CN101804927B - Traverse control method and traverse control device - Google Patents
Traverse control method and traverse control device Download PDFInfo
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- CN101804927B CN101804927B CN201010114927XA CN201010114927A CN101804927B CN 101804927 B CN101804927 B CN 101804927B CN 201010114927X A CN201010114927X A CN 201010114927XA CN 201010114927 A CN201010114927 A CN 201010114927A CN 101804927 B CN101804927 B CN 101804927B
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- forth
- roller
- wire rod
- moves back
- concerted effort
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H54/00—Winding, coiling, or depositing filamentary material
- B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
- B65H54/28—Traversing devices; Package-shaping arrangements
- B65H54/2884—Microprocessor-controlled traversing devices in so far the control is not special to one of the traversing devices of groups B65H54/2803 - B65H54/325 or group B65H54/38
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H57/00—Guides for filamentary materials; Supports therefor
- B65H57/006—Traversing guides
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/547—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a wire-like cutting member
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2701/00—Handled material; Storage means
- B65H2701/30—Handled filamentary material
- B65H2701/36—Wires
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- Engineering & Computer Science (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention provides a traverse control technology, capable of preventing the deviation and broken line of a wire rod in advance with the bigger change of the wire rod reeling spacing. A traverse device (1), reels the wire rod (3) of a reel (4) for a linear saw (2) on a traverse roller (5) and a tension roller (14), when the traverse roller (5) is the reciprocating motion along the axial direction of the reel (4), the target position of the wire rod (3) is in the right-angle direction relative to the axial direction of the reel (4) between the reel (4) and the traverse roller (5), the reference force (F1) of the wire rod (3) is detected at the tensioning roller (14), the variation force (F2) based on the displacement of the wire rod (3) deviated from the target position is detected at the traverse roller (5), based on the variation of the difference (delta F) of the reference force (F1) and the variation force (F2), the reciprocating speed (V) of the traverse roller (5) is controlled.
Description
Technical field
The present invention relates to a kind of at wire saw with in the reciprocating moving device of wire rod, control moves back and forth method and the device thereof of the moving velocity of roller.
Background technology
In order to supply with wire rod to wire saw, send the wire rod that the side reel has neat reeling condition.From sending the side reel, via the reciprocating moving device of sending side, supply with wire rod to the off-position of wire saw, after off-position is with cutting workpieces such as quartz conductors, via the reciprocating moving device of winding side, with the state of neat coiling with wire coil on the winding side reel.
As implied above, reciprocating moving device is arranged on sends side reel and winding side reel on the two, by in the reel position that approaches separately, make and move back and forth roller with respect to the direct of travel of wire rod and to transverse direction, in other words, move to the axial reciprocating of reel, thereby on one side wire rod is maintained on the axial rectangular direction with separately reel, on one side wire rod is sent to wire saw from sending the side reel, perhaps will be from the wire coil of wire saw on the winding side reel.
Especially, in sending the side reel, when wire rod is not neatly reeled, at the launching position of wire rod be reciprocated can produce between the position that moves back and forth roller of Numerical Control (NC) and depart from, the synchronous generation that the launching position of sending the wire rod on the side reel is moved back and forth well between the moving back and forth of roller departs from.Thus, for moving back and forth moving back and forth of roller, must carry out velocity correction control.
The control technology that moves back and forth that contacts roll-type is disclosed in patent documentation 1 and the patent documentation 2.This control technology, dispose a pair of touch roll near the mode that wire rod is clamped in the reel, corresponding with contacting of certain touch roll and wire rod, proofread and correct the speed that moves back and forth of the guide reel move back and forth usefulness, thereby make the position of the guide reel that moves back and forth usefulness follow the position of wire rod.
Because moving back and forth in the control in existing contact roll-type, before touching some touch rolls, wire rod do not have the correction control of execution speed, so can roughly tackle the small dislocation of the wire rod on the reel, but the winding spacing of wire rod departs from when larger on the part of reel, because the delay of control system, the guide reel that moves back and forth usefulness can't promptly be followed the variation of larger winding spacing, occurs sometimes as wire rod breaks away from or the problem of wire rod breaking from guide reel.
Patent documentation 1: Unexamined Patent 6-297320 communique
Patent documentation 2: Unexamined Patent 7-237816 communique
Summary of the invention
Thus, problem of the present invention is the shortcoming that prevents prior art,, provides a kind of control technology that moves back and forth that can follow the larger variation of wire rod winding spacing that is, can prevent in advance disengaging and the broken string of wire rod.
Take above-mentioned problem as the basis, the present invention relates to a kind of method for controlling reciprocation, the method is used for reciprocating moving device (1), this reciprocating moving device (1), the wire rod (3) of the reel (4) of wire saw (2) usefulness is wound on moves back and forth on roller (5) and the idler roller (14), move back and forth in the process that axially moves back and forth of roller (5) at reel (4) making, at reel (4) with move back and forth between the roller (5), make the target location of wire rod (3) become axial rectangular direction with reel (4), this method for controlling reciprocation is characterised in that, the benchmark that detects wire rod (3) in idler roller (14) position make a concerted effort (F1), and moving back and forth roller (5) position, detection based on wire rod (3) from the change of the displacement of target location make a concerted effort (F2), based on benchmark the make a concerted effort change of poor (Δ F) of (F2) of (F1) and change of making a concerted effort, control moves back and forth the speed that moves back and forth (V) (technical scheme 1) of roller (5).
In above-mentioned method for controlling reciprocation, moving back and forth on the datum velocity that moves back and forth (V1) of roller (5), add or deduct based on benchmark make a concerted effort (F1) and change the make a concerted effort change of poor (Δ F) of (F2) and the corrected speed (Δ V) obtained, and calculate the speed that moves back and forth (V) (technical scheme 2) that moves back and forth roller (5).
In addition, relate to a kind of control setup (10) that moves back and forth, it is used for reciprocating moving device (1), this reciprocating moving device (1) is wound on the wire rod (3) of the reel (4) of wire saw (2) usefulness and moves back and forth on roller (5) and the idler roller (14), move back and forth in the process that axially moves back and forth of roller (5) at reel (4) making, at reel (4) with move back and forth between the roller (5), make the target location of wire rod (3) become axial rectangular direction with reel (4), this moves back and forth control setup (10) and is characterised in that, have: the benchmark detector (11) of making a concerted effort, its benchmark that detects wire rod (3) in idler roller (14) position make a concerted effort (F1); The change detector (12) of making a concerted effort, it is moving back and forth roller (5) position, detects based on wire rod (3) from the change of the displacement of target location make a concerted effort (F2); And speed controller (13), it is based on benchmark the make a concerted effort change of poor (Δ F) of (F2) of (F1) and change of making a concerted effort, obtain the speed that moves back and forth (V) that moves back and forth roller (5), (V) is corresponding with the speed of obtaining, and applies speed command (technical scheme 3) to reciprocal travel motor (6).
Above-mentioned moving back and forth in the control setup (10), set the datum velocity (V1) that moves back and forth in the speed controller (13), based on benchmark the make a concerted effort change of poor (Δ F) of (F2) of (F1) and change of making a concerted effort, obtain corrected speed (Δ V), add or deduct corrected speed (Δ V) in datum velocity (V1), calculate the speed that moves back and forth (V) (technical scheme 4) that moves back and forth roller (5).
Above-mentioned moving back and forth in the control setup (10), with the path of the linearity of wire rod (3) as 1 interval, distolateral configuration idler roller (14) in above-mentioned 1 interval, the benchmark detector (11) of making a concerted effort is set in idler roller (14) position, and another the distolateral setting in above-mentioned 1 interval moves back and forth roller (5), moves back and forth roller (5) position at this with joint efforts detector (12) (technical scheme 5) of change is set.
Move back and forth in the control setup (10) above-mentioned, move back and forth the winding angle of the wire rod (3) of roller (5) position, and the winding angle of the wire rod (3) of idler roller (14) position, be set as equal angle value (technical scheme 6).
Move back and forth in the control setup (10) above-mentioned, move back and forth the roll shaft (7) of roller (5) with respect to the direction that axially meets at right angles (technical scheme 7) of reel (4).
Move back and forth in the control setup (10) above-mentioned, the roll shaft (7) that moves back and forth roller (5) is kept by swing arm (9), swing arm (9) is supported by the oscillating axle (8) with the axially parallel of reel (4), so that swing arm (9) can be with respect to the slide block that moves back and forth usefulness (17) and freely swing (technical scheme 8).
The effect of invention
According to method for controlling reciprocation involved in the present invention, because in reciprocating moving device (1), the benchmark that detects wire rod (3) in idler roller (14) position make a concerted effort (F1), and detect based on wire rod (3) from the change of the displacement of target location make a concerted effort (F2) moving back and forth roller (5) position, based on benchmark the make a concerted effort change of poor (Δ F) of (F2) of (F1) and change of making a concerted effort, control moves back and forth the speed that moves back and forth (V) of roller (5), so can will move back and forth the displacement of roller (5) position wire rod (3) from the target location, grasp as the continuous change value of the value of making a concerted effort.Thus, even the variation for larger winding spacing, moving back and forth roller (5) also can follow, except the allowed band of the winding spacing of wire rod (3) can being enlarged, the unfavorable conditions such as wire rod (3) disengaging, wire rod (3) broken string can not occur, thereby have improved the reliability (technical scheme 1) that the wire rod (3) in the wire saw (2) is advanced.
Because moving back and forth on the datum velocity that moves back and forth (V1) of roller (5), add or deduct based on benchmark make a concerted effort (F1) and change the make a concerted effort change of poor (Δ F) of (F2) and the corrected speed (Δ V) obtained, and calculating moves back and forth the speed that moves back and forth (V) of roller (5), so can not make the corrected speed (Δ V) as variation produce larger variation, the larger change of inhibition speed (V), make speed control become stable, also improved responsibility (technical scheme 2).
In addition, according to the control setup (10) that moves back and forth involved in the present invention, can be with the displacement of wire rod (3) from the target location, as change make a concerted effort (F2) and grasp continuously, thus, even the variation for larger winding spacing, moving back and forth roller (5) also can follow, except the allowed band of the winding spacing that can enlarge wire rod (3), wire rod (3) can not occur breaks away from, and the unfavorable condition of wire rod (3) broken string etc., the reliability that wire rod (3) in improving wire saw (2) is advanced, by utilizing by the benchmark detector (11) of making a concerted effort, change is detector (12) with joint efforts, the simple structure that speed controller (13) forms, can carry out speed and regulate moving back and forth moving back and forth of roller (5), can be easily and realize at an easy rate suitable control (technical scheme 3).
Above-mentioned moving back and forth in the control setup (10), because add or deduct corrected speed (Δ V) as variation to the certain datum velocity (V1) that moves back and forth, move back and forth the speed that moves back and forth (V) of roller (5) by calculating, corrected speed (Δ V) as variation is changed tempestuously, can suppress the larger change of speed (V), make the speed control of speed (V) become stable, also improved the responsibility (technical scheme 4) of control.
Above-mentioned moving back and forth in the control setup (10), by distolateral idler roller (14) and the benchmark detector (11) of making a concerted effort that arranges in 1 interval in the linearity path of wire rod (3), other end setting in above-mentioned 1 interval moves back and forth roller (5) and changes the detector (12) of making a concerted effort, thereby the two ends in 1 interval, the tension force of wire rod (3) changes hardly, its result, when (F2) made a concerted effort in (F1) and change owing to make a concerted effort at assay standard, can not occur because and detection error that produce different at the tension force at the two ends in 1 interval, so the precision of speed control becomes well (technical scheme 5).
Above-mentioned moving back and forth in the control setup (10), if will be set as equal value at the winding angle of the wire rod (3) that moves back and forth roller (5) position and idler roller (14) position, then obtain poor (Δ F) owing to can directly comparing them, the benchmark that needn't convert the make a concerted effort output of detector (12) of the output of detector (11) and change of making a concerted effort, institute is so that signal is processed become easily (technical scheme 6).
Above-mentioned moving back and forth in the control setup (10), if moving back and forth the roll shaft (7) of roller (5) is right angle orientation with respect to the axial of reel (4), then since move back and forth roller (5) groove towards consistent with the sense of displacement of wire rod (3) on the reel (4), even so a little displacement of wire rod (3), wire rod (3) can not break away from from moving back and forth roller (5) yet, can reduce its broken string (technical scheme 7) yet.
Above-mentioned moving back and forth in the control setup (10), constituting the roll shaft (7) that moves back and forth roller (5) is kept by swing arm (9), swing arm (9) is supported by the oscillating axle (8) with the axially parallel of reel (4), can freely swing with respect to the slide block that moves back and forth usefulness (17), when the coiling of the wire rod (3) on reel (4) directly changes, swing by swing arm (9), always the direction with wire rod (3) is consistent to make the groove direction that moves back and forth roller (5), so can prevent reliably the disengaging (technical scheme 8) of the wire rod (3) that the variation owing to the coiling of wire rod (3) footpath causes.
Description of drawings
Fig. 1 is the front view of the reciprocating moving device used as the wire saw of prerequisite of the present invention.
Fig. 2 is in the reciprocating moving device of using as the wire saw of prerequisite of the present invention, moves back and forth the birds-eye view of the support section of roller.
Fig. 3 is the frame line chart that moves back and forth control setup involved in the present invention.
Fig. 4 is that wire rod is at the instruction diagram of the control principle of target location.
Fig. 5 is wire rod to the instruction diagram of+control principle when direction is advanced.
Fig. 6 is wire rod to the instruction diagram of-control principle when direction is advanced.
Fig. 7 is other the instruction diagram of mensuration example that benchmark is made a concerted effort.
Fig. 8 is other the instruction diagram of mensuration example that benchmark is made a concerted effort.
Fig. 9 is other the instruction diagram of mensuration example that benchmark is made a concerted effort.
Figure 10 is other the instruction diagram of mensuration example that benchmark is made a concerted effort.
The specific embodiment
Fig. 1 represents reciprocating moving device 1 and relation as the wire saw 2 of its mounting object.Reciprocating moving device 1 is with respect to wire saw 2, except being arranged on the sending the side of wire rod 3, also is arranged on the winding side of wire rod 3.
In Fig. 1, in order to supply with wire rod 3 to wire saw 2, wire rod 3 is wound onto on the reel 4 of feeding side and stores, send the reciprocating moving device 1 of side, from this reel 4 pull out wire rod 3 and be wound on groove move back and forth on the roller 5 after, via with the idler roller 14 of groove, dance roller 15, the guide reel 18 with groove more than 1 or 2, to the direction guiding of wire saw 2.Wire saw 2 utilizes the wire rod 3 of advancing with cutting workpiece.Then, wire rod 3 is guided to winding side by the guide reel 18 with groove more than 1 or 2, via with the dance roller 15 of groove, with the idler roller 14 of groove, and the reciprocating moving device 1 of winding side with groove move back and forth roller 5, be wound up on the winding side reel 4.
Graphic concrete example forms, and sends the reciprocating moving device 1 of side and the reciprocating moving device 1 of winding side and is identical structure.Thus, as mentioned above, to reciprocating moving device 1 mark of the winding side label identical with the reciprocating moving device 1 of sending side, following record, carry out for the important reciprocating moving device of sending side 1 especially, suitably omit the explanation of the reciprocating moving device 1 of winding side.
Sending side reel 4 can be supported by the pivot shaft 19 of frame 20 with rotating freely.When sending, the rotation of reel 4 is carried out by pulling out of wire rod 3 drivenly, perhaps as required, utilizes not shown driving motor the tension force of wire rod 3 to be maintained the value of regulation on one side, and one side is undertaken by the active drive of transport direction.
In addition, move back and forth roller 5 utilization and move back and forth electrical motor 6 and rotation linear reciprocating motion converter unit 16, with respect to the direct of travel of wire rod 3 to laterally, in other words, to axially moving back and forth of reel 4, thereby at reel 4 with move back and forth between the roller 5, wire rod 3 is maintained the target location.Here, the target location of wire rod 3, be do not interfere with adjacent wire rod 3 in reel 4 positions, the position of friction, that is, be set as the axial rectangular direction with reel 4.
In fact rotation linear reciprocating motion converter unit 16 is made of the straight moving cell of feed screw formula.Thus, move back and forth electrical motor 6, utilize the straight moving cell of feed screw formula as rotation linear reciprocating motion converter unit 16, be rotated the variation of direction conversion, certain rotation speed or rotative speed, thereby apply moving back and forth of regulation to the slide block 17 as driven object.
In addition, rotation linear reciprocating motion converter unit 16 also can be used as slide block crank-type unit and consists of.In situation about consisting of as above-mentioned slide block crank-type unit, utilize and move back and forth electrical motor 16 to same hand of rotation driving crank, the rotation of crank utilizes connecting rod to carry out conversion, thereby applies the straight reciprocating motion of regulation to slide block 17.
Except Fig. 1, Fig. 2 shows the support example that moves back and forth roller 5.Move back and forth roller 5 in order to support, the oscillating axle 8 of the axially parallel of slide block 17 utilizations and reel 4, one end that can keep swing arm 9 with freely swinging, on the other end of swing arm 9, can support by roll shaft 7 with rotating freely and to move back and forth roller 5, this roll shaft 7 is preferably with respect to axially the meeting at right angles of reel 4, and do not intersect with it.In addition, move back and forth the roll shaft 7 of roller 5, can directly be installed on the test section of detector 12 is made a concerted effort in the change that swing arm 9 is installed, perhaps with can be to the state that direction is carried out displacement of making a concerted effort to produce of wire rod 3, be installed on the other end of swing arm 9, for detect make a concerted effort and with the make a concerted effort test section butt of detector 12 of change.
In addition, idler roller 14 can be supported by roll shaft 24 with rotating freely.The roll shaft 24 of idler roller 14, can directly be installed on the benchmark that frame 20 is installed is made a concerted effort the test section of detector 11, perhaps can being installed on the frame 20 to the state of making a concerted effort to produce the direction displacement of wire rod 3, for detect make a concerted effort and with the make a concerted effort test section butt of detector 11 of benchmark.
In addition, dance roller 15 utilize to rotate the pretension arm 22 of preload unit 21 and the roll shaft 23 of pretension arm 22 front ends, can be on the circular arc direction free displacement ground supported.Rotate preload unit 21, swing displacement by allowing dance roller 15 to the circular arc direction, absorb the variation of the path of wire rod 3 on one side, Yi Bian the lasting tension force that applies regulation to wire rod 3.In addition, as dance roller 15, can replace the preload unit that rotates preload unit 21 and constitute Direct Action Type, its concrete example describes with Figure 10 in the back.
In graphic example, it is adjacent with idler roller 14 to move back and forth roller 5, and between them, the wire rod 3 tensionings shape that is in line forms 1 interval in wire rod path.Idler roller 14 is configured in the distolateral of this 1 interval, and moving back and forth roller 5, to be configured in another of same interval distolateral.Therefore, moving back and forth roller 5 positions and idler roller 14 positions, the value of the tension force T of wire rod 3 for equating.
In addition, move back and forth the winding angle of the wire rod 3 of the winding angle of wire rod 3 of roller 5 positions and idler roller 14 positions, be preferably set to equal angle value, thereby when the position is detected with joint efforts separately, be convenient to measure, as an example they are set as the right angle.
In addition, Fig. 3 represents the control setup 10 that moves back and forth of the present invention.Move back and forth control setup 10, take described reciprocating moving device 1 as prerequisite, have benchmark make a concerted effort detector 11, change make a concerted effort detector 12 and speed controller 13 in order to proofread and correct the speed that the moves back and forth V that moves back and forth roller 5.
Benchmark make a concerted effort detector 11 by force transducer, and magnetic amplifier type sensor power-electric signal transformative transducer consist of, at idler roller 14 positions and roll shaft 24 butts, this roll shaft 24 can be to the generation direction displacement of making a concerted effort take the tension force T of wire rod 3 as component, this benchmark is made a concerted effort making a concerted effort of detector 11 detection idler roller 14 positions, as the benchmark of wire rod 3 F1 that makes a concerted effort, will send to speed controller 13 with the benchmark electric signal S1 that F1 is directly proportional that makes a concerted effort.
Here, as the benchmark F1 that makes a concerted effort since take with respect to idler roller 14 as the tension force T of the wire rod 3 of reeling condition as component, so as the tension force T of wire rod 3, utilize 1/2 of 90 ° of winding angles, obtain by T=F1cos45 °.This tension force T is controlled as, and becomes all the time expected value in the traveling process of wire rod 3, and F1 also is always certain value in the traveling process of wire rod 3 so benchmark is made a concerted effort.
On the other hand, change is made a concerted effort detector 12 with similarly above-mentioned, consisted of by power-electric signal transformative transducer, moving back and forth roller 5 positions, with can be to roll shaft 7 butts of the generation direction displacement of making a concerted effort, detection is the making a concerted effort of the wire rod 3 of reeling condition with respect to moving back and forth roller 5, as the change of the reality of wire rod 3 F2 that makes a concerted effort, will send to speed controller 13 with the change electric signal S2 that F2 is directly proportional that makes a concerted effort.
As mentioned above, moving back and forth roller 5 positions, the tension force T of wire rod 3 also equates with the tension force T of idler roller 14 positions.Thus, if wire rod 3 is positioned at the target location moving back and forth between roller 5 and the reel 4, be the right angle with respect to the axial of reel 4 namely, then owing to become identical angle value at the winding angle that moves back and forth on the roller 5 with winding angle in idler roller 14 positions, even so move back and forth roller 5 transverse shiftings (the axial movement of reel 4), also equate with the benchmark F1 that makes a concerted effort at the change of this position F2 that makes a concerted effort.
But if moving back and forth between roller 5 and the reel 4, wire rod 3 carries out displacement from the target location, and then wire rod 3 departs from the right angle with respect to the winding angle that moves back and forth roller 5, changes to acute angle direction or obtuse angle direction.Thus, moving back and forth roller 5 positions, although tension force T does not change, the change F2 change of making a concerted effort namely, when the winding angle of acute angle, is compared greatly with the benchmark F1 that makes a concerted effort, and when the winding angle at obtuse angle, compares little with the benchmark F1 that makes a concerted effort.
Thus, in the transverse shifting that moves back and forth roller 5, along with the winding angle of wire rod 3 is moving back and forth roller 5 position changes, change the proportionally change of variable quantity of make a concerted effort F2 and winding angle, F2 becomes for detection of the parameter of wire rod 3 from the displacement (departing from) of target location so change is made a concerted effort.In the speed control (rotating speed control) that moves back and forth electrical motor 6, be conceived to foregoing, according to the variation of the winding angle of the wire rod 3 that moves back and forth roller 5 positions, detection wire rod 3 is from the displacement (departing from) of target location.
As mentioned above, the winding angle that moves back and forth the wire rod 3 of the winding angle of wire rod 3 of roller 5 positions and idler roller 14 positions is set as equal.Thus, as the make a concerted effort signal S1 of detector 11 output and as the make a concerted effort signal S2 of detector 12 outputs of change of benchmark, become the state that can directly compare.Signal is processed become easy.
But, when the winding angle of the wire rod 3 of the winding angle of the wire rod 3 that moves back and forth roller 5 positions and idler roller 14 positions is set as unequal angle value, multiply by coefficient by the make a concerted effort output of detector 12 of make a concerted effort to benchmark detector 11 or change, perhaps in the bang path of signal S1, S2, insert scaling unit, and these signals S1, S2 are compared after being transformed to the level that can compare.In Fig. 7 to Figure 10 described later, example illustrates the object lesson that these winding angles are set as unequal angle value.
That sends side moves back and forth control setup 10, instruction based on speed command signal S3, make on one side and move back and forth electrical motor 6 and change periodically hand of rotation, speed with regulation drives on one side, utilize rotation linear reciprocating motion converter unit 16, slide block 17 is moved to the reciprocating linear that axially carries out of reel 4, synchronous by the crank motion and the winding spacing that make slide block 17, thereby at reel 4 with move back and forth between the roller 5, the location dimension of wire rod 3 is held in target location with respect to the axial rectangular direction of reel 4.In addition, with the travel settings that moves back and forth in the scope of the coiling main body of reel 4.
As mentioned above, in moving back and forth the process of control, on the reel 4 of feeding side, the winding spacing dislocation of wire rod 3 is larger, and when departed from from the target location reel 4 and the position that moves back and forth wire rod 3 between the roller 5, speed controller 13 was by regulating and move back and forth speed V to eliminating direction that wire rod 3 departs from from the target location, thereby at reel 4 with move back and forth between the roller 5, make the position of wire rod 3 turn back to the target location.
Fig. 4 to Fig. 6 is illustrated in and moves back and forth the moving back and forth in the stroke of roller 5, at reel 4 with move back and forth the change in location of the wire rod 3 between the roller 5, and make a concerted effort F1 and based on the make a concerted effort size relation relatively of F2 of the change of signal S2 of the benchmark based on signal S1 of this moment.In these figure, as an example, be made as moving back and forth the speed V of roller 5 near the direction of idler roller 14+symbol, on the contrary, be made as moving back and forth the speed V of roller 5 away from the direction of idler roller 14-symbol.
As shown in Figure 4, in moving back and forth the process that roller 5 moves to some directions, if wire rod 3 is positioned at the target location, then in the separately position that moves back and forth roller 5 and idler roller 14, tension force T equates, and the winding angle of wire rod 3 is equal value, and F1 and the change F2 that makes a concerted effort equates so benchmark is made a concerted effort.Thus, benchmark is made a concerted effort, and the poor Δ F of F2 is zero to F1 with changing with joint efforts, i.e. F1-F2=Δ F=0.As long as wire rod 3 remains on target location, then the relation of Δ F=0 is constant.In this case, for the speed that the moves back and forth V that moves back and forth roller 5, do not need to carry out velocity correction control.This state is desirable mode.
In addition, as shown in Figure 5, moving back and forth in the situation that the direction of roller 5 to reciprocal moving velocity+V move, shown in a, when the winding angle that moves back and forth roller 5 position wire rods 3 becomes acute angle, because F2＞F1, so speed controller 13 with signal S1 and signal S2 as input, produce the corrected speed corresponding with the change of F1-F2=-Δ F-Δ V, by from datum velocity+V, deducting corrected speed-Δ V, thereby produce with speed command { (+V)-(Δ V) }=+ (V+ Δ V) corresponding signal S3, utilize this signal S3 to accelerate moving back and forth electrical motor 6.On the contrary, shown in the b of Fig. 5, when the winding angle that moves back and forth roller 5 position wire rods 3 becomes the obtuse angle, because F2＜F1, so speed controller 13 produces the corrected speed corresponding with the change of F1-F2=+ Δ F+Δ V, by from datum velocity+V, deducting corrected speed+Δ V, thus produce with speed command { (+V)-(+Δ V) }=+ (V-Δ V) corresponding signal S3, utilize this signal S3 to slow down to moving back and forth electrical motor 6.
In addition, as shown in Figure 6, moving back and forth in the situation that the direction of roller 5 to reciprocal moving velocity-V move, shown in a, when the winding angle that moves back and forth roller 5 position wire rods 3 becomes acute angle, because F2＞F1, so speed controller 13 with signal S1 and signal S2 as input, produce the corrected speed corresponding with the change of F1-F2=-Δ F-Δ V, by from datum velocity-V, deducting corrected speed-Δ V, thereby produce with speed command { (V)-(Δ V) }=-(V-Δ V) corresponding signal S3, utilize this signal S3 to slow down to moving back and forth electrical motor 6.Opposite shown in the b of Fig. 6, when the winding angle that moves back and forth roller 5 position wire rods 3 becomes the obtuse angle, because F2＜F1, so speed controller 13 produces the corrected speed corresponding with the change of F1-F2=+ Δ F+Δ V, by from datum velocity-V, deducting corrected speed+Δ V, thereby produce with speed command { (V)-(+Δ V) }=-(V+ Δ V) corresponding signal S3, utilize this signal S3 to accelerate moving back and forth electrical motor 6.
In addition, different from above-mentioned example, to move back and forth the speed V of roller 5 near the direction of idler roller 14 and be made as-symbol, on the contrary, be made as moving back and forth the speed V of roller 5 away from the direction of idler roller 14+symbol the time, corrected speed ± Δ V is not subtraction with respect to datum velocity ± V, and always carries out addition.
As mentioned above, in moving back and forth the moving back and forth of roller 5, because the winding spacing variation of wire rod 3 etc. and the position of wire rod 3 when departing from from the target location, speed controller 13 calculates with respect to the plus-minus that datum velocity ± V carries out corrected speed ± Δ V, regulate the speed that the moves back and forth V that moves back and forth roller 5 by the direction to acceleration or deceleration, the position of wire rod 3 is returned to the direction of target location, thereby made the position of wire rod 3 automatically follow the target location.In addition, at the initial stage of starting, even the position deviation target location of wire rod 3, by the control of above speed, also can be in the short time with the position movement of wire rod 3 to the target location, therefore become stable.
This speed control, except make the speed that the moves back and forth V that moves back and forth roller 5 when necessarily driving, also go for the velocity mode according to the rules, when making speed V become gradually the earth along with the process of time to accelerate to drive and make any situation when gradually with diminishing carrying out deceleration of speed V along with the time.
As mentioned above owing to move back and forth the roll shaft 7 of roller 5 with respect to the direction that axially meets at right angles of reel 4, so move back and forth roller 5 groove towards, always with reel 4 axially on the sense of displacement of wire rod 3 consistent.Thus, though wire rod 3 to the longitudinal travel of reel 4, wire rod 3 also can not break away from from moving back and forth roller 5, its broken string also seldom produces.
In addition, because moving back and forth the roll shaft 7 of roller 5 is kept by swing arm 9, swing arm 9 is supported by the oscillating axle 8 with the axially parallel of reel 4, can freely swing with respect to the slide block 17 that moves back and forth usefulness, so even the winding diameter of the wire rod 3 on the reel 4 changes, also always the direction with wire rod 3 is consistent to move back and forth the groove direction of roller 5, so can prevent reliably the disengaging of the wire rod 3 that the variation owing to the winding diameter of wire rod 3 causes.
In the testing process of making a concerted effort, owing to moving back and forth between roller 5 and the idler roller 14, in 1 interval in the linearity path of wire rod 3, almost there is not tension change on the wire rod 3, make a concerted effort F1 and change when making a concerted effort F2 at detection reference, can be owing to not producing error in the difference of the tension value at the place of locating respectively, so the precision of speed control is good.
The make a concerted effort setting position of detector 11 of benchmark is not limited to the position of idler roller 14, also can be located at other position.Fig. 7 arranges the benchmark detector 11 of making a concerted effort in dance roller 15 positions, make dance roller 15 double as function into idler roller 14, in dance roller 15 (idler roller 14) position, utilizes benchmark the make a concerted effort example of F1 of detector 11 detection references of making a concerted effort.Thus, move back and forth the roller between roller 5 and the dance roller 15 (idler roller 14), become the guide reel 18 of simple direction conversion usefulness.
At the setting position place of the dance roller 15 of Fig. 7, the value of tension force T, because of the bending of wire rod 3 and the existence of the guide reel 18 in the wire rod path, and slightly different with the tension force T that moves back and forth roller 5 positions.In addition, wire rod 3 for example is 180 ° with respect to the winding angle of dance roller 15, and 90 ° of the winding angles when being positioned at target location from the wire rod 3 that moves back and forth roller 5 positions are different.Therefore, the make a concerted effort size of F1 of benchmark is also different from the benchmark F1 that makes a concerted effort among Fig. 1.
Thus, utilize the benchmark of the dance roller 15 positions detector 11 detected measured values of making a concerted effort, can't be directly as signal S1 to speed controller 13 outputs.In this case, as described in putting down in writing, by on duty with suitable coefficient to this, perhaps in the bang path of output signal, insert scaling unit, with benchmark make a concerted effort the measured value computing of detector 11 become can with change make a concerted effort F2 level relatively with the benchmark corresponding signal S1 of F1 that makes a concerted effort, and send to speed controller 13.
In addition, Fig. 8 is that winding angle with the wire rod 3 on the idler roller 14 is made as and example at the different angle value of 90 ° of the winding angles of the wire rod 3 that moves back and forth roller 5 positions.After wire rod 3 for example is wound on the idler roller 14 with 180 ° of winding angles, as required, via the guide reel 18 more than 1 or 2, guide to the position of regulation such as dance roller 15 grades.
In addition, Fig. 9 is moving back and forth the back configuration dance roller 15 of roller 5, and dance roller 5 doubles as the function into idler roller 14, utilizes benchmark the make a concerted effort example of F1 of detector 11 detection references of making a concerted effort in dance roller 15 (idler roller 14) position.Dance roller 15 among Fig. 9 (idler roller 14), the pretension arm 22 that is rotated the horizontal direction of preload unit 21 can support with rotating freely, wire rod 3 for example with 180 ° winding angle be wound on dance roller 15 (idler roller 14) upper after, 15 places such as assigned position such as grade are directed at dance roller.Pretension arm 22 can be take horizontal direction as the reference position, and to arbitrarily direction rotation, but this reference position is not limited to horizontal direction, also can be set as the direction that tilts with respect to horizon.This example is the variation of Fig. 7, but the guide reel 18 of Fig. 7 can be omitted.From the magnitude setting that reduces guide reel 18, the angle that reduces rotary load and minimizing components number, preferably omit guide reel 18.
In addition, Figure 10 replaces to rotate preload unit 21, but utilizes Direct Action Type preload unit 26 free displacement twelve Earthly Branches to support the example of power dancer rools 15 (idler roller 14).In addition, Direct Action Type preload unit 26, mainly by electric system, the combination of for example linear motor, electrical motor and rotation-feed screw nut isoline motion converter unit, in addition, can utilize the gravity of spring, fluid pressure or counterweight and produce predetermincd tension to the direction of necessity.
Example according to Fig. 7 to Figure 10, when detection reference is made a concerted effort F1, the winding angle of the wire rod 3 on the idler roller 14 is not limited to 90 °, can be set as suitable angle, in addition, benchmark make a concerted effort detector 11 setting position, be the desired location of idler roller 14, be not limited to comprise and move back and forth roller 5 as 1 interval of an end, utilize the calculation process of the signal S1 (benchmark make a concerted effort F1) of comparable level, can be selected on the arbitrarily path of wire rod 3.
Industrial applicibility
As can be known above-mentioned, the present invention mainly being wound in the situation that the wire rod 3 sent on the side reel 4 sends to wire saw 2, is not worked when wire rod 3 neatly is wound on the reel 4.
But the present invention also can use at winding side.On winding side, if moving back and forth roller 5 correctly moves back and forth, then wire rod 3 forms the state of neat coiling at winding side reel 4, but when wire rod 3 departs from objectives the position for a certain reason, winding side move back and forth control setup 10, the speed V that moves back and forth roller 5 by adjusting makes wire rod 3 be back to the target location.
In addition, reel 4 can not only vertically be placed, and also can be arranged to horizontal positioned.In the situation of horizontal positioned reel 4, move back and forth roller 5 and move back and forth to horizontal direction.
Claims (8)
1. method for controlling reciprocation, the method is used for reciprocating moving device, (1), this reciprocating moving device, (1), with wire saw, (2) reel of usefulness, (4) wire rod, (3) be wound on and move back and forth roller, (5) and idler roller, (14) on, move back and forth roller making, (5) at reel, (4) axially in the process that moves back and forth, at reel, (4) and move back and forth roller, (5) between, make wire rod, (3) target location becomes and reel, (4) axial rectangular direction
This method for controlling reciprocation is characterised in that,
The benchmark that detects wire rod (3) in idler roller (14) position make a concerted effort (F1), and moving back and forth roller (5) position, detection based on wire rod (3) from the change of the displacement of target location make a concerted effort (F2), based on benchmark the make a concerted effort change of poor (Δ F) of (F2) of (F1) and change of making a concerted effort, control moves back and forth the speed that moves back and forth (V) of roller (5).
2. method for controlling reciprocation as claimed in claim 1 is characterized in that,
Moving back and forth on the datum velocity that moves back and forth (V1) of roller (5), add or deduct based on benchmark make a concerted effort (F1) and change the make a concerted effort change of poor (Δ F) of (F2) and the corrected speed (Δ V) obtained, and calculate the speed that moves back and forth (V) that moves back and forth roller (5).
3. one kind moves back and forth control setup, (10), it is used for reciprocating moving device, (1), this reciprocating moving device, (1) with wire saw, (2) reel of usefulness, (4) wire rod, (3) be wound on and move back and forth roller, (5) and idler roller, (14) on, move back and forth roller making, (5) at reel, (4) axially in the process that moves back and forth, at reel, (4) and move back and forth roller, (5) between, make wire rod, (3) target location becomes and reel, (4) axial rectangular direction
This moves back and forth control setup (10) and is characterised in that,
Have: the benchmark detector (11) of making a concerted effort, its benchmark that detects wire rod (3) in idler roller (14) position make a concerted effort (F1); The change detector (12) of making a concerted effort, it is moving back and forth roller (5) position, detects based on wire rod (3) from the change of the displacement of target location make a concerted effort (F2); And speed controller (13), it is based on benchmark the make a concerted effort change of poor (Δ F) of (F2) of (F1) and change of making a concerted effort, obtain the speed that moves back and forth (V) that moves back and forth roller (5), (V) is corresponding with the speed of obtaining, and applies speed command to reciprocal travel motor (6).
4. the control setup (10) that moves back and forth as claimed in claim 3 is characterized in that,
Set the datum velocity (V1) that moves back and forth in the speed controller (13), based on benchmark the make a concerted effort change of poor (Δ F) of (F2) of (F1) and change of making a concerted effort, obtain corrected speed (Δ V), add or deduct corrected speed (Δ V) in datum velocity (V1), calculate the speed that moves back and forth (V) that moves back and forth roller (5).
5. the control setup (10) that moves back and forth as claimed in claim 4 is characterized in that,
With the path of the linearity of wire rod (3) as 1 interval, distolateral configuration idler roller (14) in above-mentioned 1 interval, the benchmark detector (11) of making a concerted effort is set in idler roller (14) position, and another the distolateral setting in above-mentioned 1 interval moves back and forth roller (5), moves back and forth roller (5) position at this with joint efforts detector (12) of change is set.
6. the control setup (10) that moves back and forth as claimed in claim 5 is characterized in that,
Move back and forth the winding angle of the wire rod (3) of the winding angle of wire rod (3) of roller (5) position and idler roller (14) position, be set as equal angle value.
7. such as the described control setup (10) that moves back and forth of any one in the claim 3 to 6, it is characterized in that,
Move back and forth the roll shaft (7) of roller (5) with respect to the direction that axially meets at right angles of reel (4).
8. the control setup (10) that moves back and forth as claimed in claim 7 is characterized in that,
The roll shaft (7) that moves back and forth roller (5) is kept by swing arm (9), swing arm (9) is supported by the oscillating axle (8) with the axially parallel of reel (4), so that swing arm (9) can freely swing with respect to the slide block that moves back and forth usefulness (17).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009-032455 | 2009-02-16 | ||
| JP2009032455 | 2009-02-16 |
Publications (2)
| Publication Number | Publication Date |
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| CN101804927A CN101804927A (en) | 2010-08-18 |
| CN101804927B true CN101804927B (en) | 2013-03-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010114927XA Active CN101804927B (en) | 2009-02-16 | 2010-02-11 | Traverse control method and traverse control device |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP5177701B2 (en) |
| KR (1) | KR20100093500A (en) |
| CN (1) | CN101804927B (en) |
| TW (1) | TWI526388B (en) |
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| MY156158A (en) * | 2010-09-27 | 2016-01-15 | Komatsu Ntc Ltd | Method and apparatus for detecting a wire break in a wire saw |
| CN102101325B (en) * | 2010-12-15 | 2014-05-21 | 湖南宇晶机器实业有限公司 | Radial balance mechanism for automatic wire arranging device of multi-wire cutting machine |
| JP5494558B2 (en) * | 2011-04-20 | 2014-05-14 | 信越半導体株式会社 | Method for resuming operation of wire saw and wire saw |
| JP5155428B2 (en) | 2011-07-15 | 2013-03-06 | コマツＮｔｃ株式会社 | Wire saw |
| JP5150756B2 (en) * | 2011-07-29 | 2013-02-27 | コマツＮｔｃ株式会社 | Wire saw |
| DE102012214051B3 (en) | 2012-08-08 | 2014-02-06 | SSM Schärer Schweiter Mettler AG | Method for adapting a traversing movement of a thread to a flange and winding device |
| DE102013109056B3 (en) * | 2013-08-21 | 2014-08-14 | Graewe GmbH | Microduct tube winder, dual-station winder, microduct plastic empty tube processing system, and method of winding such tubes |
| JP6256870B2 (en) * | 2013-10-11 | 2018-01-10 | 株式会社タカトリ | Wire saw and control method thereof |
| KR101689284B1 (en) * | 2015-06-02 | 2016-12-26 | 일진에이테크 주식회사 | Yarn winder for adjusting helix angle |
| JP6857509B2 (en) * | 2017-02-15 | 2021-04-14 | コマツＮｔｃ株式会社 | Wire saw |
| CN106863109B (en) * | 2017-03-17 | 2023-02-03 | 衢州学院 | Polishing method of plane grinding and polishing machine with workpiece clamp moving linearly in reciprocating mode |
| CN107555253A (en) * | 2017-10-22 | 2018-01-09 | 贵州大学 | One kind loads in mixture line processing wind |
| CN111971244B (en) * | 2018-04-26 | 2022-04-05 | 三菱电机株式会社 | Tension adjusting device, winding device, and method for manufacturing rotating electric machine |
| CN108838840A (en) * | 2018-05-04 | 2018-11-20 | 苏州市力飞电器有限公司 | A kind of Novel symmetrical Linear reciprocating sander |
| CN112424100B (en) * | 2018-08-09 | 2022-07-22 | 日本Tmt机械株式会社 | Yarn winding machine |
| CN111792443B (en) * | 2020-07-16 | 2022-01-21 | 常德富博传导材料科技有限公司 | Electric wire collecting device capable of being wound uniformly and automatically stopped |
| CN112938629A (en) * | 2021-03-19 | 2021-06-11 | 福建迈可博电子科技集团股份有限公司 | Cable coiling machine |
| CN115196427B (en) * | 2022-07-25 | 2023-06-06 | 赣州市光华有色金属有限公司 | Tungsten filament winding device with linear correction structure |
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Also Published As
| Publication number | Publication date |
|---|---|
| KR20100093500A (en) | 2010-08-25 |
| TW201036907A (en) | 2010-10-16 |
| CN101804927A (en) | 2010-08-18 |
| TWI526388B (en) | 2016-03-21 |
| JP2010208010A (en) | 2010-09-24 |
| JP5177701B2 (en) | 2013-04-10 |
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