WO2022229850A1 - Wire aligning machine and method for straightening wire or strip material - Google Patents

Wire aligning machine and method for straightening wire or strip material Download PDF

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Publication number
WO2022229850A1
WO2022229850A1 PCT/IB2022/053875 IB2022053875W WO2022229850A1 WO 2022229850 A1 WO2022229850 A1 WO 2022229850A1 IB 2022053875 W IB2022053875 W IB 2022053875W WO 2022229850 A1 WO2022229850 A1 WO 2022229850A1
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WO
WIPO (PCT)
Prior art keywords
straightening
wire
straightening rollers
axis
model
Prior art date
Application number
PCT/IB2022/053875
Other languages
German (de)
French (fr)
Inventor
Arndt MÜHLENFELD
Walter Resch
Original Assignee
Evg Entwicklungs- U. Verwertungs-Gesellschaft M.B.H.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Evg Entwicklungs- U. Verwertungs-Gesellschaft M.B.H. filed Critical Evg Entwicklungs- U. Verwertungs-Gesellschaft M.B.H.
Priority to IL308038A priority Critical patent/IL308038A/en
Priority to BR112023019770A priority patent/BR112023019770A2/en
Priority to EP22724254.2A priority patent/EP4329959A1/en
Priority to CN202280031099.4A priority patent/CN117241901A/en
Priority to US18/557,387 priority patent/US20240207921A1/en
Publication of WO2022229850A1 publication Critical patent/WO2022229850A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F1/00—Bending wire other than coiling; Straightening wire
    • B21F1/02—Straightening
    • B21F1/026—Straightening and cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21F—WORKING OR PROCESSING OF METAL WIRE
    • B21F1/00—Bending wire other than coiling; Straightening wire
    • B21F1/02—Straightening
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D3/00—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts
    • B21D3/02—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts by rollers
    • B21D3/05—Straightening or restoring form of metal rods, metal tubes, metal profiles, or specific articles made therefrom, whether or not in combination with sheet metal parts by rollers arranged on axes rectangular to the path of the work
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21C—MANUFACTURE OF METAL SHEETS, WIRE, RODS, TUBES OR PROFILES, OTHERWISE THAN BY ROLLING; AUXILIARY OPERATIONS USED IN CONNECTION WITH METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL
    • B21C51/00—Measuring, gauging, indicating, counting, or marking devices specially adapted for use in the production or manipulation of material in accordance with subclasses B21B - B21F
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D1/00—Straightening, restoring form or removing local distortions of sheet metal or specific articles made therefrom; Stretching sheet metal combined with rolling
    • B21D1/02—Straightening, restoring form or removing local distortions of sheet metal or specific articles made therefrom; Stretching sheet metal combined with rolling by rollers

Definitions

  • the invention relates to a method for straightening wire or strip material by means of a dressing device with straightening rollers which act in an offset manner on opposite sides of the material passing through, some of which are automatically adjusted depending on a model which has been determined on the basis of input data of the material, that the requirements for straightness are met, with the position of at least one straightening roller being continuously adapted on the basis of the data recorded during passage through the dressage device, which are representative of the straightness achieved, with an X-axis within the model in the direction of travel of the material, and a Y and a Z axis perpendicular to each other and to the X axis.
  • the invention also relates to a wire straightening machine or a device for straightening wire or strip material with a dressing device with two rows of non-driven straightening rollers arranged longitudinally offset opposite one another, which during operation act on a material passing between the rows in order to straighten it, wherein some straightening rollers are automatically controlled depending on a model and can be adjusted to the material in such a way that the requirements for the straightness of the material emerging from the dressing device are met, with an X-axis in the direction of flow of the material within the model, as well as a Y - and a Z-axis perpendicular to each other and to the X-axis.
  • WO 2020/172694 teaches a method and a device in which a wire can be straightened in an adjustable straightening device. For this, either the temperature of the wire, the forces on the straightening rollers or the deflection of the straightened free wire after leaving the straightening device are measured, entered into a model and used to adjust the position of some straightening rollers on the wire.
  • the disadvantage is that when measuring the wire deflection, a free wire must be present, which cannot immediately be further processed in an automated manner.
  • WO 2015/144539 A1 discloses a method in which, within a test measurement, a relationship is determined, among other things, between forces that act on straightening rollers and "property to be straightened", such as the flatness of the straightened material allows the adjustment of straightening rollers within a straightening process based on the properties of the straightening material, but without measuring forces.
  • the disadvantage is that the procedure only takes place as part of a test measurement.
  • the object of the invention is to provide a closed loop control for an autonomous method for straightening material of unknown, variable curvature, with the end of the wire not being free, with the straightening machine not being built particularly much longer than conventionally, and with no separate test drive must be carried out.
  • this is achieved in that the deflection of the material after it has passed through the arrangement of straightening rollers in the Y and Z directions is measured by means of three sensors arranged along the X axis of the material and the measured values obtained are entered into the A controlling model can be entered at the position of the adjustable straightening rollers.
  • dressage devices are run through successively by wire or strip material, with one dressage device having horizontally arranged straightening rollers and the other vertically arranged straightening rollers.
  • the material is cut to predetermined lengths downstream of the third sensor, viewed in the throughput direction.
  • the position of the material is measured behind all straightening rollers, seen in the throughput direction, by measuring the deviation of the material from the throughput axis (the X-axis) in the direction of the straightening rollers (Y-axis) and perpendicular to these two axes (the Z-axis). ).
  • Known optical measuring methods for example, using laser distance sensors (so-called laser scanners) or ultrasonic sensors, can be used for this purpose. It is conceivable that the position measurement is only carried out at the beginning of the process for calibration purposes, while the measurement of the forces acting on the straightening rollers during ongoing operation is sufficient for carrying out the process according to the invention.
  • the invention also relates to a device for implementing the method according to the invention.
  • the invention consists in such a device in that three sensors spaced apart from one another in the X direction for measuring the deflection of the material in the Z and Y direction in the direction of movement of the material are arranged behind the training device, all of which are obtained Measured values can be supplied to the model that controls the adjustment of the adjustable straightening rollers.
  • wire cutters are arranged behind the third sensor, viewed in the throughput direction.
  • the wire runs through two dressing devices in succession, one dressing device having horizontally arranged straightening rollers and the other vertically arranged straightening rollers.
  • a second dressing device with two rows of non-driven straightening rollers arranged longitudinally offset opposite one another is arranged behind the third sensor second dressage device acts on the material offset by 90° compared to the first.
  • FIG. 1 shows a training device with a wire running through it
  • FIG. 2 shows the same training device with indicated measuring points
  • FIG. 3 shows the graphic model of a wire deflection
  • FIG. 1 shows a training device with a wire running through it
  • FIG. 2 shows the same training device with indicated measuring points
  • FIG. 3 shows the graphic model of a wire deflection
  • FIG. 1 shows a training device with a wire running through it
  • FIG. 2 shows the same training device with indicated measuring points
  • FIG. 3 shows the graphic model of a wire deflection
  • the straightening rollers 3, 4, 6, 10 have no rotary drive, the dressage device is traversed by the wire as material 1, the len by Vorschubrol not shown in the direction of arrow 2 is moved.
  • the wire runs through two successive dressing devices offset by 90°, one dressing device having horizontal straightening rollers and the other dressing device having vertical straightening rollers.
  • the main working range of the invention covers wire diameters between about 4 mm and about 20 mm.
  • the first two straightening rollers 3 of the lower Rei in FIG. 1 have fixed axes of rotation.
  • the subsequent to this lower straightening roller 4 is individually adjustable by means of an indicated at 5 adjusting device to the continuous Materi al 1.
  • the three first straightening rollers 6 of the upper Rei he are jointly adjustable to the material 1 and are mounted for this purpose on a common carrier 7, which is adjustable in height by means of a lever 8 by a servomotor 9.
  • the subsequent to the upper straightening rollers 6 upper straightening roller 10 is individually adjustable by means of an indicated at 11 Stellvor direction to the material.
  • Fig. 2 shows that after the straightening rollers 3, 4, 6, 10 in the straightening system there are three sensors 13, 14, 15 which measure the position of the straightened wire in the Y-direction and in the Z-direction (not shown, as perpendicular to the paper plane).
  • the three sensors 13, 14, 15 spaced apart from one another in the X-direction determine the magnitude and direction of any curvature that is still present.
  • Fig. 3 shows the model, wherein the curvature b is based on a predetermined length 1 be. 1 is a section along the X-axis, starting behind the straightening rollers of the dressage devices. It can also be located between two training devices that are offset or rotated by 90° to one another. Ideally, all three sensors 13, 14, 15 are located in section 1.
  • the wire has a curvature in the cut state (eg b/1>2 mm/m according to FIG. 3), this can already be seen in the clamped state of the material 1 in front of the shears 16 or other elements of the straightening machine.
  • the curvature is not as pronounced in the clamped state as after a cut through the scissors 16.
  • connection is non-linear and not directly proportional, because the wire works against a clamped state and can deviate in all directions.
  • the prevailing opinion is that the curvature of a wire can only be determined with sufficient accuracy if one end of the wire is free.
  • the behavior of the wire with curvature when clamped at both ends can be modeled.
  • the curvature of the wire material 1 in the Y and Z directions is determined from the three position measurements.
  • the curvature b of FIG. 3 becomes a vector in three-dimensional space. This vector goes into a non-linear model, from which a prediction of the actual curvature, which would have to be compensated for by a new adjustment of the straightening rollers 3, 4, 6, 10, is calculated.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Wire Processing (AREA)

Abstract

The invention relates to a method and a device for straightening wire or strip material using a straightening device comprising aligning rollers which act on opposite sides of the material (1) being passed through in an offset manner and some of which are automatically set on the basis of a model, which has been ascertained using input data of the material, such that the requirements for straightness are satisfied. The position of at least one aligning roller is continuously adapted on the basis of the aforementioned data which is detected while the material passes through the straightening device and which represents the target straightness, wherein the deflection of the material in the Y and Z direction after passing through the assembly of aligning rollers (3, 4, 6, 10) is measured by means of three sensors (13, 14, 15) arranged along the X axis, and the obtained measurement values are input into the model which controls the setting of the aligning rollers which can be set.

Description

Drahtrichtmaschine und Verfahren zum Geraderichten von Draht oder Bandmaterial Wire straightening machine and method of straightening wire or strip material
Die Erfindung betrifft ein Verfahren zum Geraderichten von Draht oder Bandmaterial mittels einer Dressurvorrichtung mit an gegenüberliegenden Seiten des durchlaufenden Materials ver setzt angreifenden Richtrollen, von denen einige abhängig von einem Modell, das anhand von Eingangsdaten des Materials er mittelt worden ist, automatisch so angestellt werden, dass die Anforderungen an die Geradheit erfüllt werden, wobei die Stel lung mindestens einer Richtrolle laufend adaptiert wird auf grund der genannten, beim Durchlauf durch die Dressurvorrich tung erfassten Daten, welche für die erzielte Geradheit reprä sentativ sind, wobei innerhalb des Modells eine X-Achse in der Durchlaufrichtung des Materials liegt, sowie eine Y- und eine Z-Achse senkrecht zueinander und zur X-Achse. The invention relates to a method for straightening wire or strip material by means of a dressing device with straightening rollers which act in an offset manner on opposite sides of the material passing through, some of which are automatically adjusted depending on a model which has been determined on the basis of input data of the material, that the requirements for straightness are met, with the position of at least one straightening roller being continuously adapted on the basis of the data recorded during passage through the dressage device, which are representative of the straightness achieved, with an X-axis within the model in the direction of travel of the material, and a Y and a Z axis perpendicular to each other and to the X axis.
Die Erfindung betrifft ferner eine Drahtrichtmaschine bzw. ei ne Vorrichtung zum Geraderichten von Draht oder Bandmaterial mit einer Dressurvorrichtung mit zwei einander gegenüber längsversetzt angeordneten Reihen von antriebslosen Richtrol len, die im Betrieb an einem zwischen den Reihen durchlaufen den Material angreifen, um dieses geradezurichten, wobei eini ge Richtrollen abhängig von einem Modell automatisch gesteuert so an das Material anstellbar sind, dass die Anforderungen an die Geradheit des aus der Dressurvorrichtung austretenden Ma terials erfüllt sind, wobei innerhalb des Modells eine X-Achse in der Durchlaufrichtung des Materials liegt, sowie eine Y- und eine Z-Achse senkrecht zueinander und zur X-Achse. The invention also relates to a wire straightening machine or a device for straightening wire or strip material with a dressing device with two rows of non-driven straightening rollers arranged longitudinally offset opposite one another, which during operation act on a material passing between the rows in order to straighten it, wherein some straightening rollers are automatically controlled depending on a model and can be adjusted to the material in such a way that the requirements for the straightness of the material emerging from the dressing device are met, with an X-axis in the direction of flow of the material within the model, as well as a Y - and a Z-axis perpendicular to each other and to the X-axis.
Die WO 2020/172694 lehrt ein Verfahren und eine Vorrichtung, bei welchen ein Draht in einer anpassbaren Richtvorrichtung gerade gerichtet werden kann. Dafür werden laufend entweder die Temperatur des Drahtes, die Kräfte auf die Richtrollen oder die Auslenkung des gerichteten freien Drahtes nach Ver lassen der Richtvorrichtung gemessen, in ein Modell eingegeben und zur Anpassung der Anstellung einiger Richtrollen an den Draht verwendet. Nachteilig ist, dass im Fall der Messung der Drahtauslenkung ein freier Draht vorhanden sein muss, der nicht unmittelbar automatisiert weiterverarbeitbar ist. WO 2020/172694 teaches a method and a device in which a wire can be straightened in an adjustable straightening device. For this, either the temperature of the wire, the forces on the straightening rollers or the deflection of the straightened free wire after leaving the straightening device are measured, entered into a model and used to adjust the position of some straightening rollers on the wire. The disadvantage is that when measuring the wire deflection, a free wire must be present, which cannot immediately be further processed in an automated manner.
Die WO 2015/144539 Al offenbart ein Verfahren, bei welchem in nerhalb einer Testmessung ein Zusammenhang u.a. von Kräften, die auf Richtwalzen wirken, und „Richtguteigenschaften", wie etwa die Planheit des Richtgutes, ermittelt wird. Anschließend wird ein Modell gebildet, das es erlaubt, innerhalb eines Richtprozesses aus laufenden Richtguteigenschaften die Anstel lung von Richtwalzen anzupassen, allerdings ohne dabei Kräfte zu messen. Nachteilig ist, dass das Verfahren nur im Rahmen einer Testmessung stattfindet. WO 2015/144539 A1 discloses a method in which, within a test measurement, a relationship is determined, among other things, between forces that act on straightening rollers and "property to be straightened", such as the flatness of the straightened material allows the adjustment of straightening rollers within a straightening process based on the properties of the straightening material, but without measuring forces.The disadvantage is that the procedure only takes place as part of a test measurement.
Die Erfindung stellt sich die Aufgabe, einen geschlossenen Re gelkreis für ein autonomes Verfahren anzugeben, um Richtgut von unbekannter, variabler Krümmung geradezurichten, wobei das Drahtende nicht frei sein, wobei die Richtmaschine nicht be sonders viel länger als herkömmlich gebaut werden, und wobei keine gesonderte Testmessfahrt durchgeführt werden muss. The object of the invention is to provide a closed loop control for an autonomous method for straightening material of unknown, variable curvature, with the end of the wire not being free, with the straightening machine not being built particularly much longer than conventionally, and with no separate test drive must be carried out.
Dies wird beim eingangs genannten Verfahren dadurch erreicht, dass die Auslenkung des Materials nach dem Durchgang durch die Anordnung der Richtrollen in Y- und in Z-Richtung mittels drei voneinander entlang der X-Achse des Materials angeordneter Sensoren gemessen und die erhaltenen Messwerte in das die An stellung der anstellbaren Richtrollen steuernde Modell einge geben werden. In einer Ausführungsform des Verfahrens werden Dressurvorrich tungen hintereinander vom Draht oder vom Bandmaterial durch laufen, wobei die eine Dressurvorrichtung horizontal angeord nete Richtrollen und die andere vertikal angeordnete Richtrol len aufweist. In the method mentioned at the outset, this is achieved in that the deflection of the material after it has passed through the arrangement of straightening rollers in the Y and Z directions is measured by means of three sensors arranged along the X axis of the material and the measured values obtained are entered into the A controlling model can be entered at the position of the adjustable straightening rollers. In one embodiment of the method, dressage devices are run through successively by wire or strip material, with one dressage device having horizontally arranged straightening rollers and the other vertically arranged straightening rollers.
In einer weiteren vorteilhaften Alternative wird das Material in Durchlaufrichtung gesehen hinter dem dritten Sensor auf vorbestimmte Längen geschnitten. In a further advantageous alternative, the material is cut to predetermined lengths downstream of the third sensor, viewed in the throughput direction.
Die Messung der Position des Materials erfolgt in Durchlauf richtung gesehen hinter allen Richtrollen durch Messung der Abweichung des Materials von der Durchlaufachse (der X-Achse) in der Anstellrichtung der Richtrollen (Y-Achse) und senkrecht zu diesen beiden Achsen (der Z-Achse). Hierfür kommen bekannte optische Messverfahren durch z.B. Laserabstandssensoren (soge nannte Laserscanner) oder Ultraschallsensoren in Frage. Es ist denkbar, dass die Positionsmessung nur zu Beginn des Verfah rens zu Kalibrationszwecken durchgeführt wird, während im lau fenden Betrieb die Messung der an den Richtrollen angreifenden Kräfte zur Durchführung des erfindungsgemäßen Verfahrens ge nügt. The position of the material is measured behind all straightening rollers, seen in the throughput direction, by measuring the deviation of the material from the throughput axis (the X-axis) in the direction of the straightening rollers (Y-axis) and perpendicular to these two axes (the Z-axis). ). Known optical measuring methods, for example, using laser distance sensors (so-called laser scanners) or ultrasonic sensors, can be used for this purpose. It is conceivable that the position measurement is only carried out at the beginning of the process for calibration purposes, while the measurement of the forces acting on the straightening rollers during ongoing operation is sufficient for carrying out the process according to the invention.
Die Erfindung betrifft im übrigen eine Vorrichtung zur Durch führung des erfindungsgemäßen Verfahrens. Die Erfindung be steht bei einer solchen Vorrichtung darin, dass drei voneinan der in X-Richtung beabstandete Sensoren zur Messung der Aus lenkung des Materials in Z- und in Y-Richtung in Bewegungs richtung des Materials gesehen hinter der Dressurvorrichtung angeordnet sind, wobei alle erhaltenen Messwerte dem das An stellen der anstellbaren Richtrollen steuernden Modell zuführ- bar sind. In einer Alternative der Erfindung ist in Durchlaufrichtung gesehen hinter dem dritten Sensor eine Drahtschere angeordnet. The invention also relates to a device for implementing the method according to the invention. The invention consists in such a device in that three sensors spaced apart from one another in the X direction for measuring the deflection of the material in the Z and Y direction in the direction of movement of the material are arranged behind the training device, all of which are obtained Measured values can be supplied to the model that controls the adjustment of the adjustable straightening rollers. In an alternative of the invention, wire cutters are arranged behind the third sensor, viewed in the throughput direction.
Bevorzugt ist in einer weiteren Ausführungsform, dass zwei Dressurvorrichtungen hintereinander vom Draht durchlaufen wer den, wobei eine Dressurvorrichtung horizontal angeordnete Richtrollen und die andere vertikal angeordnete Richtrollen aufweist . In a further embodiment, it is preferred that the wire runs through two dressing devices in succession, one dressing device having horizontally arranged straightening rollers and the other vertically arranged straightening rollers.
Ebenso ist in einer Alternative denkbar, dass sich in Durch laufrichtung gesehen hinter dem dritten Sensor eine zweite Dressurvorrichtung mit zwei einander gegenüber längsversetzt angeordneten Reihen von antriebslosen Richtrollen, die im Be trieb an einem zwischen den Reihen durchlaufenden Material an greifen, angeordnet ist, wobei die zweite Dressurvorrichtung gegenüber der ersten um 90° versetzt am Material angreift. It is also conceivable as an alternative that, seen in the direction of travel, a second dressing device with two rows of non-driven straightening rollers arranged longitudinally offset opposite one another is arranged behind the third sensor second dressage device acts on the material offset by 90° compared to the first.
Die Erfindung wird anhand der Zeichnung näher erläutert, worin Fig. 1 eine Dressurvorrichtung mit einem durch diese laufenden Draht, Fig. 2 dieselbe Dressurvorrichtung mit angedeuteten Messstellen, Fig. 3 das graphische Modell einer Drahtauslen- kung und Fig. 4 einen Regelkreis als Blockdiagramm zeigt. The invention is explained in more detail with reference to the drawing, in which FIG. 1 shows a training device with a wire running through it, FIG. 2 shows the same training device with indicated measuring points, FIG. 3 shows the graphic model of a wire deflection and FIG .
Die Dressurvorrichtung der Fig. 1, die zum Stand der Technik zählt, besitzt zwei gegeneinander horizontal versetzt angeord nete Reihen horizontaler Richtrollen 3, 4, 6, 10. Eine Reihe greift am zu richtenden Drahtmaterial 1 unten und die andere Reihe am zu richtenden Draht oben an. Das zu richtende Draht material 1 kann auch Bandmaterial (nicht gezeigt) sein; im folgenden wird mit dem Ausdruck Drahtmaterial der Draht oder Bandmaterial bezeichnet. Die Richtrollen 3, 4, 6, 10 haben keinen Drehantrieb, die Dressurvorrichtung wird vom Draht als Material 1 durchlaufen, der durch nicht gezeigte Vorschubrol len in Richtung des Pfeiles 2 bewegt wird. Normalerweise durchläuft der Draht hintereinander zwei zueinander jeweils um 90° versetzte Dressurvorrichtungen, wobei eine Dressurvorrich tung horizontale Richtrollen und die andere Dressurvorrichtung vertikale Richtrollen aufweist. Der Hauptarbeitsbereich der Erfindung umfasst Drahtdurchmesser zwischen etwa 4 mm und etwa 20 mm. 1, which is one of the prior art, has two horizontally offset rows of horizontal straightening rollers 3, 4, 6, 10. A row engages the wire material 1 to be straightened and the other row at the top wire to be straightened on. The wire material 1 to be straightened can also be strip material (not shown); In the following, the wire or strip material is referred to as wire material. The straightening rollers 3, 4, 6, 10 have no rotary drive, the dressage device is traversed by the wire as material 1, the len by Vorschubrol not shown in the direction of arrow 2 is moved. Usually the wire runs through two successive dressing devices offset by 90°, one dressing device having horizontal straightening rollers and the other dressing device having vertical straightening rollers. The main working range of the invention covers wire diameters between about 4 mm and about 20 mm.
Die ersten beiden Richtrollen 3 der in der Fig. 1 unteren Rei he haben feststehende Drehachsen. Die an diese anschließende untere Richtrolle 4 ist mittels einer bei 5 angedeuteten Stellvorrichtung einzeln für sich an das durchlaufende Materi al 1 anstellbar. Die drei ersten Richtrollen 6 der oberen Rei he sind gemeinsam an das Material 1 anstellbar und sind zu diesem Zweck auf einem gemeinsamen Träger 7 gelagert, der mit tels eines Hebels 8 durch einen Stellmotor 9 höhenverstellbar ist. Die an die oberen Richtrollen 6 anschließende obere Richtrolle 10 ist mittels einer bei 11 angedeuteten Stellvor richtung einzeln für sich an das Material anstellbar. The first two straightening rollers 3 of the lower Rei in FIG. 1 have fixed axes of rotation. The subsequent to this lower straightening roller 4 is individually adjustable by means of an indicated at 5 adjusting device to the continuous Materi al 1. The three first straightening rollers 6 of the upper Rei he are jointly adjustable to the material 1 and are mounted for this purpose on a common carrier 7, which is adjustable in height by means of a lever 8 by a servomotor 9. The subsequent to the upper straightening rollers 6 upper straightening roller 10 is individually adjustable by means of an indicated at 11 Stellvor direction to the material.
Fig. 2 veranschaulicht, dass nach den Richtrollen 3, 4, 6, 10 in der Richtanlage drei Sensoren 13, 14, 15 angebracht sind, die die Position des gerichteten Drahtes in der Y-Richtung und in der Z-Richtung (nicht eingezeichnet, da senkrecht zur Pa pierebene) bestimmen. Durch die drei in X-Richtung voneinander beabstandeten Sensoren 13, 14, 15 wird Betrag und Richtung ei ner noch vorhandenen Krümmung bestimmt. Fig. 3 zeigt dazu das Modell, wobei die Krümmung b auf eine vorbestimmte Länge 1 be zogen ist. 1 ist ein Streckenabschnitt entlang der X-Achse, der hinter den Richtrollen der Dressurvorrichtungen beginnt. Sie kann sich auch zwischen zwei um 90° zueinander versetzten bzw. gedrehten Dressurvorrichtungen befinden. Idealerweise be finden sich alle drei Sensoren 13, 14, 15 im Streckenabschnitt 1. Wenn der Draht im geschnittenen Zustand eine Krümmung aufweist (z.B. b/ 1 > 2 mm/m nach Fig. 3), so ist dies schon im einge spannten Zustand des Materials 1 vor der Schere 16 oder ande ren Elementen der Richtmaschine erkennbar. Die Krümmung ist im eingespannten Zustand zwar nicht genauso ausgeprägt, wie nach einem Schnitt durch die Schere 16. Man erkennt aber bereits an dem nach der ersten (von möglicherweise zwei) Dressurvorrich tungen sichtbaren Drahtmaterial 1, ob eine Krümmung vorliegt oder nicht. Man kann sogar erkennen, ob eine starke Krümmung vorliegt. Fig. 2 shows that after the straightening rollers 3, 4, 6, 10 in the straightening system there are three sensors 13, 14, 15 which measure the position of the straightened wire in the Y-direction and in the Z-direction (not shown, as perpendicular to the paper plane). The three sensors 13, 14, 15 spaced apart from one another in the X-direction determine the magnitude and direction of any curvature that is still present. Fig. 3 shows the model, wherein the curvature b is based on a predetermined length 1 be. 1 is a section along the X-axis, starting behind the straightening rollers of the dressage devices. It can also be located between two training devices that are offset or rotated by 90° to one another. Ideally, all three sensors 13, 14, 15 are located in section 1. If the wire has a curvature in the cut state (eg b/1>2 mm/m according to FIG. 3), this can already be seen in the clamped state of the material 1 in front of the shears 16 or other elements of the straightening machine. The curvature is not as pronounced in the clamped state as after a cut through the scissors 16. However, one can already see from the wire material 1 visible after the first (of possibly two) dressage devices whether there is a curvature or not. You can even tell if there is a strong curvature.
Der Zusammenhang ist allerdings nichtlinear und auch nicht di rekt proportional, weil der Draht gegen einen eingespannten Zustand arbeitet und in alle Richtungen ausweichen kann. Im Stand der Technik herrscht daher die Meinung vor, die Krümmung eines Drahtes mit ausreichender Genauigkeit nur dann bestimmen zu können, wenn ein Drahtende frei ist. However, the connection is non-linear and not directly proportional, because the wire works against a clamped state and can deviate in all directions. In the prior art, therefore, the prevailing opinion is that the curvature of a wire can only be determined with sufficient accuracy if one end of the wire is free.
Überraschenderweise lässt sich aber das Verhalten des Drahtes mit Krümmung im an beiden Enden eingespannten Zustand model lieren. In dem dafür anzuwendenden Verfahren wird aus den drei Positionsmessungen die Krümmung des Drahtmaterials 1 in Y- und in Z-Richtung bestimmt. Die Krümmung b aus Fig. 3 wird zu ei nem Vektor im dreidimensionalen Raum. Dieser Vektor geht in ein nichtlineares Modell ein, aus welchem eine Vorhersage der tatsächlichen Krümmung, die durch eine neue Anstellung der Richtrollen 3, 4, 6, 10 auszugleichen wäre, errechnet wird. Versuche haben zu einem nichtlinearen Modell geführt, durch welches die Differenz der tatsächlichen Krümmung von der Vor hersage im Bereich des Mittelwerts der Krümmung des geraden Drahtes ausreichend klein wird, d.h. die Vorhersage ist genau genug, um eine Abweichung vom gewünschten Richtergebnis zu er kennen. Mithilfe der Krümmungsvorhersage wird gemäß Fig. 4 die Zu standsschätzung im prädikativen Regelkreis erreicht. Die Rege lung selbst erfolgt anhand eines Modells, das die Abweichung im Richtergebnis auf die benötigten Einstellungskorrekturen der Richteinheit abbildet. Surprisingly, however, the behavior of the wire with curvature when clamped at both ends can be modeled. In the method to be used for this purpose, the curvature of the wire material 1 in the Y and Z directions is determined from the three position measurements. The curvature b of FIG. 3 becomes a vector in three-dimensional space. This vector goes into a non-linear model, from which a prediction of the actual curvature, which would have to be compensated for by a new adjustment of the straightening rollers 3, 4, 6, 10, is calculated. Experiments have led to a non-linear model by which the difference of the actual curvature from the prediction before in the area of the mean value of the curvature of the straight wire becomes sufficiently small, ie the prediction is accurate enough to know a deviation from the desired straightening result. According to FIG. 4, the state estimation in the predictive control loop is achieved with the aid of the curvature prediction. The control itself is based on a model that maps the deviation in the straightening result to the required setting corrections of the straightening unit.

Claims

Patentansprüche: Patent Claims:
1. Verfahren zum Geraderichten von Draht oder Bandmaterial mittels einer Dressurvorrichtung mit an gegenüberliegenden Seiten des durchlaufenden Materials (1) versetzt angrei fenden Richtrollen, von denen einige abhängig von einem Modell, das anhand von Eingangsdaten des Materials (1) er mittelt worden ist, automatisch so angestellt werden, dass die Anforderungen an die Geradheit erfüllt werden, wobei die Stellung mindestens einer Richtrolle laufend adaptiert wird aufgrund der genannten, beim Durchlauf durch die Dressurvorrichtung erfassten Daten, welche für die erziel te Geradheit repräsentativ sind, wobei innerhalb des Mo dells eine X-Achse in der Durchlaufrichtung des Materials (1) liegt, sowie eine Y- und eine Z-Achse senkrecht zuei nander und zur X-Achse, dadurch gekennzeichnet, dass die Auslenkung des Materials (1) nach dem Durchgang durch die Anordnung der Richtrollen (3, 4, 6, 10) in Y- und in Z-1. Method of straightening wire or strip material by means of a dressage device with straightening rollers acting offset on opposite sides of the material (1) passing through, some of which are automatic depending on a model that has been determined from input data of the material (1). adjusted in such a way that the straightness requirements are met, with the position of at least one straightening roller being continuously adapted on the basis of the data recorded during the passage through the dressage device, which are representative of the straightness achieved, with an X within the model -axis lies in the direction of passage of the material (1), as well as a Y and a Z axis perpendicular to each other and to the X axis, characterized in that the deflection of the material (1) after passing through the arrangement of the straightening rollers ( 3, 4, 6, 10) in Y and in Z
Richtung mittels drei voneinander entlang der X-Achse des Materials (1) angeordneter Sensoren (13, 14, 15) gemessen und die erhaltenen Messwerte in das die Anstellung der an stellbaren Richtrollen (6, 4, 10) steuernde Modell einge geben werden. The direction is measured by means of three sensors (13, 14, 15) arranged from one another along the X-axis of the material (1) and the measured values obtained are entered into the model controlling the adjustment of the adjustable straightening rollers (6, 4, 10).
2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass zwei Dressurvorrichtungen hintereinander vom Draht oder vom Bandmaterial durchlaufen werden, wobei die eine Dres survorrichtung horizontal angeordnete Richtrollen (3, 4,2. The method according to claim 1, characterized in that the wire or strip material runs through two dressing devices in succession, with one dressing device having horizontally arranged straightening rollers (3, 4,
6, 10) und die andere vertikal angeordnete Richtrollen aufweist. 6, 10) and the other has straightening rollers arranged vertically.
3. Verfahren nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Material (1) in Durchlaufrichtung gesehen hinter dem dritten Sensor (15) auf vorbestimmte Längen geschnit ten wird. 3. The method as claimed in claim 1 or 2, characterized in that the material (1) is cut to predetermined lengths downstream of the third sensor (15), viewed in the direction of passage.
4. Vorrichtung zur Durchführung des Verfahrens zum Gerade richten von Draht oder Bandmaterial nach einem der Ansprü che 1 bis 3, mit einer Dressurvorrichtung mit zwei einan der gegenüber längsversetzt angeordneten Reihen von an triebslosen Richtrollen (3, 4, 6, 10), die im Betrieb an einem zwischen den Reihen durchlaufenden Material (1) an greifen, um dieses geradezurichten, wobei einige Richtrol len (6, 4, 10) abhängig von einem Modell automatisch ge steuert so an das Material (1) anstellbar sind, dass die Anforderungen an die Geradheit des aus der Dressurvorrich tung austretenden Materials erfüllt sind, wobei innerhalb des Modells eine X-Achse in der Durchlaufrichtung des Ma terials (1) liegt, sowie eine Y- und eine Z-Achse senk recht zueinander und zur X-Achse, dadurch gekennzeichnet, dass drei voneinander in X-Richtung beabstandete Sensoren (13, 14, 15) zur Messung der Auslenkung des Materials (1) in X- und in Y-Richtung in Bewegungsrichtung des Materials gesehen hinter der Dressurvorrichtung angeordnet sind, wo bei alle erhaltenen Messwerte dem das Anstellen der an stellbaren Richtrollen (6, 4, 10) steuernden Modell zu- führbar sind. 4. A device for carrying out the method for straightening wire or strip material according to any one of Ansprü surface 1 to 3, with a dressage device with two einan the opposite longitudinally offset rows of non-driven straightening rollers (3, 4, 6, 10), the im Operation on a material (1) running through between the rows to straighten it, with some straightening rolls (6, 4, 10) depending on a model automatically controlled so that the material (1) can be adjusted in such a way that the requirements are met the straightness of the material emerging from the dressage device is met, with an X-axis lying in the direction of flow of the material (1) within the model, and a Y-axis and a Z-axis perpendicular to each other and to the X-axis, thereby characterized in that three sensors (13, 14, 15) spaced apart from one another in the X direction for measuring the deflection of the material (1) in the X and Y directions seen in the direction of movement of the material behind the dressage device are arranged, where all the measured values obtained can be supplied to the model that controls the positioning of the adjustable straightening rollers (6, 4, 10).
5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass sich in Durchlaufrichtung gesehen hinter dem dritten Sen sor (15) eine Drahtschere (16) angeordnet ist. 5. The device according to claim 4, characterized in that seen in the direction of passage behind the third sen sor (15) a wire cutter (16) is arranged.
6. Vorrichtung nach Anspruch 4 oder 5, dadurch gekennzeich net, dass zwei Dressurvorrichtungen hintereinander vom Draht (1) durchlaufen werden, wobei eine Dressurvorrich tung horizontal angeordnete Richtrollen (3, 4, 6, 10) und die andere vertikal angeordnete Richtrollen aufweist. 6. Apparatus according to claim 4 or 5, characterized in that the wire (1) runs through two dressage devices in succession, one dressage device having horizontally arranged straightening rollers (3, 4, 6, 10) and the other vertically arranged straightening rollers.
PCT/IB2022/053875 2021-04-27 2022-04-26 Wire aligning machine and method for straightening wire or strip material WO2022229850A1 (en)

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BR112023019770A BR112023019770A2 (en) 2021-04-27 2022-04-26 WIRE STRAIGHTENING MACHINE AND PROCESS FOR STRAIGHTENING WIRE OR STRIPE MATERIAL
EP22724254.2A EP4329959A1 (en) 2021-04-27 2022-04-26 Wire aligning machine and method for straightening wire or strip material
CN202280031099.4A CN117241901A (en) 2021-04-27 2022-04-26 Wire straightening machine and method for straightening wire or strip material
US18/557,387 US20240207921A1 (en) 2021-04-27 2022-04-26 Wire aligning machine and method for straightening wire or strip material

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US20240207921A1 (en) 2024-06-27
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