JPH09202531A - Tension controller for wire material - Google Patents

Abstract

PROBLEM TO BE SOLVED: To achieve miniaturization and to improve control characteristics, so as to achieve low cost, by providing a tension adjusting part for estimating tension to be applied to a wire material on the basis of the detected value of a rotational angle detector, and for adjusting tension through a process of instructing an actuator of an operating unit. SOLUTION: A wire material supplying device is provided with an operating unit 170, an encoder 62 as a rotational angle detector, and a tension adjusting unit 142. The operating part 170 is provided with a motor 60 as an actuator, and a wire material feeding means 250, the wire material feeding means 250 is provided with a driving unit 252 and a driven unit 251, the driving part 252 is provided with a driving pulley 311, an idler pulley and a driving belt 314, and the driven unit 251 is provided with three pulleys and a driven belt 321. A control means 300 is a control means for detecting that tension to be applied to a wire material W is changed from the specified tension on the basis of the detected value of the encoder 62 and for resetting the tension of the wire material W to the specified tension, and it is provided with a tension adjusting unit 142 and a tension value command unit 100.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wire tension control device, and more particularly to a wire tension control device for winding a wire around a supplied portion (target member) such as a deflection yoke by a winding device or the like.
The present invention relates to a wire rod tension control device that can apply an appropriate tension to a wire rod.

[0002]

2. Description of the Related Art A conventional wire rod tension controller is used, for example, when winding a rod around a deflection yoke which is mounted on a cathode ray tube and deflects an electron beam. Conventional wire tension control devices are disclosed in JP-A-6-56346 and JP-A-7-172697. In the wire tension control apparatus disclosed in Japanese Patent Application Laid-Open No. 6-56346, a load cell is used as a tension detection sensor for detecting the tension applied to the wire. This load cell has a piezoelectric element or the like for detecting an applied force. In the tension control device for a wire disclosed in Japanese Patent Application Laid-Open No. 7-172697, the tension detector is a torque sensor. This torque sensor measures the torsional torque in the rotational direction of the shaft by a magnetostrictive method.

[0003]

However, when such a torque sensor or load cell is used in a tension control device for a wire rod, there are the following problems. Since the size of the torque sensor (or load cell) and the size of the joint for connecting the torque sensor and the output shaft of the motor are large, the tension control device for the wire becomes large as a whole. The installation of the device becomes worse. For this reason, it is originally desirable that the tension control device for the wire is placed closer to the winding point of the wire, but this is difficult.

[0004] This type of torque sensor (or load cell) is set between a motor and a pulley driven by the motor. In this case, the axial distance from the motor to the pulley becomes considerably large. In addition, a coupling for connecting the torque sensor (or the load cell) to the motor and the pulley needs to be further inserted between them.

Therefore, the number of parts increases, mechanical loss is apt to occur, and rigidity when the motor rotates is reduced, so that control characteristics are deteriorated. Further, since the output signals of the torque sensor and the load cell are weak detection signals, the output signals are susceptible to noise and easily buried in the noise, so that the SN ratio in the case of controlling the tension of the wire is deteriorated, and the control characteristics are deteriorated. In addition, the torque sensor or the load cell is expensive, and the number of parts in the connection portion such as the coupling increases, so that the number of processing and assembly steps increases, and the cost increases. Therefore, the present invention has been made to solve the above problems, and an object of the present invention is to provide a tension control device for a wire rod which can be miniaturized and have improved control characteristics and reduced cost.

[0006]

According to the present invention, there is provided a tension control device for a wire rod for applying a tension to the wire rod and supplying the tension to the supply target portion. In order to supply the wire to the supply target,
A forward / reverse rotatable actuator, an operating section having a wire rod feeding means for feeding or pulling back the wire rod to the supplied portion side by the rotating operation of the actuator, and the wire rod feeding means are rotated by the actuator. A rotation angle detector for detecting the rotation angle of the output shaft of the actuator, and a driven belt that feeds while sandwiching the wire rod by closely adhering to this drive belt,
According to the detection value of the rotation angle detector, it is possible to estimate the tension applied to the wire rod and issue a command to the actuator of the operation unit to adjust the tension applied to the wire rod. Depending on the device
Achieved.

According to the present invention, when the tension control device for a wire rod applies tension to the wire rod and supplies it to the supply target portion, the actuator of the operating portion rotates in the forward and reverse directions to add a predetermined tension to the wire rod. Is supplied to the supplied portion. The wire feeder sends or pulls the wire to or from the portion to be supplied by rotating the actuator.

The rotation angle detector detects the rotation angle of the output shaft of the actuator capable of rotating in the forward and reverse directions. When the rotation angle detector detects the rotation angle of the output shaft of the actuator,
The tension adjuster estimates the tension applied to the wire in accordance with the value detected by the rotation angle detector and commands the actuator of the operation unit to adjust the tension applied to the wire.

As described above, since the tension adjusting section can adjust the tension applied to the wire rod only by the detector of the rotation angle detector, the large torque sensor or load cell and its connecting portion which are conventionally required are not necessary. Become. Therefore, the operating portion of the wire rod tension control device can be downsized, and the distance of the power transmission system from the actuator to the wire rod feeding means is shortened, so that the controllability of the tension is improved.

[0010]

Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. Note that the embodiments described below are preferred specific examples of the present invention,
Although various technically preferable limitations are given, the scope of the present invention is not limited to these modes unless otherwise specified to limit the present invention. FIG. 1 shows a preferred embodiment of a wire winding device. The winding device shown in FIG. 1 is a device for winding a wire around a deflection yoke which is a work.

The winding apparatus shown in FIG. 1 has a base 600, a wire rod supply device 200, a nozzle unit 40, a guide hook unit 50, a deflection yoke holder 69, a wire rod gripping unit 70, and a wire rod wrapping unit 80. There is. Wire rod feeder 2
00, nozzle unit 40, guide hook unit 5
0, the wire rod holding unit 70, and the wire rod wrapping unit 80 are the base 6
It is set above 00.

The wire rod supply device 200 shown in FIG.
Workpiece 21 which is a supply target via the nozzle unit 40
A predetermined tension is applied to the supply. Nozzle unit 40, guide hook unit 5
0, the wire rod holding unit 70, and the wire rod wrapping unit 80 are
The wire W is entangled with the work 21 by a predetermined method. The nozzle unit 40 holds the wire W and passes it through the inside of the work 21, and the guide hook unit 50 includes the nozzle unit 4 of the guide hook unit 50.
The wire W held by 0 is cut or clamped. The wire rod holding portion 70 is a portion that first holds the tip of the wire rod W held by the nozzle unit 40. The wire entanglement unit 80 winds the wire W around the work 21 in a predetermined order by the cooperation of the nozzle unit 40 and the guide hook unit 50.

The deflection yoke cradle 69 shown in FIG.
1 is detachably held. The work 21 is a deflection yoke which is mounted on a cathode ray tube and deflects an electron beam as shown in an enlarged manner in FIG. The work 21 is funnel-shaped or trumpet-shaped, and has an opening side 14 and a neck side 16. The work 21 plays a role of a bobbin serving as a core for winding the wire W, and is made of, for example, plastic. When the deflection yoke 21 is set to the cathode ray tube, the opening side 14 is arranged on the fluorescent screen side of the cathode ray tube,
The neck side 16 is arranged on the electron gun side.

The opening side 14 has a plurality of sections SC1.
, A plurality of winding grooves 18, a flange 26, and one opening-side circumferential groove 20. On the other hand, the neck side 16
It has a section SC2, a plurality of winding grooves 22, and one neck-side circumferential groove 24. The wire W is formed in the opening-side circumferential groove 2.
0, the neck side circumferential groove 24, the section SC1, the section SC2, the winding grooves 18, 22 and the like are wound in a predetermined winding pattern.

The deflection yoke cradle 69 of FIG. 1 has a central axis C.
The work 21 can be rotated forward and reverse around H to index (index indexing). Nozzle unit 40
Has a nozzle 41. Roll 4 in the middle of wire W
It is held by the nozzle 41 through the nozzle 2. The nozzle unit 40 can move along the arrow X direction (horizontal direction), the arrow Y direction (vertical direction), and the rotation direction θ in FIG.

Next, the wire feeding device 200 of FIG. 1 will be described with reference to FIGS. 2 and 3. Wire rod supply device 200
Has an operation unit 170, an encoder 62 as a rotation angle detector, a tension adjustment unit 142, and the like. First,
The operation unit 170 will be described. The operation unit 170 includes a motor 60 as an actuator, a wire feed unit 250
have. The motor 60 is a normal rotary type motor. The wire feeding means 250 includes a driving unit 252 and a driven unit 25.
One. The driving unit 252 includes a driving pulley 311
And an idler pulley 315 and a drive belt 314. The drive belt 314 is driven by a drive pulley 311
And the idler pulley 315. The position of the idler pulley 315 can be adjusted in the direction of arrow C. The drive belt 314 is preferably a toothed belt (timing belt), and the drive pulley 311 and / or the idler pulley 315 is preferably a toothed pulley (timing pulley). The drive belt 314 is
For example, a belt made of urethane rubber can be employed.

The drive pulley 311 is directly connected to the output shaft 60a of the motor 60. The driving force of the motor 60 is
It is provided directly to the drive pulley 311 and
By driving the motor 60, the drive pulley 311
Rotates in the direction of the first rotation direction R1. Motor 60
, The drive pulley 311 rotates along the second rotation direction R2.

The driven part 251 of the wire feeding means 250 has three
It has two pulleys 322, 323, 324. A driven belt (also referred to as an idler belt) 321 applied to the three pulleys 322, 323, and 324 has a part thereof in contact with the driving belt 314 or is pressed. The driven belt 321 may be, for example, a belt made of urethane rubber, and the tension of the driven belt 321 can be adjusted by adjusting the position of the pulley 324 on the plate 251a.

The pulleys 322, 323, 324 are provided on the plate 251a, preferably at three vertex positions of, for example, an isosceles right triangle or an equilateral triangle.
That is, the pulleys 322, 323, and 324
The three vertices forming the triangle at 51a are set to be rotatable. On the other hand, the drive pulley 311 and the idler pulley 315 are set for the plate 252a. Plate 251a is attached to large plate 252a. The driven belt 321 is preferably a toothed belt (timing belt)
And pulleys 322, 323, 324
A toothed pulley (timing pulley) can also be employed.

As described above, the drive pulley 311, the idler pulley 315, the pulleys 322, 323, and 324 are toothed pulleys, and the drive belt 314 and the driven belt 321 are used.
The use of the toothed belt has the following advantages. That is, the drive pulley 311 and the idler pulley 315 of the drive unit 252 can move reliably without slipping the drive belt 314. Similarly, the three pulleys 322, 323, and 324 of the driven portion 251
Can reliably feed the driven belt 321 without slipping.

The pulleys 322 and 323 are provided on the plate 251.
This is a pulley whose position is fixed with respect to a, and has a built-in bearing. The pulleys 322 and 323 are set with respect to the axis of the plate 251a via the bearings, and assist the rotation of the driven belt 321.
One side of the triangle on the back surface of the driven belt 321 is in contact with or in contact with the back surface of the drive belt 314 of the drive pulley 311 so that the one side portion of the driven belt 321 forms a substantially arc shape. Has become. The wire rod W is partially sandwiched between the driven belt 321 and the drive belt 314 so as to be tightly sandwiched between the driven belt 321 and the drive belt 314 in the feeding direction AF in FIG.
(The direction approaching the work 21) or along the retraction direction BF (the direction away from the work 21) by frictional force.

The guides 332 and 331 are mounted on the plate 252.
It is fixed with respect to a. These guides 332, 33
1 guides one wire W or a plurality of wires W. The guide 331 has a function of accurately feeding the wire W fed from the wire storage section 432 between the driven belt 321 and the drive belt 314 via the guide 331.

On the other hand, the guide 332 has a driven belt 321.
Has a function of accurately sending the wire W, which is sandwiched and sent out from between the drive belt 314 and the drive belt 314, via the rollers 42 and the nozzle 41 to the work 21 of the supply target 4. That is, the guides 331 and 332 have a structure such that the wire W is not entangled when the wire W is supplied.

Next, the encoder 62 as the rotation angle detector of FIG. 3 will be described. The motor 60 includes an encoder 62 for detecting a rotation angle of the motor 60. The motor 60 and the driving pulley 311 are arranged coaxially. Thus, the driving pulley 311 and the motor 6
By arranging 0s coaxially, space utilization can be increased and compactness can be achieved as compared with arranging them at different locations. Moreover, only the small encoder 62 is attached (directly attached) to the output shaft 60a of the motor 60 in addition to the pulley 311. Therefore, a conventionally used torque sensor (or load cell) and a joint therefor are unnecessary. Moreover, since the encoder is smaller than the torque sensor (or load cell), the pulley 31
The axial length from 1 to the motor 60 and the encoder 62 is greatly reduced. The angle detection value 31 of the encoder 62 enters the tension adjustment unit 142.

Next, referring to FIG. 3, the control means 300 including the tension adjusting portion 142, which will be described later, will be described. The control means 300 detects that the tension applied to the wire W has changed from the predetermined tension (for example, the tension has decreased from the value of the predetermined tension) based on the detection value of the encoder 62, and This is control means for resetting the tension to a predetermined tension. The control means 300 includes the tension adjusting unit 14
2 and a tension value command unit 100.

First, the tension value command section 100 of the control means 300 will be described with reference to FIG. The tension value command section 100 is a section that outputs the target tension value Fref to the comparison section 97. The tension value command unit 100 has a tension command interface 96 and a programming console 95. Tension value command signal SC sent from controller 110
Is input to the tension command interface 96. The tension value command signal SC changes depending on when the wire W is entangled or wound around the work 21 in FIG.

For example, the section S of the work 21 shown in FIG.
When the wire W is entangled with C1, the tension value command signal SC is transmitted so that the tension becomes extremely weak, thereby preventing the section SC1 from being damaged or damaged. On the other hand, for example, when winding the wire W around the opening-side circumferential groove 20 of the wire W, a tension value command signal SC for increasing the tension is sent to the tension command interface 96. On the other hand, the program number SP of the tension value programmed in advance by the programming console 95 is the tension command interface 9.
6 is given. The target tension value Fref from the tension command interface 96 is
Program number S indicated by tension value command signal SC
Given based on P.

As described above, when the wire W is entangled or wound around the weak portion of the work 21, for example, the section SC1, it can be applied with a slightly weaker tension than when entangled or wound around the other portion. ing.

Next, the control block 90 of FIG. 4 will be described. The control block 90 includes the tension adjusting unit 1
42 and a control target 130. "S" in the control block 90 of FIG. 4 is a Laplace operator. First, the tension adjusting unit 142 will be described. The tension adjustment unit 142 includes a comparison unit 97 and a tension observer 120. The tension adjusting unit 142 is a part that obtains the estimated tension value FF by feeding back the encoder value θ without using a sensor such as a torque sensor or a load cell, and compares the estimated tension value FF with the target tension value Fref. . The comparison unit 97 is connected to the tension command interface 96, and performs a comparison operation between the target tension Fref determined by the tension command interface 96 and the tension estimated value FF estimated by the tension observer 120 by a subtractor 97c. Then, the difference is multiplied by a proportionality constant K by an operator 97a, and this is output as an output v to an adder 120a of the tension observer 120 in the next stage. The proportional constant K is a proportional gain value for eliminating the difference between the target tension value Fref and the estimated tension value FF.

The tension observer 120 has an adder 1
20a, an operator 120b, a low-pass filter 120c,
It has an operator 120d and a subtractor 120e. The adder 120a adds the output v from the comparison unit 97 and the torque value w corresponding to the tension value described later to give the manipulated variable u to the operator 120b. This operation amount u is
Control input value for 0. The operator 120b divides the manipulated variable u by a torque constant Ktn (estimated value) to obtain a torque command value ir (current value).
Give to 0a. As described above, the operation amount u is changed to the torque constant Ktn.
The reason for dividing by (estimated value) is that if the manipulated variable u does not correspond to the torque T generated by the motor, the estimated tension FF, which will be obtained by calculation in the future, cannot be obtained. Also, if the torque command value ir actually commanded is not correct,
This is because the torque T generated by the motor differs from the calculation.

The manipulated variable u is divided by the torque constant Ktn (estimated value) and given to the operator 130a of the controlled object 130 as the torque command value ir, while the manipulated variable u is given to the operator 120e of the tension observer 120. Operator 120e
Calculates the difference from the signal from the operator 120d and passes through a low-pass filter 120c to give a torque value w = FF · rLPF corresponding to the tension value to the operator 97b of the comparator 97 and the addition point 120a. The operator 97b of the comparison unit 97 sets the torque value w corresponding to the tension value to 1 / r (r is the radius of the driving pulley 311) to generate a tension estimated value FF, and the tension estimated value FF is transmitted to the operator 97c. Given. The adder 120a adds the torque value w corresponding to the tension value to the output v of the comparison unit 97 to improve the control accuracy. The operator 120d of the tension observer 120 calculates the angular velocity and the second-order differentiation of the encoder value θ obtained from the encoder 62 to obtain the angular velocity and the second-order differentiation to obtain the angular acceleration (the second-order differentiation of θ). Is multiplied by the estimated value Dn of the viscosity coefficient and the estimated value Jn of the inertia.

Next, the controlled object 130 will be described. The control target 130 indicates the operation unit 170 shown in FIG. 3, and generates the actual tension value F by the following mechanism. A torque command value (current value) ir from the operator 120b of the tension observer 120 is multiplied by a torque constant Kt (corresponding to the amplifier 91 in FIG. 3) of the operator 130a to become a torque T. After that, operator 13
After passing through 0c and the operator 130d, the angle θ is the encoder value of the encoder 62. The operator 130c represents the load inertia J of the motor 60 and the driving pulley 311 and the viscosity coefficient D of the driving belt 314 and the driven belt 321. The operator 130c converts the torque T into an angular velocity (first-order derivative of θ). I do. The operator 130d calculates the angular velocity (θ
(First-order part of the encoder 62) to obtain the angle θ of the encoder 62.

The obtained angle θ is multiplied by the radius r of the drive pulley 311 by the operator 130e, and the value obtained by integrating the speed Vm of the wire rod by the operator 130f is subtracted by the operator 130j to obtain the spring constant of the wire rod. The actual tension value F, that is, the final tension output value is generated by multiplying k by the operator 130g. The actual tension value F is further multiplied by the radius r by the operator 130h and returned to the operator 130b. Operator 120 of tension observer 120
d represents the load inertia J of the motor 60 and the driving pulley 311 corresponding to the mechanical loss of the control target 130, and the viscosity coefficient D of the driving belt 314 and the driven belt 321. The operator 120a operates the operation amount u. From this controlled object 13
0 low-pass filter 120c
To obtain a torque value corresponding to the tension value already described.

Here, the torque T of the motor 60 obtained based on the torque command value ir of the tension observer 120 is obtained based on the equation (1). This equation (1) involves operators 130b, 130c, 130d, and 130h.

[Equation 1] At this time, the torque T generated by the motor 60 can be expressed by Expression (2) by multiplying a torque command value (motor command current) ir from the tension observer 120 by a torque constant Kt (operator 130a).

[Equation 2] The meaning of each symbol in equations (1) and (2) is shown in FIG.

Further, the wire rod W is a wire rod feeding means 25 shown in FIG.
0, the tension F is proportional to the elongation of the wire W when it is pulled at the speed Vm.
Expression (3) is established in association with 130j.

(Equation 3) In this way, the controlled object 130 is set to the actual tension value F.
Generate In order to match the actual tension value F with the target tension value Fref, the tension adjustment unit 142 generates a tension estimation value FF.

As shown in FIGS. 2 and 3, the drive pulley 311 is directly attached to the output shaft 60a of the motor 60 as an external load, so that the torque constant Kt is constant.
n, the load inertia Jn of the drive pulley 311 and the viscosity coefficient Dn between the drive belt 314 and the driven belt 321 are:
Can be measured accurately. Therefore, it is easy to satisfy Expression (4). In the case of this equation (4), Kt
n, Jn, and Dn are estimated values.

(Equation 4)

Here, the tension observer 120 shown in FIG.
Equations (5) and (6) are obtained from the operators 120b, 120c, 120d, etc. of

(Equation 5)

(Equation 6)

By substituting equation (5) for the manipulated variable u in equation (6), a torque value w corresponding to the tension value in equation (7) is obtained.

(Equation 7) As described above, since J = Jn is D = Dn, the torque value w corresponding to the tension value in equation (7) can be expressed by equation (8).

(Equation 8) That is, the torque value w corresponding to the tension value in FIG.
Equation (7) can be satisfied under the condition of equation (4). The cutoff frequency of the low-pass filter used in the conventional torque sensor (or load cell) is 50 Hz
However, in the present embodiment, the cutoff frequency fc of the low pass filter (LPF) 120 of FIG.
Is, for example, 180 Hz, and the FF of the torque w = FF · r × LPF corresponding to the tension value can be sufficiently used as the estimated value of the actual tension value F.

The operation amount u of the actuator (motor 60) based on the target tension value Fref is given to the controlled object 130 and the tension adjusting unit 142 by introducing the tension observer 120 into the tension adjusting unit 142 described above. The adjustment unit 142 calculates the tension estimation value based on the difference between the mechanical loss JnS ² + DnS based on the detected rotation angle (angle θ) from the operation unit (control target) and the operation amount u of the actuator (motor 60). Since the FF is obtained, a special large sensor such as a conventional torque sensor or a load cell is not required, and the tension control of the wire can be accurately performed. At the same time, as described above, the cut-off frequency
What was 0 Hz is 180H in the embodiment of the present invention.
Since the value can be greatly increased to z, the control response is greatly improved. The operator 97b of the comparison unit 97 calculates the torque w = FF · r × LPF corresponding to the tension value obtained from the low-pass filter 120c of the tension observer 120 by the radius r of the driving pulley 311.
The tension estimation value FF obtained by dividing by
Feedback to 7c.

Next, the operations of the winding device and the wire rod supplying device 200 having the above-mentioned configurations will be briefly described. In FIG. 1, a wire rod W is stored in a wire rod storage section 432 of the wire rod supply device 200. The wire W is passed between the drive belt 314 of the drive section 252 of the wire feeder 250 and the driven belt 321 of the driven section 251 in FIG. The leading end of the wire W faces the work 21 of the supply destination 4 via the roller 42 and the nozzle 41.

When the wire W is wound around the work 21 in a predetermined manner, the motor 60 is normally rotated to
The drive pulley 311 is rotated in a first rotation direction (clockwise) indicated by an arrow R1. Accordingly, the driven belt 321 rotates together with the drive belt 314 due to the frictional force. Accordingly, the wire W is fed out to the workpiece 21 of the supply target 4 with a constant torque along the feeding direction AF in FIG.

In this case, the detected value 31 by the motor 60 is detected by using the encoder 62, and the wire W is sent to the work 21 with a predetermined tension. If the tension (torque) of the wire W is not constant and the wire W is loosened, the tension adjusting unit 142 operates to detect an abnormality of the tension of the wire W, and the actual tension value F Is supplied to the motor 60 via the amplifier 91, the motor 60 rotates in the reverse direction (counterclockwise).

As a result, the drive pulley 311 reversely rotates in the direction of the arrow R2 in FIG. 3, so that the slackened wire W becomes straight without any slack. In other words, since the wire W can be supplied to the work 21 with a predetermined tension, when the tension adjusting unit 142 detects the tension of the predetermined wire W again, the motor 60 is activated by the command of the actual tension value F. Return to rotation (clockwise). The wire W can be supplied to the work 21 from the wire storage section 432 with the adjusted correct tension value.

By the way, the pulleys 322, 323 of FIG.
The reference numeral 324 is attached to the plate 251a, and the plate 251a can be moved with respect to the plate 252a, for example, in the arrow Z direction to be positioned and fixed. This allows
The back surface of the driven belt 321 can be moved to the back surface side of the drive belt so that the back surfaces of both belts come into contact with each other with an appropriate pressure.

The present invention is not limited to the above embodiment. For example, FIG. 6 shows another embodiment of the wire feeder of the present invention shown corresponding to the embodiment of FIG. The embodiment of FIG. 6 differs from the embodiment of FIG. 2 in the following points. In the embodiment of FIG. 6, the drive section 252 includes a drive pulley 311 and a motor 60. A peripheral member 311a made of a material having a relatively large frictional force is arranged on the outer peripheral surface of the drive pulley 311. The peripheral member 311a can be made of the same material as the driven belt 321 and is made of, for example, urethane rubber.

The other elements of the wire rod feeding device 200 of FIG. 4 are the same as the elements corresponding to the wire rod feeding device 200 of FIG. 2 and 6
In addition to the above embodiment, the peripheral surface of the driving pulley 311 may be formed in a state without irregularities or in an irregular shape having grooves or the like. As such a drive pulley 311, for example, one made of metal can be used. Driven belt 3
In the embodiment described above, the wire 21 is supplied using a toothed belt made of, for example, urethane rubber. However, the invention is not limited thereto, and the driven belt 321 may be a metal belt. Instead of using the driven belt 321, for example, in the embodiment of FIG.
Another driven pulley can be provided. The surface of the other driven pulley may have a shape without irregularities or an irregular shape having grooves or the like. The driven pulley in this case is a metal roller, for example, and may be configured to be engaged with the drive pulley or to be engaged with the drive belt of the drive pulley.

As described above, in the embodiment of the tension control device for a wire rod according to the present invention, a torque sensor (or load cell) and a joint portion for connecting the torque sensor (or load cell) to a motor, a pulley or the like, which has been conventionally required. Is unnecessary, the size of the motor 60 in the axial direction can be reduced to about half, for example. Therefore, the installation property of the wire tension control device is improved.

Further, since the distance of the power transmission system between the motor 60 and the pulley 311 is shortened and the number of parts is reduced, so-called mechanical loss is small and the rigidity at the time of rotation operation is high. In addition, since the wire is transported while being tightly sandwiched between the driving belt and the driven belt, the controllability of the tension of the wire is improved. Since the torque sensor and the load cell are not used, the drift noise component of the output of the torque sensor and the load cell is eliminated, and the tension controllability of the wire is improved. From the above, the winding performance and the reliability of the winding are greatly increased. Further, since a torque sensor (or a load cell) and a joint portion are not required, a significant cost reduction can be realized.

[0049]

As described above, according to the present invention,
The size can be reduced, the control characteristics can be improved, and the price can be reduced.

[Brief description of drawings]

FIG. 1 is a perspective view showing an example of a winding device including a wire tension control device of the present invention.

FIG. 2 is an enlarged perspective view showing a wire rod supply device of the winding device of FIG. 1;

FIG. 3 is a diagram showing a wire feeder and a control unit of FIG. 2;

FIG. 4 is a control block diagram showing a tension adjustment unit and its peripheral parts in FIG. 3;

FIG. 5 is a diagram showing the meaning of each character.

FIG. 6 is a view showing another embodiment of the wire rod tension control device of the present invention.

[Explanation of symbols]

21 ... Work (supply target), 60 motor (actuator), 60a motor output shaft, 62 ... Encoder (rotation angle detector), 90 ... Control block, 12
0 ... tension observer, 130 ... controlled object, 142 ... tension adjusting section, 170 ... operating section, 250 ... wire rod feeding means, 311 ... pulley,
W ... Wire material, Fref target tension value, F ... Actual tension value

Claims (5)

[Claims] 1. A tension control device for a wire rod for applying a tension to a wire rod and supplying the wire rod to a supply target portion, wherein the wire rod can be rotated forward and backward in order to apply a predetermined tension to the wire rod and supply the wire rod to the supply target portion. Actuator, a manipulating section having a wire rod feeding means for feeding or pulling back the wire rod to the supplied portion side by the rotating operation of the actuator, and the wire rod feeding means includes a drive belt rotated by the actuator. , A driven belt that feeds while sandwiching the wire rod by making close contact with this drive belt, and a rotation angle detector that detects the rotation angle of the output shaft of the actuator, and a wire rod according to the detection value of the rotation angle detector. A tension adjustment unit that adjusts the tension applied to the wire by estimating the applied tension and issuing a command to the actuator of the operation unit. Tension control apparatus of the wire, characterized in that it comprises a. 2. The tension control device for a wire rod according to claim 1, wherein an operation amount of the actuator based on a target tension value is provided to a control target and a tension adjustment unit. 3. The tension of the wire according to claim 2, wherein the tension adjusting unit obtains an estimated tension value based on a difference between a mechanical loss based on a detected value of the rotation angle from the operation unit and an operation amount of the actuator. Control device. 4. The wire tension control device according to claim 1, wherein the actuator is a motor, and the rotation angle detector is an encoder, and the encoder is attached to or externally attached to an output shaft of the motor. 5. The wire tension control device according to claim 4, wherein a pulley of the wire feeding means is mounted on an output shaft of the motor, and the pulley drives a drive belt.