JP2607291B2 - Strip feeder - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to an external device (for example, a sheet material shearing device / processing device, continuous (A printing device for paper).

[Prior Art] Conventionally, as one of the supply devices of a band-shaped material, a feeding mechanism for rotating a roll of the band-shaped material at a constant rotation speed and feeding out the band-shaped material, and intermittently pulling out the fed band-shaped material. Is provided with a supply mechanism for supplying to the outside, and between the two mechanisms, the movable roll is composed of two fixed rolls and one movable roll, and the movable roll is suspended from the two fixed rolls by a fed strip. Thus, there is known an apparatus provided with a plurality of step mechanisms for retaining the belt-like material fed out. In this device, when the supply mechanism is stopped, the movable roller descends to increase the stagnation amount of the band-like material, stagnates a considerable length of the band-like material in the entire step mechanism, and when the supply mechanism pulls out the band-like material, By moving the movable roller up and sending out the staying band-like material, the step mechanism can sufficiently cope with the intermittent withdrawal operation of the supply mechanism.

[Problems to be Solved by the Invention] However, in the above-described apparatus, since a plurality of step mechanisms are provided so that a sufficient amount of the band-like material can be retained and intermittent withdrawal of the supply mechanism can be buffered, the apparatus is large-scale. There is also a problem that the movement of the step mechanism delays the movement of the step mechanism to the pulling-out operation of the supply mechanism, and the tension applied to the belt-like material increases, and the belt-like material is easily cut.

Therefore, an object of the present invention is to simplify the step mechanism without reducing the buffer function, and to reduce the size of the supply device of the strip.

[Means for Solving the Problems] The gist of the present invention is, as exemplified in FIG. 1, a feeding means for rotating a roll formed by winding a strip S to feed the strip S. M1; supply means M2 for drawing out the fed strip-like material S and supplying it to the outside; and two fixed rolls M3a, M3b and 1 provided between the feeding means M1 and the winding means M2. M3 rolls
c and the movable roll M3c has
A step mechanism M3 for suspending the unreeled strip S by being suspended from the two fixed rolls M3a and M3b.
And a position detecting means M4 for detecting the position of the movable roll M3c.
Based on a deviation between the detected position of the movable roll M3c and a predetermined target position, a payout amount calculating means M5 for calculating a payout amount of the payout means M1 in a predetermined cycle.
The calculated feeding amount is calculated by the feeding amount calculating means M5.
And a control means M7 for controlling the feeding amount of the feeding means M1 based on the correction result of the correcting means M6. It is a feeding device for a strip-shaped material.

[Operation] According to the belt-like material supply device of the present invention configured as described above, when the supply means M2 pulls out the belt-like material S, the movable roll M3c
Slightly rises from the target position. At that time, based on a deviation between the position of the movable roll M3c detected by the position detecting means M4 and a predetermined target position, the payout amount calculating means M5 calculates the payout amount of the payout means M1 at a predetermined cycle, The correction means M6 corrects the calculated payout amount based on the payout amount calculated a predetermined time before. Then, the control means M7 controls the feeding amount of the feeding means M1 based on the correction result. As a result, the step mechanism M3
The movable roll M3c immediately returns to the target position, and the amount of the band-shaped material staying in the step mechanism M3 becomes constant.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

First, FIG. 2 is a schematic configuration diagram showing the configuration of the entire belt feeding device of an embodiment to which the present invention is applied.

As shown in the figure, a strip-shaped material feeding device 1 rotates a roll AR of a strip-shaped aluminum foil sheet AS to form an aluminum foil sheet.
Feeding roll 3 for feeding AS sequentially and aluminum foil sheet
A step mechanism 5 for retaining the AS, a supply mechanism 7 for pulling out the aluminum foil sheet AS and supplying it to an external device (not shown), an AC motor 11 for rotating the feeding roll 3 via a speed reduction mechanism 9, and an AC motor 11 And a control device 13 for controlling the main part.

The step mechanism 5 includes two fixed rolls 5a and 5b and one movable roll 5c, and the movable roll 5c is formed of an aluminum foil sheet AS.
Is suspended from the two fixed rolls, so that the aluminum foil sheet AS stays. The step mechanism 5 prevents the aluminum foil sheet AS from being excessively tensioned and the aluminum foil sheet AS from being torn even if there is a difference between the feeding amount and the withdrawing amount. Sheet
A mechanism to prevent wrinkles in AS
With the fixed rolls 5a and 5b and one movable row, if the feeding amount Y of the feeding roll 3 is larger (less) than the drawing amount X of the supply mechanism 7, the movable roll 5c is guided (not shown).
It is made to go down (up) along.

As described above, the movable roll 5c moves up and down according to the difference (YX) between the feeding amount Y and the pulling amount X, and the up and down movement is performed via the conversion mechanism (not shown). Rotational motion is transmitted to a known rotary encoder 15 serving as a detection unit M4, and the position of the movable roll 5c (hereinafter, referred to as a step position) is detected by the rotary encoder 15.

The supply mechanism 7 includes two rollers 7a and 7b, and intermittently pulls out the aluminum foil sheet AS and supplies it to the external device in response to a request from the external device.

The control device 13 includes an electronic control circuit 20 and a drive circuit 40 for the AC motor 11. The electronic control circuit 20 includes a well-known CPU 22, R
The OM 24, the RAM 26, and the input / output port 28 are configured as a logical operation circuit.The input / output port 28 includes a rotary encoder 15, a light detection encoder 17 for detecting the radius of the scroll AR of the aluminum foil sheet AS, and an AC motor 11. D / A that converts digital command signals from shaft encoder 19 and CPU 22 to detect analog rotation signals and outputs them to drive circuits
Digital switch for converter 30 and step position setting
32 are connected.

Note that the RAM 26 is provided with a sampling area 26a for storing payout amount data (described later).

The drive circuit 40 controls the frequency of the applied voltage of the AC motor 11 and the magnitude of the energizing current based on the voltage signal input from the D / A converter 30, and includes a well-known PWM circuit (not shown). Is configured as

The electronic control circuit 20 receives the position detection signal of the movable roll 5c from the rotary encoder 15 via the input port 28, and performs D / A based on the detected position and the target step position set by the digital switch 32. Converter 30
To output a voltage signal to the drive circuit 40 to drive the AC motor 11 at an appropriate rotational speed to control the amount of the unwinding roll 3 being unreeled.

Next, a control law for controlling the feeding amount executed in the electronic control circuit 20 will be described with reference to a block diagram shown in FIG. Since the payout amount control is digital control, the control amount is not calculated continuously but is calculated at a predetermined cycle (sampling cycle). FIG. 3 is a diagram showing a control law of this embodiment, and does not show a hardware configuration. Actual control is realized by executing a series of control programs shown in a flowchart of FIG. Is done. In the following description, a suffix (K) is used for the current detected value or the amount handled in the calculation, and a suffix (K) is used for the detected value or the amount handled in the calculation N cycles before.
-N), the subscript (K + 1) is added to the amount to be output after one cycle,
It is shown with each attached.

As shown in the figure, in the present embodiment, first, the deviation calculating unit P1
Is a predetermined target step position μ0 and a step position μ of the movable roll 5c detected by the rotary encoder 15.
(K) multiplied by a predetermined constant KP1 (KP1 = 1 in this embodiment) {KP1 × μ (K) = μ (K)} and deviation Δμ (K) ｛= μ0−μ (K ) Is calculated in a predetermined cycle (sampling cycle), and the calculation result is output to the proportional term calculation unit P2 and the integration term calculation unit P3 of the payout amount. Then, the proportional term calculation unit P2 multiplies the deviation Δμ (K) by a predetermined proportional gain KP2, and outputs the feed amount Y of the feed roll 3.
Calculate the proportional term P of (K) ｛P (K) = KP2 × Δμ
Along with (K)}, the integral term calculation unit P3 multiplies the total of the deviations {Δμ (o) to Δμ (k)} by a predetermined integral gain KI and integrates the integral term I (K) of the delivery amount Y (K). K) is calculated.

On the other hand, the differential term calculation unit P4 calculates the step position μ (K−1) of the movable roll 5c detected last time and the same step position μ detected this time.
(K) is calculated, and the difference is multiplied by a predetermined differential gain KD to calculate a differential term D (K) of the payout amount Y (K). ｛D (K) = KD (μ (K) − μ (K−
1))｝.

The proportional term P (K) and the integral term I calculated as described above
(K) and the differential term D (K) are respectively calculated by
Input to P5. Then, the payout amount calculation unit P5 adds the integral term I (K) to the proportional term P (K), and subtracts the derivative term D (K) from the addition result, thereby obtaining the payout amount Y (K).
{= P (K) + I (K) -D (K)} is calculated.

The feeding amount Y (K) and the step position μ (K) are calculated in units of [μm / sec].

Subsequently, the feed-out amount correction unit P6 multiplies the target feed-out amount Y (K−N) obtained by the correction amount calculation unit P7 a predetermined number of times (N times) by a predetermined constant KL (<1). L
(K) ｛= KL × Y (K−N)｝, that is, the correction amount L (K) having a meaning as the delay amount of the control system is fed out Y
(K), the target feed amount {Y (K + 1) ← L (L) which corrects the feed amount Y (K) and outputs the correction result {L (K) + Y (K)} one cycle later. K) + Y
(K) Output to the rotation speed conversion unit P8 as｝.

The target feed amount {Y (K + 1) ← L that outputs the correction result {L (K) + Y (K)} one cycle later.
The reason for (K) + Y (K) is that the delay of the arithmetic processing executed in the electronic control circuit 20 corresponds to one cycle. The numerical value N designating the target feed amount Y (K−N) a predetermined number of times before determining the correction amount L (K) depends on the delay of the response of the drive system and the mechanical system of the feeding device 1 for the strip. It is obtained by actual measurement based on the sampling period and is set in advance.

Next, the rotation speed conversion unit P8 calculates the target feed amount Y (K +
1) and the radius r of the scroll AR detected by the optical encoder 17
From (K), the target feed amount Y is calculated based on the following equation (A).
Target rotational speed S (K) of AC motor 11 according to (K + 1)
+1) [rpm] is calculated and output to the voltage conversion unit P9.
I do.

S (K + 1) = (R / 2πr (K)) × Y (K + 1) (A) where R is the reduction ratio of the reduction mechanism 9.

Next, the voltage conversion unit P9 uses the D / A of the electronic control circuit 20 to rotate the AC motor 11 at the target rotation speed S (K + 1).
Voltage command value V output from converter 30 to drive circuit 40
(K + 1) is calculated based on the following equation.

V (K + 1) = (VMAX / mMAX) × S0 (K + 1) + Z0 (B) When the target feed amount Y (K + 1) is zero,
The voltage conversion unit P9 calculates the voltage command value V (K + 1) as follows.
Is calculated.

That is, the rotational speed difference value calculation unit P10 calculates the difference value ｛Δv () between the rotational speed v (K) of the AC motor 11 detected by the shaft encoder 19 and the previously detected rotational speed v (K−1). K) = v (K) -v (K-1)} is calculated as a differential equivalent value of the rotation speed, and the target rotation speed integral value calculation unit P11 calculates the difference value {Δv (o)
Δv (k)} is multiplied by a predetermined integral gain KVI to calculate an integral value IV (K) of the target rotational speed.

Then, based on the calculated integral value IV (K) of the target rotation speed, a voltage command value V (K + 1) is calculated from the following equation.

V (K + 1) = (VMAX / mMAX) × {−IV (K)} + Z0 (C) In the above equations (B) and (C), VMAX corresponds to the maximum allowable feeding amount of the feeding roll 3. The maximum voltage value [V] for commanding the rotation speed, mMAX is the maximum speed [rpm] of the AC motor, and Z0 is the target feed amount Y (K +
When 1) becomes 0, it is a voltage command value calculated based on the equation (C). At the initial stage, the minimum required voltage command value so that the AC motor 11 can immediately respond to the speed command from the electronic control circuit 20. The value is set.

Based on the target voltage command value V0 (K + 1) calculated in this way, a voltage signal is output to the drive circuit 40 and the AC motor 11
Is rotated, and the aluminum foil sheet AS is fed from the feeding roll 3 by a target feeding amount Y (K + 1).

In the above, the control law for calculating the payout amount of the present embodiment has been described in detail. Next, in realizing this control law, the payout amount calculation process executed by the electronic control circuit 20 will be described with reference to the flowchart of FIG. explain.

This process is a process executed every predetermined time. When the process is started, first, step 100 is executed, and various detection data obtained based on the detection signals from the encoders 15, 17, and 19 are divided into movable data. Roll 5c step position μ (k), scroll
AR radius r (k), rotation speed v (k) of AC motor 11｝
Is read, and in step 110, a preset target step position μ0 and the step position μ (K) read in step 100 are read.
Based on this, the process as the deviation calculating unit P1 for calculating the deviation Δμ (K) of the step position is executed, and the process proceeds to step 120.

In step 120, the deviation Δμ calculated in step 110
(K), the proportional term P (K) of the feeding amount Y (K)
Is executed as a proportional term calculating unit P2 for calculating the integral term I. In step 130, the integral term I of the payout amount Y (K) is calculated.
The process as the integral term calculating unit P3 for calculating (K) is executed, and the process further proceeds to step 140, where the step position μ (K-1) of the movable roll 5c detected previously and the step position μ (K ), The differential term D of the feeding amount Y (K)
The processing as the differential term calculation unit P4 for calculating (K) is executed.

Next, proceed to step 150, and step 120 to step 140
The proportional term P (K) of the feeding amount Y (K) calculated by
Based on the integral term I (K) and the differential term D (K), a process is executed as a payout amount calculation unit P5 for calculating a payout amount Y (K). Subsequently, at step 160, a correction amount L (K) for correcting the payout amount Y (K) calculated at step 150 based on the target payout amount Y (KN) obtained a predetermined number of times (N) earlier. ) Is performed, and then in step 170, the payout amount Y (K) is corrected by the correction amount L (K) calculated in step 160, and output is performed one cycle later. Target feeding amount Y (K + 1)
Is performed, and the target feed amount Y (K + 1) is stored in the sampling area 26a of the RAM 26 as the target feed amount calculated at the K-th time, and ｛Y (K) ← Y (K + 1)｝.

Then, the process proceeds to a step 180, wherein it is determined whether or not the calculated target payout amount Y (K + 1) is zero. If the calculated target feed amount Y (K + 1) is zero, the process proceeds to a step 220 described later. move on.

In step 190, the process as the rotation speed conversion unit P8 for calculating the rotation speed S (K + 1) of the AC motor 11 using the above-described equation (A) based on the target payout amount Y (K + 1) calculated in step 170. Run. Continue, step 20
In the case of 0, the voltage command value V (K + 1) is calculated based on the target rotation speed S (K + 1) by using the above-described equation (B), and the process as the voltage conversion unit P9 is executed. , The calculated voltage command value V (K +
The voltage signal based on 1) is output to the drive circuit 40, and the process ends.

On the other hand, in step 180, the target payout amount Y (K +
When 1) is determined to be zero and the process proceeds to step 220, the difference value Δv (K) ｛= v (K) of the rotational speed of the AC motor 11 is obtained.
−v (K−1)} to calculate a rotational speed difference value calculating unit P1.
Then, in step 230, the integrated value I of the target rotational speed is obtained by multiplying the total of the difference values {Δv (o) to Δv (k)} thus far by a predetermined integral gain KVI.
V (K) is calculated, the process as the target rotation speed integral value calculation unit P11 is executed, and the routine proceeds to step 240. In step 240, the integral value IV of the target rotation speed calculated in step 230
Based on (K), the voltage command value V (K
+1) to perform the processing as the voltage conversion unit P9,
Proceed to step 250.

In step 250, the voltage command value V (K + 1) calculated in step 240 is set to the minimum voltage command value Z0 required to be able to immediately respond to the speed command, and the process proceeds to step 210.

In the belt feeding device 1 of the present embodiment having the above-described configuration, as shown in FIG. 5, first, the withdrawal amount of the aluminum foil sheet AS by the supply mechanism 7 is a predetermined standard amount and the step mechanism 5 When the supply mechanism 7 gradually increases the withdrawal amount of the aluminum foil sheet AS (t0 to t1) from the state where the movable roll 5c is at the set step position μ0 (t0), the movable roll 5c of the step mechanism 5 rapidly rises. . However, the feeding roll 3 quickly increases and decreases the feeding amount of the aluminum foil sheet AS in accordance with the change in the step position of the movable roll 5c, so that the drawing amount of the supply mechanism 7 becomes constant at the increased level (t1).
~), The step position of the movable roll 5c quickly stabilizes at a position where it has risen from the set step position μ0 by a constant amount (t2).

Further, when the supply mechanism 7 gradually reduces the withdrawal amount (from t3 to
t4) The movable roll 5c of the step mechanism 5 descends and falls below the set step position μ0, but the feeding roll 3 quickly reduces or increases the amount of the aluminum foil sheet AS fed according to the change in the step position of the movable roll 5c. Therefore, when the withdrawal amount of the supply mechanism 7 is constant at the standard amount (from t4), the step position of the movable roll 5c is quickly stabilized at the established step position μ0 (t5).

As described above, in the present embodiment, the feeding amount Y (K) of the feeding roll 3 is calculated based on the deviation between the actual position μ (k) of the movable roll 5c and the target position μ0, and the calculated feeding amount is calculated. The target feed amount Y (K + 1) is determined by correcting the amount Y (K) based on the target feed amount Y (Y−N) calculated a predetermined number of times before, and further based on the target feed amount Y (K + 1). After one cycle, the feeding roll 3 is rotated, so that the aluminum foil sheet AS can be fed following the intermittent drawing by the supply mechanism 7. Therefore, the load applied to the aluminum foil sheet AS when being fed from the feeding roll 3 is reduced, and the step position of the movable roll 5c is controlled to the target step position, so that the load applied to the aluminum foil sheet AS in the step mechanism 5 is also reduced. It becomes smaller, so that the aluminum foil sheet AS does not break, meander, or wrinkle.

In addition, conventionally, a step mechanism having a plurality of steps is required. However, in the embodiment, the step mechanism 5 may be one step, and the apparatus can be downsized. Therefore, the step mechanism 5 can be operated immediately following the operation of the supply mechanism 7, and the gravitational load applied to the aluminum foil sheet AS is reduced.

In this embodiment, the drive circuit 40 and the AC motor 11 are controlled by the electronic control circuit 20 using a microcomputer and digital elements. However, the same effect can be obtained by using an electronic control circuit including an operational amplifier. To play.

[Effects of the Invention] As described above, according to the present invention, the payout amount is calculated, and the payout amount is corrected by the payout amount calculated a predetermined time before. Since the feeding amount is controlled, the amount of the band-like material staying in the step mechanism is constant. Therefore, when the amount of withdrawal of the supply means is large, excessive tension is not applied to the band-like material, and when the amount of withdrawal is small, the belt-like material moves from the feeding means to the supply means with a constant tension applied to the band-like material. . For this reason, the strip does not crack or wrinkle.

Further, since it is not necessary to provide a plurality of step mechanisms, the step mechanism can be simplified, and thus the device can be downsized.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram illustrating the configuration of the present invention, FIG. 2 is a schematic configuration diagram showing the entire configuration of a strip-shaped material supply apparatus according to an embodiment, and FIG. 3 is a feed amount control executed by an electronic control circuit. FIG. 4 is a block diagram showing a control law for the control, FIG. 4 is a flowchart showing a feed-out amount calculation process executed by an electronic control circuit, and FIG. 5 is an explanatory diagram for explaining a feed-out amount control operation. DESCRIPTION OF SYMBOLS 1 ... Device for feeding a belt-like material, 3 ... Roll for feeding 5 ... Step mechanism, 7 ... Supply mechanism 11 ... AC motor, 13 ... Control device 20 ... Electronic control circuit M1 ... Feeding means, M2 ... ... Supply means M3 ... Step mechanism M3a, M3b ... Fixed roll, M3c ... Movable roll M4 ... Position detection means, M5 ... Feeding amount calculation means M6 ... Correction means, M7 ... Control means, S ... Strip

Claims (1)

(57) [Claims] 1. A feeding means for rotating a roll formed by winding a strip to feed the strip, a feeding means for pulling out the fed strip and supplying it to the outside; Disposed between the winding means,
A step mechanism comprising two fixed rolls and one movable roll, wherein the movable roll is suspended from the two fixed rolls by the fed-out strip, so that the fed-out strip is retained; A position detecting means for detecting the position of the movable roll; and a feeding amount of the feeding means based on a deviation between the detected position of the movable roll and a predetermined target position. Is calculated in a predetermined cycle, a correction means for correcting the calculated feeding amount based on a feeding amount calculated a predetermined time before by the feeding amount calculation means, and a correction result of the correction means. And a control means for controlling a feeding amount of the feeding means on the basis of the above.