EP2349892A1 - Procédé de commande d'une machine de traitement à axes commandés - Google Patents

Procédé de commande d'une machine de traitement à axes commandés

Info

Publication number
EP2349892A1
EP2349892A1 EP09778235A EP09778235A EP2349892A1 EP 2349892 A1 EP2349892 A1 EP 2349892A1 EP 09778235 A EP09778235 A EP 09778235A EP 09778235 A EP09778235 A EP 09778235A EP 2349892 A1 EP2349892 A1 EP 2349892A1
Authority
EP
European Patent Office
Prior art keywords
axis
radius
speed
limit
determined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP09778235A
Other languages
German (de)
English (en)
Other versions
EP2349892B1 (fr
Inventor
Stephan Schultze
Christian Zentraf
Michael Seubert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2349892A1 publication Critical patent/EP2349892A1/fr
Application granted granted Critical
Publication of EP2349892B1 publication Critical patent/EP2349892B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H26/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
    • B65H26/08—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms responsive to a predetermined diameter
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F13/00—Common details of rotary presses or machines
    • B41F13/004—Electric or hydraulic features of drives
    • B41F13/0045—Electric driving devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F33/00—Indicating, counting, warning, control or safety devices
    • B41F33/04—Tripping devices or stop-motions
    • B41F33/12—Tripping devices or stop-motions for starting or stopping the machine as a whole
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
    • B41F—PRINTING MACHINES OR PRESSES
    • B41F33/00—Indicating, counting, warning, control or safety devices
    • B41F33/16—Programming systems for automatic control of sequence of operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/182—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in unwinding mechanisms or in connection with unwinding operations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00—Registering, tensioning, smoothing or guiding webs
    • B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2403/00—Power transmission; Driving means
    • B65H2403/90—Machine drive
    • B65H2403/94—Other features of machine drive
    • B65H2403/943—Electronic shaft arrangement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/10—Size; Dimensions
    • B65H2511/14—Diameter, e.g. of roll or package
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/10—Speed
    • B65H2513/11—Speed angular
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2513/00—Dynamic entities; Timing aspects
    • B65H2513/20—Acceleration or deceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/03—Image reproduction devices
    • B65H2801/21—Industrial-size printers, e.g. rotary printing press

Definitions

  • the present invention relates to a method for controlling a machine tool with driven axes, in particular a printing machine, a correspondingly arranged computing unit, a corresponding computer program and a corresponding computer program product.
  • the invention is not limited thereto but rather directed to all types of driven axle machines having at least one variable diameter axle or interchangeable axles of different diameters.
  • the invention is particularly applicable to printing machines such as newspaper printing presses, commercial printing machines, gravure printing machines, packaging printing machines or securities printing machines and to processing machines such as e.g. Bag making machines, enveloping machines, packaging machines, cloth processing machines,
  • Paper making machines, film stretching machines, rewinders and the like can be used.
  • the machine can be designed for processing paper, cloth, cardboard, plastic, metal, rubber, foils etc.
  • axis is understood to mean an axis, drum, winding, roller or roller rotating around a longitudinal axis, in particular interchangeable and / or variable diameter.
  • a web is kept ready on a unwinding roll.
  • the web is then moved along driven axes (web transport axes or web conveyors) such as e.g. Pull rolls or feed rolls, and non-driven axes, such as e.g. Deflection, guide, drying or cooling rollers, moved.
  • driven axes web transport axes or web conveyors
  • non-driven axes such as e.g. Deflection, guide, drying or cooling rollers
  • Printing presses are also designed as sleeve axes
  • Presets existing in the prior art make it necessary to limit the maximum speed of said axles so as not to exceed a speed limit.
  • These may be material-specific limits, for example, a maximum permissible transport speed of a material during the Not to exceed processing. If the surface speed of the roll becomes too great during operation, this may have adverse effects on the web or its processing.
  • machine guidelines or safety regulations that dictate maximum surface speed of cylinders. It is therefore common in the art to specify a fixed speed limit for each axis.
  • the limit values are safety-monitored in a drive, for example.
  • the so-called "safely reduced speed” and the "safe maximum speed” apply according to the prior art.
  • secure monitoring a monitored quantity is monitored by at least two independent systems (including users) whose measured values are compared. Usually, a safety monitoring is carried out with two channels.
  • speed change limit values which must not be exceeded during acceleration processes and must not be undershot during deceleration processes, in particular stopping operations, so that slow acceleration and rapid stopping can be achieved.
  • the speed change limit values are usually based on the moment of inertia of the respective cylinder.
  • the inertia of a corresponding axis can be for the operator even when embarkachsen or Vorish the role to danger if it may need to be moved by means of the center drive.
  • set-up work on winders may only be carried out without torque or with a safe maximum speed related to the maximum expected moment of inertia. This means that the rotation of the roller must be done by hand, which is often not possible with large windings due to the winding mass or inertia or that the safe maximum speed is a very small speed.
  • the prior art safety monitors of the prior art center winder operate at a fixed maximum speed.
  • Brake and acceleration ramp controls and their monitoring devices are designed for maximum inertia.
  • only fixed speeds are monitored in a safety monitoring system. There is therefore a need for improved methods of controlling respective driven axis machining machines.
  • the present invention proposes a method for controlling a processing machine with corresponding driven axes, in particular a printing press, a computer program and a computer program product having the features of the independent patent claims.
  • Advantageous developments are the subject of the dependent claims and the following description.
  • Safe movements i. in particular speeds, acceleration and / or deceleration rates are always oriented according to the prior art at the maximum occurring surface speed / acceleration or the largest occurring torque.
  • the basis for determining the limit values thus serves in the prior art the largest occurring diameter of the respective cylinder.
  • the diameter of the processing axes (impression cylinder) as well as sleeve axes is also dependent on production for gravure printing machines or packaging printing machines. Since the circumference of the printing cylinder coincides with the format length of the printing format and different formats are to be processed on a machine, the surface speeds of gravure cylinders are different depending on the printing cylinder diameter at a constant speed of the motor drive.
  • a current radius of the axis is determined and based on this an improved control and / or monitoring is made possible.
  • Manual intervention by the operator, which is time-consuming and error-prone, can be omitted.
  • By the automated consideration of the current radius can always an optimal control done, which is designed for the actual current sizes.
  • the radius, and thus the surface speed and the torque of the moving axis are automatically taken into account for the first time. In this way, while maintaining the desired user and machine safety, the processing speed can be increased.
  • the invention is particularly suitable when the radius of the at least one axis is a varying radius during machining. This is the case, for example, with winding axles, which are thus always driven in accordance with their current diameter (mass) during machining.
  • “secure monitoring” is understood to mean at least two-channel monitoring. If the current value of the radius of the control can be fed safely, the consideration of the radius can also be made for safe processes and bring about the mentioned advantages there as well. Safe monitoring can take place, for example, without user input via a two-channel measurement of the radius and comparison of the measurement results. A single-channel diameter measurement and a single-channel transmission can also be performed from a higher-level control with subsequent comparison of the values. The measurements mentioned can be made by means of infeed, distance sensor or light barrier during a lateral Traversing done. A delivery can for example be made laterally to the printing cylinder or another stop, from a monitoring of the drive torque or the mechanical contact can be detected. Based on the travel or the lateral position when contacting the diameter can be determined.
  • a speed limit value and / or a speed change limit value of at least one axis is automatically determined taking into account its radius.
  • a speed limit comprises a safe or non-safe maximum speed which should not be reached or exceeded.
  • a speed change limit value comprises, in particular, a safe or non-safe maximum acceleration, which should not be reached or exceeded during acceleration processes, and / or a safe or non-safe minimum acceleration, which should not be undershot during deceleration processes. This is to be monitored during stopping operations, the time to standstill of the axis, preferably safe.
  • the speed limit value of at least one axis is determined as the quotient of a surface speed limit value and its radius. This allows a particularly simple and rapid provision of the maximum speed or the speed limit value for further method steps.
  • an acceleration limit value or a speed change limit value of at least one axis can be determined from the quotient of a surface acceleration limit value and its radius.
  • a moment of inertia of the at least one axis is further determined taking into account the radius.
  • a determination of the moment of inertia is particularly advantageous when manual Rieht- or set-up work to be made on the axis, since possibly the inertia due to the high mass of the axis prevents manual adjustment thereof.
  • axle rotation by means of a central drive with safe values can be effected in a particularly reliable manner within the scope of such set-up work.
  • the speed change limit of the at least one axis is determined by including its moment of inertia. This can cause the one hand, the axis is not accelerated excessively, which could lead to overload of the drive or an excessively fast axis rotation, on the other hand prevents the axis is accelerated or decelerated with a less than the optimal acceleration value, which in turn unnecessary time losses would result.
  • the speed change limit value or the moment of inertia can be used in an acceleration and / or braking ramp control, by means of which a corresponding speed continuously or gradually increased and / or can be reduced.
  • the acceleration and / or braking ramp control can also be part of further control devices to be provided, but it can also be provided to provide the corresponding control separately from the other devices.
  • the method can be used in a particularly advantageous manner in a printing press, in which the at least one axis is a winding or processing axis.
  • this may be an axis with a variable diameter or an exchangeable axis, wherein the exchange axes used have different diameters.
  • an axle can also be provided, in which an axle core can be provided with exchangeable axle sheaths or sleeves, so that an axle with different diameters can be provided by using different axle sheaths (sleeve axles).
  • the invention is not limited to printing machines, but can be used in all devices having axes with a corresponding variable diameter, and can benefit from a method of the invention for control in a particularly advantageous manner.
  • the radius can be determined by using a safely determined speed and a safely determined machine speed.
  • a radius can be calculated on the basis of the actual speed of the winding and / or the machining axis and the machine speed.
  • the speed ratio of machine speed to winding or machining axis speed is proportional to the radius. If the machine speed and the winding speed or the speed of the machining axis are present as a safely determined value in the safety control, a maximum speed can be safely calculated in the safety control.
  • the radius can also be determined via a single-channel, non-safe measurement and a redundant evaluation of the machine speed and axis speed. If the aforementioned calculation of the radius is calculated on the basis of not reliably determined values of machine speed and winding axis / machining axis speed, an additional, single-channel, non-reliable measurement of the radius with a data comparison of the two determined radii can advantageously result in a reliably determined radius (plausibility check). , If a radius is measured with a sensor which provides a safe value of the radius at its output, which is then transmitted to the safety controller via a secure communication medium, for example, then there is a safe radius in the safety controller or can be such to be provided. This is synonymous with a two-channel, secure measurement of the radius.
  • the radius / diameter of a machining axis can be reliably entered by the operator depending on the job. A measurement no longer takes place during the process or occurs only for control purposes. As an alternative to calculating the maximum speed to be monitored, this can also be entered directly, if necessary, depending on the job. Again, a secure input is required.
  • the invention additionally relates to a computer program with program code means in order to carry out all the steps of a method according to the invention when the computer program is executed on a computer or a corresponding arithmetic unit, in particular in a processing machine.
  • the inventively provided computer program product with program code means is for performing all Steps of a method according to the invention formed when the computer program is executed on a computer or a corresponding computing unit, in particular in a processing machine.
  • Suitable data carriers are, in particular, floppy disks, hard disks, flash memories, EEPROMs, CD-ROMs, DVDs and the like. It is also possible to download a program via computer networks (Internet, intranet, etc.).
  • Figure 1 shows a schematic representation of a machine designed as a printing machine, which is suitable for the inventive method according to a particularly preferred embodiment
  • Figure 2 shows a schematic representation of one according to a particularly preferred Embodiment of the invention running process.
  • a processing machine configured as a printing press is designated by 100 as a whole.
  • Printing material such as paper 101, is on a
  • the paper 101 is guided and printed by processing devices designed as printing units 111, 112, 113, 114, and output again by means of an outfeed 115. Subsequently, the paper 101 is wound on a winder 121.
  • the unwind and rewinders 120, 121 each have respective axes (reels) 120 ', 121'. It is understood that the printing press can also be executed without the winders and / or unwinders 120, 121 and the paper 101 can be fed in or removed in a different manner.
  • the input, extraction and printing units are positioned, in particular cylinder or angle correctable, arranged.
  • the printing units 111 to 114 each have a printing cylinder 111 'to 114', which can be designed as a printing cylinder with a corresponding variable circumference or diameter to adapt to the format to be printed, and against the respective one impression roller 111 "to 114 ⁇
  • the pressure cylinders can be driven individually and independently, and the associated drives H 1 1 1 to 114 '"are shown schematically.
  • the infeed and pull-out units likewise have corresponding drives HO 1 1 1 , 115 '"
  • the press rollers are freely rotatable and form the printing units 111 to 114 each together with the passing paper 101 a frictionally connected unit (nip).
  • Unwinder and rewinder 120, 121 also have drives 120 ''',121''', which are preferably designed as center drives, and which drive the take-off and Aufwicklerrolle 120 'and 121'.
  • the drives of the unwind and rewinder 120 ''',121''' and the drives of the individual plants are connected via a data link 152 to a controller 150.
  • the printing machine has sensors 160, 161, 162, 163 for acquiring machine characteristics, which are also connected to the controller 150.
  • the machine parameters preferably include, for example, the circumference, diameter, radius and / or the speed of the respective associated axis, the speed of the paper web 101 or other speeds.
  • the control unit 150 in particular comprises an embodiment of a computing unit according to the invention and is set up for a corresponding control.
  • the control unit 150 is further connected to user input unit 151.
  • Reference numeral 102 provided. It may be in particular around
  • the printing machine is fed to the paper web 101 via the unwind 120 from the unwind roll 120 '.
  • the Unwinder roll 120 ' will drive the scheduler 120' driven ⁇ '.
  • the sensor 160 monitors the radius. and / or the speed of the unwinder roll 120 '. Analogously thereto are in the output region of the printing press of the winder 121 with the Aufwicklerrolle 121 'and the Winder 121' disposed ⁇ 'and the sensor 163rd Furthermore, in the rewinder region of the rewinder 121, a further sensor 162 is shown, which may in particular be a paper web speed sensor.
  • a calculation of the radius of a roller 120 ', 111', 112 ', 113', 114 ', 121' can be carried out in particular via a determination of machine speed and / or a direct determination of the radius.
  • the unwinding reduces the radius r A of the unwind roll 120 'and the radius of the reel roll 121' increases.
  • transmit sensors 160, 161, 162, 163 radius and / or speed data via a preferably secure data connection 152, for example via a secure fieldbus system or via binary inputs control unit 150.
  • a radius can also be used via the user input unit 151 of the control unit 150 (for example in the form of user input).
  • a sensor 161 which can be mounted next to the roller 114 ', but also next to the other processing roles. It can be about this, especially unique and job-dependent, determine a radius of a processing role.
  • a method according to the invention expires.
  • a radius-dependent control for the speed and / or acceleration of a to be controlled roll is calculated here over the communication channel 152, in particular the 'l (114' drives 111 ''',112' ' ⁇ , 113 ⁇ ' and / or roller drives 12O 1 1 1 , 121 '"provided.
  • FIG. 2 shows a flowchart of a method according to a particularly preferred embodiment of the invention, designated overall by 200.
  • a device such as a printing press, is in the ground state, i. Rolls and / or axes to be controlled and / or monitored are driven at a constant speed and / or accelerated at a constant rate of acceleration.
  • an input is now made via an input channel 240.
  • the input preferably originates from the sensor evaluation unit 220, which evaluates a sensor signal received by sensor S via a sensor channel 230 and sends it to the central unit 210 via the input channel 240 Provides.
  • a user input can be provided via the input channel 240.
  • an input channel 240 is shown by way of example. However, it is understood that multiple input channels can also be provided which provide processed or non-processed data, in particular sensor and / or user input data.
  • an output channel 250 may be provided to provide via an output channel 250 an output with respect to the received signal to an output O, which may be, for example, a visual display, for example, thereby informing a user of the device of a received sensor signal.
  • an output O can also be acted upon by the output channel 250 at times other than the method step 202 shown here, which signals inform the user of the respectively used, the provided and / or the calculated values in the method.
  • an associated radius is calculated at step 203 from the signal received in the previous step 202.
  • the calculation may, as shown above, come from machine, roll or web speeds determined via a sensor S, or from a direct measurement of a radius by the sensor S. In particular, it may also be provided to carry out the calculation redundantly and with the inclusion of plausibility criteria, which may be provided beforehand or simultaneously via further input channels (not shown) corresponding to input channel 240 or present in-system.
  • the central processing unit which in particular can also be realized in the form of a computer device according to a particularly preferred embodiment of the connection, outputs an output to a controller C via the output or control channel 250 '.
  • the controller C automatically effects control of a roller, roller, and / or axis speed or acceleration in accordance with the signal, in particular on the basis of the calculated radius or the further parameters provided by the method.
  • step 205 can be provided, in which the method remains in the present state until an additional signal 240 ', which is supplied with a signal value at step 215 of the sensor evaluation unit 220, for example, is received.
  • This value can in particular consist of new sensor information which is made on the basis of a signal received by sensor S via a sensor line 230 '.
  • the determination of a steady state based on identical or correspondingly smoothed sensor signals can be performed. In this step, a comparison of the two determined radii can be performed. In the case of plausibility errors, an error reaction is then initiated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Inking, Control Or Cleaning Of Printing Machines (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)

Abstract

L'invention concerne un procédé de commande d'une machine de traitement (100) à axes commandés (111', 112', 113', 114', 120', 121'), en particulier d'une machine à imprimer (100), selon lequel un rayon (rA) d'au moins un axe (111', 112', 113', 114', 120', 121') est utilisé pour déterminer automatiquement une valeur limite de commande. Selon l'invention, un rayon actuel et ainsi de préférence la vitesse superficielle et le couple de l'axe en mouvement sont pour la première fois pris en considération automatiquement en particulier pour la commande de la vitesse de rotation.
EP09778235.3A 2008-10-25 2009-09-01 Procédé de commande d'une machine de traitement à axes commandés Not-in-force EP2349892B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008053249A DE102008053249A1 (de) 2008-10-25 2008-10-25 Verfahren zur Steuerung einer Bearbeitungsmaschine mit angetriebenen Achsen
PCT/EP2009/006309 WO2010045996A1 (fr) 2008-10-25 2009-09-01 Procédé de commande d'une machine de traitement à axes commandés

Publications (2)

Publication Number Publication Date
EP2349892A1 true EP2349892A1 (fr) 2011-08-03
EP2349892B1 EP2349892B1 (fr) 2014-04-09

Family

ID=41277410

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09778235.3A Not-in-force EP2349892B1 (fr) 2008-10-25 2009-09-01 Procédé de commande d'une machine de traitement à axes commandés

Country Status (5)

Country Link
US (1) US20110295429A1 (fr)
EP (1) EP2349892B1 (fr)
CN (1) CN102196979A (fr)
DE (1) DE102008053249A1 (fr)
WO (1) WO2010045996A1 (fr)

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CN102196979A (zh) 2011-09-21
DE102008053249A1 (de) 2010-04-29
US20110295429A1 (en) 2011-12-01
EP2349892B1 (fr) 2014-04-09
WO2010045996A1 (fr) 2010-04-29

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