JP2000225427A - Releasing device of roll feeder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a releasing device of a roll feeder capable of easily adjusting release timing and coping with the speeding up of a press machine. SOLUTION: A roller 41 is ascended for a roller 42 in the case of rotating while following a crank of a press machine in specified rotation angle ranges θ1, θ2, two cams 11, 21, which respectively realize to release a roll feeder 40, are arranged, the phase of each cam 11, 21 for the crank is respectively changed. By this method, an actual release action is realized as the synthesis of each cam 11, 21 action and is conducted in the angle range βdecided based on the specification and the phase of respective cams 11, 21, as a result, release timing adjustment is easily made possible by the phase adjustment of each cam 11, 21, speed up is made possible as well.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a releasing device for releasing a roller of a roll feeder for feeding a coil material to a press machine from the coil material.

[0002]

2. Description of the Related Art Generally, in a processing step in which a thin strip material (strip material) made of steel, aluminum, or the like is continuously supplied to a press machine to perform a pressing process or a cutting process,
A material obtained by winding a band material in a coil shape (coil material) is used, and the coil material is rotated in the rewinding direction, and the band material is fed out from the outer periphery thereof as needed, and supplied to a press machine.
As a facility for supplying a belt-like material from a coil material in this way, a facility called a so-called uncoiler disclosed in, for example, JP-A-2-152848 is conventionally known. In such equipment, as described in the above-mentioned publication, at least one pair of rollers (feed rollers) that rotate while sandwiching the leading end side of the unwound coil material (that is, the supply end side of the coil material) is used. ) Is usually provided.

[0003] In this type of working process, in order to position and stop the strip material unwound from the coil material with respect to the mold of the press machine at any time, it corresponds to the rotation of the crank of the press machine. A feed operation for feeding the strip material by a predetermined amount at a predetermined timing is required, but such a feed operation involving rapid acceleration / deceleration is not possible in the control of the unwinding operation for rotating the heavy coil material in the rewinding direction. It is possible. For this reason, the coil material is normally rotated at a constant speed to perform the unwinding operation of the coil material at a constant speed, and the unwinding portion of the coil material is slackened to absorb the difference between the unwinding speed and the feeding speed. In addition, the feeding operation of the unwinding coil material is realized at any time in accordance with the rotation of the crank by the rotation operation of the feed roller described above, thereby realizing the feeding operation.

In such a roll feeder, usually, the feed roller is released at a precise timing from a state where the coil material is sandwiched during a predetermined period in one rotation cycle of the crank of the press machine. Operation (release operation) is required. That is, when the elevating head of the press machine descends with the rotation of the crank and the predetermined processing die is operated and the predetermined processing is performed, usually, in order to obtain high processing accuracy, the belt-shaped material is previously formed. A positioning pin is inserted into the formed positioning hole prior to the operation of the processing die, and the final positioning of the strip material (fine correction of the stop position) is performed. For this reason, at least during the period in which the positioning pin is being inserted during processing, the strip is released to enable fine correction (small movement of the strip) by the positioning pin.
It is necessary to release the feed roller from a state where the coil material is sandwiched.

[0005] Therefore, the above-mentioned roll feeder is usually provided with a releasing device for realizing the above-mentioned releasing operation. As this releasing device, those having the configuration described below are conventionally known. Have been. In other words, a mechanism such as a single cam or link that rotates in conjunction with the rotation of the crank of the press machine causes one of the feed rollers to relatively retract, thereby temporarily removing the state in which the strip is sandwiched between the feed rollers. And the release operation is realized. In addition,
As a method of driving the cam or the like in conjunction with the rotation of the crank, in addition to a method of mechanically connecting a drive shaft of the cam or the like to a crankshaft of a press machine by mechanical transmission means such as a gear, a servo motor Is also known. That is, for example, an absolute encoder that detects an absolute rotation angle of the crankshaft is attached to the crankshaft, and a servomotor that drives the cam and the like is provided, and the servomotor commands a value based on a detection value of the absolute encoder. By controlling the operation as a value (target rotation position), the cam or the like is rotated at substantially the same angular velocity and rotation cycle while following the crankshaft.

[0006]

In the above-mentioned conventional releasing device, the release operation is realized by a mechanism such as a cam which operates in conjunction with the crankshaft of the press machine. No matter how high the speed becomes, during a predetermined period uniquely determined by the mechanical specifications of the cam etc. (during a predetermined period in one rotation cycle of the crank)
Release operation can be performed reliably. However, the start time and the end time of the predetermined period for performing the release operation (hereinafter referred to as release start timing and release end timing) are conventionally uniquely determined by mechanical specifications of a single cam or the like. Subsequent adjustments are usually not possible. For this reason, especially when the crank rotation speed of the press machine is increased, it is practically difficult to accurately perform the release operation during an appropriate period.

That is, when the band material unwound from the coil material becomes completely free, the supply end side of the band material is pulled back in the direction opposite to the feeding direction due to gravity applied to the slack portion of the unwinding portion. There is fear. For this reason, the time when the strip is completely free (for example, the time when the release operation is performed without the positioning pin being inserted).
It is necessary to realize the release operation so that there is almost no release, and it is necessary to set the release start timing at a delicate time immediately before the positioning pin is inserted into the positioning hole with the lowering of the elevating head. The release end timing is a timing after the positioning pin is completely inserted into the positioning hole, and before or immediately after the positioning pin or the processing die separates from the band-shaped material with the elevation of the lifting head. Must be set to However, the rotation speed of the crank of the press machine (usually a constant speed) is usually at least about 60 rpm (1 rotation / second), and in some cases, for example, 3 rpm to improve productivity.
It is operated at a high speed of about 00 rpm (5 revolutions / second). For this reason, the length of the period to be set as the period in which the release operation is to be performed is an extremely short time on the order of 0.1 second.

Therefore, the operation of setting the period in which the release operation is performed to an actually optimum state (hereinafter referred to as release timing adjustment) becomes more subtle as the crank rotation speed increases, and actually, In many cases, fine adjustment on the actual machine is required. In addition, since the rotation speed of the crank and the insertion timing of the above-described positioning pin are changed at any time depending on the processing content in the same press machine, if such a change is made,
It is necessary to change the setting of the release operation period and perform the adjustment (ie, the release timing adjustment) again. However, in the above-described conventional releasing device, the period during which the release operation is performed usually depends only on the mechanical specifications of the cam and the like, and is uniquely determined when the device is designed. Then, troublesome work such as changing parts such as cams to those having different specifications becomes necessary.

When a method using a servomotor is employed as a method for driving a cam or the like as described above, by changing the command value of the servomotor,
It is theoretically possible to change the rotation speed of the cam or the like during one rotation cycle of the crank, thereby changing the release start timing or release end timing. However, in this method, particularly when the crank rotation speed of the press machine is increased (for example, at 300 rpm), the rotation speed of the servo motor needs to be quickly changed within a very short time. Due to the responsiveness of the control system, the release operation as actually set cannot be performed sufficiently.

This is because in this type of feedback control system, a command value (a target rotation angle of a motor, etc.) and a detection value (an actual rotation angle of a motor detected by a detector, etc.)
A controller that outputs a correction signal (for example, a command to increase the motor torque in order to bring the rotation angle of the motor closer to the command value) in accordance with the difference (that is, the deviation) from the controller, or performs a proportional operation. In addition to the above, a configuration for performing an integration operation (so-called PI control) is generally used. However, if only the proportional operation is performed, a steady-state error exists, and the command value and the detected value theoretically do not completely match, so that accurate control becomes impossible. In addition, when the integration operation is introduced to eliminate the steady-state error, there is a disadvantage that the response is reduced. In any case, it is actually impossible to realize the above-mentioned rapid acceleration / deceleration operation of the motor.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a roll feeder releasing apparatus which can easily adjust the release timing and change the release timing without changing the mechanical structure, and can cope with an increase in the speed of the press machine. And

[0012]

In order to achieve the above object, a roll feeder releasing apparatus according to the present invention is arranged such that a roller is rotated while a supply end side of a coil material is sandwiched between at least a pair of rollers. Thus, in a roll feeder that feeds a coil material to a press machine, a roll feeder releasing device that releases the roller from a state in which the coil material is sandwiched during a predetermined period of one rotation cycle of a crank of the press machine. At least two cams each capable of realizing a release operation of the roll feeder by retreating one roller of the roll feeder relative to the other roller in a specific rotation angle range, and Servo motor provided for each of the cams and driving each cam separately A control device for controlling each servomotor so that each cam rotates following the rotation of the crank with a separate phase difference, wherein the phase difference can be set and set separately for each cam. It can be changed.

[0013]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view showing a main body of a releasing device (this device) of the present example, and FIG.
FIG. 3 is a side view showing the main body (a view taken along the line AA in FIG. 1), and FIG. 3 is a block diagram showing a control device of the present device. In FIG. 1, illustration of a feed roller and the like is omitted, and in FIG. 2, illustration of a motor and the like is omitted.
As shown in FIG. 1, the apparatus has two cams 11 and 21.
And servo motors 12 and 22 for individually driving these cams. The cams 11 and 21 of the present example are so-called peripheral cams, and by retreating one roller 41 of the roll feeder 40 (shown in FIG. 2) relatively to the other roller 42 in a specific rotation angle range. , The release operation of the roll feeder 40 is realized at different timings. The details (external specifications) of these cams 11 and 21 will be described later.

Large-diameter gears 13 and 23 are integrally formed on the outer sides of the cams 11 and 21 in the axial direction.
1 and large-diameter-side gears 13 and 23 are rotatably mounted on a shaft 31 via separate bearings 14 and 24, respectively. Here, the shaft 31 is a fixed shaft fixed to the support member 32. In the following, a fixed shaft is a shaft fixed to a member such as a stand (or a member fixed to the stand or the like) for fixing and supporting the entire apparatus at an installation place, or a rotation of such a member via a bearing. Refers to a shaft that can only be mounted freely. The large-diameter gears 13 and 23 are connected to the small-diameter gears 1 formed on the output shafts of the respective servomotors 12 and 22.
5, 25, and in this example, each servo motor 1
The rotation of the output shafts 2, 22 is decelerated, and the cams 11, 21
It is configured to be transmitted to. Servo motor 12, 2
Reference numeral 2 denotes, for example, a DC servo motor, which is an absolute encoder 12a for detecting an absolute rotation angle of the output shaft.
22a (shown in FIG. 3). The servo motors 12 and 22 are connected to a control device 50 described later.
, And rotate following the rotation of the crank of the press machine with separate phase differences.

Cam followers 16 and 26 as followers are provided at positions facing the outer peripheral surfaces of the cams 11 and 21, and the outer peripheral surfaces of the cam followers 16 and 26
It is configured to be in contact with the outer peripheral surfaces of the first and the second. The cam followers 16 and 26 have a true circular cross section at right angles to the axis. The cam followers 16 and 26 are attached to the first movable frame 34 by an axis 33 parallel to the axis 31, and move integrally with the first movable frame 34, and It is freely rotatable around. First
As shown in FIG. 2A, the movable frame 34 has a lower end pivotally supported by a shaft 35 which is a fixed shaft, whereby the movable frame 34 is swingable about the shaft 35. With the movement, the upper end to which the cam followers 16 and 26 are attached moves substantially right and left in FIG. This first
A claw portion 34 a protruding laterally is formed on a side surface of the intermediate portion of the movable frame 34. Further, a releasing spring 36 is disposed behind the first movable frame 34 (on the side opposite to the side where the cams 11 and 21 are provided), and the first movable frame 34 is moved forward by the releasing spring 36. (On the side where the cams 11 and 21 are provided).
That is, the outer peripheral surfaces of the cam followers 16, 26 are constantly pressed against the outer peripheral surfaces of the cams 11, 21 by the urging force of the releasing spring 36, respectively.

An L-shaped second movable frame 37 is attached to the shaft 35 as a whole. The second movable frame 37 is swingable about a shaft 35 independently of the first movable frame 34, and the one end extending upward along the swinging motion is substantially horizontally moved in FIG. 2 and the other end extending rearward moves substantially up and down in FIG. The other end of the second movable frame 37 extending rearward is provided with one roller 4 of the roll feeder 40.
1 (for example, a driving roller) is supported by a shaft 38, and the roller 41 moves up and down with the swing of the second movable frame 37. The rear surface of the one end portion extending above the second movable frame 37 is configured to abut on the claw portion 34a of the first movable frame 34 described above, and the cams 11 and 21 act to act as shown in FIG.
When the first movable frame 34 swings forward as shown in the figure, the second movable frame 37 swings in the same direction by being pushed by the claw portion 34a, and the roller 41 is more and more necessary than the normal position (non-release position). It moves to a position slightly above the release amount (release position), whereby the release operation is realized. A feed roll pressing spring 43 is provided above the other end of the second movable frame 37 extending rearward.
Is arranged, and by the feed roll pressing spring 43,
The other end of the second movable frame 37 (that is, the shaft that supports the roller 41) is urged downward.

The one roller 41 of the roll feeder 40 is a roller (drive roller) driven by, for example, a servo motor (not shown). The other roller 42 of the roll feeder 40 is, for example, a driven roller (driven roller) supported by a fixed shaft 44. Then, in a normal state (non-release state) as shown in FIG. 2A, the roller 41 is pressed against the roller 42 by the urging force of the feed roll pressing spring 43, and the supply between the two rollers is performed. Since the belt-shaped material Z is sandwiched between these rollers, the belt-shaped material Z can be fed out in the feed direction (to the right in FIG. 2), for example, with the rotation of the roller 41 as a driving roller. Also, the shaft 35 is driven by the urging force of the feed roll pressing spring 43.
The spring constant and the like of each spring are set so that the absolute value of the moment of the force generated around the axis becomes smaller than the absolute value of the moment of the force generated around the shaft 35 by the urging force of the releasing spring 36.

The cross-sectional shape of the cams 11, 20 at right angles to the axis is set, for example, as follows. That is, a large-diameter portion composed of an arc having a radius R, a small-diameter portion composed of an arc having a radius r (r <R), and an intermediate portion whose radius appropriately changes so as to connect them. Then, in a specific rotation angle range θ1 or θ2 including the small diameter portion of the radius r, a specific numerical value of the radius r is set so that the above-described release operation is realized. That is, assuming that only one of the cams 11 and 21 is provided, when the portion in contact with the cam follower is within this specific rotation angle range, as shown in FIG. Swings forward, the roller 41 moves to the release position, and the release operation is realized. For example, cam 1
1 is provided, the specific rotation angle range θ1 including the small diameter portion of the outer periphery of the cam 11 is
During the period in which the roller 41 is in contact with the cam follower 16, the roller 41 moves to the release position, and the release operation is realized.

In the case of this embodiment, two sets of cams 11, 21 and cam followers 16, 26 are actually provided, and the first movable frame 34 swings as a combination of the operations of these cam mechanisms. Therefore, the release operation is realized only in the angle range β where the above-described specific rotation angle range (the specific rotation angle range θ1 of the cam 11 and the specific rotation angle range θ2 of the cam 21) overlap. That is, the length of the period in which the release operation is actually performed is determined by the size of the angle range β, and the phase shift angle α of each cam is determined.
It can be adjusted by changing (α = θ1−β). In FIG. 2, when each cam has the same shape (that is, θ
1 = θ2), but it is needless to say that the present invention is not limited to this.

Next, the control device 50 for controlling the servomotors 12, 22 will be described. The control device 50 is a control device that controls each servomotor by feedback control so that each cam rotates following a rotation of the crank of the press machine with a separate phase difference,
As shown in FIG. 3, the system includes phase difference adders 51 and 61, deviation counters 52 and 62, speed amplifiers 53 and 63, and drivers 54 and 64. Here, the phase difference adder 51,
Reference numeral 61 denotes an element that adds a set phase difference to an output value of an absolute encoder 71 that detects an absolute rotation angle of a crankshaft of a press machine, and outputs a result of the addition as a position command. Note that these phase difference adders 5
The value (positive or negative value) of the phase difference added in 1 and 61 can be individually set or can be changed by input means such as a key switch. The difference between the phase differences set in the phase difference adders 51 and 61 determines the magnitude of the above-mentioned shift angle α.

The deviation counters 52 and 62 store the position command value (the target rotation angle of each motor corresponding to the target rotation angle of each cam) output from each of the phase difference adders 51 and 61 and the position detection value (absolute encoder 12a). , 22a output a speed command (correction signal) in accordance with the difference (positional deviation) from the actual rotation angle of each motor based on the output value of the motor 22a. Here, the speed command is a signal for commanding a motor speed for bringing the actual rotation angle of each motor closer to the value of the position command. The speed amplifiers 53 and 63 provide the speed command value and the speed detection value (absolute encoder 12
a controller for outputting a torque command (correction signal) in accordance with a difference (speed deviation) from the actual rotation speed of each motor based on the output values of the motors a and 22a. Here, the torque command is a command to change the motor torque in order to bring the actual rotation speed of each motor closer to the value of the speed command, and specifically, commands the increase (or decrease) of the motor current. Signal.

The deviation counters 52 and 6 serving as controllers are provided.
In the second and speed amplifiers 53 and 63, as a method of generating a correction signal from a deviation, for example, a method using only a proportional operation or a method obtained by adding an integral operation to a proportional operation is used. As is known in the field of control engineering, the steady-state error can be eliminated by introducing an integral operation. The drivers 54 and 64 are drive circuits that actually supply current to the motors 12 and 22 according to the torque command.

Next, the operation of the above-described roll feeder releasing device will be described. According to the above configuration, first, under the control of the control device 50, each of the cams 11 and 21 rotates with a distinct phase difference and follows the rotation of the crank of the press machine. That is, according to the control device 50, the motors 12 and 22 that drive the cams 11 and 21 are driven by feedback control using a value obtained by adding the phase difference set to the detected value of the rotation angle of the crankshaft as a position command. Servo control is performed. Therefore, each cam 11, 21
Normally rotates at the same rotation speed (rotation cycle) as the crank of the press machine, and rotates by the same rotation angle as the crank of the press machine.

In this case, when the cams 11 and 21 rotate in this manner, the release operation is performed during a period determined by the aforementioned angle range β in one rotation cycle of the crank of the press machine. That is, while the crank makes one rotation, each of the cams 11 and 21 also makes one rotation. During this one rotation, during a period in which the portions of the angle ranges β of the cams 11 and 21 are in contact with the cam followers 16 and 26, respectively, the first movable frame 34 is moved forward (as shown in FIG. 11 and 21), and at the same time, the claw portion 34a
, The second movable frame 37 swings in the same direction, the roller 41 moves up to the release position, and the release operation is realized.

In addition, the phase difference between the crankshaft of the press machine and each of the cams 11 and 21 and the phase difference between each of the cams 11 and 21 (in this case, the deviation angle α) are calculated by the above-described phase difference addition. By setting or changing the setting values of the heaters 51 and 61,
It can be arbitrarily changed and adjusted during the operation of the equipment including the apparatus and the press machine. In other words, the size of the angle range β and the phase with respect to the rotation angle of the crankshaft (that is, the release start timing and the release end timing) are variable even during operation without changing the mechanical specifications of the cam, and are easy. Adjustable. In the case of this example, the value of the angle range β that determines the length of the release operation period is β = 0 (minimum) when α ≧ θ1, and β = θ1 (maximum) when α = 0. And becomes variable in the range of 0 to θ1. Therefore, if the values of θ1 and θ2, which are the mechanical specifications of the cam, are set sufficiently large in advance, the length of the release operation period (the length of time from the release start timing to the release end timing) is also sufficient. Adjustable in range.

As described above, according to the present apparatus, the phase (control variable) of a plurality of (two in this case) cams, each of which normally rotates at a constant speed following the rotation of the crank, is changed. The absolute and relative timing of the release start timing and release end timing during one rotation cycle of the press machine crank, without changing the mechanical specifications of the cam, and periodically changing the cam speed. No adjustment is possible even during operation. Therefore, it is extremely easy to realize an appropriate release operation according to the characteristics of the actual machine, the processing content, and the like, and there is no problem of control delay when the crank rotation speeds up.

The present invention is not limited to the embodiments described above, but may have various other embodiments. For example, in the cams 11 and 21 of the above embodiment, the small-diameter side portion of the outer peripheral surface is defined as the specific angle range, and the small-diameter side portion is the cam followers 16 and 26.
The release operation is realized in a state in which the cam follower is in contact with the cam follower (a state in which the cam follower is moving to the cam side). There may be a mode in which the release operation is realized in a state of being moved by being pushed to the opposite side to the cam).
However, when the large diameter side is set as the specific angle range in this manner, the release operation is performed not in the overlapping portion of the specific angle range of each cam but in the entire angle range where the specific angle range of each cam exists. That is, the angle range in which the release operation is realized does not become 0 (zero) even when the phases of the cams match, and the lower limit of the adjustment range is narrowed. However, as described above, in the mode of the above-described embodiment, the period of the release operation can be adjusted to 0 (that is, no release operation), and in this respect, the above-described embodiment is superior.

In the above embodiment, the cam is driven while the output of the servo motor is reduced by the gear. However, the present invention is not limited to this mode. It goes without saying that there may be a mode of direct drive. Also, the control device of the servomotor is not limited to the configuration of the above-described embodiment, but may be any configuration as long as it can control the cam to follow the rotation of the crank with necessary and sufficient performance.

[0029]

According to the present invention, first, under the control of the control device, each cam rotates with a distinct phase difference following the rotation of the crank of the press machine. That is, each cam normally rotates at the same rotation speed (rotation cycle) as the crank of the press machine, and rotates by the same rotation angle as the crank of the press machine. When each cam rotates in this way, the actual release operation is realized as a combination of the actions of each cam, so that the release operation is realized in a predetermined angle range determined by the specifications and phase of each cam. . That is, while the crank makes one rotation, each cam also makes one rotation, but during this one rotation, one feed roller moves to the release position within a predetermined angle range determined by the specifications and phase of each cam. Release operation is realized.

Further, in the present invention, the phase difference between the crank of the press machine and each cam can be set and changed independently, so that the phase of each cam is arbitrarily variable. For this reason, the size and position of the above-described predetermined angle range that determines the period during which the release operation is performed (that is, the release start timing and the release end timing) can be adjusted by changing the phase of each cam. Thus, the timing of the release operation can be easily adjusted even during operation without changing the mechanical specifications of the cam.

That is, according to the present invention, by changing the phases (control variables) of a plurality of (at least two) cams, each of which normally rotates at a constant speed following the rotation of the crank, The absolute and relative timings of the release start timing and release end timing during one rotation cycle of the machine crank are not changed without changing the mechanical specifications of the cam and without periodically changing the cam speed. , So that it can be easily adjusted even during operation. Therefore, it is extremely easy to realize an appropriate release operation according to the characteristics of the actual machine, the processing content, and the like, and there is no problem of control delay when the crank rotation speeds up.

[Brief description of the drawings]

FIG. 1 is a plan view showing a main body configuration of a releasing device.

FIG. 2 is a side view showing a configuration of a main body of the releasing device.

FIG. 3 is a block diagram showing a control system of the releasing device.

[Explanation of symbols]

 11, 21 cam 12, 22 servo motor 16, 26 cam follower 34 first movable frame 36 releasing spring 37 second movable frame 43 feed roll pressing spring 40 roll feeder 41, 42 roller Z belt-shaped material (coil material)

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) B65H 20/04 B65H 20/04 Z 23/185 23/185 Z

Claims (1)

[Claims] In a roll feeder that feeds a coil material to a press machine by rotating the roller while the supply end side of the coil material is sandwiched between at least a pair of rollers, one of the cranks of the press machine is used. A roll feeder releasing device that releases the roller from a state in which a coil material is sandwiched during a predetermined period in a rotation cycle, wherein one roller of the roll feeder is moved relative to the other roller in a specific rotation angle range. At least two cams each capable of realizing the release operation of the roll feeder by relatively retracting the cams, a servo motor provided for each of the cams and driving each of the cams separately, However, so as to rotate following the rotation of the crank with a separate phase difference, And a control device for controlling each servomotor, wherein the phase difference can be set and changed separately for each cam.