JPH0647440A - Method for adjusting center height of coil - Google Patents

Abstract

PURPOSE:To always suitably keep an adjusting precision of a height of center of a coil without receiving the influence of the characteristic variation of an actuator or the weight of the coil by always computing the lifting velocity and the lifting acceleration of the actuator and giving the actuator the lifting command corresponding to the lifting characteristics of the actuator. CONSTITUTION:This device is composed with a coil transferring machine providing an actuator 3 which positions the direction of center height of a fixed mandrel and a coil shaped member 1 and a detecting means 5 of a coil saddle 2 height in a coiling machine, etc., and to insert the coil shaped member 1 to the core bar. The lifting velocity and the acceleration and deceleration of the coil is always computed inside an actuator controller 6 based on the output of the height detecting means 5, the timing of the lift and stop command for the actuator in order to obtain the required center adjusting precision corresponding to this computed result is computed and the height of the coil shaped member is positioned against the core bar.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention, in equipment such as a steel processing line, raises and lowers a saddle on which a coil-shaped member is mounted on a mandrel of a winder for winding a coil-shaped member by an actuator. The present invention relates to a coil height centering method for performing positioning control of the mandrel and the coil member in the height direction.

[0002]

2. Description of the Related Art A conventional coil height centering method is as follows.
As shown in FIG. 4, the position of the inner diameter upper end of the coiled member 1 is measured by a height detector 5 or the like attached to the photoelectric tube device or the actuator 3 of the coil saddle 2, and this is measured and the winding is known. When the height of the coiled member 1 is adjusted by positioning the height of the coiled member 1 so that the upper ends of the mandrel of the machine are aligned with each other, the timing of raising and lowering and stopping the actuator 3 for raising and lowering the coil is preset. In advance, a command for raising and lowering the actuator 3 is given at a semi-fixed timing. In FIG. 4, reference numeral 4 is a carriage, and 6 is a control device. FIG. 5 shows an ascending / descending pattern of the coil saddle 2 when the coil height is adjusted according to the conventional method. The start height of deceleration and stop is set as a semi-fixed value so as to satisfy the accuracy. By comparing this with the ascending / descending height of the coil saddle 2 by the actuator control device, the deceleration and stop of the actuator 3 can be controlled. Timing is required.

[0003]

However, in the prior art, even when the timing of raising and lowering and stopping the actuator 3 is adjusted so as to satisfy the requirements for the alignment accuracy of the coil-shaped member 1 and the winding mandrel. When the change of the driving force due to the aging of the actuator 3 is remarkable or the coil weight range is large, the lifting pattern b of the coil saddle 2 in FIG.
As shown in, the coil lifting performance changes, the initial alignment accuracy cannot be maintained, and the alignment accuracy is significantly out of the allowable range, and it is necessary to readjust. there were. Therefore, as described above, the present invention has an object to ensure good centering accuracy even when the characteristics of the coil ascending and descending for centering the coil vary.

[0004]

In order to solve the above-mentioned problems, the present invention mounts and lowers a fixed mandrel such as a winder and a member such as a coil-shaped steel plate to raise and lower the mandrel and the coil-shaped member. An apparatus for inserting the coil-shaped member into the mandrel, which comprises a coil carrier equipped with an actuator for positioning the core in the height direction and a coil saddle height detecting means, and based on the output of the height detecting means. Further, the coil ascending / descending speed and the acceleration / deceleration are constantly calculated in the actuator control device, and accordingly, the actuator ascending / descending and stop command timings to obtain the required alignment accuracy are calculated, and On the other hand, the height of the coil-shaped member is determined.

[0005]

With the above means, even when the coil height alignment accuracy varies due to mechanical factors such as the characteristics of the coil lifting actuator and the weight of the coil, the lifting and stopping of the actuator in the actuator lifting control circuit is stopped. By adjusting the timing of (1) according to the ascending / descending speed and the driving force, it is possible to always maintain the alignment accuracy of the coil height within the allowable range.

[0006]

EXAMPLES Specific examples of the present invention will be described below with reference to FIGS. FIG. 1 is a specific example of a coil height centering device and a control circuit according to the present invention, FIG. 2 is an elevation pattern of coil height centering according to the present invention, and FIG. 3 is a view of realizing the present invention. Is an example of a control flow diagram for Figure 1
In the figure, 1 is a coiled member (hereinafter referred to as a coil), 2
Is a saddle for the coil 1 and 3 is an actuator for raising and lowering the saddle 2, and a hydraulic device or the like is used as a drive source. Reference numeral 4 is a carriage for traveling the coil 1, saddle 2 and actuator 3. Reference numeral 5 is a means for detecting the height of elevation by the actuator 3, and a pulse generator or the like is used. Reference numeral 6 denotes a control device that controls the elevation of the actuator 3, and includes an acceleration / deceleration calculation circuit 7, a speed calculation circuit 8,
It has a built-in deceleration position / stop position calculation / comparison circuit 9 and outputs an elevation command to the actuator 3.

The operation of the embodiment of the present invention will be described below with reference to FIG. Since the control device 6 aligns the height of the coil 1,
First, when a high speed rise command is output to the actuator (step 100), the height detector 5 outputs the height detection value of the coil 1 in accordance with the high speed rise, and based on the time change, the arithmetic circuits 7, 8 Calculates acceleration / deceleration and speed respectively (step 110). In the deceleration pattern, h is the coil height detection value, v is the coil lifting speed (calculated value), β is the coil lifting deceleration (calculated value), v _L 'is the coil low speed (semi-fixed value), β'is the coil Shows the vertical deceleration (semi-fixed value). From the height and speed information obtained by the height detector 5 and the speed calculation circuit 8, the calculation / comparison circuit 9 determines the deceleration position corresponding to the rising speed of the coil 1 (step 120).
When the height of the coil 1 reaches the deceleration position, the command of the actuator is switched from the high speed rising to the low speed rising (step 130). While decelerating from high speed rise to low speed rise,
The acceleration / deceleration calculation circuit 7 calculates the actual result of the rise / deceleration β of the coil 1 based on the change in the output of the height detector (step 140). Similarly to the deceleration point from the high speed rise to the low speed rise (steps 160 and 170), the switching point from the low speed rise to the stop can be obtained by the arithmetic comparison circuit 9. At this time,
The deceleration β of the coil 1 is an actual value when decelerating from a high speed rise to a low speed rise, and the rising speed v is also obtained from the height detection value. Therefore, the change in the driving force of the actuator and the significant coil weight are significant. Even if there is a difference, an accurate stop pattern can be obtained if the low-speed running section is provided sufficiently and sufficiently, and as shown in FIG. 2, it is possible to always maintain good height alignment accuracy.

[0008]

As described above, the present invention has the following effects. By constantly calculating the ascending / descending speed and ascending / descending acceleration of the actuator for positioning the coil-shaped member in the height direction, the ascending / descending command according to the ascending / descending characteristics of the actuator is given to the actuator, so changes in the actuator characteristics and coil weight It is possible to maintain good height alignment accuracy without being affected. This can be done only by changing the control circuit, and the configuration does not become complicated.

[Brief description of drawings]

FIG. 1 is a schematic view showing an embodiment of a coil height aligning device according to the present invention.

FIG. 2 is an explanatory view showing an ascending / descending pattern of coil height alignment according to the present invention.

FIG. 3 is a control flow chart for realizing the present invention.

FIG. 4 is a schematic diagram showing a configuration of a conventional coil height aligning device.

FIG. 5 is an explanatory view showing a lifting pattern of coil height alignment according to a conventional technique.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 coil, 2 saddle, 3 actuator, 4 dolly, 5 lift height detection means, 6 control device, 7 acceleration / deceleration calculation circuit, 8 speed calculation circuit, 9 deceleration position and stop position calculation comparison circuit

Claims (1)

[Claims] 1. A height of an actuator and a coil saddle for mounting a fixed mandrel of a winder or the like and a member such as a coiled steel plate to move up and down to position the mandrel and the core of the coiled member in the height direction. A device for inserting the coiled member into the mandrel, which comprises a coil carrier equipped with a height detecting means, and based on an output of the height detecting means, an ascending / descending speed and an acceleration / deceleration of the coil in the actuator control device. A feature is that the coil-shaped member is positioned with respect to the mandrel by constantly calculating, and in accordance therewith, calculating the timing of raising and lowering the actuator and the stop command to obtain the required alignment accuracy. How to align the height of the coil.