JPS592553A - Automatic taping machine - Google Patents

Abstract

PURPOSE:To improve the processing accuracy and speed of an automatic taping machine by enabling to continue the synchronous operation under the control between drive units of four shafts which form the machine. CONSTITUTION:Pulses from pulse generators 16, 17 which are coupled directly to DC motors 4, 5 are always counted by a counter 35, read out at the prescribed period, the running position of a rotary ring is calculated by a comparator 38 from the number of pulses, and a speed command is fed to drive units 28, 29, 30, 31 corresponding to the taping zone, which belongs to the running position. Then, the speeds of the four shafts are calculated by a comparator of an arithmetic controller 22, and the speed command is temporarily corrected to eliminate the difference between the command value of the speed for each shaft and the actual value. When a relative error occurs therebetween, the speed commands of the other three shafts are corrected with shaft as a reference, and motors 4, 5, 9, 10 are controlled in the synchronous operation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to an automatic taping device for taping an object to be taped that is composed of a combination of straight lines and curved lines.

[Technical background of the invention]

A one-on-one taping device is used to tape various coils having different shapes.

FIG. 1 is a plan view showing a part of a hexagonal coil as an object to be taped.

The coil 1 has a straight portion 1a and left and right curved portions 1b.

1c and an end portion 1d that continues to this curved portion.

1e is the taping processing range.

FIG. 2 is a plan view showing the configuration of an automatic taping device 2 for taping the hexagonal coil 1. As shown in FIG. A table 6 is placed on the top surface of the fixed pedestal 3, which is movable in the left-right direction (X-axis direction) by a DC motor 4 and in the front-rear direction (Y-axis direction) by a DC motor 5. A head portion 8 is provided on the upper surface of the head portion 8 for supporting a rotating ring 7 to which an insulating tape is attached from the circumferential direction. A DC motor 9 attached to the head section 8 rotates the rotating surface of the rotating ring 7 around the θ axis in response to the bending of the coil 1, and a DC motor 10 similarly attached to the head section 8 rotates the rotating surface of the rotating ring 7 around the θ axis. It is designed to rotate around the ω axis.

The directions of the X, Y, θ, and ω axes are indicated by arrows in the figure, respectively. A pair of coil supports 11 are provided on the upper surface of the pedestal 3, which can move simultaneously in the X-axis direction while supporting the hexagonal coil 1 at a position where it does not interfere with the table 6.

On the other hand, tachometers 12. I-3; 14 and 15 are connected to each other, and the rotation shafts of the DC motors 4 and 5 are connected to pulse generators 16 and 17 that generate pulses according to the rotation speed, and the rotation shaft of the DC motor 9 is connected to pulse generators 16 and 17 that generate pulses according to the rotation angle. Potentiometers 19 for detection are respectively coupled.

The DC motor 10 is not particularly connected to a device for detecting the rotation speed.

The above-mentioned DC motor 4.5, 9. to, tachometer 12
．． 13.14.1.5, pulse generator 16.17
The potentiometer 19 is electrically connected to the control panel B via a cable connection. The control panel n includes a keyboard 21 and an arithmetic control device 2 shown in FIG.
2 is installed.

FIG. 3 is a control circuit diagram for controlling the DC motors 4, 5, 9, and 10.

When information such as the dimensions and shape of the hexagonal coil 1, the taping specifications (half-overlapping winding, 1/3 overlapping winding, butt winding, etc.), and the width of the insulating tape are input into the arithmetic and control unit n via the keyboard 21, this calculation is performed. The control device 22 performs various calculation processes according to predetermined procedures and stores the calculation results. Also, the aforementioned X.

DC motors 4° and 5. provided corresponding to Y, θ, and ω axes.
Speed command signals for driving 9.10 are given in digital quantities to DA converters 24, 25, 26, and 27, respectively. DA converter 24. '2El, 2b Speed command signal converted to analog quantity by H27,,VY,
V.

V is the drive unit 28.29.3111. of each axis.
31, and these are DC motors 4, 5, 9.10
will be demolished.

On the other hand, l housing motor 4 + 5 + 9 + 100 rotation shaft (combined 11 + rotation speed, total 12113 + 14 +
15 hanging units each have 1---2 drive units 29
．． H Shi Iris 31. This is fed back to perform closed-loop control regarding the speed of each axis.

Furthermore, pulse signals from pulse generators 16.17 directly connected to the X-axis and Y-axis DC motors 4, 5 are input to the arithmetic and control unit Ff2.22, and the arithmetic and control unit 22 counts these pulses to generate the The traveling distance of the axis and the traveling distance of the Y-axis are calculated and the DC motors 4 and 5 are operated in a time-sharing manner.
Performs synchronous operation control.

Further, a potentiometer 19 directly connected to the θ-axis DC motor 9 also feeds back an analog signal corresponding to the rotation angle to the DA converter 26.

Note that the other three axes except the ω axis, namely the X@ and Y axes.

The θ-axis drive units 28, 29.31''l each have a reversible conversion circuit, and accordingly, reversible operation is possible.

DA converter 24, Z5, 26, thorn and drive unit path, 29. Each of the 131 leaps is included in the control hikibankyu. The following describes the operation of this conventional taping device.

First, when taping is applied to the hexagonal coil 1 shown in FIG. 1, the straight portion 1a and end portion 1d,
'1 e has curved parts lb and lc at its center.
, there are points A, B, C, etc. at the center or outside the center.

H9..., N is determined, one section is from point A to point B, the second section is from point B to point C, etc., and so on, a total of 1
Section of 6th ward (A-+B-+ C-+ D-+E-+
F→G→H→■→J , K −* E −+ D −
+ L −+ M −+ N→A), and taping is performed sequentially from the first section.

However, the tape reeling position of the tape reel attached to the side surface of the rotating ring 7 must be a distance Lr further in the traveling direction of the rotating ring 7 than the tape winding position on the coil surface.

The advancing distance 111eLr is determined by three factors: the tape winding pitch, the coil circumference, and the distance from the center of the rotary ring 7 within the rotation plane to the tape feeding position.

The tape winding pitch is determined by the taping specifications such as half-overlapping winding, 1/3 overlapping winding, or butt winding, and the radius of the insulating tape.

That is, it is determined by the distance traveled on the coil surface when the rotating ring 7 makes one revolution. When calculating the circumferential length of the coil, the thickness of the insulating tape layer that has already been wrapped must also be included.

When the rotating ring 7 travels from point A to point B in this way, the tape starts to be wound from the middle between the point N and point A, and when the rotating ring 7 reaches point B, the tape is wound around the curved portion 1b.
The tape will be wrapped around the starting point. After the tape is wound one after another in this manner, when the rotary ring 7 reaches the H point, the tape is wound to a position halfway between the 1st point and the H point.

When the rotating ring 7 reaches the H point, the tape winding operation is temporarily interrupted, and during this time the rotating ring 7 changes direction and starts traveling from the H point to one point. When one point is reached, the tape winding operation is started again.

When the rotating ring 7 reaches the N point in this way,
The winding operation for one round trip is completed. Note that when setting the N point, care is taken so that the return winding ends a distance of the insulation step from the taping start point.

Thereafter, the folding points at both ends are set so as to be shifted toward the front by the insulation step distance, and the above operation is continuously repeated as necessary to obtain the desired number of layers.

In order to perform such winding operations, the arithmetic and control unit 22
are based on the coil dimensions and taping specifications entered through the keyboard 21, - the center coordinates (Xi, Yi) of the rotating ring 7 for each boundary point of the 16 sections for the round trip, the X axis, and the Y
By traveling speed V relative to the axis.

vYl, rotational speed v0 with respect to the θ axis and rotational speed V with respect to the ω axis. 1 is calculated and stored (subscript I represents interval l).

On the other hand, as shown in FIG. 2, in the hexagonal coil 1, the entire taping range is parallel to the pedestal 3, the straight part 1a is parallel to the X axis, and the midpoint of the straight part 1a coincides with the origin detector 32. It is attached to the coil supporter 11 in this manner. The origin detector 32 is installed to determine the coordinates of a reference point when taping the hexagonal coil 1.

When the head unit 8 is moved so that the center of the rotating ring 7 passes the origin detector 32 and comes to the starting point, A', pulses representing the distance traveled from the origin detector 32 are counted, and the pulses representing the distance traveled from the origin detector 32 are counted. The coordinates of the starting point based on the position of the detector 32 are calculated.

Therefore, the arithmetic and control unit ρ calculates the position of the rotating ring 7 based on the signals from the pulse generators 16 and 17 using the coordinates of this starting point as a starting point, and gives speed commands corresponding to each taping section to which the calculated position belongs. The signals will be sent out sequentially. In this case, the X-axis and Y-axis DC motors 4
．． Speed command signals vXl, vY sent out targeting 5
1 and the actual speed determined from the output of a tachometer 12.13 which is respectively connected directly to the DC motor 4.5, the respective drive unit path 29 operates to correct this.

Furthermore, positional control such that the Y-axis runs synchronously with the X-axis is performed by the arithmetic and control unit n.

[Problems with background technology]

In such a conventional automatic taping device, the rotational speed V of the ω-axis of the rotating ring 7. 1. The speeds Vxi, vYi of the other three axes that can be operated synchronously based on

Even if VO2 is calculated by the arithmetic and control device ρ and given to the DC motors 4, 5.9 as a speed command signal for section l, synchronous operation will not be achieved.

This is because no operation is performed to detect and correct the relationship between the rotational speed of the ω-axis and the positions of the other three axes.

In this way, if synchronized operation is not established between the ω-axis DC motor IO and the other 3-axis DC motors 4 and 5.9, the tape spacing may become too wide or narrow. It will be too much.

In half-overlap winding, which is often used, if the tape interval is too wide, the insulating layer becomes thin and the desired dielectric strength cannot be obtained, and on the other hand, if the tape interval is too narrow, the insulating layer becomes locally thick. There are disadvantages such as making it difficult to fit the coil into the slot and forcing the design to include an extra estimate of the thickness of the insulating layer.

That is, in the conventional automatic taping apparatus shown in FIGS. 2 and 3, synchronous operation is performed between the drive device that rotates the rotary ring 7 and the drive device that moves the rotary ring 7 and changes the angle of the rotation axis. This had the disadvantage that it was not possible to wind the tape with high precision.

On the other hand, compared to the coils of large rotating machines, the relatively small tortoiseshell-shaped coils can be operated at a much faster speed than the coils of large rotating machines (
For example, 50 mt/5ee) is used for winding, so if an automatic taping device is to be manufactured with an investment that is commensurate with the labor cost, it is necessary to achieve high efficiency work at a low cost while maintaining the work accuracy mentioned above. Ta. However, such a device had not yet been realized.

[Purpose of the invention]

An object of the present invention is to enable synchronized operation between a drive device that rotates a rotary ring and a drive device that changes the movement of the rotary ring and the angle of the rotation axis, thereby increasing the precision of tape winding and providing an inexpensive automatic taping device. is to provide.

[Summary of the invention]

In this invention, there is provided a rotary ring that performs taping while winding a tape around an object to be taped, a first drive device that rotates this rotary ring, and a first drive device that runs the rotary ring two-dimensionally along the object to be taped. a second drive device; a third drive device that changes the angle of the rotation axis of the rotary ring in accordance with the bending of the taping object; and a speed corresponding to a plurality of taping sections provided on the taping object. In an automatic taping apparatus equipped with a performance control device that gives commands to the first to third drive devices, first to third detection devices detect driving states of each of the first to third drive devices. Based on the detection signal from this detector, the arithmetic and control device calculates the running position and running speed of the rotating ring, and calculates the running position and running speed of the rotating ring, and calculates the running position and running speed of the rotary ring, and calculates the running position and the running speed of the rotating ring. A speed command signal is sent to each of the driving devices, and each of the driving devices performs closed-loop control via the performance control device between the speed command signal and the traveling speed based on the detection signal. Information representing the speed and position of the first drive device calculated based on the detection signal from the first detector and the information representing the speed and position of the first drive device calculated based on the detection signals from the second and third detectors. The speed command signal is corrected so that a predetermined desired relationship is maintained between the speed command signal and the information representing the speed and position of the second and third drive devices to continue mutually synchronous operation. It is characterized by

Embodiments of the present invention will be described in detail below with reference to the drawings.

[Embodiments of the invention]

FIG. 4 is a circuit diagram showing a control device portion of the automatic taping apparatus according to the present invention. Note that the same parts as shown in FIG. 3 are given the same reference numerals, and the description thereof will be omitted. The blade is a pulse generator directly connected to the rotating shaft of the DC motor 10,
The sensor is a rotation angle measuring device, such as an absolute encoder, which is directly connected to the rotation shaft of the DC motor 9 and generates pulses proportional to the rotation angle.

Rotational speed meter 12.13 used in conventional equipment.

14.15 have all been removed. That is, the minor feedback loop for speed control consisting of the tachometers 12, 13, 14, 15 used in the conventional control circuit is removed, the potentiometer 19 is replaced with a rotation angle measuring device 34, and the pulse generator 33 is replaced with a DC motor lO. It differs from conventional control circuits in that these detection signals are added to the rotation axis of the pulse counter 35 of the arithmetic and control unit 22.

Next, a control method when performing taping control using such a control device will be described.

First, the hexagonal coil 1 to be taped is attached to the coil supporter 11 as described above, and the head portion 8 is moved to pass the origin detector 32 to set the center of the rotating ring 7 at the coil 1 at point A. match.

Next, the dimensions of the coil 1 and the taping specifications are entered into the arithmetic and control unit 22 through the keyboard 21. The arithmetic and control unit η stores this information in the memory 36 shown in FIG. and the rotational speed vxi for the DC motor 4°5 on the X and Y axes.
, vYi and the rotational speed vat of the θ axis for the DC motor 9
and the rotational speed va, i of the ω-axis of the DC motor 10 are calculated by the calculation unit 37 and stored in the memory 36.

Next, the end of the insulating tape is pasted on the coil surface, and the start button inside the control Iwata is pressed to begin the taping process. In this case, the arithmetic and control unit z2 calculates the coordinates (x, ,
y, ), (x,, yj) and 4-axis motor speed command vXi ``Yi ''191 ''a+1 are sent out sequentially starting from the one corresponding to the first section (A-+B) to rotate the 4-axis DC motor. let

At the same time, pulses from the pulse generators 16 and 17 directly connected to the DC motors 4 and 5 are constantly counted by the counter 35, and these are read out at a constant cycle of around 1 m5ec. is calculated, and a predetermined speed command corresponding to the taping section to which the running position belongs is sent to each drive.

Next, in the comparison section of the arithmetic and control unit 22, the speeds of the four axes are calculated from the difference between these previous and current detections (No. xt "yt", t and the actual speed var1 of the ω-axis motor are compared with the actual speeds 'Xi, vYi, ■ffi of the motors of the other three axes, and the command value and actual value of the speed for each axis are determined. Temporarily modify the speed command to eliminate the difference.

Furthermore, in addition to this, if a relative error occurs between these, the speed commands of the other three axes are further temporarily corrected with the ω-axis as a reference.
synchronous operation control.

It is also easy to detect the accumulation of slight errors in the other three axes for NaoSV, .

In addition, the pulses of the pulse generators 1.6, 17, 33 and the rotation angle measuring device 34 are determined by reading the values counted by the counters 35 of each axis in a time-sharing manner at a comparison station, and making sure that all four axes are equal. The reading interval should be as follows.

In this way, the actual speed of each axis can be easily obtained from the difference between the previous and current pulse detection values, even without the 1-inner feedback loop using the conventional tachometer 12, 13, 14° 15. Speed control is possible.

At the same time, the rotation speed N, coordinate values (X, I y,), and rotation angle ω from the ω-axis section start point are determined based on the pulse detection value each time.
Since the mutual relationship between l θ and N□ can be investigated, it is possible to easily detect the accumulation of slight errors in the other three axes with respect to the ω axis.

Therefore, position control can also be effectively performed, increasing the precision of synchronous operation.

In this way, the section H- where the rotating ring 7 changes direction
All four axes of DC motors except I and N-A are operated synchronously.

On the other hand, since the X-axis motor 4 is always operating over the entire machining range, the traveling position of the rotating ring 7 is identified by counting the pulses generated by the pulse generator 16 directly connected to this motor 4. , the section to which it belongs is determined, and the speed command values of the four axes are changed every time the section moves to a new section.

In this case, since there is almost always a difference of 1 mm or more in the advance distance Lr between the outbound and return trips, different speed command values are used for each.

In the sections H-I and N-A where the rotating ring 7 changes direction,
Only the motors 4 and 5 for the axis and Y axis rotate, and the motors 9 and 1 for the 0) axis and the θ axis do not rotate, so it is not possible to compare the rotation speeds based on the ω axis. Only in these sections, the rotational speed of the Y-axis may be controlled with the X-axis as a reference.

Note that in the section D-E belonging to the straight portion 1a, only two axes, the X-axis motor 4 and the ω-axis motor 10, are operated, so the motor is normally operated at the maximum speed.

The sections EF and DL belonging to the straight section 1a are also just before entering the curved section, and are operated at half the speed of the section D-E, like the end sections 1d and le.

Moreover, since the sections CD and -E are immediately after exiting the curved portions 1b and lc, it is necessary to perform control to remove the offset generated on the Y axis according to the interval 2.

Therefore, like the end portions 1d and 1re, they are operated at half the speed of the section D-E. In the past, it was normal for the speed in other sections to be reduced to about 1/3 compared to section -E, but since it is possible to drive at half the speed in this way, the speed between section D-E and other sections is reduced. The settling time to settle to the newly set speed command value at the boundary is reduced.

Therefore, there is an advantage that processing unevenness caused by transient phenomena is also reduced.

In this way, speed control and position control for each axis are related to each other, and not only is closed-loop control performed using the count value read in one sampling, but both speed and position are controlled using the 0) axis as a reference. Since the speed command is issued so that the mutual error between the respective axes is detected and corrected, synchronized operation control of the four axes can be realized without significantly increasing the throughput of the comparing section 38.

In addition, in the curved portions 1b and lc, linear approximation was used so that the speed command value does not include elements that change as a function of time, so even during synchronous control operation, elements that change as a function of time are not included. However, the winding speed of the tape can be increased by this amount without requiring time-consuming and difficult calculations.

When a microcomputer is used in the filter arithmetic control circuit 22, it becomes easy to store coordinate values and speed commands for all reciprocations at once. This is because, in recent years, microcomputers have become more integrated, faster in processing speed, and have larger storage capacities.

Therefore, it is extremely easy to perform synchronized operation control using a sampling period of around 1 m5 ec with a shift of 0.5 m5 ec for each two axes in a straight section, allowing highly efficient work to be performed at operating speeds equal to or higher than conventional manual labor. However, it is possible to obtain high-precision insulated coils that are close to the taping precision used for large coils.

In the above description, the shape of the coil was limited to a hexagonal shape, but it goes without saying that the present invention can also be applied to disk-shaped coils, bar-wound wires, etc.

Although the motors 4, 5, 9, and 10 are DC motors, AC motors such as AC servo motors may be used as long as they have good controllability.

Although the sampling period has been described as being the same for all four axes, it is also possible to make it different depending on the degree of importance or the time constant.

For example, if you make the sampling period of the ω-axis twice that of the X-axis and the sampling period of the θ-axis twice that of the It is also possible to shorten the time interval between outputs and increase work efficiency.

Although the curved portions 1b and lc are provided in one section by approximating one straight line, it is also possible to provide two sections in each by approximating two straight lines.

FIG. 6 is a control circuit diagram of an automatic taping device showing another embodiment of the present invention. A tachometer 15 is provided only on the shaft, and a minor loop that feeds back the speed signal detected from the tachometer 15 to the drive unit 31 is provided to improve the responsiveness of the ω-axis speed control. This is not limited to the ω-axis, but may also be the X-axis or the Y-axis, depending on the purpose, as long as it is necessary to increase the responsiveness of speed control.

It should be noted that the pulse generators 16, 17, and 33 provided in the DC motors 4, 5, and 1.0, respectively, and the rotation angle measuring device provided in the DC motor 9 are provided to detect the driving state of the drive device, and are not necessarily included in this manual. It is not limited to the pulse generator or rotation angle measuring device used in the embodiment.

〔Effect of the invention〕

As described above in detail based on the embodiments, in this invention, the four-axis drive devices that make up the automatic taping machine are controlled so that they can continue to operate synchronously, resulting in improved machining accuracy and work speed. Automatic taping equipment can be provided.

[Brief explanation of drawings]

Figure 1 is a plan view showing a part of a hexagonal coil as the object to be taped, Figure 2 is a plan view showing the configuration of the drive unit of a general automatic taping device, and Figure 3 is a plan view showing a conventional automatic taping device. 4 is a circuit diagram showing the configuration of the control section of the automatic taping device according to the embodiment of the present invention; FIG. 5 is a circuit diagram showing the configuration of the control section of the automatic taping device according to the embodiment of the present invention; FIG. FIG. 6 is a circuit diagram showing the configuration of the arithmetic and control unit. FIG. 6 is a circuit diagram of a control unit according to another embodiment of the present invention. 1...Coil, 4,5.9.10...DC motor,
7... Rotating ring, 16.17.33... Pulse generator, 22... Arithmetic control device, 34... Rotation angle measuring device. Applicant's agent Kiyoshi Inomata Figure 1 Figure 2 Figure 3 Figure 4

Claims (1)

[Claims] A rotating ring that performs taping while winding the tape around an object to be taped, a first drive device that rotates this rotating ring, and a second drive that drives the rotating ring two-dimensionally along the object to be taped. a third drive device that changes the angle of the rotation axis of the rotary ring in accordance with the bending of the object to be taped; In the automatic taping apparatus, the automatic taping apparatus includes an arithmetic and control device that supplies power to the first to third drive devices.
First to third detectors for detecting the driving state are provided in each of the third to third drive devices, and the arithmetic and control device determines the running position and running speed of the rotating ring based on the detection signal from the detector. is calculated and a predetermined speed command signal corresponding to the taping section covered by the traveling position is sent to each of the driving devices, and each of the driving devices adjusts the traveling speed based on this speed command signal and the detection signal. At the same time, information representing the speed and position of the first drive device calculated based on a detection signal from the first detector and the first and the information representing the speed and position of the second and third drive devices calculated based on the detection signals from the second and third detectors so that a predetermined desired relationship is maintained. An automatic taping device characterized in that it is configured to continue mutually synchronized operation by correcting the speed command signal.