speed of the steel slab and a steel slab detecting device 44 for optically detecting the presence or absence of the steel slab, for example, using laser light. And a one-dimensional or two-dimensional image pickup device (for example, a CCD camera) 4 that takes an image of the planar shape of the steel piece from above the steel piece.
6. Place 6 in place.
【0016】前記位置・速度検出装置40、42は、例
えば図3に詳細に示す如く、矢印Aのように、鋼片10
の表面に押し付けられ、その移動量に応じて回転する測
定ロール70と、該測定ロール70を保持するアーム7
2と、該アーム72を図の下方に引張ることにより、前
記測定ロール70を鋼片10の表面に押し付けるための
流体圧シリンダ(例えばエアシリンダ)74と、ベース
76とを備え、測定ロール70の回転に応じてパルスデ
ータを出力するようにされている。The position / velocity detecting devices 40 and 42 are, for example, as shown in detail in FIG.
Of the measuring roll 70, which is pressed against the surface of the measuring roll and rotates according to the moving amount thereof, and the arm 7 which holds the measuring roll 70.
2, a fluid pressure cylinder (for example, an air cylinder) 74 for pressing the measurement roll 70 against the surface of the steel slab 10 by pulling the arm 72 downward in the drawing, and a base 76. The pulse data is output according to the rotation.
【0017】前記鋼片検知装置44は、粗圧延機22と
接合装置24の間に配置し、位置・速度検出装置40
は、粗圧延機22と接合装置24の間であって、前記鋼
片検知装置44よりも上流側に配置する。前記位置・速
度検出装置42は、接合装置24と仕上圧延機26の間
に配置する。前記撮像装置46は、接合装置24に備え
られ、該接合装置24と共に移動し、該接合装置24の
上方であって、接合する際に先行鋼片10の尾端部と後
行鋼片12の先端部が撮像できる位置に備えられる。The billet detector 44 is arranged between the rough rolling mill 22 and the joining device 24, and the position / speed detector 40 is provided.
Is arranged between the rough rolling mill 22 and the joining device 24 and on the upstream side of the billet detecting device 44. The position / speed detecting device 42 is arranged between the joining device 24 and the finish rolling mill 26. The image pickup device 46 is provided in the joining device 24, moves with the joining device 24, and is above the joining device 24, and at the time of joining, the tail end portion of the preceding steel piece 10 and the following steel piece 12 are joined. The tip portion is provided at a position where an image can be taken.
【0018】更に好ましくは、鋼片の有無を例えばレー
ザ光を用いて光学的に検出する鋼片検知装置48が、接
合装置24に備えられ、該接合装置24と共に移動し、
該接合装置24の上流側の所定位置(例えば基準位置か
ら1.2m上流側)に備えられる。More preferably, a steel slab detection device 48 for optically detecting the presence or absence of the steel slab using, for example, a laser beam is provided in the welding device 24 and moves together with the welding device 24.
It is provided at a predetermined position on the upstream side of the joining device 24 (for example, 1.2 m upstream from the reference position).
【0019】前記鋼片検知装置44、48としては、例
えば熱間鋼片の発する熱や光を利用して検出するHMD
(ホットメタルディテクタ)や、投受光タイプのレーザ
光を用いるCMD(コールドメタルディテクタ)が用い
られる。この鋼片検知装置44、48としては、鋼片先
尾端の検知精度向上のため、レーザ光式のCMDが好ま
しい。通常のHMDは、熱間鋼片の発する赤外線を検出
する原理であるため、いくらかの視野角度の広がりを持
つのに対し、レーザ光式のものは、自身が角度の広がり
をもたないレーザ光を発し、受光器側に光が遮られて来
なくなったことで、鋼片先尾端が、そこを通過すること
を検出するので、検出精度がよい。The steel bill detectors 44 and 48 are, for example, HMDs that detect by utilizing heat or light emitted from hot steel billets.
A (hot metal detector) or a CMD (cold metal detector) using a light emitting / receiving type laser beam is used. As the billet detectors 44, 48, a laser beam type CMD is preferable in order to improve the detection precision of the billet tip end. A normal HMD has a principle of detecting infrared rays emitted from a hot steel slab, and therefore has a wide range of viewing angles, whereas the laser beam type has a laser beam that does not have a wide angle. Is emitted and the light is no longer blocked on the side of the light receiver, and it is detected that the tip of the steel piece passes therethrough, so the detection accuracy is good.
【0020】なお、使用可能な鋼片検知装置は、レーザ
光式に限定されず、バックライト式や、HMDのような
自発光式、光切断式等、他の光検知式のものや、温度計
方式等、光検知式以外のものを用いることもできる。
又、配設位置も、台車上、地上等に限定されない。The usable billet detecting device is not limited to the laser light type, and other light detecting types such as a backlight type, a self-luminous type such as an HMD, a light cutting type, and a temperature type. It is also possible to use a device other than the light detection system such as a meter system.
Further, the arrangement position is not limited to the trolley, the ground, or the like.
【0021】前記撮像装置46の出力は、画像処理装置
60を経て、位置・速度検出装置40、42及び鋼片検
知装置44、48の出力と共に、演算・制御装置50に
入力される。The output of the image pickup device 46 is inputted to the arithmetic / control device 50 through the image processing device 60 together with the outputs of the position / speed detecting devices 40 and 42 and the billet detecting devices 44 and 48.
【0022】搬送中の鋼片同士を追付かせ、走間で接合
するに際しては、図1には図示しない演算・制御装置の
出力によって、テーブルローラの電動機の回転数を制御
して、後行材の搬送速度を制御し、接合装置24を走行
させる電動機の回転数を制御して、接合装置24の速度
を制御する。When the steel pieces being conveyed are caught up with each other and joined during running, the number of revolutions of the electric motor of the table roller is controlled by the output of a calculation / control device not shown in FIG. The speed of the welding device 24 is controlled by controlling the conveying speed of the material and the number of rotations of the electric motor that drives the welding device 24.
【0023】又、後で詳細に説明するように、図1に示
す設備列の所定の位置に配置した鋼片検知装置44、4
8や撮像装置46の信号を、画像処理装置60や演算・
制御装置50に入力して、テーブルローラの回転量や位
置・速度検出装置40、42による先行材、後行材のト
ラッキングの補正を行う。Further, as will be described in detail later, the billet detectors 44, 4 arranged at predetermined positions in the equipment row shown in FIG.
8 and the signal of the image pickup device 46, the image processing device 60
It is input to the control device 50 to correct the tracking amount of the table roller and the tracking of the preceding material and the following material by the position / speed detecting devices 40 and 42.
【0024】次に、加熱炉20からの抽出タイミングに
ついて説明する。Next, the extraction timing from the heating furnace 20 will be described.
【0025】先行鋼片10の搬送速度、鋼片の重さ、板
厚スケジュール等が既知であり、実際に搬送制御を行う
より充分以前の時点、例えば、先行鋼片10、後行鋼片
12共に加熱炉20から抽出する以前に、先行鋼片10
及び後行鋼片12の搬送速度が、予めわかっているとす
ると、後行鋼片12が先行鋼片10に追付く際の速度だ
けでなく、先行鋼片10、後行鋼片12の次のデータ、
加熱炉抽出から追付き完了迄の搬送速度のパターン
粗圧延における板厚のスケジュール
粗圧延の板幅スケジュール
鋼片の重さ(粗圧延機22の少なくとも1つが可逆式
である場合)
が予めわかっていれば、先行鋼片10の尾端が追付目標
位置Tに到達する時刻と、後行鋼片12が加熱炉20か
ら抽出された後に、先行鋼片10の尾端に追付く迄の所
要時間もわかる。The conveying speed of the preceding billet 10, the weight of the billet, the plate thickness schedule, etc. are known, and at a time sufficiently before the actual carrying control, for example, the preceding billet 10 and the trailing billet 12 are performed. Before extracting from the heating furnace 20 together, the preceding billet 10
If the transport speed of the trailing steel slab 12 is known in advance, not only the speed at which the trailing steel slab 12 catches up with the preceding steel slab 10, but also the speed of the preceding steel slab 10 and the trailing steel slab 12 Data of transport speed pattern from extraction of heating furnace to completion of catching Schedule of sheet thickness in rough rolling Sheet width schedule of rough rolling The weight of the billet (when at least one of the rough rolling machines 22 is a reversible type) If it is known in advance, the time when the tail end of the preceding steel slab 10 reaches the catch target position T and the trailing steel slab 12 is extracted from the heating furnace 20 and then the tail end of the preceding steel slab 10 is caught. You can also see the time required to get there.
【0026】例えば、後行鋼片先端が先行鋼片尾端に追
付くための、加熱炉抽出時点での所要時間差tFceP
(秒)は、次式で計算できる。For example, the time difference tFceP required at the time of extracting the heating furnace for the trailing steel bill tip to catch up with the preceding steel bill tail end.
(Seconds) can be calculated by the following formula.
【0027】 tFceP=tFceP(先)−tFceP(後) …(1)[0027] tFceP = tFceP (first) -tFceP (second) (1)
【0028】ここで、tFceP(先)は、先行鋼片の
尾端が、加熱炉を抽出されてから、目標追付位置に到達
する迄の所要時間(秒)、tFceP(後)は、後行鋼
片の先端が、加熱炉を抽出されてから、目標追付位置に
到達する迄の所要時間(秒)である。Here, tFceP (first) is the time required for the tail end of the preceding steel slab to reach the target catch-up position after extraction from the heating furnace (second), and tFceP (rear) is This is the time (seconds) required for the tip of the row steel piece to reach the target tracking position after the heating furnace is extracted.
【0029】従って、後行鋼片12の抽出から追付き迄
の時間だけ逆算していった時刻に、後行鋼片12を加熱
炉20から抽出するようにする。本発明では、上記の抽
出ピッチで鋼片を抽出するのが好ましいが、これに限ら
れるものでは無い。Therefore, the trailing steel bill 12 is extracted from the heating furnace 20 at the time when the backward calculation is performed for the time from the extraction of the trailing steel bill 12 to the catching up. In the present invention, it is preferable to extract the steel slab at the above extraction pitch, but the invention is not limited to this.
【0030】なお、加熱炉抽出以前に行った各プロセス
の予測計算結果に対し、実際に接合する時点になってみ
ると、最大で数秒程度の誤差を含んでいる場合がある。
これらの誤差は、鋼片の搬送速度の予測に対して、実際
の搬送速度が誤差を持つことに起因する。The predicted calculation result of each process performed before the heating furnace extraction may include an error of up to several seconds at the time of actual joining.
These errors are due to the fact that the actual transport speed has an error with respect to the prediction of the transport speed of the billet.
【0031】先行鋼片の搬送速度が予定から外れる要因
としては、仕上圧延の際のサクセシブに対するオペレー
タの手動介入や、仕上圧延機第1スタンドF1での圧延
後進率の予定値との違い、走間板厚変更で生ずる搬送速
度の加減速等が考えられる。Factors that cause the delivery speed of the preceding billet to be unscheduled include the manual intervention of the operator with respect to the successiveness during finish rolling, the difference from the planned value of the rolling backward rate at the first stand F1 of the finishing rolling mill, and the running speed. It is conceivable that acceleration and deceleration of the transport speed caused by changing the thickness of the sheet.
【0032】同様に、後行鋼片の搬送速度が予定から外
れる要因としては、粗圧延の圧延先進率の予定値との違
い、又、粗圧延機の少なくとも1つが可逆式である場合
には、熱膨張や重量の測定誤差に起因する鋼片長さの予
定値との違いや、パス間アイドルタイムの予測値との違
い等が考えられる。Similarly, the reason why the conveying speed of the trailing billet is unscheduled is that it differs from the planned value of the rolling advance rate of rough rolling, and if at least one of the rough rolling mills is a reversible type. , The difference between the expected value of the billet length and the predicted value of the idle time between passes due to the error of thermal expansion and the measurement of the weight may be considered.
【0033】これらによって生ずる追付位置のずれ(図
1の追付範囲Z)が、どの程度発生するのか、誤差の見
積りを行った上で、その分だけ、接合装置24の走行ス
トロークSを長く設計しておく必要があるが、これらの
誤差の実績値がプロセス消化途中で判明した場合には、
その時点で、後行鋼片側の搬送速度を加減速して、誤差
を解消し、ライン上の追付位置を一定化することができ
る。The deviation of the tracking position (the tracking range Z in FIG. 1) caused by these factors is estimated, and the running stroke S of the welding device 24 is lengthened accordingly. It is necessary to design, but if the actual values of these errors are found during the process digestion,
At that point, the conveying speed on the trailing steel strip side can be accelerated or decelerated to eliminate the error and make the catch-up position on the line constant.
【0034】又、ラインの建設以前に、以上のような制
御の導入によって、追付目標範囲Zの長さが何処まで短
縮可能か予め見積っておけば、ライン長を短く設計で
き、建設コストを低減できる。Before the construction of the line, by estimating in advance how much the length of the target range Z for catching up can be shortened by introducing the above control, the line length can be shortened and the construction cost can be reduced. It can be reduced.
【0035】以下、図4及び図5を参照して、例えば上
記のような方法で決定された抽出ピッチで抽出されて来
る鋼片を接合する手順を詳細に説明する。The procedure for joining the steel pieces extracted at the extraction pitch determined by the above-described method will be described in detail with reference to FIGS. 4 and 5.
【0036】まず、後行材のトラッキングを開始(ステ
ップ1000)した後、先行材の尾端(ステップ102
0)、及び後行材の先端(ステップ1030)の両方と
も、後述するクロップ切断装置で切断するまでは、先行
材の尾端10Bと後行材の先端12Aとの間隔が、目標
とする間隔gになるように、後行材12の速度を制御す
る(ステップ1010)。First, after the tracking of the trailing material is started (step 1000), the tail end of the preceding material (step 102)
0) and the tip of the trailing material (step 1030) are both the target distance between the tail end 10B of the leading material and the tip 12A of the trailing material until cut by the crop cutting device described later. The speed of the trailing material 12 is controlled so as to reach g (step 1010).
【0037】後行材の先端12Aを切断した後、接合装
置24の拘束手段(クランプ64)で先行材の尾端10
Bを拘束完了するまでは、所望の間隔g又は一定の間隔
g1になるように、後行材12の速度を制御する(ステ
ップ1040、1050、1060)。After cutting the tip 12A of the trailing material, the tail end 10 of the leading material is cut by the restraining means (clamp 64) of the joining device 24.
Until B is completely restrained, the speed of the trailing material 12 is controlled so that the desired distance g or the constant distance g1 is maintained (steps 1040, 1050, 1060).
【0038】一方、先行材の尾端10Bを切断し、該尾
端が接合装置24がスタートすべき位置を通過した後
(ステップ1100)、接合装置24をスタートし(ス
テップ1110)、所定の速度まで上げる(ステップ1
120、1130)。On the other hand, the tail end 10B of the preceding material is cut, and after the tail end has passed the position where the welding device 24 should start (step 1100), the welding device 24 is started (step 1110) and a predetermined speed is reached. Up (step 1
120, 1130).
【0039】接合装置24の基準位置が、先行材の尾端
10Bに一致するように接合装置24の速度を制御し
(ステップ1140)、接合装置24の基準位置と先行
材の尾端10Bが一致したとき(ステップ1150)、
接合装置24の拘束手段(クランプ64)で先行材の尾
端10Bのクランプを開始する(ステップ1160)。The speed of the joining device 24 is controlled so that the reference position of the joining device 24 coincides with the tail end 10B of the preceding material (step 1140), and the reference position of the joining device 24 coincides with the tail end 10B of the preceding material. When (step 1150),
The restraining means (clamp 64) of the joining device 24 starts clamping the tail end 10B of the preceding material (step 1160).
【0040】先行材の尾端10Bのクランプが完了する
までは接合装置の尾端位置合せ制御を継続し、クランプ
が完了した後(ステップ1170)、接合装置24の速
度制御を、接合装置24と仕上圧延機26との間にある
先行材10の張力を所望の張力とする制御に切り換える
(ステップ1180)。Until the tail end 10B of the preceding material is clamped, the tail end alignment control of the joining device is continued, and after the clamping is completed (step 1170), the speed control of the joining device 24 is changed to the joining device 24. The tension of the preceding material 10 between the finish rolling mill 26 and the finish rolling mill 26 is switched to a control for setting a desired tension (step 1180).
【0041】又、先行材の尾端10Bのクランプが完了
した後(ステップ1170)、先行材の尾端10Bと後
行材の先端12Aとの間隔が小さくなるように、先行材
10の速度よりも後行材12の速度を大きくする(ステ
ップ1200)。Further, after the tail end 10B of the preceding material is clamped (step 1170), the speed of the preceding material 10 is adjusted so that the distance between the tail end 10B of the preceding material and the tip 12A of the following material becomes small. Also, the speed of the trailing material 12 is increased (step 1200).
【0042】先行材の尾端10Bと後行材の先端12A
との間隔がg2(<g1)以下になったとき(ステップ
1210)、接合装置24の拘束手段(クランプ66)
で後行材の先端12Aのクランプを開始する(ステップ
1220)。The trailing end 10B of the preceding material and the leading end 12A of the following material
When the distance between and is less than or equal to g2 (<g1) (step 1210), the restraint means (clamp 66) of the joining device 24.
Then, the clamping of the leading end 12A of the trailing material is started (step 1220).
【0043】後行材の先端12Aのクランプが完了した
後(ステップ1230)、後行材12の速度を、先行材
10の速度と同一速度にし、搬送する(ステップ124
0)。After the clamping of the leading end 12A of the trailing material is completed (step 1230), the speed of the trailing material 12 is set to the same speed as the speed of the preceding material 10 and the material is conveyed (step 124).
0).
【0044】又、後行材12を先行材10の速度と同一
速度で搬送しながら、アプセットシリンダ68で所定の
荷重まで閉塞し(ステップ1250)、その後、加熱・
接合するに好適な間隔g3にまで開く(ステップ126
0)。While the succeeding material 12 is being conveyed at the same speed as that of the preceding material 10, the upset cylinder 68 closes it to a predetermined load (step 1250) and then heats it.
Open up to a gap g3 suitable for joining (step 126).
0).
【0045】加熱・接合が完了した後(ステップ127
0)、先行材の尾端10B、及び後行材の先端12Aの
クランプを共に開放し(ステップ1280)、接合装置
24の速度制御(接合装置24と仕上圧延機26との間
にある先行材10の張力を所望の張力とする速度制御)
を終了し、接合装置24を、加熱・接合が完了するまで
の間に移動した位置から、スタート位置に戻す(ステッ
プ1290)。After heating / bonding is completed (step 127
0), the tail end 10B of the leading material and the tip 12A of the trailing material are both released (step 1280), and the speed of the joining device 24 is controlled (the leading material between the joining device 24 and the finish rolling mill 26). Speed control that makes the tension of 10 the desired tension)
And the joining device 24 is returned to the start position from the position moved until the heating and joining are completed (step 1290).
【0046】以上の手順を繰り返すことによって、仕上
圧延機26に切れ目なく圧延材を送給する。By repeating the above procedure, the rolled material is continuously fed to the finishing rolling mill 26.
【0047】ライン上の位置と到達所要時間、及び、追
付搬送パターンの例を、図6に模式的に示す。図6にお
いて、実線Bは先行材尾端10Bの軌跡、破線Cは後行
材先端12Aの軌跡、縦軸の符号tR1は、粗圧延機第
1スタンドR1の圧延時間、tR1R2は、R1スタン
ドの圧延が完了してから、粗圧延機第2スタンドR2で
圧延が開始されるまでの時間、tR2は、粗圧延機第2
スタンドR2での圧延時間、tR3R2は、粗圧延機第
2スタンドR2で圧延を終了してから、R3スタンドで
の圧延が終了する迄の時間、tR3F1は、R3スタン
ドの圧延が終了してから、仕上圧延機第1スタンドF1
での圧延が開始されるまでの時間、tF1Pは、先行材
10の先端をF1スタンドが圧延開始してから、その尾
端に後行材12の先端が追付く迄の所要時間である。な
お、粗圧延機の第2スタンドR2及び第3スタンドR3
は、同時に1枚の鋼片を圧延している状態が生じ得る。FIG. 6 schematically shows an example of the position on the line, the required arrival time, and the additional conveyance pattern. In FIG. 6, the solid line B is the trail of the leading material tail end 10B, the broken line C is the trail of the trailing material tip 12A, the vertical axis symbol tR1 is the rolling time of the rough rolling mill first stand R1, and tR1R2 is the R1 stand. The time from the completion of rolling to the start of rolling at the second stand R2 of the rough rolling mill, tR2 is the second time of the rough rolling mill.
The rolling time at the stand R2, tR3R2, is the time from the end of rolling at the rough rolling mill second stand R2 to the end of rolling at the R3 stand, and tR3F1 is the end of rolling at the R3 stand, Finishing mill 1st stand F1
TF1P, which is the time until the rolling of the preceding material 10 is started, is the time required from the start of the rolling of the leading end of the preceding material 10 by the F1 stand to the catching of the leading end of the following material 12 at its tail end. The second stand R2 and the third stand R3 of the rough rolling mill
Can be in the state of rolling one steel billet at the same time.
【0048】通常、熱間材搬送トラッキングは、テーブ
ルローラの回転量あるいは接触タイプの測定ロール70
あるいは、非接触タイプの速度計(例えばレーザドップ
ラ効果を利用)により行われるが、これらには誤差があ
るため、ライン上配置された鋼片検知装置、例えばHM
D、あるいはCMD等を用いて材料トラッキング校正が
一般的に行われている。Usually, the hot material transport tracking is performed by the rotation amount of the table roller or the contact type measuring roll 70.
Alternatively, a non-contact type speedometer (for example, using the laser Doppler effect) is used, but there is an error in these, so a billet detection device such as an HM placed on the line is used.
Material tracking calibration is generally performed using D, CMD, or the like.
【0049】しかしながら、接合装置24と材料端部の
位置関係は重要であり、材料トラッキングは高精度が要
求される。その理由は、誘導加熱方式であれば、先行材
と後行材内に流れる電流密度が均等にならなくなり、又
レーザ溶接等ではレーザビーム位置ずれは溶接不良の原
因にもつながるからである。この位置精度は、特に先行
材尾端位置と接合装置基準位置との相対位置関係が重要
である。先行材尾端位置を正確にクランプできれば、後
行材は単に先行材の尾端に押しつけるだけでよい。However, the positional relationship between the joining device 24 and the material end is important, and high accuracy is required for material tracking. The reason is that if the induction heating method is used, the current densities flowing in the leading material and the trailing material will not be uniform, and in laser welding or the like, laser beam misalignment will also cause welding defects. This positional accuracy is particularly important for the relative positional relationship between the tail end position of the preceding material and the welding device reference position. If the tail end position of the preceding material can be accurately clamped, the following material is simply pressed against the tail end of the preceding material.
【0050】鋼片検知装置の出力で校正しても、鋼片検
知装置の配置には限界があり、接合装置走行中常時校正
はできないため、接合装置24が走行しながら先行材尾
端に位置合わせ中も、トラッキングは少しずつずれてく
る。このため接合装置24上に接合装置基準位置Tの前
後を視野に持った前記撮像装置46を設置し、画像処理
装置50で基準位置Tに対する相対位置を検出し、該相
対位置差を零にする補正制御を行うことで、接合装置基
準位置Tと先行材尾端位置合わせ精度を確保する。もち
ろん、相対位置差をある目標に制御することも可能であ
る。Even if the output of the billet detector is calibrated, there is a limit to the arrangement of the billet detector and it is not possible to constantly perform calibration while the joining device is running. Even during the matching, the tracking will gradually shift. Therefore, the image pickup device 46 having the field of view before and after the joining device reference position T is installed on the joining device 24, the relative position with respect to the reference position T is detected by the image processing device 50, and the relative position difference is set to zero. By performing the correction control, the joining device reference position T and the preceding material tail end position alignment accuracy are ensured. Of course, it is also possible to control the relative position difference to a certain target.
【0051】接合装置スタート後、加速完了にて先行材
尾端と接合装置基準位置が一致していることが接合装置
走行ゾーン短縮に重要である。従って、接合装置スター
ト前の材料トラッキングも重要である。しかし、前述の
撮像装置46の視野は分解能を確保するため広くはとれ
ないため、接合装置24の走行スタートタイミング時
は、先行材尾端が撮像装置46の視野に入る前となる。
このために接合装置24がスタートする位置より入側に
前記鋼片検知装置48を設置し、該鋼片検知装置48通
過で先行材尾端位置を校正し、接合装置24のスタート
指令を与えるようにしている。もちろん、地上に固定し
た鋼片検知装置44でもトラッキングを校正する。After the start of the welding apparatus, it is important for shortening the traveling zone of the welding apparatus that the tail end of the preceding material coincides with the reference position of the welding apparatus when the acceleration is completed. Therefore, material tracking before starting the joining device is also important. However, the field of view of the imaging device 46 described above is not wide in order to ensure resolution, and therefore, at the traveling start timing of the joining device 24, the trailing edge of the preceding material is before the field of view of the imaging device 46.
For this purpose, the steel slab detection device 48 is installed on the entrance side of the position where the welding device 24 starts, and the tail end position of the preceding material is calibrated by passing the steel slab detection device 48 to give a start command for the welding device 24. I have to. Of course, the tracking is calibrated by the billet detector 44 fixed on the ground.
【0052】前記鋼片検知装置48は、接合装置24上
の撮像装置46近くに設けるのが好ましいが、地上に設
けることも可能である。又、この鋼片検知装置48によ
り、後行材先端のトラッキング校正を行うこともでき
る。The steel slab detection device 48 is preferably provided near the image pickup device 46 on the joining device 24, but may be provided on the ground. Further, the steel piece detection device 48 can also perform tracking calibration of the trailing edge of the trailing material.
【0053】トラッキング校正に際しては、前記撮像装
置46で写し出される画像を用いて、図7に示す如く、
細かな画素に分割された各画素毎に、鋼片の発する光
(熱間鋼であるため、光を発生している)によって、鋼
片の存在を検知する。ライン上の接合装置24の基準位
置、接合装置24上の基準位置及び撮像装置46の視野
画像の基準位置を決めておけば、例えば図7に示したよ
うな画像処理画面の右端から数えて、鋼片搬送方向に何
番目迄光を検知しているかを判定することによって、先
行鋼片10の尾端位置がわかる。又、光を検知していな
い全画素について、一画素当りの搬送方向長さを合計し
ていくと、後行鋼片12の先端位置及び両鋼片の間隔g
を算出できる。At the time of tracking calibration, as shown in FIG. 7, using the image projected by the image pickup device 46,
For each pixel divided into fine pixels, the presence of the steel piece is detected by the light emitted from the steel piece (because it is hot steel, light is generated). If the reference position of the joining device 24 on the line, the reference position on the joining device 24, and the reference position of the visual field image of the imaging device 46 are determined, counting from the right end of the image processing screen as shown in FIG. 7, for example, The tail end position of the preceding billet 10 can be known by determining how many lights are detected in the billet conveying direction. Further, when the lengths in the transport direction per pixel are summed up for all the pixels that do not detect light, the tip position of the trailing steel strip 12 and the gap g between the steel strips g.
Can be calculated.
【0054】接合装置24の走行制御に際しては、撮像
装置46により撮像した視野画像で先行鋼片10の尾端
位置を検出し、視野画像の基準位置(例えば接合装置2
4の基準位置と一致させた視野画像の基準位置)と、先
行鋼片10の尾端位置が一致するように、接合装置24
の方を制御する。接合装置24の基準位置は、例えば誘
導加熱方式の場合であれば、インダクターの中心とし、
レーザ接合方式の場合であれば、レーザビームの中心と
するのが良い。なお、加熱接合時、g3に開く場合は、
先行材尾端と接合装置24の基準位置はg3の1/2だ
けずらした方がより好ましい。In controlling the traveling of the welding device 24, the tail end position of the preceding steel slab 10 is detected from the visual field image picked up by the image pickup device 46, and the reference position (for example, the welding device 2) of the visual field image is detected.
No. 4 reference position of the visual field image and the tail end position of the preceding steel slab 10 are matched.
Control yourself. For example, in the case of the induction heating method, the reference position of the joining device 24 is the center of the inductor,
In the case of the laser joining method, it is preferable to set the center of the laser beam. In addition, at the time of heat bonding, when opening to g3,
It is more preferable that the reference positions of the trailing edge of the preceding material and the joining device 24 are shifted by 1/2 of g3.
【0055】該接合装置24の走行制御を実施中に、先
行鋼片10の尾端に後行鋼片12の先端が到達する少し
手前(例えば100mm程度)の位置で、先行鋼片10
との間隔gを一定に保つように、後行鋼片12側の速度
を時々刻々制御する。このようにすれば、先行鋼片10
の尾端位置に接合装置24の基準位置を一致させるよう
接合装置24を制御している間に、後行鋼片12の先端
が先行鋼片10の尾端に接触してしまって視野を塞ぎ、
画像による先行鋼片の尾端位置の検出が不可能となり、
先行鋼片10の尾端位置に接合装置24の基準位置を一
致させる制御の継続が不可能になってしまうことがな
い。While the traveling control of the joining device 24 is being performed, the preceding steel strip 10 is located at a position slightly before the tip of the trailing steel strip 12 reaches the tail end of the preceding steel strip 10 (for example, about 100 mm).
The speed on the trailing billet 12 side is controlled moment by moment so as to keep the distance g between and. In this way, the preceding billet 10
While the welding device 24 is controlled so that the reference position of the welding device 24 coincides with the tail end position of the, the tip of the trailing steel piece 12 comes into contact with the tail end of the preceding steel piece 10 and closes the field of view. ,
It becomes impossible to detect the tail end position of the preceding billet from the image,
It does not become impossible to continue the control for matching the reference position of the welding device 24 with the tail end position of the preceding steel slab 10.
【0056】なお、接合装置24が走行を開始するの
は、先行鋼片尾端10Bが基準位置を通過する前で、且
つ、後行鋼片の先端12Aが該接合装置24上に乗り移
ったことを検知した後とすることが望ましい。なぜなら
ば、接合装置24が一定速に到達するのに時間遅れがあ
る。又、後行鋼片側は、先行鋼片側よりも速度が速く、
接合装置24は、先行鋼片10を追い駆けるので、後行
鋼片の先端が接合装置24上に乗り移った後で接合装置
24の走行を開始すれば、接合が完了する迄、後行鋼片
12の先端が接合装置24上に乗った状態のまま、搬送
が可能であり、後行鋼片側が置き去りにされることはな
い。The welding device 24 starts running before the tail end 10B of the preceding steel piece has passed the reference position and when the tip 12A of the trailing steel piece has moved onto the welding device 24. It is desirable to do after detection. This is because there is a time delay before the joining device 24 reaches the constant speed. In addition, the speed of the trailing steel piece side is faster than that of the preceding steel piece side,
Since the joining device 24 runs after the preceding billet 10, if the joining device 24 starts running after the tip of the trailing billet has moved onto the joining device 24, the trailing billet will be completed until the joining is completed. It is possible to convey the tip of the twelve 12 on the welding device 24, and the trailing steel piece side is not left behind.
【0057】なお、第1実施形態では、粗圧延後のバー
を直接接合していたが、図8に示す第2実施形態のよう
に、粗圧延機22と仕上圧延機26の間に、タイミング
調整のための巻取・巻戻装置80が設けられた設備列に
も本発明は適用可能である。この第2実施形態の場合、
巻取・巻戻装置80から巻き出した後、追付が完了する
迄の後行鋼片の速度パターンが既知であれば、巻き出し
から追付迄の所要時間がわかる。In the first embodiment, the bars after the rough rolling were directly joined, but as in the second embodiment shown in FIG. 8, the timing between the rough rolling mill 22 and the finish rolling mill 26 is changed. The present invention can be applied to an equipment row provided with a winding / rewinding device 80 for adjustment. In the case of this second embodiment,
If the speed pattern of the succeeding billet until the completion of the catching is known after unwinding from the winding / rewinding device 80, the required time from unwinding to catching can be known.
【0058】例えば、先行鋼片の尾端が、巻取・巻戻装
置80を巻き出されてから、後行鋼片の先端が追付く迄
の所要時間tP(秒)は、次式で計算できる。For example, the required time tP (seconds) from the tail end of the preceding steel piece being unwound by the winding / rewinding device 80 until the leading end of the following steel piece is caught is calculated by the following equation. it can.
【0059】 tP=tCB1+tCB2+tCB3 …(2)[0059] tP = tCB1 + tCB2 + tCB3 (2)
【0060】ここで、tCB1〜3は、巻取・巻戻装置
80から追付目標位置T迄の各区間LCB1〜LCB3
毎の所要時間(秒)である。Here, tCB1 to LCB3 are the respective sections LCB1 to LCB3 from the winding / rewinding device 80 to the tracking target position T.
It is the required time (seconds) for each.
【0061】従って、巻取・巻戻装置80が無い場合と
同様に、逆計算によって後行鋼片の加熱炉抽出時刻を求
め、そのタイミングがきたら、加熱炉20から後行鋼片
を抽出するようにすれば良い。この例を図9に示す。図
9中の符号vCB1〜3は、前記各区間LCB1〜3に
対応する搬送速度である。Therefore, as in the case where the winding / rewinding device 80 is not provided, the heating furnace extraction time of the trailing steel piece is obtained by inverse calculation, and when the timing comes, the trailing steel piece is extracted from the heating furnace 20. Just do it. An example of this is shown in FIG. Reference signs vCB1 to 3 in FIG. 9 are transport speeds corresponding to the sections LCB1 to LCB3.
【0062】前記のような追付制御に際して、前記実施
形態では、後行鋼片側を、先行鋼片側に押圧する力を付
与し、その押圧力が所定の値に達したところで、閉塞が
完了したと判定するようにしているので、コーナ部が直
角でない場合や、長さ方向の断面が矩形でない場合で
も、確実に両鋼片が接触したと判定できる。又、シャー
によるクロップ切断後の断面には、切断時に発生するダ
レや突き出しが発生するので、有効である。更に、断面
が直角であったとしても、両鋼片の間隔が数mm以下に
なると、撮像装置46の分解能の制約によって、間隔が
認識できなくなるという問題があるので、やはり有効で
ある。In the above-mentioned additional control, in the above-described embodiment, a force for pressing the trailing steel piece side to the preceding steel piece side is applied, and the closing is completed when the pressing force reaches a predetermined value. Since it is determined that the two steel pieces are in contact with each other even when the corner portion is not a right angle or the cross section in the length direction is not rectangular. In addition, the cross section after crop cutting with the shear is effective because sagging and protrusion that occur during cutting occur. Further, even if the cross section is a right angle, if the interval between both steel pieces is several mm or less, there is a problem that the interval cannot be recognized due to the limitation of the resolution of the image pickup device 46, which is also effective.
【0063】後行鋼片12を先行鋼片10に向けて押圧
する手段としては、図2に示したように、入側クランプ
66を搬送方向に移動するためのアプセットシリンダ6
8を用いたり、図10に示すように、クランプシリンダ
60、62によって押し下げられるピンチロール82、
84で鋼片を上下から挟み、後行鋼片用の入側ピンチロ
ール84をモータ86により回転駆動するもの等を用い
ることができる。As a means for pressing the trailing steel slab 12 toward the preceding steel slab 10, as shown in FIG. 2, the upset cylinder 6 for moving the inlet side clamp 66 in the carrying direction.
8, or as shown in FIG. 10, the pinch rolls 82, which are pushed down by the clamp cylinders 60, 62,
It is possible to use one in which the steel piece is sandwiched by 84 from above and below, and the entry side pinch roll 84 for the trailing steel piece is rotationally driven by the motor 86.
【0064】図10の構成の場合、先行鋼片10の尾端
が入側ピンチロール82の直下を通過したあたりで、該
出側ピンチロール82で先行鋼片10を挟持し、後行鋼
片の先端12Aが入側ピンチロール84の直下を通過し
た時点で、該入側ピンチロール84により後行鋼片12
を挟持するのが好適である。In the case of the configuration shown in FIG. 10, when the tail end of the preceding steel strip 10 has passed just below the entrance side pinch roll 82, the preceding steel strip 10 is clamped by the exit side pinch roll 82, and the trailing steel strip is caught. When the leading end 12A of the sheet passes just below the entrance side pinch roll 84, the trailing steel strip 12 is moved by the entrance side pinch roll 84.
It is preferable to sandwich.
【0065】押圧力を検知する方法としては、図2に示
したようにアプセットシリンダ68によって後行鋼片を
搬送方向に押圧する構成の場合には、該アプセットシリ
ンダ68の流体圧を測定し、これから押圧力を求めた
り、ロードセル(図示省略)を出側クランプ64の背面
に設置して、押圧力を検出することができる。又、図1
0に示した如く、ピンチロールを用いる構成では、入側
ピンチロール84を回転駆動するモータ86のトルクを
測定する方法をとることができる。As a method of detecting the pressing force, in the case where the upsetting cylinder 68 is used to press the trailing steel strip in the conveying direction as shown in FIG. 2, the fluid pressure of the upsetting cylinder 68 is measured, The pressing force can be obtained from this, or a pressing force can be detected by installing a load cell (not shown) on the rear surface of the output side clamp 64. Moreover, FIG.
As shown in FIG. 0, in the configuration using the pinch roll, a method of measuring the torque of the motor 86 that rotationally drives the entrance side pinch roll 84 can be used.
【0066】なお、前記説明では、接合装置24に設け
た拘束手段(クランプ64、66又はピンチロール8
2、84)で鋼片を拘束するとして説明したが、拘束手
段は接合装置に設けずに、接合装置とは独立に移動する
ようにしても良い。移動可能な拘束手段は、自走式でも
圧延材に追従する追従式であっても良い。In the above description, the restraining means (the clamps 64, 66 or the pinch roll 8) provided in the joining device 24 is used.
2, 84) has been described as restraining the steel slab, but the restraining means may be provided independently of the joining device and moved independently of the joining device. The movable restraint means may be a self-propelled type or a follow-up type that follows the rolled material.
【0067】又、拘束手段は、移動できなくても良い。
その際、拘束手段は接合装置よりも下流側及び上流側に
配置した、それぞれ少くとも一対の先行材、後行材を回
転自在に挟圧するピンチロールとすることができる。こ
の場合、後行材の速度を接合装置よりも上流側に設けた
ピンチロールで制御し、先行材の尾端と後行材の先端の
間隔を高精度に制御することができる。The restraint means may not be movable.
At this time, the restraint means may be pinch rolls arranged at the downstream side and the upstream side of the joining device and rotatably sandwiching at least a pair of the preceding material and the following material, respectively. In this case, the speed of the trailing material can be controlled by the pinch roll provided on the upstream side of the joining device, and the distance between the tail end of the leading material and the tip of the trailing material can be controlled with high accuracy.
【0068】先行材の尾端と後行材の先端を所定の荷重
で閉塞するか、又は閉塞した後、所定の間隔を開けてか
ら加熱・接合する。The tail end of the preceding material and the tip end of the following material are closed with a predetermined load, or after closing, a predetermined gap is opened and then heating and joining are performed.
【0069】この場合の制御の手順を、図4、図5と対
応させて、図11に示す。The control procedure in this case is shown in FIG. 11 in correspondence with FIG. 4 and FIG.
【0070】即ち、図4、図5と同様のステップ100
0〜1040を経て、ステップ2000に入り、接合装
置24の基準位置を先行材尾端10Bに一致させるため
の、接合装置24の追付制御を行う。一致したことがス
テップ1150で確認されたら、ステップ2100で、
先行材の尾端10Bと後行材の先端12Aの間隔を、接
合に適した所定値g3とする。ステップ1270での加
熱・接合が終了したら、ステップ2200で、後行材1
2の速度制御及び接合装置24の追付制御をオフとし、
接合装置24をスタート位置に復帰する。That is, step 100 similar to that shown in FIGS.
After 0 to 1040, step 2000 is entered, and additional control of the welding device 24 is performed so that the reference position of the welding device 24 coincides with the tail end 10B of the preceding material. If it is confirmed in step 1150 that they match, in step 2100,
The distance between the tail end 10B of the preceding material and the tip 12A of the following material is set to a predetermined value g3 suitable for joining. After the heating / bonding in step 1270 is completed, in step 2200, the trailing material 1
2. The speed control of 2 and the tracking control of the joining device 24 are turned off,
The joining device 24 is returned to the start position.
【0071】一方、先行材の尾端と後行材の先端をクラ
ンプする前に、切断するとして説明したが、クランプし
た後で切断しても良い。この場合は、接合装置に切断す
る機能を備えるため、接合装置が重くなって走行させる
電動機の容量が大きくなり、切断する間の材料温度の低
下を少なくする工夫も要するが可能である。On the other hand, although it has been described that the tail end of the preceding material and the tip end of the following material are cut before being clamped, they may be cut after being clamped. In this case, since the joining device has a cutting function, the joining device becomes heavy and the capacity of the electric motor to be run becomes large, and it is also necessary to devise a method for reducing the decrease in the material temperature during the cutting.
【0072】次に、先行材の尾端と、後行材との間隔を
どのように決定するか、まず、クロップ切断装置がない
場合について説明する。Next, how to determine the distance between the trailing edge of the preceding material and the following material, first, the case where there is no crop cutting device will be described.
【0073】例えば、図12に示す如く、上流側から、
巻取・巻戻装置80、巻癖矯正用のレベラ90、移動式
の接合装置24、及び、仕上圧延機26が、順に並んで
いる設備列を考え、巻取・巻戻装置80とレベラ90の
間に、鋼片先端の巻き出しが完了したことを検知する鋼
片検知装置92が設けられている場合で説明する。For example, as shown in FIG. 12, from the upstream side,
Considering the equipment row in which the winding / rewinding device 80, the leveler 90 for correcting the winding habit, the movable joining device 24, and the finishing rolling mill 26 are arranged in order, the winding / rewinding device 80 and the leveler 90 are considered. A case will be described in which a billet detecting device 92 that detects that the unwinding of the tip of the billet is completed is provided between.
【0074】各設備間の速度は、例えば次のような制約
がある。The speed between each facility has the following restrictions, for example.
【0075】巻取・巻戻装置80〜鋼片検知装置92
間(図12の区間E)は、巻き出し時の駆動トルクが大
きいため、仕上圧延機26の入側速度で搬送されている
先行材の速度よりも遅く、最大速度を例えば0.5m/
秒に制限。
鋼片検知装置92〜レベラ90間(図12の区間F)
は、レベラ90に噛み込む際の最大速度を例えば1.0
m/秒に制限。
レベラ90〜接合装置24間(図12の区間G)は、
設備仕様上、例えば2.5m/秒(最大速度)に制限。Winding / rewinding device 80 to billet detecting device 92
During the interval (section E in FIG. 12), since the driving torque at the time of unwinding is large, it is slower than the speed of the preceding material being conveyed at the entrance speed of the finishing rolling mill 26, and the maximum speed is, for example, 0.5 m /
Limited to seconds. Between the billet detector 92 and the leveler 90 (section F in FIG. 12)
Is the maximum speed when biting into the leveler 90, for example 1.0
Limited to m / sec. Between the leveler 90 and the joining device 24 (section G in FIG. 12),
Due to equipment specifications, it is limited to 2.5 m / sec (maximum speed).
【0076】従って、後行材側の追付き速度パターン
は、一定速度ではなく、階段状にならざるを得ない。即
ち、このような制約条件の下では、先行材の最大速度に
対して、後行材側の追付き速度パターン、即ち、各区間
の速度設定は、その区間の速度制約値以下に収めなけれ
ばならない。又、後行材を巻き出すタイミングを最適な
ものにする必要もある。Therefore, the catching speed pattern on the trailing material side is inevitably stepwise rather than constant speed. That is, under such a constraint condition, the catching speed pattern on the trailing material side, that is, the speed setting of each section, with respect to the maximum speed of the preceding material, must be below the speed constraint value of the section. I won't. It is also necessary to optimize the timing of unwinding the trailing material.
【0077】今、仮に先行材の搬送速度の最大値が1m
/秒であり、これに追付かせようとする後行材側の追付
き速度パターンを、前記区間Eで0.5m/秒、区間F
で1.0m/秒、区間Gで2.5m/秒とする。そし
て、図13に示す如く、接合装置24の中心(本例では
接合装置スタート位置と一致)で、後行材の先端が先行
材の尾端に追付くとする。すると、接合装置24の中心
で後行材の先端が先行材の尾端に追付く基準ケースの場
合、先行材の尾端と後行材の先端の間隔を時経列的に表
わすと、図14に実線Hで示す如くとなる。Now, suppose that the maximum value of the conveying speed of the preceding material is 1 m.
/ Sec, and the catching speed pattern on the trailing material side that is trying to catch up with this is 0.5 m / sec.
Is 1.0 m / sec and section G is 2.5 m / sec. Then, as shown in FIG. 13, it is assumed that the leading end of the following material catches up with the tail end of the preceding material at the center of the joining device 24 (in this example, at the joining device start position). Then, in the case of the reference case in which the tip of the trailing material catches up with the tail end of the preceding material at the center of the joining device 24, the distance between the tail end of the preceding material and the tip of the following material is represented in time series, As shown by a solid line H in FIG.
【0078】前記方法で、先行材の搬送速度として、当
該鋼片の予測速度の最大値とするのが好ましいが、設備
上の速度の上限値、例えば接合装置の最大速度としても
良い。このようにすれば、図15に示す如く、先行材の
速度が遅くなった場合であっても、又、例えば走間板厚
変更があっても、予測速度が大きい方で間隔を決めてお
くから、図16に示す如く、先行材の搬送速度が後行材
の追付搬送制御中に遅い方に変わってしまったとして
も、確実に追付が可能である。しかも、走間板厚変更を
開始するときの先行材尾端のライン上の位置が、誤差に
よって予定位置からずれてしまったとしても、そのまま
対応可能である。In the above method, it is preferable to use the maximum value of the predicted speed of the steel slab as the conveying speed of the preceding material, but it may be the upper limit value of the speed on the equipment, for example, the maximum speed of the joining device. By doing this, as shown in FIG. 15, even if the speed of the preceding material becomes slower, or even if the running plate thickness is changed, the interval is determined by the one with the higher predicted speed. Therefore, as shown in FIG. 16, even if the conveyance speed of the preceding material is changed to the slower one during the follow-up conveyance control of the succeeding material, it is possible to reliably catch the material. Moreover, even if the position on the line of the trailing edge of the preceding material at the time of starting the change of the running plate thickness is deviated from the planned position due to an error, it is possible to cope with the situation as it is.
【0079】更に、図17に示す如く、接合装置24の
前に設けたクロップ切断装置(例えばクロップシャー)
94で、接合する端面のクロップを接合前に切断する場
合の、先行材の尾端と後行材の先端との間隔の決め方に
ついて説明する。Further, as shown in FIG. 17, a crop cutting device (for example, a crop shear) provided in front of the joining device 24.
At 94, how to determine the distance between the tail end of the preceding material and the tip of the following material when the crop of the end faces to be joined is cut before joining will be described.
【0080】この場合、先行材尾端は切断点が来るタイ
ミングでカットすれば良いが、先行材をカットしてから
後行材をカットするための刃待機位置リセット時間を含
めると約2〜3秒が必要であり、この時間以上、後行材
の進入を遅らせる必要がある。In this case, the trailing edge of the preceding material may be cut at the timing when the cutting point comes, but if the blade standby position reset time for cutting the trailing material after cutting the preceding material is included, it is about 2-3. Seconds are required, and it is necessary to delay the entry of the trailing material by more than this time.
【0081】上記時間を遅らせる制御は難しいため、こ
の時間に相当する距離を予め予測し、この間隔以上離れ
るように後行材の搬送制御を行う。即ち、クロップ切断
装置94で先行材の尾端を切断するとき、先行材の尾端
を切断してから後行材の先端を切断するための準備時間
がとれるように、先行材の尾端と後行材の先端との間隔
をあける。Since it is difficult to control the above-mentioned time delay, the distance corresponding to this time is predicted in advance, and the conveyance control of the following material is performed so that the distance is more than this interval. That is, when the tail end of the preceding material is cut by the crop cutting device 94, the tail end of the preceding material is set so that the preparation time for cutting the tail end of the preceding material and then the tip of the following material can be taken. Leave a gap with the tip of the trailing material.
【0082】後行材の先端をクロップ切断装置94でカ
ットするためには、上記の間隔以上離れればよいが、後
行材を切断した後は、先行材の尾端に早期に追付く必要
がある。切断後の搬送速度が高く取れればよいが、加速
時間も必要であるし、先行材に接近すれば減速も必要で
ある。又、加減速のためのモータパワーも無駄に大きく
なる。又、追付き距離をかせぐために接合装置のスター
ト位置を離すことも考えられるが、ライン長が長くなっ
て、無駄な投資の他に、温度降下を招く。従って、むや
みに間隔をあけるわけにはいかない。そこで、次のよう
な制御を行う。In order to cut the tip of the trailing material with the crop cutting device 94, it is sufficient to separate them by the above distance or more. However, after cutting the trailing material, it is necessary to catch up with the tail end of the preceding material early. is there. It suffices if the conveying speed after cutting can be made high, but it also requires acceleration time and deceleration when approaching the preceding material. Further, the motor power for acceleration / deceleration is unnecessarily increased. It is also possible to separate the start position of the joining device in order to increase the catching distance, but the line length becomes long, which causes a wasteful investment and a temperature drop. Therefore, it is not possible to make unnecessary intervals. Therefore, the following control is performed.
【0083】例えば図18に示す如く、2つの巻取・巻
戻装置80A、80B間の距離をL01、出側の巻取・
巻戻装置80Bと鋼片検知装置92間の距離をL02、
鋼片検知装置92とレベラ90間の距離をL03、レベ
ラ90とクロップ切断装置94間の距離をL04、クロ
ップ切断装置94と接合装置24のスタート位置間の距
離をL05、先行材尾端が、その巻取・巻戻装置80B
を抜けてから、接合装置24を通過するまでの先行材の
速度をV1、後行材の巻取・巻戻装置80A〜鋼片検知
装置92間の予測速度をV21、鋼片検知装置92〜レ
ベラ90間の予測速度をV22、レベラ90〜先行材と
同一速度になるまでの速度をV23とすると、クロップ
カット量、ばらつき、応答不良等を除くクロップカット
時間tcに相当する理論的な間隔L2は次式で表わされ
る。For example, as shown in FIG. 18, the distance between the two winding / rewinding devices 80A and 80B is L01, and the winding / rewinding device on the delivery side is L01.
The distance between the rewinding device 80B and the billet detecting device 92 is set to L02,
The distance between the billet detection device 92 and the leveler 90 is L03, the distance between the leveler 90 and the crop cutting device 94 is L04, the distance between the crop cutting device 94 and the start position of the joining device 24 is L05, and the trailing edge of the preceding material is The winding / rewinding device 80B
After passing through the joining device 24, the speed of the preceding material from passing through the joining device 24 is V1, the predicted speed between the following material winding / rewinding device 80A and the billet detector 92 is V21, and the billet detector 92- When the predicted speed between the levelers 90 is V22 and the speed at which the leveler 90 reaches the same speed as the preceding material is V23, the theoretical interval L2 corresponding to the crop cut time tc excluding the crop cut amount, variation, poor response, and the like. Is expressed by the following equation.
【0084】 L2=v23×tc …(3) (L05−ΔL)/v1=(L05−ΔL+L2)/v23 …(4)[0084] L2 = v23 × tc (3) (L05-ΔL) / v1 = (L05-ΔL + L2) / v23 (4)
【0085】これより、後行材が先行材と同じ速度にな
ってから接合装置24に至るまでの距離ΔLは、下式で
求まる。From this, the distance ΔL from the speed of the succeeding material to that of the preceding material to the joining device 24 can be obtained by the following equation.
【0086】 ΔL=L05−L2×v1/(v23−v1) =L05−tc×v1・V23/(v23−v1) …(5)[0086] ΔL = L05-L2 × v1 / (v23-v1) = L05-tc × v1 · V23 / (v23-v1) (5)
【0087】但し、先行材速度v1が非常に遅くなる
と、クロップカット時間tcに対応する距離L2が小さ
くなり過ぎるため、下限リミットを設ける。However, if the preceding material speed v1 becomes extremely slow, the distance L2 corresponding to the crop cut time tc becomes too small, so a lower limit is set.
【0088】実施例では、v21max=0.5m/s
(図12の区間E)
v22max=1.0m/s(図12の区間F)
v23max=2.5m/s(図12の区間G)
L01=2350mm
L02=1300mm
L03=5000mm
L04=5000mm
L05=8350mm
先行材最大速度V1max=1m/sである。In the embodiment, v21max = 0.5 m / s
(Section E in FIG. 12) v22max = 1.0 m / s (section F in FIG. 12) v23max = 2.5 m / s (section G in FIG. 12) L01 = 2350 mm L02 = 1300 mm L03 = 5000 mm L04 = 5000 mm L05 = 8350 mm The maximum speed V1max of the preceding material is 1 m / s.
【0089】従って、先行材速度v1=1m/s、クロ
ップカット時間tc=3秒の時、
ΔL=8350−3×1000×2500/(2500−1000)
=3350mmTherefore, when the preceding material velocity v1 = 1 m / s and the crop cut time tc = 3 seconds, ΔL = 8350-3 × 1000 × 2500 / (2500-1000) = 3350 mm
【0090】一方、L2=2500(mm/s)×3
(秒)=7500mmとなり、先行材尾端をカットする
時、後行材先端は、レベラ通過より若干早いタイミング
となる。クロップカット時間tcやクロップカット量が
変わったり、先行材の速度v1が変われば、先行材の尾
端カット時刻に対する後行材先端位置は変わってくる。On the other hand, L2 = 2500 (mm / s) × 3
(Sec) = 7500 mm, and when the trailing edge of the preceding material is cut, the leading edge of the following material is slightly earlier than the leveler passing. If the crop cut time tc or the crop cut amount changes, or the speed v1 of the preceding material changes, the trailing material tip position with respect to the trailing end cutting time of the preceding material changes.
【0091】又、ΔL=3350mmで、正の値である
から、先行材はクロップカットのための時間tcを確保
できると共に、接合装置24のスタート位置より上流側
で両材の間隔を零にすることが可能となる。Further, since ΔL = 3350 mm, which is a positive value, the preceding material can secure the time tc for crop cutting, and the interval between both materials becomes zero on the upstream side from the start position of the joining device 24. It becomes possible.
【0092】ところで、後行材を追付点Aまでv23で
衝突させることはできない。このためにもΔLはv23
からv1への減速距離としても有効に機能することにな
る。もちろん、先行材が予測速度よりも大きくなって
も、後行材が確実に追付けるために、v21、v22、
v23の設定を、搬送系の能力に対して余裕を持たせて
設定しておいても良い。By the way, it is impossible to collide the trailing material to the catching point A at v23. Therefore, ΔL is v23
It will also function effectively as a deceleration distance from V1 to v1. Of course, even if the preceding material becomes faster than the predicted speed, v21, v22,
The setting of v23 may be set with a margin for the capacity of the transport system.
【0093】v21、v22、v23の最大能力に対し
て余裕を持たせて設定する例として
V21=V21max×0.8
V22=V22max×0.8
V23=V23max×0.8
とすれば良い。V21 = V21max × 0.8 V22 = V22max × 0.8 V23 = V23max × 0.8 may be set as an example in which the maximum capabilities of v21, v22, and v23 are set with a margin.
【0094】ところで、目標間隔gは例えば、図19に
示す如く、先行材搬送速度をV1、先行材尾端位置をX
1、後行材先端の目標位置をX2a、後行材先端の実際
の位置をX2として、以下のようにして求める。By the way, the target interval g is, for example, as shown in FIG. 19, the preceding material conveying speed is V1, and the preceding material tail end position is X.
1. The target position of the trailing material tip is X2a, and the actual position of the trailing material tip is X2.
【0095】X2aの決定に際しては、後行材の速度が
折れ線になっていることから、各折点に相当した先行材
位置X1を求めておき、そのポイント前後で相当するX
2aの関数を求める。When determining X2a, since the speed of the trailing material is a polygonal line, the preceding material position X1 corresponding to each break point is obtained, and the corresponding X values before and after that point are calculated.
Find the function of 2a.
【0096】以下に、切替ポイントと後行材目標位置X
2aの関数の例を示す。先行材速度、後行材速度とも各
区間では一定としたので、本関数X2aは先行材尾端位
置X1の一次式となる。Below, the switching point and the following material target position X
An example of the function 2a is shown. Since the preceding material speed and the following material speed are constant in each section, this function X2a is a linear expression of the leading material tail end position X1.
【0097】接合装置24のスタート位置をX座標の零
とすれば、各折点のX座標は次のとおりである。If the starting position of the joining device 24 is zero of the X coordinate, the X coordinate of each break point is as follows.
【0098】先行材
ポイントA X1A=−ΔL(前述のとおり)
ポイントB X1B=X1A−(L04+L05−Δ
L)/v23×v1
ポイントC X1C=X1B−L03/v22×v1
後行材
ポイントB X2B=−(L05+L04)
ポイントC X2C=X2B−L03
後行材目標位置X2aは、
X1<X1Cの時 X2a=X2C+(X1−X1
C)×v21/v1
X1C≦X1<X1Bの時 X2a=X2C+(X1−
X1C)×v22/v1
X1B≦X1の時 X2a=X2B+(X1−X1B)
×v23/v1
となる。Leading material point A X1A = -ΔL (as described above) Point B X1B = X1A- (L04 + L05-Δ
L) / v23 × v1 point C X1C = X1B−L03 / v22 × v1 trailing material point B X2B = − (L05 + L04) point C X2C = X2B−L03 when trailing material target position X2a is X1 <X1C X2a = X2C + (X1-X1
C) × v21 / v1 When X1C ≦ X1 <X1B X2a = X2C + (X1-
X1C) × v22 / v1 When X1B ≦ X1 X2a = X2B + (X1-X1B)
× v23 / v1.
【0099】これより先行材の尾端と後行材の先端の目
標間隔gは下式で表わされる。From this, the target distance g between the tail end of the preceding material and the tip end of the following material is expressed by the following equation.
【0100】 X1<X1Cの場合 g=X1−X2a ={1−(v21/v1)}X1+(v21/v1)X1C−X2C X1C≦X1<X1Bの場合 g=X1−X2a ={1−(v22/v1)}X1+(v22/v1)X1C−X2C X1B≦X1の場合 g=X1−X2a ={1−(v23/v1)}X1+(v23/v1)X1B−X2B[0100] When X1 <X1C g = X1-X2a = {1- (v21 / v1)} X1 + (v21 / v1) X1C-X2C When X1C ≦ X1 <X1B g = X1-X2a = {1- (v22 / v1)} X1 + (v22 / v1) X1C-X2C When X1B ≦ X1 g = X1-X2a = {1- (v23 / v1)} X1 + (v23 / v1) X1B-X2B
【0101】なお、図19では接合装置24のスタート
位置より上流側のA点で間隔が零となるとして説明した
が、図20に示すように後行材の先端をカットした後は
間隔を目標間隔g1とするのが良い。その後、図4に示
したようにクランプの進行に合わせて、目標間隔を狭め
ていくことになる。もちろん、クロップカット以降も、
本関数による目標間隔制御を続行しても良い。この場合
下限はg1となる。In FIG. 19, the description has been made assuming that the interval becomes zero at the point A on the upstream side of the start position of the joining device 24, but as shown in FIG. 20, the interval is targeted after the tip of the trailing material is cut. The distance g1 is preferable. Then, as shown in FIG. 4, the target interval is narrowed as the clamp progresses. Of course, after the crop cut,
The target interval control by this function may be continued. In this case, the lower limit is g1.
【0102】上記のように、目標間隔gは、先行材尾端
位置X1の関数となる。従って、後行材の追付制御で
は、図21に示す如く、先行材尾端の実績位置X1と目
標間隔gとの差が、後行材先端の実績位置X2に一致す
るように、(X1−g)−X2の出力に、ゲインを乗じ、
前記値と先行材の実績速度との和を後行材の速度指令と
することができる。なお、先行材の尾端と後行材の先端
を所定の荷重で閉塞する際には、先行材の速度にKを乗
じた値と先行材の速度との和を、後行材の速度指令とす
る。As described above, the target gap g is a function of the leading material tail end position X1. Therefore, in the follow-up material tracking control, as shown in FIG. 21, the difference between the actual position X1 of the trailing edge of the preceding material and the target interval g is set to (X1 -G) Multiply the output of -X2 by gain,
The sum of the above value and the actual speed of the preceding material can be used as the speed command for the following material. When closing the tail end of the preceding material and the leading end of the following material with a predetermined load, the sum of the value obtained by multiplying the speed of the preceding material by K and the speed of the preceding material is used as the speed command for the following material. And
【0103】リミッタは、前記各区間における最大速度
であり、Kは0.15程度とするのが望ましい。この例
では、先行材の速度にKを乗じた値を上乗せしたが、先
行材速度の最大値(1m/s)×K(0.15)=0.
15m/sの固定値を上乗せしても良い。The limiter is the maximum speed in each section, and it is desirable that K is about 0.15. In this example, the value obtained by multiplying the speed of the preceding material by K was added, but the maximum value of the preceding material speed (1 m / s) × K (0.15) = 0.
A fixed value of 15 m / s may be added.
【0104】なお、後行材の起動タイミングは、後行材
の目標位置X2aが入側巻取・巻戻装置80Aの位置、
即ち、
X2a≧−(L01+L02+L03+L04+L0
5)
となるまで先行材の尾端が進んだ時とすれば良い。The starting timing of the trailing material is such that the target position X2a of the trailing material is the position of the entrance-side winding / rewinding device 80A,
That is, X2a ≧ − (L01 + L02 + L03 + L04 + L0
It should be when the tail end of the preceding material has advanced to 5).
【0105】[0105]
【実施例】図8に示した熱間圧延ラインにおいて、先行
鋼片、後行鋼片共に厚さ260mm、幅1000mm、
長さ9mの鋼片を加熱炉20で1200℃に加熱し、先
行鋼片を加熱炉20から抽出してから65秒後に後行鋼
片を加熱炉20から抽出した。粗圧延機22で粗圧延を
実施し、先行鋼片、後行鋼片を巻取・巻戻装置80で巻
き取った状態にした後、先行鋼片を巻き出し、前出
(2)式により、先行鋼片の尾端が巻取・巻戻装置80
Bから巻き出されてから、先行鋼片の尾端に後行鋼片の
先端が追付くための所要時間tPを予測計算した結果に
応じて、その1.5秒後に後行鋼片を巻き出した。EXAMPLE In the hot rolling line shown in FIG. 8, both the preceding steel piece and the following steel piece had a thickness of 260 mm, a width of 1000 mm,
A billet having a length of 9 m was heated to 1200 ° C. in the heating furnace 20, and 65 seconds after the preceding billet was extracted from the heating furnace 20, the trailing billet was extracted from the heating furnace 20. After rough rolling is performed by the rough rolling machine 22 and the preceding steel piece and the following steel piece are wound by the winding / rewinding device 80, the preceding steel piece is unwound, and the preceding equation (2) is used. , The tail end of the preceding billet is a winding / rewinding device 80
After being unwound from B, the trailing steel billet is wound 1.5 seconds after that according to the result of predictive calculation of the time tP required for the tip of the trailing steel billet to catch up with the tail end of the preceding steel billet. I put it out.
【0106】先行鋼片の搬送速度v=1.0m/秒と
し、後行鋼片の搬送速度は、図12に示した如く、巻取
・巻戻装置80Aを巻き出してから鋼片検知装置92に
先端が入るまでが0.5m/秒、次いでレベラ90に噛
み込むまでが1.0m/秒、次いで追付き完了するまで
が2.5m/秒の基準パターンに従い、追付き制御中、
リアルタイムで、先行鋼片の尾端と後行鋼片の先端の位
置を位置・速度検出装置40、42によって検出し、前
記基準パターン時の、先行鋼片位置の関数によって決ま
る後行鋼片目標位置を目標に、後行鋼片先端が来るよう
に、後行鋼片側を搬送制御した。具体的には、先行鋼片
尾端と後行鋼片先端の間隔は、g1=150mm、g2=
50mm、g3=5mmとした。The conveying speed v of the preceding billet is set to 1.0 m / sec, and the conveying speed of the trailing billet is as shown in FIG. According to the standard pattern of 0.5 m / sec until the tip enters 92, 1.0 m / sec until biting into the leveler 90, and 2.5 m / sec until completion of catching, follow-up control is in progress,
The positions of the tail end of the leading billet and the tip of the trailing billet are detected in real time by the position / velocity detecting devices 40 and 42, and the trailing billet target determined by the function of the leading billet position at the time of the reference pattern. Targeting the position, the trailing billet side was controlled so that the leading edge of the trailing billet came. Specifically, the gap between the tail end of the preceding steel piece and the tip end of the following steel piece is g1 = 150 mm, g2 =
50 mm and g3 = 5 mm.
【0107】更に、レベラ90と追付き目標位置Tの間
で、先行鋼片尾端と後行鋼片先端をクロップ切断装置9
4により搬送方向に直角にカットした。先行鋼片の尾端
が鋼片検知装置44をオフにしたタイミングで、位置・
速度検出装置42により先行鋼片尾端のトラッキングを
校正し、後行鋼片の先端が鋼片検知装置44をオンにし
たタイミングで、位置・速度検出装置40により後行鋼
片先端のトラッキングを校正した。更に、先行鋼片の尾
端が接合装置24上を見ている鋼片検知装置48をオフ
にしたタイミングで、先行鋼片尾端の位置認識を補正
し、次式で計算されるように、先行鋼片の尾端が接合装
置24の入側の1.0m上流側に来たとき、接合装置2
4の走行を開始した。Further, between the leveler 90 and the catching target position T, the trailing edge of the preceding steel piece and the leading edge of the following steel piece are cropped by the crop cutting device 9
It was cut at a right angle to the conveyance direction by No. 4. At the timing when the tail end of the preceding billet turns off the billet detector 44,
The velocity detector 42 calibrates the tracking of the trailing edge of the preceding steel piece, and the position / speed detector 40 calibrates the tracking of the trailing edge of the trailing steel piece at the timing when the tip of the trailing steel piece turns on the steel piece detection device 44. did. Further, at the timing when the tail end of the preceding steel piece is turning off the steel piece detecting device 48 looking at the joining device 24, the position recognition of the preceding steel piece tail end is corrected, and as shown in the following equation, When the tail end of the steel piece comes 1.0 m upstream of the entrance side of the joining device 24, the joining device 2
The 4th run started.
【0108】x=v2/2/α+v・t
=1.02/2/1+1.0×0.5
=1.0m
ここで、αは接合装置加速度(1.0m/秒2)、tは
接合装置の起動遅れ(0.5秒)である。[0108] x = v 2/2 / α + v · t = 1.0 2 /2/1+1.0×0.5 = 1.0m where, alpha is joining device acceleration (1.0 m / sec 2), t Is the start-up delay (0.5 seconds) of the joining device.
【0109】先行鋼片の尾端が接合装置24上に設置し
た撮像装置46の視野(先行材と接合装置の位置合せ完
了時に入側150mmとなる後行材先端と先行材尾端が
共に視野に入るよう±250mmとした)に入ったタイ
ミングで、先行鋼片尾端の位置認識を撮像装置46によ
る位置認識値に切替え、後行鋼片先端が鋼片検知装置4
8をオンにしたタイミングで、後行鋼片先端の位置認識
を補正すると共に、撮像装置46で撮像した先行鋼片尾
端が接合装置24の基準位置と一致するように制御し
た。この制御中、後行鋼片側は、先行鋼片搬送速度予測
値(1.0m/s)と、先行鋼片尾端位置実績値の2つ
の値の関数によって、後行鋼片の目標先端位置を決める
制御を続行し、先行鋼片尾端との間隔が150mmとな
ったところで、先行鋼片と同じ速度で搬送した。The tail end of the preceding steel slab is the field of view of the image pickup device 46 installed on the joining device 24 (the leading end of the trailing material and the tail end of the preceding material both having an entrance side of 150 mm when the alignment of the preceding material and the joining device are completed) The position of the tail end of the preceding steel piece is switched to the position recognition value by the image pickup device 46, and the leading end of the following steel piece is detected by the steel piece detecting device 4.
At the timing when 8 was turned on, the position recognition of the trailing steel piece tip was corrected, and the tail end of the preceding steel piece imaged by the imaging device 46 was controlled so as to match the reference position of the welding device 24. During this control, the trailing billet side determines the target tip position of the trailing billet by a function of two values of the preceding billet transport speed predicted value (1.0 m / s) and the leading tail piece actual position value. The control for determining was continued, and when the distance from the tail end of the preceding steel piece reached 150 mm, the sheet was conveyed at the same speed as the preceding steel piece.
【0110】先行鋼片の尾端を出側クランプ64で挾持
し、後行鋼片の先端が撮像装置46の視野に入ったタイ
ミングで、後行鋼片先端の位置認識を補正し、両鋼片間
の間隔を閉塞させるように制御した。The tail end of the preceding billet is clamped by the exit side clamp 64, and the position recognition of the tip of the following billet is corrected at the timing when the tip of the following billet enters the visual field of the image pickup device 46. The space between the pieces was controlled so as to be closed.
【0111】後行鋼片は先行鋼片よりも速い速度で動い
ているので、撮像装置46によって検出した両鋼片の間
隔gが50mm以下になったとき、後行鋼片のクランプ
動作を開始し、クランプが完了したときは、両鋼片の間
隔が零となるようにした。Since the trailing billet moves at a faster speed than the preceding billet, when the gap g between the billets detected by the image pickup device 46 becomes 50 mm or less, the trailing billet clamp operation is started. Then, when the clamp was completed, the distance between both steel pieces was set to zero.
【0112】次いで、アプセットシリンダ68によっ
て、後行鋼片12を先行鋼片10に向けて100kNの
力で押圧し、閉塞完了と判定した。Next, the upset cylinder 68 pressed the trailing steel piece 12 toward the preceding steel piece 10 with a force of 100 kN, and determined that the blockage was completed.
【0113】これら一連の動作後、接合装置24内の接
合手段によって接合し、仕上圧延機26に送給し、連続
圧延したところ、破断せずに正常に圧延できた。After a series of these operations, joining was carried out by the joining means in the joining device 24, and the sheet was fed to the finish rolling mill 26 and continuously rolled, and it was possible to normally roll without breaking.
【0114】なお、前記説明においては、本発明が鋼片
に適用されていたが、本発明の適用対象は鋼片に限定さ
れず、他の金属片にも同様に適用できることは明らかで
ある。In the above description, the present invention is applied to the steel slab, but it is clear that the application of the present invention is not limited to the steel slab and can be similarly applied to other metal pieces.
【0115】[0115]
【発明の効果】本発明によれば、熱間圧延ラインにおい
て、ライン上の目標とする位置で、先行材尾端、後行材
先端、移動式接合装置の三者を、接合するのに好適な位
置関係に制定制御できるため、接合装置の走行ゾーン内
で接合を正常に完了することができ、その後の連続仕上
圧延を正常に行うことができる。According to the present invention, in a hot rolling line, it is suitable for joining the leading end of the preceding material, the leading end of the following material, and the movable joining device at a target position on the line. Since it is possible to establish and control such a positional relationship, it is possible to normally complete the joining in the traveling zone of the joining device, and to perform the subsequent continuous finish rolling normally.
【図1】本発明の第1実施形態が適用された連続熱間圧
延ラインのの構成を示す工程図FIG. 1 is a process diagram showing a configuration of a continuous hot rolling line to which a first embodiment of the present invention is applied.
【図2】本発明の実施形態で用いられる移動式接合装置
の一例の構成を示す断面図FIG. 2 is a cross-sectional view showing a configuration of an example of a movable joining device used in an embodiment of the present invention.
【図3】同じく位置・速度検出装置の構成を示す正面図FIG. 3 is a front view showing the configuration of the position / speed detection device.
【図4】第1実施形態における処理手順の前半を示す流
れ図FIG. 4 is a flowchart showing the first half of the processing procedure in the first embodiment.
【図5】同じく後半を示す流れ図FIG. 5 is a flowchart showing the latter half of the same.
【図6】第1実施形態において、先行材の尾端に後行材
の先端が追付く様子を示す線図FIG. 6 is a diagram showing how the tip of the trailing material catches up with the tail of the leading material in the first embodiment.
【図7】本発明により接合装置の上部に設けられた撮像
装置の視野画像の例を示す線図FIG. 7 is a diagram showing an example of a field-of-view image of an image pickup device provided on an upper portion of a joining device according to the present invention.
【図8】本発明の第2実施形態が適用された連続熱間圧
延ラインの構成を示す工程図FIG. 8 is a process diagram showing the configuration of a continuous hot rolling line to which a second embodiment of the present invention has been applied.
【図9】第2実施形態において、先行材の尾端に後行材
の先端が追付く様子を示す線図FIG. 9 is a diagrammatic view showing how the leading end of the following material catches up with the tail end of the preceding material in the second embodiment.
【図10】本発明の実施形態で用いれる移動式接合装置
の他の例の構成を示す断面図FIG. 10 is a cross-sectional view showing the configuration of another example of the movable joining device used in the embodiment of the present invention.
【図11】本発明による処理手順の他の例を示す流れ図FIG. 11 is a flowchart showing another example of the processing procedure according to the present invention.
【図12】ライン上の位置と各区間の速度可変範囲の制
約を示す線図FIG. 12 is a diagram showing a position on the line and restrictions on a variable speed range of each section.
【図13】本発明の追付制御によって、後行材の先端が
先行材の尾端に追付く様子を示す線図FIG. 13 is a diagrammatic view showing how the leading end of the trailing material catches on the tail end of the preceding material by the catching control of the present invention.
【図14】本発明の追付制御における、先行材尾端のラ
イン上の位置による、先行材の尾端と後行材の先端の関
係の変化を示す線図FIG. 14 is a diagram showing a change in the relationship between the trailing edge of the preceding material and the leading edge of the following material depending on the position of the trailing edge of the preceding material in the tracking control of the present invention.
【図15】同じく、先行材尾端の搬送速度レベルが変化
した場合の、後行材の追付制御の様子を示す線図FIG. 15 is a diagrammatic view showing the state of follow-up material tracking control when the conveyance speed level of the trailing edge of the preceding material changes.
【図16】同じく、先行材尾端の搬送速度が途中で変動
した場合に、後行材の先端が追付く様子を示す線図FIG. 16 is a line diagram showing how the leading edge of the trailing material catches up when the conveying speed of the trailing edge of the preceding material fluctuates midway.
【図17】本発明の追付制御において、先行材尾端及び
後行材先端を形成するためのクロップ切断装置を設置し
た様子を示す工程図FIG. 17 is a process diagram showing a state in which a crop cutting device for forming a trailing edge of a preceding material and a leading edge of a following material is installed in the tracking control of the present invention.
【図18】図17で先行材尾端に後行材先端が追付く様
子を示す線図FIG. 18 is a line diagram showing how the trailing edge of the following material catches up with the trailing edge of the preceding material in FIG. 17;
【図19】同じく計算方法を説明するための線図FIG. 19 is a diagram for similarly explaining the calculation method.
【図20】同じく変形例を示す線図FIG. 20 is a diagram showing a modification of the same.
【図21】本発明の追付制御を行う制御装置の構成を示
すブロック線図FIG. 21 is a block diagram showing a configuration of a control device for performing a tracking control of the present invention.
10…先行鋼片(先行材) 10B…尾端 12…後行鋼片(後行材) 12A…先端 20…加熱炉 22…粗圧延機 24…移動式接合装置 S…走行ストローク T…追付目標位置 Z…追付範囲 C…接合ゾーン 26…仕上圧延機 40、42…位置・速度検出装置 44、48、92…鋼片検知装置 46…撮像装置 50…演算・制御装置 60…画像処理装置 60、62…クランプシリンダ 64、66…クランプ 68…アプセットシリンダ 80、80A、80B…巻取・巻戻装置 82、84…ピンチロール 90…レベラ 94…クロップ切断装置 10 ... Leading steel slab (leading material) 10B ... tail end 12 ... Trailing billet (following material) 12A ... Tip 20 ... Heating furnace 22 ... Rough rolling mill 24 ... Mobile joining device S ... Travel stroke T: Target position for catching Z: catching range C ... Joining zone 26 ... Finishing mill 40, 42 ... Position / speed detection device 44, 48, 92 ... Steel slab detection device 46 ... Imaging device 50 ... Arithmetic / control device 60 ... Image processing device 60, 62 ... Clamp cylinder 64, 66 ... Clamp 68 ... Upset cylinder 80, 80A, 80B ... Winding / rewinding device 82, 84 ... Pinch roll 90 ... Leveler 94 ... Crop cutting device
───────────────────────────────────────────────────── フロントページの続き (72)発明者 磯山 茂 千葉県千葉市中央区川崎町1番地 川崎製 鉄株式会社千葉製鉄所内 (72)発明者 山崎 孝博 千葉県千葉市中央区川崎町1番地 川崎製 鉄株式会社千葉製鉄所内 (72)発明者 香川 卓士 千葉県千葉市中央区川崎町1番地 川崎製 鉄株式会社千葉製鉄所内 (72)発明者 永井 一則 広島県広島市西区観音新町四丁目6番22号 三菱重工業株式会社広島製作所内 (72)発明者 石橋 直彦 広島県広島市西区観音新町四丁目6番22号 三菱重工業株式会社広島製作所内 (72)発明者 岡井 隆 広島県広島市西区観音新町四丁目6番22号 三菱重工業株式会社広島研究所内 Fターム(参考) 4E002 AD02 AD04 BA01 BD05 CB10 ─────────────────────────────────────────────────── ─── Continued front page (72) Inventor Shigeru Isoyama 1 Kawasaki-cho, Chuo-ku, Chiba-shi, Chiba Made in Kawasaki Chiba Steel Works, Ltd. (72) Inventor Takahiro Yamazaki 1 Kawasaki-cho, Chuo-ku, Chiba-shi, Chiba Made in Kawasaki Chiba Steel Works, Ltd. (72) Inventor Takushi Kagawa 1 Kawasaki-cho, Chuo-ku, Chiba-shi, Chiba Made in Kawasaki Chiba Steel Works, Ltd. (72) Inventor Kazunori Nagai 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Inside Mitsubishi Heavy Industries Hiroshima Works (72) Inventor Naohiko Ishibashi 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Inside Mitsubishi Heavy Industries Hiroshima Works (72) Inventor Takashi Okai 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries Ltd. Hiroshima Research Center F-term (reference) 4E002 AD02 AD04 BA01 BD05 CB10
Claims (2)
材の尾端と後行材の先端とを走間で繋ぎ合わせ、連続的
に仕上げ圧延機に送給して圧延する熱間圧延設備におい
て、 前記接合装置上に、光学的に鋼片を検出する検知装置
と、先行材の尾端と後行材の先端を共に撮像可能な撮像
装置が設けられていることを特徴とする熱間圧延設備。1. Heat after hot rough rolling, in which the tail end of the leading material and the tip of the trailing material are joined together by means of a movable joining device during running and continuously fed to a finish rolling mill for rolling. In the inter-rolling facility, the joining device is provided with a detection device that optically detects a steel slab, and an imaging device that can image both the tail end of the preceding material and the tip of the following material. Hot rolling equipment.
して板材に渦電流を誘起して加圧手段によって先行材の
尾端と後行材の先端とを接合する移動可能な接合装置で
先行材の尾端と後行材の先端とを走間で繋ぎ合わせ、連
続的に仕上げ圧延機に送給して圧延する熱間圧延設備に
おいて、 前記接合装置上に、先行材の尾端と後行材の先端を共に
撮像可能な撮像装置が設けられていることを特徴とする
熱間圧延設備。2. After the hot rough rolling, an alternating magnetic flux is applied in the plate thickness direction to induce an eddy current in the plate material, and the tail end of the preceding material and the tip of the following material are joined by a pressing means, which is movable. In the hot rolling equipment that joins the tail end of the preceding material and the tip of the trailing material with a different joining device while running, and continuously feeds and rolls to the finish rolling mill, the preceding material on the joining device. An image pickup device capable of picking up an image of both the tail end and the leading end of the trailing material is provided.
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JP2003065286A JP2003266107A (en) | 2003-03-11 | 2003-03-11 | Equipment for hot rolling |
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JP32265296A Division JP3546616B2 (en) | 1996-12-03 | 1996-12-03 | Hot rolling method and equipment |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103769436A (en) * | 2006-05-17 | 2014-05-07 | 三菱日立制铁机械株式会社 | Method and device for aligning widths of preceding and following metal plates and continuous rolling system |
-
2003
- 2003-03-11 JP JP2003065286A patent/JP2003266107A/en active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103769436A (en) * | 2006-05-17 | 2014-05-07 | 三菱日立制铁机械株式会社 | Method and device for aligning widths of preceding and following metal plates and continuous rolling system |
CN103769436B (en) * | 2006-05-17 | 2016-08-17 | 普锐特冶金技术日本有限公司 | The method and apparatus of the cross-level of front and rear metallic plate, and continuous calendering equipment |
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