CN1431138A - Long Narrow object transportion appts. - Google Patents
Long Narrow object transportion appts. Download PDFInfo
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- CN1431138A CN1431138A CN03100927A CN03100927A CN1431138A CN 1431138 A CN1431138 A CN 1431138A CN 03100927 A CN03100927 A CN 03100927A CN 03100927 A CN03100927 A CN 03100927A CN 1431138 A CN1431138 A CN 1431138A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
The object is to solve the problem that it is difficult to stably supply a long article such as a wire in simple construction. A wire 1a is supplied from a supply-side spool 20 to a winding-side device. The tension of the wire 1a is detected by a dancer tension detector 24. A supply-side motor 21 is controlled by an inverter 22 so that the tension of the wire 1a is kept constant. A circuit is provided in a control circuit 23 for determining the level of a detected tension value Vt and the time constant of a proportion plus integration circuit is changed with a change in level. When sagging occurs in the wire 1a, the detected tension value Vt is lowered and the supply-side motor 21 is reversed. As a result, the wire 1a is rewound on the supply-side spool 20 to eliminate the sagging of the wire 1a.
Description
Technical field
The present invention relates to be used for the device of slender bodies such as transferring metal line or belt shape object.
Background technology
For example disclose in the fair 7-12884 communique of spy, the metal filament wind2 in wire drawing machine, the twisting machine etc. possesses: metal filament supply side swivel (spool), drive the supply side swivel electrical motor, be used to drive the electrical motor of winding side swivel and have tension adjustment and the regulating control of tension force measuring ability (dancer).In the wind2 of this form, detect the winding side electrical motor according to speed command based on the rotation information of supply side electrical motor.In addition, be constant in order to keep tension force wiry, becoming the error signal of tension force detection signal that obtains as regulating control and a reference value of representing the regulating control reference position is deviation signal, comes the speed command of correcting motor thus.
During the mode that in adopting above-mentioned communique, discloses, come Wound wire with constant tension force in the ideal case.
But, in the mode of above-mentioned communique, being necessary to transmit rotating speed data to the winding side electrical motor from the supply side electrical motor, it is complicated that the structure of slender body feedway becomes.In addition, in this slender body feedway, in order to send metal filament from the supply side reel, the positive dirction rotation offers the side spool.But when continuing to send metal filament under the state that unusual sag has taken place on metal filament, metal filament might be wrapped with in inestimable place.In addition, before the beginning transferring metal silk, when arriving wire arrangement between supply side spool and the winding side device, it is difficult providing suitable tension force to metal filament.
Summary of the invention
Therefore, the object of the present invention is to provide the feedway of slender bodies such as can utilizing simpler structure, more stable ground transferring metal silk.
Be used to solve above-mentioned problem, the feedway of a kind of slender body of the present invention that achieves the above object is characterized in that possessing:
Be used to supply with the supply side swivel of wire or banded slender body;
The supply side electrical motor that is coupled together with above-mentioned supply side swivel;
The winding side device of above-mentioned slender body is used to reel;
Between above-mentioned supply side swivel and above-mentioned winding side device, be used to detect the tension detecting device of the tension force of above-mentioned slender body;
Be connected with above-mentioned supply side electrical motor and constitute the actuating device that to control above-mentioned supply side electrical motor; And
Control setup is connected between mentioned strain detecting device and the above-mentioned actuating device for above-mentioned actuating device is controlled and has: the tension force a reference value generating means of expression tension force a reference value; The formation expression forms device by the deviation signal of the deviation signal of the difference of detected tension force detected value of mentioned strain detecting device and mentioned strain a reference value; And make the Tension Control command signal of the difference that is used to eliminate mentioned strain detected value and mentioned strain a reference value and it is supplied with the Tension Control command signal implementing device of above-mentioned actuating device.
Have again, shown in the present invention the 2nd aspect, wish above-mentioned supply side electrical motor with can from above-mentioned supply side swivel send above-mentioned slender body positive dirction rotation, and the rewind mode of these the two kinds of rotations of opposite spin on the above-mentioned supply side swivel of above-mentioned slender body constituted
Above-mentioned actuating device has when the mentioned strain control command signal of being supplied with by mentioned strain control command signal implementing device and is when being used to make the instruction that the tension force of above-mentioned slender body reduces, above-mentioned supply side electrical motor is carried out the positive dirction rotation drives, when the mentioned strain control command signal is the driving function of carrying out opposite spin when being used to make the instruction that the tension force of above-mentioned slender body increases, to above-mentioned supply side electrical motor.
In addition, shown in the present invention the 3rd aspect, wish that mentioned strain control signal implementing device has:
Extent for detected tension value that obtains from the mentioned strain detecting device and said reference value concerns the level decision maker of judging; And
The proportional integral (PI) device, it is that above-mentioned deviation signal is carried out ratio processing and Integral Processing, is used to form the device of mentioned strain control signal, it is connected with above-mentioned deviation signal formation device, above-mentioned level decision maker, above-mentioned actuating device, and constitute: time constant is in response to signal that obtained from above-mentioned level decision maker, the above-mentioned detected tension value of expression and the extent relation of said reference value, along with the difference change of above-mentioned detected tension value and said reference value greatly and diminish.
In addition, shown in the present invention the 4th aspect, wish that above-mentioned level decision maker is the device of judging for the level of above-mentioned detected tension value stage by stage, the aforementioned proportion integrating gear is the device that changes time constant stage by stage.
In addition, shown in the present invention the 5th aspect, wish that above-mentioned supply side electrical motor is an alternating-current motor/AC motor, above-mentioned actuating device is the inverter that DC converting is become to exchange.
In addition, shown in the present invention the 6th aspect, wish that the mentioned strain detecting device is made of following:
Between above-mentioned supply side swivel and above-mentioned winding side device, contact, above-mentioned slender body provided the press body of tension force with above-mentioned slender body;
Support the supportive device of above-mentioned press body with the permission and the mode of the displacement of the cooresponding above-mentioned press body of variation of above-mentioned slender body tension force; And
The tension pick-up of the cooresponding tension force detection signal in position of output and above-mentioned press body.
In addition, shown in the present invention the 7th aspect, can constitute a kind of feedway of slender body, it possesses:
Be used for synchronously supplying with a plurality of supply side swiveies of a plurality of wire or banded slender body;
The a plurality of supply side electrical motors that are coupled together respectively with above-mentioned a plurality of supply side swiveies;
The winding side device of above-mentioned a plurality of slender bodies is used for synchronously reeling;
Between above-mentioned a plurality of supply swiveies and above-mentioned winding side device, be used for detecting respectively the tension detecting device of the tension force of above-mentioned a plurality of slender bodies;
Be connected respectively with above-mentioned a plurality of supply side electrical motors and constitute a plurality of actuating devices that to control each rotation of above-mentioned a plurality of supply side electrical motors; And
A plurality of control setups are connected between above-mentioned a plurality of tension detecting device and the above-mentioned a plurality of actuating device for above-mentioned a plurality of actuating devices are controlled and have respectively: the tension force a reference value generating means of expression tension force a reference value; The formation expression forms device by the deviation signal of the deviation signal of the difference of detected tension force detected value of mentioned strain detecting device and mentioned strain a reference value; And make the Tension Control command signal of the difference that is used to eliminate mentioned strain detected value and mentioned strain a reference value and it is supplied with the Tension Control command signal implementing device of above-mentioned actuating device.
In addition, shown in the present invention the 8th aspect, in the feedway aspect the 7th, each of wishing above-mentioned a plurality of supply side electrical motors with can from above-mentioned supply side swivel send above-mentioned slender body the positive dirction rotation, and the rewind mode of these the two kinds of rotations of opposite spin on the above-mentioned supply side swivel of above-mentioned slender body constituted
Each of above-mentioned a plurality of actuating devices has when the mentioned strain control command signal of being supplied with by mentioned strain control command signal implementing device and is when being used to make the instruction that the tension force of above-mentioned slender body reduces, above-mentioned supply side electrical motor is carried out the positive dirction rotation drives, when the mentioned strain control command signal is when being used to make the instruction that the tension force of above-mentioned slender body increases, above-mentioned supply side electrical motor is carried out the function that opposite spin drives.
In addition, shown in the present invention the 9th aspect, in the feedway aspect the 7th, wish that mentioned strain control signal implementing device has:
Extent for detected tension value that obtains from the mentioned strain detecting device and said reference value concerns the level decision maker of judging; And
The proportional integral (PI) device, it is that above-mentioned deviation signal is carried out ratio processing and Integral Processing, is used to form the device of mentioned strain control signal, it is connected with above-mentioned deviation signal formation device, above-mentioned level decision maker, above-mentioned actuating device, and constitute: time constant is in response to signal that obtained from above-mentioned level decision maker, the above-mentioned detected tension value of expression and the extent relation of said reference value, along with the difference change of above-mentioned detected tension value and said reference value greatly and diminish.
According to each side of the present invention, can utilize the such simple structure of control supply side electrical motor to control the tension force of slender body.
According to the present invention the 2nd aspect, owing to can drive the supply side electrical motor with positive dirction and this both direction of reversing sense, so by the opposite spin of supply side electrical motor is rewound slender body on the supply side swivel, and can promptly remove sag when unusual sag has taken place on slender body.
According to the present invention the 3rd aspect, the time constant of proportional integral (PI) device becomes big along with the difference of detected tension value and a reference value and diminishes.Thereby feedback control loop is that the speed of response of servo loop accelerates, and can make detected tension value promptly turn back to a reference value or near the value it, can stably carry slender body.
According to the present invention the 4th aspect, can easily carry out the switching of time constant.
According to the present invention the 5th aspect, by using inverter, it is easy that the control of electrical motor and driving become.
According to the present invention the 6th aspect, can easily realize the adjustment of tension force and these two aspects of detection of tension force.
According to the present invention the 7th～9 aspect, can synchronously, stably supply with a plurality of slender bodies.
The simple declaration of accompanying drawing
Fig. 1 is the block diagram that illustrates according to the metal feedway of example of the present invention.
Fig. 2 is the block diagram that the 1st metal filament feedway of Fig. 1 is shown.
Fig. 3 is at length illustrating the circuit diagram of the supply side inverter of Fig. 2.
Fig. 4 is the block diagram of the tension pick-up, control circuit, inverter and the electrical motor that illustrate in greater detail Fig. 2.
Fig. 5 illustrates the level decision maker of Fig. 4 and the circuit diagram of variable ratio integrating circuit.
Fig. 6 forms the block diagram of circuit for the control signal that the supply side inverter at length is shown.
Fig. 7 is the figure that each state of Fig. 4 and Fig. 5 is shown.
Fig. 8 is the mode chart that each state of Fig. 3 is shown.
The specific embodiment of invention
Secondly, with reference to Fig. 1～Fig. 8, the feedway of the slender body of the invention process form is described.
As the 1st, the 2nd, the 3rd and the 4th metal filament of slender body shown in Figure 1, promptly the feedway of metal filament 1a, 1b, 1c, 1d is made of metal filament supply side device 2 and metal filament winding side device 3.
Metal filament supply side device 2 constitutes by being used to supply with the 1st, the 2nd, the 3rd and the 4th metal filament 1a, 1b, 1c, the 1st, the 2nd, the 3rd and the 4th metal filament feedway 2a of 1d, 2b, 2c, 2d.1st, the 2nd, the 3rd and the 4th metal filament feedway 2a, 2b, 2c, 2d are configured mutually in the same manner, and they in fact synchronously send the 1st, the 2nd, the 3rd and the 4th metal filament 1a, 1b, 1c, 1d.
Metal filament winding side device 3 be the 1st, the 2nd, the 3rd and the 4th metal 1a, 1b, 1c, 1d is integrated and form flat cable 4, it is wound up into as the device on the spool 5 of winding side swivel, it except by winding side electrical motor 6, inverter 7, control circuit 8, and the representative type metal filament wind2 that constitutes of direct supply 9, also have metal filament position location 10, insulator coating unit 11, and color applicator 12.
10 pairs the 1st of registration devices, the 2nd, the 3rd and the 4th metal filament 1a, 1b, 1c, 1d positions so that it is parallel to each other, and secondly, coating unit 11 coats it and make it integrated and become flat cable 4 with the insulator that is made of for example rubber.Color applicator 12 is applied to the coating of regulation on the flat cable 4.The alternating-current motor/AC motor 6 that is coupled together with spool 5 for example is made of induction motor (IM).Inverter 7 becomes alternating-current voltage/AC voltage to the dc voltage conversion of direct supply 9, and it is supplied with electrical motor 6.Control circuit 8 control inverters 7 are so that electrical motor 6 and winding side spool 5 are rotated with the speed of stipulating.Have, wish to come driving motor 6 like this, the rotating speed of spool 5 is wound on the propelling on the spool 5 along with flat cable 4 and reduces.When along with the rotation of the spool 5 of winding side and during winding flat cable 4, the 1st, the 2nd, the 3rd and the 4th metal filament 1a, 1b, 1c, 1d move to the direction of winding side device 3.Wish the tension force that the 1st, the 2nd, the 3rd and the 4th metal 1a, 1b, 1c, 1d have regulation.
1st, the 2nd, the 3rd and the 4th metal filament feedway 2a, 2b, 2c, 2d are mutual identical structures, and move equally.Thereby, explain the 1st metal filament feedway 2a with reference to Fig. 2～Fig. 8, omit the explanation of the 2nd, the 3rd and the 4th metal filament feedway 2b, 2c, 2d.
Metal filament feedway 2a is the device that is commonly referred to as for the line machine, and it is made of following: the supply side electrical motor 21 that is coupled together as the spool 20 of the supply side swivel that is used to supply with metal filament 1a, with supply side spool 20, as inverter 22, supply side control circuit 23, the regulating control of the actuating device of supply side electrical motor 21 hold concurrently tension detector 24, and direct supply 25.
Twining the rotor coupling of supply side spool 20 with the supply side electrical motor 21 of metal filament 1a, rotating with rotor.Supply side electrical motor 21 is the induction motor (IMies as alternating-current motor/AC motor, and it can change rotating speed along with the variation of frequency and voltage, and can carry out positive dirction rotation and these two kinds of rotations of opposite spin.In this example, when metal filament 1a normally carries, drive supply side electrical motor 21 so that the tension force of metal filament 1a keeps constant.When if the warp tension ratio specified value of metal filament 1a is big, then the positive dirction rotating speed of acceleration motor 21 so that metal filament 1a from speeding up that supply side spool 20 is sent.Otherwise, if the warp tension ratio specified value of metal filament 1a hour then reduces the rotating speed of electrical motor 21 so that the speed that the spool 20 of metal filament 1a is sent reduces.Have again, even with reversing sense driving motor 21, reciprocal driving torque than the little situation of the force of inertia sum of the coiling torque of metal filament 1a and spool 20 under, electrical motor 21 and spool 20 do not become inverted status because sag does not take place metal filament 1a, and metal filament 1a continues to send from spool 20.But, reduce significantly if the tension force of sag, metal filament 1a go up to take place metal filament 1a, the then opposite spin of electrical motor 21, metal filament 1a warp to supply side spool 20.
The regulating control of Fig. 2 tension detector 24 of holding concurrently is made of regulating control 26 and tension pick-up 27.Also can call the tension force generator to regulating control 26, it by: as the backer roll 28 of press body; Make its arm of supporting backer roll 28 29 by axle 29a with rotating freely; Tension force provides with spring 30; And stationary roll 31,32 constitutes.Axle 29b makes it support arm 29 as the supportive device of backer roll 28 with rotating freely, and spring 30 makes arm 29 be partial to dextrorotation veer among Fig. 2.One end 30a of spring 30 is fixed on the arm 29, the other end 30b of spring 30 is fixed on the fixed part.Supply side spool 20 contacts with backer roll 28 between two stationary rolls 31,32 against the metal filament 1a that goes out.The center shaft 29a of backer roll 28 moves on the dotted line 33 of Fig. 2 according to the variation of metal filament 1a tension force.That is, when the tension force of metal filament 1a became bigger than benchmark tension value, roller 28 was moved upward.Otherwise when the tension force of metal filament 1a becomes than benchmark tension value hour, roller 28 moves downwards.34 is last limited block, and 35 are following limited block, and roller 28 and arm 29 move in by these two link stoppers, 34,35 scopes that limited.Because backer roll 28 is supported by arm 29 and the moving range of arm 29 by block 34,35 decisions, so arm 29 and block 34,35 work as the guide piece of backer roll 28.Can make such structure, utilize mounted panel to support backer roll 28, represent by arm 29 and support backer roll 28 so that pressurizer 28 moves along straight line with the groove that extends with linearity.At this moment, the axle 29a of backer roll 28 is inserted in the groove of mounted panel.
Can call position transduser to tension pick-up 27, it detects the position of backer roll 28 and the signal V of output expression tension force
tThis tension pick-up 27, as shown in Figure 4 for example by variable resistance 50, travelling contact 51, and low-pass filter 52 constitute the voltage V that is directly proportional with the position of backer roll 28 as detected tension value output
tVariable resistance 50 is connected between terminals for power supplies 53 and the ground, variable resistance 50 is linked up with arm 26 so that travelling contact 51 is directly proportional with the position of backer roll 28 and carries out displacement.Thereby, between travelling contact 51 and ground, can obtain roughly with the position of backer roll 28, be the voltage that the tension force of metal filament 1a is directly proportional.Low-pass filter 52 is removed the high fdrequency component that is comprised in the voltage that obtains on travelling contact 51.
Be connected hold concurrently tension pick-up 27 and 23 pairs of inverters 22 of the supply side control circuit between the inverter 22 of tension detector 24 of regulating control and control, so that by based on the detected tension value V that obtains from tension pick-up 27
tControlled reset make detected tension value Vt keep constant.As Fig. 4 briefly shows, this control circuit 23 by: as the reference voltage source 54 of tension force a reference value generating means; Bias circuit 55 as error signal or deviation signal formation device; And Tension Control command signal implementing device 56 constitutes.
The voltage V of the consistent benchmark tension value of the center of expression and backer roll 28 or original position takes place in reference voltage source 54
rAn input terminal of bias circuit 55 is connected with tension pick-up 27, and its another input terminal is connected with reference voltage source 54.Thereby bias circuit 55 is a subtracter, and detected tension value V takes place for it
tWith reference voltage V
rThe signal of difference and deviation signal V
p=V
t-V
r
Tension Control command signal implementing device 56 is by level decision maker 57; Variable ratio integrating circuit 59; Lock-out circuit 60; And commutation circuit 61 constitutes, and its forms and output V to bias circuit 55
pThe cooresponding Tension Control command signal of the voltage of proofreading and correct is supplied with inverter 22 with it.
Tension force level decision maker 57 is connected with tension pick-up 27 by line 58, for the detected tension value V shown in Fig. 7 (A)
tThe the 1st～the 10th value V with benchmark tension value as a comparison
T1～V
T10Relation judge.As shown in Figure 5, this tension force level decision maker 57 is made of following: 1st, the 2nd, the 3rd, the 4th, the 5th, the 6th, the 7th, the 8th, the 9th and the 10th comparator C P1, CP2, CP3, CP4, CP5, CP6, CP7, CP8, CP9, CP10; 1st, the 2nd, the 3rd, the 4th, the 5th, the 6th, the 7th, the 8th, the 9th and the 10th reference voltage source E1, E2, E 3, E4, E5, E6, E7, E8, E9, E10; 1st, the the the the the the 2nd, the 3rd, the 4th, the 5th, the 6th, the 7th, the 8th, the 9th and the 10th non-(" non-") circuit N1, N2, N3, N4, N5, N6, N7, N8, N9, N10; And the 1st, the 2nd, the 3rd, the 4th, the 5th, the 6th, the 7th, the 8th and the 9th with (" with ") door A1, A2, A3, A4, A5, A6, A7, A8, A9.The positive input terminal of the 1st～the 10th comparator C P1～CP10 is connected with tension force detection signal input line 58, and its negative input end is connected with the 1st～the 10th reference voltage source E1～E10.The the 1st～the 10th reference voltage source E1～E10 is as 1st～10th value V of reference voltage generation shown in Fig. 7 (A)
T1～V
T10
In order to detect tension force by stages, placed the 1st～the 10th NOT circuit N1～N10, and the 1st～the 9th with the door an A1～A9.When being output as high level and being logical one with the 1st comparator C P1 bonded assembly the 1st NOT circuit N1, detected tension value V
tThan the 1st value V
T1Little.
When an input terminal is connected with the 1st comparator C P1, when another input terminal is output as high level by the 2nd NOT circuit N2 and the 2nd comparator C P2 bonded assembly the 1st with a door A1, detected tension value V
tHave at the 1st value V
T1With the 2nd V
T2Between value.
When an input terminal is connected with the 2nd comparator C P2, when another input terminal is output as high level by the 3rd NOT circuit N3 and the 3rd comparator C P3 bonded assembly the 2nd with a door A2, detected tension value V
tHave at the 2nd value V
T2With the 3rd V
T3Between value.
When an input terminal is connected with the 3rd comparator C P3, when another input terminal is output as high level by the 4th NOT circuit N4 and the 4th comparator C P4 bonded assembly the 3rd with a door A3, detected tension value V
tHave at the 3rd value V
T3With the 4th V
T4Between value.
When an input terminal is connected with the 4th comparator C P4, when another input terminal is output as high level by the 5th NOT circuit N5 and the 5th comparator C P5 bonded assembly the 4th with a door A4, detected tension value V
tHave at the 4th value V
T4With the 5th V
T5Between value.
When an input terminal is connected with the 5th comparator C P5, when another input terminal is output as high level by the 6th NOT circuit N6 and the 6th comparator C P6 bonded assembly the 5th with a door A5, detected tension value V
tHave at the 5th value V
T5With the 6th V
T6Between value.
When an input terminal is connected with the 6th comparator C P6, when another input terminal is output as high level by the 7th NOT circuit N7 and the 7th comparator C P7 bonded assembly the 6th with a door A6, detected tension value V
tHave at the 6th value V
T6With the 7th V
T7Between value.
When an input terminal is connected with the 7th comparator C P7, when another input terminal is output as high level by the 8th NOT circuit N8 and the 8th comparator C P8 bonded assembly the 7th with a door A7, detected tension value V
tHave at the 7th value V
T7With the 8th V
T8Between value.
When an input terminal is connected with the 8th comparator C P8, when another input terminal is output as high level by the 9th NOT circuit N9 and the 9th comparator C P9 bonded assembly the 8th with a door A8, detected tension value V
tHave at the 8th value V
T8With the 9th V
T9Between value.
When an input terminal is connected with the 9th comparator C P9, when another input terminal is output as high level by the 10th NOT circuit N10 and the 10th comparator C P10 bonded assembly the 9th with a door A9, detected tension value V
tHave at the 9th value V
T9With the 10th V
T10Between value.
When the 10th comparator C P10 is output as high level, detected tension value V
tHave the value higher than the 10th value.
The time constant that variable ratio integrating circuit 59 is adjusted the speed control ring of electrical motors 21 is a speed of response, constitutes by the output of bias circuit 55 being carried out ratio circuit (P circuit) that known ratio handles and the integrating circuit (I circuit) that carries out Integral Processing.In this concrete example, switch integration circuit time constant τ by the output of level decision maker 57.Control loop is the time constant of servo loop, as is generally known realize by the gain that changes network constant such as electric capacity, resistance, inductance or change control loop.For example, when improving gain, then time constant diminishes, and speed of response accelerates.
Variable ratio integrating circuit 59 has as shown in Figure 5 in order to set the timeconstant 1～τ 6 in 6 stages in response to the output of level decision maker 57: 1st, the 2nd, the 3rd, the 4th, the 5th and the 6th switch S 1, S2, S3, S4, S5, S6; And the 1st, the 2nd, the 3rd, the 4th, the 5th and the 6th proportional integral (PI) circuit 59a, 59b, 59c, 59d, 59e, 59f.The the 1st～the 6th proportional integral (PI) circuit 59a～59f has the 1st～the 6th timeconstant 1～τ 6 that becomes big successively, is connected between input signal cable 62 and the output signal line 63 by the 1st～the 6th switch S 1～S6.Each proportional integral (PI) circuit 59a～59f seek the adjustment of bias circuit 55 outgoing levels and smoothly than.For variable ratio integrating circuit 59 is controlled in the output that utilizes level decision maker 57, the control terminal of the lead-out terminal of the lead-out terminal of the 1st NOT circuit N1 and the 10th comparator C P10 and the 1st switch S 1 is coupled together.Couple together the 1st and the 9th with the lead-out terminal of door A1, A9 and the control terminal of the 2nd switch S 2.Couple together the 2nd and the 8th with the lead-out terminal of door A2, A8 and the control terminal of the 3rd switch S 3.Couple together the 3rd and the 7th with the lead-out terminal of door A3, A7 and the control terminal of the 4th switch S 4.Couple together the 4th and the 6th with the lead-out terminal of door A4, A6 and the control terminal of the 5th switch S 5.Couple together the 5th with the lead-out terminal of door A5 and the control terminal of the 6th switch S 6.
Have again, for simplicity of illustration, omitted among Fig. 5 the 6th～the 9th with lead-out terminal and the 5th～the 2nd switch S 5～S2 of door A6～A9 be connected, reach the lead-out terminal of the 10th comparator C P10 and being connected of the 1st switch S 1.
As shown in Figure 5, control circuit 23 has dead band mode select switch Sa.Dead band mode select switch Sa be connected in series to the 5th with a door A5, with the line 90 that the control terminal of the control terminal of the lock-out circuit 60 of Fig. 4 and commutation circuit 61 is linked up on.When selecting the dead band mode, this switch S a operation becoming ON.
At this, so-called dead band mode means, the position of backer roll 28 is for the center of tension pick-up 27, promptly for the skew of original position action hour.The selection of this dead band mode is done by the user.Dead band mode select switch Sa operation is being become under the state of ON, when the 5th converts the high level in expression dead band to the output of door A5, the output of the variable ratio integrating circuit 59 when lock-out circuit 60 keeps this conversion.Commutation circuit 61 in response to the 5th with the high level output, online 67 of door A5 on send lock-out circuit 60 output represent the output of variable ratio integrating circuit 59.Therefore, dead band mode select switch Sa be the ON state and the 5th with a door A5 when being output as high level, the Tension Control instruction is steady state value.Sometimes, can be according to kind wiry etc. V
T5～V
T6The interval is decided to be the dead band mode and controls.
Fig. 7 (B) illustrates the detected tension value V of the time constant of variable ratio integrating circuit 59 for Fig. 7 (A)
tVariation.As hence one can see that, timeconstant along with detected tension value away from center reference value V
rAnd diminish.In other words, along with the backer roll 28 of Fig. 2 away from original position (center), the timeconstant of control loop diminishes and speed of response accelerates.
The timeconstant of variable ratio integrating circuit 59, for example available time formula is determined.
τ＝τ
0((Ve/K)+1)......
At this, τ
0Be constant basic time,
V
eBe V
t-V
rAbsolute value,
K is a coefficient.
Lock-out circuit 60 shown in Figure 4 is connected with the output line 63 of variable ratio integrating circuit 59, keeps and export the Tension Control command signal of this output line 63 selectively.Control for selectable maintenance, the output line 65 of the output line 64 of the 1st NOT circuit N1 of level decision maker 57 and the 10th comparator C P10 is connected on the control terminal of lock-out circuit 60 this lock-out circuit 60.Thereby, when lock-out circuit 60 keeps t5 among Fig. 7 for example and the output of the variable ratio integrating circuit 59 during t11.Have again, as above-mentioned 3, the 5th with the door A5 output line 90 also be connected on the control terminal of lock-out circuit 60 by dead band mode select switch Sa.
The commutation circuit 61 of Fig. 4 be connected to output line 63, the lock-out circuit 60 of variable ratio integrating circuit 59 output line 66, and the output line 67 of control circuit 23 on, send the signal of line 63 and the signal of line 66 selectively on online 67.That is, give line 67 signal of line 63 in during t0～t5 of Fig. 7 and t6～t11, during t5～t6 and t11 later during in give line 67 signal of line 66.
Have again, also can omit lock-out circuit 60 and commutation circuit 61, directly give inverter 22 output of variable ratio integrating circuit 59.
In addition, when dead band mode select switch Sa operation becoming ON state and the 5th was output as high level with door A5, commutation circuit 61 was given line 67 output of lock-out circuit 60.
Fig. 7 (c) roughly illustrates the output V of the bias circuit 55 of line 62
pVariation.Detected tension value V in being illustrated in during t0～t6
tThan a reference value V
rHigh situation also is illustrated in t6 detected tension value V later on
tThan a reference value V
rLow situation.
As Fig. 6 roughly illustrated, the control signal of the inverter 22 of Fig. 3 forms circuit 42 and is made of following: frequency and voltage instruction formed circuit 80; 1st, the 2nd and the 3rd control wave shaping circuit 81,82,83 mutually; And just changeing the counter-rotating instruction forming circuit 89.Constitute by digital circuit though control signal forms a lot of parts of circuit 42, in Fig. 6, show control signal and form circuit 42 by the analogous circuit of equivalence.
Frequency and voltage instruction form circuit 80 and are connected with the output line 67 of the control circuit 23 of Fig. 4, and the 80 Tension Control command signals in response to this line 67 form the output frequency command value and the output voltage command value of inverter 22.The 1st controls wave shaping circuit 81 mutually is made of following: sine wave generator 84; Multiplier 85; Sawtooth oscillator 86; Comparator 87; And phase inverter is a NOT circuit 88.Sinusoidal waveform V shown in Fig. 8 (A) takes place in sine wave generator 84
aThe frequency instruction line 80a that sine wave generator 84 and frequency and voltage instruction form circuit 80 is connected, the sinusoidal waveform of the frequency that generation has been instructed.Control the wave shaping circuit 82,83 sine wave generator that is provided with mutually from the 2nd and the 3rd the sinusoidal waveform V that controls wave shaping circuit 81 mutually with respect to the 1st takes place
aThe 2nd of 120 ° of phase differences of tool the reach the 3rd phase sinusoidal waveform mutually successively.Sinusoidal waveform V
aFrequency consistent with the output frequency of inverter 22.When changing the output frequency of inverter 22, the rotating speed of electrical motor 21 changes.The sinusoidal waveform V that multiplier 85 is being exported by sine wave generator 84
aOn multiply by the voltage instruction that frequency and voltage instruction form the voltage instruction line 80b of circuit 80, adjust sinusoidal waveform V
aAmplitude.
Sawtooth wave V shown in Fig. 8 (A) takes place in sawtooth oscillator 86
bSaw this ripple V
bHave than sinusoidal waveform V
aThe fully high frequency of frequency (for example 20～100KHz).
Shown in Fig. 8 (A), comparator 87 is compared the output of the output of multiplier 85 and sawtooth oscillator 86, forms the 1st control signal V shown in Fig. 8 (B), that be made of PWM (pulse width modulation) pulse
G1Shown in Fig. 8 (C), NOT circuit 88 forms the reversed phase signal of the output of comparators 87, with it as the 2nd control signal V
G2Output.
Except forming and the 1st and the 2nd control signal V
G1, V
G2The control signal V that phase place is different
G3～V
G6Point, control wave shaping circuit 81 mutually and constituted the 2nd and the 3rd equally and control wave shaping circuit 82,83 mutually with the 1st.
Just changeing counter-rotating instruction forming circuit 89 and be connected with the output line 67 that the Tension Control command signal of Fig. 4 forms circuit 56, the positive dirction of sending on the 89 Tension Control command signals based on line 67, online 76 for electrical motor 21 reverses the signal of distinguishing with opposite spin.That is when the output of variable ratio integrating circuit 59 becomes lower than specified level (for example 0 level), from just changeing counter-rotating command circuit 89 the counter-rotating instruction takes place.For example, sagging significantly at metal filament 1a, when tension force has reduced significantly, it is negative that the Tension Control command signal becomes, and from just changeing counter-rotating instruction forming circuit 89 the counter-rotating instruction takes place.
From just change counter-rotating instruction forming circuit 89 take place the counter-rotating instruction during in, frequency and voltage instruction form signal circuit 80 frequency instruction are limited in for example below the 10Hz.Thus, the reversing sense high speed revolution that stops supply side electrical motor 21.
The hand of rotation commutation circuit 43 of Fig. 3 is carried out the switching of the driving form of supply side electrical motor 21 for the tension force of controlling metal filament 1a.As is generally known the hand of rotation of alternating-current motor/AC motor 21 is by having switched 2 just counter-rotatings importing mutually in the line 44,45,46.Thereby, for line 44,45,46 switch is set, just can carry out the switching of just changeing driving and inversion driving of electrical motor 21.In this example, by changing the 1st～the 6th control signal V
G1～V
G6The supply realization of goal with the action of input line 44～46 equivalences of switching motor 21.When from just the changeing counter-rotating instruction forming circuit 89 signal that expression just changeing takes place of Fig. 6, in statu quo the 1st～the 6th switch Q1～Q6 is applied the 1st～the 6th control signal V
G1～V
G6When electrical motor 21 is carried out inversion driving, the 1st and the 2nd control signal V
G1, V
G2Supply with the 3rd and the 4th switch Q3, Q4, the anti-3 and the 4th control signal V
G3, V
G4Supply with the 1st and the 2nd switch Q1, Q2.Under the state of no sag on the metal filament 1a, when the time, make supply side electrical motor 21 nonreversible but after metal filament 1a was stretched, 21 continued just to change with low level inversion driving supply side electrical motor 21.Its result, the supply side electrical motor 21 couples of metal filament 1a provide reverse tension.When on the metal filament 1a sag being arranged, when inversion driving supply side electrical motor 21, spool 20 and electrical motor 21 counter-rotatings, back-roll metal filament 1a.
When metal filament 1a being set up between supply side spool 20 and the winding side device 3, sag takes place in metal wool 1a.Therefore, detected tension value V
tReduce, from just changeing counter-rotating instruction forming circuit 89 the counter-rotating instruction takes place, electrical motor 21 counter-rotatings.Its result rewinds metal filament 1a on the supply side spool 20, can eliminate the sag of metal filament 1a.
This example has following effect.
(1) in the supply preparatory process of metal filament 1a, when metal filament 1a being configured between supply side spool 20 and the winding side device 3, perhaps in the supply of metal filament 1a when to begin that back 1a cuts off etc. unusual, in when, on metal filament 1a sag having taken place, 21 counter-rotatings of supply side electrical motor, metal filament 1a rewinds on the supply side spool 20, can remove sag.Thereby, can prevent from not supply with metal filament with needing, and can prevent that metal filament is wrapped with at inestimable position.
(2) owing to can carry out the tension adjustment of the 1st～the 4th metal filament 1a～1d between the 1st～the 4th metal filament feedway 2a～2d and the winding side device 3 independently, prepare so can easily carry out the synchronous supply of the 1st～the 4th metal filament 1a～1d.Promptly, during configuration metal filament 1a in the supply preparatory process of the 1st～the 4th metal filament 1a～1d, between supply side spool 20 and winding side device 3～1d, even within the 1st～the 4th metal filament 1a～1d, sag is arranged, the back-roll action also can automatically take place, can remove sag.Thereby, also can be rapidly and easily begin the synchronous supply of the 1st～the 4th metal filament 1a～1d.
(3) since the frequency limitation when supply side electrical motor 21 reversed for example below the 10Hz, so supply side electrical motor 21 does not reverse at high speed.Thereby, dangerous little.
(4) because along with detected tension value V
tWith a reference value V
rDifference become big and reduce the time constant of feedback control loop, so detected tension value V
tChange that the speed of response of control loop accelerates when big, can make detected tension value V
tTurn back to a reference value V rapidly
rOr near it.Its result can realize the supply of metal filament 1a～1d that stability is high.
(5) owing to driving supply side electrical motor 21, so can easily realize the control of supply side electrical motor 21 with inverter 22.
(6), detect this two so can easily realize the tension adjustment of metal filament 1a～1d and tension force owing to use the regulating control tension detector 24 of holding concurrently.
(7) dead band mode select switch Sa is being operated under the state that becomes ON, at detected tension value V
tBe in the 5th value V
T5With the 6th value V
T6Scope in the time, give line 67 output of lock-out circuit 60.Owing to can be provided with or not be provided with mode inflexibly according to kind wiry, the degree of freedom of control becomes greatly.
(variation)
The present invention is not limited to above-mentioned example, for example following distortion can be arranged.
(1) the present invention for example also can be applicable to and only constitute supply side device 2 with 1 metal filament feedway 2a, supplies with the situation of 1 wire 1a.
(2) supply with 4 wire 1a～1d from supply side device 2 among Fig. 1, but can do to become many arbitrarily.
(3) be provided with 6 proportional integral (PI) circuit 59a～59f among Fig. 5, but the time constant commutation circuit can be set in proportional integral (PI) circuit 59, with the output of level decision maker 57 constant switching time.
(4) time constant of proportional integral (PI) circuit 59 is variable, can be undertaken by gain-variable that has only integrating circuit or the gain-variable that has only ratio circuit.
(5) level decision maker 57 can be connected with the lead-out terminal of bias circuit 55.This moment
The magnitude of voltage of the 1st～the 10th reference voltage source E1～E10 reduces V than Fig. 5
r
(6) can at random change the progression that the level of level decision maker 57 is judged.
(7) can make the rotating speed mode of electrical motor 21: the mode that makes the output voltage maintenance of inverter 22 constant, controls its output frequency, the mode that perhaps makes the output frequency maintenance of inverter 22 constant, controls its output voltage perhaps makes the output voltage V of inverter 22 and the ratio v/f of the output frequency f of inverter 22 keep constant mode.
(8) can be decided to be DC motor to electrical motor 21.
(9) can be used for constant speed and send the capstan winch of metal filament 1a to and represent supply side spool 20 to control according to the present invention.At this moment, make electrical motor 21 couplings as the capstan winch of supply side swivel and Fig. 2.
(10) can form one one of control circuit 23 or all with digital circuit.When making digital circuit, A-D converter is connected on the output stage of tension pick-up 27.
Claims (9)
1. the feedway of a slender body is characterized in that possessing:
Be used to supply with the supply side swivel of wire or banded slender body;
The supply side electrical motor that is coupled together with above-mentioned supply side swivel;
The winding side device of above-mentioned slender body is used to reel;
Between above-mentioned supply side swivel and above-mentioned winding side device, be used to detect the tension detecting device of the tension force of above-mentioned slender body;
Be connected with above-mentioned supply side electrical motor, with constituting the actuating device that can control above-mentioned supply side electrical motor; And
Control setup is connected between mentioned strain detecting device and the above-mentioned actuating device for above-mentioned actuating device is controlled and has: the tension force a reference value generating means of expression tension force a reference value; The formation expression forms device by the deviation signal of the deviation signal of the difference of detected tension force detected value of mentioned strain detecting device and mentioned strain a reference value; And make the Tension Control command signal of the difference that is used to eliminate mentioned strain detected value and mentioned strain a reference value and it is supplied with the Tension Control command signal implementing device of above-mentioned actuating device.
2. according to the feedway of the slender body described in the claim 1, it is characterized in that:
Above-mentioned supply side electrical motor with can from above-mentioned supply side swivel send above-mentioned slender body positive dirction rotation, and the rewind mode of these the two kinds of rotations of opposite spin on the above-mentioned supply side swivel of above-mentioned slender body constituted;
Above-mentioned actuating device has when the mentioned strain control command signal of being supplied with by mentioned strain control command signal implementing device and is when being used to make the instruction that the tension force of above-mentioned slender body reduces, above-mentioned supply side electrical motor is carried out the positive dirction rotation drives, when the mentioned strain control command signal is when being used to make the instruction that the tension force of above-mentioned slender body increases, above-mentioned supply side electrical motor is carried out the function that opposite spin drives.
3. according to the feedway of the slender body described in the claim 1, it is characterized in that mentioned strain control signal implementing device has:
Extent for detected tension value that obtains from the mentioned strain detecting device and said reference value concerns the level decision maker of judging; And
The proportional integral (PI) device, it is that above-mentioned deviation signal is carried out ratio processing and Integral Processing, is used to form the device of mentioned strain control signal, it is connected with above-mentioned deviation signal formation device, above-mentioned level decision maker, above-mentioned actuating device, and constitute: time constant is in response to signal that obtained from above-mentioned level decision maker, the above-mentioned detected tension value of expression and the extent relation of said reference value, along with the difference change of above-mentioned detected tension value and said reference value greatly and diminish.
4. according to the feedway of the slender body described in the claim 3, it is characterized in that:
Above-mentioned level decision maker is the device of judging for the level of above-mentioned detected tension value stage by stage, and the aforementioned proportion integrating gear is the device that changes time constant stage by stage.
5. according to the feedway of the slender body described in claim 1 or 2 or 3 or 4, it is characterized in that:
Above-mentioned supply side electrical motor is an alternating-current motor/AC motor, and above-mentioned actuating device is the inverter that DC converting is become to exchange.
6. according to the feedway of the slender body described in claim 1 or 2 or 3 or 4, it is characterized in that the mentioned strain detecting device is made of following part:
Between above-mentioned supply side swivel and above-mentioned winding side device, contact, above-mentioned slender body provided the press body of tension force with above-mentioned slender body;
Support the supportive device of above-mentioned press body with the permission and the mode of the displacement of the cooresponding above-mentioned press body of variation of above-mentioned slender body tension force; And
The tension pick-up of the cooresponding tension force detection signal in position of output and above-mentioned press body.
7. the feedway of a slender body is characterized in that possessing:
Be used for synchronously supplying with a plurality of supply side swiveies of a plurality of wire or banded slender body;
The a plurality of supply side electrical motors that are coupled together respectively with above-mentioned a plurality of supply side swiveies;
The winding side device of above-mentioned a plurality of slender bodies is used for synchronously reeling;
Between above-mentioned a plurality of supply side swiveies and above-mentioned winding side device, be used for detecting respectively the tension detecting device of the tension force of above-mentioned a plurality of slender bodies;
Be connected respectively with above-mentioned a plurality of supply side electrical motors and constitute a plurality of actuating devices that to control each rotation of above-mentioned a plurality of supply side electrical motors; And
A plurality of control setups are connected between above-mentioned a plurality of tension detecting device and the above-mentioned a plurality of actuating device for above-mentioned a plurality of actuating devices are controlled and have respectively: the tension force a reference value generating means of expression tension force a reference value; The formation expression forms device by the deviation signal of the deviation signal of the difference of detected tension force detected value of mentioned strain detecting device and mentioned strain a reference value; And make the Tension Control command signal of the difference that is used to eliminate mentioned strain detected value and mentioned strain a reference value and it is supplied with the Tension Control command signal implementing device of above-mentioned actuating device.
8. according to the feedway of the slender body described in the claim 7, it is characterized in that:
Each of above-mentioned a plurality of supply side electrical motors with can from above-mentioned supply side swivel send above-mentioned slender body positive dirction rotation, and the rewind mode of these the two kinds of rotations of opposite spin on the above-mentioned supply side swivel of above-mentioned slender body constituted,
Each of above-mentioned a plurality of actuating devices has when the mentioned strain control command signal of being supplied with by mentioned strain control command signal implementing device and is when being used to make the instruction that the tension force of above-mentioned slender body reduces, above-mentioned supply side electrical motor is carried out the positive dirction rotation drives, when the mentioned strain control command signal is when being used to make the instruction that the tension force of above-mentioned slender body increases, above-mentioned supply side electrical motor is carried out the function that opposite spin drives.
9. according to the feedway of the slender body described in the claim 7, it is characterized in that mentioned strain control signal implementing device has:
Extent for detected tension value that obtains from the mentioned strain detecting device and said reference value concerns the level decision maker of judging; And
The proportional integral (PI) device, it is that above-mentioned deviation signal is carried out ratio processing and Integral Processing, is used to form the device of mentioned strain control signal, it is connected with above-mentioned deviation signal formation device, above-mentioned level decision maker, above-mentioned actuating device, and constitute: time constant is in response to signal that obtained from above-mentioned level decision maker, the above-mentioned detected tension value of expression and the extent relation of said reference value, along with the difference change of above-mentioned detected tension value and said reference value greatly and diminish.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002000605A JP3947909B2 (en) | 2002-01-07 | 2002-01-07 | Longitudinal object transfer device |
| JP605/2002 | 2002-01-07 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1431138A true CN1431138A (en) | 2003-07-23 |
| CN1195666C CN1195666C (en) | 2005-04-06 |
Family
ID=19190512
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031009271A Expired - Fee Related CN1195666C (en) | 2002-01-07 | 2003-01-07 | Long Narrow object transportion appts. |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP3947909B2 (en) |
| CN (1) | CN1195666C (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354582A (en) * | 2011-08-19 | 2012-02-15 | 江苏华风电子有限公司 | Wire stranding machine |
| CN105947793A (en) * | 2016-06-30 | 2016-09-21 | 深圳市创鑫激光股份有限公司 | Optical fiber winding device and method |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4733515B2 (en) * | 2005-12-21 | 2011-07-27 | 東芝三菱電機産業システム株式会社 | Marine electric propulsion system |
| KR100988371B1 (en) * | 2008-06-23 | 2010-10-18 | (주)티에이치엔 | Apparatus for maintaining tension of wire |
| KR100988367B1 (en) * | 2008-06-23 | 2010-10-18 | (주)티에이치엔 | Apparatus for maintaining tension of wire |
| KR100988369B1 (en) * | 2008-09-08 | 2010-10-18 | (주)티에이치엔 | Apparatus for preventing wire from interference |
| KR101042279B1 (en) * | 2009-05-07 | 2011-06-17 | (주)티에이치엔 | Apparatus for maintaining tension of wire |
| JP6583559B2 (en) * | 2016-08-02 | 2019-10-02 | 東芝三菱電機産業システム株式会社 | Unwinder control device |
| JP7186485B2 (en) * | 2018-11-29 | 2022-12-09 | Ｎｉｔｔｏｋｕ株式会社 | Feeding device for tensioning wire |
| CN111115367B (en) * | 2020-01-06 | 2021-11-19 | 苏州创易技研股份有限公司 | Set type tension control system and method |
| EP4252952A4 (en) * | 2021-12-01 | 2024-09-04 | Toshiba Mitsubishi Electric Industrial Systems Corp | Ultrasonic bonding apparatus |
-
2002
- 2002-01-07 JP JP2002000605A patent/JP3947909B2/en not_active Expired - Fee Related
-
2003
- 2003-01-07 CN CNB031009271A patent/CN1195666C/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354582A (en) * | 2011-08-19 | 2012-02-15 | 江苏华风电子有限公司 | Wire stranding machine |
| CN102354582B (en) * | 2011-08-19 | 2013-11-13 | 江苏华风电子有限公司 | Wire stranding machine |
| CN105947793A (en) * | 2016-06-30 | 2016-09-21 | 深圳市创鑫激光股份有限公司 | Optical fiber winding device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2003201063A (en) | 2003-07-15 |
| JP3947909B2 (en) | 2007-07-25 |
| CN1195666C (en) | 2005-04-06 |
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