CN202953598U - Multi-shaft synchronous control device - Google Patents

Abstract

The utility model discloses a multi-shaft synchronous control device which comprises an unreeling roller, a transmission roller, a reeling roller and a control device; the control device comprises a reeling control device which is used for controlling the reeling roller, a transmission control device which is used for controlling the transmission roller and a main controller which is used for controlling operation of every component. A breaking device and a tension controller are omitted when the multi-shaft synchronous control device is utilized to carry out an experimental teaching and a scientific research of the tension force, servo synchronous driving and tension control of multi-motor are achieved, adjusting time and occupied space of equipment are saved, and the control is accurate.

Description

A multi-axis synchronous control device

technical field

The utility model relates to the technical field of printing and packaging equipment, in particular to a multi-axis synchronous control device.

Background technique

In the fields of printing, packaging, papermaking, textile printing and dyeing, plastic film manufacturing, leather processing, and wire and cable processing, roll materials are widely used, and a large number of processing equipment are required, such as paper, plastic film, fabric, and cord materials. And processing equipment (such as unwinding, rewinding, tape and film printing, material segmentation, etc.), its structure is generally roll-to-roll structure. In flexo printing, gravure printing, and rotary offset printing machines, multi-axis synchronous drive systems (also called shaftless drive systems) are commonly used at present. The system has the advantages of high transmission accuracy, simple structure, wide transmission ratio range, and stable operation. Gradually replacing the long axis of transmission machinery is becoming the development trend of the printing industry. For processing equipment in the fields of printing, packaging, papermaking, etc., the quality of product processing must be guaranteed, and the tension of coiled materials must be kept stable during the production process. Rotary printing machines and unit-type gravure printing machines produced by foreign printing machine manufacturers use motion controllers to realize tension control of the entire machine and multi-axis servo synchronous drive control, eliminating analog tension controllers; domestic companies have also done a lot in related fields In the research work, a unit type gravure printing machine and a rotary offset printing machine driven by multi-axis servo synchronous drive have been developed, but the control system mainly relies on imports. However, due to space and funding reasons, these printing devices are not convenient for direct use in teaching and experimental research, and the existing related teaching equipment is relatively old, which can no longer meet the needs of teaching and scientific research. Frontier roll-to-roll printing and packaging equipment common key technologies urgently need to develop multi-axis synchronous control devices.

Utility model content

In view of this, the purpose of this utility model is to propose a multi-axis synchronous control device, which can fully demonstrate the principles of tension control and multi-axis synchronous servo control in the actual production process, and has the characteristics of small size and convenient operation, especially suitable for teaching and research work.

Based on the above purpose, the utility model provides a multi-axis synchronous control device, including an unwinding roller, a drive roller, a winding roller, and a control device; the control device includes a winding control device for controlling the winding roller , a transmission control device for controlling the transmission roller, and a main controller for controlling the operation of each component.

In one embodiment, it further includes pinch rollers cooperating with said drive rollers.

In another embodiment, the pinch roller is also provided with a manual deviation correction device.

In another embodiment, it also includes a plurality of paper passing rollers for ensuring the normal operation of the device.

In another embodiment, the control device further includes at least one tension control device.

In another embodiment, the tension control device includes a swing roller and a tension sensor, and the tension sensor is connected to the main controller.

In another embodiment, the control device includes a front tension control device arranged between the unwinding roller and the drive roller and a rear tension control device arranged between the drive roller and the take-up roller; The front and rear tension control device includes front and rear swing rollers and front and rear tension sensors, and the front and rear tension sensors are all connected to the main controller.

In another embodiment, the winding control device includes a winding motor and a winding driver, and the transmission control device includes a transmission driving motor and a transmission driver; the winding motor and the driving motor are respectively controlled by the winding driver Driven by the winding driver and the transmission driver, the winding driver and the transmission driver are controlled by the main controller.

In another embodiment, the control device further includes an unwinding control device for controlling the unwinding roller; the unwinding control device includes an unwinding drive motor and an unwinding driver, and the unwinding motor is controlled by the unwinding motor. The unwinding driver is driven, and the unwinding driver is controlled by the main controller.

In another embodiment, the winding control device, the transmission control device, and the unwinding control device further include a winding encoder, a transmission encoder, and an unwinding encoder, respectively.

It can be seen from the above that, compared with other multi-axis synchronous drive tension control devices, the multi-axis synchronous control device provided by the utility model can omit the braking device and the tension controller, and carry out synchronous coordination control through the main controller And tension control, saving adjustment time and equipment space, and precise control. Furthermore, the combination of permanent magnet synchronous motor and servo drive is adopted to more accurately realize the servo synchronous drive and tension control of multiple motors.

Furthermore, the multi-axis synchronous control device provided by the utility model simplifies the process and operation process of the actual web offset printing machine and unit-type gravure printing machine, and can fully demonstrate the tension control and multi-axis synchronous servo control in the actual production process. The principle of control, and has the characteristics of small size, convenient operation, etc., especially suitable for teaching and research work.

Furthermore, the manual deviation correction device provided on the pinch roller can assist in the adjustment of the transmission of the coil, making the control more precise.

Preferably, adding the winding encoder, transmission encoder, and unwinding encoder can realize the closed-loop control of the system, and further precisely control the components of the multi-axis synchronous control device.

Description of drawings

Fig. 1 is a schematic diagram of an embodiment of a multi-axis synchronous control device provided by the utility model;

Fig. 2 is the front perspective view of the utility model embodiment;

Fig. 3 is the rear perspective view of the utility model embodiment;

Fig. 4 is a structural diagram of the winding control device/transmission control device/unwinding control device of the utility model embodiment;

Fig. 5 is a schematic diagram of a pinch roller in an embodiment of the present invention;

Fig. 6 is a schematic diagram of a manual deviation correction device according to an embodiment of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the utility model clearer, the utility model will be further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

A multi-axis synchronous control device disclosed in the utility model includes an unwinding roller, a transmission roller, a winding roller, and a control device; the control device includes a winding control device for controlling the winding roller, A transmission control device for controlling the transmission roller, and a main controller for controlling the operation of each component.

Referring to accompanying drawing 1 and accompanying drawing 2, it is respectively the schematic diagram and the front perspective view of the embodiment of the multi-axis synchronous control device provided by the utility model.

The multi-axis synchronous control device includes an unwinding roller 1, a winding roller 3, a plurality of paper passing rollers 4, a driving roller 6, a pinch roller 2 matched with the driving roller 6, and a control device; The control device includes a winding control device 9 for controlling the winding roller 3 (refer to accompanying drawing 3 and accompanying drawing 4), and a transmission control device 8 for controlling the driving roller 6 (refer to accompanying drawing 3 and accompanying drawing 4), the unwinding control device 10 for controlling the unwinding roller 1 (refer to accompanying drawings 3 and 4), is arranged between the driving roller 6 and the winding roller 3 for controlling the rear of the coil The rear tension control device 5 of tension, the front tension control device 7 arranged between the unwinding roller 1 and the driving roller 6 for controlling the tension of the front part of the coil, and the main controller for controlling the operation of each component.

Referring to accompanying drawing 3 and accompanying drawing 4, it is respectively the rear perspective view of the embodiment of the utility model and the structural diagram of the winding control device/transmission control device/unwinding control device.

The rewinding control device 9 includes a rewinding motor and a rewinding driver, the transmission control device 8 includes a transmission drive motor and a transmission driver, and the unwinding control device 10 includes an unwinding drive motor and an unwinding driver; The coil drive motor, the transmission drive motor and the unwind drive motor are respectively driven by the winding driver, the transmission driver and the unwinding driver, and the winding driver, the transmission driver and the unwinding driver are controlled by the main controller. The rewinding control device 9, the transmission control device 8, and the unwinding control device 10 also include a rewinding encoder, a transmission encoder, and an unwinding encoder respectively, which are correspondingly installed on the rewinding drive motor and the transmission drive motor. And on the shaft of the unwinding drive motor, it is used to detect the speed of the corresponding drive motor to realize closed-loop control. The front and rear tension control device includes front and rear swing rollers and front and rear tension sensors.

Preferably, the rewinding drive motor, transmission drive motor and unwinding drive motor are permanent magnet synchronous servo motors, and the rewinding drive, transmission drive and unwinding drive are servo drives; the rewinding control device 9, The output torque, speed and position control of the transmission control device 8 and the unwinding control device 10 are more flexible and convenient.

The unwinding roller is used for continuously conveying flexible packaging coils. The unwinding roller is equipped with an unwinding drive motor that drives the unwinding roller to rotate. It is controlled by the unwinding driver, which can control the speed and position of the unwinding roller. The unwinding drive The device is controlled by the main controller; optionally, the drive motor may not be installed in the unwinding drive device, and the unwinding is realized by the continuous rotation of the rewinding drive motor of the rewinding drive device. The structure of the rewinding drive device is basically the same as that of the unwinding drive device. A rewinding drive motor that drives the rewinding roller to rotate is mounted on the rewinding drive device. The rewinding drive motor is used to drive the rewinding roller to rotate. And pull the soft packaging coil to move, the speed and position of the winding roller are controlled and driven by the winding driver, and the winding driving device is controlled by the main controller.

During the movement of the flexible packaging coil, in order to ensure the normal printing and processing process, a certain tension must be maintained, and a front tension control device 7 and a rear tension control device 5 are installed. The front tension control device 7 is arranged between the unwinding roller 1 and the driving roller 6, and is composed of a front swing roller 71 and a front tension sensor. Tension sensor, the front tension sensor converts the mechanical variable into a tension detection signal and transmits it to the main controller, and outputs a control signal through the calculation of the tension control module in the main controller, and the control signal controls each driving device, and each driving device Control the corresponding drive motor speed to achieve tension control. The structure and principle of the rear tension control device are the same as those of the front tension control device.

In order to make the flexible packaging coil run smoothly, the multi-axis synchronous control device is provided with a pinch roller 2, and the tension control is assisted by the pinch roller 2. Preferably, the pinch roller 2 is also provided with a manual correction device 11 (refer to accompanying drawings 5 and 6), which is used to fine-tune the gap between the pinch roller 2 and the drive roller 6, so as to adjust the paper running speed the goal of.

The function of realizing multi-axis coordinated synchronous control and tension stability control is mainly completed by the main controller. According to the operating speed set by the system, the main controller realizes the correspondence between the unwinding roller, the rewinding roller and the driving roller through modules such as electronic gears and electronic cams. The synchronous and coordinated operation of the drive motor, the tension sensor detects the tension signal through the swing roller, and generates a control signal through the tension control module of the central controller, and realizes the tension coordination control of the entire device by adjusting the speed of the drive motor.

The main controller is actually a software and hardware control device composed of a microprocessor as the core. The multi-axis synchronous control device is jointly driven by an unwinding drive motor, a rewinding drive motor, and a transmission drive motor. The software calls the electronic gear and electronic cam module through the development environment programming to realize the synchronous and coordinated control of the experimental device; the electronic gear module simulates the function of the mechanical gear, and the electronic gear is to realize the function of the mechanical gear in an electrical way. To change the gear ratio, the electronic gear only needs to The parameters need to be modified, and the proportional control of the unwinding roller, winding roller, and driving roller is realized through electronic gears, so that the linear speed of the coil remains consistent; similarly, the electronic cam is to realize the function of a mechanical cam in an electrical way, and the encoder The angle of the mechanical shaft is detected, and the control signal is given by the electronic cam module to realize position synchronization control; the tension signal is detected by the tension sensor through the position of the pendulum roller, and the tension signal is compared with the given tension to form a tension closed-loop control, which is controlled by the tension of the controller The module generates control signals, fine-tunes the speed of the drive motor, and realizes the coordinated control of the tension of the entire device.

The main controller can realize the synchronous position control of three motors; the tension control is realized through the tension control software module of the main controller. The control system does not need a braking device, and the position control of the device is realized by a motion controller through a software algorithm. The main controller controls the unwinding drive motor, rewinding drive motor, and the servo drive of the transmission drive motor, so that the coil can achieve coordinated and synchronous position control. The tension control module of the main controller can realize the tension control of the coil and achieve stable tension. . The position control and tension control of the device are all controlled by the main controller, no braking device is required, and the control is precise and fast.

The other parameters of the multi-axis synchronous control device are as follows:

Applicable roll materials for the device are: roll paper, plastic film;

Maximum width of coil: 300mm;

The operating speed of the device is adjustable: 50-80m.

With reference to accompanying drawing 1 and accompanying drawing 2, the working process of described multi-axis synchronous control device is as follows:

The flexible packaging roll is sent out from the unwinding roller, passing through the narrow gap between four paper passing rollers 4, the front pendulum roller 71 in the front tension control device 7, one paper passing roller 4, the driving roller 6 and the pinch roller 2 in sequence. Slit, a paper passing roller 4, the rear swing roller 51 in the back tension control device 5, four paper passing rollers 4, and finally the winding roller 3 completes the winding up of the coiled material.

During the transportation of the coil, the speed signals of the unwinding drive motor, rewinding drive motor, and transmission drive motor are all transmitted to the main controller through their corresponding drivers, and the main controller performs synchronous coordination control; The change of tension is transmitted to the tension sensor through the swing roller, the tension sensor is connected with the main controller, and finally the tension control is realized by the tension control module in the main controller.

Preferably, the control device of the multi-axis synchronous control device is arranged in a control cabinet, and mainly includes an unwinding drive motor and its driver, a rewinding drive motor and its driver, a transmission drive motor and its driver, and a main controller .

It can be seen from the above embodiments that compared with other multi-axis synchronous driving tension control devices, the multi-axis synchronous control device provided by the utility model can omit the brake device and tension controller, and carry out synchronous coordination through the main controller Control and tension control saves adjustment time and space occupied by equipment, and the control is precise. Further, the combination of permanent magnet synchronous motor and servo drive is adopted to more accurately realize the servo synchronous drive and tension control of multiple motors.

Furthermore, the multi-axis synchronous control device provided by the utility model simplifies the process and operation process of the actual web offset printing machine and unit-type gravure printing machine, and can fully demonstrate the tension control and multi-axis synchronous servo control in the actual production process. The principle of control, and has the characteristics of small size, convenient operation, etc., especially suitable for teaching and research work.

Furthermore, the manual deviation correction device provided on the pinch roller can assist in the adjustment of the transmission of the coil, making the control more precise.

Preferably, adding the winding encoder, transmission encoder, and unwinding encoder can realize the closed-loop control of the system, and further precisely control the components of the multi-axis synchronous control device.

It should be pointed out that, as can be seen from the above-mentioned embodiments, one of the functions of the pinch roller is to make the cooperating drive wheel exert a driving force on the coil, so that it can be transmitted forward, and to a certain extent control its Transmission speed, but it is not a necessary technical feature of the utility model, and should not be used to limit the scope of protection of the utility model, and similar mechanisms that achieve the same technical effect should also belong to the scope of protection of the utility model; further, the The manual correction device set on the pinch roller is also not a necessary technical feature of the utility model, and should not be used to limit the scope of protection of the utility model, and similar mechanisms that achieve the same technical effect should also belong to the protection of the utility model scope.

It can be seen from the above embodiments that one of the functions of the multiple paper passing rollers is to ensure the normal operation of the multi-axis synchronous control device. It is used to limit the protection scope of the present utility model.

It can be seen from the above embodiments that one of the functions of the front and rear tension control device is to cooperate with the main controller to control the tension of the front and rear parts of the coil during the transfer of the coil. The technical effect can also be achieved by setting a tension control device at one part, even without a tension control device, the tension control of the coil can also be realized only by the cooperation of the pinch roller and the drive roller and the corresponding control of the main controller. , it is not a necessary technical feature of the utility model, and should not be used to limit the scope of protection of the utility model; and, the mechanism that realizes the same technical effect as the tension control device by the combination of the swing roller and the tension sensor should also belong to Protection scope of the present utility model.

It can also be seen from the above embodiments that the unwinding control device includes an unwinding drive motor and an unwinding driver, one of its functions is to assist the transmission of the coil. Of course, the unwinding control device is not provided, but only by the winding The rewinding drive motor of the roll control device rotates continuously to realize unwinding. Therefore, it is not a necessary technical feature of the utility model, and should not be used to limit the protection scope of the utility model.

One of the functions of the rewinding encoder, transmission encoder, and unwinding encoder is to realize the closed-loop control of the system, so that the main controller can control each component more accurately. Therefore, it is not necessary for the present utility model. Technical features shall not be used to limit the protection scope of the present utility model, and similar mechanisms that achieve the same technical effect shall also belong to the protection scope of the present utility model.

Those of ordinary skill in the art should understand that: the above descriptions are only specific embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications made within the spirit and principles of the present utility model, equivalent Replacement, improvement, etc. should all be included in the protection scope of the present utility model.

Claims (10)

1. a multi-axial Simultaneous control setup, is characterized in that, comprises let off roll, live roll, wind-up roll and control setup; Described control setup comprises be used to the winding control device of controlling described wind-up roll, is used for controlling the transmission control device of described live roll, and the master controller that is used for controlling each parts running.

2. multi-axial Simultaneous control setup according to claim 1, is characterized in that, it also comprises the pinch roll that matches with described live roll.

3. multi-axial Simultaneous control setup according to claim 2, is characterized in that, also is provided with Manual deviation rectifying device on described pinch roll.

4. multi-axial Simultaneous control setup according to claim 2, is characterized in that, it comprises that also many are crossed paper bowl, are used for the assurance device normal operation.

5. multi-axial Simultaneous control setup according to claim 1, is characterized in that, described control setup also comprises at least one tenslator.

6. multi-axial Simultaneous control setup according to claim 5, is characterized in that, described tenslator comprises pendulum roller and tension pick-up, and described tension pick-up is connected with described master controller.

7. multi-axial Simultaneous control setup according to claim 6, is characterized in that, described control setup comprises the forward pull control setup that is arranged between described let off roll and live roll and is arranged on backward pull control setup between described live roll and wind-up roll; Pendulum roller and front and back tension pick-up before and after described front and back tenslator comprises, described front and back tension pick-up all is connected with described master controller.

8. the described multi-axial Simultaneous control setup of any one according to claim 1-7, is characterized in that, described winding control device comprises winding motor and rolling actuator, and described transmission control device comprises transmission drive motor and transmission driver; Described winding motor and drive motor are driven by described rolling actuator and transmission driver respectively, and described rolling actuator and transmission driver are by described main controller controls.

9. multi-axial Simultaneous control setup according to claim 8, is characterized in that, described control setup also comprises be used to the unreeling control device of controlling described let off roll; Described unreeling control device comprises and unreels drive motor and unreel actuator, and the described motor that unreels is by the described driver drives that unreels, and the described actuator that unreels is by described main controller controls.

10. multi-axial Simultaneous control setup according to claim 9, is characterized in that, described winding control device, transmission control device and unreeling control device also comprise respectively rolling coder, transmission coder and unreel coder.

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