JP2000176883A5 - - Google Patents

Description

【００２９】
ここに Ｖ ：移動物体の表面速度
λ ：レーザ波長
Φ ：ビーム交差角
Δθ：ビーム法線と移動物体の直角からのずれ角（図４参照）
前記式（１）より、λ、Φ、Δθが決まると、ドップラ波の周波数信号ｆ_D は、移動物体４５の表面速度Ｖに比例した周波数を有する。このため、時間に対してドップラ波の波数を積算すれば、その時間における移動物体の移動量を求めることができる。
【００３０】
物体が速度Ｖで移動した距離をＤとすれば、次式（２）が成り立つ。
【００３１】
【数２】

【００３２】
上記の式（２）により、移動物体の速度Ｖと移動距離Ｄの関係が表される。
式（１）をＶについて解くと、次式（３）が得られる。
【００３３】
【数３】

【００３４】
上式において、比例部分を定数Ｋ₂ を、
【００３５】
【数４】

【００３６】
とすると、式（３）は、次式（５）のように表すことができる。
【００３７】
【数５】

【００３８】
上式（５）より、物体の速度Ｖはドップラ周波数ｆ_D に比例する。したがって移動距離Ｄは、式（５）を式（２）に代入して、次式（６）のように求めることができる。
【００３９】
【数６】

【００４０】
上式より、距離Ｄすなわち移動体の移動量は、ドップラ波の周波数ｆ_D の積分値に比例することがわかる。
【００４１】
上記の原理により、移動物体すなわち切断機３の速度Ｖと移動距離Ｄが計測できることがわかるであろう。
【００４２】
図５に、ドップラセンサ１４およびレーザ測長装置１５を示す。ドップラセンサ１４により検出されたドップラ周波数信号ｆ_D は、信号処理回路５１に送られる。この信号処理回路５１により、ドップラ周波数信号に重畳している雑音を除去する。この信号処理回路５１により雑音を除去されたドップラ周波数信号は、演算回路５２に送られ、先に述べた式（５）および式（６）により、速度Ｖおよび移動距離Ｄを演算して求める。
【００４３】
この演算に必要な式（１）のレーザ波長λ、ビーム交差角Φ、ビーム法線と移動物体の直角からのずれ角Δθの数値は、設定器５７により予め設定される。これら設定値は、制御回路５３を経て演算回路５２に送られる。演算回路５２で計算された速度Ｖおよび移動距離Ｄは、出力回路５５，５４から、速度信号および位置信号として、それぞれ出力される。
【００４４】
図１に戻り、数値制御回路２０について説明する。数値制御回路２０は、材料長計測器２１、速度指令発生器２２、前進長算出器２３、切断長設定器２４、切断指令発生器２５、切断長設定器２６、材料速度検出器２７、材料位置検出器２８、入力設定器２９、サンプリング時間設定器３０、機械速度検出器３１、機械位置検出器３２、および補正速度指令発生器３４によって構成されている。
【００４５】
まず、切断長設定器２４，２６、入力設定器２９、サンプリング時間設定器３０などの設定器に必要な数値を各々設定する。そして、運転指令により材料１が走行を開始する。
【００４６】
材料１が走行を開始すると、測長ロール１１が回転し、パルスジェネレータ１２からパルスが発生し、このパルスの計数値から材料長計測器２１により材料の移動量が計測され、これを材料測長信号としている。同じくパルスジェネレータ１２のパルスの計数値を、材料速度検出器２７および材料位置検出器２８に入力し、材料の速度および位置を検出している。この時点では、切断機３は走行せず待機している。
【００４７】
そして、材料長計測器２１により計測された材料測長信号は、速度指令発生器２２、前進長算出器２３、切断指令発生機２５にそれぞれ入力される。
【００４８】
前進長算出器２３は、材料測長信号に基づき前進長を算出する。前進長の算出方法を、図２を参照して説明する。
【００４９】
図２において、測長ロール１１の中心位置から材料端検出器３３迄の長さＬ_B 、測長ロール１１の中心位置から切断機３の刃（中心）までの長さＬ_C 、材料切断長Ｌ_T とする。前進長Ｌ_A は、次の式（７）により計算される。
【００５０】
【数７】
Ｌ_A ＝Ｌ_T −（Ｌ_B −Ｌ_C ） ………（７）
そして、前進長算出器２３の出力が式（７）の前進長Ｌ_A になったことを速度指令発生器２２が認知すると、速度指令発生器は速度指令を発生する。この速度指令により、切断機３が起動し、加速される。図３（Ａ）に、切断機３の速度をｎ_C で示す。図３（Ａ）において、横軸は時間（ｔ）、縦軸は速度である。切断機３は、ｔ＝０から加速されていることがわかる。
【００５１】
この切断機３の速度ｎ_C は、レーザ測長装置１５に接続された機械速度検出器３１により検出され、同時に図３（Ｂ）の切断機３の位置ｐ_C は、レーザ測長装置に接続された機械位置検出器３２により検出される。
【００５２】
一方、入力設定器２９には、材料速度入力距離が設定されているので、材料の移動距離が、この材料速度入力距離の値と等しくなる時刻ｔ_L に、材料速度検出器２７により検出される材料速度ｎ_L が、図３（Ａ）に示すように補正速度指令発生器３４に取り込まれる。同時に材料位置検出器２８により検出される材料位置ｐ_L が、図３（Ｂ）に示すように補正速度指令発生器３４に取り込まれる。図３（Ｂ）において、横軸は時間（ｔ）、縦軸は距離である。
【００５３】
サンプリング時間設定器３０には、サンプリング時刻ｔ_H が設定されている。切断機３が起動後、サンプリング時刻ｔ_H になると、補正速度指令発生器３４は、そのときの材料速度ｎ_LH、材料位置ｐ_LH、および切断機３の機械速度ｎ_CH、機械位置ｐ_CHをサンプリングして保持し、次式（８）を用い、時間ｔに関する補正速度関数ｎ_C ′を生成する。
【００５４】
補正速度関数は、
【００５５】
【数８】

【００５６】
ここに、Δｎ＝ｎ_LH−ｎ_CH
Δｐ＝ｐ_HL−ｐ_CHである。
上記の補正速度関数ｎ_C ′を、図３（Ｃ）に示す。生成された補正速度関数ｎ_C ′を、速度指令発生器２２の出力する速度指令に加算する。その結果を制御装置１０の速度基準値として与えることにより、時刻ｔ_S で、切断機３の速度および位置が、走行中の材料１の速度および位置に同期する。
【００５７】
時刻ｔ_S と時刻ｔ_H との差である時間Δｔは、次式（９）により算出できる。
【００５８】
【数９】

すなわちΔｔは、サンプリング時間のΔｎとΔｐとの比で決まり、サンプリング後、Δｔ経過した時刻ｔ_S で、切断機３の速度および位置が、走行中の材料１の速度および位置に同期することになる。
【００５９】
材料切断長は、切断設定器２６に予め設定されているので、時刻ｔ_S 後の時刻ｔ_COに、切断指令発生器２５の切断指令によりシャー４が動作し、切断位置ｐ_COで走行中の材料１を切断する。切断機が材料と同期しているので、切断誤差が零となる。
【００６０】
以上の説明では、時刻ｔ_H において１回だけサンプリングする場合を示したが、時刻ｔ_S 後に複数回サンプリングし、式（８）を含む補正処理を繰り返すこともできる。
【００６１】
また、材料端検出器３３を用いたが、必ずしもこれを用いる必要はなく、前進長Ｌ_A と測長ロール位置から材料先端検出器までの長さＬ_B の和すなわち（Ｌ_A ＋Ｌ_B ）を材料長計測器２１により計測して使用すればよい。
【００６２】
ここで用いられている切断機３の速度信号と位置信号は、図１で示した通り、レーザ測長装置からの出力値を用いているが、切断機３の位置信号または速度信号の何れか一つの信号を用いた場合でも、その出力値を微分または積分することにより、間接的に切断機３の位置信号または速度信号を得ることができる。
【００６３】
例えば、レーザ測長装置の出力値が速度信号のみの場合は、切断機３の切断磯速度検出器３１の出力値を積分操作することにより、間接的に切断機３の位置信号を得ることができる。すなわち、切断機３の速度信号を時間積分して速度−位置変換定数を乗じることにより位置を求め、この位置を切断機３の位置信号として用いることができる。
【００６４】
また、レーザ測長装置の出力値が位置信号のみの場合は、切断機３の切断機位置検出器３２の出力値を微分操作することにより、間接的に切断機３の速度信号を得ることができる。すなわち、切断機３の位置信号を時間微分して位置−速度変換定数数を乗じることにより速度を求め、この速度を切断機３の速度信号として用いることができる。
【００６５】
また、材料の移動に応じた移動量を検出する測長ロールは、従来技術で説明したように、材料をニップしているため、測長ロールのニップ圧による擦り傷を生じたり、または、経年による測長ロールの摩耗の原因等により測定誤差が生じる問題などがあった。これらの問題を解決するために、図６に示すように、ドップラセンサ１１Ａおよび１２Ａを用い、位置検出信号を材料長計測器２１に入力するように構成できる。ドップラセンサ１１Ａおよびレーザ測長装置１２Ａは、図４および図５に示したものと同じである。
【００６６】
【発明の効果】
以上述べたように、本発明によれば、切断／加工機から非接触センサで直接検出した速度および位置を用いて、切断／加工機を材料に同期させるようにしているので、走行切断／加工機の急加減速によるモータと伝達機構の間の捻れ、振動および伝達機構のバックラッシュによる駆動時間の遅れ、あるいは駆動機構の摩耗による諸特性の経年変化に対して、影響を受けることなく、切断材料の寸法精度を保証することができる。
【図面の簡単な説明】
【図１】本発明の一実施例の同期制御装置の構成図である。
【図２】本発明のダイセットシャーの動作を説明するための図である。
【図３】本発明の一実施例に係わるダイセットシャーの同期制御装置の動作原理を説明するための図である。
【図４】本発明に係わるドップラセンサの原理図である。
【図５】本発明に係わるレーザ測長装置の信号処理回路のブロック図である。
【図６】材料の速度を検出するドップラセンサおよびレーザ測長装置を示す図である。
【図７】従来のダイセットシャーの構成図である。
【符号の説明】
１ 材料
２ ダイセットシャー
３ 切断機
４ シャー
５ プレス
６ ラック
７ ピニオン
８ 電動機
９ パルスジェネレータ
１０ 電動機制御装置
１１ 測長ロール
１２ パルスジェネレータ
１４ ドップラセンサ
１５ レーザ測長装置
２０ 数値制御装置
２１ 材料長計測器
２２ 速度指令発生器
２３ 前進長算出器
２４ 切断長設定器
２５ 切断指令発生器
２６ 切断長設定器
２７ 材料速度検出器
２８ 材料位置検出器
２９ 入力設定器
３０ サンプリング時間設定器
３１ 機械速度検出器
３２ 機械位置検出器
３３ 材料端検出器
４１ 半導体レーザ発生器
４２ コリメートレンズ
４３ ビームスプリッタ
４４ ミラー
４５ 移動物体
４６ 受光レンズ
４７ 光検出器
５１ 信号処理回路
５２ 演算回路
５３ 制御回路
５４ 出力回路
５５ 出力回路
５６ 表示器
５７ 設定器
５８ レーザ電源Title: Synchronous control device for traveling cutting / machining device [Claims]
1. A synchronous control device for controlling a cutting / processing device comprising a traveling cutting / processing machine for cutting or processing according to the speed of a traveling material and an electric motor for driving the cutting / processing machine. ,
A speed control device for controlling the electric motor,
A numerical controller for providing a speed reference signal to the speed controller;
A contact sensor that detects an amount of movement of the traveling material;
A non-contact sensor for detecting the speed and position of the cutting / processing machine,
The numerical controller generates a speed command based on the amount of movement of the material detected by the contact sensor, the speed and position of the material determined from the amount of movement of the material detected by the contact sensor, and the non-contact sensor Samples the speed and position of the cutting / processing machine detected at least once, holds those values, obtains a corrected speed function based on the held values, adds the corrected speed function to the speed command, and adds A synchronous control device for a traveling cutting / processing device, characterized in that said speed reference signal synchronizes a speed and a position of a processing machine with a speed and a position of said material.
2. A synchronous control device for controlling a cutting / working device comprising a traveling cutting / working machine for cutting or working in accordance with the speed of a running material and an electric motor for driving said cutting / working machine. ,
A speed control device for controlling the electric motor,
A numerical controller for providing a speed reference signal to the speed controller;
A first non-contact sensor for detecting an amount of movement of the traveling material;
A second non-contact sensor for detecting the speed and position of the cutting / processing machine,
The numerical controller generates a speed command based on a movement amount of the material detected by the first non-contact sensor, and calculates a speed of the material obtained from the movement amount of the material detected by the first non-contact sensor. And the position, and the speed and position of the cutting / processing machine detected by the second non-contact sensor are sampled at least once, the values are held, and a corrected speed function is obtained based on the held values. Synchronizing the speed / position of the cutting / cutting machine with the speed and position of the material to form the speed reference signal which is added to the speed command. .
3. A synchronous control device for a traveling cutting / processing device according to claim 1, wherein
The numerical controller,
A measuring device that converts the detected movement amount of the material into a material length measurement signal and outputs the signal;
A speed command generator that outputs the speed command based on the material length measurement signal,
A sampling time setting device for presetting a sampling time,
At the sampling time, the speed and position of the material and the speed and position of the cutting / processing machine are sampled, the values are held, and a correction speed command is generated to generate a correction speed function based on the held values. Vessels,
A synchronous control device for a traveling cutting / processing device, comprising:
4. A synchronous control device for a traveling cutting / machining device according to claim 1, 2 or 3,
The non-contact sensor includes a Doppler sensor that irradiates a laser beam.
DETAILED DESCRIPTION OF THE INVENTION
[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous control device of a traveling cutting / processing device that cuts or processes a moving material according to a moving speed of a traveling material.
[0002]
[Prior art]
Conventionally, traveling cutting devices and traveling processing devices are, for example, die set shears or flying shears for cutting materials such as iron plates, aluminum plates and films, and carriers for cutting materials such as pipes and molding materials such as iron plates and aluminum plates. There is a press processing device for processing.
[0003]
The control of these traveling cutting devices and traveling processing devices (hereinafter referred to as traveling cutting / processing devices when it is not necessary to distinguish them from traveling cutting devices and traveling processing devices) is described in, for example, As described in Japanese Patent No. 15118, the speed of a traveling material is detected by using a pulse generator to detect a pulse and using the pulse and a pulse generated by a pulse generator of a driving motor of a traveling cutting / processing apparatus. ing.
[0004]
The transmission mechanism of the traveling cutting / machining device includes a twist between the electric motor and the transmission mechanism due to rapid acceleration / deceleration of the cutting / machining machine, a delay in driving time due to vibration and backlash inherent in the transmission mechanism, and aging. The cutting accuracy becomes uncertain due to the wear of the transmission mechanism, and the like, which causes a problem that an error occurs.
[0005]
An example of a die set shear, which is a typical example of a conventional traveling cutting / processing apparatus, will be described. FIG. 7 shows a configuration diagram including the control device of the die set shear.
[0006]
As shown in FIG. 7, the die set shear 2 has a configuration in which a cutting machine 3 including a shear 4 and a press 5 travels in the direction in which the material 1 travels, that is, in the direction of the arrow. , A pinion 7 and an electric motor 8.
[0007]
The cutting machine 3 is driven by a pinion 7 meshed with a rack 6 and an electric motor 8 and travels along the traveling material 1. The cutting machine 3 travels in the traveling direction of the material 1 or in the opposite direction depending on the rotation direction of the electric motor 8.
[0008]
The operation of the die set shear 2 and the method of measuring the amount of movement of the material 1 will be described. First, various data necessary for cutting, that is, a cutting start position, a cutting moving distance, a cutting length, and the like are set by the setting unit 61. Then, the material 1 starts running according to the operation command.
[0009]
The running material 1 is pressurized, that is, nipped, by two upper and lower length measuring rolls 11, and the length measuring roll 11 rotates as the material 1 travels, and a pulse is generated from the pulse generator 12 for each unit rotation angle. Then, it is input to the numerical control circuit 60. The numerical control circuit uses this pulse signal to measure the amount of movement of the continuously traveling material 1 and uses this amount of movement as a material measurement signal.
[0010]
When the material length measurement signal reaches the cutting machine start position, the electric motor 8 is driven, and the rotation of the electric motor 8 causes the pinion 7 to mesh with the rack 6, and the cutting machine 3 is rapidly accelerated from the standby position along the traveling direction of the material 1. I do. On the other hand, the pulse amount per unit rotation angle or the pulse count amount per unit time is detected from the pulse generated by the pulse generator 9 of the electric motor 8 for driving the cutting machine 3, and the position signal and the speed signal of the traveling cutting machine 3 are detected. , The numerical control circuit 60 and the motor drive control device 10.
[0011]
The cutting machine 3 follows the speed of the material 1 and rapidly accelerates until it synchronizes. When the value of the cutting length is reached, a cutting signal A is generated from the numerical control circuit 60, the press 5 is driven, and the material 4 is cut by the shear 4. Disconnect. After the cutting is completed, the cutting machine 3 rapidly decelerates, and at the same time when the deceleration ends, the electric motor 8 rotates reversely, and the cutting machine 3 returns to a predetermined position and waits. Then, it is started again based on the next command, and this is repeated.
[0012]
[Problems to be solved by the invention]
In such a die set shear, the rack 6 directly connected to the cutting machine 3 is operated by a transmission mechanism meshed by a pinion 7 directly connected to the electric motor 8 or connected via gears, and the electric motor driving the cutting machine 3. The pulse generated by the pulse generator 9 is used as a speed signal and a position signal of the moving cutter 3. Therefore, the cutting between the motor 8 and the transmission mechanism due to the rapid acceleration / deceleration of the cutting machine 3, the drive time delay due to the vibration and backlash inherent in the transmission mechanism, and the wear of the transmission mechanism due to aging, etc. Synchronization with the machine material becomes unstable, resulting in a problem that the cutting accuracy is uncertain and an error occurs.
[0013]
Similar problems are also encountered in flying shears that cut materials such as iron and aluminum plates, carriages that cut materials such as pipes, and press machines that are used to form and process materials such as iron and aluminum plates. It is also inherent in the mechanism.
[0014]
In addition, since the length measuring roll 11 that detects the movement amount according to the movement of the material presses the material from both sides, that is, nips, the pressing of the length measuring roll 11 causes abrasion on the material, or Since measurement errors occur due to wear of the length measuring roll 11 due to aging, etc., this also affects the cutting dimensional accuracy of the material.
[0015]
An object of the present invention is to detect the position and speed of a traveling cutting / processing machine directly by using a non-contact sensor instead of an electric motor shaft, and to use these detected values. Another object of the present invention is to provide a synchronous control device of a traveling cutting / processing device that guarantees cutting accuracy by synchronizing a cutting / processing machine with a material.
[0016]
It is another object of the present invention to provide a synchronous control device for a traveling cutting / processing machine in which the amount of movement of a material is directly detected by a non-contact sensor to further improve the cutting dimensional accuracy.
[0017]
[Means for Solving the Problems]
The present invention is a synchronous control device that controls a cutting / processing device including a traveling cutting / processing machine that performs cutting or processing according to the speed of a traveling material, and an electric motor that drives the cutting / processing machine. . The synchronous control device includes a speed control device that controls the electric motor, a numerical control device that supplies a speed reference signal to the speed control device, and a contact sensor or a first non-contact sensor that detects a moving amount of the traveling material. And a second non-contact sensor for detecting a speed and a position of the cutting / processing machine, wherein the numerical control device is configured to detect a moving amount of the material detected by the contact sensor or the first non-contact sensor. A speed command is generated, and the speed and position of the material determined from the amount of movement of the material detected by the contact sensor or the first non-contact sensor, and the speed of the cutting / processing machine detected by the second non-contact sensor And the position are sampled at least once, the values thereof are held, a corrected speed function is obtained based on the held values, and the corrected speed function is added to the speed command to obtain the speed and the speed of the cutting / processing machine. The location, and forming the speed reference signal synchronized with the speed and position of the material.
[0018]
The numerical control device is a measuring device that converts the detected movement amount of the material into a material length measurement signal and outputs the same, a speed command generator that outputs the speed command based on the material length measurement signal, and a sampling time. A sampling time setting device for presetting, at the sampling time, sampling the speed and position of the material and the speed and position of the cutting / processing machine, and holding those values, based on the held values. A corrected speed command generator for generating a corrected speed function.
[0019]
It is preferable that the first and second non-contact sensors include a Doppler sensor that emits a laser beam.
[0020]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a synchronization control device according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of a synchronous control device of a die set shear, which is a typical example of a traveling cutting / processing device embodying the present invention. FIG. 2 is a diagram for explaining the operation of the die set shear.
[0021]
The configuration and operation of the synchronous control device of the die set shear will be described with reference to FIGS.
[0022]
The die set shear 2 includes a cutting machine 3 (including a shear 4 and a press 5), a rack 6, a pinion 7, and an electric motor 8.
[0023]
The synchronization control device for controlling the synchronization of the die set shear includes a pulse generator 9 for detecting the rotation of the motor, a motor control device 10, a numerical control device 20, a length measuring roll 11 for detecting the speed of the material, a pulse generator 12, a Doppler. It comprises a sensor 14 and a laser length measuring device 15.
[0024]
As shown in FIG. 1, the die set shear 2 is provided such that the cutting machine 3 (including the cutter 4 and the press 5) travels in the direction of travel of the material 1, that is, in the direction of the arrow. It is driven by the pinion 7 and the electric motor 8 meshing with and moves along the moving material 1. The cutting machine 3 travels in the traveling direction of the material 1 or in the opposite direction depending on the rotation direction of the electric motor 8.
[0025]
The method of measuring the amount of movement of the material 1 is as follows. Both surfaces of the running material 1 are pressed by two upper and lower length measuring rolls 11, that is, nipped, and the rotation of the length measuring roll 11 generated as the material 1 travels is performed. A pulse is generated from the pulse generator 12 for each unit rotation angle, and the material length measuring device 21 measures the movement amount of the continuously running material 1 by counting the pulses, and determines the movement amount of the material 1 as the material amount. It is a length measurement signal.
[0026]
On the other hand, the position and speed of the cutting machine 3 are measured using the Doppler sensor 14 shown in FIG. That is, the traveling cutting machine 3 is irradiated with the laser light of the Doppler sensor 14, the modulated light due to the Doppler effect of the scattered light is detected by the optical detecting means, and the Doppler frequency signal is input to the laser length measuring device 15, and the cutting is performed. The position signal and the speed signal of the machine are obtained and fed back to the numerical controller 20. The Doppler sensor and the laser length measuring device used here may be any devices that are already commercially available and can be used for industrial purposes.
[0027]
The principle of the Doppler sensor used for detecting the position signal and the speed signal of the cutting machine 3 as described above will be briefly described with reference to FIG. As shown in FIG. 4, a laser beam emitted from a laser light source of a semiconductor laser generator 41 is converted into a parallel beam, that is, a beam via a collimating lens 42, and then the direction is reflected by an beam splitter 43 to an incident beam. The reflected light beam is further reflected by a mirror 44 and illuminated on a moving object 45 at an intersection angle Φ. The incident light and the reflected light applied to the moving object 45 are received as scattered light by the photodetector 47 via the optical system of the light receiving lens 46, and the beat frequency of the composite wave is extracted. At this time, the Doppler frequency signal f _D of the composite wave obtained from the photodetector 47 is represented by the following equation (1).
[0028]
(Equation 1)

[0029]
Where: V: surface velocity of the moving object λ: laser wavelength Φ: beam intersection angle Δθ: deviation angle from the beam normal to the right angle of the moving object (see FIG. 4)
When λ, Φ, and Δθ are determined from Expression (1), the frequency signal f _D of the Doppler wave has a frequency proportional to the surface velocity V of the moving object 45. For this reason, if the wave number of the Doppler wave is integrated with respect to time, the moving amount of the moving object at that time can be obtained.
[0030]
Assuming that the distance that the object has moved at the speed V is D, the following equation (2) holds.
[0031]
(Equation 2)

[0032]
The relationship between the speed V of the moving object and the moving distance D is expressed by the above equation (2).
When equation (1) is solved for V, the following equation (3) is obtained.
[0033]
[Equation 3]

[0034]
In the above equation, the proportional part is a constant K ₂ ,
[0035]
(Equation 4)

[0036]
Then, equation (3) can be expressed as the following equation (5).
[0037]
(Equation 5)

[0038]
From the above equation (5), the velocity V of the object is proportional to the Doppler frequency f _D. Therefore, the moving distance D can be obtained as in the following equation (6) by substituting equation (5) into equation (2).
[0039]
(Equation 6)

[0040]
From the above equation, the distance D i.e. the amount of movement of the moving body is found to be proportional to the integral value of the frequency f _D of the Doppler waves.
[0041]
It will be understood that the speed V and the moving distance D of the moving object, that is, the cutting machine 3 can be measured by the above principle.
[0042]
FIG. 5 shows the Doppler sensor 14 and the laser length measuring device 15. The Doppler frequency signal f _D detected by the Doppler sensor 14 is sent to a signal processing circuit 51. The signal processing circuit 51 removes noise superimposed on the Doppler frequency signal. The Doppler frequency signal from which the noise has been removed by the signal processing circuit 51 is sent to the arithmetic circuit 52, and the speed V and the moving distance D are calculated by the above-described equations (5) and (6).
[0043]
Numerical values of the laser wavelength λ, the beam crossing angle Φ, and the deviation angle Δθ from the perpendicular of the beam normal and the moving object in Expression (1) required for this calculation are set in advance by the setting unit 57. These set values are sent to the arithmetic circuit 52 via the control circuit 53. The speed V and the moving distance D calculated by the arithmetic circuit 52 are output from the output circuits 55 and 54 as a speed signal and a position signal, respectively.
[0044]
Returning to FIG. 1, the numerical control circuit 20 will be described. The numerical control circuit 20 includes a material length measuring device 21, a speed command generator 22, a forward length calculator 23, a cutting length setting device 24, a cutting command generator 25, a cutting length setting device 26, a material speed detector 27, a material position. It comprises a detector 28, an input setter 29, a sampling time setter 30, a machine speed detector 31, a machine position detector 32, and a corrected speed command generator 34.
[0045]
First, necessary numerical values are set in setting devices such as the cutting length setting devices 24 and 26, the input setting device 29, and the sampling time setting device 30, respectively. Then, the material 1 starts running according to the operation command.
[0046]
When the material 1 starts running, the length measuring roll 11 rotates, a pulse is generated from the pulse generator 12, and the movement amount of the material is measured by the material length measuring device 21 from the counted value of the pulse. Signal. Similarly, the count value of the pulse of the pulse generator 12 is input to the material speed detector 27 and the material position detector 28, and the speed and the position of the material are detected. At this point, the cutting machine 3 does not travel and is on standby.
[0047]
Then, the material length measurement signal measured by the material length measuring device 21 is input to the speed command generator 22, the advance length calculator 23, and the cutting command generator 25, respectively.
[0048]
The advance length calculator 23 calculates the advance length based on the material length measurement signal. A method of calculating the advance length will be described with reference to FIG.
[0049]
In FIG. 2, the length L _B from the center position of the length measuring roll 11 to the material end detector 33, the length L _C from the center position of the length measuring roll 11 to the blade (center) of the cutting machine 3, the material cutting length. Let L _T. Advancing length L _A is calculated by the following equation (7).
[0050]
(Equation 7)
L _A = L _T − (L _B −L _C ) (7)
The output of the forward length calculator 23 the speed command generator 22 that it is now advancing length L _A of formula (7) is recognized, the speed command generator generates a speed command. The cutting machine 3 is started and accelerated by the speed command. FIG. 3A shows the speed of the cutting machine 3 by n _C. In FIG. 3A, the horizontal axis is time (t), and the vertical axis is speed. It can be seen that the cutter 3 is accelerated from t = 0.
[0051]
The speed n _C of the cutting machine 3 is detected by a mechanical speed detector 31 connected to the laser length measuring device 15, and at the same time, the position p _C of the cutting machine 3 in FIG. Is detected by the detected machine position detector 32.
[0052]
On the other hand, since the material speed input distance is set in the input setter 29, the material speed detector 27 detects the material moving distance at time t _L when the material moving distance becomes equal to the value of the material speed input distance. The material speed n _L is taken into the corrected speed command generator 34 as shown in FIG. At the same time, the material position p _L detected by the material position detector 28 is taken into the corrected speed command generator 34 as shown in FIG. In FIG. 3B, the horizontal axis represents time (t), and the vertical axis represents distance.
[0053]
The sampling time t _H is set in the sampling time setting device 30. When the sampling time t _H comes after the cutting machine 3 is started, the corrected speed command generator 34 _outputs the material speed n _LH , the material position p _LH , and the machine speed n _CH and the machine position p _CH of the cutting machine 3 at that time. Sampling and holding, and using the following equation (8), a corrected speed function n _C ′ relating to time t is generated.
[0054]
The correction speed function is
[0055]
(Equation 8)

[0056]
Where Δn = n _LH −n _CH
Δp = p _HL −p _CH .
FIG. 3C shows the corrected speed function n _C ′. The generated corrected speed function n _C ′ is added to the speed command output from the speed command generator 22. By giving the result as a speed reference value of the control device 10, at time t _S , the speed and position of the cutting machine 3 are synchronized with the speed and position of the running material 1.
[0057]
The time Δt, which is the difference between the times t _S and t _H , can be calculated by the following equation (9).
[0058]
(Equation 9)

That is, Δt is determined by the ratio of the sampling time Δn to Δp, and at time t _S after Δt has elapsed after sampling, the speed and position of the cutting machine 3 are synchronized with the speed and position of the running material 1. Become.
[0059]
Since the material cutting length is set in the cutting setting unit 26 in advance, at time t _CO after time t _S , the shear 4 operates according to the cutting command of the cutting command generator 25, and the traveling at the cutting position p _CO Material 1 is cut. Since the cutting machine is synchronized with the material, the cutting error is zero.
[0060]
In the above description, the case where the sampling is performed only once at the time t _H has been described. However, the sampling may be performed a plurality of times after the time t _S and the correction processing including the equation (8) may be repeated.
[0061]
Although a material edge detector 33, it is not always necessary to use this sum of the length L _B of the forward length L _A and the measuring roller position until the material tip detector or the (L _A + L _B) What is necessary is just to measure and use by the material length measuring device 21.
[0062]
The speed signal and the position signal of the cutting machine 3 used here use the output value from the laser length measuring device as shown in FIG. 1, but either the position signal or the speed signal of the cutting machine 3 is used. Even when one signal is used, a position signal or a speed signal of the cutting machine 3 can be obtained indirectly by differentiating or integrating the output value.
[0063]
For example, when the output value of the laser length measuring device is only the speed signal, the position value of the cutting machine 3 can be obtained indirectly by integrating the output value of the cutting speed detector 31 of the cutting machine 3. it can. That is, a position is obtained by time-integrating the speed signal of the cutting machine 3 and multiplying by a speed-position conversion constant, and this position can be used as a position signal of the cutting machine 3.
[0064]
When the output value of the laser length measuring device is only the position signal, the speed signal of the cutting machine 3 can be obtained indirectly by differentiating the output value of the cutting machine position detector 32 of the cutting machine 3. it can. That is, the speed can be obtained by time-differentiating the position signal of the cutting machine 3 and multiplying by the number of position-speed conversion constants, and this speed can be used as the speed signal of the cutting machine 3.
[0065]
In addition, the length measuring roll that detects the amount of movement according to the movement of the material, as described in the related art, because the material is nipped, abrasion due to the nip pressure of the length measuring roll, or, due to aging There was a problem that a measurement error was caused due to a cause of wear of the length measuring roll and the like. In order to solve these problems, as shown in FIG. 6, it is possible to use the Doppler sensors 11A and 12A and to input a position detection signal to the material length measuring device 21. The Doppler sensor 11A and the laser length measuring device 12A are the same as those shown in FIGS.
[0066]
【The invention's effect】
As described above, according to the present invention, the cutting / processing machine is synchronized with the material by using the speed and position directly detected by the non-contact sensor from the cutting / processing machine. Cutting without being affected by torsion between the motor and transmission mechanism due to sudden acceleration / deceleration of the machine, delay in drive time due to vibration and backlash of the transmission mechanism, or aging of various characteristics due to wear of the drive mechanism. The dimensional accuracy of the material can be guaranteed.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of a synchronization control device according to an embodiment of the present invention.
FIG. 2 is a diagram for explaining the operation of the die set shear of the present invention.
FIG. 3 is a diagram for explaining the operation principle of the die set shearing synchronization control device according to one embodiment of the present invention.
FIG. 4 is a principle diagram of a Doppler sensor according to the present invention.
FIG. 5 is a block diagram of a signal processing circuit of the laser length measuring device according to the present invention.
FIG. 6 is a diagram showing a Doppler sensor for detecting the speed of a material and a laser length measuring device.
FIG. 7 is a configuration diagram of a conventional die set shear.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Material 2 Die set shear 3 Cutting machine 4 Shear 5 Press 6 Rack 7 Pinion 8 Electric motor 9 Pulse generator 10 Motor control device 11 Length measuring roll 12 Pulse generator 14 Doppler sensor 15 Laser length measuring device 20 Numerical control device 21 Material length measuring device 22 Speed command generator 23 Advance length calculator 24 Cutting length setting device 25 Cutting command generator 26 Cutting length setting device 27 Material speed detector 28 Material position detector 29 Input setting device 30 Sampling time setting device 31 Machine speed detector 32 Mechanical position detector 33 Material edge detector 41 Semiconductor laser generator 42 Collimating lens 43 Beam splitter 44 Mirror 45 Moving object 46 Light receiving lens 47 Photodetector 51 Signal processing circuit 52 Operation circuit 53 Control circuit 54 Output circuit 55 Output circuit 56 Display Device 57 setting device 58 laser power supply

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