CN102553968B - Position error eliminating method and device of wire arrangement mechanism of water tank wire drawing machine - Google Patents
Position error eliminating method and device of wire arrangement mechanism of water tank wire drawing machine Download PDFInfo
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Abstract
The invention relates to a position error eliminating method and device of a wire arrangement mechanism of a water tank wire drawing machine. The position error eliminating method comprises the following steps of: a, setting a pulse-given operating state; b, mounting an approach switch; c, before the wire arrangement operation, a wire arrangement guide wheel is reset to the position of a corresponding original point on a wire arrangement guide rod; d, starting up the wire drawing machine for wire arrangement; e, when the wire arrangement guide wheel moves to the position of the approach switch, outputting a fixed-point detection signal by the approach switch; f, when the wire arrangement pulse determined by the fixed-point detection signal is not matched with the preset wire arrangement pulse, regulating and compensating the wire arrangement pulse from the original point B to the other wire arrangement boundary by a controller so that the controller controls the wire arrangement motion distance of the wire arrangement guide wheel driven by a wire arrangement servo motor on the wire arrangement guide rod to be kept stable; and g, driving the wire arrangement servo motor to rotate by the controller according to the corresponding regulated and updated wire arrangement pulse. The position error eliminating method and device have the advantages of convenience in operation, high control precision, improved precision of wire arrangement position and good real-time property for compensation as well as safety and reliability.
Description
Technical field
The present invention relates to a kind of site error removing method and device, especially a kind of site error removing method and device of water tank drawbench wire-arranging mechanism belong to the technical field that the water tank drawbench winding displacement is controlled.
Background technology
Water tank drawbench is mainly used in drawing all kinds of precisions, little footpath high-carbon steel wire.Dissimilar products has different requirements to water tank drawbench, wherein there is a kind of water tank drawbench to be specifically designed to the production of high strength line of cut, be the professional production equipment of silicon wafer cutting steel wire, can playing very crucial effect in the silicon chip cutting production very much at present.This class high strength line of cut water tank drawbench is very high to the requirement of winding displacement precision.
Water tank drawbench in the past often adopts frequency conversion winding displacement or mechanical winding displacement, can't satisfy the requirement of high accuracy winding displacement.More advanced water tank drawbench adopts servo winding displacement at present, makes water tank drawbench high accuracy winding displacement become possibility.Servo-drive system precision height, response are fast, but because there is machinery inertial in the wire-arranging mechanism of servo-drive in running, cause the winding displacement site error.Such as, it is respectively to place 1 detection signal on border, the winding displacement left and right sides that a common method is arranged, totally 2 as commutation signal, wire-arranging mechanism moves to the right when arriving left margin, wire-arranging mechanism moves left when arriving right margin, just because of the influence of machinery inertial, make rolling heap silk phenomenon occur at left and right sides boundary.Also having a kind of method at present is a bit to place a detection signal at winding displacement, carry out left and right sides winding displacement by calculating distance, if do not adopt any compensation method, only suppose the winding displacement motor to have essentially identical machinery inertial left and to the right and cancel out each other, winding displacement is moved in the scope of setting, so, inconsistent or left and machinery inertial to the right when inconsistent when the frictional force left and to the right of wire-arranging mechanism, will cause winding displacement sideslip to the left or to the right.Therefore, the machinery inertial of wire-arranging mechanism is that one of important root that is offset takes place in the winding displacement position.Make water tank drawbench have high accuracy winding displacement function, also need good water tank drawbench control system to cooperate.Solving the winding displacement motor at present has because of the caused winding displacement error of machinery inertial: adopt the single direct compensation, namely in the moving range of winding displacement, wherein be set at initial point (coordinate is zero point), and the distance of whole winding displacement scope calibrated, then in each winding displacement cycle period when winding displacement when the initial point, detect the difference of coordinate with the coordinate of setting initial point of this point, if there is not difference, then explanation does not have skew, if difference is arranged, then explanation is offset, calculate side-play amount, carry out position compensation at once.The shortcoming of this method is when the initial point test point has interference, unnecessary error compensation can occur or compensation occur inaccurate.The site error removing method of the water tank drawbench wire-arranging mechanism that the present invention carries can solve the winding displacement site error effectively, under the constant situation of equipment investment cost, and output efficiency height, winding displacement precision height.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of site error removing method and device of water tank drawbench wire-arranging mechanism is provided, it is easy to operate, and the control accuracy height has improved the precision of winding displacement position, and the compensation real-time is good, safe and reliable.
According to technical scheme provided by the invention, the site error removing method of described water tank drawbench wire-arranging mechanism, comprise wire-arranging mechanism, rolling-up mechanism and wire-drawing mechanism, described wire-drawing mechanism is by the winding displacement driven by servomotor, and described winding displacement servomotor is by the winding displacement servo driver drives; Described rolling-up mechanism is driven by winding motor, and winding motor drives control by the rolling frequency converter, and rolling frequency converter and winding displacement servo-driver all link to each other with the output of controller; Described wire-arranging mechanism comprises the winding displacement guide rod and is positioned at cable guide pulley on the described winding displacement guide rod that described cable guide pulley moves at the winding displacement guide rod by winding displacement driven by servomotor interaction energy; Described winding displacement site error removing method comprises the steps:
A, the corresponding coupling with the winding displacement servo-driver of described controller arrange, so that the winding displacement servomotor is in the given running status of pulse;
B, a side of winding displacement guide rod install be used for fixed point detect the cable guide pulley position near switch, describedly be positioned at optional position between winding displacement border, winding displacement guide rod two ends near switch, and with on the winding displacement guide rod be initial point B near the corresponding location definition of switch, winding displacement border correspondence position is respectively and is defined as winding displacement border A point and winding displacement border C point on the winding displacement guide rod, and will be connected to the input of controller near switch;
Before c, the winding displacement operation, cable guide pulley is reset to initial point B position corresponding on the winding displacement guide rod; Controller is according to the default corresponding winding displacement umber of pulse of the distance of winding displacement border A point, winding displacement border C point and initial point B;
D, startup wire drawing winding displacement, the pulse of controller output winding displacement makes winding displacement servo driver drives winding displacement servomotor rotate, winding displacement driven by servomotor cable guide pulley moves to corresponding winding displacement border from initial point B on the winding displacement guide rod;
E, move from corresponding winding displacement border to initial point B when cable guide pulley, and when moving to initial point B correspondence position, near switch input fixed point detection signal in the controller; Controller is determined corresponding winding displacement umber of pulse in the controller according to the fixed point detection signal;
F, when putting from the respective row line boundary in the winding displacement umber of pulse of determining by the fixed point detection signal in the controller and the controller when not matching to the winding displacement umber of pulse of presetting between initial point B, initial point B is adjusted and compensated to controller to the winding displacement umber of pulse on another winding displacement border, so that controller keeps stable by winding displacement driven by servomotor cable guide pulley winding displacement move distance on the winding displacement guide rod;
G, controller are according to current winding displacement umber of pulse from the winding displacement border to initial point B, and adjust the winding displacement umber of pulse of compensation back from initial point B to another winding displacement border and adjust corresponding default winding displacement umber of pulse in the update controller, and according to adjusting the rotation of upgrading the corresponding winding displacement umber of pulse driving in back winding displacement servomotor, to drive cable guide pulley winding displacement motion on the winding displacement guide rod, finish until the winding displacement process by wire-arranging mechanism.
Among the described step f, when putting from the respective row line boundary in the winding displacement umber of pulse of determining by the fixed point detection signal in the controller and the controller when not matching to the winding displacement umber of pulse of presetting between initial point B, controller is adjusted and the winding displacement umber of pulse of compensation from initial point B to another winding displacement border, the winding displacement umber of pulse of described adjustment compensation be complementary corresponding by the definite winding displacement umber of pulse of fixed point detection signal and difference between default winding displacement umber of pulse.
Described rolling-up mechanism comprises I-beam wheel, and described I-beam wheel is provided with the rolling pulse module, and described rolling pulse module links to each other with controller.Described rolling pulse module is rotary encoder.
Described controller is PLC.Described controller links to each other with man-machine interface by serial line interface RS485.
A kind of site error cancellation element of water tank drawbench wire-arranging mechanism comprises wire-arranging mechanism, rolling-up mechanism and wire-drawing mechanism, and described wire-drawing mechanism is by the winding displacement driven by servomotor, and described winding displacement servomotor is by the winding displacement servo driver drives; Described rolling-up mechanism is driven by winding motor, and winding motor drives control by the rolling frequency converter, and rolling frequency converter and winding displacement servo-driver all link to each other with the output of controller; Described wire-arranging mechanism comprises the winding displacement guide rod and is positioned at cable guide pulley on the described winding displacement guide rod that described cable guide pulley moves at the winding displacement guide rod by winding displacement driven by servomotor interaction energy;
The corresponding coupling with the winding displacement servo-driver of described controller arranges, so that the winding displacement servomotor is in the given running status of pulse; The input of controller also with near switch links to each other, and describedly is positioned at winding displacement guide rod one side near switch, and can corresponding cooperation with cable guide pulley; The fixed point detection signal of exporting when controller can receive near switch and cable guide pulley corresponding matching, controller is according to the difference between the winding displacement umber of pulse default in described fixed point detection signal and the controller, regulate compensating controller to the winding displacement umber of pulse of winding displacement servomotor output, so that the winding displacement move distance of cable guide pulley on the winding displacement guide rod keeps stable.
Described controller connects board and operating desk.Described wire-drawing mechanism is by the wire drawing motor-driven, and described wire drawing motor drives control by the wire drawing frequency converter, and described wire drawing frequency converter links to each other with the output of controller.
Cooperate for feed screw nut between described cable guide pulley and winding displacement guide rod.
Advantage of the present invention: use servo-drive system to drive wire-arranging mechanism, reaction is fast, precision is high, has overcome the winding displacement position skew that wire-arranging mechanism causes because of machinery inertial; Utilize the complementary range method of addition, reduced initial point and detected the influence of disturbing; Each winding displacement oscillation cycle compensates distance and handles, winding displacement positional precision height, and the compensation real-time is good; By compensated distance, finally eliminate the site error of wire-arranging mechanism.
Description of drawings
Fig. 1 is the structured flowchart of site error device of the present invention.
Fig. 2 is the structural representation of wire-arranging mechanism of the present invention.
Description of reference numerals: 1-man-machine interface, 2-controller, 3-winding displacement servo-driver, 4-winding displacement servomotor, 5-wire-arranging mechanism, 6-rolling frequency converter, 7-winding motor, 8-rolling pulse module, 9-rolling-up mechanism, 10-wire-drawing mechanism, 11-wire drawing motor, 12-wire drawing frequency converter, 13-are near switch, 14-board and operating desk, 15-I-beam wheel, 16-winding displacement guide rod and 17-cable guide pulley.
The specific embodiment
The invention will be further described below in conjunction with concrete drawings and Examples.
As depicted in figs. 1 and 2: carry out accurate winding displacement in order to control water tank drawbench elimination winding displacement error, the present invention includes controller 2, described controller 2 adopts PLC (Programmable Logic Controller), be integrated with analog input unit, simulation output unit, digital input block, digital output unit in the described PLC, wherein digital input block has comprised the high-speed figure input, and digital output unit has comprised the high-speed figure output.Controller 2 links to each other with wire drawing frequency converter 12 and rolling frequency converter 6 respectively by analog output, drives the velocity of rotation of controlling wire drawing motor 11 by wire drawing frequency converter 12, and wire drawing motor 11 drives wire-drawing mechanisms 10 and obtains required silk thread.Controller 2 drives velocity of rotation and the duty of control winding motor 7 by rolling frequency converter 6, winding motor 7 drives rolling-up mechanism 9 and carries out rolling, rolling pulse module 8 is set on the rolling-up mechanism 9, and controller 2 receives the rolling pulse signal of rolling pulse module 8 outputs and receives volume mechanism by the high-speed figure input counts the long pulse signal accordingly.Controller 2 links to each other with winding displacement servo-driver 3 by the high-speed figure output, drives the 3 moving winding displacement servomotors 4 of regulating by the winding displacement servo-driver, and described winding displacement servomotor 4 drives wire-arranging mechanism 5 and carries out winding displacement.Described wire-arranging mechanism 5 comprises winding displacement guide rod 16, on the described winding displacement guide rod 16 cable guide pulley 17 is set, and described cable guide pulley 17 can be in 16 motions of winding displacement guide rod, 16 form routing motions by the feed screw nut of cable guide pulley 17 and winding displacement guide rod.Rolling-up mechanism 9 comprises I-beam wheel 15, and described I-beam wheel 15 is positioned at a side of winding displacement guide rod 16, and I-beam wheel 15 is exported rotation by winding motor 7; The silk thread that obtains by wire-drawing mechanism 10 leads the back rollings on I-beam wheel 15 by cable guide pulley 17.
The takeup tension detection signal of the tension variation situation of silk thread when simultaneously, controller 2 receives winding displacement by analog input end; Controller 2 links to each other with man-machine interface 1 by serial line interface, and described man-machine interface 1 is touch-screen, and serial line interface adopts the RS485 interface.In order to realize operated from a distance, controller logical 2 is crossed the numeral input, digital output end connects board and operating desk 14.
The speed of service of water tank drawbench is set by man-machine interface 1, the speed of wire-drawing mechanism 10 is that the given speed according to man-machine interface 1 obtains, the speed of rolling-up mechanism 9 then is to obtain behind the speed that combines wire-drawing mechanism 10, the takeup tension detection signal, makes rolling and drawing speed synchronous.Rolling pulse module 8 is rotary encoder, detects actual speed and the position of rolling I-beam wheel 15 by the rolling pulse signal of rotary encoder output, through converting, as the given signal of rotating speed and position of winding displacement servomotor 4; After driving 4 runnings of winding displacement motor, make cable guide pulley 17 follow the tracks of rolling speed and position operation with corresponding rule.
As mentioned above, the winding displacement speed of wire-arranging mechanism 5 and position control signal are to be determined by the high speed output output output signal of controller 2, concrete number of pulses and the frequency of output are then calculated according to the rolling pulse and according to corresponding by controller 2, and the site error removing method of wire-arranging mechanism 5 is parts of whole winding displacement speed and Position Control.
According to technological requirement, water tank drawbench can not stop from the process that operation begins to finish to whole wheel production, and also there is strict demand the winding displacement position, for this reason, must unify standard to winding displacement position and detection method thereof.
As shown in Figure 2, E is winding displacement servomotor 4, when winding displacement servomotor 4 drives 16 rotatings of winding displacement guide rods, cable guide pulley 16 (the lead-in wire point is D) respectively to the right, operation left.A point, C point position are respectively the winding displacement border, the origin position of B for setting.For the equipment of having made, the B point is fixing point, is pinpoint assurance, and I-beam wheel 15 width are certain, initial point B one timing, and then winding displacement boundary point A is also constant to the distance of initial point B to distance and the winding displacement boundary point C of initial point B.
In order to improve the winding displacement precision, also need to determine 3 points: one, install near switch 13 at initial point B, by detect from left to right operation near switch 13, namely detect initial point B, cable guide pulley 17 other position on winding displacement guide rod 16 all is to determine with the relative position of initial point B, when representing with coordinate figure, so initial point B also is pinpoint basis, winding displacement position; Two, wire-arranging mechanism 5 needs the servo-drive system driving that winding displacement servomotor 4 and winding displacement servo-driver 3 constitute, it is given that pulse is arranged in the operation of servo-drive system, because umber of pulse and winding displacement servomotor 4 and winding displacement distance have corresponding relation, winding displacement is serving as spool to set up position on the coordinate can directly send out the umber of pulse in controller 2 and read with winding displacement guide rod 16; Three, the impulse register of controller 2 is with the method operation of absolute value, make the strokes per minute in the register arteries and veins corresponding one by one with the winding displacement position, the register umber of pulse is that positive and negative value has been represented right side, the left side of cable guide pulley 17 at initial point B respectively, and namely the winding displacement distance also can be represented with umber of pulse with the winding displacement position.
Before the each run, cable guide pulley 17 must reset to initial point B, this moment, mechanical origin B was identical with 0 on coordinate, in running, the wire-arranging mechanism 5 of water tank drawbench has the position of initial point B in machinery only and determines, when later on cable guide pulley 17 arrives initial point B points, detect the numerical value of position in coordinate system and differ and be decided to be 0.When skew took place in the position of cable guide pulley 17 on winding displacement guide rod 16, then 0 on mechanical origin B and coordinate were inconsistent, and the error that mechanical origin B and coordinate are 0 is exactly the offset distance error, and eliminating described offset distance error is the pinpoint basic assurance of winding displacement.Because cable guide pulley 17 positions also can be represented with umber of pulse during winding displacement, thus cable guide pulley 17 when the initial point B point left side, its range pulse number is negative value, in the time of on the right of initial point B point, its range pulse number be on the occasion of.When cable guide pulley 17 moves on winding displacement guide rod 16 from left to right, when detecting cable guide pulley 17 arrival initial point B points near switch 13, record this moment cable guide pulley 17 coordinate figure--distance (or represent with umber of pulse), if the coordinate figure of cable guide pulley 17 in corresponding coordinate system is not 0, illustrate that cable guide pulley 17 at winding displacement guide rod 16 skew has taken place.
When skew has taken place at winding displacement guide rod 16 in cable guide pulley 17, in order to proofread and correct the range error that is offset, calibrate again to coordinate system 0 point position when method in the past often arrives initial point B point to cable guide pulley 17, moves to the left or to the right according to run signal and frontier distance again.Yet; interference phenomenon may appear in actual device; that is to say if cable guide pulley 17 not in initial point B point position; and produce signal near switch 13 owing to disturbing; then system just thinks that this point is the initial point signal by mistake; initial point will take place so seriously be offset, also may cause winding displacement out-of-bounds, shutdown, the product of having produced is all scrapped.
Certainly, in order to solve interference problem, the someone can adopt filtering method to solve, but the signal near switch 13 outputs is switching value, and the filter effect of switching value is poor, and can cause time-delay, produce delay time error, so filtering method does not solve the winding displacement offset problem well.
In order to solve position offset problem, the present invention adopts the compensated distance of method of addition to solve, at first before the equipment operation, search initial point B, this moment, this initial point B overlapped with 0 of coordinate system, and the winding displacement scope on the whole winding displacement guide rod 16 calibrated, because the impulse register umber of pulse of controller 2 can be corresponding one by one with the winding displacement position, the position of cable guide pulley 17 on foundation coordinate system can have been sent out to read the umber of pulse in controller 2 and obtain.The basic idea of compensated distance is: if a winding displacement is not offset, cable guide pulley 17 is undertaken by former mode with winding displacement guide rod 16; If two cable guide pulleys, 17 relative initial point B have been offset left, then need winding displacement border A point and winding displacement border C point are moved right; If three cable guide pulleys, 17 relative initial point B have been offset to the right, then need winding displacement border A point and winding displacement border C point are moved to the left.Whether the compensated distance method: detect initial point and be offset, adjust the compensated distance data of left side distance and rightmargin then, wherein, the distance that compensates (umber of pulse) increases and decreases one by one, so be called method of addition if being.Specific as follows:
A, when detecting cable guide pulley 17 near switch 13 and arrive, this moment, controller 2 interior record coordinate distances (umber of pulse) were 0 just, then illustrate by the preceding initial point B position consistency of the position of determining near switch 13 and cable guide pulley 17 corresponding matching and operation, not skew, cable guide pulley 17 and error distance (umber of pulse) the compensation operation of winding displacement guide rod 16 by former calculating.
B, when detecting cable guide pulley 17 near switch 13 and arrive, in this moment controller 2 record coordinate distances (umber of pulse) be on the occasion of, then illustrate by being offset left near the definite position of switch 13 and cable guide pulley 17 corresponding matching; Should increase distance (umber of pulse) compensation of right margin this moment, reduce distance (umber of pulse) compensation of left margin simultaneously;
C, when detecting cable guide pulley 17 near switch 13 and arrive, record coordinate distances (umber of pulse) be negative value in this moment controller 2, then illustrate by being offset to the right near the definite position of switch 13 and cable guide pulley 17 corresponding matching; Should reduce distance (umber of pulse) compensation of right margin this moment, increase distance (umber of pulse) compensation of left margin simultaneously.
The key of mentioned above principle is: the boundary position of one, determining and proofreaied and correct cable guide pulley 17 motions, as long as winding displacement border, left and right sides A point and winding displacement border C point do not have skew, then whole winding displacement scope does not just have skew, and each winding displacement oscillation cycle carries out a compensated distance processing, compensation real-time height; Two, because the distance that the left side increases or reduces reduces with the right or the distance of increase equates, so this method does not change whole winding displacement distance; Three, this complementary range is the concept of increment; For example, establishing former complementary range is 0.1mm, even this detected distance is 0 just, this complementary range is the same with last time so, still is 0.1mm.When detect coordinate distance on the occasion of, should increase the complementary range of right margin this moment, increases this complementary range, for example former complementary range is 0.1mm, this complementary range should be greater than 0.1mm, such as 0.2mm.
Particularly, because distance can represent with umber of pulse, so followingly directly set with umber of pulse.If winding displacement border A point is P to initial point B apart from the winding displacement umber of pulse of correspondence
LE, initial point B is P to the corresponding winding displacement umber of pulse of winding displacement border C point distance
RI, for unified coordinate, then the winding displacement umber of pulse in initial point B left position correspondence is negative value, the corresponding winding displacement umber of pulse in initial point B the right be on the occasion of, so P
LEBe negative value, P
RIFor on the occasion of.
Cause position skew owing to reasons such as machinery inertial, drive gap make wire-arranging mechanism 5 in running, then establishing the coordinate pulse value that winding displacement from left to right detects at initial point B point is Δ P
1
According to compensation principle, the contraposition offset moves and is compensated, and compensation method is described below.
Equipment allows the max value of error of winding displacement displacement to be ± Δ L
1M, corresponding winding displacement pulse value is Δ P
1M, each compensated pulse increment is Δ P
2, generally get Δ P
2=Δ P
1M/ 10, establishing and detecting the coordinate umber of pulse at initial point the K time is Δ P
PK, in the specific implementation, when-Δ P
2≤ Δ P
PK≤ Δ P
2, think that skew is very little, ignore, do not carry out new calculating.
As Δ P
PK＞Δ P
2The time, then
ΔP
2K＝ΔP
2(K-1)+ΔP
2 (1)
As Δ P
PK＜-Δ P
2The time, then
ΔP
2K＝ΔP
2(K-1)-ΔP
2 (2)
Δ P in the following formula
2KBe compensated distance amount (umber of pulse) that subscript K represents the K time.
Each winding displacement oscillation cycle is calibrated again to left margin and right margin position:
P
LEK＝P
LE(K-1)+ΔP
2K (3)
P
RIK＝P
RI(K-1)+ΔP
2K (4)
Following formula shows, P
LEK, P
RIKRepresent left margin and right margin range pulse number after this (the K time) compensates respectively, as Δ P
PK＞Δ P
2The time, illustrate that winding displacement position and last time (the K-1 time) are compared to be offset Δ P left
2For just, Δ P
2KCompared increase with last time, P
LE (K-1)Be negative value, the umber of pulse P of left margin
LEKAbsolute value reduces, the umber of pulse P of right margin
RIKIncrease.As Δ P
PK＜-Δ P
2The time, Δ P
2For just, Δ P
PKCompared minimizing with last time, the umber of pulse P of left margin
LEKAbsolute value increases, the umber of pulse P of right margin
RIKReduce.
According to formula (3) and formula (4), total winding displacement distance P
LEK+ P
RIK=P
LE (K-1)+ P
RI (K-1), namely calibrate again left margin and right margin position does not influence whole winding displacement distance, only influences the winding displacement position, that is to say, when skew takes place winding displacement, left margin and right margin are proofreaied and correct to the tram, and whole winding displacement is apart from there not being influence.
By above-mentioned compensation, under the normal condition, can make Δ P
PK＜2 Δ P
2Or Δ P
PK＞-2 Δ P
2Within the scope, as Δ P
PK＞Δ P
1MOr Δ P
PK＜-Δ P
1MThe time, generally only when the mechanical mechanism fault, just take place, answer fault alarm and shutdown this moment.
To sum up analyze describedly, can obtain the present invention and to the concrete steps of the site error removing method of water tank drawbench wire-arranging mechanism be:
A, described controller 2 arrange with winding displacement servo-driver 3 corresponding couplings, so that winding displacement servomotor 4 is in the given running status of pulse;
B, a side of winding displacement guide rod 16 install be used for fixed point detect cable guide pulley 17 positions near switch 13, describedly be positioned at optional position between winding displacement border, winding displacement guide rod 16 two ends near switch 13, and with on the winding displacement guide rod 16 be initial point B near the corresponding location definition of switch 13, winding displacement border correspondence position is respectively and is defined as winding displacement border A point and winding displacement border C point on the winding displacement guide rod 16, and will be connected to the input of controller 2 near switch 13;
Before c, the winding displacement operation, cable guide pulley 17 is reset to initial point B position corresponding on the winding displacement guide rod 16; Controller 2 is according to the default corresponding winding displacement umber of pulse of the distance of winding displacement border A point, winding displacement border C point and initial point B;
D, startup wire drawing winding displacement, controller 2 output winding displacement pulses make winding displacement servo-driver 3 drive winding displacement servomotors 4 and rotate that winding displacement servomotor 4 drives cable guide pulleys 17 and moves to corresponding winding displacement border from initial point B on winding displacement guide rod 16;
E, move from corresponding winding displacement border to initial point B when cable guide pulley 17, and when moving to initial point B correspondence position, near switch 13 input fixed point detection signals in the controller 2; Controller 2 is determined corresponding winding displacement umber of pulse in the controller 2 according to the fixed point detection signal;
F, when putting from the respective row line boundary in the winding displacement umber of pulse of determining by the fixed point detection signal in the controller 2 and the controller 2 when not matching to the winding displacement umber of pulse of presetting between initial point B, initial point B is adjusted and compensated to controller 2 to the winding displacement umber of pulse on another winding displacement border, keeps stable so that controller 2 drives cable guide pulleys 17 winding displacement move distance on winding displacement guide rod 16 by winding displacement servomotor 4;
When putting from the respective row line boundary in the winding displacement umber of pulse of determining by the fixed point detection signal in the controller 2 and the controller 2 when not matching to the winding displacement umber of pulse of presetting between initial point B, controller 2 is adjusted and the winding displacement umber of pulse of compensation from initial point B to another winding displacement border, the winding displacement umber of pulse of described adjustment compensation be complementary corresponding by the definite winding displacement umber of pulse of fixed point detection signal and difference between default winding displacement umber of pulse; Be the winding displacement umber of pulse determined by the fixed point detection signal in the controller 2 with controller 2 in when not matching from respective row line boundary point to winding displacement umber of pulse default between initial point B, the corresponding umber of pulse of corresponding unmatched distance value be the distance value (or umber of pulse of correspondence) that the needs from initial point B to another winding displacement border compensate;
G, controller 2 are according to current winding displacement umber of pulse from the winding displacement border to initial point B, and adjust the winding displacement umber of pulse of compensation back from initial point B to another winding displacement border and adjust corresponding default winding displacement umber of pulse in the update controller 2, and according to adjusting the rotation of upgrading the corresponding winding displacement umber of pulse driving in back winding displacement servomotor 4, to drive cable guide pulley 17 winding displacement motion on winding displacement guide rod 16, finish until the winding displacement process by wire-arranging mechanism 5.
The present invention uses servo-drive system to drive wire-arranging mechanism 5, and reaction is fast, precision is high, has overcome the winding displacement position skew that wire-arranging mechanism 5 causes because of machinery inertial; Utilize the complementary range method of addition, reduced initial point and detected the influence of disturbing; Each winding displacement oscillation cycle compensates distance and handles, winding displacement positional precision height, and the compensation real-time is good; By compensated distance, finally eliminate the site error of wire-arranging mechanism.
Claims (10)
1. the site error removing method of a water tank drawbench wire-arranging mechanism, comprise wire-arranging mechanism (5), rolling-up mechanism (9) and wire-drawing mechanism (10), described wire-drawing mechanism (5) is driven by winding displacement servomotor (4), and described winding displacement servomotor (4) is driven by winding displacement servo-driver (3); Described rolling-up mechanism (9) is driven by winding motor (7), and winding motor (7) drives control by rolling frequency converter (6), and rolling frequency converter (6) and winding displacement servo-driver (3) all link to each other with the output of controller (2); Described wire-arranging mechanism (5) comprises winding displacement guide rod (16) and is positioned at cable guide pulley (17) on the described winding displacement guide rod (16) that described cable guide pulley (17) drives interaction energy by winding displacement servomotor (4) and moves at winding displacement guide rod (16); It is characterized in that described winding displacement site error removing method comprises the steps:
(a), the corresponding coupling with winding displacement servo-driver (3) of described controller (2) arranges, so that winding displacement servomotor (4) is in the given running status of pulse;
(b), a side of winding displacement guide rod (16) install be used for fixed point detect cable guide pulley (17) position near switch (13), describedly be positioned at optional position between winding displacement border, winding displacement guide rod (16) two ends near switch (13), and winding displacement guide rod (16) gone up and be initial point B near the corresponding location definition of switch (13), the last winding displacement border of winding displacement guide rod (16) correspondence position is respectively and is defined as winding displacement border A point and winding displacement border C point, and will be connected to the input of controller (2) near switch (13);
(c), before the winding displacement operation, cable guide pulley (17) is reset to winding displacement guide rod (16) go up corresponding initial point B position; Controller (2) is according to the default corresponding winding displacement umber of pulse of the distance of winding displacement border A point, winding displacement border C point and initial point B;
(d), start the wire drawing winding displacement, the pulse of controller (2) output winding displacement, make winding displacement servo-driver (3) drive winding displacement servomotor (4) and rotate that winding displacement servomotor (4) drives cable guide pulley (17) and upward moves to corresponding winding displacement border from initial point B at winding displacement guide rod (16);
(e), move from corresponding winding displacement border to initial point B when cable guide pulley (17), and when moving to initial point B correspondence position, near switch (13) input fixed point detection signal in the controller (2); Controller (2) is determined corresponding winding displacement umber of pulse in the controller (2) according to the fixed point detection signal;
(f), when putting from the respective row line boundary in the winding displacement umber of pulse of determining by the fixed point detection signal in the controller (2) and the controller (2) when not matching to the winding displacement umber of pulse of presetting between initial point B, initial point B is adjusted and compensated to controller (2) to the winding displacement umber of pulse on another winding displacement border, keeps stablizing so that controller (2) is gone up the winding displacement move distance by winding displacement servomotor (4) driving cable guide pulley (17) at winding displacement guide rod (16);
(g), controller (2) is according to current winding displacement umber of pulse from the winding displacement border to initial point B, and adjust the winding displacement umber of pulse of compensation back from initial point B to another winding displacement border and adjust corresponding default winding displacement umber of pulse in the update controller (2), and according to adjusting the rotation of upgrading the corresponding winding displacement umber of pulse driving winding displacement servomotor in back (4), go up the winding displacement motion to drive cable guide pulley (17) at winding displacement guide rod (16), finish until the winding displacement process by wire-arranging mechanism (5).
2. the site error removing method of water tank drawbench wire-arranging mechanism according to claim 1, it is characterized in that: in the described step (f), when putting from the respective row line boundary in the winding displacement umber of pulse of determining by the fixed point detection signal in the controller (2) and the controller (2) when not matching to the winding displacement umber of pulse of presetting between initial point B, controller (2) is adjusted and the winding displacement umber of pulse of compensation from initial point B to another winding displacement border, the winding displacement umber of pulse of adjusting compensation be complementary corresponding by the definite winding displacement umber of pulse of fixed point detection signal and difference between default winding displacement umber of pulse.
3. the site error removing method of water tank drawbench wire-arranging mechanism according to claim 1, it is characterized in that: described rolling-up mechanism (9) comprises I-beam wheel (15), described I-beam wheel (15) is provided with rolling pulse module (8), and described rolling pulse module (8) links to each other with controller (2).
4. the site error removing method of water tank drawbench wire-arranging mechanism according to claim 3, it is characterized in that: described rolling pulse module (8) is rotary encoder.
5. the site error removing method of water tank drawbench wire-arranging mechanism according to claim 1, it is characterized in that: described controller (2) is PLC.
6. the site error removing method of water tank drawbench wire-arranging mechanism according to claim 1 is characterized in that: described controller (2) links to each other with man-machine interface (1) by serial line interface RS485.
7. the site error cancellation element of a water tank drawbench wire-arranging mechanism, comprise wire-arranging mechanism (5), rolling-up mechanism (9) and wire-drawing mechanism (10), described wire-drawing mechanism (5) is driven by winding displacement servomotor (4), and described winding displacement servomotor (4) is driven by winding displacement servo-driver (3); Described rolling-up mechanism (9) is driven by winding motor (7), and winding motor (7) drives control by rolling frequency converter (6), and rolling frequency converter (6) and winding displacement servo-driver (3) all link to each other with the output of controller (2); Described wire-arranging mechanism (5) comprises winding displacement guide rod (16) and is positioned at cable guide pulley (17) on the described winding displacement guide rod (16) that described cable guide pulley (17) drives interaction energy by winding displacement servomotor (4) and moves at winding displacement guide rod (16); It is characterized in that:
The corresponding coupling with winding displacement servo-driver (3) of described controller (2) arranges, so that winding displacement servomotor (4) is in the given running status of pulse; The input of controller (2) also with near switch (13) links to each other, and describedly is positioned at winding displacement guide rod (16) one sides near switch (13), and can with the corresponding cooperation of cable guide pulley (17); The fixed point detection signal of exporting when controller (2) can receive near switch (13) and cable guide pulley (17) corresponding matching, controller (2) is according to the difference between the winding displacement umber of pulse default in described fixed point detection signal and the controller (2), regulate compensating controller (2) to the winding displacement umber of pulse of winding displacement servomotor (4) output, so that the winding displacement move distance of cable guide pulley (17) on winding displacement guide rod (16) keeps stable.
8. the site error cancellation element of water tank drawbench wire-arranging mechanism according to claim 7 is characterized in that: described controller (2) connection board and operating desk.
9. the site error cancellation element of water tank drawbench wire-arranging mechanism according to claim 7, it is characterized in that: described wire-drawing mechanism (10) is driven by wire drawing motor (11), described wire drawing motor (11) drives control by wire drawing frequency converter (12), and described wire drawing frequency converter (12) links to each other with the output of controller (2).
10. the site error cancellation element of water tank drawbench wire-arranging mechanism according to claim 7 is characterized in that: cooperate for feed screw nut between described cable guide pulley (17) and winding displacement guide rod (16).
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| CN 201210036030 CN102553968B (en) | 2012-02-17 | 2012-02-17 | Position error eliminating method and device of wire arrangement mechanism of water tank wire drawing machine |
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| CN 201210036030 CN102553968B (en) | 2012-02-17 | 2012-02-17 | Position error eliminating method and device of wire arrangement mechanism of water tank wire drawing machine |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105436239B (en) * | 2015-11-18 | 2018-09-25 | 深圳市英威腾电气股份有限公司 | The automatic change of lap control system and its method and coil diameter computational methods of double frequency conversion wire drawing machinees |
| CN105478526B (en) * | 2015-12-18 | 2017-09-05 | 武汉同力智能系统股份有限公司 | Method of the water tank drawbench based on proximity switch solid matter extra thin steel wire |
| CN106607464B (en) * | 2017-01-12 | 2018-09-14 | 江苏兴达钢帘线股份有限公司 | Wire-drawing machine winding position automatic regulating apparatus and method |
| CN109343407B (en) * | 2018-10-26 | 2021-05-04 | 苏州安驰控制系统有限公司 | Control method of wire drawing machine, drive control system and related device |
| CN109396202B (en) * | 2018-10-26 | 2021-07-13 | 苏州安驰控制系统有限公司 | Method and device for controlling wire take-up of wire drawing machine and storage medium |
| CN109226296B (en) * | 2018-10-26 | 2021-08-10 | 苏州安驰控制系统有限公司 | Wire arrangement control method and device for wire drawing machine and storage medium |
| CN109761101A (en) * | 2019-01-11 | 2019-05-17 | 珠海蓉胜超微线材有限公司 | A kind of method of automatic winding displacement, drive control apparatus and computer readable storage medium |
| CN110586675A (en) * | 2019-10-14 | 2019-12-20 | 格力电工（眉山）有限公司 | Wire drawing equipment and control circuit thereof |
| CN113120686A (en) * | 2021-04-23 | 2021-07-16 | 江苏兴达钢帘线股份有限公司 | Control method and device for preventing disordered wire arrangement of wire rewinding machine |
| CN113909318B (en) * | 2021-10-09 | 2024-01-30 | 江苏和亿智能科技有限公司 | Bus line compensation process method |
| CN115193933A (en) * | 2022-07-07 | 2022-10-18 | 上海精泰技术有限公司 | Wire drawing machine wire winding and arranging control method and device and related equipment |
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| CH546201A (en) * | 1971-12-23 | 1974-02-28 | Maillefer Sa | CONTROL DEVICE FOR THE TRANSFER OPERATION IN A DOUBLE WINDOW. |
| JPS5822265A (en) * | 1981-07-28 | 1983-02-09 | Fujikura Ltd | Method for winding wires in tidiness |
| US4485978A (en) * | 1983-12-19 | 1984-12-04 | Essex Group, Inc. | Method and apparatus for winding strand upon spools having tapered end flanges |
| JP3744357B2 (en) * | 2001-01-11 | 2006-02-08 | 日立電線株式会社 | Wire rod alignment winding method and apparatus |
| JP3687618B2 (en) * | 2002-03-18 | 2005-08-24 | 村田機械株式会社 | Yarn winding machine |
| CN1978300A (en) * | 2005-11-30 | 2007-06-13 | 台达电子工业股份有限公司 | Servo driving special machine with high-speed winding function |
| CN102172669B (en) * | 2011-03-14 | 2013-06-05 | 江苏恒力组合机床有限公司 | Self-compensating servo wiring device for water tank type wire drawing machine |
| CN202490832U (en) * | 2012-02-17 | 2012-10-17 | 无锡市常欣软件科技有限公司 | Position error eliminating device of winding displacement mechanism of water tank drawbench |
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