JP2003201063A - Transfer device for long article - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To solve the problem that it is difficult to stably supply a long article such as a wire in simple construction. <P>SOLUTION: A wire 1a is supplied from a supply-side spool 20 to a winding- side device. The tension of the wire 1a is detected by a dancer tension detector 24. A supply-side motor 21 is controlled by an inverter 22 so that the tension of the wire 1a is kept constant. A circuit is provided in a control circuit 23 for determining the level of a detected tension value V<SB>t</SB>and the time constant of a proportion plus integration circuit is changed with a change in level. When sagging occurs in the wire 1a, the detected tension value V<SB>t</SB>is lowered and the supply-side motor 21 is reversed. As a result, the wire 1a is rewound on the supply-side spool 20 to eliminate the sagging of the wire 1a. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for transferring a long object such as a wire or a strip.

[0002]

2. Description of the Related Art A wire winding device for a wire drawing machine, a twisting wire machine, etc., includes a wire supply side rotating body (for example, a capstan) and a wire winding machine as disclosed in Japanese Patent Publication No. 7-12884. It is equipped with a take-up side rotating body (reel), an electric motor for driving the supply side rotating body, an electric motor for driving the take-up side rotating body, and a dancer having a tension adjusting and tension detecting function. . In this type of winding device, the winding-side electric motor is controlled based on a speed command based on rotation information of the supply-side electric motor. Further, in order to keep the tension of the wire constant, an error signal, that is, a deviation signal between the tension detection signal obtained from the dancer and the reference value indicating the reference position of the dancer is created, and thereby the speed command of the electric motor is corrected. .

[0003]

If the method disclosed in the above publication is adopted, the wire can be ideally wound with a constant tension. However, in the method of the above publication, it is necessary to transmit the rotational speed information from the supply-side electric motor to the winding-side electric motor, which complicates the configuration of the longitudinal object transfer device.
Further, in this type of long object transporting device, in order to feed the wire from the supply-side reel, the supply-side reel is rotated in the forward direction. By the way, if the wire is continuously fed while the wire is abnormally slackened, the wire may be caught in an unintended place. Further, before the wire transfer is started, it is difficult to apply an appropriate tension to the wire when the wire is arranged between the supply side winding frame and the winding side device.

Therefore, an object of the present invention is to provide a transfer device capable of transferring a long object such as a wire relatively stably with a relatively simple structure.

[0005]

SUMMARY OF THE INVENTION The present invention for solving the above problems and for attaining the above objects includes a supply side rotating body for supplying a linear object or a strip-like longitudinal object, and a supply side rotating body. A coupled supply-side electric motor, a winding-side device for winding the longitudinal object, and a tension detecting means for detecting the tension of the longitudinal object between the supply-side rotating body and the winding-side device. A drive means connected to the supply-side electric motor and configured to control the supply-side electric motor, and between the tension detecting means and the drive means for controlling the drive means. Tension reference value generating means connected and indicating a tension reference value, deviation signal forming means for forming a deviation signal indicating a difference between the tension detection value detected by the tension detecting means and the tension reference value, and The detected value of the tension and the Control means having a tension control command signal generating means for generating a tension control command signal for eliminating a difference between the force and a reference value and supplying the tension control command signal to the driving means. The present invention relates to a device for transferring a long object.

According to a second aspect of the present invention, the supply-side electric motor rotates in the forward direction to send out the longitudinal object from the supply-side rotating body and reversely rewinds the longitudinal object to the supply-side rotating body. It is configured to be capable of both rotation and when the drive means is a command for reducing the tension of the longitudinal object when the tension control command signal supplied from the tension control command signal generating means is a command. A function of rotating the supply-side electric motor in a forward direction and driving the supply-side electric motor in a reverse direction when the tension control command signal is a command for increasing the tension of the longitudinal object. Is desirable. Further, as set forth in claim 3, the tension control signal creating means includes level determining means for determining a magnitude relationship between a detected tension value obtained from the tension detecting means and the reference value, and the deviation signal. For forming the tension control signal by performing a proportional process and an integral process on, and being connected to the deviation signal forming means, the level determining means and the driving means and obtained from the level determining means. A proportional-integral means configured to decrease the time constant as the difference between the detected tension value and the reference value increases in response to a signal indicating the magnitude relationship of the difference between the detected tension value and the reference value. It is desirable to have and. Further, as described in claim 4, the level determination means determines the level of the detected tension value stepwise,
It is desirable that the proportional-plus-integral means changes the time constant stepwise. Further, as described in claim 5, it is preferable that the supply-side electric motor is an AC electric motor, and the driving means is an inverter that converts a direct current into an alternating current. Further, as shown in claim 6, the tension detecting means is a pressurizing body which is in contact with the longitudinal object between the supply side rotating body and the winding side device to apply a tension to the longitudinal object. A supporting means for supporting the pressure body so as to allow displacement of the pressure body corresponding to a change in tension of the longitudinal object, and a tension sensor for outputting a tension detection signal corresponding to the position of the pressure body. It is desirable to consist of Further, as described in claim 7, a plurality of supply-side rotating bodies for synchronously supplying a plurality of linear or strip-shaped longitudinal objects, and a plurality of supply units respectively coupled to the plurality of supply-side rotating bodies. A side electric motor, and a winding side device for synchronously winding the plurality of longitudinal objects,
A plurality of tension detecting means for detecting tensions of the plurality of longitudinal objects between the plurality of supply side rotating bodies and the winding side device; and a plurality of tension detecting means respectively connected to the plurality of supply side electric motors. Between a plurality of drive means configured to be able to control the rotation of each of the supply side electric motors, and between the plurality of tension detection means and the plurality of drive means for controlling the plurality of drive means A tension reference value generating means for indicating a tension reference value, and a deviation signal forming means for forming a deviation signal indicating a difference between the tension detection value detected by the tension detecting means and the tension reference value. , And a plurality of tension control command signal generating means for generating a tension control command signal for eliminating a difference between the detected tension value and the reference tension value and supplying the tension control command signal to the driving means. And control means, it is possible to construct a transport device in a longitudinal object comprising a. The transfer device according to claim 7, wherein each of the plurality of supply-side electric motors rotates in a forward direction to send out the longitudinal object from the supply-side rotating body and rotates in a reverse direction to rewind the longitudinal object to the supply-side rotating body. Both of the plurality of driving means, each of the plurality of driving means, the tension control command signal supplied from the tension control command signal generating means is a command for reducing the tension of the longitudinal object. When the tension control command signal is a command for increasing the tension of the longitudinal object, it has a function of rotationally driving the supply motor in the forward direction. Is desirable. As described in claim 9, in the transfer device according to claim 7, the tension control signal generating means determines the level of the difference between the detected tension value obtained from the tension detecting means and the reference value. Means for performing proportional processing and integration processing on the deviation signal to form the tension control signal, the means being connected to the deviation signal forming means, the level determining means, and the driving means, The time constant becomes smaller as the difference between the detected tension value and the reference value becomes larger in response to a signal indicating the magnitude relationship of the difference between the detected tension value and the reference value obtained from the determination means. It is desirable to have a proportional integration means that is

[0007]

According to the inventions of the respective claims, the tension of the longitudinal object can be controlled by a simple configuration of controlling the supply side electric motor. According to the invention of claim 2, since the electric motor on the supply side is driven in both the forward direction and the reverse direction, when the slack in the longitudinal object occurs, the longitudinal object is supplied by the reverse rotation of the electric motor on the supply side. The slack can be quickly removed by rewinding the side rotator. According to the invention of claim 3, as the difference between the detected tension value and the reference value increases, the time constant of the proportional integration means decreases. Therefore, the response speed of the feedback control loop, that is, the servo loop, becomes faster, and the detected tension value can be quickly returned to the reference value or a value near this,
A stable transfer of a long object becomes possible. According to the invention of claim 4, the time constant can be easily switched. According to the invention of claim 5, the use of the inverter facilitates control and driving of the electric motor. According to the invention of claim 6, both the adjustment of tension and the detection of tension can be easily achieved. According to the inventions of claims 7 to 9,
It is possible to stably supply a plurality of longitudinal objects in synchronization.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A longitudinal object transfer device according to an embodiment of the present invention will be described with reference to FIGS.

The first, second, and long objects shown in FIG.
Third and fourth metal wires or wires 1a, 1b, 1c, 1
The transfer device of d is composed of a wire supply side device 2 and a wire winding side device 3.

The wire supply side device 2 includes first, second and third devices.
And first, second, third and fourth wire feeding devices 2a for feeding the fourth wires 1a, 1b, 1c, 1d,
It consists of 2b, 2c and 2d. First, second, third and fourth
The wire feeders 2a, 2b, 2c and 2d are configured to be identical to each other and feed the first, second, third and fourth wires 1a, 1b, 1c and 1d substantially in synchronization.

The wire winding side device 3 forms the flat cable 4 by integrating the first, second, third and fourth wires 1a, 1b, 1c and 1d and forms a flat cable 4 as a winding side rotating body. The wire is wound around the frame 5, and in addition to the typical wire winding means including the winding-side electric motor 6, the inverter 7, the control circuit 8, and the DC power supply 9, a wire aligning device 10, an insulator coating device 11, And a coloring device 12.

The first, second, third and fourth wires 1a,
1b, c, 1d are aligned parallel to each other in an aligning device 10 and then covered and integrated with an insulator made of, for example, rubber in a covering device 11 to form a flat cable 4
become. The coloring device 12 applies a predetermined paint to the flat cable 4. The AC motor 6 coupled to the reel 5 is, for example, an induction motor. The inverter 7 converts the DC voltage of the DC power supply 8 into an AC voltage and supplies the AC voltage to the electric motor 6. The control circuit 8 controls the inverter 7 so that the electric motor 6 and the winding side winding frame 5 rotate at a predetermined speed. The reel 5
It is desirable to drive the electric motor 6 so that the rotation speed of the bobbin 5 decreases as the winding of the flat cable 4 with respect to the. When the flat cable 4 is wound by the rotation of the winding frame 5 on the winding side, the first, second, third and fourth wires 1a, 1b, 1c, 1d run in the direction of the winding device 3. First, second, third and fourth wires 1
It is desirable that a, 1b, 1c, and 1d have a predetermined tension.

The first, second, third and fourth wire feeders 2a, 2b, 2c and 2d have the same construction and operate in the same manner. Therefore, the first wire feeding device 2
a will be described in detail with reference to FIGS. 2 to 8, and description of the second, third, and fourth wire supply devices 2b, 2c, and 2d will be omitted.

The wire supply device 2a is generally called a wire feeder, and is connected to the winding frame 20 as a supply side rotating body for supplying the wire 1a and the supply side winding frame 20. Supply-side electric motor 21, inverter 22 as a driving means of supply-side electric motor 21, and supply-side control circuit 23
, A dancer / tension detector 24, and a DC power supply 25.

Supply side bobbin 20 around which wire 1a is wound
Are coupled to the rotor of the supply side electric motor 21 and rotate with the rotor. The supply-side electric motor 21 is an induction electric motor as an AC electric motor, and can change the rotation speed by changing the frequency and the voltage, and can perform both forward rotation and reverse rotation. In this embodiment, during normal transfer of the wire 1a, the supply-side electric motor 21 is driven so as to keep the tension of the wire 1a constant. If the tension of the wire 1a is larger than a predetermined value, the supply side reel 2
The forward rotation speed of the electric motor 21 is increased so as to increase the feeding speed of the wire 1a from zero. Conversely, wire 1
When the tension of a is smaller than the predetermined value, the rotation speed of the electric motor 21 is decreased so as to decrease the feeding speed of the wire 1a from the winding frame 20. When the tension of the wire 1a drops significantly, the electric motor 21 is driven in the opposite direction. Even if the electric motor 21 is driven in the reverse direction, if the driving torque in the reverse direction is smaller than the sum of the winding torque of the wire 1a and the inertial force of the winding frame 20, the slack of the wire 1a does not occur. The electric motor 21 and the bobbin 20 are not in the reverse rotation state, and the feeding of the wire 1a from the bobbin 20 continues. However, when the wire 1a is slackened and the tension of the wire 1a is significantly reduced, the electric motor 21 rotates in the opposite direction, and the wire 1a is rewound on the supply side winding frame 20.

The supply-side inverter 22, that is, the DC-AC converter converts the DC voltage of the DC power supply 25 into a three-phase AC voltage and supplies it to the electric motor 21. FIG. 3 shows an inverter 22 connected between a motor 21 and a DC power supply 25.
In detail. The inverter 22 includes a conversion circuit 41, a control signal forming circuit 42, and a rotation direction switching circuit 43. The conversion circuit 41 is a circuit in which first, second, third, fourth, fifth and sixth switches Q1, Q2, Q3, Q4, Q5 and Q6, which are semiconductor switches such as transistors, are bridge-connected. And converts the DC voltage of the DC power supply 25 into a three-phase AC voltage, which is then output lines 44, 4
It is sent to the electric motor 21 by 5, 46. The control signal forming circuit 42 includes first to sixth control signals Vg1, Vg2, Vg3 and Vg for turning on / off the first to sixth switches Q1 to Q6.
4, Vg5 and Vg6 are formed and sent to the control terminals of the first to sixth switches Q1 to Q6 via the rotation direction switching circuit 43.
The rotation direction switching circuit 43 has a function of sending the first to sixth control signals Vg1 to Vg6 obtained from the control signal forming circuit 42 as they are to the conversion circuit 41 when driving the electric motor 21 in the normal direction, and driving the electric motor 21 in the reverse direction. Has a function of changing the order of the first to sixth control signals Vg1 to Vg6. Details of the control method of the inverter 22 will be described later.

The dancer / tension detector 24 of FIG. 2 comprises a dancer 26 and a tension sensor 27. Dancer 26
Can also be called a tension applying device, and includes a pressure roller 28 as a pressure body and an arm 29 that rotatably supports the pressure roller 28 by a shaft 29a.
A tension applying spring 30 and fixed rollers 31 and 32. Arm 29 as support means for pressure roller 28
Is rotatably supported by a shaft 29b and is biased clockwise by a spring 30 in FIG. One end 30a of the spring 30 is locked to the arm 29, and the other end 30 of the spring 30 is
b is locked to the fixed portion. The wire 1a delivered from the supply-side winding frame 20 is in contact with the pressure roller 28 between the two fixed rollers 31 and 32. The central axis 29a of the pressure roller 28 moves on the dotted line 33 in FIG. 2 according to the change in the tension of the wire 1a. That is, when the tension of the wire 1a becomes larger than the reference tension value, the roller 28 moves upward. Conversely, when the tension of the wire 1a becomes smaller than the reference tension value, the roller 28 moves downward. 34 is an upper limit stopper, 35 is a lower limit stopper, and the roller 28 and the arm 29 move within a range limited by the two stoppers 34, 35. Since the pressure roller 28 is supported by the arm 29 and the movement range of the arm 29 is determined by the stoppers 34 and 35, the arm 29 and the stoppers 34 and 35 function as a guide means for the pressure roller 28. Instead of supporting the pressure roller 28 by the arm 29, the pressure roller 28 may be supported by a support plate having a linearly extending slot so that the pressure roller 28 moves linearly. . In this case, the shaft 29 of the pressure roller 28
Insert a into the slot in the support plate.

The tension sensor 27, which can be called a position sensor, detects the position of the pressure roller 28 and outputs a signal Vt indicating the tension. This tension sensor 27 is, for example, a variable resistor 50 as shown in FIG.
And a movable contactor 51 and a low-pass filter 52,
A voltage Vt proportional to the position of the pressure roller 28 is output as the detected tension value. The variable resistor 50 is connected between the power supply terminal 53 and the ground, and the movable contact 51 is connected to the pressure roller 2
It is connected to the arm 26 so as to be displaced in proportion to the position of 8. Therefore, a voltage approximately proportional to the position of the pressure roller 28, that is, the tension of the wire 1a can be obtained between the movable contactor 51 and the ground. The low pass filter 52 removes high frequency components contained in the voltage obtained at the movable contact 51.

The tension sensor 2 of the dancer / tension detector 24
The supply side control circuit 23 connected between the inverter 7 and the inverter 22 controls the inverter 22 by feedback control based on the detected tension value Vt obtained from the tension sensor 27 so as to keep the detected tension value Vt constant. Is. As schematically shown in FIG. 3, the control circuit 23 includes a reference voltage source 54 as a tension reference value generating means, a deviation circuit 55 as an error signal or deviation signal forming means, and a tension control command signal generating means 56. Consists of.

The reference voltage source 54 generates a voltage Vr indicating a reference tension value which is in agreement with the center position or the home position of the pressure roller 28. One input terminal of the deviation circuit 55 is connected to the tension sensor 27, and the other input terminal is connected to the reference voltage source 54. Therefore, the deviation circuit 55 is a subtracter and generates a signal of a difference between the detected tension value Vt and the reference voltage Vr, that is, a deviation signal Vp = Vt-Vr.

The tension control command signal creating means 56 includes a level determining means 57, a variable proportional integration circuit 59, a holding circuit 60,
And a switching circuit 61, and forms a tension control command signal corresponding to the corrected output Vp of the deviation circuit 55 and supplies it to the inverter 22.

The tension level judging means 57 is connected to the tension sensor 27 by a line 58, and the detected tension value vt shown in FIG. 7A and the first to tenth values V which are comparison reference tension values.
Determine the relationship with t1 to Vt10. As shown in FIG. 5, the tension level determining means 57 includes first, second, third, fourth, fifth, sixth, seventh, eighth, ninth and tenth comparators CP1, CP2, CP3, CP4, CP5, CP6, C
P7, CP8, C91, CP10 and the first, second, third,
Fourth, fifth, sixth, seventh, eighth, ninth and tenth reference voltage sources E1, E2, E3, E4, E5, E6, E7, E.
8, E9, E10 and the first, second, third, fourth, fifth, sixth, seventh, eighth, ninth and tenth NOT circuits N1, N2, N3, N4, N5, N6, N7, N8, N
9, N10 and the first, second, third, fourth, fifth, sixth, seventh, eighth and ninth AND (logical product) gates A1 and A2.
, A3, A4, A5, A6, A7, A8, A9. The positive input terminals of the first to tenth comparators CP1 to CP10 are connected to the tension detection signal input line 58, and their negative input terminals are the first to tenth reference voltage sources E1 to E.
Connected to 10. First to tenth reference voltage sources E1
E10 is the first to tenth values Vt1 to Vt1 shown in FIG.
It is generated with 0 as the reference voltage.

The first to tenth NOT circuits N1 to N10 and the first to ninth AND gates A1 to A9 are provided for the stepwise detection of tension. First comparator CP
When the output of the first NOT circuit N1 connected to 1 is at a high level, that is, a logical 1, the detected tension value Vt is the first value Vt1.
Smaller than.

One input terminal is the first comparator CP
1 is connected to the other input terminal of the second NOT circuit N2
The detected tension value Vt has a value between the first value Vt1 and the second value Vt2 when the output of the first AND gate A1 which is connected to the second comparator CP2 via is high.

One input terminal is the second comparator CP
2 and the other input terminal is the third NOT circuit N3
The detected tension value Vt has a value between the second value Vt2 and the third value Vt3 when the output of the second AND gate A2, which is connected to the third comparator CP3 via the, is high.

One input terminal is the third comparator CP
3 is connected to the other input terminal of the fourth NOT circuit N4
The detected tension value Vt has a value between the third value Vt3 and the fourth value Vt4 when the output of the third AND gate A3, which is connected to the fourth comparator CP4 via the output terminal V3, is at a high level.

One input terminal is the fourth comparator CP
4 and the other input terminal is the fifth NOT circuit N5
The detected tension value Vt has a value between the fourth value Vt4 and the fifth value Vt5 when the output of the fourth AND gate A4 connected to the fourth comparator CP5 via the high level is high.

One input terminal is the fifth comparator CP.
5 and the other input terminal is the sixth NOT circuit N6
The detected tension value Vt has a value between the fifth value Vt5 and the sixth value Vt6 when the output of the fifth AND gate A5 connected to the sixth comparator CP6 via is high.

One input terminal is the sixth comparator CP
6 and the other input terminal is the seventh NOT circuit N7
The detected tension value Vt has a value between the sixth value Vt6 and the seventh value Vt7 when the output of the sixth AND gate A6, which is connected to the seventh comparator CP7 via the, is high.

One input terminal is the seventh comparator CP
7 and the other input terminal is the eighth NOT circuit N8
The detected tension value Vt has a value between the seventh value Vt7 and the eighth value Vt8 when the output of the seventh AND gate A7, which is connected to the eighth comparator CP8 via the, is high.

One input terminal is the eighth comparator CP
8 and the other input terminal is the ninth NOT circuit N9
The detected tension value Vt has a value between the eighth value Vt8 and the ninth value Vt9 when the output of the eighth AND gate A8, which is connected to the ninth comparator CP9 via the, is high.

One input terminal is the ninth comparator CP
9 is connected to the other input terminal of the tenth NOT circuit N
When the output of the ninth AND gate A9 connected to the tenth comparator CP10 via 10 is high, the detected tension value Vt has a value between the ninth value Vt9 and the tenth value Vt10. .

When the output of the tenth comparator CP10 is at a high level, the detected tension value Vt has a value higher than the tenth value Vt10.

The variable proportional-integral circuit 59 adjusts the time constant of the speed control loop of the electric motor 21, that is, the response speed, and integrates the output of the deviation circuit 55 with a proportional circuit (P circuit) which performs known proportional processing. And an integration circuit (I circuit) that performs processing. In this specific example, the time constant τ of the integrating circuit is switched by the output of the level determining means 56. The time constant of the control loop or servo loop is achieved by changing the circuit constants of capacitors, resistors, inductors, etc., or changing the gain of the control loop, as is well known. For example, if the gain is increased, the time constant becomes smaller and the response speed becomes faster.

The variable proportional integral circuit 59, to set the constant tau ₁ ～Tau ₆ when to 6 stages in response to the output of the level judgment means 56, first as shown in FIG. 5, the second, third , Fourth,
Fifth and sixth switches S1, S2, S3, S4, S5
, S6 and the first, second, third, fourth, fifth and sixth proportional-integral circuits 59a, 59b, 59c, 59d, 59.
e, 59f. First to sixth proportional-integral circuits 59
a to 59f are the first to sixth time constants τ that gradually increase.
_{1 to} τ ₆ and is connected between the input signal line 62 and the output signal line 63 via the first to sixth switches S1 to S6. The proportional-plus-integrator circuits 59a to 59f aim at level adjustment and smoothing of the output of the deviation circuit 55. In order to control the variable proportional-plus-integral circuit 59 by the output of the level judgment circuit 56, the output terminal of the first NOT circuit N1 and the first NOT circuit N1
The output terminal of the comparator CP10 of 0 is connected to the control terminal of the first switch S1. First and ninth AN
The output terminals of the D gates A1 and A9 are connected to the control terminal of the second switch S2. The output terminals of the second and eighth AND gates A2 and A8 are connected to the control terminal of the third switch S3. Third and seventh AND gate A3
, A7 are connected to the control terminal of the fourth switch S4. Fourth and sixth AND gates A4 and A6
Is connected to the control terminal of the fifth switch S5. The output terminal of the fifth AND gate A5 is connected to the control terminal of the sixth switch S6. For simplification of the drawing, in FIG. 5, the output terminals of the fifth to ninth AND gates A5 to A9 and the fifth to second switches S5 to S5.
The connection with S2 and the connection between the output terminal of the tenth comparator CP10 and the first switch S1 are omitted.

The control circuit 23 has a dead zone mode selection switch Sa as shown in FIG. The dead zone mode selection switch Sa is connected in series to a line 90 connecting the fifth AND gate A5 and the control terminal of the holding circuit 60 and the control terminal of the switching circuit 61 of FIG. This switch Sa
Is operated when selecting the dead zone mode. Here, the dead zone mode means an operation mode when the displacement of the position of the pressure roller 28 with respect to the center position of the tension sensor 27, that is, the home position is small. The choice of this deadband mode is left to the user. When the dead zone mode selection switch Sa is turned on, the fifth
When the output of the AND gate A5 of the above is converted to the high level indicating the dead zone, the holding circuit 60 holds the output of the variable proportional integration circuit 59 at the time of this conversion. The switching circuit 61 is a fifth AND
In response to the high level output of the gate A5, the output of the holding circuit 60 is sent to the line 67 instead of the output of the variable proportional-plus-integral circuit 59. Therefore, when the dead zone mode selection switch Sa is on and the output of the fifth AND gate A5 is at a high level, the tension control command has a constant value. Wire 1
Depending on the type of a and the like, it may be better to set the dead zone mode control to the Vt5 to Vt6 section.

FIG. 7B shows the detected tension value V of FIG. 7A.
The change of the time constant of the variable proportional-plus-integral circuit 59 with respect to t is shown. As is apparent from this, the time constant τ becomes smaller as the detected tension value Vt deviates from the central reference value Vr.
In other words, the time constant τ of the control loop increases as the pressure roller 28 in FIG. 2 moves away from the home position (center position).
Becomes smaller and the response speed becomes faster. The time constant τ of the variable proportional-plus-integral circuit 59 can be determined by the following equation, for example. τ = τ ₀ {(Ve / K) +1} where τ ₀ is the original time constant, Ve is the absolute value of Vt −Vr, and K is a coefficient.

The holding circuit 60 shown in FIG. 4 is connected to the output line 63 of the variable proportional-plus-integral circuit 59, and selectively holds and outputs the tension control command signal on the output line 63.
In order to control the selective holding in the holding circuit 60, the output line 64 of the first NOT circuit N1 of the level determination means 56 and the output line 65 of the tenth comparator CP10 are connected to the control terminal of the holding circuit 60. ing. Therefore, the holding circuit 60 is, for example, at time t5 and t11 in FIG.
The output of the variable proportional-plus-integration circuit 59 at that time is held. In addition,
As described above, the output line 9 of the fifth AND gate A5
0 also holds the holding circuit 6 through the dead zone mode selection switch Sa.
0 connected to the control terminal.

The switching circuit 61 of FIG. 4 has an output line 63 of the variable proportional-plus-integral circuit 59 and an output line 66 of the holding circuit 60.
And the output line 67 of the control circuit 23 and selectively select the signal on the line 63 and the signal on the line 66.
Send to. That is, the signal on the line 63 is sent to the line 67 during the periods t0 to t5 and t6 to t11 in FIG.
The signal on line 66 is sent to line 67 during the 6th period and after t11. The holding circuit 60 and the switching circuit 61 are omitted, and the output of the variable proportional-plus-integral circuit 59 is directly inverted.
It can also be sent to the data 22. The dead zone mode selection switch Sa is turned on and the fifth AND gate is operated.
The switching circuit 61 sends the output of the holding circuit 60 to the line 67 when the output of the switch A5 is high.

FIG. 7C schematically shows a change in the output Vp of the deviation circuit 55 on the line 67. During the period from t0 to t6, the detected tension value Vt is higher than the reference value Vr, and after t6, the detected tension value Vt is lower than the reference value Vr.

The control signal forming circuit 42 of the inverter 22 shown in FIG. 3 includes a frequency and voltage command forming circuit 80, first, second and third phase control signal forming circuits 81, as schematically shown in FIG. 82 and 83, and a forward / reverse rotation command forming circuit 89. Although most of the control signal forming circuit 42 is composed of a digital circuit, the control signal forming circuit 42 is shown as an equivalent analog circuit in FIG.

The frequency and voltage command forming circuit 80 is shown in FIG.
Connected to the output line 67 of the control circuit 23, and forms the output frequency command value and the output voltage command value of the inverter 22 in response to the tension control command signal of this line 67. The first phase control signal forming circuit 81 includes a sine wave generator 84.
, The multiplier 85, the sawtooth generator 86, and the comparator 8
7 and an inverting circuit or NOT circuit 88. The sine wave generator 84 generates the sine wave Vs shown in FIG.
The sine wave generator 84 is connected to the frequency command line 80a of the frequency and voltage command forming circuit 80 and generates a sine wave of the commanded frequency. From the sine wave generators provided in the second and third phase control signal forming circuits 82 and 83,
The sine wave Va of the phase control signal forming circuit 81 is sequentially set to 1
Second-phase and third-phase sine waves having a phase difference of 20 degrees are generated. The frequency of the sine wave Va matches the output frequency of the inverter 22. When the output frequency of the inverter 22 is changed, the rotation speed of the electric motor 21 changes. Multiplier 85
Adjusts the amplitude of the sine wave Va by multiplying the sine wave Va output from the sine wave generator 84 by the frequency and the voltage command of the voltage command line 80b of the voltage command forming circuit 80. The sawtooth wave generator 86 generates the sawtooth wave Vb shown in FIG.
The sawtooth wave Vb has a frequency (for example, 20 to 100 kHz) sufficiently higher than the frequency of the sine wave Va. The comparator 87 compares the output of the multiplier 85 and the output of the sawtooth wave generator 86 as shown in FIG. 8 (A), and P shown in FIG. 8 (B).
First control signal V consisting of a WM (pulse width modulation) pulse
Form g1. The NOT circuit 88 forms the opposite phase signal of the output of the comparator 87 as shown in FIG. 8C, and outputs this as the second control signal Vg2.

Second and third phase control signal forming circuits 82 and 8
3 has the same configuration as the first phase control signal forming circuit 81 except that it forms the control signals Vg3 to Vg6 having different phases from the first and second control signals Vg1 and Vg2.

The forward / reverse rotation command forming circuit 89 is connected to the output line 67 of the tension control command signal forming circuit 56 of FIG. 4, and reverses the normal rotation of the electric motor 21 based on the tension control command signal of the line 67. A signal is transmitted on line 76 to distinguish it from directional rotation. That is, when the output of the variable proportional-plus-integration circuit 59 becomes lower than a predetermined level (for example, zero level), the reverse rotation instruction circuit 89 issues a reverse rotation instruction. For example, when the wire 1a is largely sagged and the tension is significantly reduced, the tension control command signal becomes negative, and the reverse rotation command is generated from the normal rotation reverse rotation command forming circuit 89.

The frequency and voltage command forming signal circuit 80 is
The frequency command is limited to, for example, 10 Hz or less while the reverse rotation command is being generated from the forward / reverse rotation command forming circuit 89. As a result, the reverse high speed rotation of the supply-side electric motor 21 is blocked.

The rotation direction switching circuit 43 shown in FIG.
The drive mode of the supply-side electric motor 21 is switched to control the tension a. The rotation direction of the AC motor 21 is reversed by switching two of the three-phase input lines 44, 45, 46, as is well known. Therefore, a switch can be provided in the lines 44, 45 and 46 to switch the electric motor 21 between the normal rotation driving and the reverse rotation driving. In this embodiment, the input lines 44 to
The operation equivalent to the switching of 46 is performed by the first to sixth control signals Vg1.
Achieved by changing the supplier of ~ Vg6. When a signal indicating normal rotation is generated from the normal / reverse rotation command forming circuit 89 in FIG. 6, the first to sixth control signals Vg1 to Vg6 are changed to the first to sixth control signals Vg1 to Vg6.
It is directly applied to the sixth switches Q1 to Q6. When the electric motor 21 is driven in reverse, the first and second control signals V
g1 and Vg2 are supplied to the third and fourth switches Q3 and Q4, and the third and fourth control signals Vg3 and Vg4 are supplied to the first and second switches.
To the switches Q1 and Q2. When the supply-side electric motor 21 is reversely driven at a low level in the state where the wire 1a has no slack, the supply-side electric motor 21 is pulled by the wire 1a without continuing reverse rotation and continues forward rotation. As a result, the supply-side electric motor 21 applies back tension to the wire 1a. When the supply-side electric motor 21 is driven in the reverse direction when the wire 1a has slack, the winding frame 20 and the electric motor 21 reversely rotate to rewind the wire 1a.

When the wire 1a is stretched between the supply side winding frame 20 and the winding side device 3, the slack of the wire 1a occurs. As a result, the detected tension value Vt decreases, a reverse rotation command is generated from the forward / reverse rotation command forming circuit 89, and the electric motor 21 rotates in the reverse direction. As a result, the wire 1a is rewound on the supply-side winding frame 20, and the slack of the wire 1a can be removed.

This embodiment has the following effects. (1) In the preparation process of supplying the wire 1a, the wire 1a
When the wire a is arranged between the supply side winding frame 20 and the winding side device 3, or when the wire 1a sags due to an abnormality such as cutting of the wire 1a after the start of the supply of the wire 1a, the supply side electric motor 21 is reversed, the wire 1a is rewound on the supply-side winding frame 20, and the slack is removed. Therefore, it is possible to prevent unnecessary supply of the wire 1a and prevent entanglement of the wire 1a at an unintended portion. (2) Since tension adjustment of the first to fourth wires 1a to 1d between the first to fourth wire supply devices 2a to 2d and the winding side device 3 can be performed independently, It is possible to easily prepare for the synchronized supply of the fourth wires 1a to 1d. That is, when the wire 1a is arranged between the supply-side winding frame 20 and the winding-side device 3 in the preparation process for supplying the first to fourth wires 1a to 1d, the first to fourth wires 1 are arranged.
Even if there is a slack in a to 1d, the rewinding operation automatically occurs and the slack is removed. Therefore, the synchronized supply of the first to fourth wires 1a to 1d can be started quickly and easily. (3) The frequency of the supply side electric motor 21 at the time of reverse rotation is, for example, 1
Since it is limited to 0 Hz or less, the supply-side electric motor 21 does not reverse at high speed. Therefore, it is less dangerous. (4) Since the time constant of the feedback control loop is reduced as the difference between the detected tension value Vt and the reference value Vr increases,
The response speed of the control loop when the detected tension value Vt greatly changes is increased, and the detected tension value Vt can be quickly returned to the reference value Vr or close thereto. As a result, the highly stable wires 1a to 1d can be supplied. (5) Since the supply-side electric motor 21 is driven by the inverter 22, the control of the supply-side electric motor 21 can be easily achieved. (6) Since the dancer / tension detector 24 is used, both the adjustment of the tension of the wires 1a to 1d and the detection of the tension can be easily achieved. (7) When the dead zone mode selection switch Sa is turned on, the detected tension value Vt is the fifth value Vt5 and the sixth value Vt.
, The output of holding circuit 60 is sent to line 67. Dead band mode depending on the type of wire
There are cases where it is better to provide a code and cases where it is not good, so
Greater control freedom.

[0049]

[Modification] The present invention is not limited to the above-described embodiment, and the following modifications are possible. (1) The supply side device 2 is, for example, one wire supply device 2
The present invention can also be applied to the case where the wire 1a is provided and only one wire 1a is supplied. (2) In FIG. 1, four wires 1a to
Although 1d is supplied, it can be an arbitrary plural number. (3) In FIG. 5, six proportional integrator circuits 59a to 59f are provided, but a time constant switching circuit can be provided in the proportional integrator circuit 59, and only the time constant can be switched by the output of the level determination means 57. (4) The time constant of the proportional-plus-integration circuit 59 may be changed by changing only the gain of the integrating circuit or only the gain of the proportional circuit. (5) The level determination means 57 can be connected to the output terminal of the deviation circuit 55. In this case, the voltage values of the first to tenth reference voltage sources E1 to E10 are set lower by Vr than in FIG. (6) The number of levels for level judgment of the level judgment means 57 can be arbitrarily changed. (7) The rotation speed control method of the electric motor 21 is a method of controlling the output frequency by keeping the output voltage of the inverter 22 constant, or a method of controlling the output voltage by keeping the output frequency of the inverter 22 constant, or the inverter 22. It is possible to adopt a control method in which the ratio V / f of the output voltage V of the inverter 22 and the output frequency f of the inverter 22 is kept constant. (8) The electric motor 21 can be a DC electric motor. (9) Instead of the supply side winding frame 20, a capster for feeding the wire 1a at a constant speed can be controlled according to the present invention. In this case, the electric motor 21 of FIG. 2 is coupled with a capster as a supply side rotating body. (10) Part or all of the control circuit 23 can be formed by a digital circuit. When using a digital circuit, an analog / digital converter is connected to the output stage of the tension sensor 27.

[Brief description of drawings]

FIG. 1 is a block diagram showing a wire transfer device according to an embodiment of the present invention.

FIG. 2 is a block diagram showing the first wire supply device of FIG.

FIG. 3 is a circuit diagram showing the supply-side inverter of FIG. 2 in detail.

FIG. 4 is a block diagram showing the tension sensor, control circuit, inverter and electric motor of FIG. 2 in more detail.

5 is a circuit diagram showing the level determining means and the variable proportional-plus-integral circuit of FIG.

FIG. 6 is a block diagram showing in detail a control signal forming circuit of the supply side inverter.

FIG. 7 is a diagram showing a state of each part of FIGS. 4 and 5;

FIG. 8 is a waveform diagram showing a state of each part of FIG.

[Explanation of symbols]

1a-1d wire 20 reels 21 electric motor 22 Inverter 23 Control circuit 24 Dancer and tension detector 27 Tension sensor 56 Tension control command signal forming circuit 57 Level judging means 59 Variable proportional integration circuit

   ─────────────────────────────────────────────────── ─── Continued front page    F term (reference) 3F111 AA02 AB01 BB14 BC11 CA15                       CA20 CB01 DA03 DA07 DB03                       DE03                 3F115 AA02 AA05 CA23 CB08 CC05                       CF21                 5H576 AA02 CC01 DD04 EE04 EE11                       EE18 FF10 GG08 HA01 JJ01                       JJ02 JJ24 JJ29 LL47

Claims (9)

[Claims] 1. A supply-side rotating body for supplying a linear or strip-shaped longitudinal object, a supply-side electric motor coupled to the supply-side rotating body, and a winding-side device for winding the longitudinal object. , Tension detecting means for detecting the tension of the longitudinal object between the supply side rotating body and the winding side device, and the supply side electric motor, which is connected to the supply side electric motor and is controllable. Drive means configured as described above, a tension reference value generating means connected between the tension detecting means and the drive means for controlling the drive means, and showing a reference value of tension, and the tension detecting means. Deviation signal forming means for forming a deviation signal indicating a difference between the detected value of the detected tension and the reference value of the tension, and tension control for eliminating the difference between the detected value of the tension and the reference value of the tension. Create a command signal It comprises a control means having a tension control command signal generating means for supplying the motion means, a transfer device in the longitudinal body, characterized in. 2. The supply-side electric motor is capable of both rotation in a forward direction for sending out the longitudinal object from the supply-side rotating body and rotation in a reverse direction for rewinding the longitudinal object to the supply-side rotating body. When the tension control command signal supplied from the tension control command signal creating unit is a command for reducing the tension of the longitudinal object, the driving unit drives the supply-side electric motor in the forward direction. 2. A function of rotationally driving the supply-side electric motor in a reverse direction when the tension control command signal is a command for increasing the tension of the longitudinal object. Device for transporting longitudinal objects. 3. The tension control signal creating means, a level determining means for determining a magnitude relationship of a difference between the detected tension value obtained from the tension detecting means and the reference value, and proportional processing and integration for the deviation signal. A tension control signal for performing a process to form the tension control signal, wherein the detected tension value is connected to the deviation signal forming means, the level determining means, and the driving means, and is obtained from the level determining means. A proportional-integral means configured to decrease the time constant as the difference between the detected tension value and the reference value increases in response to a signal indicating the magnitude relationship of the difference with the reference value. The apparatus for transferring a long object according to claim 1, wherein 4. The level determining means determines the level of the detected tension value stepwise, and the proportional-plus-integral means changes the time constant stepwise. A device for transferring a longitudinal object according to claim 1. 5. The apparatus for transferring a longitudinal object according to claim 1, wherein the supply-side electric motor is an AC electric motor, and the driving means is an inverter for converting DC into AC. . 6. The tension detecting means includes a pressurizing body for contacting the longitudinal object between the supply-side rotating body and the winding-side device to apply tension to the longitudinal object, and It comprises a support means for supporting the pressurizing body so as to allow displacement of the pressurizing body corresponding to a change in tension, and a tension sensor for outputting a tension detection signal corresponding to the position of the pressurizing body. The apparatus for transferring a longitudinal object according to claim 1, 2, 3 or 4. 7. A plurality of supply-side rotating bodies for synchronously supplying a plurality of linear or strip-shaped elongated objects, a plurality of supply-side electric motors respectively coupled to the plurality of supply-side rotating bodies, and A winding-side device for synchronously winding a plurality of longitudinal objects, and a plurality of for respectively detecting tensions of the plurality of longitudinal objects between the plurality of supply-side rotating bodies and the winding-side device. Controlling the tension detecting means, a plurality of driving means connected to the plurality of supply-side electric motors and configured to control the rotation of each of the plurality of supply-side electric motors, and the plurality of driving means In order to do so, the tension reference value generating means, which is respectively connected between the plurality of tension detecting means and the plurality of driving means, and which indicates the reference value of the tension, the detected value of the tension detected by the tension detecting means and the Of tension Deviation signal forming means for forming a deviation signal indicating a difference from a reference value, and a tension control command signal for eliminating the difference between the detected value of the tension and the reference value of the tension is created and supplied to the driving means. And a plurality of control means each having a tension control command signal generating means for controlling the longitudinal object transfer device. 8. Each of the plurality of supply side electric motors,
It is configured such that both the forward rotation of the longitudinal object sent out from the supply side rotating body and the reverse rotation of rewinding the longitudinal object to the supply side rotating body are possible, and the plurality of driving means are provided. Respectively, when the tension control command signal supplied from the tension control command signal generating means is a command for reducing the tension of the longitudinal object, the supply side electric motor is rotationally driven in the forward direction to control the tension. 8. The apparatus for transferring a longitudinal object according to claim 7, further comprising a function of rotationally driving the supply-side electric motor in a reverse direction when the command signal is a command for increasing the tension of the longitudinal object. 9. The tension control signal creating means includes a level determining means for determining a magnitude relationship of a difference between the detected tension value obtained from the tension detecting means and the reference value, and proportional processing and integration for the deviation signal. A tension control signal for performing a process to form the tension control signal, wherein the detected tension value is connected to the deviation signal forming means, the level determining means, and the driving means, and is obtained from the level determining means. A proportional-integral means configured to decrease the time constant as the difference between the detected tension value and the reference value increases in response to a signal indicating the magnitude relationship of the difference with the reference value. 8. The apparatus for transferring a long object according to claim 7, wherein