EP2847114B1 - Installation comprenant un arbre à entraîner et procédé de fonctionnement d'une installation - Google Patents

Installation comprenant un arbre à entraîner et procédé de fonctionnement d'une installation Download PDF

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Publication number
EP2847114B1
EP2847114B1 EP13717949.5A EP13717949A EP2847114B1 EP 2847114 B1 EP2847114 B1 EP 2847114B1 EP 13717949 A EP13717949 A EP 13717949A EP 2847114 B1 EP2847114 B1 EP 2847114B1
Authority
EP
European Patent Office
Prior art keywords
geared motor
torque
shaft
generated
winding roll
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.)
Active
Application number
EP13717949.5A
Other languages
German (de)
English (en)
Other versions
EP2847114A1 (fr
Inventor
Jürgen Wegner
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.)
SEW Eurodrive GmbH and Co KG
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SEW Eurodrive GmbH and Co KG
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Application filed by SEW Eurodrive GmbH and Co KG filed Critical SEW Eurodrive GmbH and Co KG
Publication of EP2847114A1 publication Critical patent/EP2847114A1/fr
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Publication of EP2847114B1 publication Critical patent/EP2847114B1/fr
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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
    • B65H20/00—Advancing webs
    • B65H20/36—Advancing webs having means to optionally advance the web either in one longitudinal direction or in the opposite longitudinal direction
    • 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
    • B65H23/1825—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 and controlling web tension
    • 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
    • B65H23/195—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations
    • B65H23/1955—Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in winding mechanisms or in connection with winding operations and controlling web tension
    • 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
    • B65H2403/942—Bidirectional powered handling device
    • 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
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B65H2515/31—Tensile forces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B65H2515/32—Torque e.g. braking torque

Definitions

  • the invention relates to a system with a shaft to be driven and a method for operating a system.
  • the invention is therefore the object of developing a system with a driven shaft, the driving should be able to be improved.
  • the object is achieved in the system with a driven shaft according to the features specified in claim 1 and in the method according to the features indicated in claim 12.
  • the system is provided with a shaft to be driven, wherein at least a first and a second gear motor drive the shaft, wherein a torque caused by a tensile force acts on the shaft, the tensile force being generated by a device, wherein the torque generated by the first gear motor acts against the torque caused by the tensile force and that acts on the torque generated by the second gear motor in the direction of the torque caused by the tensile force.
  • the advantage here is that a high setting range, so a wider range of adjustable torque, the shaft driving device, ie the two geared motors, can be achieved.
  • the second geared motor the torque of the first geared motor generated when the current is not energized can also be compensated. In this way, the adjustment range is expandable to almost zero.
  • the output shaft of the first and the output shaft of the second geared motor rotatably connected to the shaft, in particular, wherein the two output shafts are each designed as hollow shafts and are respectively attached to the shaft.
  • the two output shafts can be arranged one behind the other, ie in the direction of the shaft axis, on the solid shaft.
  • the first and the second geared motor each have a motor-driven or regenerative driven by an electric motor gear, each electric motor is fed in each case by a respective inverter.
  • the transmission generates a torque caused by bearing losses, Gereteölplantschhnee and further friction losses, in particular the teeth, when non-energizing, but that the second gear motor is able to compensate for this torque.
  • the second gear motor can also compensate for the speed-dependent intrinsic resistance of the first geared motor.
  • at least four times or at least ten times greater torque can be generated by means of the first geared motor than by means of the second geared motor and or essentially the first geared motor defines the upper limit of the torque which can be generated by the gearmotors and which can be introduced into the shaft.
  • the second gear motor must have only a small size and thus is inexpensive. Although two gear motors are arranged on the shaft, however, only the first is used to generate the actual drive torque. The second is only the compensation of the torque losses of the transmission of the first geared motor.
  • the torque generated by the second geared motor and directed to the shaft substantially equal to that amount of torque which is generated by the transmission of the first geared motor when the first geared motor is de-energized.
  • a sensor for determining the tensile force is arranged in the system, wherein the detected actual value of the tensile force is fed to a controller of the inverter supplying the first geared motor.
  • the second geared motor is operated as a relief machine.
  • the second geared motor adjusts to a torque value determined according to a characteristic curve M (n), which is assigned to the actual rotational speed.
  • the first geared motor is regulated to the nominal tension.
  • the controller of the converter supplying the first geared motor is supplied with a setpoint value for the tractive force.
  • the advantage here is that on a target value of traction is hinregelbar.
  • the controller of the inverter feeding the second gear motor is supplied with a speed actual value, from which a torque setpoint to be reached is determined according to a characteristic curve.
  • the characteristic describes the speed-dependent inherent inhibition of the first drive or compensates over.
  • a radius of a winding roll is determined and a tensile force is determined, the speed of the winding roll being determined wherein the control deviation of the detected tensile force is determined to a predetermined desired value of tensile force and is converted by means of the determined radius into a torque value to which the torque generated by a first geared motor is adjusted, the second geared motor generates a torque, which is controlled to a torque setpoint, which is determined as a function of the detected speed of the winding roll and / or the shaft according to a characteristic, in particular wherein the characteristic describes the speed-dependent intrinsic resistance of the transmission of the first geared motor or overcompensating describes.
  • the advantage here is that the second drive makes the self-locking of the first drive compensated or makes overcompensated.
  • the adjustment range of the first drive is increased and the control properties improved. If the first drive is less powerful then a very large adjustment range can be realized.
  • the first drive is selected to be less powerful than the second drive, a refined and thus improved controllability within the setting range can be achieved as a result of the more refined current resolution of the less powerful drive. However, then the fine adjustment range is determined only by the less powerful drive.
  • a winding roller 2 is rotatably connected on a shaft 1, on which a winding material, such as paper or fabric, can be wound.
  • the winding material is unwound with a force F, ie an actual value of force, wherein a device not shown causes this tensile force F.
  • a sensor S By means of a deflection roller, a sensor S can be provided which detects the actual value F_act of the tensile force F.
  • the shaft 1 is connected to a first geared motor, wherein the geared motor counteracts the tensile force F.
  • the geared motor generates a torque M which is between a maximum value and a minimum value.
  • the maximum value M_max of the torque M is determined by the size and construction of the geared motor.
  • the minimum value M_min of the torque M is the value that occurs when the motor is not energized.
  • the transmission is driven by the winding roller 2 and the motor acts only by means of its moment of inertia, if no overcompensation by the second gear motor takes place.
  • the acting on the winding roll torque M is the radius, ie half the diameter of the winding roll 2 dependent.
  • the shaft 1 of the winding roll 2 as well as in FIG. 4 shown not only connected to the output shaft of the first geared motor 41 but also to the output shaft of a second geared motor 42.
  • the second geared motor 42 counteracts the torque M_min, that is to say the self-locking of the first geared motor 41, generated by its gearbox when the first geared motor 41 is de-energized.
  • the second geared motor 42 increases with its torque generated by it on the tensile force.
  • the torque generated by the first gear motor 41 has a degrading effect on the tensile force F, since it counteracts it.
  • the torque generated by the second gear motor 42 has an increasing effect on the shaft, in particular tensile force F, since it acts in the direction of the force direction generated by the device, not shown.
  • the sum of the forces generated by the two gear motors (41, 42) and the force generated by the device, not shown, is zero in stationary operation.
  • the size of the second geared motor 42 is smaller executable than the size of the first geared motor, since the second geared motor must apply only the amount M_min of the first geared motor.
  • the adjustment range of the entire drive is thus traversed by the converter of the first geared motor 41.
  • the second geared motor 42 compensates only the self-locking.
  • the adjustment range of the first geared motor 41 which would only be present between M_min and M_max, can be extended by means of the second geared motor. In this case, as a lower limit even almost a vanishing torque allows.
  • a motor preferably a synchronous motor or an asynchronous motor is used and as a gear transmission with a spur gear, with a planetary gear or with a non-self-locking angle gear.
  • the actual value F_act of the pulling force determined by the sensor is fed to the converter 21 of the first geared motor 41, which has a controller to which this actual value F_act is supplied.
  • the controller is also a setpoint F_Soll fed, which corresponds to the desired draft amount.
  • the control deviation is fed to a linear regulator and converted by means of multiplication with the radius of the winding roll 2 detected by a sensor or determined by another method into a torque value M1_soll to which the first converter 21 controls.
  • the inverter 22 which feeds the second geared motor 42, receives the actual value n_act of the rotational speed of the shaft and determines according to a characteristic curve M (n) a desired torque value M2_setpoint, which is thus a function of the rotational speed n.
  • the characteristic M (n) describes the speed-dependent self-locking of the transmission of the first geared motor.
  • the intrinsic resistance caused by the ⁇ lplantschpolee rolling friction of the rolling elements of the bearing and the friction losses, in particular the meshing teeth.
  • the first inverter 21 feeds the electric motor of the first geared motor 41, and the second inverter 22 feeds the electric motor of the second geared motor 42.
  • the controller of the first inverter 21 receives as a setpoint the setpoint F_Soll the tensile force, which is to prevail on the winding roll 2. From the control deviation, ie deviation of the actual value F_ist from the setpoint F_Soll, a manipulated variable is determined, wherein the controller is in the simplest case a linear controller, such as PID controller. Alternatively, however, a simple proportional controller or a PI controller can be used. As in FIG.
  • the manipulated variable is a torque value which is generated by means of said multiplication with the radius of the winding roll 2 from the electric motor with gearbox fed by the first converter 21.
  • the setting range is between M_min and M_max.
  • the controller of the second converter 22 receives as an actual value the detected at the shaft speed from which by means of the speed-dependent intrinsic braking characteristic M (n) of the torque setpoint M2_Soll is formed, to which the torque of the second geared motor is controlled.
  • the second geared motor 42 thus compensates the inherent inhibition of the first geared motor 41.
  • the target value F_Soll is reached in tensile force, which is to prevail on the winding roll 2.
  • the maximum torque that can be generated by the drives is M_max and the minimum torque that can be generated by the drives is M_min.
  • the torque M1 is introduced by the first geared motor 41 and the torque M2 is introduced into the shaft 1 by the second geared motor 42.
  • the opposing force F generated by the geared motors against the tensile forces is indicated by an arrow and acts on the radius R of the winding roll 2.
  • FIG. 5 shows the speed-dependent intrinsic resistance, ie the speed-dependent torque M (n), which occurs at Netflixbestromen of the first geared motor and as a characteristic M (n) the second gear motor for compensation at least predetermined.
  • M (n) the speed-dependent torque
  • M (n) the speed-dependent torque
  • M (n) the speed-dependent torque
  • M (n) the speed-dependent torque
  • M (n) the second gear motor for compensation at least predetermined.
  • overcompensation is also possible. It is advantageous in the overcompensation that not the complicated speed-dependent curve must be specified as a characteristic but a simpler course, such as a constant course. Due to the compensation or overcompensation, the range 52 alone is effective as the setting range of the entire drive, which comprises the first and the second gear motor; Thus, the area 53 is ineffective as a parking area, since it is compensated
  • the system is an unwinder or rewinder.
  • the setting range of the two geared motors that is (R_max x F_max) / (R_min x F_min), is greater than 30 by means of the invention, where R_max is the maximum radius of the winding roll, where R_min is the minimum radius of the winding roll, where F_max is the maximum tensile force occurring and F_min is the minimum pulling force.
  • the controller of the two inverters are reversed, whereby the inverter of the more powerful first geared motor gets the actual speed n_ist supplied and determined according to a characteristic M (n) the torque setpoint M_Soll and passes by means of the geared motor to the shaft.
  • the controller of the converter of the second geared motor receives the actual force F_act and the determined or detected radius of the winding roller 2, so that it determines a control value from the comparison with the desired force F_setpoint and thus operates the second controller in such a way that the actual force points to the desired force is regulated.
  • the radius of the winding roll is not detected directly by a sensor but determined by means of the detected unwinding or winding speed of the winding material and the detected rotational speed of the shaft by the quotient of the speeds is formed.
  • a transmission is arranged between the shaft and the winding roller, so that the rotational speeds differ by a factor.
  • the controllers of the inverter are not in the inverters (21, 22) but arranged in a higher-level control, which is connected by means of a data bus with the inverters (21, 22).
  • the characteristic of the intrinsic resistance of one of the two gear motors is determined by this is operated without power at several speeds, preferably decoupled or empty winding roller, and occurring at the other gear motor torque to overcome the intrinsic resistance of the first-mentioned geared motor is determined.
  • the characteristic of the intrinsic resistance of one of the two gear motors is determined by this is operated without power at several speeds, preferably decoupled or empty winding roller, and occurring at the other gear motor torque to overcome the intrinsic resistance of the first-mentioned geared motor is determined.
  • Added safety margin to the torque determined at each speed and deposited these thus determined speed-torque value pairs as discretely represented characteristic.
  • Intermediate values can be easily determined by interpolation, in particular linear interpolation.

Landscapes

  • Control Of Multiple Motors (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)

Claims (13)

  1. Installation comprenant un arbre à entraîner (1), au moins un premier et un deuxième motoréducteur (41, 42) assurant l'entraînement, un couple (M) généré par une force de traction agissant sur l'arbre (1), la fore de traction étant générée par un dispositif,
    caractérisée en ce que
    le couple (M1) généré par le premier motoréducteur (41) agit à l'encontre du couple généré par la force de traction et le couple (M2) généré par le deuxième motoréducteur (42) agit dans le sens du couple généré par la force de traction,
    - le couple (M2) généré par le deuxième motoréducteur (42) et appliqué à l'arbre (1) étant essentiellement égal en valeur absolue à la valeur absolue du couple qui est généré par la transmission du premier motoréducteur (41) lorsque le premier motoréducteur (41) n'est pas alimenté en courant,
    - ou le deuxième motoréducteur (42) générant un couple (M2) qui est réglé sur une valeur de consigne de couple qui est déterminée en fonction de la vitesse de rotation détectée du rouleau de bobinage (2) et/ou de l'arbre (1) en fonction d'une courbe caractéristique, en particulier la courbe caractéristique décrivant l'auto-blocage dépendant de la vitesse de rotation de la transmission du premier motoréducteur (41) ou le décrivant avec une surcompensation,
    - ou une valeur de consigne étant acheminée au régulateur du convertisseur alimentant le deuxième motoréducteur (42), laquelle valeur de consigne correspond au couple (M1) généré par la transmission du premier motoréducteur (41) lorsque le premier motoréducteur (41) n'est pas alimenté.
  2. Installation selon la revendication 1,
    caractérisée en ce que
    l'arbre de prise de force du premier motoréducteur et l'arbre de prise de force du deuxième motoréducteur (42) sont connectés de manière solidaire en rotation à l'arbre (1), en particulier les deux arbres de prise de force étant à chaque fois réalisés sous forme d'arbres creux et étant à chaque fois enfichés sur l'arbre (1).
  3. Installation selon au moins l'une quelconque des revendications précédentes,
    caractérisée en ce que
    le premier et le deuxième motoréducteur (41, 42) présentent à chaque fois une transmission pouvant être entraînée comme générateur ou moteur par un moteur électrique, chaque moteur électrique étant à chaque fois alimenté par un convertisseur respectif.
  4. Installation selon au moins l'une quelconque des revendications précédentes,
    caractérisée en ce que
    un couple (M1) peut être généré au moyen du premier motoréducteur (41), lequel est au moins quatre fois ou au moins dix fois supérieur au couple produit au moyen du deuxième motoréducteur (42) et/ou en ce que le premier motoréducteur (41) définit essentiellement la limite de réglage supérieure du couple pouvant être introduit dans l'arbre (1) et pouvant être généré par les motoréducteurs (41, 42).
  5. Installation selon au moins l'une quelconque des revendications précédentes,
    caractérisée en ce
    qu'il est prévu un capteur (S) pour détecter le rayon du rouleau de bobinage (2)
    ou en ce que
    le rayon du rouleau de bobinage (2) est déterminé à partir de la vitesse de rotation détectée de l'arbre (1) et de la vitesse périphérique détectée du rouleau de bobinage (2), ou à partir de la vitesse du produit à enrouler déroulé ou enroulé.
  6. Installation selon au moins l'une quelconque des revendications précédentes,
    caractérisée en ce
    qu'un capteur (S) est disposé dans l'installation pour déterminer la force de traction, la valeur instantanée détectée de la force de traction étant acheminée à un régulateur du convertisseur alimentant le premier motoréducteur (41).
  7. Installation selon au moins l'une quelconque des revendications précédentes,
    caractérisée en ce
    qu'une valeur de consigne pour la force de traction est acheminée au régulateur du convertisseur alimentant le premier motoréducteur (41),
    l'écart de régulation étant converti par multiplication avec le rayon du rouleau de bobinage (2) en une valeur de couple M1_Soll, à laquelle le couple (M1) généré par le premier motoréducteur (41) est ajusté.
  8. Installation selon au moins l'une quelconque des revendications précédentes,
    caractérisée en ce que
    le deuxième motoréducteur (42) génère un couple (M2) surmontant l'auto-blocage du premier motoréducteur (41).
  9. Installation selon au moins l'une quelconque des revendications précédentes,
    caractérisée en ce que
    le régulateur pour le premier convertisseur et le régulateur pour le deuxième convertisseur sont permutés.
  10. Installation selon au moins l'une quelconque des revendications précédentes,
    caractérisée en ce que
    l'installation est un dérouleur ou un enrouleur et/ou en ce
    qu'un rouleau de bobinage (2) est disposé sur l'arbre (1).
  11. Installation selon au moins l'une quelconque des revendications précédentes,
    caractérisée en ce que
    la plage de réglage des deux motoréducteurs (41, 42), c'est-à-dire (R_max x F_max)/(R_min x F_min), est supérieure à 30,
    R_max étant le rayon maximal du rouleau de bobinage (2),
    R_min étant le rayon minimal du rouleau de bobinage (2),
    F_max étant la force de traction maximale produite et F_min étant la force de traction minimale produite.
  12. Procédé pour faire fonctionner une installation selon au moins l'une quelconque des revendications précédentes,
    caractérisé en ce
    qu'un rayon d'un rouleau de bobinage (2) est déterminé et une force de traction est déterminée, la vitesse de rotation du rouleau de bobinage (2) étant déterminée,
    l'écart de régulation de la force de traction détectée par rapport à une valeur de consigne prédéfinie de la force de traction étant déterminé et, au moyen du rayon déterminé, étant converti en une valeur de couple à laquelle le couple (M1) généré par un premier motoréducteur (41) est ajusté,
    le deuxième motoréducteur (42) génère un couple (M2) qui est ajusté à une valeur de consigne de couple qui est déterminée en fonction de la vitesse de rotation détectée du rouleau de bobinage (2) et/ou de l'arbre (1) en fonction d'une courbe caractéristique, en particulier la courbe caractéristique décrivant l'auto-blocage dépendant de la vitesse de rotation de la transmission du premier motoréducteur (41) ou le décrivant avec une surcompensation.
  13. Procédé selon la revendication 12,
    caractérisé en ce que
    la courbe caractéristique est déterminée dans une étape de procédé antérieure en faisant fonctionner le premier motoréducteur (41) sans alimentation en courant et en déterminant le couple (M2) généré au niveau du deuxième motoréducteur (42) pour surmonter l'auto-blocage du premier motoréducteur (41),
    en particulier une marge de sécurité étant prise en compte pour la détermination de la courbe caractéristique à partir des valeurs détectées.
EP13717949.5A 2012-05-10 2013-04-16 Installation comprenant un arbre à entraîner et procédé de fonctionnement d'une installation Active EP2847114B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012009190.7A DE102012009190B4 (de) 2012-05-10 2012-05-10 Anlage mit einer anzutreibenden Welle und Verfahren zum Betreiben einer Anlage
PCT/EP2013/001111 WO2013167226A1 (fr) 2012-05-10 2013-04-16 Installation comprenant un arbre à entraîner et procédé de fonctionnement d'une installation

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Publication Number Publication Date
EP2847114A1 EP2847114A1 (fr) 2015-03-18
EP2847114B1 true EP2847114B1 (fr) 2018-07-25

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EP (1) EP2847114B1 (fr)
CN (1) CN104271479B (fr)
DE (1) DE102012009190B4 (fr)
WO (1) WO2013167226A1 (fr)

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DE102014001249A1 (de) * 2014-02-03 2015-08-06 Juan Carlos González-Villar Antriebssystem für Zentrumswickler
CN106933265A (zh) * 2015-12-31 2017-07-07 候成苍 弦绳拉力调控装置与方法
CN105731149B (zh) * 2016-03-18 2017-08-25 深圳易能电气技术股份有限公司 一种放卷机的控制方法、系统及变频器
JP6859844B2 (ja) * 2017-05-17 2021-04-14 コニカミノルタ株式会社 用紙搬送装置
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DE102012009190A1 (de) 2013-11-14
CN104271479A (zh) 2015-01-07
EP2847114A1 (fr) 2015-03-18
CN104271479B (zh) 2016-12-28
WO2013167226A1 (fr) 2013-11-14
DE102012009190B4 (de) 2020-03-19

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