CN217229570U

CN217229570U - Automatic material changing and turning device with disturbance compensation

Info

Publication number: CN217229570U
Application number: CN202220058087.8U
Authority: CN
Inventors: 卢洁莹; 陈勤智; 张晓凡
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2022-01-11
Filing date: 2022-01-11
Publication date: 2022-08-19
Anticipated expiration: 2032-01-11

Abstract

The utility model relates to an automatic material changing and turning device with disturbance compensation, which comprises a swing arm, an actuating device, a drive control device, a turning frame and an angle detector; the roll-over stand is provided with a unreeling roller; the swing arm is used for measuring the tension of the feeding film of the unwinding roller and sending a tension measurement signal to the drive control device; the angle detector is used for measuring the rotation angle of the roll-over stand and sending the rotation angle to the driving control device; the driving control device is connected with the executing device and used for adjusting the rotating speed of the unwinding roller according to the tension measuring signal and the rotating angle of the roll-over stand so as to realize dynamic compensation of tension disturbance in the rotating process of the roll-over stand, so that the tension of the material film transported by the roll-over stand is kept constant. After compensation of the roll-over stand, on the basis of manual measurement of mechanical parameters, the algorithm can effectively inhibit tension fluctuation caused by motion of the roll-over stand on various occasions, wherein the tension error is reduced by about 75% to the maximum extent, and a foundation is laid for stable control of tension of a subsequent process flow.

Description

Automatic material changing and turning device with disturbance compensation

Technical Field

The utility model relates to a mechanical automation field especially relates to an automatic roll-over device that reloads of area disturbance compensation.

Background

The turning device is a part of a winding system, is generally applied to the industries of textile, packaging, printing and the like, and usually needs to control the tension and the winding speed to keep constant during the operation of equipment so as to achieve good production effect and production efficiency.

The turnover device in the prior art mainly comprises a turnover frame, a frame for supporting the turnover frame, a driving device for driving the turnover frame to rotate and a swing arm, wherein 2 unwinding rollers correspondingly arranged on the turnover frame are respectively used for placing a material roll of a new material and an old material, and the new material station and the old material station are exchanged before material replacement under the driving of the turnover frame. The roll-over stand guide roller and the unreeling roller respectively penetrate through the center of the roll-over stand, and the roll-over stand guide roller bracket is mutually vertical to the unreeling roller bracket. In the rotating process of the roll-over stand, a roll-over stand guide roller and a unreeling roller are in contact with the material film, and the roll-over stand rotates to convey the material film to devices such as a swing arm and a traction roller through a first guide roller so as to complete subsequent tasks. The swing arm is used for measuring the tension of the material film, and the traction roller provides a constant linear speed for the material running at the unwinding side.

In the stages of starting, stopping and accelerating and decelerating of the roll-over stand, the unwinding roller has larger inertia, and meanwhile, the change of the geometric position of the unwinding roller in the rotating process of the roll-over stand can bring the change of the length of the unwinding section material to cause the change of the tension. Aiming at the situation, tension feedback control correction can play a certain role, but the dynamic response effect is slow, tension errors exist all the time in the running process of the roll-over stand, and the stability and the precision are poor.

SUMMERY OF THE UTILITY MODEL

To the technical problem who exists among the prior art, the utility model aims to: the utility model provides an automatic turning device that reloads of area disturbance compensation can carry out dynamic compensation to the tension disturbance of roll-over stand rotation in-process, makes the in-process tension of roll-over stand transportation material membrane more stable.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an automatic material changing and turning device with disturbance compensation comprises a swing arm, an execution device, a driving control device, a turning frame and an angle detector;

the roll-over stand is provided with a unreeling roller for conveying the material film;

the swing arm is connected with the drive control device and is used for measuring the tension of the feeding film of the unwinding roller and sending a tension measurement signal to the drive control device;

the angle detector is arranged corresponding to the roll-over stand and is used for measuring the rotation angle of the roll-over stand and sending the rotation angle to the drive control device;

the driving control device is connected with the executing device and used for sending an executing signal to the executing device according to the tension measuring signal and the rotating angle of the roll-over stand;

the executing device is connected with the unwinding roller and used for correspondingly adjusting the rotating speed of the unwinding roller according to an executing signal sent by the driving control device so as to realize dynamic compensation of tension disturbance in the rotating process of the roll-over stand.

Further, the execution device is a variable frequency motor, the driving control device is a driving and controlling integrated machine, the driving and controlling integrated machine is used for generating a control rate according to the tension measurement signal and the rotating angle of the roll-over stand and sending the control rate to the variable frequency motor, and the variable frequency motor is used for adjusting the rotating speed of the unwinding roller.

Further, the angle detector is an encoder.

Further, the encoder is arranged in the center of the roll-over stand.

Further, the encoder is an absolute value encoder.

Generally speaking, the utility model has the advantages that:

after the compensation of the roll-over stand, on the basis of manual measurement of mechanical parameters, various occasions verify that the algorithm can effectively inhibit tension fluctuation caused by the motion of the roll-over stand, wherein the tension error is reduced by about 75% to the maximum extent, and a foundation is laid for the stable control of the tension of the subsequent process flow.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2-5 are schematic structural views of the turning frame of the present invention when turned to different angles;

FIG. 6 is a schematic view of the geometrical positions of the unwinding roller, the first guide roller and the angle of the roll-over stand according to the present invention;

FIG. 7 is a comparison graph of tension error changes measured before and after disturbance compensation when the roll-over stand rotates forwards;

FIG. 8 is a graph comparing the measured tension error before and after compensation for disturbances when the roll-over stand is inverted.

Reference numerals:

the method comprises the following steps of 1-unreeling roller, 2-encoder, 3-roll-over stand guide roller, 4-first guide roller, 5-swing arm, 6-traction roller, 7-driving and controlling integrated machine and 8-variable frequency motor.

Detailed Description

In the prior art, the disturbance of the overturning process of the overturning frame on the tension is not considered, so that the tension change caused by the length change of the material at the unreeling section due to the geometric position change of the unreeling roller 1 in the rotating process of the overturning frame is not independently designed and compensated, and a large tension error always exists in the operating process of the overturning frame.

The device aims at the technical problem, an encoder 2 is added at the center position of a turning frame with a support 3 of a turning frame guide roller and a support 1 of an unwinding roller, the encoder is used for measuring the rotation angle of the turning frame, then the angular speed omega of the turning frame is obtained through calculation, the functional relation between the length L of a material film between the unwinding roller 1 and a first guide roller 4 and the angle theta of the turning frame is established through analyzing a geometric relation graph of the turning frame, derivation is carried out to obtain the equivalent speed change of the unwinding roller 1, a corresponding disturbance model is established and feedforward compensation is carried out, and the tension is more stable in the process of transporting the material film by the turning frame.

The present invention will be described in further detail below.

As shown in figure 1, the automatic material changing and turning device with disturbance compensation comprises a rack, an unwinding roller 1, a turning frame guide roller 3, a first guide roller 4, a swing arm 5, a turning frame encoder 2, a variable frequency motor 8 and a driving and controlling integrated machine 7.

The frame is used for supporting the roll-over stand, and 2 correspond to place the material book of new material and old material respectively on the unreeling roller 1 of arranging, and the rotation of roll-over stand drives the transport of material membrane, and the rotation that will put the time spent material through the roll-over stand will be newly expected to expect to rotate to appointed station and wait to cut and paste the process, wait to accomplish the automatic process of reloading of the normal station completion back to the new material rotation that just connects.

The bracket of the roll-over stand guide roller 3 is vertical to the bracket of the unwinding roller 1.

The first guide roller 4 is arranged on one side of the roll-over stand, in the rotating process of the roll-over stand, the roll-over stand guide roller 3 and the unreeling roller 1 are in contact with the material film, and the roll-over stand rotates to convey the material film to the devices such as the swing arm 5 and the traction roller 6 through the first guide roller 4 to complete subsequent tasks.

The swing arm 5 is used for measuring the tension of the material film in the material film transmission process.

The pulling roll 6 provides a constant linear speed of the unwinding side material run.

The roll-over stand encoder 2 is used for measuring the rotation angle of the roll-over stand, then calculating to obtain the angular speed omega of the roll-over stand, and uploading the angular speed omega to the driving and controlling integrated machine 7 in real time. The driving and controlling integrated machine 7 is respectively connected with the encoder 2, the swing arm 5 and the variable frequency motor 8, and after receiving the signals of the roll-over stand encoder 2 and the signals of the swing arm 5 measured, the control rate is generated through a disturbance feedforward compensation algorithm and a feedback control algorithm in the prior art and is sent to the variable frequency motor 8 to control the rotating speed of the variable frequency motor 8, so that the dynamic tension disturbance compensation in the rotating process of the roll-over stand is finally realized.

In this embodiment, the variable frequency motor 8 is an ampere-chuan variable frequency motor, and the drive and control integrated machine 7 is a solid-high GTSD drive and control integrated machine. The roll-over stand encoder 2 adopts a 17-bit absolute value encoder of the Mogawa and is powered by 5V voltage.

As shown in fig. 2-5, the roll-over stand takes the position of the encoder 2 of the roll-over stand as the center of a circle and the horizontal ground as the X axis in the process of counterclockwise rotation, and the roll-over stand drives the old material to start from-45 degrees and rotate counterclockwise to about 225 degrees until the material film contacts with the new material, and then stops rotating, thus completing one-time material change.

As shown in fig. 6, when the roll-over stand is turned over to a certain angle, the length L of the material film between the unwinding roller 1 and the first guide roller 4 and the turning angle theta of the roll-over stand satisfy a certain geometric relationship, and the driving and controlling integrated machine 7 obtains the speed disturbance equivalent to the length change of the material film of the roll-over stand at different angles by establishing a corresponding function model, then controls the variable frequency motor 8 to adjust the rotating speed, and performs feedforward compensation at the corresponding angle. In the position shown in fig. 5, the film comes into contact with the roll-over stand rollers 3, which causes a change in the function model, which is negligible in compensation due to the short travel.

Fig. 7 shows the tension error curves with and without compensation when the roll-over stand is rotating in the forward direction.

Fig. 8 shows the tension error curves with and without compensation when the roll-over stand is in reverse rotation.

As can be seen from the figure, when the roll-over stand rotates forwards, the maximum value of the tension error is 0.94301N, and the minimum value is-1.42458N; after compensation, the maximum value of the tension error is 0.3418N, and the minimum value is-0.40223N. When the roll-over stand rotates reversely, the maximum value of the tension error is 0.86854N, and the minimum value is-0.95766N; after compensation, the maximum value of the tension error is 0.30213N, and the minimum value is-0.23377N. The fluctuations in tension error are significantly reduced whether the roll-over stand is rotating in the forward or reverse direction, wherein the tension error is reduced by at most about 75%.

To sum up, the utility model discloses a take automatic reloading roll-over stand of disturbance compensation drives and controls all-in-one 7 and receives 2 signals of roll-over stand encoder and 5 measuring signal backs of swing arm, generates the control rate through disturbance feedforward compensation algorithm and feedback control algorithm to issue and be used for controlling inverter motor 8 rotational speed for inverter motor 8, finally realize the tension disturbance dynamic compensation of roll-over stand rotation process, reduce the tension fluctuation of material membrane at the automatic material changing in-process, lay the basis for the tensile stable control of follow-up process flow.

The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.

Claims

1. The utility model provides a take automatic reloading turning device of disturbance compensation which characterized in that: comprises a swing arm, an actuating device, a driving control device, a roll-over stand and an angle detector;

the swing arm is connected with the drive control device and used for measuring the tension of the feeding film of the unwinding roller and sending a tension measurement signal to the drive control device;

the execution device is connected with the unwinding roller and is used for correspondingly adjusting the rotating speed of the unwinding roller according to an execution signal sent by the driving control device so as to realize dynamic tension disturbance compensation in the rotating process of the roll-over stand.

2. The automatic reloading and overturning device with disturbance compensation function as claimed in claim 1, wherein: the executing device is a variable frequency motor, the driving control device is a driving and controlling integrated machine, the driving and controlling integrated machine is used for generating a control rate according to the tension measuring signal and the rotating angle of the roll-over stand and sending the control rate to the variable frequency motor, and the variable frequency motor is used for adjusting the rotating speed of the unwinding roller.

3. The automatic reloading and overturning device with disturbance compensation as recited in claim 1, wherein: the angle detector is an encoder.

4. The automatic reloading and overturning device with disturbance compensation function as claimed in claim 3, wherein: the encoder is arranged in the center of the roll-over stand.

5. The automatic reloading and overturning device with disturbance compensation as recited in claim 3, wherein: the encoder is an absolute value encoder.