CN101678979A - Web conveyance controlling method, web slip amount measuring means, and web conveyance controlling device - Google Patents

Web conveyance controlling method, web slip amount measuring means, and web conveyance controlling device Download PDF

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Publication number
CN101678979A
CN101678979A CN200880012973A CN200880012973A CN101678979A CN 101678979 A CN101678979 A CN 101678979A CN 200880012973 A CN200880012973 A CN 200880012973A CN 200880012973 A CN200880012973 A CN 200880012973A CN 101678979 A CN101678979 A CN 101678979A
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CN
China
Prior art keywords
thin bar
slippage
roller
control
bar
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.)
Granted
Application number
CN200880012973A
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Chinese (zh)
Other versions
CN101678979B (en
Inventor
不破稔夫
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
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Toyota Motor Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority to JP119877/2007 priority Critical
Priority to JP2007119877A priority patent/JP4556966B2/en
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Priority to PCT/JP2008/057225 priority patent/WO2008136256A1/en
Publication of CN101678979A publication Critical patent/CN101678979A/en
Application granted granted Critical
Publication of CN101678979B publication Critical patent/CN101678979B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/04Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B65H23/192Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web motor-controlled
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/04Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B65H23/1888Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web and controlling web tension
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/04Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/042Sensing the length of a web loop
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/04Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H26/00Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
    • B65H26/02Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms responsive to presence of irregularities in running webs
    • B65H26/04Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms responsive to presence of irregularities in running webs for variation in tension
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00Dynamic entities; Timing aspect
    • B65H2513/10Speed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30Force; Stress
    • B65H2515/31Tensile force
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/80Miscellaneous
    • B65H2515/815Slip

Abstract

A method of controlling the conveyance of a web comprises a web measuring step of measuring the conveyance speed (V) and the tension force (T) of the web (2) during its conveyance, a slip amount calculation step of calculating the slip amount (W) of the web (2) relative to a guide roll (14) from the values of the conveying speed (V) and the tension force (T) of the web (2) measured in the web measuring step, and a web control step of controlling the tension force of the web (2) during its conveyance so that the slip amount (W) of the web (2) relative to the guide roll (14) calculated in the slip amount calculation step is equal to a preset target slip amount (W1). Consequently, the slip of the web is accurately controlled, whereby the lateral displacement of the web can be reduced.

Description

Conveying control device, slippage determination unit and the conveying control device of thin bar
Technical field
The conveyance control method of a kind of thin bar of the present invention, slippage determination unit and conveying control device, in particular to the technology of control thin bar in limit with respect to conveyance control method, slippage determination unit and the conveying control device of the thin bar of the continuous transporting thin bar in slip limit of the roller that is arranged at travel line.
Background technology
In the past, known travel line and the conveyance control method thereof that rectangular thing such as the employed electrod assembly of continuous feeding secondary battery (thin bar) arranged.In such travel line, constitute,, come the delivery speed and the tension force of the thin bar of controlled reset (the delivery speed control and the Tension Control of thin bar), with transporting thin bar stably by the driving of the various rollers that are arranged at travel line etc. is controlled.
But, in such travel line, produce the skew of the horizontal position (thin bar is with respect to the width position of travel line) of thin bar because of the straight line overlap ratio error of the various rollers that are arranged at travel line and speed control be bad etc. " disturbance ".Particularly in recent years, in the travel line of thin bar, the high speed that requires thin bar to carry for the reduction that realizes productive costs, still, and when the delivery speed of thin bar is fast, the problem that exists thin bar easily to slide with respect to various rollers.
Consider with respect to the viewpoint of the slip of roller from controlling thin bar, for example TOHKEMY 2000-143053 communique has proposed a kind of control method, for the thin bar that moves continuously, tension force based on the thin bar of front and back parts, control makes the tension force that utilizes the thin bar that the idler roller be arranged at tension part gives, and making it reach with tension part is that the tension force of idler roller switches than identical tension force.
But, as above-mentioned TOHKEMY 2000-143053 communique institute publicity, the conveyance control method of existing thin bar, it is the method for mainly controlling the slip of thin bar by the tension variation of controlling thin bar, but, under situation about changing because of above-mentioned " disturbance " delivery speed, only the tension variation by thin bar can not High Accuracy Control approaches the slip of bar.Particularly mainly be subjected to the delivery speed of thin bar and the influence of tension force owing to approaching the skew of bar with respect to the horizontal position of roller, thereby taking place because of " disturbance " delivery speed under the situation about changing, only by the control of the slip undertaken by the Tension Control of thin bar, be difficult to keep the controller performance of the horizontal position of thin bar.
In addition, usually be provided with the guiding roller of the horizontal position that is used to control thin bar, highly control the horizontal position that approaches bar, with the quality of the thin bar in guaranteeing to carry by this guiding roller at travel line.Guiding roller is installed on the midway location of travel line, uses center-pivot type and end pivoting type according to the configuration place, and it constitutes with the pivot is the variable relative angle with respect to travel line in center.Thin bar is crawled and when carrying by such guiding roller, make with respect to the relative angle of travel line and change eliminating the out-of-position direction that causes because of " disturbance ", to control the horizontal position that approaches bar and to proofread and correct crawling.
But, in the control of the horizontal position of the thin bar that has used guiding roller, when the slip of above-mentioned thin bar takes place,, can not will approach the horizontal position that bar is controlled at regulation even the relative angle of change guiding roller also still causes the slip of thin bar.And, in the control method of existing thin bar, under the situation of the variation that is attended by the delivery speed that causes because of " disturbance ", owing to can not control the slip of thin bar, thereby when the control of the horizontal position of the thin bar that uses guiding roller, the tension force of thin sometimes bar is big and make producing buckling between guiding roller and the thin bar and to produce fold on the thin bar, even or sometimes little the and relative angle change guiding roller of the tension force of thin bar the slip of thin bar also can take place and can not control the horizontal position of thin bar.
Summary of the invention
Therefore, the present invention relates to conveyance control method, slippage determination unit and the conveying control device of thin bar, in view of the above problems, its purpose is to provide the slip that can control thin bar accurately also can reduce conveyance control method, slippage determination unit and the conveying control device of the thin bar of out-of-position of the horizontal position that approaches bar.
The problem that the present invention will solve as above, below, the method that is used to solve this problem is described.
Promptly, first aspect present invention provides a kind of conveyance control method of thin bar, control thin bar in limit is with respect to the continuous transporting thin bar in the slip limit of the roller that is arranged at travel line, it is characterized in that having: measure the delivery speed of the thin bar in carrying and the thin bar of tension force and measure operation, calculate the slippage calculation process of thin bar according to the delivery speed and the tension force that utilize described thin bar to measure the thin bar of operation mensuration with respect to the slippage of roller, control the delivery speed of the thin bar in the conveying and/or the thin bar control operation of tension force so that utilize thin bar that described slippage calculation process calculates with respect to the mode that the slippage of roller becomes predefined target slippage.
Particularly, whether described thin bar control operation is judged in setting threshold the slippage of the thin bar that calculates by above-mentioned slippage calculation process and the difference of predefined target slippage, be judged as under the situation bigger than setting threshold, thin bar is calculated with respect to desirable delivery speed or desired tension that the delivery speed that will approach bar or tension force are made as permanent timer-operated target slippage, the delivery speed and/or the tension force of the thin bar in carrying are controlled to reach the desirable delivery speed that calculates or the mode of desired tension.
In addition, second aspect present invention provides a kind of slippage measuring method of thin bar, have the guiding side that the rotative speed of roller of guiding side is measured and measure operation, based on utilizing described thin bar to measure the delivery speed of the thin bar that operation measures and utilizing described guiding side to measure rotative speed poor of the roller of the guiding side that operation measures, measure the slippage of thin bar with respect to the roller of guiding side.
In addition, also have: the drive side that the rotative speed of the driven roller that drives the transporting thin bar is measured is measured operation and the guiding side that the rotative speed of the roller of guiding side is measured is measured operation, based on utilizing described drive side to measure the rotative speed of the driven roller that operation measures and utilizing described guiding side to measure rotative speed poor of the roller of the guiding side that operation measures, measure the slippage of thin bar with respect to the roller of guiding side.
In addition, also have the floatation volume that thin bar is measured from the floatation volume on the roller surface of roller and detect operation,, thin bar is measured with respect to the slippage of roller based on the floatation volume of the thin bar that utilizes described floatation volume detection operation to determine.
In addition, third aspect present invention provides a kind of conveying control device of thin bar, and control thin bar in limit wherein, possesses: measure the delivery speed of the thin bar in carrying and the thin bar determination unit of tension force with respect to the continuous transporting thin bar in the slip limit of the roller that is arranged at travel line; Delivery speed and tension force according to the thin bar that utilizes above-mentioned thin bar determination unit to measure calculate the slippage calculating unit of thin bar with respect to the slippage of roller; Control the delivery speed of the thin bar in the conveying and/or the thin bar control operation of tension force so that utilize thin bar that described slippage calculation process calculates with respect to the mode that the slippage of roller becomes predefined target slippage.
Particularly described thin bar control unit also possesses: the threshold decision the unit whether difference of the slippage of utilizing the thin bar that described slippage calculating unit calculates and predefined target slippage is judged in setting threshold; Utilize described threshold decision unit judges for the situation bigger than setting threshold under, thin bar is made as the desirable delivery speed of permanent timer-operated target slippage or the calculating unit that desired tension is calculated with respect to delivery speed that will approach bar or tension force, utilizes the desirable delivery speed that described calculating unit calculates or the mode of desired tension that the delivery speed and/or the tension force of the thin bar in carrying are controlled to reach.
In addition, the conveying control device of thin bar of the present invention also possesses: the guiding side determination unit that the rotative speed of roller of guiding side is measured; Measure the slippage determination unit of thin bar based on the delivery speed of the thin bar that utilizes described thin bar determination unit to measure and the difference of the rotative speed of the roller of the guiding side of utilizing described guiding side determination unit to measure with respect to the slippage of the roller of guiding side.
In addition, the conveying control device of thin bar of the present invention also has: the drive side determination unit that the rotative speed of the driven roller that drives the transporting thin bar is measured; The guiding side determination unit that the rotative speed of roller of guiding side is measured; Measure the thin bar slippage determination unit of thin bar based on the rotative speed of the driven roller that utilizes described drive side determination unit to measure and the difference of the rotative speed of the roller of the guiding side of utilizing described guiding side determination unit to measure with respect to the slippage of the roller of guiding side.
In addition, the conveying control device of thin bar of the present invention has: to approaching the floatation volume detecting unit that bar is measured from the floatation volume on the roller surface of roller; The thin bar slippage determination unit of thin bar being measured with respect to the slippage of roller based on the floatation volume of the thin bar that utilizes described floatation volume detecting unit to determine.
By setting formation as described above, as effect of the present invention, when the conveying control of thin bar, can control the slip of thin bar accurately, can reduce the skew of the horizontal position of thin bar.Promptly, when the conveying control of thin bar, even taking place, " disturbance " cause under the situation of variation of the delivery speed of thin bar and tension force, can be benchmark control delivery speed and tension force with respect to the slippage of roller also with thin bar, therefore, the slip of thin bar can be controlled accurately, consequently, (horizontal position) skew of thin bar can also be reduced with respect to roller.
Description of drawings
Fig. 1 is the lateral plan that the integral body of the travel line of the expression conveying control device that possesses first embodiment of the invention constitutes;
Fig. 2 is the functional block diagram of the formation of expression conveying control device;
Fig. 3 is the figure of the content of expression correlation graph;
Fig. 4 is the diagram of circuit of the conveyance control method of the expression thin bar that uses conveying control device;
Fig. 5 is the lateral plan that the integral body of the travel line of the expression conveying control device that possesses second embodiment constitutes;
Fig. 6 is the lateral plan that the integral body of the travel line of the expression conveying control device that possesses the 3rd embodiment constitutes.
The specific embodiment
At first, the integral body of the travel line 1 of thin bar 2 is constituted do following explanation.
As shown in Figure 1, the travel line 1 of present embodiment disposes reference roller 10 at the upstream side of the throughput direction of thin bar 1, downstream at the throughput direction that approaches bar 2 disposes feed roller 11, from reference roller 10 downstream side (feed roller 11) dispose guiding roller 12131415 and dance roller 16 etc. successively, thin bar 2 is reeled with the regulation angle of contact by these each guiding roller 12 grades and is carried.
Be respectively arranged with niproll 1718 on reference roller 10 and the feed roller 11.Constituting of niproll 1718 can be crimped on reference roller 10 and feed roller 11 respectively by not shown cylinder etc., and role is to prevent that thin bar 2 from sliding on reference roller 10 and feed roller 11.Thin bar 2 is to be sent with the synchronous mode of reference roller 10 and feed roller 11.
Reference roller 10 connects reference roller electrical motor 10a, and this reference roller electrical motor 10a is connected with control part 30 described later.In addition, feed roller 11 is connected with feed roller electrical motor 11a, and this feed roller electrical motor 11a is connected with control part 30 described later.
Guiding roller 12131415, the roller main body is rotated ground axle suspension freely with respect to S. A., with the thin bar 2 interlocks rotation of carrying along travel line 1.In the guiding roller 12131415, a guiding roller 14 is installed in the substantial middle position of travel line 1, and it constitutes, and is that the center makes with respect to the relative angle of travel line 1 variable (end pivoting type) with pivot (not shown).On guiding roller 14, carry out complications and move when being transferred will approaching bar 2 by this guiding roller 14, by at the out-of-position direction change of the horizontal position of eliminating thin bar 2 relative angle, control the horizontal position of thin bar 2 and complications are moved and proofread and correct with respect to travel line.
Dance roller 16 is for being disposed at the fulcrum between a pair of stationary roll 1919, and end rotation is installed on freely swings the other end that the earth's axis freely is supported on the dancer arm 16a of fulcrum 16b.Dancer arm 16a is connected with dancer arm electrical motor 16c, and this dancer arm electrical motor 16c is connected to swing control with control part 30 described later.
On travel line 1 as described above, thin bar 2 is transferred via the reference roller 10 → guiding roller 12131415 → stationary roll 19 → dance roller 16 → stationary roll 19 that is held roller 17 crimping → be held the feed roller 11 of roller 18 pressurizations respectively.
Secondly, the conveying control device 3 of the thin bar 2 of first embodiment is done following explanation.
Constituting of the conveying control device 3 of present embodiment, for along travel line 1 stably transporting thin bar 2 and to the driving of reference roller 10 and feed roller 11 control and to the delivery speed of thin bar 2 control and, dancer arm 16a is controlled and the tension force of 16 pairs of thin bars 2 of dance roller is controlled.Particularly the conveying control device 3 of present embodiment constitutes, by being benchmark with respect to the slippage of the guiding roller 14 that is arranged on travel line 1 with thin bar 2, control the delivery speed and the tension force of thin bar 2, the slippage of thin bar 2 can be easy to control, the skew of horizontal position can be reduced with respect to guiding roller 14.
As shown in Figure 1, the formation of conveying control device 3 comprises: reference roller electrical motor 10a etc. is controlled and to the delivery speed of thin bar 2 and the control part 30 of the thin bar control unit of conduct that tension force is controlled; The coder 31 that the rotative speed of the reference roller 10 that drives thin bar 1 is measured as the drive side determination unit; The velocity determination device 32 that the delivery speed of the thin bar 2 in carrying is measured as the delivery speed determinator; The tension draftomter 33 that the tension force of the thin bar 2 in carrying is measured; The coder 34 of the conduct guiding side determination unit that the rotative speed of guiding roller 14 is measured, control guiding roller 14 are with respect to the guide controller 36 of the relative angle of travel line 1 etc.Coder 31, velocity determination device 32, tension draftomter 33, coder 34 and guide controller 36 are connected with control part 30 respectively.
Constituting of the control part 30 of present embodiment, can receive the signal from above-mentioned coder 31 grades, its formation comprises: carry out the memory device of CPU, the various handlers of storage of various processing, as the display part that constitutes to the input part of the input device of CPU, by CRT or Liquid Crystal Display (LCD) etc. etc.
As shown in Figure 2, the formation of control part 30 comprises: the delivery speed control part 30a of the delivery speed of the thin bar 2 of control, the 30b of Tension Control portion of the tension force of the thin bar 2 of control, measure the slippage determination part 30c as the slippage determination unit of the slippage of thin bar 2, the slippage calculating part 30d that calculates the actual slippage of thin bar according to the actual fed speed and the actual tension of thin bar 2 as the slippage calculating unit, the 30e of threshold decision the portion whether difference of the actual slippage of utilizing the thin bar 2 that slippage calculating part 30d calculates and predefined target slippage is judged in setting threshold as the threshold decision unit, calculate thin bar 2 is made as the desired tension of permanent timer-operated target slippage with respect to the delivery speed that will approach bar 2 calculating part 30f as calculating unit.
At delivery speed control part 30a control and control part 30 bonded assembly reference roller electrical motor 10a and feed roller electrical motor 11a, and by predefined target velocity (target revolution) rotation driving reference roller 10 and feed roller.Particularly on reference roller 10, axle drive shaft is provided with coder 31, to measure the rotative speed (revolution) of reference roller 10.To be sent to control part 30 by the measured signal that coder 31 determines,, control reference roller electrical motor 10a so that reference roller 10 reaches the mode of target velocity by the measured signal of delivery speed control part 30a to receive.In addition, in the present embodiment, by delivery speed control part 30a so that the rotative speed of feed roller 11 and reference roller 10 synchronous modes it is controlled.
Like this, in the present embodiment, the rotation driving of reference roller 10 and feed roller 11 is controlled, controlled the delivery speed (target velocity) of the thin bar 2 on the travel line 1 by utilizing delivery speed control part 30a.
At the 30b of Tension Control portion, control is regulated electrical motor 16c with the degree of tightness of control part 30 bonded assembly dancer arm 16a, makes dancer arm 16a swing, makes it reach predetermined angular θ.Institute " predetermined angular θ " is meant the angle θ of dancer arm 16a with respect to the vertical line of seeing from fulcrum 16b, so that the thin bar 2 on the travel line 1 reaches the mode of the tension force of regulation it is preestablished (with reference to Fig. 1) according to the angle of this dancer arm 16a.
Particularly, the position is provided with dancer arm 16a with respect to the not shown goniometry device that the angle θ of the vertical line of seeing from fulcrum 16b measures near fulcrum 16b, will be sent to control part 30 by the measured signal that this goniometry device determines.And, utilize the measured signal of the 30b of Tension Control portion to receive, so that reaching the mode of predetermined angular θ, the angle θ of dancer arm 16a controls degree of tightness adjusting electrical motor 16c.
Like this, in the present embodiment, by utilizing the 30b of Tension Control portion dancer arm 16a is carried out swinging operation, change dance roller 16 is with respect to the distance of stationary roll 1919, thus, thin bar 2 controlled make its tension force that reaches regulation (goal tension).
At this, be to measure its measured value by above-mentioned velocity determination device 32 (for example, doppler speedmeter etc.) by the delivery speed of the thin bar 2 of above-mentioned delivery speed control part 30a control.In addition, be to measure its measured value by the tension force of the thin bar 2 of the 30b of Tension Control portion control by tension draftomter 33 (for example, tension pick-up etc.).
Particularly, velocity determination device 32 for example uses laser type doppler speedmeter etc., is that the roller surface of guiding roller 14 is mutually opposed and be disposed at the position that clips thin bar 2 with near the position of guiding roller 14.Velocity determination device 32 is connected with control part 30, and the measured signal that is measured to is sent to control part 30.The delivery speed of the thin bar of being measured by this velocity determination device 32 2 is equivalent to the delivery speed (actual fed speed) of the reality of the thin bar 2 carried on travel line 1.
Tension draftomter 33 for example uses contact doppler sensor etc., is that the mode of the thin bar 2 on the travel line 1 disposes with near the position that is connected to guiding roller 14.Velocity determination device 32 is connected with control part 30, and the measured signal that is measured to is sent to control part 30.The conveyance tension of the thin bar of being measured by this tension draftomter 33 2 is equivalent to the conveyance tension (actual tension) of the reality of the thin bar 2 carried on travel line 1.
At velocity determination device 32, the difference of the rotative speed of the guiding roller of measuring according to the delivery speed of the thin bar of being measured by velocity determination device 32 2 with by coder 34 14 is measured " slippage of thin bar 2 " (with reference to following formula 1).That is, under the situation that does not have to slide with respect to guiding roller 14 thin bars 2, the delivery speed of thin bar 2 and the rotative speed of guiding roller 14 should be consistent.In fact, because air is blended between the roller surface of thin bar 2 and guiding roller 14 etc., thereby make both inconsistent.Therefore, at present embodiment, the difference of the rotative speed of the delivery speed of thin bar 2 and guiding roller 14 is estimated as the slippage of thin bar 2.
Slippage=| the rotative speed of the delivery speed-guiding roller of thin bar | ... formula 1
Coder 34 is disposed at the axle drive shaft of guiding roller 14, measuring the rotative speed (revolution) of guiding roller 14, and the measured signal that is measured to is sent to control part 30.And, at slippage determination part 30,, measure the slippage of thin bar 2 based on above-mentioned formula 1 based on measured signal from speed analyzer 32 and coder 34 receptions.
In addition, as shown in Figure 3, among the slippage determination part 30c of present embodiment, the delivery speed V (constant) to each thin bar 2 makes the correlation graph 35 of the tension force T of the thin bar 2 of expression with respect to the correlativity of the slippage W of thin bar 2 in advance.In the correlation graph 35, at the delivery speed V of thin bar 2 is under the situation of constant (for example in reference " v2 " on Fig. 3), increase along with the tension force T that approaches bar 2, the slippage W of thin bar 2 reduces, under the tension force T of thin bar 2 is constant situation, increase (v1<v2<v3=, the slippage W increase of thin bar 2 along with the delivery speed V that approaches bar 2.In addition, this correlation graph is preestablishing before the transporting thin bar 2 on the travel line 1, and is stored in the not shown memory device of control part 30.
In addition, at the 30c of slip measurement portion, in above-mentioned correlation graph 35 and set " target slippage (on Fig. 3 with reference to " w1 ") " as the slippage that slip does not take place with respect to guiding roller 14 thin bars 2.Usually, control delivery speed (targeted delivery speed) and the tension force (goal tension) that approaches bar 2, so that it arrives the target slippage of setting at slippage determination part 30c by delivery speed control part 30a and the 30b of Tension Control portion.
At slippage calculating part 30d, make the actual fed speed and the actual tension and suitable of the thin bar 2 in the conveying of measuring by velocity determination device 32 and tension draftomter 33, and calculate the slippage (actual slippage) of thin bar 2 with respect to the reality of guiding roller 14 by the correlation graph 35 of above-mentioned slippage determination part 30c mensuration.
At the 30e of threshold decision portion, judge the actual slippage of the thin bar 2 that calculates by slippage calculating part 30d and the difference of the target slippage set by above-mentioned slippage determination part 30c whether in the scope of setting threshold.In addition, the scope of setting threshold is meant that thin bar 2 does not produce the scope of slip with respect to guiding roller 14.
At calculating part 30f, utilizing the 30e of threshold decision portion to judge under the big situation of difference than setting threshold of actual slippage and target slippage, the desired tension that the delivery speed that will approach bar 2 is made as permanent timer-operated thin bar 2 is calculated.In addition, the difference of utilizing the 30e of threshold decision portion to judge actual slippage and target slippage for the situation in the setting threshold under, do not calculate the desired tension of thin bar 2.
In addition, guide controller 36 constitutes the not shown driving motor of guiding roller 14 by drive controlling, and is that center pair roller main body is carried out swinging operation with the pivot, and the control roll main body is with respect to the relative angle of travel line 1.Particularly in the present embodiment, as described later, delivery speed by controlling thin bar 2 and tension force control slippage and, again by utilizing guide controller 36 in the out-of-position direction change of the horizontal position of eliminating thin bar 2 relative angle, the horizontal position of the thin bar 2 of control thus with respect to travel line.
In addition, this guide controller 36 also can constitute the control part 30 that constitutes above-mentioned conveying control part 3.
In formation as described above, in the conveying control device 3 of present embodiment, change the targeted delivery speed of thin bar 2 and goal tension to carry out controlled reset based on the result of 30e of threshold decision portion and calculating part 30f.Promptly, judging the difference of actual slippage and target slippage greater than setting threshold by the 30e of threshold decision portion, and calculate by calculating part 30f under the situation of desired tension, desired tension is set at goal tension, by the 30d of Tension Control portion so that the tension force of thin bar 2 reaches the mode of goal tension controls.On the other hand, judging the difference of actual slippage and target slippage in setting threshold by the 30e of threshold decision portion, and do not calculate under the situation of desired tension, keep the setting of above-mentioned goal tension, and approach the tension force of bar 2 equally by the 30b of Tension Control portion control by calculating part 30f.And, so that always reaching the mode of target velocity, the delivery speed of thin bar 2 it is controlled by delivery speed control part 30a.
Conveyance control method to the thin bar 2 of present embodiment is described as follows then.
As shown in Figures 3 and 4, in the present embodiment, using the above thin bar 2 of conveying control device 3 limits control that constitutes is to carry out by following operation (step) with respect to the method for the continuous transporting thin bar 2 in slippage limit that is arranged at the guiding roller 14 on the travel line 1.
At first, before the conveying control that approaches bar 2, the delivery speed V (constant) to each thin bar 2 makes the correlation graph 35 of the tension force of the thin bar 2 of expression with respect to the correlativity of the slippage W of thin bar 2 in advance.The correlation graph of producing 35 is stored in the not shown memory device of control part 30.Below, in the present embodiment, targeted delivery speed is being made as constant (v2), when goal tension is t, set in the mode that reaches pairing target slippage w1.
In fact, when the conveying control that approaches bar 2, the actual fed speed and the actual tension of the thin bar 2 in carrying are measured (S100).At this, in the present embodiment, the result of the mensuration of being undertaken by velocity determination device 32 and tension draftomter 33 is that actual fed speed is that (v3<v2=, actual tension are t2 (t2<t1=to v3.And, according to the actual fed speed v 3 and the actual tension t2 of the thin bar 2 that determines, measure the actual slippage w2 (S101) of pairing thin bar 2 based on correlation graph 35.
Then, judge that the difference of the actual slippage W2 of the thin bar 2 that is calculated by above-mentioned operation and predefined target slippage w1 is whether in setting threshold (S102).Consequently, under the difference of actual slippage W2 that is judged as thin bar 2 and the predefined target slippage w1 situation bigger, calculate and will approach the desired tension t3 (S103) of bar 2 according to the relative thin bar 2 of the permanent timer-operated target slippage w1 of actual fed speed v 3 maintenances than setting threshold.
And, will be set at the goal tension (S104) of the thin bar 2 in the conveying in the desired tension that above-mentioned operation calculates, and it be controlled (S106) in the mode that the thin bar 2 in carrying reaches desired tension t3.At this moment, thin bar 2 delivery speeies in the conveying also are carried out control in the mode that reaches targeted delivery speed v 2, and are final, promptly in the mode that goal tension t1 carries thin bar 2 controlled to reach targeted delivery speed v 2.
On the other hand, whether the actual slippage W2 of the thin bar 2 that judgement calculates in above-mentioned operation and the difference of predefined target slippage the w1 result (S102) in setting threshold are, under the difference of actual slippage W2 that is judged as thin bar 2 and predefined target slippage w1 is situation in the setting threshold, be set at goal tension t1 (S105), and control (S106) so that the thin bar 2 in carrying becomes the mode of goal tension t1.
And, control the relative angle of guiding rollers 14 by guide controller 36, and approach the horizontal position control (S107) of bar 2 with respect to travel line 1.
As mentioned above, in the conveyance control method of the thin bar 2 of present embodiment, have: the thin bar that the delivery speed V and the tension force T of the thin bar 2 in carrying measures is measured operation, delivery speed V and tension force T according to the thin bar 2 that is determined by thin bar mensuration operation calculate the slippage calculation process of thin bar 2 with respect to the slippage W of guiding roller 14, so that the mode that the thin bar 2 that is calculated by above-mentioned slippage calculation process becomes predefined target slippage W1 with respect to the slippage W of guiding roller 14 is controlled the thin bar control operation of the tension force of the thin bar 2 in the conveying, therefore, the slip of thin bar 2 can be controlled accurately, the skew of the horizontal position of thin bar 2 can be reduced.
Promptly, control method according to present embodiment, because is delivery speed and the tension force that benchmark is controlled thin bar 2 with thin bar 2 with respect to the slippage of guiding roller 14, thereby even " disturbance " take place and make under the delivery speed of thin bar 2 and the situation that tension force changes, because is that benchmark is controlled delivery speed and tension force with thin bar 2 with respect to the slippage of guiding roller 14, therefore, also can High Accuracy Control the slip of thin bar 2.In addition, owing to can control the slip of thin bar 2 like this, thus consequently, can reduce of the skew of thin bar 2 with respect to (horizontal position) of guiding roller 14.Moreover, when making guiding roller 14 work, can stably approach the horizontal position control of bar 2, and further improve the horizontal position precision of guiding roller 14.
Particularly in the present embodiment, whether above-mentioned thin bar control operation is judged in setting threshold the slippage W of the thin bar 2 that calculated by above-mentioned slippage calculation process and the difference of predefined target slippage W1, judging under the situation bigger than setting threshold, the delivery speed that calculating will approach bar 2 is made as the desired tension of permanent timer-operated thin bar 2 with respect to target slippage W, and control the tension force of the thin bar 2 in the conveying in the mode that becomes desired tension, therefore, make thin bar 2 not produce the state of slip with respect to guiding roller 14 by controlling the either party in delivery speed or the tension force, can being controlled at an easy rate.
In addition, in the present embodiment, the slippage measuring method of thin bar 2 is, guiding side with rotative speed of measuring guiding roller 14 is measured operation, based on the delivery speed of thin bar 2 with measure rotative speed poor of the driving motor that operation measures in above-mentioned guiding side, measure the slippage W of thin bar 2 with respect to guiding roller 14.The measuring method of such slippage is because the relative error of the rotative speed of the delivery speed of thin bar 2 and guiding roller 14 is little, therefore, can further improve the precision of control etc. of the slip of thin bar 2.
In addition, the formation of the conveyance control method of the thin bar 2 of present embodiment and conveying control device 3 is not limited to the above embodiments.
In the following embodiments, add identical symbol and omit detailed explanation for the formation identical with the above embodiments.
Promptly, in the first above-mentioned embodiment, be based on the delivery speed of thin bar 2 and measure by above-mentioned guiding side that the difference of the rotative speed of the guiding roller 14 that operation measures measures as the slippage measuring method of thin bar 2, but, for example in second embodiment as shown in Figure 5, its measuring method difference, particularly, be based on the rotative speed of the reference roller 10 that is measured to by coder 31 and the difference of the rotative speed of the guiding roller 14 that is measured to by coder 34 is measured (with reference to the following formula 2) of the slippage of thin bar 2.
Slippage=| the rotative speed of the rotative speed-guiding roller of reference roller | ... formula 2
Under the situation of such embodiment,, also can not be provided for measuring the velocity determination device 32 of thin bar 2 especially with respect to the actual speed of guiding roller 14 as the first above-mentioned embodiment.In addition,, not only measure the comparing of rotative speed of guiding roller 14 and reference roller 10, for example also can measure the comparing of rotative speed of guiding roller 14 and approaching therewith guiding roller 13 etc. as each roller that becomes object.
Moreover, slippage measuring method as thin bar 2, in the 3rd embodiment as shown in Figure 6, have and measure the floatation volume detector 132 as floatation volume detecting unit of thin bar 2, measure the slippage (with reference to following formula 3) of thin bar 2 with respect to guiding roller 14 based on the floatation volume of the thin bar 2 that determines from the floatation volume on the roller surface of guiding roller 14.This floatation volume detector 132 for example uses non-contact laser sensor etc., measures the variation between roller surface and the thin bar 2.
Slippage=| the floatation volume of thin bar | ... formula 3
That is, the variation between roller surface and the thin bar 2 has the relevance relative with respect to " slips " of guiding roller 14 with approaching bar 2, is the value of specialized range when above between roller surface and thin bar 2, and generation and thin bar 2 are with respect to the identical phenomenon of guiding roller 4 slips.In addition, as the essential factor that changes between the roller of guiding roller 14 surface and the thin bar 2, the delivery speed that can consider thin bar 2 is fast and sneaked into air etc. between roller surface and thin bar 2.In addition, under the situation of such embodiment, also can be as the first above-mentioned embodiment and second embodiment, be not provided for measuring the coder 34 of the rotative speed of guiding roller 14 especially.
In addition, in the above-mentioned conveying control device 3, delivery speed V (constant) to each thin bar 2 makes the correlation graph 35 of the tension force T of the thin bar 2 of expression with respect to the correlativity of the slippage W of thin bar 2, and still, content of this correlation graph 35 and preparation method thereof is not limited thereto.That is, for example also can make the correlation graph of the delivery speed V of the thin bar 2 of expression to the T (constant) that opens of each thin bar 2 with respect to the correlativity of the slippage W of thin bar 2.Under these circumstances, in conveyance control method, the tension force T of thin bar 2 is made as constant, therefore, suitablely is set at targeted delivery speed and desirable delivery speed etc. and the control delivery speed.
In addition, each roll structure on the travel line 1 is not particularly limited, and niproll and bridal roll etc. for example also can be set.Each analyzer is not limited to above-mentioned formation.In addition, as the kind of the thin bar of carrying on travel line 12 not, not only electrod assembly (sheet material) is so long as the rectangular thing that can carry continuously gets final product.
Utilizability on the industry
The present invention can effectively utilize with respect to the continuous delivery electrodes of the roller that is arranged at pipeline Pipage control during the rectangular thing such as parts (thin) etc.

Claims (10)

1. the conveyance control method of a thin bar, the thin bar of control be the transporting thin bar with respect to the slip of the roller that is provided with on the travel line and continuously, it is characterized in that having:
Thin bar is measured operation, measures the delivery speed and the tension force of the thin bar in carrying;
The slippage calculation process calculates the slippage of thin bar with respect to roller according to delivery speed and the tension force of measuring the thin bar that operation measures by described thin bar; And
Thin bar control operation, the delivery speed and/or the tension force of the thin bar during control is carried are so that the thin bar that calculates by described slippage calculation process reaches predefined target slippage with respect to the slippage of roller.
2. the conveyance control method of thin bar as claimed in claim 1 is characterized in that,
Whether described thin bar control operation judge in setting threshold the slippage of the thin bar that calculates by described slippage calculation process and the difference of predefined target slippage,
Be judged as under the situation bigger than setting threshold, delivery speed or tension force that calculating will approach bar are made as desirable delivery speed or the desired tension of a timing with respect to the thin bar of target slippage,
The delivery speed and/or the tension force of the thin bar during control is carried are to reach desirable delivery speed or the desired tension that calculates.
3. the slippage measuring method of a thin bar uses in the conveyance control method of described claim 1 or 2 described thin bars, it is characterized in that,
Have the guiding side that the rotative speed of roller of guiding side is measured and measure operation,
Based on the delivery speed of measuring the thin bar that operation measures by described thin bar with measure rotative speed poor of the roller of the guiding side that operation measures by described guiding side, measure thin bar with respect to the slippage of the roller of the side that leads.
4. the slippage measuring method of a thin bar uses in the conveyance control method of described claim 1 or 2 described thin bars, it is characterized in that having:
Drive side is measured operation, and the rotative speed of the driven roller that drives the transporting thin bar is measured; And
The guiding side is measured operation, the rotative speed of the roller of guiding side measured,
Based on the rotative speed of measuring the driven roller that operation measures by described drive side with measure rotative speed poor of the roller of the guiding side that operation measures by described guiding side, measure thin bar with respect to the slippage of the roller of the side that leads.
5. the slippage measuring method of a thin bar uses in the conveyance control method of described claim 1 or 2 described thin bars, it is characterized in that,
Have the floatation volume that floatation volume that thin bar is floated from the roller surface of roller detects and detect operation,
Based on the floatation volume that detects the detected thin bar of operation by described floatation volume, thin bar is measured with respect to the slippage of roller.
6. the conveying control device of a thin bar, the thin bar of control be the transporting thin bar with respect to the slip of the roller that is provided with on the travel line and continuously, it is characterized in that possessing:
Thin bar determination unit, the delivery speed and the tension force of the thin bar during mensuration is carried;
The slippage calculating unit calculates the slippage of thin bar with respect to roller according to the delivery speed and the tension force of the thin bar of measuring by described thin bar determination unit; And
Thin bar control unit, the delivery speed and/or the tension force of the thin bar during control is carried are so that the thin bar that calculates by described slippage calculating unit reaches predefined target slippage with respect to the slippage of roller.
7. the conveying control device of thin bar as claimed in claim 6 is characterized in that,
Described thin bar control unit possesses:
Whether the threshold decision unit is judged in setting threshold the slippage of the thin bar that calculates by described slippage calculating unit and the difference of predefined target slippage; And
Calculating unit is being under the situation bigger than setting threshold by described threshold decision unit judges, and calculating will approach the delivery speed of bar or tension force and be made as one regularly with respect to the desirable delivery speed or the desired tension of the thin bar of target slippage,
The delivery speed and/or the tension force of the thin bar during control is carried are to reach desirable delivery speed or the desired tension that calculates by described calculating unit.
8. as the conveying control device of claim 6 or 7 described thin bars, it is characterized in that possessing:
Guiding side determination unit is measured the rotative speed of the roller of guiding side; And
Thin bar slippage determination unit, the rotative speed of the roller of the guiding side of measuring based on the delivery speed of the thin bar of measuring by described thin bar determination unit with by described guiding side determination unit poor measured the slippage that approaches bar with respect to the roller of the side that leads.
9. as the conveying control device of claim 6 or 7 described thin bars, it is characterized in that possessing:
The drive side determination unit is measured the rotative speed of the driven roller that drives the transporting thin bar;
Guiding side determination unit is measured the rotative speed of the roller of guiding side; And
Thin bar slippage determination unit, the rotative speed of the roller of the guiding side of measuring based on the rotative speed of the driven roller of measuring by described drive side determination unit with by described guiding side determination unit poor measured the slippage that approaches bar with respect to the roller of the side that leads.
10. as the conveying control device of claim 6 or 7 described thin bars, it is characterized in that possessing:
The floatation volume detecting unit, the floatation volume that thin bar is floated from the roller surface of roller detects; And
Thin bar slippage determination unit based on the floatation volume by the detected thin bar of described floatation volume detecting unit, is measured with respect to the slippage of roller thin bar.
CN200880012973XA 2007-04-27 2008-04-07 Web conveyance controlling method, web slip amount measuring means, and web conveyance controlling device Expired - Fee Related CN101678979B (en)

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JP4556966B2 (en) 2010-10-06
JP2008273700A (en) 2008-11-13

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