JP2018164923A - Rolling machine and rolling method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a roll skew amount at a high precision by a simple configuration plate, and to obtain a favorable plate thickness precision by the adjustment of the skew amount based on the same in a rolling machine and a rolling method.SOLUTION: A rolling machine 1 comprises a lower work roll 7 and a lower backup roll 9 which come in contact with each other. The rolling machine 1 comprises a stereo camera device 3 for optically measuring a thrust amount of the lower work roll 7 under rolling from a distant position, an arithmetic device 4 that includes a calculation part 4a obtaining a skew amount from a measured thrust amount, and a roll skew amount adjustment part 16 that adjusts the inclination of the axis Axlw of the lower work roll 7.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a rolling mill and a rolling method.

  In a general rolling mill that is not a roll cloth type, it is desirable to perform rolling in a state without roll skew in order to suppress thrust force. However, in reality, a minute roll skew may occur due to wear, deformation, corrosion, or the like between the side surface of the roll chock (shaft box) and the inner side surface of the housing.

  When roll skew occurs between the work roll and the backup roll, a thrust force is generated by relative sliding in the roll axis direction during rotation, resulting in a difference in plate thickness between the work roll drive side and the work side. Accuracy (error between target plate thickness and actual plate thickness) deteriorates.

  In addition, when roll skew occurs between the upper work roll and the lower work roll, a roll gap difference occurs in the roll body length direction, and the thickness accuracy deteriorates in the same manner, and the steel plate has an uneven thickness profile in the width direction. There is a risk of becoming.

  Patent Document 1 discloses a rolling mill capable of measuring the roll skew amount itself. However, it is practically difficult to measure a relative crossing angle between rolling rolls with high accuracy by incorporating a measuring device into a rolling mill, particularly in a large rolling mill such as a wide thick plate rolling mill. In particular, in hot rolling, it is difficult to maintain measurement accuracy and performance of the measuring machine itself due to various cooling water, water vapor, vibration, radiant heat of the material to be rolled, and the like in the rolling mill.

  For the purpose of equipment protection or abnormality monitoring, there is a mechanism for detecting an excessive thrust force based on a differential pressure in a hydraulic cylinder for operating a work roll shift (see Patent Documents 2 and 3). However, in order to move the work roll and to attach and detach the work roll shift mechanism and roll chock when replacing the roll, equipment clearance is required in the roll axis direction, and only the thrust force when the roll moves beyond that clearance is detected. It is not possible to grasp the minute thrust force.

  As described above, in the conventional technology, it is not realized to detect the roll skew amount with high accuracy with a simple configuration, and the plate thickness accuracy is not improved by appropriate adjustment of the roll skew amount.

JP 2014-4599 A JP 2007-50420 A JP-A-2-121711

  In the rolling mill and the rolling method, the present invention detects a roll skew amount with high accuracy by a simple configuration, and adjusts the roll skew amount based on the detected roll skew amount to obtain a good sheet thickness accuracy. Is an issue.

  In the first aspect of the present invention, the amount of thrust during rolling of at least one of the first roll and the second roll, which are in contact with each other directly or via a rolled material, and the first roll and the second roll, Based on a sensor unit that optically measures from a distant position, a calculation unit that includes a calculation unit that obtains a roll skew amount from the thrust amount measured by the sensor unit, and the roll skew amount obtained from the measured thrust amount There is provided a rolling mill comprising a roll skew amount adjusting unit that adjusts an inclination of an axis of at least one of the first roll and the second roll.

  The sensor unit optically measures the thrust amount from a remote position. Therefore, unlike the roll skew detection by roll position measurement using the distance sensor in the rolling mill, the thrust amount is measured with high accuracy without being affected by the environment inside the rolling mill, that is, water, water vapor, vibration, high heat, etc. It is possible to maintain the measurement accuracy and the performance of the sensor unit itself.

  Since the sensor unit optically measures the thrust amount from a distant position, it is necessary to equip the rolling mill body with measuring devices such as load cells and strain gauges, unlike the measurement of thrust force by measuring the load or deformation of the roll chock. Absent. Further, unlike the measurement of the thrust force due to the differential pressure of the work roll shift hydraulic cylinder, there is no restriction on detection accuracy due to equipment clearance.

  Based on the roll skew amount detected with high accuracy, the roll skew amount is adjusted by the roll skew amount adjustment unit, thereby obtaining good plate thickness accuracy.

  As described above, the sensor unit optically measures the thrust amount from a distant position, obtains the roll skew amount from the measured thrust amount, and based on the roll skew amount, at least one of the first roll and the second roll. By adjusting the inclination of one of the shaft cores, it is possible to obtain a good plate thickness accuracy with which a roll skew amount can be detected with high accuracy by a simple configuration.

  The sensor unit may include a stereo camera device.

  As an alternative, the sensor unit may include a laser rangefinder that measures the position of at least one of the first roll and the second roll itself or the roll chock thereof.

  The calculation unit further includes a storage unit that stores a relationship between the thrust amount and the roll skew amount, and the calculation unit obtains the roll skew amount from the measured thrust amount with reference to the storage unit.

  For example, the relationship between the thrust amount and the roll skew amount is obtained by normalizing the thrust amount by a rolling time or a product of a rolling load and a rolling time.

  The calculation unit may further include an alarm unit that issues an alarm when the roll skew amount exceeds a predetermined threshold.

  The roll skew amount adjusting unit may be a manual type.

The roll skew amount adjusting unit includes an actuator that adjusts an attitude of at least one of the first roll and the second roll so that an inclination of an axis changes.
The calculation unit may include an actuator control unit that operates the actuator so that the roll skew amount falls below the threshold when the roll skew amount exceeds a predetermined threshold.

  According to a second aspect of the present invention, the rolling mill has a thrust amount during rolling of at least one of the first roll and the second roll that are in contact with each other directly or via a rolled material. Optically measured, a roll skew amount is obtained from the measured thrust amount, and based on the roll skew amount obtained from the measured thrust amount, at least one axis of the first roll and the second roll Provided is a rolling method for adjusting the inclination of a core.

  According to the rolling mill and the rolling method according to the present invention, the roll skew amount can be detected with high accuracy by a simple configuration. Further, by adjusting the inclination of at least one of the first roll and the second roll based on the detected roll skew amount, a good plate thickness accuracy can be obtained.

A schematic plan view of a lower work roll and a lower backup roll. 1 is a schematic view of a rolling mill according to a first embodiment of the present invention. The typical perspective view of the rolling roll group in the rolling mill of FIG. Sectional drawing along line IV-IV of FIG. The block diagram of the arithmetic unit in the rolling mill of FIG. The flowchart which shows the outline | summary of operation | movement of the rolling mill of FIG. The graph which shows an example of the relationship between the product (standard value) of a rolling load and rolling time, and a thrust amount. The graph which shows an example of the relationship between roll skew amount and thrust amount. The graph which shows an example of the relationship between roll skew amount and plate | board thickness accuracy. The typical perspective view which shows the modification of 1st Embodiment. Schematic of the rolling mill which concerns on 2nd Embodiment of this invention. FIG. 12 is a cross-sectional view taken along line XII-XII in FIG. 11. The block diagram of the arithmetic unit in the rolling mill of FIG. The flowchart which shows the outline | summary of operation | movement of the rolling mill of FIG. Schematic of the rolling mill which concerns on 3rd Embodiment of this invention. The flowchart which shows the outline | summary of operation | movement of the rolling mill of FIG.

(Explanation of terms)
With reference to FIG. 1, terms such as roll skew amount, thrust force, and thrust amount will be described. In the following, these terms will be explained using the lower work roll and the lower backup roll as examples. However, these terms are not limited to the lower work roll and the lower backup roll, but are used with respect to a pair of rolling rolls that contact directly or via a rolled material. For example, these terms are also used for a combination of an upper work roll and a lower work roll as well as a combination of an intermediate roll and a work roll or a backup roll.

  FIG. 1 shows a general rolling mill that is not a roll-cross type. Reference numeral 7 denotes a lower work roll, and reference numeral 9 denotes a lower backup roll. One of the lower work roll 7 and the lower backup roll 9 is an example of a first roll, and the other is an example of a second roll. The lower work roll 7 is rotatably supported by a drive side roll chock 12A and a work side roll chock 12B. The illustration of the roll chock of the lower backup roll 9 is omitted. Symbol AXlw indicates the axis of the lower work roll 7, and symbol AXlb indicates the axis of the lower backup roll 9. In a normal or ideal state, the axis AXlw of the lower work roll 7 and the axis AXlb of the lower backup roll 9 are all coincident with the axis AXlm of the rolling mill itself.

  The lower work roll 7 (axial core AXlw) and the lower backup roll 9 (axial core AXlb) when the intersection (roll skew) of the lower work roll 7 (axial core AXlw) and the lower backup roll 9 (axial core AXlb) occurs. The crossing angle formed by is called a roll skew amount θ. During forward rotation (indicated by an arrow Rn), as indicated by an arrow d, the lower work roll 7 moves from the driving side to the working side in a horizontal plane to generate a roll skew, and the lower work roll 7 receives a thrust force. There is a tendency to move in the axial direction. At the time of reverse rotation (indicated by arrow Rr), the lower work roll 7 moves in the direction opposite to the arrow d, that is, from the working side to the driving side, and roll skew is generated. There is a tendency to move in the core direction (the direction opposite to that during forward rotation). In the following description, the sign of the roll skew amount θ in the direction of the arrow d in FIG. 1 is positive, and the sign of the roll skew amount θ in the direction opposite to the arrow d is negative.

  In a general rolling mill that is not a roll cloth type, the roll skew amount θ is zero in a normal or ideal state.

  The thrust force is a force in the axial direction used for the rolling roll when roll skew occurs. In FIG. 1, the thrust force acting on the lower work roll 7 during forward rotation is indicated by a symbol Fthn, and the thrust force acting on the lower work roll 7 during reverse rotation or the like is indicated by a symbol Fthr.

  The thrust amount is a moving amount or a displacement amount of the rolling roll in the axial direction due to the thrust force. In FIG. 1, a thrust amount Dthn in the same direction as the thrust force Fthn can be generated in the lower work roll 7 during forward rotation, and a thrust amount Dthr in the same direction as the thrust force Fthr can be generated in the lower work roll 7 during reverse rotation.

  In a roll-cross type rolling mill, the axis of the roll pair is intentionally crossed by an arbitrary amount. In order to distinguish the angle formed by the rolling roll pair in this case from the roll skew amount θ, it is referred to as a roll crossing angle γ.

(First embodiment)
A rolling mill 1 according to the first embodiment of the present invention shown in FIG. 1 to FIG. 5 includes a rolling mill main body 2, a stereo camera device (sensor unit) 3, and a calculation device (calculation unit) 4.

  The rolling mill main body 2 of this embodiment is a four-high rolling mill for manufacturing a steel plate. Moreover, the rolling mill main body 2 is not a roll cloth type, and the normal or ideal crossing angle between the axial centers of the rolling rolls 6 to 9 described later is 0 degree.

  The rolling mill body 2 includes an upper work roll 6 and a lower work roll 7 that are rotationally driven by a drive source 5 schematically shown in FIG. The rolling mill 1 includes an upper backup roll 8 and a lower backup roll 9. The upper work roll 6 and the lower work roll 7 are in contact with each other via the rolled material W. The upper work roll 6 and the upper backup roll 8 are in direct contact, and the lower work roll 7 and the lower backup roll 9 are also in direct contact.

  The rolling mill main body 2 may include a work roll shift device (not shown) that moves the upper work roll 6 and the lower work roll 7 in the trunk length direction. It is preferable to provide a function of suppressing the thrust amount of each of the rolling rolls 6 to 9 to 2 mm or less.

  On the housing 10 of the rolling mill main body 2, roll chock 11A, 11B of the upper work roll 6 and roll chock 12A, 12B of the lower work roll 7 are supported. In addition, the housing 10 supports roll chocks 13A and 13B of the upper backup roll 8 and roll chocks 14A and 14B of the lower backup roll 9.

  2 and 4, the rolling mill body 2 is provided with a roll skew amount adjustment unit 16 for adjusting the roll skew amount θ between the lower work roll 7 and the lower backup roll 9 manually or offline. It has been. The roll skew amount adjusting unit 16 according to the present embodiment manually adjusts the inclination of the axis AXlw of the lower work roll 7 offline or manually by adjusting the positions of the roll chocks 12A and 12B. The roll skew amount adjusting unit 16 includes exchangeable shims 18A to 18D that are interposed between the roll chocks 12A and 12B of the lower work roll 7 and the liners 17A to 17D of the housing 10. The adjustment of the roll skew amount θ by the roll skew amount adjusting unit 16 will be described later.

  In addition to the rolling rolls 6 to 9, the housing 10 of the rolling mill 1 is provided with a gap adjusting screw 19 and a hydraulic reduction unit 20.

  The stereo camera device 3 according to the present embodiment includes two cameras 22L and 22R arranged on the working side of the rolling mill body 2 (on the side opposite to the driving source 5). These cameras 22L and 22R photograph the rolling mill main body 2 (particularly, the lower work roll 7 and / or the roll chock 12B) at different viewing angles. The two cameras 22L and 22R of the stereo camera device 3 are arranged at a position away from the rolling mill body 2 by, for example, about 10 m. The cameras 22L and 22R may shoot moving images or shoot still images. The stereo camera device 3 may include three or more cameras. Furthermore, the stereo camera device 3 may be one in which a plurality of cameras are integrated into one unit.

  Referring to FIG. 5, the arithmetic device 4 in the present embodiment includes a calculation unit 4a, a storage unit 4b, and an alarm unit 4c.

  Images calculated by the cameras 22L and 22R of the stereo camera device 3 are input to the calculation unit 4a. The calculation unit 4a measures the thrust amount Dth (thrust amount Dthn or Dthr in FIG. 1) of the lower work roll 7 during rolling by performing image analysis on images captured by the cameras 22L and 22R (step S1 in FIG. 6). ). The measurement of the thrust amount Dth using the stereo camera device 3 is preferably highly accurate with a measurement error of 1 mm or less, for example.

  The measurement of the thrust amount Dth of the lower work roll 7 may be performed at one place of the lower work roll 7. Alternatively, the thrust amount Dth may be measured at a plurality of locations on the lower work roll 7, and the thrust amount Dth used for estimating the roll skew amount θ described later may be obtained therefrom. Further, even if the distance to one or a plurality of locations of the roll chock 12B on the work side of the lower work roll 7 is measured, the thrust amount Dth of the lower work roll 7 used for estimating the roll skew amount θ is determined based on the measured distance. Good.

  In the storage unit 4b, the relationship between the thrust amount Dth of the lower work roll 7 and the roll skew amount θ between the lower work roll 7 and the lower backup roll 9 is stored in advance. The calculation unit 4a estimates the roll skew amount θ between the lower work roll 7 and the lower backup roll 9 from the measured thrust amount Dth based on the relationship stored in the storage unit 4b (step S2 in FIG. 6). ). Furthermore, the calculation unit 4a compares the estimated roll skew amount θ with the roll skew amount threshold value θth stored in the storage unit 4b in advance (step S3 in FIG. 6), and the estimated roll skew amount θ is set to the threshold value θth. If it exceeds, the alarm unit 4c is instructed to generate an alarm. The alarm unit 4c that has received an instruction to generate an alarm generates an alarm (step S4 in FIG. 6). As an example of the alarm, the alarm unit 4 c visually displays on the display 23 a display that the estimated roll skew amount θ exceeds the threshold θth and the direction and magnitude of the estimated roll skew amount θ. In addition, the alarm unit 4c can interrupt the rolling operation of the rolling mill body 2 by stopping the drive source 5 at an appropriate timing according to the state of the rolling operation, together with the alarm display on the display 23.

After the rolling operation is stopped, the operator refers to the direction and the magnitude of the roll skew amount θ displayed on the display 23, and manually positions the lower work roll 7 in the horizontal plane (inclination of the axis AXlw). Adjust. The operator adjusts the inclination of the axis AXlw of the lower work roll 7 so that the roll skew amount θ is less than the threshold θth and approaches 0 degrees. Specifically, the posture of the lower work roll 7 can be adjusted by exchanging and / or moving the shims 18A to 18D provided in the roll skew amount adjusting unit 16 (see FIG. 4). For example, when the roll skews of the lower work roll 7 and the lower backup roll 9 are in the state shown in FIG. 1, the roll skew amount θ can be brought close to 0 degrees by executing at least one of the following. it can.
• Replacement of shim 18A with a larger thickness • Movement conceptually indicated by arrow M1 of shim 18B • Replacement of shim 18D with greater thickness • Movement indicated conceptually by arrow M2 of shim 18C

  It is preferable that the roll skew amount adjusting unit 16 can adjust the roll skew amount θ with an accuracy of 0.1 degrees or less, preferably 0.01 degrees or less.

  As described above, the storage unit 4 b of the arithmetic device 4 stores in advance the relationship between the thrust amount Dth of the lower work roll 7 and the roll skew amount θ between the lower work roll 7 and the lower backup roll 9. . Hereinafter, an example of a method for obtaining this relationship for a specific rolling mill body 2 will be described.

  First, for a plurality of roll skew amounts θ, lower work rolls when rolling is performed with various rolling loads and rolling times (the time during which the rolled material W is actually held between the upper and lower work rolls 6 and 7). The thrust amount Dth is measured. FIG. 7 shows the relationship between the value obtained by standardizing the product of the rolling load and the rolling time at a certain roll skew amount θ and the thrust amount Dth. The product of the rolling load and the rolling time can be normalized by, for example, dividing the rolling load product value of the rolling load by the rolling time product value of the rolling load as a standard. In FIG. 7, the sign of the thrust amount Dth is positive in the direction of the thrust amount Dthn during forward rotation in FIG. 1 and negative in the direction of the thrust amount Dthr during reverse rotation in FIG.

  In FIG. 7, the thrust amount Dth when the value obtained by standardizing the product of the rolling load and the rolling time is, for example, 5.0 is set as a representative value of the thrust amount Dth for the corresponding roll skew amount θ. As the representative value, the absolute value of the thrust amount Dthn at the time of forward rotation, the absolute value of the thrust amount Dthr at the time of reverse rotation, or the arithmetic average of the absolute values of the thrust amounts Dthn and Dthr at the time of forward rotation can be used. If a representative value of the thrust amount Dth can be obtained for a plurality of roll skew amounts θ (here, three roll skew amounts θ) including those in FIG. 7, as shown by a straight line L in FIG. A relationship with the roll skew amount θ is obtained. ).

  The storage unit 4b of the arithmetic device 4 may store the relationship between the thrust amount Dth and the roll skew amount θ (straight line L in FIG. 8) in the form of a table or may be stored as a function. Further, the storage unit 4b may store a relationship between the thrust amount Dth and the roll skew amount θ obtained by normalizing the thrust amount according to the rolling time.

  The rolling mill 1 according to this embodiment has the following advantages.

  The stereo camera device 3 executes photographing of the rolling mill body 2 for measuring the thrust amount of the lower work roll 7 from a position away from the rolling mill body 2 (position, for example, 10 m away as described above). Therefore, unlike roll skew detection by roll position measurement using a distance sensor in the compressor body, it is highly accurate without being affected by the environment inside the rolling mill body, i.e., water, water vapor, vibration, high heat, etc. Thrust amount can be measured, and measurement accuracy and performance of stereo camera device can be maintained.

  Since the stereo camera device 3 photographs the rolling mill body 2 from a position away from the rolling mill body 2 in order to measure the thrust amount of the lower work roll 7, it differs from the measurement of thrust force by measuring the load or deformation of the roll chock. It is not necessary to equip the compressor body with measuring instruments such as load cells and strain gauges. Therefore, initial costs and running costs can be reduced. Further, unlike the measurement of the thrust force due to the differential pressure of the work roll shift hydraulic cylinder, there is no restriction on detection accuracy due to equipment clearance.

  As described above, the rolling mill main body 2 is photographed by the stereo camera device 3, the thrust amount Dth is measured from the photographed image, and the roll skew amount θ is estimated from the measured thrust amount Dth, so that the roll skew can be achieved with a simple configuration. The quantity θ can be detected with high accuracy.

Further, based on the roll skew amount θ detected with high accuracy, the roll skew amount θ can be adjusted by exchanging and / or moving the shims 18A to 18B in the roll skew amount adjusting unit 16, thereby obtaining good plate thickness accuracy. It is done. For example, as shown in FIG. 9, the sheet thickness accuracy (standard deviation) can be suppressed to less than 1.2 by suppressing the roll skew amount θ to 5.0 × 10 ⁻² degrees.

  FIG. 10 shows a modification of the first embodiment. In this modification, a laser rangefinder 24 is provided at a position away from the working side of the rolling mill body 2 as a sensor unit that replaces the stereo camera device 3. For example, the laser distance meter 24 is disposed at a position 10 m away from the rolling mill body 2. The laser distance meter 24 measures the distance to the lower work roll 7 during rolling and / or the roll chock 12B on the work side of the lower work roll 7. The distance measured by the laser distance meter 24 is input to the calculation unit 4a of the arithmetic device 4, and the calculation unit 4a obtains the thrust amount Dth of the lower work roll 7 during rolling from the input from the laser distance meter 24. The measurement of the thrust amount Dth using the laser distance meter 24 is preferably highly accurate with a measurement error of 1 mm or less, for example.

  As in the case of the stereo camera device 3, the laser distance meter 24 measures the thrust amount Dth of the lower work roll 7 from a position away from the rolling mill body 2, so that the thrust force can be measured by measuring the load or deformation of the roll chock. On the other hand, there is no need to equip the compressor body with measuring instruments such as load cells and strain gauges. Therefore, initial costs and running costs can be reduced. Further, unlike the measurement of the thrust force due to the differential pressure of the work roll shift hydraulic cylinder, there is no restriction on detection accuracy due to equipment clearance.

  In order to improve the measurement accuracy of the thrust amount Dth, both the stereo camera device 3 and the laser distance meter 24 are provided, and the calculation unit 4a of the arithmetic device 4 performs the image processing result of the captured image of the stereo camera device 3 and the laser distance meter. The thrust amount Dth of the lower work roll 7 may be obtained using both of the inputs from 24.

  Hereinafter, second and third embodiments of the present invention will be described. In the drawings relating to these embodiments, the same or same elements as those in the first embodiment are denoted by the same reference numerals. In addition, regarding these embodiments, points not particularly mentioned are the same as those in the first embodiment. In particular, the same configuration (laser distance meter 24 shown in FIG. 10) as that of the modification of the first embodiment described above can be applied to the second and third embodiments.

(Second Embodiment)
The roll skew amount adjusting unit 16 of the rolling mill 1 according to the second embodiment of the present invention shown in FIG. 11 to FIG. 13 includes a mechanism (FIG. 4) that includes exchangeable and / or movable shims 18A to 18D in the first embodiment. 4), four hydraulic actuators 26A to 26D are provided. By adjusting the positions of the roll chocks 12A and 12B with these hydraulic actuators 26A to 26D, the posture of the lower work roll 7 in the horizontal plane (the inclination of the axis AXlw) can be adjusted online or automatically. Each of the hydraulic actuators 26 </ b> A to 26 </ b> D includes a cylinder 28 to which hydraulic pressure is supplied from a hydraulic pressure supply circuit 27, and a piston 29 that moves forward and backward by the hydraulic pressure in the cylinder 28. The cylinders 28 of the hydraulic actuators 26 </ b> A to 26 </ b> D are each fixed to the housing 10. As the pistons 29 of the hydraulic actuators 26 </ b> A and 26 </ b> B advance and retreat, the drive side roll chock 12 </ b> A moves or displaces in a direction perpendicular to the axis AXlw of the lower work roll 7. Further, the work side roll chock 12B moves or displaces in a direction perpendicular to the axis AXlw of the lower work roll 7 by the advancement and retreat of the piston 29 of the hydraulic actuators 26C and 26D.

  The advance / retreat of the piston 29 of each hydraulic actuator 26A-26B, more specifically, the hydraulic pressure supplied from the hydraulic supply circuit 27 to the cylinder 28 of each hydraulic actuator 26A-26B is controlled by the hydraulic actuator controller 4d of the arithmetic unit 4. The

  The calculation unit 4a of the arithmetic device 4 measures the thrust amount Dth of the lower work roll 7 by performing image analysis on images captured by the cameras 22L and 22R of the stereo camera device 3 (step S11 in FIG. 14). The calculation unit 4a measures based on the relationship between the thrust amount Dth of the lower work roll 7 and the roll skew amount θ between the lower work roll 7 and the lower backup roll 9, which is stored in advance in the storage unit 4b. A roll skew amount θ between the lower work roll 7 and the lower backup roll 9 is estimated from the thrust amount Dth thus obtained (step S12 in FIG. 14). Further, the calculating unit 4a compares the estimated roll skew amount θ with the roll skew amount threshold value θth stored in the storage unit 4b in advance (step S13 in FIG. 14), and the estimated roll skew amount θ is set to the threshold value θth. If it exceeds, the alarm unit 4c is instructed to generate an alarm. The alarm unit 4c that has received the alarm generation instruction generates an alarm (step S14 in FIG. 6). Further, when the estimated roll skew amount θ exceeds the threshold θth, the alarm unit 4c stops the driving source 5 at an appropriate timing according to the state of the rolling operation and interrupts the rolling operation of the rolling mill body 2. it can.

When the estimated roll skew amount θ exceeds the threshold θth, the calculation unit 4a controls the hydraulic actuators 26A to 26B with the hydraulic actuator control unit 4d, and the roll skew amount θ is less than the threshold θth and approaches 0 degrees. The inclination of the axis AXlw of the lower work roll 7 is adjusted (step S15 in FIG. 14). For example, when the roll skew of the lower work roll 7 and the lower backup roll 9 is in the state shown in FIG. 1, the roll skew amount θ can be brought close to 0 degrees by executing at least one of the following. .
Increase the amount of protrusion of the piston 29 of the hydraulic actuator 26A and decrease the amount of protrusion of the piston 29 of the hydraulic actuator 26B.
-The amount of protrusion of the piston 29 of the hydraulic actuator 26D is increased while the amount of protrusion of the piston 29 of the hydraulic actuator 26C is decreased.

  It is preferable that the roll skew amount adjusting unit 16 can adjust the roll skew amount θ with an accuracy of 0.1 degrees or less, preferably 0.01 degrees or less, by the advance and retreat of the pistons 29 of the hydraulic actuators 26A to 26B.

  During the adjustment of the inclination of the axis AXlw of the lower work roll 7 by the protrusion amount of the piston 29 of the hydraulic actuators 26A to 26B, the arithmetic device 4 continuously estimates the roll skew amount θ based on the thrust amount Dth measured by the stereo camera device 3. Or may continue intermittently. By adjusting the protrusion amount of the piston 29 of the hydraulic actuators 26A to 26B while referring to the roll skew amount θ obtained by the continuous or intermittent estimation, the roll skew amount θ can be reduced to 0 with higher accuracy. Close to the degree.

  As described above, in the present embodiment, as in the first embodiment, the roll skew amount θ is estimated by a simple configuration by estimating the roll skew amount θ from the thrust amount Dth measured from the captured image of the stereo camera device 3. It can be detected with high accuracy.

  Further, the roll skew amount θ is automatically adjusted by adjusting the protruding amount of the piston 29 of the hydraulic actuators 26A to 26B provided in the roll skew amount adjusting unit 16 based on the roll skew amount θ detected with high accuracy. Good plate thickness accuracy can be obtained.

(Third embodiment)
The rolling mill 1 which concerns on 3rd Embodiment of this invention shown in FIG. 15 is a work roll cross type which is an example of a roll cross type.

  The roll skew amount adjusting unit 16 of the rolling mill 1 of the present embodiment includes four hydraulic actuators 26A to 26D for adjusting the inclination of the axis AXlw of the lower work roll 7 as in the second embodiment ( See also FIG. These hydraulic actuators 26 </ b> A to 26 </ b> D also serve as a mechanism for adjusting the roll crossing angle γ with respect to the lower backup roll 9 of the lower work roll 7. Moreover, the rolling mill 1 of this embodiment is four 31A-31D for adjusting the inclination of the axial center AXlw of the upper work roll 6 as an adjustment mechanism of the roll crossing angle γ with respect to the upper backup roll 8 of the upper work roll 6. Is provided.

  The configuration of the arithmetic device 4 in this embodiment is the same as that of the second embodiment (see FIG. 13).

  The calculation unit 4a of the arithmetic device 4 measures the thrust amount Dth of the lower work roll 7 by performing image analysis on images captured by the cameras 22L and 22R of the stereo camera device 3 (step S21 in FIG. 16). The calculation unit 4a measures based on the relationship between the thrust amount Dth of the lower work roll 7 and the roll skew amount θ between the lower work roll 7 and the lower backup roll 9, which is stored in advance in the storage unit 4b. A roll skew amount θ between the lower work roll 7 and the lower backup roll 9 is estimated from the thrust amount Dth thus obtained (step S22 in FIG. 16). Further, the calculation unit 4a obtains an absolute value of a difference between the roll intersection angle γ (set value) with respect to the lower backup roll 9 of the lower work roll 7 and the estimated roll skew amount θ. The calculating unit 4a compares the absolute value of the difference between the roll crossing angle γ and the estimated roll skew amount θ with a predetermined threshold Δγ (step S23 in FIG. 16), and determines the roll crossing angle γ and the roll skew amount θ. When the absolute value of the difference exceeds the threshold value Δγ, the alarm unit 4c is instructed to generate an alarm. The alarm unit 4c that has received an instruction to generate an alarm generates an alarm (step S24 in FIG. 16). Further, when the absolute value of the difference between the roll crossing angle γ and the roll skew amount θ exceeds the threshold value Δγ, the alarm unit 4c stops the driving source 5 at an appropriate timing according to the state of the rolling operation, and the rolling mill body 2 rolling operation can be interrupted.

When the absolute value of the difference between the roll crossing angle γ and the roll skew amount θ exceeds the threshold value Δγ, the calculating unit 4a controls the hydraulic actuators 26A to 26D by the hydraulic actuator control unit 4d, and the roll crossing angle γ And the inclination of the axis AXlw of the lower work roll 7 is adjusted so that the absolute value of the difference between the roll skew amount θ and the roll skew amount θ is less than the threshold Δγ and approaches 0 degrees (step S25 in FIG. 16). For example, when the roll skew of the lower work roll 7 and the lower backup roll 9 is in the state shown in FIG. 1, the difference between the roll intersection angle γ and the roll skew amount θ is obtained by executing at least one of the following. Can be brought close to 0 degree.
Increase the amount of protrusion of the piston 29 of the hydraulic actuator 26A and decrease the amount of protrusion of the piston 29 of the hydraulic actuator 26B.
-The amount of protrusion of the piston 29 of the hydraulic actuator 26D is increased while the amount of protrusion of the piston 29 of the hydraulic actuator 26C is decreased.

  As described above, in the rolling mill 1 of the present embodiment, the roll skew amount θ is estimated with high accuracy by a simple configuration by estimating the roll skew amount θ from the thrust amount Dth measured from the captured image of the stereo camera device 3. It can be detected.

  Further, the protrusion amount of the piston 29 of the hydraulic actuators 26A to 26D provided in the roll skew amount adjustment unit 16 is adjusted based on the roll skew amount θ detected with high accuracy, and the roll crossing angle γ and the roll skew amount θ are automatically adjusted. By making the absolute value of the difference between 0 and 0 close to 0 degrees, good thickness accuracy can be obtained.

  The present invention is not limited to the above-described embodiment, and various modifications are possible as listed below.

  The sensor unit may be a means other than the stereo camera device or the laser distance meter as long as the thrust amount of the rolling roll can be measured from a position away from the compressor body.

  The compressors of the second and third embodiments may include an electric actuator including, for example, a ball screw mechanism and a motor, instead of the hydraulic actuator.

  In the first to third embodiments, instead of or in addition to the adjustment of the tilt of the axis of the lower work roll, the tilt of the axis AXlb of the lower backup roll is adjusted, thereby adjusting the roll skew amount. Also good.

  In the first to third embodiments, instead of the thrust amount of the lower work roll, the thrust amount of the lower backup roll is measured, and according to the roll skew amount of the lower work roll and the lower backup roll estimated from the measured thrust amount The tilt of the axis of the lower work roll and / or the lower backup roll may be adjusted, and thereby the roll skew amount may be adjusted.

  In the first to third embodiments, in addition to the thrust amount of the lower work roll, the thrust amount of the lower backup roll is measured, and the roll skew amount of the lower work roll and the lower backup roll estimated from these measured thrust amounts Accordingly, the tilt of the axis of the lower work roll and / or the lower backup roll may be adjusted, thereby adjusting the roll skew amount.

  The posture of the upper work roll and / or the upper backup roll is adjusted according to the roll skew amount between the upper work roll and the upper backup roll estimated from the measured value of the thrust amount of the upper work roll and / or the upper backup roll. The roll skew amount may be adjusted by

  The tilt of the axis of the upper work roll and / or the lower work roll is adjusted according to the roll skew amount between the upper work roll and the lower work roll estimated from the measured value of the thrust amount of the upper work roll and / or the lower work roll. Thus, the roll skew amount between the upper work roll and the lower work roll may be adjusted. Thereby, the thickness accuracy can be improved and the uniformity of the thickness profile in the width direction of the rolled material can be improved.

  The present invention can also be applied to a rolling mill having six or more stages each provided with an intermediate roll between upper and lower work rolls and upper and lower backup rolls. In this case, according to the roll skew amount between the work roll or the backup roll and the intermediate roll, estimated from the measured value of the thrust amount of at least one of the work roll, the backup roll, and the intermediate roll, the work roll, the backup roll, Alternatively, the roll skew amount may be adjusted by adjusting the inclination of the axis of the intermediate roll.

  The present invention can also be applied to roll cross type rolling mills other than the work roll cross type, that is, backup roll cross type and pair cross roll type rolling mills.

DESCRIPTION OF SYMBOLS 1 Rolling machine 2 Rolling machine main body 3 Stereo camera apparatus 4 Arithmetic apparatus 4a Calculation part 4b Memory | storage part 4c Alarm part 4d Hydraulic actuator control part 5 Drive source 6 Upper work roll 7 Lower work roll 8 Upper backup roll 9 Lower backup roll 10 Housing 11A , 11B Roll chock (upper work roll)
12A, 12B roll chock (lower work roll)
13A, 13B roll chock (upper backup roll)
14A, 14B roll chock (lower backup roll)
16 Roll skew amount adjustment unit 17A to 17D Liner 18A to 18D Shim 19 Screw 20 Hydraulic reduction unit 22L, 22R Camera 23 Display 24 Laser distance meter 26A to 26D Hydraulic actuator 27 Hydraulic supply circuit 28 Cylinder 29 Piston 31A to 31D Hydraulic actuator AXlw Lower work roll axis AXlb Lower backup roll axis AXlm Rolling machine axis Rn Forward rotation Rr Reverse rotation d Lower work roll tilt direction θ Roll skew Fthn Thrust force (during forward rotation)
Fthr Thrust force (during reverse rotation)
Dthn Thrust amount (during forward rotation)
Dthr Thrust amount (during reverse rotation)
W Rolled material M1, M2 Shim movement

Claims (14)

A first roll and a second roll that contact each other directly or via a rolled material;
A sensor unit that optically measures a thrust amount during rolling of at least one of the first roll and the second roll from a remote position;
A calculation unit including a calculation unit for obtaining a roll skew amount from the thrust amount measured by the sensor unit;
A rolling mill comprising: a roll skew amount adjusting unit that adjusts an inclination of at least one of the first roll and the second roll based on the roll skew amount obtained from the measured thrust amount.   The rolling mill according to claim 1, wherein the sensor unit includes a stereo camera device.   The rolling mill according to claim 1, wherein the sensor unit includes a laser distance meter that measures a position of at least one of the first roll and the second roll itself or a roll chock thereof. The calculation unit further includes a storage unit that stores a relationship between the thrust amount and the roll skew amount,
The rolling mill according to any one of claims 1 to 3, wherein the calculation unit obtains the roll skew amount from the measured thrust amount with reference to the storage unit.   The rolling mill according to claim 4, wherein the relationship between the thrust amount and the roll skew amount is obtained by normalizing the thrust amount by rolling time or a product of rolling load and rolling time. .   The rolling mill according to any one of claims 1 to 5, wherein the calculation unit further includes an alarm unit that issues an alarm when the roll skew amount exceeds a predetermined threshold value.   The rolling mill according to any one of claims 1 to 6, wherein the roll skew amount adjusting unit is a manual type. The roll skew amount adjusting unit includes an actuator that adjusts an attitude of at least one of the first roll and the second roll so that an inclination of an axis changes.
The said calculating part is provided with the actuator control part which act | operates the said actuator so that the said roll skew amount may fall below the said threshold value when the said roll skew amount exceeds the predetermined threshold value. 2. A rolling mill according to item 1. The rolling mill has an optical measurement of a thrust amount during rolling of at least one of the first roll and the second roll that are in contact with each other directly or via a rolled material, from a remote position,
Determine the roll skew amount from the measured thrust amount,
A rolling method for adjusting an inclination of at least one of the first roll and the second roll based on the roll skew amount obtained from the measured thrust amount. The relationship between the thrust amount and the roll skew amount is obtained in advance,
The rolling method according to claim 9, wherein the roll skew amount is obtained from the measured thrust amount with reference to the relationship.   The rolling method according to claim 10, wherein the relationship between the thrust amount and the roll skew amount is obtained by normalizing the thrust amount by a rolling time or a product of a rolling load and a rolling time. .   The rolling method according to any one of claims 9 to 11, wherein an alarm is issued when the roll skew amount exceeds a predetermined threshold value.   The rolling method according to any one of claims 9 to 12, wherein an adjustment of an inclination of at least one of the first roll and the second roll is performed by a manual operation. The rolling mill includes an actuator that adjusts an attitude of at least one of the first roll and the second roll so that an inclination of an axis changes.
The rolling method according to any one of claims 9 to 12, wherein when the roll skew amount exceeds a predetermined threshold value, the actuator is operated such that the roll skew amount falls below the threshold value.

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