JPS6317165B2 - - Google Patents
Info
- Publication number
- JPS6317165B2 JPS6317165B2 JP55032252A JP3225280A JPS6317165B2 JP S6317165 B2 JPS6317165 B2 JP S6317165B2 JP 55032252 A JP55032252 A JP 55032252A JP 3225280 A JP3225280 A JP 3225280A JP S6317165 B2 JPS6317165 B2 JP S6317165B2
- Authority
- JP
- Japan
- Prior art keywords
- looper
- force
- strip
- torque
- tension
- 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.)
- Expired
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/04—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands
- G01L5/10—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands using electrical means
- G01L5/108—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands using electrical means for measuring a reaction force applied on a single support, e.g. a glider
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/04—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands
- G01L5/10—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring tension in flexible members, e.g. ropes, cables, wires, threads, belts or bands using electrical means
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Description
【発明の詳細な説明】
この発明はストリツプ張力を精度よく検出する
ルーパ装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a looper device that accurately detects strip tension.
従来のルーパ制御は駆動装置（ルーパを駆動す
る装置）に与えるトルクを調整することによつ
て、ルーパからストリツプに与えられる静的な力
が一定になるようにして、ストリツプ張力の制御
を行なつており、実際のストリツプ張力を検出し
ていない点、動的な力（慣性力）を考慮していな
い点からその張力制御効果には限界があつた。そ
こで最近、動的な張力値を検出するために、ルー
パアームとルーパロール間に荷重検出器と加速度
検出器を設置するという発明（特開52―2580）が
なされた。 Conventional looper control controls the strip tension by adjusting the torque applied to the drive device (device that drives the looper) so that the static force applied to the strip from the looper remains constant. However, the tension control effect was limited because the actual strip tension was not detected and the dynamic force (inertial force) was not taken into consideration. Therefore, an invention (Japanese Patent Laid-Open No. 52-2580) was recently made in which a load detector and an acceleration detector are installed between the looper arm and the looper roll in order to detect dynamic tension values.
第１図は上記発明によるルーパ装置の概要を示
す構造図であり、第２図に第１図における荷重検
出器１０の感知する力のベクトル図を示す。第１
図において、１はストリツプ、２はルーパロー
ル、３はルーパアーム、４は駆動軸、５は駆動装
置、６はルーパ角度検出装置、１０は荷重検出
器、２０は加速度検出器、３０は張力演算装置で
ある。第２図において、FTはストリツプ張力に
よる垂直力、FSはストリツプ重量、FRはルーパ
ロール重量、FAはルーパ角度変動時にルーパロ
ール２に作用する慣性力による垂直力、荷重検出
器１０はこれらの垂直力の合計を感知するとし
て、次式を得、
FLC＝FT＋FS＋FR＋FA (1)
FLC、FAは荷重検出器１０、加速度検出器２０
で検出でき、FS、FRは予め知ることができるの
で、ストリツプ張力による垂直力FTは(1)式より
演算でき、このFTとルーパ角度検出器６より得
られるルーパ角度θによつてストリツプ張力Ｔを
演算検出するようにしている。 FIG. 1 is a structural diagram showing an outline of the looper device according to the above invention, and FIG. 2 is a vector diagram of the force detected by the load detector 10 in FIG. 1. 1st
In the figure, 1 is a strip, 2 is a looper roll, 3 is a looper arm, 4 is a drive shaft, 5 is a drive device, 6 is a looper angle detection device, 10 is a load detector, 20 is an acceleration detector, and 30 is a tension calculation device. be. In Fig. 2, FT is the vertical force due to the strip tension, FS is the strip weight, FR is the weight of the looper roll, FA is the vertical force due to the inertial force acting on the looper roll 2 when the looper angle changes, and the load detector 10 measures these vertical forces. Assuming that the total is detected, the following formula is obtained, FLC=FT+FS+FR+FA (1) FLC and FA are load detector 10 and acceleration detector 20
Since FS and FR can be known in advance, the vertical force FT due to the strip tension can be calculated from equation (1), and the strip tension T can be calculated using this FT and the looper angle θ obtained from the looper angle detector 6. I am trying to calculate and detect.
しかしながら、この張力検出方法にあつては張
力検出のために荷重検出器、加速度検出器が必要
であり、ルーパ装置の機能を複雑にするという欠
点がある。 However, this tension detection method requires a load detector and an acceleration detector for tension detection, which has the disadvantage of complicating the function of the looper device.
本発明は、上述の欠点を除去することを目的と
してなしたもので、駆動装置の発生トルク、ルー
パ回転数、ルーパ角度を検出することによつて動
的なストリツプ張力を演算検出することを特徴と
し、荷重検出器、加速度検出器を必要とせず精度
よく張力検出を可能とするものである。 The present invention has been made with the aim of eliminating the above-mentioned drawbacks, and is characterized by calculating and detecting dynamic strip tension by detecting the torque generated by the drive device, the looper rotation speed, and the looper angle. This makes it possible to accurately detect tension without requiring a load detector or an acceleration detector.
以下、本発明の実施例を図面を参照しつつ説明
する。 Embodiments of the present invention will be described below with reference to the drawings.
第３図はルーパ系に作用する力とトルクを示
し、第４図は本発明のルーパ装置の一実施例を示
すブロツク図である。両図において、２はルーパ
ロール、３はルーパアーム、４は駆動軸（ルーパ
アーム回転中心）、５は駆動装置を示し、第４図
において６はルーパ角度検出器、７はルーパ回転
数検出器、８は張力演算装置を示す。 FIG. 3 shows the forces and torques acting on the looper system, and FIG. 4 is a block diagram showing one embodiment of the looper device of the present invention. In both figures, 2 is a looper roll, 3 is a looper arm, 4 is a drive shaft (looper arm rotation center), 5 is a drive device, and in FIG. 4, 6 is a looper angle detector, 7 is a looper rotation speed detector, and 8 is a looper rotation speed detector. The tension calculation device is shown.
第３図により、駆動軸４に作用するトルク（力
のモーメント）のつりあい条件より次式を得る。 According to FIG. 3, the following equation is obtained from the balance condition of the torque (moment of force) acting on the drive shaft 4.
Ｇ＝GA＋GD＋acosθ・（FT＋FS＋FR＋FB）
＋bcosθ・FL (2)
ここに、
Ｇは駆動装置５の発生トルクであり、駆動装置
がモータであれば電機子電流から、油圧であれば
油圧圧力から得られる。 G=GA+GD+acosθ・(FT+FS+FR+FB)+bcosθ・FL (2) Here, G is the generated torque of the drive device 5, which can be obtained from the armature current if the drive device is a motor, or from the hydraulic pressure if the drive device is a hydraulic pressure.
GAはルーパ角度変動時にルーパロール２、ル
ーパアーム３、駆動軸４、駆動装置５の慣性モー
メントにより、駆動軸４に作用する慣性トルク
であり
GA＝ＩdN／dt (3)
として得られる。ただし、Ｎは回転数検出器７で
検出されるルーパ回転数、ｄ／dtは微分演算子で
ある。 GA is the inertial torque that acts on the drive shaft 4 due to the moment of inertia of the looper roll 2, looper arm 3, drive shaft 4, and drive device 5 when the looper angle changes, and is obtained as GA=IdN/dt (3). However, N is the looper rotation speed detected by the rotation speed detector 7, and d/dt is a differential operator.
GDは駆動装置５の摩擦などによる損失トルク
であり
GD＝K1＋K2N (4)
として得られる。ただし、K1、K2は定数であり
あらかじめ実験により得られる。 GD is the loss torque due to friction of the drive device 5, and is obtained as GD=K 1 +K 2 N (4). However, K 1 and K 2 are constants and can be obtained in advance through experiments.
FTはストリツプ張力によりルーパロール中心
に作用する垂直力であり、求めるべき物理量であ
る。 FT is the vertical force acting on the center of the looper roll due to the strip tension, and is a physical quantity to be determined.
FSはストリツプ重量によりルーパロール中心
に作用する垂直力であり、ストリツプ厚、巾によ
り予め知ることができる。 FS is a vertical force that acts on the center of the looper roll due to the weight of the strip, and can be known in advance from the thickness and width of the strip.
FR、FLはそれぞれルーパロール２の重量、ル
ーパアーム３の重量である。 FR and FL are the weight of the looper roll 2 and the weight of the looper arm 3, respectively.
FBはベンデイング力であり、ルーパロール中
心に作用するストリツプ曲げによる垂直力で、ス
トリツプ厚、巾、およびルーパ角度θ、ルーパ機
械諸元の関数として演算できる。この力は上流ス
タンドではかなり大きく従来方式(1)式においても
考慮すべき力である。 FB is the bending force, which is the vertical force due to strip bending that acts on the center of the looper roll, and can be calculated as a function of the strip thickness, width, looper angle θ, and looper mechanical specifications. This force is quite large in the upstream stand and is a force that should be taken into account even in the conventional system (1).
ａはルーパアーム３の回転中心とルーパロール
２の中心間の長さであり、acosθは垂直力FT、
FS、FR、FBに対するトルクアームを表わす。 a is the length between the rotation center of the looper arm 3 and the center of the looper roll 2, a cos θ is the vertical force FT,
Represents the torque arm for FS, FR, and FB.
ｂはルーパアーム３の回転中心とFLの作用点
（ルーパアームの重心位置）間の長さであり、
bcosθはFLに対するトルクアームを表わす。 b is the length between the center of rotation of the looper arm 3 and the point of action of the FL (center of gravity of the looper arm),
bcosθ represents the torque arm with respect to FL.
θはルーパ角度であり、ルーパアーム３の回転
中心とルーパロール２の中心を結ぶ直線およびス
トリツプパスラインがなす角であり、ルーパ角度
検出器６によつて検出される。 θ is the looper angle, which is the angle formed by the straight line connecting the center of rotation of the looper arm 3 and the center of the looper roll 2 and the strip path line, and is detected by the looper angle detector 6.
以上より、張力演算装置８は(2)、(3)、(4)式より
ストリツプ張力による垂直力FTを次式で演算す
る。 From the above, the tension calculating device 8 calculates the vertical force FT due to the strip tension from the following equations from equations (2), (3), and (4).
FT＝１／acosθ（Ｇ−ＩdN／dt−K1−K2N）
−FS−FR−FB−ｂ／ａFL (5)
上式において、第１項（Ｇ−ＩdN／dt−K1−
K2N）／acosθは、駆動軸４側からルーパロール
の中心に加えられる力を表わしており、第５項
bFL／ａはFLの作用点をルーパロール２の中心
に移した時のFLの等価力である。 FT=1/acosθ(G-IdN/dt-K 1 -K 2 N) -FS-FR-FB-b/aFL (5) In the above equation, the first term (G-IdN/dt-K 1 - K 2 N)/acosθ represents the force applied from the drive shaft 4 side to the center of the looper roll, and the fifth term
bFL/a is the equivalent force of FL when the point of application of FL is moved to the center of the looper roll 2.
さらに、張力演算装置８は(5)式よりストリツプ
張力Ｔを次式で演算検出する。 Furthermore, the tension calculation device 8 calculates and detects the strip tension T using the following equation from equation (5).
Ｔ＝FT・ｆ（θ） (6)
ここで、ｆ（θ）はルーパ機械諸元、およびル
ーパ角度θの関数として一意に決定するものであ
り現行技術の範囲で明らかであるのでその内容説
明は省略する。 T=FT・f(θ) (6) Here, f(θ) is uniquely determined as a function of the looper mechanical specifications and the looper angle θ, and since it is clear within the scope of current technology, its contents will be explained below. is omitted.
上述のようにこの発明になるルーパ装置によれ
ば、荷重検出器、加速度検出器を設置することな
く、駆動装置の発生トルク（駆動装置がモータで
あれば電機子電流あるいは駆動装置が油圧であれ
ば油圧圧力）、ルーパ回転数、ルーパ角度を検出
することによつて、ストリツプ張力を精度よく演
算検出ができる。 As described above, according to the looper device of the present invention, the torque generated by the drive device (if the drive device is a motor, the armature current or if the drive device is hydraulic) can be detected without installing a load detector or an acceleration detector. By detecting the looper rotation speed (for example, hydraulic pressure), the looper rotation speed, and the looper angle, the strip tension can be calculated and detected with high accuracy.
また、上記駆動装置発生トルク、ルーパ回転
数、ルーパ角度は、荷重検出器、加速度検出器を
設置していない従来のルーパ装置にあつても検出
している物理量であるため、このような従来ルー
パ装置に本発明による張力演算装置８を設けるこ
とにより簡単にストリツプ張力を演算検出できる
ことは言うまでもない。 In addition, the torque generated by the drive device, the looper rotation speed, and the looper angle are physical quantities that are detected even in conventional looper devices that do not have load detectors or acceleration detectors. It goes without saying that by providing the device with the tension calculating device 8 according to the present invention, the strip tension can be easily calculated and detected.
第１図は従来のルーパ装置を示す構造図、第２
図は第１図における力のベクトル図、第３図はこ
の発明の原理を説明するための図でルーパ系に作
用する力とトルクを示す図、第４図はこの発明の
一実施例を示すブロツク図である。
１：ストリツプ、２：ルーパロール、３：ルー
パアーム、４：駆動軸、５：駆動装置、６：ルー
パ角度検出装置、７：ルーパ回転数検出装置、
８：張力演算装置、１０：荷重検出器、２０：加
速度検出器、３０：張力演算装置。なお、図中同
一符号は同一又は同一部分を示す。
Figure 1 is a structural diagram showing a conventional looper device, Figure 2 is a structural diagram showing a conventional looper device.
The figure is a vector diagram of the force in Figure 1, Figure 3 is a diagram for explaining the principle of this invention and shows the force and torque acting on the looper system, and Figure 4 shows an embodiment of this invention. It is a block diagram. 1: Strip, 2: Looper roll, 3: Looper arm, 4: Drive shaft, 5: Drive device, 6: Looper angle detection device, 7: Looper rotation speed detection device,
8: Tension calculation device, 10: Load detector, 20: Acceleration detector, 30: Tension calculation device. Note that the same reference numerals in the figures indicate the same or the same parts.
Claims (1)
転数およびルーパ角度を検出する検出器、さらに
上記発生トルクから、ルーパ回転数の微分値によ
つて得られる慣性トルクおよびルーパ回転数によ
つて得られる損失トルクを除去し、これを上記ル
ーパ角度とルーパアーム長さとによつて得られる
トルクアームで割算してルーパロールに作用する
力を導出し、この力から、ルーパロール重量・ル
ーパアーム重量、およびストリツプ重量・ストリ
ツプ曲げ力による垂直力とを除去した力に基づい
てストリツプ張力を演算する張力演算装置を備え
たルーパ装置。1. A detector that detects the torque generated by the looper drive device, the looper rotation speed, and the looper angle, and from the generated torque, the inertia torque obtained by the differential value of the looper rotation speed and the loss torque obtained by the looper rotation speed. The force acting on the looper roll is derived by dividing this by the torque arm obtained from the above looper angle and looper arm length, and from this force, the looper roll weight, looper arm weight, strip weight, and strip bending are calculated. A looper device equipped with a tension calculation device that calculates the strip tension based on the vertical force caused by the force and the force removed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3225280A JPS56128426A (en) | 1980-03-13 | 1980-03-13 | Looper device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3225280A JPS56128426A (en) | 1980-03-13 | 1980-03-13 | Looper device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS56128426A JPS56128426A (en) | 1981-10-07 |
| JPS6317165B2 true JPS6317165B2 (en) | 1988-04-12 |
Family
ID=12353817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3225280A Granted JPS56128426A (en) | 1980-03-13 | 1980-03-13 | Looper device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS56128426A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02108962U (en) * | 1989-02-15 | 1990-08-30 |
-
1980
- 1980-03-13 JP JP3225280A patent/JPS56128426A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02108962U (en) * | 1989-02-15 | 1990-08-30 |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS56128426A (en) | 1981-10-07 |
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