DE10066058A1 - Machine and method for operating it - Google Patents

Abstract

The invention relates to a machine designed as a partial apparatus and a method for its operation, in which an angle-dependent machining of rotationally symmetrical parts takes place. Actuating elements are provided for transporting the parts relative to processing stations and / or for machining the parts, an actuating element being driven by means of a drive (8) and a transmission element (9) with an integral transmission ratio i. During a teach-in process, position-dependent output variables of the transmission element (9) are determined as a function of predetermined position-dependent input variables. Correction values for the input variables used during the operating phase following the teach-in process are determined from the position-dependent output variables.

Description

The invention relates to a method according to the preamble of claim 1 and a machine according to the preamble of claim 9.

Web processing machines are known from the prior art che can be designed in particular as printing machines. In the print machine will be one web to be processed several via a transport system Processing stations fed.

The webs to be processed consist of paper, foils, cardboard, cardboard or like. The transport system consists of a system of rollers, over which the web is led. In addition to non-driven rollers are also Driven rollers forming actuating elements, such as pull rollers intended. These rollers are each driven by a motor. Between the drive and the roller is a transmission element such as Example, a gear or a gear set.

Furthermore, by means of a drive and a transmission element driven actuating elements for processing the web may be provided. such Adjusting elements can be formed by pressure rollers and the like.

The individual drives are controlled by a central control unit or a system of control units.

So that the web of the individual processing stations such as printing works or punching devices can be fed precisely arranged on the drives encoder, by means of which the current angular positions  of the connected control elements, in particular rollers, who recorded the. The control takes place depending on the output signals of the sensors of the individual drives.

In addition, a register control can be used to control the path in a precise position system should be provided. Such systems include sensors by means of which Registration marks applied to the web are recorded. The output signals of these sensors form input variables for that which is integrated in the control unit Register control system.

Despite the control and regulation processes carried out in the control unit can a web in such a web processing machine on the do not position individual processing stations as precisely as desired.

One reason for this is that the units for performing the position kidney processes of the individual control elements are faulty. This applies in particular especially for the upstream transmission elements such as for example operated or gear sets.

Furthermore, from the state of the art, Ma machines known, by means of which an angle-dependent processing of rotati Onsymmetrical parts takes place, with the parts being transported relative to Machining stations and / or for machining the parts control elements are seen.

The invention has for its object to run as accurately as possible and enable precise positioning of control elements on machines.

To solve this problem, the features of claims 1 and 9 are vorese hen. Advantageous embodiments and expedient developments of the Invention are described in the subclaims.  

According to the invention for at least one transmission element with whole number transmission ratio i by means of a measuring arrangement during a Teaching process position-dependent output variables depending on predetermined position-dependent input variables.

The position-dependent input variables are formed in particular from the angular position α _{e of} the input shaft of the transmission element and the position-dependent output variables from the angular position α _{a of} the output shaft of the transmission element, the quotient α _e / α _a corresponding to the transmission ratio i when the transmission element is operating correctly.

Correction values for the used during the operating phase following the teach-in process Input variables used.

The basic idea of the invention is thus errors in the transfer acquisition elements during the learning process. With the The input variables of the transmission element then become correction values so calibrated that its errors are compensated.

The transmission elements are in particular formed by gears, gear sets or the like. With transmission elements of this type, errors occur in particular due to eccentricities of the individual toothed wheels, which are of the order of a few angular minutes. Through the calibration of the angular positions α _e of the input shaft forming the input variables with the correction values determined during the learning phase, the control of the transmission element by means of the drive is carried out during the operating phase so that these errors are compensated.

Because the transmission ratio of the transmission element is chosen to be an integer the same teeth hit after one gear rotation of the output the gears on each other. The correction values can thus be in the form of a  angle-dependent compensation table over an entire output revolution stored in the control unit and unambiguously the input variables be assigned during the operating phase, which means that by the eccentric errors caused reproducible over the entire angular range be eliminated.

By eliminating such errors, the accuracy of the Positioning of the individual control elements can be increased significantly. On Another advantage is that errors caused by such Vibrations of the control elements and thus of the entire web processing machine can be avoided or at least greatly reduced.

According to the invention, the actuating elements are used to operate a sub-apparatus angle-dependent machining of rotationally symmetrical parts. The part Apparatus can in particular be designed as a groove punch.

In principle, the control elements can also be used for transport and / or for bear serve the web of a web processing machine.

In an advantageous embodiment of the invention, errors are also identified due to the game interlocking gears of the transmission elements eliminated. For this purpose, a motor or a brake is attached to an actuator closed. As a result, the control element is specifically accelerated or reduced brakes, causing a between the gears of the transmission element permanent bias is achieved.

The invention is explained below with reference to the drawings. There 2 show:

Fig. 1: Schematic representation of a section of a web processing machine.

Fig. 2: Schematic representation of a driven actuating element for the web-processing machine according to FIG. 1.

Fig. 3: Measuring arrangement for the control element of Figure 1 vorgeord designated transmission element Fig..

Fig. 1 is a section showing schematically a web-processing machine, by means of which the inventive method by way of example will be explained. In the present example, the machine is designed as a printing press 1 . In the printing press 1 , webs 2 of paper, foils, cardboard, cardboard or the like are printed. Alternatively, the web processing machine can be formed by a printing follower or the like.

The webs 2 to be processed are guided via a transport system and fed to various processing stations, for example for printing with different colors.

The transport system consists essentially of a roller system, which is partly formed by driven rollers and the other by non-illustrated, non-driven deflection rollers. The driven rollers can, as shown in FIG. 1, be formed by pull rollers 3 and form adjusting elements for feeding the web 2 to individual processing stations. The individual control elements are driven by drive units 4 .

The movement of the driven rollers is regulated via a control unit 5 , which is formed by a microprocessor system or the like. The control unit 5 preferably controls the connected drive units 4 of the rollers via a position control loop.

The printing press 1 typically has a guide roller (not shown), the movements of the driven rollers relative to this guide roller being adjustable via the position control loop.

The processing stations partly also have actuating elements driven by drive units 4 and controlled by the control unit 5 . Such a processing station can, as shown in FIG. 1, be designed as a printing unit with pressure rollers 6 forming actuating elements. In addition, such processing stations, not shown, can have drums with cutting blades extending in the longitudinal direction of the jacket surfaces. To position the cutting knives, the drums are accelerated or decelerated in a suitable manner via the drive units 4 controlled by the control unit 5 .

Finally, the processing stations can be formed by stationary units. An example of this is a dryer unit 7 downstream of the printing unit.

Fig. 2 shows diagrammatically a drive unit 4 configured as one of a pull roll actuator 3.

The pull roller 3 is driven by a drive 8 , which is formed by a motor. The motor is connected to the control element via a transmission element 9 . The transmission element 9 can be formed by a toothed belt set or a gear, such as a spur gear, worm, tarpaulin or bevel gear. In the present example, the transmission element 9 consists of a gear set.

The transmission element 9 has an input shaft 10 to which the drive 8 is mounted. In addition, the transmission element 9 has an output shaft 11 on which the actuator is mounted.

The transmission element 9 has an integer transmission ratio i, which in the ideal case, ie when the transmission element 9 is operating correctly _{, is} defined by the quotient i = α _e / α _a , where α _{e is} the angular position of the input shaft 10 and α _{a is} the angular position of the output shaft 11 . Malfunctions of the transmission element 9 can occur, for example, due to eccentricities of the individual gears of the transmission element 9 , as a result of which the quotient α _e / α _a deviates from the ideal value i.

For determining the angular position α _s the motor is connected in an encoder 12 before, which is formed in the present embodiment of an incremental encoder. Alternatively, an absolute encoder can be seen as the encoder 12 .

The measuring arrangement according to FIG. 3 is provided to determine errors of the transmission element 9 , in particular errors due to the eccentricities of the gears of the transmission element 9 .

The measuring arrangement according to FIG. 3 essentially corresponds to the arrangement according to FIG. 2. In the measuring arrangement according to FIG. 3, in contrast to the arrangement according to FIG. 2, only the adjusting element is replaced by a further measuring sensor 12 ′, which in the present exemplary embodiment is in turn replaced by an Incremental encoder or an absolute encoder is formed.

The sensors 12 , 12 'are connected to the control unit 5 . During a teach-in phase, the drive 8 is operated at a fixed, predefined constant speed. Meanwhile, the Winkelpositio NEN α _{a of} the output shaft 11 depending on the angular positions α _{e of} the drive shaft 10 is detected over the entire angular range and read into the control unit 5 . These quantities are determined by means of a dynamic speed measurement. Alternatively, the angle positions α _a , α _{e can} also be determined by means of a static position determination.

Using these measurements, the errors of the transmission element 9 are determined according to the following relationship:

α _{a, is} = α _{a, should} + Δα

In this case, α _{a is} the actual measured values forming the actual values of the angular positions α _{a of} the output shaft 11 . The values Δα represent the angle-dependent deviations, ie errors compared to the setpoints α _a Soll obtained when the transmission element 9 _is operating correctly, and that via the transmission ratio i with the angular positions α _e according to the relationship

α _{a, should} = α _e / i

are linked.

On the basis of the deviations Δα determined in this way, correction values in the form of an angle-dependent compensation table are determined over an entire rotation of the output and are stored in the control unit 5 . The correction values are due to the relationship

K = -Δα.i

defined, where K forms the angle-dependent correction value.

Using the values in the compensation table, the control of the drive 8 is calibrated during the operating phase following the teach-in process in such a way that the angle-dependent errors Δα are just being compensated for. During the operating phase, the second encoder 12 'on the drive shaft is replaced by the control element. The actuating element is operated by the calibrated control of the drive 8 in the production process without errors in the transmission element 9 impairing the accuracy of the control.

In the event that the control element is operated at a constant speed, the determination of the compensation table is expediently carried out by means of a speed measurement during the teach-in process, the drive shaft 10 of the transmission element 9 being operated at a constant speed and being used as a measuring sensor 12 , 12 ′ incremental sensor , The values of the compensation table from the deviations Δα are then determined in such a way that a correspondingly uniform rotational speed is obtained on the output shaft 11 during the operating phase.

In the event that the control element is operated at a variable speed, the compensation table is expediently determined in a static position measurement, ie for the individual angle values for α _e , the corresponding angle value α _{a is} measured statically on the output shaft 11 . For this purpose, the sensors 12 , 12 'are designed as absolute sensors. In this case too, the compensation table is derived from the deviations Δα.

By means of such compensation tables, periodically occurring errors in transmission elements 9 with integer gear ratios can be almost completely eliminated. In particular, errors due to eccentricities of the gears of the transmission elements can be largely eliminated.

In a further embodiment of the invention, an acceleration sensor can be provided to eliminate such errors in a transmission element 9 on its output side. The acceleration sensor can in particular be designed as a Ferrari sensor, which can be easily mounted, in particular on the control element.

During the learning process, the input shaft 10 of the transmission element 9 is operated at a constant speed. If the gears of the transmission element 9 have eccentricities, vibrations occur on the output side. The accelerations that occur are recorded with the acceleration sensor. To compensate for the vibrations, the constant speed is modulated at the input phase. The modulation of the drive shaft 10 is expediently predetermined by a number of parameters which depend on the design of the transmission element 9 . For the modeling of the eccentricities of the transmission element 9 _(n α _n + φ) are defined for the individual gears of the transmission element 9 n sine function F _n = A _n .sin.

With these sine functions, the eccentricities of the individual gears which is captured in a simple mathematical model.

Here α _{n represents} the periodic angular position of the respective gear n over one revolution of the gear n. The amplitudes A _n and ϕ _n represent variation parameters according to which the input speed is changed in a predetermined manner.

Such a model can also be used for complex multi-stage transfers Eccentricities of the individual gears systematically eliminated become.

With this type of compensation for errors in the transmission element 9 , an angle-dependent compensation table can be dispensed with. It is also possible to dispense with the attachment of an incremental encoder on the driven side of the transmission element 9 during the teach-in process.

Other errors of transmission elements 9 can be caused by a game between the individual gears of a transmission element 9 who the. Such transmission errors occur when the actuator arranged on the drive shaft of the movement of the drive 8 does not oppose enough friction or inertia resistance to keep the gears of the transmission element 9 under tension. These transmission errors can also occur if the forces which are exerted on the actuating element via the web 2 to be processed are too low to keep the gearwheels of the transmission element 9 under prestress. The latter case, however, occurs relatively rarely.

In the case of control elements designed as pull or pressure rollers 6 , their resistance to the rotational movement transmitted via the transmission element 9 is so great that the gears of the transmission element 9 are constantly under tension, so that any play between the toothed wheels is the rotational movement of the control element not affected.

On the other hand, the control element is formed, for example, by a drum with a cutting knife, which must be accelerated and braked to position the cutting knife at a desired position on the web 2 , because of the interlocking teeth of the gears of the transmission element 9 due to the existing play relative to each other , which can lead to errors in the positioning of the cutting knife.

To avoid such errors, the control element is a not shown Motor or a brake, not shown, for example an eddy current Subordinate brake. As a result, the control element is accelerated in a defined manner or braked so that the flanks of the teeth of the first gear each under tension on the rear or front flanks of the engaging The teeth of the second gear are in contact.

The procedure described above is not for use on railway processing tendency machines is limited but is according to the invention with dividing heads for angle-dependent machining of rotationally symmetrical parts, esp special groove punching applied.  

LIST OF REFERENCE NUMBERS

1

press

2

train

3

pulling roller

4

drive unit

5

control unit

6

platen

7

dryer unit

8th

drive

9

transmission element

10

Input shaft

11

output shaft

12

Transducers

12

'Encoder

Claims (17)

1. A method for operating a machine designed as a sub-apparatus, by means of which an angle-dependent machining of rotationally symmetrical parts takes place, wherein for the transport of the parts relative to machining stations and / or for machining the parts, adjusting elements are provided, and an adjusting element by means of a drive and a transmission element with an integer transmission ratio i is driven, characterized in that position-dependent output variables of the transmission element ( 9 ) are determined as a function of predefined position-dependent input variables during a teach-in process, and that correction values for the during the on the Teaching process following operating phase input variables used can be determined. 2. The method according to claim 1, characterized in that the subappa advice is formed by a slot punch. 3. The method according to any one of claims 1 or 2, characterized in that the position-dependent input variables from the angular position α _{e of} the input shaft ( 10 ) of the transmission element ( 9 ) and the position-dependent output variables from the angular position α _{a of} the output shaft of the transmission element ( 9 ) are formed, the quotient α _e / α _a corresponding to the transmission ratio i when the transmission element ( 9 ) is working correctly. 4. The method according to any one of claims 1-3, characterized in that the position-dependent output to determine the correction values sizes are determined by means of a speed measurement.   5. The method according to claim 4, characterized in that the speed of the input shaft ( 10 ) is constant during the learning process. 6. The method according to any one of claims 1-3, characterized in that the position-dependent output to determine the correction values sizes are determined by means of a static position measurement. 7. The method according to any one of claims 3-6, characterized in that during the teach-in process from the measured values forming the actual values of the output-side angular positions α _a, the deviations Δα with respect to the target values defined by the relationship α _{a, Soll} = α _e / i α _{a, is to} be determined and that the correction values are determined from the deviations Δα and are stored as a position-dependent compensation table via an output revolution. 8. The method according to any one of claims 1-7, characterized in that to eliminate transmission errors by a game in the transmission transmission element ( 9 ) on the output side of the control element is accelerated or braked in a predetermined manner. 9. Machine for performing the method according to one of claims 1 -8, which is designed as a partial apparatus and by means of which an angle-dependent processing of rotationally symmetrical parts is carried out, with actuating elements being provided for transporting the parts relative to processing stations and / or for processing the parts , A control element being driven by means of a drive and a transmission element with an integral transmission ratio i, characterized in that a measuring arrangement is provided, by means of which position-dependent output variables of the transmission element ( 9 ) can be determined as a function of predetermined position-dependent input variables during a learning phase , and that means are provided for storing correction values determined from the position-dependent output variables for the input variables used during the operating phase following the teach-in process. 10. Machine according to claim 9, characterized in that the transmission elements ( 9 ) of gears, gear sets or timing belt sets are formed. 11. Machine according to one of claims 9 or 10, characterized in that the transmission elements ( 9 ) each have an input shaft ( 10 ) and an output shaft ( 11 ), the quotient α _e / α _{a of} the angular position α _{e of} the input shaft ( 10 ) and the angular position α _{a of} the drive shaft ( 11 ) when the transmission element ( 9 ) is working correctly corresponds to the transmission ratio i. 12. Machine according to one of claims 9-11, characterized in that the measuring arrangement comprises a first sensor ( 12 ) which is closed to the drive ( 8 ) on the input shaft ( 10 ) of the transmission element ( 9 ), and that Measuring arrangement comprises a second encoder ( 12 '), which is attached to the output shaft ( 11 ) with the actuator removed. 13. Machine according to claim 12, characterized in that the transducers ( 12 , 12 ') are each formed by an incremental encoder or absolute encoder. 14. Machine according to one of claims 12 or 13, characterized in that during the operating phase, the second encoder ( 12 ') is removed and replaced by the actuator. 15. Machine according to one of claims 12-14, characterized in that the measuring sensors ( 12 , 12 ') are connected to a control unit ( 5 ) in which the correction values are determined and stored. 16. Machine according to one of claims 9-15, characterized in that at least one of the control elements has a motor  or a brake for accelerating or braking the actuator is provided. 17. Machine according to one of claims 9-16, characterized in that it is designed as a groove punch.