JPH07249536A - Method and device for controlling metallic sheet winding device - Google Patents

Abstract

PURPOSE:To control a metallic sheet winding device by eliminating the influence of the deflection and expansion of a winding belt and without causing vibrations. CONSTITUTION:When a steel sheet is wound around a winding shaft by moving a winding belt 18 by means of a servo motor 22, the motor 22 is controlled based on the difference between the number of pulses outputted from a pulse generator 24 which detects the rotation of the motor 22 and the number of speed commanding pulses during the period from the time when the winding of the steel sheet is started to the time immediately before the completion of the winding. As a result, the rotation of the motor 22 can be controlled in such a state that the influence of the deflection and expansion of the belt 18 is eliminated. When the winding of the steel sheet is about to be completed, the rotation of the motor 22 is controlled based on the difference between the number of pulses outputted from another pulse generator 28 which detects the moving amount of the belt 18 and the number of position commanding pulses.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a metal plate winding device used for manufacturing a wound iron core of a transformer and the like. The present invention relates to a control method and a control device that can be performed with high accuracy.

[0002]

2. Description of the Related Art Conventionally, in a winding core manufacturing apparatus for manufacturing a one-turn cut type winding core used for a small transformer, for example, a feed roller for feeding a strip-shaped iron plate, a winding shaft for winding the iron plate, and a winding shaft are provided. A winding belt provided so as to surround the winding belt and a cutting mechanism provided between the feed roller and the winding shaft are provided. The winding belt is driven by a servo motor and winds the iron plate fed by the feed roller to wind the iron plate around the winding shaft. When the iron plate is moved by the length of the iron plate corresponding to one turn by the winding belt, the winding belt and the feed roller are stopped, and the iron plate is cut by the cutting mechanism. Thereafter, the winding belt and the feed roller are driven again, and the iron plate is moved by the length corresponding to the next one turn, whereby the wound iron core is manufactured.

In such a wound core manufacturing apparatus, since the length of the iron plate for one turn is determined by the movement amount of the winding belt per time, the iron plate can be accurately positioned at the stop position of the winding belt. The cutting length for one turn is made highly accurate. In addition, in order to reduce the gap between the iron plates for one turn as much as possible, after cutting, the iron plate sent out by the feed roller is different from the iron plate for one turn that is wound around the winding shaft by the movement of the winding belt. It is necessary to follow and move. In this case, the behavior of the winding belt whose speed is controlled by the trapezoidal control is required to be stable as close to the command as possible.

Generally, in the control requiring a high position accuracy, a semi-closed control in which the motion state of a motor as a drive source is detected and the detected amount is fed back is
Closed control is used in which the motion state of the driven body is detected and the detected amount is fed back. Since the speed and position control by closed control is a closed loop with a delay element, if the operation delay of the driven body with respect to the instruction is too large, the delay cannot be converged by the control loop, and delay and overshoot will occur. Repeated oscillation phenomenon causes the driven body to vibrate.

In the winding core manufacturing apparatus, a synthetic resin belt is used as the winding belt in order to secure the friction performance against the iron plate and eliminate the slip with the iron plate. Acceleration period at the start of rotation,
During the deceleration period at the time of stop, damped vibration occurs due to bending or expansion and contraction, and this is likely to cause vibration due to the above-mentioned oscillation phenomenon.

Conventionally, a wound iron core has been used in a small transformer, and the weight of the iron core has never exceeded 100 kg, and the influence of the damped vibration of the winding belt was hardly observed.
However, because of its characteristics, the wound core, which is superior to the laminated core,
Increased demand for larger transformers, 1000 kg
The possibility of producing iron cores that exceed In a wound core manufacturing device that requires the rotation of such a heavy iron core, the rigidity of the synthetic resin winding belt is insufficient as described above, and a momentary large delay occurs due to bending or expansion / contraction during the acceleration / deceleration period. As a result, a large overshoot may occur in the behavior of the winding belt, and further it may develop into continuous vibration that does not converge.

[0007]

As described above, in the control system of the motor for driving the winding belt which is performed by the closed control, the operation delay of the winding belt is too large, and the delay is converged by the control loop. In some cases, the take-up belt may vibrate due to an oscillation phenomenon in which delay and overshoot are repeated. When such a phenomenon occurs, the accuracy of the stop position of the winding belt becomes poor, the accuracy of the length of the iron plate for one turn becomes low, and it is difficult to synchronize the feeding of the iron plate by the feed roller with the behavior of the winding belt. Therefore, the gap between the iron plates for one turn becomes non-uniform, and in the worst case, the positioning control of the stop position of the winding belt cannot be completed, which causes a problem that the operation cannot be performed. If it cannot be solved, a large-sized wound iron core cannot be manufactured, and an inexpensive and high-performance transformer cannot be provided.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a metal winding device capable of performing highly accurate positioning without causing vibration during the acceleration / deceleration period of the winding belt. A control method and a control device are provided.

[0009]

According to a first aspect of the present invention, there is provided a method for controlling a metal plate winding device, wherein a feeding mechanism for feeding a belt-shaped metal plate by a feeding roller and a winding mechanism for feeding the metal plate fed by the feeding mechanism. A winding shaft for winding and a winding belt that surrounds the outer circumference of the winding shaft are provided, and the winding belt is driven by a motor to hold the metal plate fed by the feed roller and wind the winding shaft around the winding plate. In a metal plate winding device including a winding mechanism and a cutting unit that is provided between the feed roller and the winding shaft and cuts the metal plate, the amount of rotation of the winding belt driving motor is detected. A rotation amount detecting means and a movement amount detecting means for detecting a movement amount of the winding belt from a winding start to a winding end of the metal plate around the winding shaft are provided, and from a winding start of the metal plate around the winding shaft. End of winding Until just before, the motor is controlled based on the detection signal of the rotation amount detection means, and the motor is controlled based on the detection signal of the movement amount detection means immediately before the end of winding the metal plate around the winding shaft. It is characterized by.

According to a second aspect of the present invention, there is provided a control device for a metal plate winding device, comprising: a feed mechanism for feeding a strip-shaped metal plate by a feed roller; and a winding shaft for winding the metal plate fed by the feed mechanism. A winding mechanism that includes a winding belt that surrounds the outer circumference of the winding shaft, drives the winding belt by a motor, and winds the metal plate fed by the feed roller while winding the winding plate around the winding shaft; In a metal plate winding device provided between a roller and a winding shaft, the cutting device cutting the metal plate, a rotation amount of the motor from a winding start to a winding end of the metal plate on the winding shaft. Rotation amount detection means for detecting the movement amount, movement amount detection means for detecting the movement amount of the winding belt from the winding start to the winding end of the metal plate on the winding shaft, the rotation amount detection means or the movement amount detection A winding control means for controlling the motor on the basis of a step detection signal, and the winding control means is based on the detection signal of the rotation amount detection means from the start of winding of the metal plate around the winding shaft to just before the end of winding. The control means is provided with switching means for performing control and performing control based on the detection signal of the movement amount detecting means immediately before the end of winding the metal plate around the winding shaft.

According to a third aspect of the present invention, there is provided a control device for a metal plate winding device including a feed mechanism for feeding a strip-shaped metal plate by a feed roller, and a winding shaft for winding the metal plate fed by the feed mechanism. A winding mechanism that includes a winding belt that surrounds the outer circumference of the winding shaft, drives the winding belt by a motor, and winds the metal plate fed by the feed roller while winding the winding plate around the winding shaft; In a metal plate winding device provided between a roller and a winding shaft, the cutting device cutting the metal plate, a rotation amount of the motor from a winding start to a winding end of the metal plate on the winding shaft. A rotation amount detecting means for detecting the movement amount, a movement amount detecting means for detecting a movement amount of the winding belt from the winding start to the winding end of the metal plate on the winding shaft, and an eye of the winding belt driving motor. A target rotation amount counting means for adding a target value according to a rotation amount every predetermined time, and a target movement amount counting means for adding a target value according to a target movement amount of the winding belt every predetermined time, Current rotation amount counting means for counting the actual rotation amount of the motor detected by the rotation amount detection means, and current movement amount for counting the actual movement amount of the winding belt detected by the movement amount detection means. Counting means, rotation amount deviation calculating means for comparing the count value of the target rotation amount counting means and the count value of the current rotation amount counting means and calculating the difference between them, the count value of the target movement amount counting means and the above The movement amount deviation calculating means for comparing the count values of the current movement amount counting means and calculating the difference, and the rotation amount deviation calculating means or the movement amount deviation calculating means. Winding control means for controlling the motor based on the calculation result, and gives the calculation result of the rotation amount deviation calculation means to the winding control means from the start to the end of the winding of the metal plate on the winding shaft, Just before the end of winding the metal plate around the winding shaft, there is provided switching means for giving the calculation result of the movement amount deviation calculating means to the winding control means.

According to a fourth aspect of the present invention, there is provided a control device for a metal plate winding device, wherein a metal plate having a length corresponding to the rotation amount of the feed roller of the feed mechanism is detected by the movement amount detecting means. It is characterized in that a feeding control means for controlling feeding is provided.

[0013]

In the method of controlling the metal plate winding device according to the first aspect, when the winding belt is driven by the motor to wind the metal plate around the winding shaft, the rotation amount of the motor is detected. The moving amount of the winding belt is detected by the moving amount detecting unit. And, the motor, from the start of winding the metal plate around the winding shaft until just before the end of winding,
It is controlled based on the detection signal of the rotation amount detecting means. Therefore, during the acceleration period at the start of winding and the deceleration period immediately before the end of winding, control is performed without the feed element due to bending or expansion / contraction of the winding belt, and the phenomenon that the winding belt vibrates does not occur. . Immediately before the end of winding, the motor is controlled based on the detection signal of the movement amount detecting means. At this time, the movement amount detecting means detects the movement amount of the winding belt from the start of winding to immediately before the end of winding, in other words, the movement amount of the metal plate. It is possible to accurately stop at the corresponding position.

In the control method of the metal plate winding device according to the second aspect, similarly, the winding control means from the beginning of the winding of the metal plate to immediately before the end of the winding is based on the detection signal of the rotation amount detecting means. Is controlled, the delay element due to the bending and expansion and contraction of the winding belt during the acceleration period at the start of winding and the deceleration period immediately before the winding end is eliminated, and the phenomenon that the winding belt vibrates does not occur. . Immediately before the end of winding, the control means is switched to control the motor by the detection signal of the movement amount detection means by the switching means, so that the winding belt is accurately positioned at a position corresponding to the regular winding length of the metal plate. It can be stopped well.

In the control method of the metal plate winding device according to the third aspect, when the winding belt is driven by the motor to wind the metal plate around the winding shaft for a predetermined length, the rotation amount of the motor is detected by the rotation amount detecting means. The moving amount of the winding belt is detected by the moving amount detecting means. The rotation amount of the motor detected by the rotation amount detecting means is counted by the current rotation amount counting means, and the movement amount of the winding belt detected by the movement amount detecting means is counted by the current movement amount counting means. Then, the rotation amount deviation calculating means calculates the deviation between the count value of the current rotation amount counting means and the count value of the target rotation amount counting means, and the movement amount deviation calculating means calculates the deviation between the count value of the current movement amount counting means. The deviation from the count value of the target movement amount counting means is calculated. Since the control means controls the motor from the start of winding to immediately before the end of winding in accordance with the deviation calculated by the rotation amount deviation calculating means, the control of the winding belt in the acceleration period at the start of winding and the deceleration period immediately before the end of winding is performed. Since the control is performed by eliminating the delay element due to the bending and the expansion and contraction, the phenomenon that the winding belt vibrates does not occur. Just before the end of winding, the switching means causes the control means to
Since it is switched so that the deviation calculated by the movement deviation calculating means is given, the winding belt can be accurately stopped at a position corresponding to the cutting length of the metal plate.

According to a fourth aspect of the present invention, there is provided a method for controlling a metal plate winding device, wherein rotation of a feed roller is controlled so as to feed a metal plate having a length corresponding to a moving amount of a winding belt detected by a moving amount detecting means. Therefore, the metal plate cut by the cutting means can be sent following the behavior of the metal plate being wound around the winding shaft, and the gap between the cut metal plates can be made uniform. it can.

[0017]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment applied to a wound core manufacturing apparatus for manufacturing a one-turn cut type wound core of the present invention will be described below with reference to FIGS. In FIG. 2, which shows a schematic configuration of a wound iron core manufacturing apparatus, a coil 2 formed by winding a long strip-shaped iron plate 1 is supported by a support body 3, and the iron plate 1 is rewound from the coil 2 by a rewinding mechanism 4. The rewinding mechanism 4 includes a pair of rewinding rollers 5a and 5b and a motor 6
The motor 6 drives one or both of the rewinding rollers 5a and 5b, or one roller 5a in this embodiment, via the transmission belt 7, thereby rewinding the iron plate 1 from the coil 2 and winding curl. It is sent to the feed mechanism 8 through the slack for correcting the.

The feed mechanism 8 comprises a guide roller 9, a pair of feed rollers 10a and 10b, and a servomotor 11, and one or both of the feed rollers 10a and 10b, in this embodiment, one feed roller 10a is servo-driven. Motor 11
The iron plate 1 is sent out in the direction of arrow A by being driven by. A pulse generator 12 as a rotation detecting means is directly connected to the servo motor 11, and the pulse generator 12 is connected to the pulse generator 12.
Servo motor 1 depending on the number of output pulses per unit time of
The rotation speed of 1 can be detected, and the rotation amount and the current rotation position of the servo motor 11 from the rotation start time to the current time can be detected by the total number of output pulses from the rotation start time to the current time. In addition, the feed roller 10a,
A cutting mechanism 13 as a cutting means is provided behind 10b. The cutting mechanism 13 is composed of a fixed blade 14 and a movable blade 15 which is vertically moved by an air cylinder (not shown) which is a drive source.

Further, a winding mechanism 16 is provided behind the cutting mechanism 13. The winding mechanism 16 includes a winding shaft 17, a winding belt 18 made of, for example, a synthetic resin having a portion surrounding the winding shaft 17, a plurality of guide pulleys 19 for movably supporting the winding belt 18, and a pressing pulley. Two
0 is pressed against the winding belt 18 and the winding belt 1
8 is provided with a tension generating means 21 such as an air cylinder for applying a constant tension. The winding shaft 17 is supported so as to be movable in the arrow B direction as the iron plate 1 is wound.

The winding belt 18 is used for the servomotor 2
2 is driven by a drive pulley 23 directly connected to the arrow C
It is designed to move in the direction. A pulse generator 24 is directly connected to the servo motor 22 as a rotation amount detecting means. The rotation speed of the servo motor 22 can be detected by the number of output pulses per unit time of the pulse generator 24, and the rotation start can be started. To the present, it is possible to detect the amount of rotation and the current rotational position of the servo motor 22 from the time when the servo motor 22 started to rotate to the present. In addition, of the winding belt 18, the winding shaft 1
7 of the pair of guide pulleys 19a and 19b for holding the winding belt 18 in a state of enclosing the winding shaft 17 immediately before entering the portion held in the state of enclosing 7 in the vicinity of the upper side of the upper guide pulley 19a in the figure. A detection roller 25 is arranged in the portion. This detection roller 25 is
The winding belt 18 is sandwiched between the winding belt 18 and the pinch roller 27 pressed by the air cylinder 26, and the winding belt 18 rotates without slipping as the winding belt 18 moves. Further, the detection roller 25 is directly connected to a pulse generator 28 as a moving amount detecting means for detecting the moving speed and the moving amount of the winding belt 18.

Here, the detection roller 25 is the winding belt 1
By rotating without slipping with the movement of 8, the moving amount detected by the pulse generator 28 directly connected to the detection roller 25 matches the moving amount of the winding belt 18. Further, the detection roller 25 is arranged at a position near the winding portion of the iron plate 1 of the winding belt 18 and pulled by the portion, so that the detection roller 25 can bend the winding belt 18 and The influence of expansion and contraction is small, and the movement amount of the winding belt 18 can be detected at the portion that exactly matches the winding length of the iron plate 1.

A control system of the wound core manufacturing apparatus is shown in FIG. As shown in the figure, the output pulse of the pulse generator 24 of the servo motor 22 that drives the winding belt 18 is given to the speed deviation counter 29. Further, the output pulse of the pulse generator 28 for detecting the movement amount of the winding belt 18 is given to the position deviation counter 30. On the other hand, when the iron plate 1 is wound around the winding shaft 17, the computing unit 31, which is a computing unit that constitutes the main control unit, provides a speed command and a position command at regular time intervals (for example, every 10 msec) from the winding start to the winding end. To the speed command pulse generator 32 and the position command pulse generator 33. Here, the computing unit 31 has length data of the iron plate for one turn that is sequentially wound around the winding shaft 17, and at a predetermined time when the speed control at the time of winding the iron plate 1 is performed by, for example, trapezoidal control. The speed command and the position command are calculated by calculation based on the length data.

Then, the speed command pulse generator 32 and the position command pulse generator 33 respectively provide the speed deviation counter 29 and the position deviation counter 30 with the pulse signals of the number corresponding to the speed command and the position command given from the calculator 31, respectively. To the target rotation amount and target movement amount. The pulses output from the both pulse generators 32 and 33 are fed back to the arithmetic unit 31, whereby the arithmetic unit 31 outputs a pulse corresponding to the number of pulses for each output of the speed command and the position command once. The output from the generators 32 and 33 can be detected. As a matter of course, the relationship between the speed command and the position command is determined by the servo motor 22.
Is set so that the winding belt 18 moves by an amount corresponding to the position command when is rotated at a speed corresponding to the speed command.

The speed deviation counter 29 sequentially adds the number of pulses given from the speed command pulse generator 32 at regular time intervals, sequentially adds the number of output pulses of the pulse generator 24, and compares them. The deviation signal corresponding to the difference is given to the switch 34 as the switching means. Therefore, the speed deviation counter 29 functions as a target rotation amount counting means, a current rotation amount counting means, and a rotation amount deviation calculating means. In addition, the position deviation counter 30 sequentially adds the number of pulses given from the position command pulse generator 33 at regular time intervals, and also sequentially adds the number of output pulses of the pulse generator 28, and compares them to obtain the difference. A corresponding deviation signal is given to the switch 34. Therefore, the position deviation counter 29
Functions as target movement amount counting means, current movement amount counting means, and movement amount deviation calculating means. Switch 34
Supplies one of the deviation signals supplied from the speed deviation counter 29 and the position deviation counter 30 to the control signal generator 35. The control signal generator 35 constitutes a winding control device 37 which is a winding control means together with an amplifier 36, and gives a speed command according to the inputted deviation signal to the amplifier 36, and the amplifier 36 speeds according to the speed command. The servo motor 22 is controlled so that

The computing unit 31 drives the winding belt 18 to rotate the iron plate 1 corresponding to the length of one turn to the winding shaft 17.
In the case of winding on, the switching signal is given to the switching device 34 at the beginning of winding, and the speed command and the position command of the final round immediately before the winding end are output, and the speed command pulse generator 32 and the position command pulse generator 33 send them. When it is detected that the number of pulses corresponding to the command is output, the switching signal is given to the switching device 34. When the switching signal is input immediately before the start of winding, the switching unit 34 switches so as to apply the speed deviation signal from the speed deviation counter 29 to the control signal generator 34, and when the switching signal is supplied immediately before the end of winding, The position deviation signal from the position deviation counter 30 is used as a control signal generator 3
Switch to give to 5. Therefore, the control signal generator 35 is based on the speed deviation signal of the speed deviation counter 29 from the start of winding to immediately before the end of winding.
2 is controlled, and immediately before the end of winding, the servo motor 22 is controlled based on the position deviation signal of the position deviation counter 30.

On the other hand, the output pulse of the pulse generator 12 of the servo motor 11 for controlling the feed roller 10a is given to the deviation counter 38. Further, the deviation counter 38 has
An output pulse that is a detection signal of the pulse generator 28 that detects the speed and the movement amount of the winding belt 18 is given. Then, the deviation counter 38 indicates that both pulse generators 12, 28
The output pulses from each are added, the two are compared, and the difference is given to the control signal generator 39. Control signal generator 3
Reference numeral 9 constitutes a control device 41 as a control means together with the amplifier 40, which gives a control signal corresponding to the deviation signal given from the deviation counter 38 to the amplifier 40, and the amplifier 36 controls the servomotor 22 according to the deviation command. .

Next, the operation of the above configuration will be described. Now, when the winding belt 18 moves by a distance corresponding to one turn of the iron plate 1, the servo motor 22 of the winding belt 18 and the servo motor 11 of the feed roller 10a are stopped, and the iron plate for the winding shaft 17 is stopped. It is assumed that the winding of 1 is interrupted. At this point in time, the iron plate 1a for one turn is not entirely wound around the winding shaft 17, but is partially left between the winding shaft 17 and the cutting mechanism 13. When the winding of the iron plate 1 is interrupted, the movable blade 15 of the cutting mechanism 13 is lowered by an air cylinder (not shown),
The iron plate 1 is cut with the fixed blade 14. When the cutting of the iron plate 1 is completed, in order to restart the winding of the iron plate 1 around the winding shaft 17,
The calculator 31 starts to output the speed command and the position command. As a result, the servo motor 22 is activated, and the activation of the servo motor 22 causes the winding belt 18 to move in the direction of arrow C to start winding the one-turn iron plate 1a cut by the cutting mechanism 13 onto the winding shaft 17. At this time, the winding shaft 17 rotates with the winding of the iron plate 1a.

Now, while the servo motor 22 is being driven, the speed deviation counter 29 and the position deviation counter 30 are set to 1 from the speed command pulse generator 32 and the position command pulse generator 33.
While sequentially adding the pulses output every 0 msec,
Pulse generator 24 of servo motor 22 and detection roller 2
The pulses output from the pulse generator 28 of No. 5 are sequentially added, and the difference between the two is set as the speed deviation and the position deviation.
Give to. At this time, the switch 34 is in a state of giving the speed deviation to the control signal generator 35, so that the servo motor 22 is rotationally controlled according to the speed deviation of the speed deviation counter 29.

On the other hand, the output pulse of the pulse generator 28 for detecting the moving amount of the winding belt 18 is also given to the deviation counter 38 for controlling the rotation of the feed roller 10a.
As a result, the servo motor 11 is activated and the feed roller 1
0a starts to rotate. Then, the rotation of the servo motor 11 is detected by the pulse generator 12, and the number of pulses corresponding to the rotation amount is given to the deviation counter 38. The deviation counter 38 compares the number of pulses output from the pulse generators 28 and 12 and supplies the difference to the control signal generator 39 as a deviation signal. Therefore, the rotation speed and the rotation amount of the servo motor 11 are determined by the winding belt 1
The movement speed and the movement amount of No. 8 are controlled. As a result, one turn of the iron plate 1a that is wound around the winding shaft 17 by the movement of the winding belt 18,
The iron plate 1 sent out to the winding shaft 17 side by the feed roller 10a moves at the same speed, the gap generated at the cut ends of both becomes small, and the gap becomes uniform without variation for each turn. Become.

Immediately before the completion of winding the iron plate 1 around the winding shaft 17, that is, the final speed command and position command are output from the calculator 31, and the number of pulses corresponding to both commands is the speed command pulse generator 32. And position command pulse generator 33
Then, the calculator 31 gives a switch signal to the switch 34. Then, the switch 34 causes the speed deviation counter 29 to
Since the state in which the deviation signal from the position deviation counter 30 is applied to the control signal generator 35 is switched to the state in which the position deviation signal from the position deviation counter 30 is applied to the control signal generator 35, the servo motor 22 is subsequently operated by the position deviation counter 30 from the position deviation counter 30. Rotation is controlled by the deviation signal.

The position deviation counter 30 counts the number of pulses supplied from the position command pulse generator 33 up to that point and also counts the number of pulses supplied from the pulse generator 28. In other words, the position deviation counter 30 outputs the difference between the length of the iron plate for one turn and the movement amount of the winding belt 18 that has moved up to that time as a deviation signal. The rotation of the motor 22 is controlled so that the moving amount of the winding belt 18 is one turn. When the deviation in the position deviation counter 30 becomes 0 (zero),
The servo motor 22 stops and the movement of the winding belt 18 is stopped. As a result, the difference in the deviation counter 38 also becomes 0 (zero), the servo motor 11 also stops, and the rotation of the feed roller 10a is stopped. After that, the iron plate 1 is cut by the cutting mechanism 13 as described above, and after the cutting, the servo motor 22 is activated to move the winding belt 18 again by the length corresponding to the next one turn.
In order that the gap G generated between the iron plates 1a for one turn is displaced by a predetermined pitch P as shown in FIG. 3, the iron plate 1a for one turn is cut off at the cutting end portion on the winding start side. Is set to have a length dimension such that P overlaps the cut end on the winding end side.

As described above, according to this embodiment, since the servomotor 22 is controlled by the output pulse from the pulse generator 24 which detects the rotation of the servomotor 22 from the beginning to the end of the winding, the bending of the winding belt 18 is prevented. The influence of expansion and contraction can be eliminated, and stable control that does not cause vibration can be performed. And just before the end of winding, the servo motor 2
2 is rotationally controlled by the output pulse from the pulse generator 28 that detects the moving amount of the winding belt 18, so that the total moving amount of the winding belt 18 can be accurately adjusted to the length of the iron plate for one turn. Matching and cutting mechanism 1
The cutting length of the iron plate 1 by 3 can be made highly accurate.

Further, the rotation of the feed roller 10a is controlled by the output pulse of the pulse generator 28 which detects the movement amount of the winding belt 18 and the output of the pulse generator 12 which detects the rotation of the servo motor 11 for driving the feed roller 10a. The iron plate 1 fed by the feed roller 10a is controlled by the pulse.
Can be made to follow the behavior of the iron plate 1 wound around the winding shaft 17, and the gap G generated between the iron plates 1a for one turn can be made small and uniform.

Next, another embodiment of the present invention will be described with reference to FIGS. For simplification of description, the same parts as those in FIGS. 1 and 2 will be described using the same reference numerals. In this embodiment, the servo motor 11 for driving the feed roller 10 a and the servo motor 22 for driving the winding belt 18 are controlled by the controller 42. This controller 42 is a CP
Microcomputer 4 provided with U43 and memory 44
5, the memory 44 stores iron plate length data for each turn, and speed data when the winding belt 18 is moved by an amount corresponding to the iron plate length for each turn. Output pulses of the pulse generators 12, 24, 28 are supplied to the microcomputer 45 via pulse input devices 46 to 48, and the microcomputer 45 outputs the pulse generators 1 to 24.
A deviation signal is applied to the control signal generators 35 and 39 based on the output pulses of 2, 24 and 28 and a preset program. In FIG. 4, 49 is an input / output device.

Now, the control contents of the servo motor 22 for driving the winding belt 18 by the microcomputer 45 will be described with reference to the flow chart shown in FIG. Note that FIG.
The routine shown in (1) is configured as an interrupt routine that is performed at a fixed time, for example, every 10 msec.

When the routine shown in FIG. 5 is started, the microcomputer 45 first updates the target counter in step S1. The target counter is updated when the rotation amount of the servo motor 22 for 10 msec is calculated from the speed data stored in the memory 44, and the value corresponding to the rotation amount, that is, when the servo motor 22 rotates by the rotation amount. The number of pulses to be output from the pulse generator 24 is added to the values up to that time and stored in the memory as the target rotation amount (target rotation amount counter means), and the rotation amount of the servo motor 22 for 10 msec is set. The corresponding moving amount of the winding belt 18, that is, the number of pulses to be output from the pulse generator 28 when the winding belt 18 moves by the moving amount is added to the values up to then and stored in the memory as the target moving amount. (Target movement amount counter means). Note that in step S1, the routine shown in FIG. 6 is also executed at the same time to update the value corresponding to the target rotation amount of the servo motor 11 for driving the feed roller 10a.
The contents will be described later.

The microcomputer 45 updates the current value counter in the next step S2. This update of the current value counter is performed by adding the number of input pulses from the pulse generators 12, 24, 28 counted by the pulse input devices 46 to 48 within 10 msec to the count value up to that point and determining the current value of the feed roller 10a. The feed amount, the current rotation amount of the servo motor 22, and the current movement amount of the winding belt 18 are obtained and stored in a memory (current feed amount counting means, current rotation amount counter means, current movement amount counter means). ).

After that, the microcomputer 45 executes the step S3 for calculating the deviation. By this deviation calculation, the difference between the target rotation amount of the servo motor 22 and the total number of input pulses from the pulse generator 24 (rotation amount deviation calculating means) is calculated, and the target movement amount of the winding belt 18 and the pulse generator are calculated. The difference between the total number of input pulses from 28 (movement amount deviation calculating means) and the difference between the target rotation amount of the servo motor 11 and the total number of input pulses from the pulse generator 12 (feed amount deviation calculating means) are obtained. To be

Next, the microcomputer 45 selects a case in step S4. That is, when the winding of the iron plate 1 is started (when the first routine is executed), the case (A) is selected, and when the iron plate 1 is being wound, the case (B) is selected. When the routine is executed once, the case (C) is selected and the process returns. When the case (A) is selected, the microcomputer 45 selects a loop for controlling the speed and the rotation amount of the servo motor 22 according to the difference between the target rotation amount value of the servo motor 22 and the current rotation amount, and the difference is selected. A corresponding deviation signal is given to the control signal generator 35 to control the speed and rotation amount of the servo motor 22. Also, case (B)
When selecting, the microcomputer 45 performs control in the control loop switched in case (A), and outputs a deviation signal according to the difference between the target rotation amount value of the servo motor 22 and the current rotation amount as a control signal. It is given to the generator 35 to control the speed and rotation amount of the servo motor 22. When the case (C) is selected, the microcomputer 45
Selects a loop for controlling the speed and rotation amount of the servo motor 22 according to the difference between the target rotation amount value of the winding belt 18 and the current movement amount, and gives a deviation signal corresponding to the difference to the control signal generator 35. Control the speed and rotation amount of the servo motor 22.

Now, FIG. 6 shows an iron plate 1a for one turn of feeding.
This is for setting the target rotation amount of the feed roller 10a in order to accurately control the gap G generated between the two to a constant value. When the routine of FIG. 6 is executed,
The microcomputer 45 sets the memory 4 in step SA.
The rotation amount of the servo motor 11 for 10 msec is calculated from the speed data stored in 4, and the value corresponding to the rotation amount, that is, when the servo motor 11 rotates by the rotation amount, is output from the pulse generator 12. The target rotation amount is obtained by adding the number of pulses to be applied to the values up to that point. Next, in step SB, the microcomputer 45 calculates the difference between the current movement amount of the winding belt 18 and the current rotation amount of the feed roller 10a, and sets the difference data as the difference data.
The difference data is multiplied by the magnification K in C to obtain new difference data. The magnification K is the optimum value obtained from the experiment,
In this embodiment, it is "1".

Next, in step SD, the microcomputer 45 adds the difference data value obtained in step SC to the target rotation amount obtained in step SA to obtain a new target rotation amount, and in the subsequent step SE, further steps are performed. The correction data is added to the target rotation amount obtained by SD to obtain the final target rotation amount.
The routine for setting the target rotation amount of is ended. The correction data is for setting the gap G generated between the iron plates 1a for one turn to be 1 mm, so that the difference in response speed between the control loop of the winding belt 18 and the control loop of the feed roller 10a is further increased. It is satisfactorily resolved, and the gap G is controlled to be 1 mm as set. Even with this structure, the same effect as that of the above-described embodiment can be obtained. The present invention is not limited to the winding core manufacturing device,
It can be widely applied and carried out when winding a metal plate around a winding shaft.

[0042]

As described above, according to the present invention, the motor is controlled based on the detection signal of the rotation amount detecting means from the beginning to the end of the winding of the metal plate around the winding shaft, and immediately before the end of the winding. By configuring the motor to be controlled based on the detection signal of the movement amount detection means, it is possible to perform control without delay elements due to bending and expansion / contraction of the winding belt until just before the end of winding. Positioning can be performed with high accuracy without causing vibration.

Further, according to the present invention, since the feed roller is controlled so as to feed the metal plate having the length corresponding to the movement amount of the winding belt detected by the movement amount detecting means, the cutting means cuts the sheet. The metal plate can be sent by following the movement of the metal plate wound around the winding shaft, and the gap between the cut metal plates can be made uniform.

[Brief description of drawings]

FIG. 1 is an electrical configuration diagram showing an embodiment of the present invention.

FIG. 2 is a schematic overall configuration diagram of an iron plate winding device.

FIG. 3 is a partial vertical cross-sectional view showing a state of being wound around a winding shaft.

FIG. 4 is an electrical configuration diagram showing another embodiment of the present invention.

FIG. 5 is a flowchart 1 showing the control contents.

FIG. 6 is a flowchart 2 showing the control contents.

[Explanation of symbols]

1 is an iron plate (metal plate), 3 is a support, 4 is a rewinding mechanism, 8
Is a feed mechanism, 10a and 10b are feed rollers, 11 is a servomotor, 12 is a pulse generator, 13 is a cutting mechanism (cutting means), 14 is a fixed blade, 15 is a movable blade, 16 is a winding mechanism, and 17 is a winding mechanism. Shaft, 18 winding belt, 22 servomotor, 24 pulse generator (rotation amount detecting means), 25 detection roller, 28 pulse generator (moving amount detecting means),
29 is a speed deviation counter (target rotation amount counter means, current rotation amount counting means, rotation amount deviation calculation means), 30 is a position deviation counter (target movement amount counter means, current movement amount counting means, movement amount deviation calculation means), 31 is a calculator, 32 is a speed command pulse generator, 33 is a position command pulse generator, 34 is a switch (switching means), 35 is a control signal generator, 36 is an amplifier, 37 is a winding control device (winding). Control means), 38 is a deviation counter, 39 is a control signal generator,
40 is an amplifier, 41 is a feed control device (feed control means),
Reference numeral 45 is a microcomputer.

Claims (4)

[Claims] 1. A feed mechanism for feeding a strip-shaped metal plate by a feed roller, a winding shaft for winding the metal plate fed by the feeding mechanism, and a winding belt surrounding the outer circumference of the winding shaft. A winding mechanism that drives the winding belt by a motor and winds the metal plate fed out by the feed roller around the winding shaft while pressing the metal plate, and the metal is provided between the feed roller and the winding shaft. In a metal plate winding device including cutting means for cutting a plate, a rotation amount detecting means for detecting a rotation amount of a motor for driving the winding belt, and a winding start to a winding end of the metal plate on the winding shaft. Up to the end of winding of the metal plate around the winding shaft, based on the detection signal of the rotation amount detecting means. A method for controlling a metal plate winding device, characterized in that the motor is controlled and the motor is controlled based on a detection signal of the movement amount detecting means immediately before the end of winding the metal plate on the winding shaft. 2. A feed mechanism for feeding a strip-shaped metal plate by a feed roller, a winding shaft for winding the metal plate fed by the feeding mechanism, and a winding belt surrounding the outer periphery of the winding shaft. A winding mechanism that drives the winding belt by a motor and winds the metal plate fed out by the feed roller around the winding shaft while pressing the metal plate, and the metal is provided between the feed roller and the winding shaft. In a metal plate winding device having a cutting means for cutting a plate, a rotation amount detecting means for detecting a rotation amount of the motor from a winding start to a winding end of the metal plate on the winding shaft, and to the winding shaft. Moving amount detecting means for detecting the moving amount of the winding belt from the winding start to the winding end of the metal plate, and controlling the motor based on the detection signal of the rotation amount detecting means or the moving amount detecting means. The winding control means and the winding control means perform control based on the detection signal of the rotation amount detecting means from the start of winding of the metal plate around the winding shaft to just before the winding end, and the metal plate to the winding shaft is controlled. The control device for the metal plate winding device, comprising: switching means for switching so as to perform control based on the detection signal of the movement amount detecting means immediately before the end of winding. 3. A feed mechanism for feeding a strip-shaped metal plate by a feed roller, a winding shaft for winding the metal plate fed by the feeding mechanism, and a winding belt surrounding the outer periphery of the winding shaft. A winding mechanism that drives the winding belt by a motor and winds the metal plate fed out by the feed roller around the winding shaft while pressing the metal plate, and the metal is provided between the feed roller and the winding shaft. In a metal plate winding device having a cutting means for cutting a plate, a rotation amount detecting means for detecting a rotation amount of the motor from a winding start to a winding end of the metal plate on the winding shaft, and to the winding shaft. The moving amount detecting means for detecting the moving amount of the winding belt from the winding start to the winding end of the metal plate, and the target value according to the target rotation amount of the winding belt driving motor is added at predetermined time intervals. Target rotation amount counting means to be calculated, target movement amount counting means for adding a target value corresponding to the target movement amount of the winding belt at predetermined time intervals, and the motor detected by the rotation amount detecting means. Current rotation amount counting means for counting the actual rotation amount, current movement amount counting means for counting the actual movement amount of the winding belt detected by the movement amount detecting means, and counting by the target rotation amount counting means A rotation amount deviation calculating means for comparing a value and a count value of the current rotation amount counting means to calculate a difference between them, and a count value of the target movement amount counting means and a count value of the current movement amount counting means. A movement amount deviation calculating means for calculating the difference, and controlling the motor based on the calculation result of the rotation amount deviation calculating means or the movement amount deviation calculating means. Winding control means for winding the metal plate around the winding shaft, and immediately before the winding end of the metal plate, the calculation result of the rotation amount deviation calculating means is given to the winding control means to finish winding the metal plate around the winding shaft. And a switching means for giving the calculation result of the displacement deviation calculating means to the winding control means immediately before. 4. A feed control means is provided for controlling the rotation of the feed roller of the feed mechanism so as to feed a metal plate having a length corresponding to the movement amount of the winding belt detected by the movement amount detection means. The control device for the metal plate winding device according to claim 2 or 3.