JP2017144444A - Speed control device of polling reel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To restrain a product flaw by contact between a polling reel and a product when winding the product in the present invention.SOLUTION: A main trunk control device 7 executes wobbling control for outputting a speed reference in the respective times based on a waveform of determining a periodic increase-decrease in the speed reference. A drive device 6 drives a motor 4 for rotating a polling reel 2 in response to the speed reference. An image processing device 9 detects a spark generated when a product 1 contacts with the polling reel 2 from an image photographed by a camera 8. A speed correction device 10 calculates a speed correction value for reducing a speed increase rate of the speed reference of the waveform when detecting the spark when a rotational speed of the polling reel 2 increases in a speed in wobbling control, and calculates the speed correction value for reducing a speed reduction rate of the speed reference of the waveform when detecting the spark in speed reduction of the rotational speed. The main trunk control device 7 corrects the speed reference of the waveform based on the speed correction value.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a polling reel speed control device. In particular, the present invention relates to a speed control device that suppresses wrinkles generated by a polling reel when winding a steel bar or wire manufactured by hot rolling.

  There is a polling reel as a device for winding a steel bar and wire manufactured by hot rolling. In general, a polling reel mainly consists of an outer drum that rotates and an inner pin around which a product is wound.

  In addition to the thermal expansion of the machine and the cooling shrinkage of the product, the product wrinkles that occur on the polling reel include the product caused by the strong contact of the product with the inner pins or the outer drum during product winding. is there.

  There have been proposed methods for solving product defects caused by thermal expansion of a machine and cooling shrinkage of a product by a mechanical structure, for example, Japanese Patent Laid-Open No. 7-196246. However, no measures have been proposed to prevent wrinkles due to strong contact between the inner pin or outer drum during product winding and the product.

  One of the causes of strong contact between the inner pin or the outer drum during product winding and the product may be a mismatch between the rotational speed of the polling reel and the product speed. In a general polling reel, the rotation speed is set based on the speed reference of the final rolling stand or a single speed reference.

  In general, in the polling reel, wobbling control for increasing / decreasing the speed reference in units of seconds is performed in order to increase the density of the product coil by changing the coil diameter.

JP-A-7-196246

  In order to suppress wrinkling of the polling reel, it is necessary to match the rotation speed of the polling reel with the product speed to some extent. In order to accurately measure the product speed during winding, a method of detecting the number of rotations by providing a pinch roll or the like near the driving tube can be considered, but this pinch roll may cause pinch flaws. .

  Further, in the method of finally finely adjusting the speed of the polling reel by the operator's visual observation as shown in FIG. 6, the state of occurrence of wrinkles may be influenced by the experience of the operator.

  The present invention has been made to solve the above-described problems, and grasps the contact state between the polling reel and the product during winding of the product and automatically corrects the speed reference in the wobbling control of the polling reel. An object of the present invention is to provide a polling reel speed control device capable of suppressing product wrinkles.

In order to achieve the above object, the present invention provides a speed control of a polling reel that includes an inner pin that is a rotating shaft and an outer drum, and winds a steel bar or a wire between the inner pin and the outer drum by rotation. A device,
A master control device that executes wobbling control that outputs a speed reference at each time based on a waveform that defines periodic increase and decrease of the speed reference;
A drive device for driving a motor for rotating the polling reel in accordance with a speed reference output by the master control device;
A camera for photographing the outer drum and the inner pin;
An image processing device that detects a spark generated when the steel bar or wire comes into contact with the polling reel from an image taken by the camera;
In the wobbling control, when the spark is detected while the rotation speed of the polling reel is increasing, a speed correction value that reduces the speed-based increase rate of the waveform is calculated, and the rotation speed is being reduced. A speed correction device that calculates a speed correction value that reduces the speed-based deceleration rate of the waveform when the spark is detected,
The master control device corrects the speed reference of the waveform after the timing when the spark is detected based on the speed correction value calculated by the speed correction device.

  According to the present invention, by detecting a spark from an image taken by a camera, it is possible to grasp the contact state between a polling reel and a product during product winding, and automatically set a speed reference for wobbling control of the polling reel according to the contact state. Can be corrected automatically. Therefore, the rotation speed of the polling reel is adjusted appropriately, and product wrinkles due to product contact can be suppressed.

It is a figure for demonstrating the system configuration | structure which concerns on Embodiment 1 of this invention. It is a figure for demonstrating an example of wobbling control. This is an example in which the waveform of the wobbling control is corrected from the next periodic wave when a spark occurs at the timing when the rotation speed of the polling reel 2 is reduced. This is an example in which the waveform of the wobbling control is corrected from the next control timing when a spark is generated at the timing when the rotation speed of the polling reel 2 is increased. 3 is a flowchart of a control routine of the system according to the first embodiment during wobbling control. It is a block diagram of the system which finally fine-tunes the speed of a polling reel by an operator's visual observation.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, the same code | symbol is attached | subjected to the element which is common in each figure, and the overlapping description is abbreviate | omitted.

Embodiment 1 FIG.
[System Configuration of Embodiment 1]
FIG. 1 is a diagram for explaining a system configuration according to Embodiment 1 of the present invention. Product 1 is a bar or wire manufactured by hot rolling. The polling reel 2 includes an inner pin that is a rotating shaft and an outer drum. The product 1 is wound between the inner pin and the outer drum by the rotation of the polling reel 2 to form a wound wire bundle. The inner pin is a reel pin that secures the inner diameter of the winding wire bundle. The outer drum is a hollow drum that holds the winding wire bundle on the inner wall side.

  The polling reel 2 is driven to rotate in the winding direction by a motor 4 via a gear 3. A drive device 6 that supplies power is connected to the motor 4. The drive device 6 inputs the speed reference output from the master controller 7 and controls the motor 4 based on the torque reference calculated from the speed reference.

  The motor 4 is attached with a speed sensor 5 that detects the actual rotational speed. The drive device 6 performs speed feedback control for controlling the motor 4 so that the speed feedback value output from the speed sensor 5 matches the speed reference. The control period of speed feedback control is, for example, several milliseconds.

  The master controller 7 outputs a speed reference for the rotational speed of the polling reel 2 (specifically, the motor 4). The reference value of the speed reference is set so as to substantially match the speed of the product 1 downstream of the final rolling stand, for example.

  In addition, the master control device 7 performs wobbling control. The wobbling control is a control for increasing and decreasing the coil filling rate by controlling the coil diameter by changing the drive rotation speed of the reel up and down with respect to a reference value. The master controller 7 stores in advance a periodic wave of wobbling control (a waveform in which periodic increase / decrease of the speed reference is determined), and outputs a speed reference at each control timing. The speed reference update timing (control timing) in one period of the periodic wave is, for example, every several tens of milliseconds, and one period is, for example, several seconds.

  FIG. 2 is a diagram for explaining an example of wobbling control. A one-dot chain line 20 in FIG. 2 indicates a reference value of the speed reference when there is no wobbling. A solid line 21 shows an example of a change in speed reference due to a wobbling periodic wave. In the triangular wave indicated by the solid line 21, the period from t1 to t5 is a period during which the speed reference is higher than that in the case of no wobbling, and the coil diameter is reduced. The period from t5 to t10 is a period in which the speed reference is lower than that in the case of no wobbling, and the coil diameter increases. The period from t0 to t10 is a periodic wave of wobbling control for one period.

  Due to the change of the coil diameter by the wobbling control, the product 1 being wound may come into strong contact with the outer drum or the inner pin, which may cause wrinkles of the product 1. Therefore, the system according to the present embodiment further includes a camera 8, an image processing device 9, and a speed correction device 10, so that the contact status between the product 1 and the polling reel 2 can be grasped, and the speed reference in the wobbling control of the polling reel can be set. Correction was made automatically to suppress wrinkles of product 1.

  The camera 8 is provided in the rotation axis direction of the polling reel 2 and is disposed at a position where the outer drum, the inner pin, and the wound product 1 can be photographed. The camera 8 outputs the captured image as image data.

  The image processing device 9 inputs image data output from the camera 8. The image processing device 9 detects a spark generated when the product 1 and the polling reel come into contact based on the color change of the image data. When a spark is detected, the image processing device 9 outputs a signal indicating spark detection.

  The speed correction device 10 receives a signal indicating spark detection output from the image processing device 9 and a speed reference output from the master control device 7 (the same speed reference output from the master control device 7 to the drive device 6). . The speed correction device 10 is increasing the rotation speed of the polling reel 2 based on the difference between the speed reference (previous value) at the previous control timing and the speed reference (current value) at the current control timing (spark detection timing). It is determined whether or not the vehicle is decelerating. Furthermore, the speed correction apparatus 10 calculates and outputs a speed correction value according to the determination result.

  Specifically, when a spark is generated at the timing when the rotation speed of the polling reel 2 is increased, it can be determined that the product 1 is in contact with the inner pin because the coil diameter of the product 1 is reduced. In this case, the speed correction device 10 outputs a speed correction value for correcting in a direction to reduce the speed reference speed increase rate due to wobbling.

  On the other hand, when a spark is generated at the timing when the rotation speed of the polling reel 2 is reduced, it can be determined that the coil diameter of the product 1 is in contact with the outer drum because the coil diameter of the product 1 is increased. In this case, the speed correction device 10 outputs a speed correction value for correcting in a direction to reduce the speed-based deceleration rate due to wobbling.

  The above-described master control device 7 inputs the speed correction value output from the speed correction device 10. The master controller 7 corrects the speed reference of the periodic wave after the timing when the spark is detected based on the speed correction value.

  Specifically, when the image processing for spark detection takes about 1 second, the waveform of the wobbling control described above has a period of 2 to 3 seconds or more. Start correction from. FIG. 3 shows an example in which the waveform of the wobbling control is corrected from the next periodic wave when a spark occurs at the timing when the rotation speed of the polling reel 2 is reduced. In the example of FIG. 3, when a spark occurs at the acceleration side timing (time t1), the waveform of the wobbling control stored in advance indicated by the solid line 21 is the waveform indicated by the broken line 22 from the next periodic wave (time t10). By changing to, generation | occurrence | production of wrinkles of the product 1 is suppressed.

  If the image processing for spark detection can be performed at high speed, correction of the wobbling control waveform may be started from a predetermined control timing in the current periodic wave in which the spark is detected. FIG. 4 shows an example in which the waveform of the wobbling control is corrected from the next control timing when a spark occurs at the timing when the rotation speed of the polling reel 2 is increased. In the example of FIG. 4, when a spark occurs at the acceleration side timing (time t1), the waveform of the wobbling control stored in advance shown by the solid line 21 is broken from the time t2, which is the control timing next to the time t1, to the broken line 23. By changing to the waveform shown in FIG.

(Operation)
Next, the operation will be described. Until the leading edge of the product 1 enters the polling reel 2 and the wobbling control is started, the conventional speed control based on a predetermined speed reference is performed. When the wobbling control is started, the speed reference of the rotational speed of the polling reel 2 changes as shown by the solid line 21 in FIG.

  FIG. 5 is a flowchart of a control routine of the system according to the first embodiment during the wobbling control. This control routine is executed at every control timing. In the control routine shown in FIG. 5, it is first determined in step S100 whether or not wobbling control is being performed. After the wobbling control is started, the process proceeds to step S110.

  In step S <b> 110, the speed correction device 10 determines whether or not a signal indicating spark detection is input from the image processing device 9. When a signal indicating spark detection is input, the process proceeds to step S120.

  In step S120, the speed correction apparatus 10 determines whether the speed reference is increasing from the speed reference at the previous control timing and the speed reference at the current control timing (spark detection timing). If it is determined that the speed is being increased, the process proceeds to step S130.

  In step S <b> 130, the speed correction device 10 outputs a speed correction value for correcting in a direction to reduce the speed reference speed increase rate due to wobbling. Thereafter, in step S170, the master control device 7 corrects the speed reference of the periodic wave after the timing when the spark is detected based on the speed correction value. For example, the wobbling waveform shown in the broken line 22 may be changed from the next periodic wave (time t10) as shown in FIG. 3, or the broken line 23 is shown from time t2 of the periodic wave in which a spark is detected as shown in FIG. It may be changed to a wobbling waveform.

  In step S120 described above, if it is not determined that the speed is being increased, the process proceeds to step S140. In step S140, the speed correction device 10 determines whether or not the speed reference is decelerating from the speed reference at the previous control timing and the speed reference at the current control timing (spark detection timing). If it is determined that the vehicle is decelerating, the process proceeds to step S150.

  In step S150, the speed correction device 10 outputs a speed correction value for correcting in a direction to reduce the speed-based deceleration rate due to wobbling. Thereafter, in step S170, the master control device 7 corrects the speed reference of the periodic wave after the timing when the spark is detected based on the speed correction value.

  On the other hand, when the determination conditions of step S100, step S110, and step S140 described above are not satisfied, the process of step S160 is executed. In step S160, the speed correction device 10 outputs a speed correction value in which the correction amount with respect to the speed reference is zero.

(effect)
As described above, according to the system of the present embodiment, by detecting a spark from an image captured by the camera 8, the contact status between the polling reel 2 and the product 1 during product winding is grasped, and the contact status is changed. Accordingly, the speed reference of the periodic wave of wobbling control can be automatically corrected (broken line 22 in FIG. 3 and broken line 23 in FIG. 4). Therefore, the rotational speed of the polling reel 2 is appropriately adjusted, and product wrinkles due to the contact of the product 1 can be suppressed. Further, since no pinch roll or the like is provided near the driving tube, no pinch flaw occurs. Further, since the synchronism between the image data and the speed reference data can be ensured without depending on the experience of the operator, the rotational speed of the polling reel 2 can be finely adjusted with certainty, and wrinkles of the product 1 can be suppressed.

(Modification)
In the first embodiment, the speed correction apparatus 10 inputs the speed reference calculated by the master control apparatus 7, but is not limited to this. The speed correction device 10 may use a speed feedback value (actual rotational speed) as an input instead of the speed reference. In this case, the speed feedback value is configured to be input from the speed sensor 5 to the speed correction apparatus 10 via the drive apparatus 6 and the master control apparatus 7. Based on the difference between the previous value and the current value of the actual rotational speed of the motor 4 detected by the speed sensor 5, the speed correction device 10 determines whether the rotational speed of the polling reel 2 is increasing or decreasing. Determine.

  2 and 3 are triangular wave wobbling as an example, a periodic wave having a period of several seconds such as a trapezoidal wave may be used. In this case as well, as in the case of FIGS. 2 and 3, a method of correcting by changing the amplitude of the wobbling periodic wave can be applied. In addition to the method of changing the amplitude of the wobbling frequency, the correction method may be a method of changing the phase of the frequency or the wobbling period.

  In the system according to the first embodiment, the master control device 7 and the speed correction device 10 may be mounted on the same programmable logic controller (PLC) or may be mounted on separate PLCs. The image processing device 9 can be mounted on a general-purpose computer.

1 Product 2 Polling reel 3 Gear 4 Motor 5 Speed sensor 6 Drive device 7 Master control device 8 Camera 9 Image processing device 10 Speed correction device

Claims (3)

A polling reel speed control device comprising an inner pin that is a rotating shaft and an outer drum, and winding a steel bar or a wire between the inner pin and the outer drum by rotation,
A master control device that executes wobbling control that outputs a speed reference at each time based on a waveform that defines periodic increase and decrease of the speed reference;
A drive device for driving a motor for rotating the polling reel in accordance with a speed reference output by the master control device;
A camera for photographing the outer drum and the inner pin;
An image processing device that detects a spark generated when the steel bar or wire comes into contact with the polling reel from an image taken by the camera;
In the wobbling control, when the spark is detected while the rotation speed of the polling reel is increasing, a speed correction value that reduces the speed-based increase rate of the waveform is calculated, and the rotation speed is being reduced. A speed correction device that calculates a speed correction value that reduces the speed-based deceleration rate of the waveform when the spark is detected,
The master control device corrects the speed reference of the waveform after the timing at which the spark is detected based on the speed correction value calculated by the speed correction device;
A speed control device for a polling reel. The speed correction device determines whether the rotation speed of the polling reel is increasing or decreasing based on a difference between a previous value and a current value of a speed reference output from the master controller. ,
The speed control device for a polling reel according to claim 1. A speed sensor for detecting an actual rotation speed of the motor;
Whether the rotational speed of the polling reel is increasing or decreasing based on the difference between the previous value and the current value of the actual rotational speed of the motor detected by the speed sensor. Determining
The speed control device for a polling reel according to claim 1.

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