EP0110821A2 - Automatisches Traversierverfahren und -vorrichtung mit Servosteuerung - Google Patents

Automatisches Traversierverfahren und -vorrichtung mit Servosteuerung Download PDF

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Publication number
EP0110821A2
EP0110821A2 EP83810493A EP83810493A EP0110821A2 EP 0110821 A2 EP0110821 A2 EP 0110821A2 EP 83810493 A EP83810493 A EP 83810493A EP 83810493 A EP83810493 A EP 83810493A EP 0110821 A2 EP0110821 A2 EP 0110821A2
Authority
EP
European Patent Office
Prior art keywords
angle
reel
guide
rotation
product
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
EP83810493A
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English (en)
French (fr)
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EP0110821B1 (de
EP0110821A3 (en
Inventor
Gérard André Lavanchy
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
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Individual
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Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to AT83810493T priority Critical patent/ATE31706T1/de
Publication of EP0110821A2 publication Critical patent/EP0110821A2/de
Publication of EP0110821A3 publication Critical patent/EP0110821A3/fr
Application granted granted Critical
Publication of EP0110821B1 publication Critical patent/EP0110821B1/de
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H54/00—Winding, coiling, or depositing filamentary material
    • B65H54/02—Winding and traversing material on to reels, bobbins, tubes, or like package cores or formers
    • B65H54/28—Traversing devices; Package-shaping arrangements
    • B65H54/2848—Arrangements for aligned winding
    • B65H54/2854—Detection or control of aligned winding or reversal
    • B65H54/2869—Control of the rotating speed of the reel or the traversing speed for aligned winding
    • B65H54/2872—Control of the rotating speed of the reel or the traversing speed for aligned winding by detection of the incidence angle

Definitions

  • drums consist of an at least approximately cylindrical barrel bounded by two approximately planar and parallel surfaces, perpendicular to the axis of the cylinder and designated by the usual term of cheeks.
  • the loading operation that is to say winding of a cable, a tube or other product on the reel consists in rotating the latter on itself around its axis and, in the case which we interested in guiding the product in its external part to the drum so that the winding is carried out regularly in turns as contiguous as possible. This is called trancannage.
  • the reel In the case of systems for industrial use, the reel is driven by a motor.
  • the guidance of the product to be wound up which we will designate by the term cable in the rest of the text, is carried out either manually by an operator, or by a mechanical guidance device.
  • Currently known automatic trenching systems can be divided into two groups: fixed winders with mobile guide, mobile winders (self-cutting) with fixed guide.
  • a device comprising at least one adjustable speed variator which makes correspond to the rotation of the winding reel a predetermined (programmed) displacement of the guide, proportional to the fixed pitch.
  • a device for reversing the direction of movement generally using ⁇ - stops assumes the function of reversing the guide when the cable reaches a cheek.
  • Fig. 1 schematically shows for understanding a partial developed view of a cable during winding.
  • This clamping angle conditions the installation of the cable: if it is too strong the whorl in formation risks overlapping the previous one, if it is too weak or negative, the whorl deviates from the previous one.
  • the helix angle is not constant for the various reasons stated above, it follows that the loading angle must be constantly adapted, in order to keep as constant as possible the value of the clamping angle.
  • the object of the present invention is to provide a solution to this problem, namely to maintain the clamping angle by a constant value.
  • the difficulty consists in defining the set value of this position, since its aim is to achieve a very specific condition for a quantity (the clamping angle) which cannot be measured directly.
  • this angle is the difference between the helix angle and the loading angle. These two angles must therefore be determined.
  • the helix angle ⁇ as shown in FIG. l is, for the purposes of drawing, significantly larger than life.
  • the desired tightening angle ⁇ is normally larger than the helix angle ⁇ .
  • FIG. 2 schematically shows by way of example for understanding an embodiment of the device according to the present invention
  • This drive device is provided with a first not shown sensor (absolute or incremental) of the usual type, potentiometer or optical encoder for example, supplying in electrical form a signal enabling the angular position ⁇ of the reel to be known.
  • This same sensor will supply the rotation speed information if necessary: value derived from the position in the case of a potentiometer measurement, pulse frequency in the case of an incremental sensor.
  • This guide is movable along the axis X ⁇ X ", this axis being parallel to the axis of rotation of the reel:
  • a conventional motorized drive device of known type ensures its movement.
  • This device (not shown) is additionally provided with a second sensor (potentiometer or optical encoder for example) intended to supply an analog or digital signal corresponding to the displacement of the guide along its axis of translation X 'X ", in absolute or incremental value.
  • a third sensor, secured to an arm 23 carrying an oscillating roller 22, makes it possible to know the loading angle ⁇ , that is to say the angle formed by the cable 24 relative to the perpendicular to the axis of rotation of the drum 20:
  • the arm supporting this roller 22 has for example as point of rotation that of the two guides 21 which precedes it. It is recalled by a spring or even for example by a pneumatic cylinder, in order to keep it in contact with the cable.
  • the roller can thus be automatically released to the left during the operation of placing the cable leader, then pressed into the measurement position in a timely manner.
  • the sensor defining the loading angle ⁇ can be a coaxial potentiometer at the point of oscillation of the arm, but it can just as easily be of the inductive, capacitive type or consist of a binary encoder. It may possibly be of the linear type, coupled to the spring or to the pneumatic return piston.
  • the roller 22 can finally be provided with a fourth rotation sensor (for example of the incremental type) in order to know the speed of travel of the cable and incidentally the loaded length, by counting or integration of the pulses.
  • a fourth rotation sensor for example of the incremental type
  • the scroll measurement sensor can also just as easily be independent of the roller 22, the corresponding signal being able to be supplied by the device existing on the production machine.
  • This last configuration although more expensive given the mass of material to be moved, has the substantial advantage of a fixed position and direction of the cable as it enters the guide, this position being in the axis d '' a production machine, such as a corder or an extruder.
  • the optimum clamping angle (determined experimentally) is a function of the type of cable, that is to say of its diameter, its rigidity and the coefficient of friction of its surface.
  • this angle can be understood, for a given cable, between two extreme values, one corresponding to the risk of overlapping, the other to the risk of non-juxtaposition of the turns. This therefore results in a certain margin of tolerance.
  • the error on the measurement of the angle of loading ⁇ can not be negligible, even if the oscillating lever is relatively long, the cable being unable to change suddenly orientation as soon as you exit guide 21.
  • this spring can be replaced by a pneumatic cylinder or any other conventional device capable of ensuring a longitudinal displacement parallel to the axis X 'X "of translation of the drum.
  • the device is applied to a portion considered to be reasonably straight of the cable lying between the guides 21 and the point of tangency to the drum 25, the distance between the guides 21 and the drum being able to be increased without disadvantage to a sufficient value.
  • the relative abscissa x 2 reel guide being measured by the translation sensor, that of the point of tangency can thus be determined by calculation at each instant, by means of a microprocessor for example.
  • the cable loading angle during cutting is generally negative.
  • the distance h varies somewhat depending on the filling state and the diameter of the drum. Since this variation is small, it is generally not necessary to take it into account, although the corrective trigonometric calculation could be carried out by the microprocessor if necessary, the winding diameter being able to be determined as described below.
  • microprocessor can give, by simple calculation, the value of the helix angle at the point considered according to the relationship: if one accepts to replace the differential increases by limited increases.
  • ⁇ x is the difference between 2 successive values x n and x n + 1 calculated for the abscissa of the point of tangency corresponding to 2 successive values ⁇ n and ⁇ n + 1 of the angular position of the reel stored, ⁇ l corresponding to the length of cable having passed in contact with the roller 22 during the same interval, namely:
  • the microprocessor can calculate the length of the wound cable itself without using an ad-hoc sensor.
  • 1 ⁇ .n 1 .D where n and the number of turns (determined from ⁇ ), D the diameter of the drum.
  • l 2 ⁇ .n 2 (D + d), where d is the cable diameter, a value that the microprocessor can easily determine from the average displacement (step) for each turn of the reel. And so on.
  • the value is obtained in the same way, individually for each layer, the microprocessor memorizing the number of coiled layers, that is to say the number of reversals of the direction of the helix.
  • This value can be entered as setpoint tô by manual insertion at the control panel. It can also be memorized for the various types and diameters of cables and automatically recalled by the processor.
  • the servo could also take ⁇ as the reference value, the measured value being that given by the corresponding sensor.
  • the helix angle ⁇ is obtained by analysis of the image observed by a TV camera arranged perpendicular to the axis of rotation of the reel.
  • Hanging the cable leader is a manual operation.
  • the winding of the first turn is to be considered as an operation which is not a servo, but rather a programming, the cable simply having to be wound against the cheek, circularly in its first part.
  • the winding will then be carried out at a pitch fixed by the supposedly known diameter of the cable or by manual control of the movement.
  • the enslavement that is to say its engagement, will be either decided by the operator, or automatic, for example after a rotation of a fraction of a turn of the reel.
  • the memorization of the parameters x, ⁇ and ⁇ being carried out from the start of the rotation, the system will be able to intervene immediately, taking into account in particular the anomaly of propeller caused by the birth of the first turn since knows its position.
  • the servo-control will at first sight continue the relative movement of the guide-reel as a function of the position of this last turn.
  • the cable abuts on the cheek, the effective step will be zero (apart from cheek irregularities).
  • the effective loading angle measured oC. will therefore gradually change.
  • a comparison with the successive values stored in memory corresponding to the preceding turn will make it possible to decide after exceeding a predetermined threshold the reversal of the propeller pitch. In order to avoid overlapping, this reversal will take place for example after a little less than one turn, thus initiating by automatic programming the first complete turn of the new layer.
  • the diameter of the cable is necessarily known to the microprocessor at that time, either because this value was manually entered by the operator, or because a sensor was provided for the purposes of positioning the spacing of the guides 21, either because the microprocessor itself calculated it from the average of the differences of the successive values of the translation at each turn of the reel: no mean propeller.
  • Fig. 5 shows by way of example for understanding a simplified diagram of the device.
  • the device is also at least provided with a control unit 51 consisting of at least the interfaces necessary for the reception of the signals coming from the angle and position sensors, including the analog-digital converters for reading the potentiometers corresponding to the angle and to the abscissa x, of a device making it possible to introduce and / or correct the set value of the clamping angle, of a microprocessor and / or of an arithmetic unit for the processing of this data and its storage in memory according to an adequate program (software), of a digital-analog converter providing the set value of the relative abscissa x of the displacement by guide-reel translation and of a servo amplifier 52 for controlling the motor 53 ensuring said displacement.
  • a control unit 51 consisting of at least the interfaces necessary for the reception of the signals coming from the angle and position sensors, including the analog-digital converters for reading the potentiometers corresponding to the angle and to the abscissa x, of a device making it possible to introduce
  • the processor can be equipped, if necessary, with a device 54 allowing the display and / or recording of the various values that it receives and / or calculates: helix angle, loading angle, clamping angle, diameter of the product, loading speed, loaded length, number of turns and / or layers, speed of rotation of the drum, etc.
  • the servo amplifier may, if a low-cost economic solution is desired, be replaced by two comparators having as signals enter the setpoint. from the computer and the value of the actual position measured by the sensor.
  • the output signals of these comparators whose switching thresholds will be slightly offset, will serve as a control order with two relays, each ensuring a direction of operation of a simple three-phase motor, this intermittently, that is to say say by small successive displacements.
  • the solution is obviously significantly less expensive than that consisting of a regulator and a DC motor, especially when it is an already existing installation to be transformed.

Landscapes

  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Winding Filamentary Materials (AREA)
  • Unwinding Of Filamentary Materials (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Storing, Repeated Paying-Out, And Re-Storing Of Elongated Articles (AREA)
EP83810493A 1982-10-28 1983-10-26 Automatisches Traversierverfahren und -vorrichtung mit Servosteuerung Expired EP0110821B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT83810493T ATE31706T1 (de) 1982-10-28 1983-10-26 Automatisches traversierverfahren und vorrichtung mit servosteuerung.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH6282/82A CH650996A5 (fr) 1982-10-28 1982-10-28 Procede et dispositif de trancannage automatique a asservissement.
CH6282/82 1982-10-28

Publications (3)

Publication Number Publication Date
EP0110821A2 true EP0110821A2 (de) 1984-06-13
EP0110821A3 EP0110821A3 (en) 1985-05-15
EP0110821B1 EP0110821B1 (de) 1988-01-07

Family

ID=4307097

Family Applications (1)

Application Number Title Priority Date Filing Date
EP83810493A Expired EP0110821B1 (de) 1982-10-28 1983-10-26 Automatisches Traversierverfahren und -vorrichtung mit Servosteuerung

Country Status (5)

Country Link
US (1) US4741500A (de)
EP (1) EP0110821B1 (de)
AT (1) ATE31706T1 (de)
CH (1) CH650996A5 (de)
DE (1) DE3375130D1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0226547A3 (de) * 1985-12-20 1988-07-06 Maillefer S.A. Vorrichtung zum Steuern einer Verlegeoperation
EP2998256A1 (de) 2014-09-18 2016-03-23 Amgc Führungsvorrichtung für ein längliches produkt, und rangieranlage, die eine solche führungsvorrichtung umfasst

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4951889A (en) * 1989-06-12 1990-08-28 Epm Corporation Programmable perfect layer winding system
US8078303B2 (en) * 2007-07-03 2011-12-13 Southwire Company Electronic supervisor
KR101237925B1 (ko) * 2011-03-09 2013-02-27 한국지질자원연구원 지하수 프로파일 모니터링 시스템
US9463948B2 (en) 2013-09-19 2016-10-11 General Electric Company Control methods for producing precision coils
ITUB20154968A1 (it) * 2015-10-16 2017-04-16 Danieli Automation Spa Dispositivo di gestione per apparato bobinatore e relativo metodo

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Publication number Priority date Publication date Assignee Title
US2988292A (en) * 1957-04-19 1961-06-13 United States Steel Corp Method and apparatus for spooling wire
US2900145A (en) * 1957-09-26 1959-08-18 Western Electric Co Variable speed distributor
GB926614A (en) * 1958-06-24 1963-05-22 Avo Ltd Method and apparatus for winding wire and the like
GB935084A (en) * 1959-03-06 1963-08-28 Thomas Henry Palmer Improvements in and relating to coil winding machines
DE1574425C3 (de) * 1967-12-15 1978-04-27 Rosendahl, Walter, 5600 Wuppertal Wickelmaschine zum Aufwickeln von strangförmigem Wickelgut auf eine Trommel
US3544035A (en) * 1968-07-24 1970-12-01 Kaiser Aluminium Chem Corp Apparatus for coiling a web of rod-like material
FR2160277A1 (de) * 1971-11-17 1973-06-29 Chanut Michel
JPS5233269B2 (de) * 1971-12-18 1977-08-26
US3822831A (en) * 1972-10-03 1974-07-09 Price Brothers Co Apparatus for straight line oscillation of a wire guide
FR2263970B1 (de) * 1974-03-13 1980-06-20 Stein Kg Drahtzug Drahtfab
AU495293B2 (en) * 1974-08-27 1976-03-04 Sumitomo Electric Industries, Ltd. Automatic cable winding apparatus
DE2524411A1 (de) * 1975-06-03 1976-12-09 Sikora Ind Harald Vorrichtung zur steuerung der verlegung von bandfoermigem material
US4150801A (en) * 1975-10-30 1979-04-24 Kobe Steel, Ltd. Automatic winding machine for wire-like object
US4083515A (en) * 1975-11-20 1978-04-11 Westinghouse Electric Corporation Method and apparatus for determining and controlling wire spacing on a spool
FR2357462A1 (fr) * 1976-02-25 1978-02-03 Furukawa Electric Co Ltd Dispositif applicateur de fil pour un dispositif d'enroulement de fil metallique et notamment de cable electrique
JPS5842101B2 (ja) * 1978-05-31 1983-09-17 株式会社日立製作所 整列巻線方法およびその装置
FR2453519A1 (fr) * 1979-04-03 1980-10-31 Cables De Lyon Geoffroy Delore Dispositif de controle d'enroulement a grande vitesse d'un fil metallique en couches successives sur une bobine
DE3024095A1 (de) * 1980-06-27 1982-01-21 Rosendahl Industrie-Handels AG, Schönenwerd Wickelmaschine zum aufwickeln von strangfoermigem wickelgut auf eine spule
JPS5822265A (ja) * 1981-07-28 1983-02-09 Fujikura Ltd 線条体の整列巻取法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0226547A3 (de) * 1985-12-20 1988-07-06 Maillefer S.A. Vorrichtung zum Steuern einer Verlegeoperation
EP2998256A1 (de) 2014-09-18 2016-03-23 Amgc Führungsvorrichtung für ein längliches produkt, und rangieranlage, die eine solche führungsvorrichtung umfasst

Also Published As

Publication number Publication date
ATE31706T1 (de) 1988-01-15
DE3375130D1 (en) 1988-02-11
EP0110821B1 (de) 1988-01-07
US4741500A (en) 1988-05-03
CH650996A5 (fr) 1985-08-30
EP0110821A3 (en) 1985-05-15

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