JPS6319420B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a winding machine that winds the winding material onto the reel by rotating the reel while relatively reciprocating the winding material such as wire or tube material and the reel in the axial direction of the reel. The present invention relates to a numerical control device for aligned winding that allows winding material to be wound on a reel at a set pitch and winding width.

<Prior art> In a conventional winding machine, a traverse means for reciprocating a guide body for the surrounding material for relatively reciprocating the reel and the surrounding material in the reel axial direction, and rotation of the reel are used. The reciprocating movement of the guide and the rotation of the reel were linked by driving a common motor via a coupling mechanism. For this reason, different winding machines are used depending on the width and diameter of the material to be wound and the gap between adjacent winding lines, that is, the winding pitch is different. Even if there was a device that could change the winding pitch, the mechanism for doing so was complicated and the parts had to be replaced and installed, which was cumbersome. Furthermore, each time the winding width, that is, the length of the winding shaft changes, it is necessary to change the winding machine or reconfigure a complicated mechanism.

On the other hand, the reel is rotated by a motor, and the reciprocating movement of the guide for the material to be wound is driven by a servo motor, and the servo motor is controlled according to the rotation of the reel, and its speed control is adjusted according to the winding pitch. It is proposed to do so. However, this method does not perform position control, and there is a risk that the winding will collapse, particularly at both ends of the winding width, that is, at the points where the direction of the guide body is changed (turns) during the reciprocating movement. In other words, depending on the line width, wire diameter, and gap between adjacent lines of the material to be wound, the condition of the part facing or in contact with the flange of the reel will differ, which may cause abnormalities such as overlapping or line dropouts. There is.
Therefore, as with the conventional mechanical type, if an abnormality occurs at a turning point while being monitored by a supervisor, it is necessary to manually move the material to be wound slightly to correct the winding condition. Placing a monitor in this way is not only undesirable due to the labor cost, but also requires correction when the abnormality is about to occur during continuous winding, or at the moment when the abnormality occurs. It requires skill to operate.

<Summary of the Invention> The object of the present invention is to provide an aligned winding device that can perform aligned winding without deploying a supervisor, regardless of differences in the shape of the material to be wound, differences in gaps between wires, and differences in winding width. The purpose of the present invention is to provide a numerical control device.

According to this invention, the traverse means is driven by a servo motor, the relative position between the material to be wound and the reel in the reel axis direction is detected by the traverse position detection means, and pulses are sent from the reel encoder in accordance with the rotation of the reel axis. generated. Values corresponding to the width of the winding material (line width, wire diameter), values corresponding to the winding pitch (pitch or gap between wires), winding shaft length (winding width), and, if necessary, the turn position. The reel stop angles are set respectively. A reference traverse position according to the rotation of the reel is calculated from at least a pulse from the reel encoder, a value corresponding to the set winding material, and a value corresponding to the set winding pitch, and this reference traverse position and A deviation from the current relative position detected by the traverse position detection means is detected, the deviation is converted into a speed reference, and the servo motor is controlled using the speed reference as a reference.

<Example> FIGS. 1 and 2 show an example of a winding machine, and in this example, the reel is reciprocated in the axial direction as a traverse. That is, a movable table 12 is held on a base 11 by suitable guide means (not shown in the figure) so that it can reciprocate from side to side in the figure. A feed screw 13 is screwed into the movable base 12, and the feed screw 13 is rotated forward and backward by a motor 14 fixed to the base 11, thereby rotating the movable base 12.
is moved back and forth. A take-up motor 15 is fixed on the movable table 12 , and the rotation of the rotating shaft of the take-up motor 15 is transmitted to the reel shaft 17 via a speed reducer 16 . A reel 18 is mounted on the reel shaft 17 and rotated. A winding material 19 is wound onto the reel 18 . Reel 1 of winding material 19
Although the winding position to 8 is not shown in the figure, the base 11
It is fixed by a guide body 21 fixed to. Therefore, as the feed screw 13 rotates forward and backward, the reel 18 reciprocates from side to side in the figure.
A winding material 19 is wound up against the winding material 19 .

In this invention, a servo motor 14 is used to drive the traverse means. The material to be wound 19 in the axial direction of the reel 18 (in the figure, the guide body 2
Means are provided for detecting the position relative to 1), ie the current traverse position. Therefore, in this example, a traverse encoder 22 driven by the rotation of the motor 14 is provided, and the servo motor 14
Pulses are generated in response to the rotation of the . As shown in FIG. 3, the pulses are cumulatively added by a cumulative adder 23 consisting of, for example, a reversible counter. In other words, when the motor 14 is rotating forward, the encoder 2
The pulses from 2 are counted up by the adder 23, and counted down when the motor 14 is reversely rotated. In this way, the cumulative adder 23 determines the current traverse position (the axial position of the reel 18).
However, as the encoder 22, an absolute type encoder that directly outputs the position of the reel 18 as a multi-bit binary value may be used. Note that the detection of the traverse position is, for example, 1 μm.
The accuracy is as follows.

A reel encoder 24 is provided which is driven by the rotation of the reel shaft 17, and generates pulses in accordance with the rotation of the reel 18. The pulse generation is, for example, 1000 pulses per rotation of the reel. Furthermore, in this example, a microcomputer 25 is used as shown in FIG. 3, and a value W corresponding to the width of the material to be wound 19 is input using its keyboard 26 (see also FIG. 4).
is input and set and stored in the storage unit 27, and furthermore, a value corresponding to the winding pitch, in this example, the gap G between the lines.
is input and set and stored in the storage section 28, and similarly, the winding shaft length (winding width) T is stored in the storage section 29.
In this example, the turn stop angle α is stored in the storage unit 31. The turn stop angle α is the turn position of the reel 18, that is, when the material to be wound 19 touches or approaches and the reciprocating movement of the reel 18 is reversed, the reciprocating movement,
In other words, it is the rotation angle (winding angle) of the reel 18 corresponding to the period during which the rotation of the motor 14 is temporarily stopped. Note that these set values and other values can be displayed on the display 32 as necessary. These settings can also be set using a digital switch.

In FIG. 3, a reference traverse position corresponding to the rotation of the reel 18 is calculated from the pulse from the reel encoder 24, a value W corresponding to the set width, and a value G corresponding to the pitch, as described below.
That is, the pulses from the reel encoder 24 are cumulatively added by a cumulative adder 33 consisting of a counter, for example. Let Pr be the number of pulses generated from the encoder 24 in one rotation of the reel 18, and 1 of the reel 18
The number of pulses generated from the encoder 22 during rotation is
Assuming that Pt, the moving amount ΔP of the reel 18 corresponding to one pulse of the reel 18 can be found from these and the set values W and G as follows: ΔP=(W+G)×Pt/Pr (1). The added value of the reel cumulative adder 33
If RACC, the reference traverse position is
It is determined by RACC x △P. This calculation is performed by the microcomputer 25.

The microcomputer 25 calculates the deviation RACC×ΔP−TACC between this reference traverse position and the current traverse position, that is, the added value TACC of the traverse cumulative adder 23. This deviation is
The signal is converted into an analog signal by the DA converter 34, and the servo motor 14 is controlled using this signal as a speed reference. That is, the output speed reference of the DA converter 34 is input to the analog adder 35. On the other hand, the tachogenerator 36 is driven by the servo motor 14, the rotation speed of the motor 14 is input to the analog adder 35, and the difference from the speed reference is output. The output of this analog adder 35 controls the servo motor 14 through a servo amplifier 37 including thyristor control, and the servo motor 14 is controlled to meet the speed reference.

Next, the operation will be explained with reference to the flowchart in FIG. It is assumed that the settings of W, G, T, and α have been made in advance. When power is applied, the step
The rotation of the reel 18 and its axial movement are controlled by manual operation at _S1 . In other words, the material to be wound 19 can be wound manually. When the reel 18 reaches the origin position during this manual operation, an origin sensor (not shown) displays this fact so that it can be confirmed. At step _S2 , it is checked whether automatic operation has been set, and if automatic operation has been set, the zero point is positioned at step _S3 . In other words, with the reel 18 positioned at the origin, the material to be wound 19 is manually reeled to the reel 1.
8 to bring it to a predetermined initial state.

After that, when the start switch is turned on, this is detected in step _S4 , and then in step _S5 , the set values of material width W, gap G, winding width T, and stop angle α are stored in the storage units 27, 28, 29. and 31, respectively. After that, in step _S6 , the traverse movement amount △P corresponding to one pulse of the reel encoder 24 is
is calculated using equation (1). Steps from this
At _S7 , the motors 14 and 16 are driven to start positioning control.

Actual traverse travel amount Ti at step _S8
It is checked whether (TACC) has reached the set take-up width T, and if Ti = T, the deviation between the reference traverse position RACC×△P and the current traverse position TACC is calculated in step _S9 , and this deviation is The signal is converted into a speed reference and output as a control signal to the servo motor 14. Return from step _S9 to step _S8 . When Ti=T in step _S8 , the control shifts to the turn position in step _S10 , the servo motor 14 is stopped, and the reel cumulative adder 33 is reset. In step _S10 , it is checked whether the subsequent cumulative addition value RACC for the reel has reached the stop angle α, and if RACC=α, the step
The winding width T set in _S12 is set to zero, and the cumulative adder 23 is set to count down, and the value of RACC when Ti=T is set to the cumulative adder 33, and the value is set to count down. be placed in a counting state.

In step _S13 , each time the number of layers wound on the reel 18 increases by a fixed value, for example, one layer, the stop angle α is changed by a fixed value Δα, for example, it may be increased.
In that case, set α+Δα to a new α and return to step _S8 . At this time, the servo motor 14 automatically rotates in reverse according to the settings in step _S12 , and reel 1
8 moves in the opposite direction. In this way, the reel 18 moves back and forth, and winding is performed in proper alignment.

Note that the shape of the rolled material 19, that is, the cross section is flat,
Reel 1 depending on square shape, round shape, wire rod, tube material, etc.
According to the output of the rotation angle (encoder 24) of 8, the traverse displacement with the parameter as the number of windings, the above-mentioned △
The value △Pi corresponding to P is stored in advance in the ROM 39 (third
It is also possible to store the ΔPi in the ΔP in FIG. Further, instead of the tachometer generator 36, the output of the encoder 22 may be converted into frequency and voltage and used. Furthermore, the guide body 21 may be reciprocated by the feed screw 13 or the like without moving the reel 18 in the axial direction.

<Effects> As described above, according to the present invention, the reference traverse position is calculated from the width of the material to be wound, the winding pitch (or gap G), and the pulse of the reel encoder 24, and the current Since the deviation in the traverse position is detected and controlled to eliminate this deviation, correct aligned winding can be performed. In particular, by controlling the stopping angle, it is possible to eliminate disturbances at the turn position, and there is no need for a supervisor.

[Brief explanation of the drawing]

FIG. 1 is a front view showing an example of a winding machine, FIG. 2 is a plan view of the reel 18 in FIG. 1, and FIG. 3 is a block diagram showing an example of a numerical control device for aligned winding according to the present invention. , FIG. 4 is a diagram showing a reel and winding material for explaining various values to be set, and FIG. 5 is a flowchart showing an example of operation. 11: Base, 12: Movable base, 13: Feed screw,
14: Servo motor, 15: Reel motor, 1
6: Reducer, 17: Reel shaft, 18: Reel, 1
9: Winding material, 21: Guide body, 22: Traverse encoder, 23, 33: Accumulation adder, 24:
Reel encoder, 25: Microcomputer, 26: Keyboard, 27: Line width storage unit, 2
8: Gap storage unit, 29: Winding width storage unit, 31: Stop angle storage unit, 32: Display unit, 34: DA converter, 3
5: analog adder, 36: tachometer generator,
37: Servo amplifier.

Claims (1)

[Scope of Claims] 1. Winding in which the reel is rotated by a rotating means and the material to be wound is moved back and forth relative to the reel in the axial direction of the reel by a traverse means to wind the material to be wound on the reel. In the machine, a servo motor that drives the traverse means, a reel encoder that generates pulses according to the rotation of the reel shaft, and a traverse position detection means that detects the relative position of the material to be wound and the reel in the axial direction. a means for setting a value corresponding to the width of the material to be wound; a means for setting a value corresponding to the winding pitch; a means for setting the winding shaft length; a pulse from the reel encoder; means for calculating a reference traverse position according to the rotation of the reel from a value corresponding to the set width of the winding material and a value corresponding to the set winding pitch; and the calculated reference traverse position and the traverse. An aligned winding comprising means for detecting a deviation from the current relative position detected by the position detection means and converting it into a speed reference, and speed control means for controlling the servo motor using the converted speed reference as a reference. Numerical control device for use.