JPS6243809B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for a strip shearing machine capable of shearing a strip material such as a steel strip in the width direction with high accuracy and high speed.

For example, in a rotary running shearing device that shears a strip, it is necessary to synchronize the rotational speed of the rotary cutter at the moment of shearing the strip with the conveyance speed of the strip, and also to synchronize the strip to various lengths. In order to shear, it is necessary to cause the rotating cutter to perform periodic non-uniform motion.

In conventionally proposed electrical speed-controlled shearing devices, the conveyance roller and rotary cutter are driven separately by dedicated drive motors, and the rotation speeds of these dedicated motors are controlled by an electrical speed control device to achieve the required shearing. The length and rotating cutter were synchronized, but even with this method, it was necessary to give the rotating cutter periodic inconstant motion, which required large acceleration/deceleration torque, and a low inertia to meet this requirement was required. It is difficult to select a suitable motor, and as a result, the shearing speed cannot be increased.

In order to eliminate the above-mentioned drawbacks, research has been conducted on a rotary running shear device using a mechanical periodic inconstant motion generator, but although it is not necessary to require the motor to generate excessive acceleration/deceleration torque, the mechanical Since the method generates periodic non-uniform motion, the synchronization range for synchronizing with the conveying speed of the strip material is narrow, and the shearing speed cannot be increased. In other words, in a rotary cutter using a mechanical periodic inconstant motion generator as shown in Fig. 1, when the rotation period T is constant, the rotation speed V _K of the rotary cutter draws a curve as shown in the figure. change, fastest at point a, b
When the conveying speed of the strip material is within the range from speed a to speed b, it is possible to synchronize the rotational speed of the rotary cutter with the conveying speed of the strip material by adjusting the phase. Although this is possible, if the conveying speed of the strip material is faster than speed a or slower than speed b, synchronization cannot be achieved and shearing of the strip material is impossible.

SUMMARY OF THE INVENTION An object of the present invention is to provide a control device for a running shearing device for strip material that can ensure synchronization even in a range beyond the synchronization range of a mechanical periodic inconstant motion generator for a cutter.

Hereinafter, the configuration will be explained in detail based on an embodiment of the present invention shown in the drawings.

FIG. 2 is a block diagram of an embodiment of the present invention, in which the strip material 2 is conveyed in the direction of arrow A by a conveying device 1, and this conveying device 1 conveys the strip material 2. a plurality of conveyance rollers 3,
..., a drive motor 4 that drives the conveyance roller 3, ...
and a reducer 5 that reduces the rotation speed of the drive motor 4.

The conveying motor 4 of the conveying device 1 is a variable speed motor, and is controlled to be synchronized with the line speed of the traveling system in the previous stage of the strip material as a reference.

The transport motor 4 is connected from a forward/reverse thyristor controller 25 to an analog adder 18 via a speed amplifier 24, and the line speed reference signal from the previous stage is supplied to this analog adder 18 as an addition input through a terminal 17. A pulse from an encoder 19 driven by the conveyance motor 4 is converted into voltage by a frequency-voltage converter 20, and is supplied as a subtraction input. Furthermore, on the receiving side of the conveying device 1, a light source 22 and a light receiving element 2 are installed along the strip 2 in order to keep the height of the loop 48 of the strip 2 constant.
A loop measuring device 46 consisting of 3 is provided, the output of which is supplied via an amplifier 44 to an analog adder 18 as a speed correction signal.

Next, reference numerals 6 and 6' designate a pair of rotary cutters arranged on the upper and lower sides with the strip 2 in between, and are composed of a knife 7 and a drum 8 that supports this knife 7. is provided,
They are connected to each other by a gear mechanism so that they rotate in the direction of arrow B at the same speed. Reference numeral 9 denotes a variable speed drive motor for driving the rotary cutters 6, 6'. ’. The drum gear coupling 39 connects the output shaft 16 of the mechanical periodic inconstant motion generator and the rotary cutters 6, 6'.
It consists of a driving member 39a and a driven member 39b which are interposed between the rotating shaft and arranged on the same axis,
By changing the engagement position of the driving member 39a and the driven member 39b, the phase of the output shaft 16 and the rotary cutters 6, 6' can be freely changed.

As shown in FIG. 3, the mechanical periodic inconstant motion generator 11 meshes with an eccentric non-circular driven gear 14 connected to the rotary cutter 6, and is driven by the drive motor 9. Driven gear 1
Eccentric non-circular drive gear 13 with a different shape from 4
In order to dynamically balance the periodic inconstant motion generating device 11, a flywheel meshing with the driving gear 13 having the same shape as the driven gear 14 is provided on the opposite side of the driven gear 14 with the driving gear 13 as the center. 4
5, and when the drive gear 13 rotates at a constant speed due to the eccentric non-circular shape of these gears, the driven gear 14 performs periodic inconstant motion. There is.

In this embodiment, the mechanical periodic inconstant velocity motion generating device 11 is configured to obtain periodic inconstant velocity motion by combining a plurality of eccentric non-circular gears as described above. A gear mechanism and a link mechanism may be combined to obtain periodic non-uniform motion. The drive motor 9 is controlled so that the strip material 2 can be sheared to a predetermined length in synchronization with the conveying speed within the synchronization range of the mechanical periodic inconstant motion generator 11. A drive motor rotation control circuit C that rotates at a constant speed is provided. Its configuration is as follows.

That is, 38 is a thyristor controller that controls the rotational speed of this drive motor 9, and an analog adder 30 is connected to this thyristor controller 38 via an amplifier 37. Further, an encoder 31 is connected to the rotating shaft of the drive motor 9, and generates pulses as the drive motor 9 rotates. Note that this encoder 31 is used to detect the average speed of the rotary cutter 6, and is used to detect the average speed of the rotary cutter 6.
Of course, it is also possible to attach it to the rotating shaft of the rotary cutter 6 to detect the average speed.

The analog adder 30 is a frequency/voltage converter 32
The encoder 31 is connected to the encoder 31 through the encoder 31, and the output of the encoder 31 is converted into voltage and inputted for subtraction. Furthermore, this analog adder 30 is connected to a speed reference generator 29 from which a speed reference signal is sent as an addition input. The speed reference generator 29 measures the moving speed of the strip material 2 and a setting device 26 for setting the desired cutting length within the synchronization range of the mechanical periodic inconstant motion generator, that is, the set synchronization length _Ls . The encoder 2 attached to the measuring roll 27
8, the pulse F _u emitted by the encoder 28 is input to the roll diameter corrector 43.
After _{being corrected} in
It is designed to be sent as an addition input to 0. In addition,
In this embodiment, a measuring roll 27 is provided and an encoder 28 is attached thereto to detect the conveying speed of the strip material 2. However, the measuring roll 27 is not provided and the conveying motor 4 of the conveying device 1 is The conveyance speed may be detected by attaching an encoder 28 to the rotating shaft of the encoder 28, or the conveyance speed may be detected from the pulses of the encoder 19. Further, 35 is a setter for setting N _s λ/L _s n _n , and is connected to the digital adder 34 . Here, N _s is the number of pulses generated by the encoder 31 during one rotation of the rotary cutter 6 (device specific value), and λ is the value obtained by dividing the length L in one rotation of the drum by the pulse N _s of the encoder 31. , that is, L/ _Ns , which is a value related to accuracy in digital arithmetic processing. L _s is the set synchronization length, i.e.
The shearing interval when shearing the strip material to a desired length by synchronizing the rotational speed of the rotary cutter and the conveyance speed of the strip material 2 within the synchronization range of the mechanical periodic inconstant motion generator, n _n is the measuring unit pulse, that is, the number of pulses (a device-specific number) generated by the encoder 28 of the measuring roll 27 when the strip is fed by 1 mm.

Note that this setting device 35 includes a synchronous length setting device 2.
6 is connected, and by setting the set synchronization length L _s to this setter 26, it can also be set to the setter 35. As described above, this setter 35 is connected to the digital adder 34, and the set value N _s λ/L _s n _n is supplied to the digital adder 34 as an addition input for each pulse from the encoder 28. It's starting to look like this. Further, 33 is a λ setter connected to the digital adder 34,
For each pulse from the encoder 31, the set value λ is supplied from the λ setter 33 to the digital adder 34 as a subtraction input. Then, the digital adder 34 performs calculations based on the subtraction input from the λ setting device 33 and the addition input from the setting device. It's like sending it.

In this way, the digital adder 34 improves shear accuracy (speed control accuracy) by sending the digitally calculated value to the analog loop system as a correction value in order to prevent errors that tend to occur due to accuracy in analog calculations in the analog control system. The purpose is to achieve this goal. Note that the calculation in the digital adder 34 is performed not by sampling control but by integral control that constantly calculates pulses. The drive motor control circuit A has an analog adder 30 and a digital adder 3 in this way.
4. Consists of a speed reference signal generator 29 and the like.

Next, 42 is a mechanical periodic inconstant motion generator 1
This is an acceleration/deceleration command device that issues an acceleration signal and a deceleration signal to a digital adder in order to synchronously shear the strip material 2 outside the synchronous region of 1, and sets a set cutting length L _p that is a desired length outside the synchronous region. L p and L s are obtained from the setter 40 for setting the synchronization length L _s and from the setter 26 for setting the synchronization length L _s described above, respectively, and N _s λ (1-L _p /L _{s )} is obtained.
is calculated, and the result is output to the digital adder 34 every time a signal from the drum position detection switch 41 is input. Note that this acceleration/deceleration command device 42 functions when performing synchronous shearing outside the synchronous range of the mechanical periodic inconstant velocity motion generator, and does not function at all within the synchronous range.

This invention has the above-mentioned configuration, and by the action of an electric control circuit, the conveyance speed of the rotary cutter 6 is adjusted beyond the synchronization range of the mechanical periodic inconstant motion generator 11. The rotational speed can be synchronized, and the operation can be controlled within the mechanical synchronization range (i.e., within the range from speed a to speed b in Figure 1) and outside the range (i.e., above speed a and below speed b). I will explain it separately.

Note that the acceleration/deceleration command device 42 functions in shearing outside the mechanical synchronization range, and does not function in shearing within the mechanical synchronization range.

[Shear within mechanical synchronization range]

The strip material 2 is transported in the direction of arrow A by the transport device, and the line speed reference signal from the previous stage is transmitted to the terminal 17.
The rotation of the motor 4 causes the encoder 19 to generate pulses, which are converted into a voltage proportional to the pulse frequency by the frequency-voltage converter 20 and supplied as a subtraction input to the analog adder 18 through The signal is supplied to an analog adder 18. Further, the height of the loop of the loop portion 21 of the strip material 2 is detected by the light receiving element 23 receiving the light flux from the light source 22 via the loop portion, and the output thereof is sent to the analog adder 1 as a speed correction signal.
8. Then, the analog adder 18 performs calculations based on the signal, and the output is passed through the speed amplifier 24 to the forward/reverse thyristor controller 25.
By controlling the motor by this controller 25, the feed speed of the strip material 2 is controlled to be synchronized with the line speed of the previous stage.

On the other hand, a set synchronization length L _s is set in the shear synchronization length setter 26 , and this set value L _s is sent to the speed reference generator 29 . Further, the moving speed of the strip 2 measured by the measuring roll 27 is converted into pulses by the encoder 28, further corrected by the roll diameter corrector 43, and sent to the speed reference generator 29 as a signal F _u .
The speed reference generator 29 calculates F _u /L based on the sent signal F _u and the signal L _s from the shear synchronization length setter 26.
_s is calculated, and the result is supplied as a speed reference signal to the analog adder 30 as an addition input. When the conveyance speed of the strip material 2 is constant, the set synchronization length L _s
The rotation speed of the rotary cutter 6 is controlled so as to decrease as the length increases.

Further, a pulse is generated from the encoder 31 by the rotation of the drive motor 9, and this pulse has a frequency/
It is converted by a voltage converter 32 into a voltage proportional to the pulse frequency and is supplied to an analog adder 30 as a subtraction input.

Further, the set value λ is supplied from the λ setter 33 as a subtraction input to the digital adder 34 for every pulse from the encoder 31, while the set value λ is supplied from the setter 35 as a subtraction input for every pulse from _the encoder 28. _s n _n
are provided as summation inputs to adder 34, and the difference between these pulses multiplied by λ and N _s λ is taken. Here, N _s is the number of pulses generated by the encoder 31 of the cutter drive motor in one rotation of the rotary cutter 6 (device specific value) n _n is the measuring unit pulse, that is, the number of pulses generated by the measuring roll 27 when the strip material is fed by 1 mm. encoder 28
is the number of pulses generated (device-specific value). That is, if we look at the input of the adder 34 during one rotation of the rotary cutter 6, the strip material 2 moves by the set synchronized length _Ls during one rotation of the rotary cutter 6, which is 1 mm.
Since n _n pulses are generated each time the rotary cutter 6 moves, the encoder 28 generates n _n L _s pulses while the rotary cutter 6 makes one rotation, and the setting device 35 generates N _s λ/L _s for each pulse. Input _n to the digital adder 34.

In other words, during one rotation of the rotary cutter 6, n _n L _s・
N _s λ/L _s n _n pulses, that is, N _s λ pulses are input. During this time, the λ setter outputs N _s λ
is input to the digital adder 34, so if the rotational speed of the rotary cutter 6 and the conveyance speed of the strip material 2 are synchronized, the inputs of the two match as N _s λ = N _s λ, and the adder 34 While the strip material 2 is moving to the set cutting length L _p = L _s , the rotary cutter 6 is
It will rotate. If there is a difference between the inputs from the λ setter 33 and the setter 35, the difference output is converted into an analog signal by the digital-to-analog converter 36 and supplied to the analog adder 30 as a speed correction signal. In this way, digital adder 3
4 is for correcting accuracy errors that inevitably occur due to the nature of analog calculation in analog control systems, and by adding digitally calculated values to analog lube systems as correction values, the shearing accuracy is improved. There is. If the addition input and subtraction input of the digital adder 34 do not match for some reason, the difference is output as a correction value to the analog adder 30, and the drive motor is accelerated or decelerated.

Note that the output from this digital adder 34 is sent to the analog adder 30 only when the conveying speed of the rotary cutters 6, 6' and the strip material 2 are out of synchronization, and is not used for calculations in normal conditions. The value is 0 and no output is generated. Then, the analog adder 30 subtracts the number of rotations of the drive motor 9 sent from the encoder 31 and inputs it to the speed reference generator 2.
Calculation is performed using the output from the digital adder 34 as an addition input and the output from the digital adder 34 as a correction value, and the calculated value is sent to the thyristor controller 3 through the speed amplifier 37.
The drive motor 9 is controlled by the signal from the thyristor controller 38. In other words, the analog adder performs a function equivalent to a speed regulator in speed control. The drive motor 9 rotates while being controlled by the thyristor controller 38, and its rotation is decelerated by the reducer 10, and the mechanical periodic inconstant motion generator 11
is converted into periodic inconstant velocity motion, and rotated through the drum gear coupling 39 to the rotating cutters 6, 6'.
The rotating cutters 6, 6' rotate in synchronization with the conveyance speed of the strip material 2, thereby shearing the strip material 2.

Note that ensuring synchronization between the transport speed of the strip material 2 and the rotational speed of the rotary cutter within the mechanical synchronization range is the same as the conventional method, and the phase is adjusted by the drum gear coupling 39 according to the shear length. As a result, the speed of the drum knives 7a, 7b during shearing and the conveyance speed _Vs of the strip material 2 are matched to perform synchronous shearing. In other words, as shown in FIG. 1a and b, when drum rotation synchronization: T is constant, the rotational speed V _K of the knife changes in a curve, and by adjusting the phase θ of the drum gear coupling 39,
Lsmax (see Figure 1 a), shortest Lsmin (see Figure 1 b)
It is clear that it is possible to perform synchronous shearing (see ). Note that the set synchronization length L _s is expressed by the product of the knife speed V _K and the period T during shearing.

[Shearing outside the mechanical synchronization range]

As is clear from the graph in FIG. 1, the range of the set synchronization length _Ls determined by the mechanical periodic inconstant motion generator 11 is limited to the range from Lsmax to Lsmin, but as described below. , by performing electrical operation to create a region in which the speed of the drive motor 9 is increased or decreased during one revolution of the rotary cutter 6, thereby adjusting the knife speed V _K during shearing.
is made equal to or more than a speed or less than or equal to b speed, and synchronous shearing can be performed even in a region other than the synchronous shearing range Lsmax to Lsmin determined by the mechanical periodic inconstant motion generator 11. The operation in this case will be explained below.

First, a set cutting length L _p is set in the cutting length setter 40, and Lsmin is set in the synchronous length setter 26 when L _p <Lsmin, and Lsmax is set when L _p >Lsmax. The command timing to start increasing or decreasing the speed of the drive motor 9 is determined by the knives 7a and 7 of the rotary cutter 6.
The position at the moment when b comes out of the strip material 2 is defined as the shearing completion point, and this shearing completion point is detected by the signal from the drum position detection switch 41. The signal from the detection switch 41 is supplied to an acceleration/deceleration command device 42, and is used as a command signal for starting the acceleration or deceleration of the drive motor 9.

When the signal from the detection switch 41 is sent to the acceleration/deceleration command device 42, the acceleration/deceleration command value N _s λ (1−L _p /L _s ) is sent to the digital adder 34. Note that N _s λ (1-L _p /L _s ) is a fixed value. In this case, L _p > L _s and N _s λ(1-
When L _p /L _s ) < 0, the deceleration command is issued, and when L _p < L _s , N
_s λ (1-L _p /L _s )>0, and acceleration commands are respectively issued. Then, the digital adder 34 receives the acceleration/deceleration command N _s λ(1−
L _p /L _s ), subtraction input of the set value λ sent from the setter 33 for every pulse from the encoder 31, N _s λ/L _s n sent from the setter 35 for every pulse from the measuring encoder 28 Performs addition and subtraction of 3 inputs of _n addition inputs.

Looking at the input of the digital adder 34 during one rotation of the rotary cutter 6, the subtraction input from the fixed value setting device 33 on the rotary cutter side is N _s λ, and the addition input from the setting device 35 on the measuring roll side is Ln _n
N _s λ/n _n L _s = N _s λL/L _s , and when L=L _p , N _s λ (1-L _p /L _s )-N _s λ+N _s λL/L _s = 0, and the strip material The rotary cutter 6 rotates once while the cutter 2 is being conveyed L _p . That is, outside the mechanical synchronization range, N
By adding a fixed value _s λ (1-L _p /L _s ) to the digital adder 34 every rotation of the drum, the addition and subtraction inputs can be balanced and synchronous shearing becomes possible. This addition/subtraction result is converted into an analog signal by a digital-to-analog converter 36 as the output of the digital adder 34, and is supplied to the analog adder 30 as a speed correction signal, as in the case within the mechanical synchronization range described above. The output is amplified by a speed amplifier 37, sent to a thyristor controller 38, and used to control the drive motor 9.

By the above-described operation, L _p is synchronously sheared during one rotation of the rotary cutters 6, 6' beyond the mechanical synchronization range.

In addition, in the above embodiment, a drum-type running shear was described, but it is not limited to this, and a swing-type shear can also be used, and in this case, the strip material 2 moves by the cutting length L _p The shear may be controlled so that it makes one reciprocating motion in between. Also, a speed generator may be used instead of the encoder.

The present invention has the above-mentioned structure and operation, and is capable of synchronizing the rotational speed of the rotary cutter 6 with the conveyance speed of the strip at a high speed exceeding the synchronization range of the mechanical periodic inconstant motion generator. This method has an excellent effect of being able to shear the strip material with high accuracy.

[Brief explanation of the drawing]

Fig. 1 is a graph showing the relationship between the speed change of the rotary cutter knife and the synchronous shear range, Fig. 2 is a block diagram of an embodiment of the present invention, and Fig. 3 is a mechanical periodic inconstant motion generator. FIG. Further, 1 is a conveying device, A is a drive motor control circuit, and 42 is an acceleration/deceleration command device.

Claims (1)

[Claims] 1 A conveyance device that conveys a strip material, a shear cutter that shears the strip material in its width direction, a drive motor that rotationally drives this shear cutter, and a It consists of a mechanical periodic inconstant motion generator that imparts periodic inconstant motion to the shearing cutter, and the shearing device performs in-travel shearing of the strip in synchronization with the conveyance speed of the strip. In the shearing device, the drive motor is configured to perform synchronous shearing to a set length selected within the synchronization range of the mechanical periodic inconstant motion generator based on the conveying speed of the strip material and the rotational speed of the shearing cutter. In order to synchronize the conveying speed of the strip material and the rotational speed of the shear cutter when the controlling drive motor rotation control circuit and the set length are outside the synchronization range of the mechanical periodic inconstant motion generator, 1. A control device for a running shearing machine for strip material, comprising an acceleration/deceleration command device that gives an acceleration/deceleration command to the drive motor rotation control circuit so as to impart non-uniform velocity motion to the drive motor.