CN104512093A - Method for automatically acquiring initial reeling and unreeling radius of reel material printing equipment - Google Patents

Method for automatically acquiring initial reeling and unreeling radius of reel material printing equipment Download PDF

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Publication number
CN104512093A
CN104512093A CN201410810806.7A CN201410810806A CN104512093A CN 104512093 A CN104512093 A CN 104512093A CN 201410810806 A CN201410810806 A CN 201410810806A CN 104512093 A CN104512093 A CN 104512093A
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unit
material strip
rolling
servomotor
unreel
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CN104512093B (en
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刘善慧
马利娥
刘琳琳
陈一军
刘定强
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Xian University of Technology
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Xian University of Technology
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Abstract

The invention discloses a method for automatically acquiring initial reeling and unreeling radius of reel material printing equipment. The method for automatically acquiring the initial reeling and unreeling radius of the reel material printing equipment includes that feeding manually, guaranteeing that there is no material belt redundancy between an unreeling traction unit, an n-color printing unit and a reeling traction unit, eliminating the material belt redundancy of the unreeling region and the reeling region, emptying encoder values of servo motors of each unit, forwardly rotating the servo motor of the unreeling unit by one circle, recording the encoder value thereof, re-eliminating the material belt redundancy of the unreeling region and the reeling region, respectively recording the encoder values of the servo motor of the unreeling traction unit and the servo motor of the unreeling unit, and calculating the initial radius of an unreeling and reeling roller according to a material belt length conservation principle. The method for automatically acquiring the initial reeling and unreeling radius of the reel material printing equipment solves the problems of low efficiency and obvious error of a direct measurement method, improves the equipment control precision, and improves the automatic degree and production efficiency of the equipment.

Description

A kind of method of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium
Technical field
The invention belongs to wound roll material printing equipment automatic control technology field, be specifically related to a kind of method of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium.
Background technology
At present, by the kind of drive of wound roll material unit type printing equipment, printing equipment can be divided into mechanical long shaft transmission printing equipment and non-axis transmission printing equipment two class.In mechanical major axis printing equipment, each printing unit power resources are in main motor, by a mechanical major axis, then by mechanical mechanisms such as bent axle, gear, cam, ratchet, belt pulley, crank connecting links power transmission to various piece, and ensure the synchronized movement of each unit with this.But, under mechanical long shaft transmission mode, drive system there is limited precision and lack flexible, the property turned round interference can along with mechanical major axis transmission, power to mix in transmission point damage mistake, train unit cannot be debugged separately, mechanical wear causes the shortcomings such as precise decreasing.
Along with the fast development of servo-drive system and field bus technique, the shaft-less drive technology utilizing servomotor to substitute traditional mechanical major axis is extremely widely used in high speed set type printing equipment.Non-axis transmission also claims electric axis driving, and referring to and replace intermediate mechanical transmission device by motor, directly for load provides a kind of kind of drive of power, its system nature is a servo-drive system.Contrast mechanical long shaft transmission can find, the each print couple of independent driven by servomotor applied by non-axis transmission printing equipment, control system inside produces a virtual electronical line shaft, carried out reliable exchange and the high speed communication of data by bus between each servo-driver, to ensure phase place (plate cylinder phase place) stringent synchronization of each servomotor, and follow this virtual electronic axle run-in synchronism, realize the function of mechanical major axis.Each unit power drive of non-axis transmission is separate, respectively by each independently motor drive according to programmed instruction, to meet specific running speed, running accuracy and typography requirement.
Unreeling the initial radium with rolling cylinder, is the important parameter of wound roll material unit type printing equipment, is directly connected to stability and the accuracy of tension control system, thus affects printing quality and production efficiency.But, through our Practice Survey, no matter under mechanical long shaft transmission mode, or under non-axis transmission mode, wound roll material unit type printing apparatus control system all fails to realize automatically asking for the initial radium unreeled with rolling cylinder, and the method still by traditional direct measurement obtains.The direct method of measurement reduces production efficiency on the one hand, there is obvious measure error on the other hand, is the major issue that restriction wound roll material unit type printing automation degree of equipment promotes and control accuracy improves.
Summary of the invention
The object of the present invention is to provide a kind of method of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium, solve the low and obvious problem of error of efficiency that the direct method of measurement exists.
The technical solution adopted in the present invention is: a kind of method of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium, based on non-axis transmission wound roll material unit type printing equipment, first carry out craft to wear and expect and guarantee to unreel traction link seat, between n look printing unit and rolling traction link seat, material strip is irredundant, eliminate the redundancy unreeling region and rolling region material strip, then each unit encoder for servo motor value is emptied, rotate forward one week by unreeling unit servomotor and again eliminate the redundancy unreeling region and rolling region material strip after recording its encoder values again, and record unreels traction link seat servomotor and unreels the encoder values of unit servomotor respectively, calculate according to material strip length conservation principle and unreel, rolling cylinder initial radium.
Specifically comprise the following steps:
Step 1: carry out craft and wear material, guarantee to unreel traction link seat, between n look printing unit and rolling traction link seat, material strip is tensioned, namely material strip is irredundant;
Step 2: the elimination unreeling region material strip redundancy
Setting unreels region material strip tension value F f, the servomotor that order unreels unit oppositely slowly rotates, until the material strip tension force that the first pendulum roller collects reaches F ftime stop servomotor rotate, now unreel region material strip redundant length and be eliminated, material strip is in tensioning state;
Step 3: the elimination of rolling region material strip redundancy
Setting rolling region material strip tension value F s, make the servomotor forward of rolling unit slowly rotate, until the material strip tension force that the second pendulum roller collects reaches F stime stop servomotor rotate, now rolling region material strip redundant length is eliminated, and material strip is in tensioning state;
Step 4: the encoder values resetting each unit servomotor;
Step 5: unreel unit servomotor and rotate forward one week
Order unreels unit servomotor and rotates forward one week, and the servomotor of other each units keeps motionless, reads and stores the encoder values M now unreeling unit servomotor f, now, unreel region material strip and be in relaxed state, be i.e. redundant state;
Step 6: unreel region material strip and again eliminate redundancy
Servomotor, the n look printing servomotor of unit and the servomotor forward of rolling traction link seat unreeling traction link seat is made synchronously slowly to rotate, until unreel region material strip tension force again reach F fsetting value, now, unreel region material strip and be again tightened up, read and store the encoder values M unreeling traction link seat servomotor q;
Step 7: rolling region material strip eliminates redundancy again
In order to make rolling region material strip again be tensioned, the servomotor of rolling unit is made to rotate forward, until rolling region material strip tension force reaches F again ssetting value, now, rolling region material strip is tightened up again, reads and stores the encoder values M of the servomotor of rolling unit s;
Step 8: calculating unreels, rolling cylinder initial radium
Because unreel the driven roller radius R of traction link seat qfor constant, so, if unreel traction link seat servomotor its encoder feedback value that rotates a circle to be designated as B q, then the material strip length L passed by traction link seat servomotor rotation process is unreeled qfor:
L q = 2 π R q M q B q - - - ( 1 )
For unreeling cylinder, the material strip length of release of just circling is and unreels cylinder circumference, if unreel cylinder initial radium to be designated as R f, then cylinder release material strip length L is unreeled ffor:
L f＝2πR f(2)
Note rolling cylinder initial radium is R s, the rotate a circle value of feedback of its encoder of rolling unit servomotor is B s, then the material strip length L that packs up of rolling cylinder sfor:
L s = 2 π R s M s B s - - - ( 3 )
Because material strip length conservation, namely has L q=L f=L s, so simultaneous formula (1), (2) and (3) are unreeled, rolling cylinder initial radium expression formula is as follows:
R f = R q M q B q R s = R q M q B s B q M s - - - ( 4 )
From formula (4), only the encoder values M unreeling traction link seat servomotor need be obtained qand the encoder values M of rolling unit servomotor s, namely can calculate and unreel cylinder initial radium R fwith rolling cylinder initial radium R s.
Feature of the present invention is also,
Region material strip tension value F is unreeled in step 2 fbe 50 ~ 100N.
Material strip tension value F in rolling region in step 3 sbe 50 ~ 100N.
In step 4 each unit comprise unreel unit, unreel traction link seat, the printing of n look unit, rolling traction link seat and rolling unit.
Non-axis transmission wound roll material unit type printing equipment comprise by material strip connect successively unreel unit, unreel traction link seat, the printing of n look unit, rolling traction link seat and rolling unit, unreel unit, unreel traction link seat, n look printing unit, rolling traction link seat be connected servomotor respectively with the driven roller of rolling unit.
Unreel unit and unreel between traction link seat and be provided with the first pendulum roller, the second pendulum roller is provided with between rolling traction link seat and rolling unit, unreel traction link seat and n look to print between unit and be provided with the first tension pick-up, between n look printing unit and rolling traction link seat, be provided with the second tension pick-up.
N look printing unit is made up of n printing unit, along the material strip direction of motion front 2 printing units between be provided with drying system, be provided with photoelectric sensor and drying system between all the other each adjacent printing units, between n look printing unit and the second tension pick-up, be also provided with photoelectric sensor and drying system.
The invention has the beneficial effects as follows: the method for a kind of automatic acquisition wound roll material of the present invention printing equipment unwinding and rewinding initial radium, the run location of servomotor can be real-time collect control system by encoder, so the displacement of material strip with motor removing can be asked for very accurately, thus calculate according to material strip conserva-tion principle unreel, the initial radium of rolling cylinder, solve the low and obvious problem of error of efficiency that the direct method of measurement exists, improve equipment control accuracy, improve automation degree of equipment and production efficiency simultaneously.
Accompanying drawing explanation
Fig. 1 is the structural representation of non-axis transmission wound roll material unit type printing equipment;
Fig. 2 is the method flow diagram of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium of the present invention.
In figure, 1. unreel unit, 2. unreel traction link seat, the printing of 3.n look unit, 4. rolling traction link seat, 5. rolling unit, 6. the first pendulum roller, 7. the second pendulum roller, 8. the first tension pick-up, 9. the second tension pick-up, 10. servomotor, 11. photoelectric sensors, 12. drying systems.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The method of a kind of automatic acquisition wound roll material of the present invention printing equipment unwinding and rewinding initial radium, based on non-axis transmission wound roll material unit type printing equipment, as shown in Figure 1, by machine component comprise connected successively by material strip unreel unit 1, unreel traction link seat 2, n look printing unit 3, rolling traction link seat 4 and rolling unit 5, unreel unit 1, unreel traction link seat 2, n look printing unit 3, the driven roller of rolling traction link seat 4 and rolling unit 5 is connected to servomotor 10, namely driven roller is by servomotor Direct driver, unreel unit 1 and unreel between traction link seat 2 and be provided with the first pendulum roller 6, the second pendulum roller 7 is provided with between rolling traction link seat 4 and rolling unit 5, unreel traction link seat 2 and n look to print between unit 3 and be provided with the first tension pick-up 8, the second tension pick-up 9 is provided with between n look printing unit 3 and rolling traction link seat 4, n look printing unit 3 is made up of n printing unit, along the material strip direction of motion front 2 printing units between be provided with drying system 12, be provided with photoelectric sensor 11 between all the other each adjacent printing units and be also provided with photoelectric sensor 11 and drying system 12 between drying system 12, n look printing unit 3 and the second tension pick-up 9.
By material strip region divide comprise unreel region, unreel traction region, n look printing zone, rolling traction region and rolling region, and unreel, unreel traction, the material strip tension force in rolling and rolling traction region all can by putting roller or tension pick-up be adopted.Run location due to servomotor can be real-time collect control system by encoder, so can ask for the displacement of material strip with motor removing very accurately, this is just for automatic acquisition wound roll material unit type printing equipment retractable volume initial radium provides theoretical foundation.
As shown in Figure 2, specifically comprise the following steps:
Step 1: carry out craft and wear material, guarantee to unreel traction link seat 2, between n look printing unit 3 and rolling traction link seat 4, material strip is tensioned, namely material strip is irredundant;
Step 2: the elimination unreeling region material strip redundancy
Setting unreels region material strip tension value F fbe 50 ~ 100N, the servomotor that order unreels unit 1 oppositely slowly rotates, until the material strip tension force that the first pendulum roller 6 collects reaches F ftime stop servomotor rotate, now unreel region material strip redundant length and be eliminated, material strip is in tensioning state; Specify all servomotor linear velocities along print direction for rotating forward, inverse print direction rotates as rotating backward;
Unreeling region, to relate to mechanism numerous, as unreeling structure, deviation correction mechanism, connect refueling agency, pendulum roller mechanism etc., material strip tension force setting value F ftoo little, can make to unreel material strip in each mechanism of district and, not by real tensioning, namely not eliminate redundancy completely, and material strip tension force setting value F ftoo large, easily cause material strip plastic deformation again, even break material strip, consider F fbe set as 50 ~ 100N.
Step 3: the elimination of rolling region material strip redundancy
Similar with step 2, setting rolling region material strip tension value F sbe 50 ~ 100N, make the servomotor forward of rolling unit 5 slowly rotate, until the material strip tension force that the second pendulum roller 7 collects reaches F stime stop servomotor rotate, now rolling region material strip redundant length is eliminated, and material strip is in tensioning state;
With to unreel region similar, it is also more that rolling region relates to mechanism, material strip tension force setting value F stoo little, material strip to be made to unreel in each mechanism of district not by real tensioning, and material strip tension force setting value F stoo large, easily cause material strip plastic deformation again, even break material strip, consider F salso 50 ~ 100N is set as.
Step 4: after completing steps 1,2,3, then be tensioned from unreeling each section of material strip unit 1 to rolling unit 5, there is not material strip redundancy, now, reset respectively unreel unit 1, unreel traction link seat 2, the encoder values of the servomotor of the printing of n look unit 3, rolling traction link seat 4 and rolling unit 5;
Step 5: unreel unit servomotor and rotate forward one week
Order unreels unit 1 servomotor and rotates forward one week, and the servomotor of other each units keeps motionless, reads and stores the encoder values M now unreeling unit 1 servomotor f, now, unreel region material strip and be in relaxed state, be i.e. redundant state;
Step 6: unreel region material strip and again eliminate redundancy
After the servomotor unreeling unit 1 just circles, in order to make to unreel region material strip retighten, servomotor, the n look printing servomotor of unit 3 and the servomotor forward of rolling traction link seat 4 unreeling traction link seat 2 is made synchronously slowly to rotate, until unreel region material strip tension force again reach F fsetting value, now, unreel region material strip and be again tightened up, read and store the encoder values M unreeling traction link seat 2 servomotor q;
Step 7: rolling region material strip eliminates redundancy again
Unreel region material be again tightened up after, rolling region material strip is in relaxation state.Equally, in order to make rolling region material strip again be tensioned, the servomotor of rolling unit 5 is made to rotate forward, until rolling region material strip tension force reaches F again ssetting value, now, rolling region material strip is tightened up again, reads and stores the encoder values M of the servomotor of rolling unit 5 s;
Step 8: calculating unreels, rolling cylinder initial radium
Because unreel the driven roller radius R of traction link seat 2 qfor constant, so, if unreel traction link seat 2 servomotor its encoder feedback value that rotates a circle to be designated as B q, then the material strip length L passed by traction link seat 2 servomotor rotation process is unreeled qfor:
L q = 2 π R q M q B q - - - ( 1 )
For unreeling cylinder, the material strip length of release of just circling is and unreels cylinder circumference, if unreel cylinder initial radium to be designated as R f, then cylinder release material strip length L is unreeled ffor:
L f＝2πR f(2)
Note rolling cylinder initial radium is R s, the rotate a circle value of feedback of its encoder of rolling unit 5 servomotor is B s, then the material strip length L that packs up of rolling cylinder sfor:
L s = 2 π R s M s B s - - - ( 3 )
In whole process, the error brought due to sensor parts Light deformation is very little, and ignores the impact that material strip thickness brings, then can think in the process of step 5 ~ 7, unreels the material strip length L of cylinder release f, unreel the material strip length L passed by the servomotor rotation process of traction link seat 2 qwith the material strip length L that rolling cylinder is packed up sthree is equal, and namely material strip length conservation, is expressed as L q=L f=L s, so simultaneous formula (1), (2) and (3) are unreeled, rolling cylinder initial radium expression formula is as follows:
R f = R q M q B q R s = R q M q B s B q M s - - - ( 4 )
From formula (4), only the encoder values M unreeling traction link seat 2 servomotor need be obtained qand the encoder values M of rolling unit 5 servomotor s, namely can calculate and unreel cylinder initial radium R fwith rolling cylinder initial radium R s.
Embodiment
Suppose that all unit encoder for servo motors are 17 encoders, namely servomotor rotate a circle encoder export pulse number be 2 17=131072 pulses, so B s=B q=B f=131072; Unreel the driven roller radius R of traction link seat 2 q=100mm.
If behind experience above-mentioned steps (1) ~ (7), the encoder values M unreeling traction link seat 2 servomotor of reading qwith the encoder values M of the servomotor of rolling unit 5 sbe respectively 1022261 and 801465, then can obtain according to formula (4):
Unreeling cylinder initial radium is:
R f = R q M q B q = 100 × 1022261 131072 ≈ 779.92 ( mm )
Rolling cylinder initial radium is:
R s = R q M q B s B q M s = 100 × 1022261 × 131082 131082 × 801465 ≈ 127.55 ( mm )
The invention has the beneficial effects as follows to achieve and non-axis transmission wound roll material unit type printing equipment unreeled and the automatic acquisition of initial radium of rolling cylinder, improve automation degree of equipment and production efficiency.

Claims (8)

1. the method for an automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium, it is characterized in that, based on non-axis transmission wound roll material unit type printing equipment, first carry out craft to wear and expect and guarantee to unreel traction link seat, between n look printing unit and rolling traction link seat, material strip is irredundant, eliminate the redundancy unreeling region and rolling region material strip, then each unit encoder for servo motor value is emptied, rotate forward one week by unreeling unit servomotor and again eliminate the redundancy unreeling region and rolling region material strip after recording its encoder values again, and record unreels traction link seat servomotor and unreels the encoder values of unit servomotor respectively, calculate according to material strip length conservation principle and unreel, rolling cylinder initial radium.
2. the method for a kind of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium as claimed in claim 1, is characterized in that, specifically comprise the following steps:
Step 1: carry out craft and wear material, guarantee to unreel traction link seat (2), between n look printing unit (3) and rolling traction link seat (4), material strip is tensioned, namely material strip is irredundant;
Step 2: the elimination unreeling region material strip redundancy
Setting unreels region material strip tension value F f, the servomotor that order unreels unit (1) oppositely slowly rotates, until the material strip tension force that the first pendulum roller (6) collects reaches F ftime stop servomotor rotate, now unreel region material strip redundant length and be eliminated, material strip is in tensioning state;
Step 3: the elimination of rolling region material strip redundancy
Setting rolling region material strip tension value F s, make the servomotor forward of rolling unit (5) slowly rotate, until the material strip tension force that the second pendulum roller (7) collects reaches F stime stop servomotor rotate, now rolling region material strip redundant length is eliminated, and material strip is in tensioning state;
Step 4: the encoder values resetting each unit servomotor;
Step 5: unreel unit servomotor and rotate forward one week
Order unreels unit (1) servomotor and rotates forward one week, and the servomotor of other each units keeps motionless, reads and stores the encoder values M now unreeling unit (1) servomotor f, now, unreel region material strip and be in relaxed state, be i.e. redundant state;
Step 6: unreel region material strip and again eliminate redundancy
Servomotor, the servomotor of n look printing unit (3) and the servomotor forward of rolling traction link seat (4) unreeling traction link seat (2) is made synchronously slowly to rotate, until unreel region material strip tension force again reach F fsetting value, now, unreel region material strip and be again tightened up, read and store the encoder values M unreeling traction link seat (2) servomotor q;
Step 7: rolling region material strip eliminates redundancy again
In order to make rolling region material strip again be tensioned, the servomotor of rolling unit (5) is made to rotate forward, until rolling region material strip tension force reaches F again ssetting value, now, rolling region material strip is tightened up again, reads and stores the encoder values M of the servomotor of rolling unit (5) s;
Step 8: calculating unreels, rolling cylinder initial radium
Because unreel the driven roller radius R of traction link seat (2) qfor constant, so, if unreel traction link seat (2) servomotor its encoder feedback value that rotates a circle to be designated as B q, then the material strip length L passed by traction link seat (2) servomotor rotation process is unreeled qfor:
L q = 2 π R q M q B q - - - ( 1 )
For unreeling cylinder, the material strip length of release of just circling is and unreels cylinder circumference, if unreel cylinder initial radium to be designated as R f, then cylinder release material strip length L is unreeled ffor:
L f＝2πR f(2)
Note rolling cylinder initial radium is R s, the rotate a circle value of feedback of its encoder of rolling unit (5) servomotor is B s, then the material strip length L that packs up of rolling cylinder sfor:
L s = 2 π R s M s B s - - - ( 3 )
Because material strip length conservation, namely has L q=L f=L s, so simultaneous formula (1), (2) and (3) are unreeled, rolling cylinder initial radium expression formula is as follows:
B f = R q M q B q R s = R q M q B s B q M s - - - ( 4 )
From formula (4), only the encoder values M unreeling traction link seat (2) servomotor need be obtained qand the encoder values M of rolling unit (5) servomotor s, namely can calculate and unreel cylinder initial radium R fwith rolling cylinder initial radium R s.
3. the method for a kind of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium as claimed in claim 2, is characterized in that, unreel region material strip tension value F in described step 2 fbe 50 ~ 100N.
4. the method for a kind of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium as claimed in claim 2, is characterized in that, material strip tension value F in rolling region in described step 3 sbe 50 ~ 100N.
5. the method for a kind of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium as claimed in claim 2, it is characterized in that, in described step 4 each unit comprise unreel unit (1), unreel traction link seat (2), n look printing unit (3), rolling traction link seat (4) and rolling unit (5).
6. the method for a kind of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium as claimed in claim 1, it is characterized in that, described non-axis transmission wound roll material unit type printing equipment comprise connected successively by material strip unreel unit (1), unreel traction link seat (2), n look printing unit (3), rolling traction link seat (4) and rolling unit (5), describedly unreel unit (1), unreel traction link seat (2), n look printing unit (3), rolling traction link seat (4) is connected servomotor (10) respectively with the driven roller of rolling unit (5).
7. the method for a kind of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium as claimed in claim 6, it is characterized in that, described unreel unit (1) and unreel between traction link seat (2) be provided with the first pendulum roller (6), the second pendulum roller (7) is provided with between described rolling traction link seat (4) and rolling unit (5), described traction link seat (2) and the n look of unreeling prints between unit (3) and is provided with the first tension pick-up (8), the second tension pick-up (9) is provided with between described n look printing unit (3) and rolling traction link seat (4).
8. the method for a kind of automatic acquisition wound roll material printing equipment unwinding and rewinding initial radium as claimed in claims 6 or 7, it is characterized in that, described n look printing unit (3) is made up of n printing unit, along the material strip direction of motion front 2 printing units between be provided with drying system (12), be provided with photoelectric sensor (11) and drying system (12) between all the other each adjacent printing units, between n look printing unit (3) and the second tension pick-up (9), be also provided with photoelectric sensor (11) and drying system (12).
CN201410810806.7A 2014-12-22 2014-12-22 Method for automatically acquiring initial reeling and unreeling radius of reel material printing equipment Expired - Fee Related CN104512093B (en)

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CN114408673A (en) * 2022-03-29 2022-04-29 徐州徐工基础工程机械有限公司 Linkage control system and linkage control method for winch and winch

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