JP3494580B2 - Synchronous control device for traveling cutting / processing equipment - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a synchronous control device for a traveling cutting / machining device for cutting or machining a moving material by following the traveling speed of the traveling material.

[0002]

2. Description of the Related Art Conventionally, traveling cutting devices and traveling processing devices are, for example, die set shears or flying shears for cutting materials such as iron plates, aluminum plates and films, carriages for cutting materials such as pipes, iron plates and aluminum plates. There is a press processing device for forming and processing materials such as.

Control of the traveling cutting device and the traveling processing device (hereinafter, referred to as traveling cutting / processing device when it is not necessary to distinguish between the traveling cutting device and the traveling processing device) is performed by, for example, As described in JP-A-63-15118, a pulse generator detects a pulse of the speed of a traveling material, and the pulse and a pulse generated by a pulse generator of a driving electric motor of a traveling cutting / machining device are used. I am doing it.

The transmission mechanism of this traveling cutting / processing device includes:
The cutting accuracy is unsatisfactory due to the twisting between the electric motor and the transmission mechanism due to the sudden acceleration / deceleration of the cutting / processing machine, the delay of the driving time due to the vibration and backlash inherent in the transmission mechanism, and the abrasion of the transmission mechanism due to aging. It is confirmed, and there is a problem that an error occurs.

An example of a die set shear, which is a typical example of the conventional traveling cutting / processing apparatus, will be described. Figure 7
Fig. 1 shows a block diagram including a die set shear control device.

As shown in FIG. 7, the die set shear 2 has a structure in which the cutting machine 3 including the shear 4 and the press 5 is used as the material 1.
It is provided so as to travel along the traveling direction of, that is, in the direction of the arrow, and is configured by the rack 6, the pinion 7, the electric motor 8, and the like.

The cutting machine 3 is driven by a pinion 7 meshed with a rack 6 and an electric motor 8 and runs along the running material 1. The cutting machine 3 travels in the traveling direction of the material 1 or in the opposite direction depending on the rotation direction of the electric motor 8.

The operation of the die set shear 2 and the method of measuring the amount of movement of the material 1 will be described. First, the setting device 61 sets various data necessary for cutting, that is, the cutting start position, the cutting movement distance, the cutting length, and the like. And
The material 1 starts traveling in response to the operation command.

[0009] The running material 1 is the upper and lower two measuring rolls 1
1 pressurizes, that is, nips, and the length-measuring roll 11 rotates as the material 1 travels, causing the pulse generator 12 to generate a pulse for each unit rotation angle, which is input to the numerical control circuit 60. The numerical control circuit uses this pulse signal to measure the amount of movement of the continuously running material 1, and uses this amount of movement as a material length measurement signal.

When the material length measuring signal reaches the cutting machine starting position, the electric motor 8 is driven, the rotation of the electric motor 8 causes the pinion 7 to mesh with the rack 6, and the cutting machine 3 moves from the standby position along the traveling direction of the material 1. Suddenly accelerate. On the other hand, the pulse amount per unit rotation angle or the pulse count amount per unit time is detected from the pulse generated from the pulse generator 9 of the electric motor 8 that drives the cutting machine 3, and is used as the position signal and the speed signal of the traveling cutting machine 3. , And is fed back to the numerical control circuit 60 and the electric motor drive control device 10.

The cutting machine 3 follows the speed of the material 1 and rapidly accelerates until it synchronizes, and when it reaches the value of the cutting length, the numerical control circuit 6
When the cutting signal A is generated from 0, the press 5 is driven to cut the material 1 by the shear 4. After the cutting is completed, the cutting machine 3 is rapidly decelerated, and at the same time when the deceleration is completed, the electric motor 8 is reversely rotated, and the cutting machine 3 returns to a predetermined position and stands by. Then, it is restarted based on the next command, and this is repeated.

[0012]

In such a die set shear, the rack 6 directly connected to the cutting machine 3 is operated by a transmission mechanism meshed with a pinion 7 directly connected to the electric motor 8 or connected via a gear. The pulse generated by the pulse generator 9 of the electric motor 8 for driving the cutting machine 3 is used as the speed signal and the position signal of the moving cutting machine 3. Therefore, due to the twist between the electric motor 8 and the transmission mechanism due to the sudden acceleration / deceleration of the cutting machine 3, the delay of the driving time due to the vibration and backlash inherent in the transmission mechanism, the abrasion of the transmission mechanism due to the secular change, etc. There is a problem that the synchronization of the machine with the material becomes unstable, and as a result, the cutting accuracy becomes uncertain and an error occurs.

Similar problems are also encountered in a flying shear that cuts materials such as iron plates and aluminum plates, a carriage that cuts materials such as pipes, and a press machine that forms materials such as iron plates and aluminum plates. It is also inherent in the transmission mechanism.

In addition to this, since the length measuring roll 11 for detecting the movement amount according to the movement of the material presses the material from both sides, that is, nips it, the pressure of the length measuring roll 11 causes a scratch on the material. Or, a measurement error occurs due to wear of the length measuring roll 11 due to secular change, etc., which also affects the cutting dimension accuracy of the material.

It is an object of the present invention to detect the position and speed of a traveling cutting / processing machine by cutting the traveling cutting / processing machine instead of the motor shaft.
Directly detect the position and speed of the processing machine with a non-contact sensor,
Another object of the present invention is to provide a synchronous control device for a traveling cutting / processing device that guarantees cutting accuracy by synchronizing the cutting / processing machine with the material using these detected values.

Another object of the present invention is to provide a synchronous control device for a traveling cutting / machining machine, which further improves the cutting dimension accuracy by directly detecting the amount of material movement by a non-contact sensor.

[0017]

DISCLOSURE OF THE INVENTION The present invention provides a cutting / machining machine which includes a traveling cutting / machining machine for cutting or machining the material as it travels, and an electric motor for driving the cutting / machining machine. It is a synchronous control device for controlling the device. This synchronous control device, a speed control device for controlling the electric motor,
A numerical controller for giving a speed reference signal to the speed controller, a contact sensor or a first non-contact sensor for detecting the moving amount of the traveling material, and a second for detecting the speed and position of the cutting / processing machine. The non-contact sensor, the numerical control device generates a speed command based on the amount of movement of the material detected by the contact sensor or the first non-contact sensor, and the numerical control device includes the non-contact sensor or the first non-contact sensor. The speed and position of the material obtained from the amount of movement of the material detected by and the speed and position of the cutting / processing machine detected by the second non-contact sensor are sampled at least once, and the values are held. A speed reference for synchronizing the speed and position of the cutting / machining machine with the speed and position of the material by determining a corrected speed function based on the held value and adding it to the speed command And forming a No..

The numerical control device includes a measuring instrument for converting the detected amount of movement of the material into a material length measuring signal and outputting the same, and a speed instruction generator for outputting the speed instruction based on the material length measuring signal. , A sampling time setting device for presetting sampling time, sampling the speed and position of the material, and the speed and position of the cutting / processing machine at the sampling time, holding these values, and holding the values And a correction speed command generator that generates a correction speed function based on the above.

The first and second non-contact sensors preferably include Doppler sensors that emit laser light.

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION A synchronous control device according to an embodiment of the present invention will be described below with reference to the drawings. Figure 1
FIG. 1 is a block diagram of a synchronous control device for a die set shear, which is a typical example of a traveling cutting / processing device for carrying out the present invention. FIG. 2 is a diagram for explaining the operation of the die set shear.

The structure and operation of this die set shear synchronization control device will be described with reference to FIGS.

The die set shear 2 includes a cutting machine 3 (including the shear 4 and the press 5), a rack 6, a pinion 7, and an electric motor 8.

The synchronous control device for controlling the synchronization of the die set shear includes a pulse generator 9 for detecting the rotation of the electric motor, an electric motor control device 10, a numerical control device 20, a length measuring roll 11 for detecting the speed of the material, and a pulse generator. 12, a Doppler sensor 14, and a laser length measuring device 15.

As shown in FIG. 1, the die set shear 2 is provided such that a cutting machine 3 (including a cutter 4 and a press 5) travels along the traveling direction of the material 1, that is, in the direction of the arrow. , Is driven by a pinion 7 meshed with the rack 6 and an electric motor 8 to travel along the moving material 1. Then, depending on the rotation direction of the electric motor 8, the cutting machine 3
The material 1 travels in the direction of travel or in the opposite direction.

The method of measuring the amount of movement of the material 1 is as follows. The both sides of the running material 1 are pressed, that is, nipped, by the two upper and lower length measuring rolls 11, and the length of the measuring roll 11 is increased as the material 1 runs. The rotation causes the pulse generator 12 to generate a pulse for each unit rotation angle, and the material length measuring device 21
Measures the amount of movement of the material 1 that continuously travels by counting the pulses, and uses the amount of movement of the material 1 as a material length measurement signal.

On the other hand, the position and speed of the cutting machine 3 are shown in FIG.
Measurement is performed using the Doppler sensor 14 shown in. That is, the traveling cutting machine 3 is irradiated with the laser light of the Doppler sensor 14, the modulated light due to the Doppler effect of the scattered light is detected by the optical detecting means, and the Doppler frequency signal is input to the laser length measuring device 15 to be cut. The position signal and speed signal of the machine are obtained and fed back to the numerical controller 20. The Doppler sensor and the laser length measuring device used here may be any devices as long as they are commercially available and can be used industrially.

The principle of the Doppler sensor used for detecting the position signal and the speed signal of the cutting machine 3 as described above will be briefly described with reference to FIG. As shown in FIG. 4, after converting the laser light emitted from the laser light source of the semiconductor laser generator 41 into parallel rays, that is, a beam through the collimator lens 42, the beam splitter 43
The direction is divided into an incident light ray and a reflected light ray, and the reflected light ray is further reflected by a mirror 44 to move the moving object 4
Irradiate 5 with a crossing angle Φ. Then, the incident ray and the reflected ray applied to the moving object 45 are received by the photodetector 47 as scattered light through the optical system of the light receiving lens 46, and the beat frequency of the composite wave is extracted. At this time, the Doppler frequency signal f _D of the synthetic wave obtained from the photodetector 47 is expressed by the following equation (1).

[0028]

[Equation 1]

Where V is the surface velocity of the moving object λ is the laser wavelength Φ is the beam crossing angle Δθ is the deviation angle between the beam normal and the right angle of the moving object (FIG. 4).
Reference) When λ, Φ, and Δθ are determined from the equation (1), the frequency signal f _D of the Doppler wave has a frequency proportional to the surface velocity V of the moving object 45. Therefore, if the wave number of the Doppler wave is integrated with respect to time, the moving amount of the moving object at that time can be obtained.

Assuming that the distance traveled by the object at the velocity V is D, the following equation (2) is established.

[0031]

[Equation 2]

From the above equation (2), the velocity V of the moving object
And the movement distance D are represented. By solving the equation (1) for V, the following equation (3) is obtained.

[0033]

[Equation 3]

In the above equation, the proportional part is the constant K ₂ .

[0035]

[Equation 4]

Then, the equation (3) can be expressed as the following equation (5).

[0037]

[Equation 5]

From the above equation (5), the velocity V of the object is proportional to the Doppler frequency f _D. Therefore, the moving distance D can be calculated by the following equation (6) by substituting the equation (5) into the equation (2).

[0039]

[Equation 6]

From the above equation, it is understood that the distance D, that is, the moving amount of the moving body is proportional to the integral value of the frequency f _D of the Doppler wave.

It will be understood that the speed V and the moving distance D of the moving object, that is, the cutting machine 3 can be measured by the above principle.

FIG. 5 shows the Doppler sensor 14 and the laser length measuring device 15. The Doppler frequency signal f _D detected by the Doppler sensor 14 is sent to the signal processing circuit 51. The signal processing circuit 51 removes noise superimposed on the Doppler frequency signal. The Doppler frequency signal from which the noise is removed by the signal processing circuit 51 is sent to the arithmetic circuit 52, and the velocity V and the moving distance D are calculated by the equations (5) and (6) described above.

Numerical values of the laser wavelength λ, the beam crossing angle Φ, and the deviation angle Δθ from the right angle between the beam normal and the moving object in the equation (1) necessary for this calculation are preset by the setter 57. These set values are sent to the arithmetic circuit 52 via the control circuit 53.
Sent to. The speed V and the movement distance D calculated by the arithmetic circuit 52 are output from the output circuits 55 and 54 as a speed signal and a position signal, respectively.

Returning to FIG. 1, the numerical control circuit 20 will be described. The numerical control circuit 20 includes a material length measuring device 21, a speed command generator 22, a forward length calculating device 23, and a cutting length setting device 2.
4, cutting command generator 25, cutting length setting device 26, material speed detector 27, material position detector 28, input setting device 29, sampling time setting device 30, machine speed detector 31, machine position detector 32, and The correction speed command generator 34 is used.

First, necessary numerical values are set in the setters such as the cut length setters 24 and 26, the input setter 29, and the sampling time setter 30. Then, the material 1 starts traveling according to the operation command.

When the material 1 starts running, the measuring roll 1
1, the pulse generator 12 generates a pulse, and the material length measuring device 21 measures the amount of movement of the material from the count value of this pulse, and this is used as the material length measurement signal. Similarly, the pulse count value of the pulse generator 12 is input to the material velocity detector 27 and the material position detector 28 to detect the velocity and position of the material. At this point, the cutting machine 3 is not traveling and is on standby.

Then, the material length measurement signal measured by the material length measuring device 21 is inputted to the speed command generator 22, the advance length calculator 23, and the cutting command generator 25, respectively.

The advance length calculator 23 calculates the advance length based on the material length measurement signal. A method for calculating the forward length will be described with reference to FIG.

In FIG. 2, the length L _B from the center position of the length measuring roll 11 to the material end detector 33, the length L _C from the center position of the length measuring roll 11 to the blade (center) of the cutting machine 3, The material cutting length is L _T. The advance length L _A is calculated by the following equation (7).

[0050]

Equation 7] _{L A = L T - (L} B -L C) ......... (7) Then, the forward length of the output of the forward length calculator 23 has the formula (7) L
_{When the} speed command generator 22 recognizes that it has become _A , the speed command generator generates a speed command. By this speed command, the cutting machine 3 is activated and accelerated. FIG. 3 (A) shows the speed of the cutting machine 3 as n _C. In FIG. 3A, the horizontal axis represents time (t) and the vertical axis represents speed. The cutting machine 3 has t = 0
You can see that it is being accelerated.

The speed n _C of the cutting machine 3 is detected by a mechanical speed detector 31 connected to the laser length measuring device 15, and at the same time, the position p _C of the cutting machine 3 in FIG. It is detected by a mechanical position detector 32 connected to the device.

On the other hand, since the material velocity input distance is set in the input setter 29, the material velocity detector 27 causes the material movement distance to be equal to the value of the material velocity input distance at time t _L. The detected material velocity n _L is shown in FIG.
As shown in (A), it is taken into the corrected speed command generator 34. At the same time, the material position p _L detected by the material position detector 28 is taken into the corrected speed command generator 34 as shown in FIG. 3 (B). In FIG. 3B, the horizontal axis represents time (t) and the vertical axis represents distance.

The sampling time t _H is set in the sampling time setting unit 30. After the cutting machine 3 starts up,
At the sampling time t _H , the correction speed command generator 3
4, the material speed n _{LH at} that time, the material position p _LH , and the machine speed n _CH and machine position p _CH of the cutting machine 3 are sampled and held, and using the following equation (8), the corrected speed with respect to time t Generate a function n _C ′.

The corrected speed function is

[0055]

[Equation 8]

Here, Δn = n _LH −n _CH Δp = p _LH −p _CH . The above corrected speed function n _C ′ is shown in FIG. The generated corrected speed function n _C ′ is added to the speed command output from the speed command generator 22. By giving the result as the speed reference value of the control device 10, the speed and position of the cutting machine 3 are synchronized with the speed and position of the running material 1 at time t _S.

Time Δt which is the difference between time t _S and time t _H
Can be calculated by the following equation (9).

[0058]

[Equation 9] That is, Δt is determined by the ratio of Δn and Δp of the sampling time, and at the time t _S when Δt has elapsed after sampling,
The speed and position of the cutting machine 3 will be synchronized with the speed and position of the running material 1.

Since the material cutting length is preset in the cutting setter 26, at the time t _CO after the time t _S , the shear 4 is operated by the cutting command of the cutting command generator 25 and the cutting position p _CO is set. The running material 1 is cut. The cutting error is zero because the cutting machine is synchronized with the material.

In the above description, the case where the sampling is performed only once at the time t _H has been shown, but the correction processing including the equation (8) can be repeated by sampling a plurality of times after the time t _S.

Although the material end detector 33 is used, it is not always necessary to use this, and the sum of the advance length L _A and the length L _B from the length measuring roll position to the material tip detector, that is, (L _A + L _B ) may be measured by the material length measuring instrument 21 and used.

As the speed signal and the position signal of the cutting machine 3 used here, the output value from the laser length measuring device is used as shown in FIG. 1, but the position signal or the speed signal of the cutting machine 3 is used. Even if any one of the signals is used, the cutting machine 3 is indirectly operated by differentiating or integrating the output value.
Position signals or velocity signals can be obtained.

For example, when the output value of the laser length measuring device is only the speed signal, the position signal of the cutting machine 3 is indirectly obtained by integrating the output value of the cutting beach speed detector 31 of the cutting machine 3. Obtainable. That is, the position can be obtained by time-integrating the speed signal of the cutting machine 3 and multiplying it by the speed-position conversion constant, and this position can be used as the position signal of the cutting machine 3.

When the output value of the laser measuring device is only the position signal, the output signal of the cutting machine position detector 32 of the cutting machine 3 is differentiated to indirectly obtain the speed signal of the cutting machine 3. Obtainable. That is, the position signal of the cutting machine 3 is time-differentiated to obtain the speed by multiplying the position-speed conversion constant number, and this speed can be used as the speed signal of the cutting machine 3.

Further, since the length measuring roll for detecting the movement amount according to the movement of the material nips the material as described in the prior art, a scratch is caused by the nip pressure of the length measuring roll, or However, there is a problem that measurement error occurs due to wear of the measuring roll due to aging. In order to solve these problems, as shown in FIG. 6, it is possible to use Doppler sensors 11A and 12A to input a position detection signal to the material length measuring instrument 21. The Doppler sensor 11A and the laser length measuring device 12A are the same as those shown in FIGS. 4 and 5.

[0066]

As described above, according to the present invention, the cutting / processing machine is synchronized with the material by using the speed and position directly detected by the non-contact sensor from the cutting / processing machine. , The influence of the twisting between the motor and the transmission mechanism due to sudden acceleration / deceleration of the traveling cutting / processing machine, the delay of the drive time due to vibration and backlash of the transmission mechanism, or the secular change of various characteristics due to the wear of the drive mechanism. It is possible to guarantee the dimensional accuracy of the cutting material without receiving it.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a synchronization control device according to an embodiment of the present invention.

FIG. 2 is a diagram for explaining the operation of the die set shear of the present invention.

FIG. 3 is a diagram for explaining an operation principle of a synchronous control device for a die set shear according to an embodiment of the present invention.

FIG. 4 is a principle diagram of a Doppler sensor according to the present invention.

FIG. 5 is a block diagram of a signal processing circuit of the laser length measuring apparatus according to the present invention.

FIG. 6 is a diagram showing a Doppler sensor for detecting the speed of a material and a laser length measuring device.

FIG. 7 is a configuration diagram of a conventional die set shear.

[Explanation of symbols]

1 material 2 Die set shear 3 cutting machine 4 Shah 5 press 6 racks 7 pinion 8 electric motor 9 pulse generator 10 Motor control device 11 Measuring roll 12 pulse generator 14 Doppler sensor 15 Laser measuring device 20 Numerical control device 21 Material length measuring instrument 22 Speed command generator 23 Forward length calculator 24 Cutting length setting device 25 Cutting command generator 26 Cutting length setting device 27 Material speed detector 28 Material position detector 29 Input setting device 30 Sampling time setting device 31 Machine speed detector 32 Mechanical position detector 33 Material edge detector 41 Semiconductor laser generator 42 Collimating lens 43 beam splitter 44 mirror 45 Moving object 46 Light receiving lens 47 Photodetector 51 Signal processing circuit 52 Arithmetic circuit 53 Control circuit 54 Output circuit 55 Output circuit 56 indicator 57 Setting device 58 Laser power supply

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) B26D 1/56 B26D 1/60 B26D 5/34 G05D 13/62

Claims (4)

(57) [Claims] 1. A synchronous control device for controlling a cutting / machining device comprising a traveling cutting / machining machine for cutting or machining by following the speed of a traveling material and an electric motor for driving the cutting / machining machine. A speed controller for controlling the electric motor, a numerical controller for giving a speed reference signal to the speed controller, a contact sensor for detecting a moving amount of the traveling material, a speed and a position of the cutting / processing machine, With a non-contact sensor to detect, the numerical control device generates a speed command based on the amount of movement of the material detected by the contact sensor, of the material obtained from the amount of movement of the material detected by the contact sensor. and speed n _LH and position p _LH, the speed n _CH and position p _CH cutting / processing machine in which the non-contact sensor detects, sampled after starting the traveling cutting / processing machine, they It holds a value, based on the held value, Equation 1] However, K is a speed-position conversion multiplier, t is time, and a corrected speed function consisting of Δn = n _LH −n _CH Δp = p _LH −p _CH is obtained and added to the speed command to obtain the cutting / processing machine Synchronous control device for a traveling cutting / processing device, characterized in that it forms the speed reference signal for synchronizing the speed and position with the speed and position of the material. 2. A synchronous control device for controlling a cutting / machining device comprising a traveling cutting / machining machine for cutting or machining in accordance with the speed of a traveling material, and an electric motor for driving the cutting / machining machine. A speed control device for controlling the electric motor, a numerical control device for giving a speed reference signal to the speed control device, a first non-contact sensor for detecting a movement amount of the traveling material, and a cutting / processing machine A second non-contact sensor for detecting a speed and a position, wherein the numerical control device generates a speed command based on a movement amount of the material detected by the first non-contact sensor,
Speed n _LH and position p _{LH of} the material obtained from the movement amount of the material detected by the non-contact sensor, and the speed n _CH and position p _{CH of} the cutting / machining machine detected by the second non-contact sensor.
And are sampled after activating the traveling cutting / processing machine, and those values are held, and based on the held values, However, K is a speed-position conversion multiplier, t is time, and a corrected speed function consisting of Δn = n _LH −n _CH Δp = p _LH −p _CH is obtained and added to the speed command to obtain the cutting / processing machine Synchronous control device for a traveling cutting / processing device, characterized in that it forms the speed reference signal for synchronizing the speed and position with the speed and position of the material. 3. The synchronous control device for a traveling cutting / machining device according to claim 1, wherein the numerical control device converts a detected amount of movement of the material into a material length measurement signal and outputs the signal. A speed command generator that outputs the speed command based on the material length measurement signal; a sampling time setting device that presets a sampling time; and a speed n _LH and a position p _{LH of the} material at the sampling time. , Speed n _CH and position p _{CH of the} cutting / processing machine
And a correction speed command generator which holds these values and generates the correction speed function based on the held values, and a synchronous control device for a traveling cutting / machining device. 4. A traveling disconnection according to claim 1, 2, or 3.
In the synchronous control device for a processing device, the non-contact sensor includes a Doppler sensor that irradiates a laser beam.