KR102774073B1 - Winding device and control method of winding device - Google Patents

Abstract

A winding device according to an embodiment of the present invention comprises: a first roller unit having a first roller for guiding a winding material, a sensor connected to the first roller for detecting a change in the position of the first roller, and a first actuator for adjusting the position of the first roller; at least one spindle on which a bobbin on which the winding material is wound is coupled; a transfer unit installed adjacent to the spindle and reciprocating in a linear direction parallel to the longitudinal direction of the spindle and guiding the winding material to the spindle; a second roller unit installed adjacent to the spindle and arranged parallel to the longitudinal direction of the spindle and pressuring the winding material when winding the winding material, and a second actuator for adjusting the position of the second roller; And a controller for receiving a signal from the sensor and controlling the rotation speed of the spindle and the transport speed of the transport unit; wherein the controller includes a spindle motor driving device and a transport unit motor driving device, and the driving frequency output from the spindle motor driving device is directly transmitted to the transport unit motor driving device as a command frequency.

Description

{Winding device and control method of winding device}

An embodiment of the present invention relates to a winding device capable of automatically controlling the winding device according to a change in tension of a winding material and a method for controlling the winding device.

In general, a yarn winding device is a device that guides yarn to a bobbin and winds yarn on the bobbin at a certain width, and the entire process is performed automatically. It is a complex device that consists of a plurality of rollers that supply and guide yarn for automatic yarn winding, a roller that pressurizes the yarn to be wound in close contact with the bobbin, a bobbin and drum for yarn winding, a driving unit for driving each component, and a support structure in which various components are installed and supported.

In the past, the rotational speed of the spindle was measured using an encoder or the like, and the speed of the transport section was controlled to follow this measured value. Or, the rotational angle of the spindle was measured using an encoder or the like, and the position of the transport section was controlled to follow this measured value. However, in this method, there is a problem in that a separate spindle rotational speed measuring device and rotational angle measuring device are required, and real-time tracking is not possible due to differences in communication and control speeds.

The above-described information disclosed in the background technology of this invention is only intended to improve understanding of the background of the present invention and therefore may include information that does not constitute prior art.

An embodiment of the present invention provides a winding device and a control method of the winding device that can automatically control the winding device according to a change in tension of a winding material.

A winding device according to an embodiment of the present invention comprises: a first roller section having a first roller for guiding a winding material, a sensor connected to the first roller for detecting a change in the position of the first roller, and a first actuator for adjusting the position of the first roller; at least one spindle on which a bobbin on which the winding material is wound is coupled; a feed section installed adjacent to the spindle and performing a reciprocating linear motion in a direction parallel to the longitudinal direction of the spindle and guiding the winding material to the spindle; a second roller section installed adjacent to the spindle and arranged parallel to the longitudinal direction of the spindle and pressuring the winding material when winding the winding material, and having a second actuator for adjusting the position of the second roller; and a controller for receiving a signal from the sensor and controlling the rotational speed of the spindle and the feed speed of the feed section; wherein the controller includes a spindle motor driving device and a feed section motor driving device, and is characterized in that a driving frequency output from the spindle motor driving device is directly transmitted as a command frequency to the feed section motor driving device.

The above spindle motor driving device may include a motor speed PID controller that calculates a rotational speed of the spindle through PID control based on a difference between a measured tension transmitted from the sensor and a target tension; and a first motor frequency converter that outputs a driving frequency for driving the spindle motor for the rotational speed of the spindle calculated by the motor speed PID controller.

The above-described transport motor driving device may include a command frequency input section for receiving a driving frequency output from the first motor frequency converter; and a second motor frequency converter for converting the driving frequency of the spindle motor into the driving frequency of the transport motor.

The driving frequency of the above spindle motor can be converted into the driving frequency of the above feed motor through linear conversion.

The ratio of the rotational speed of the spindle and the transport speed of the transport section can be maintained constant.

The above controller can control the rotation speed of the spindle and the transport speed of the transport unit to decrease when the tension of the winding material increases, and can control the rotation speed of the spindle and the transport speed of the transport unit to increase when the tension of the winding material decreases.

A control method of a winding device for controlling a winding device according to an embodiment of the present invention may include a step of transmitting a signal of the sensor to the controller; a step of calculating a rotational speed of the spindle through PID control based on a difference between a measured tension transmitted from the sensor and a target tension; and a step of outputting a driving frequency for driving a spindle motor for the rotational speed of the spindle calculated in the step of calculating the rotational speed of the spindle.

The method may further include a step of receiving the driving frequency of the spindle motor output in the step of outputting the driving frequency and converting the driving frequency of the spindle motor into the driving frequency of the feed motor.

The ratio of the rotational speed of the spindle and the transport speed of the transport section can be maintained constant.

According to an embodiment of the present invention, by varying the rotation speed of the spindle and the conveying speed of the conveying section according to changes in the tension of the winding material, it is possible to prevent the package from being wound unevenly and to ensure parallel winding, and to make the tension of the yarn uniform.

In particular, rather than controlling the feed speed of the feed section by measuring the actual rotation speed or rotation angle of the spindle, the driving frequency value of the spindle motor output from the spindle motor driving device in the controller is used as the command frequency value of the feed section motor driving device, enabling real-time control and simplifying the configuration.

In addition, even when a disturbance occurs and the rotational speed and positional fluctuations of the spindle increase, the ratio of the rotational speed of the spindle and the feed speed of the feed section can be kept constant.

FIG. 1 is a side view schematically illustrating a winding device according to one embodiment of the present invention.
Figure 2 is a plan view schematically illustrating a winding device according to Figure 1.
Figure 3 is a front view schematically illustrating the main parts of the winding device according to Figure 1.
FIG. 4 is a side view schematically illustrating the operation of the main parts of the winding device according to FIG. 3.
FIG. 5 is a schematic diagram illustrating a control flow of a winding device according to one embodiment of the present invention.
Figure 6 is a schematic diagram illustrating the control process of the controller of Figure 5 in more detail.

The embodiments of the present invention are provided so that those skilled in the art will more fully understand the present invention, and the following embodiments may be modified in various other forms, and the scope of the present invention is not limited to the following embodiments. Rather, these embodiments are provided so that the present disclosure will be more faithful and complete, and so that those skilled in the art will fully convey the spirit of the present invention.

In addition, in the drawings below, the thickness and size of each layer are exaggerated for convenience and clarity of explanation, and the same reference numerals in the drawings represent the same elements. As used herein, the term "and/or" includes any and all combinations of one or more of the listed items. In addition, the meaning of "connected" in this specification means not only when member A and member B are directly connected, but also when member C is interposed between member A and member B, so that member A and member B are indirectly connected.

The terminology used herein is used to describe particular embodiments and is not intended to be limiting of the present invention. As used herein, the singular forms "a", "an" and "the" include plural forms unless the context clearly dictates otherwise. Also, when used herein, the words "comprise", "include" and/or "comprising", "including" specify the presence of stated features, numbers, steps, operations, elements, elements and/or groups thereof, but do not preclude the presence or addition of one or more other features, numbers, operations, elements, elements and/or groups thereof.

Although the terms first, second, etc. are used herein to describe various elements, components, regions, layers, and/or portions, it is to be understood that these elements, components, regions, layers, and/or portions are not intended to be limited by these terms. These terms are only used to distinguish one element, component, region, layer, or portion from another element, layer, or portion. Thus, a first element, component, region, layer, or portion described below may also refer to a second element, component, region, layer, or portion without departing from the teachings of the present invention.

Space-related terms such as "beneath," "below," "lower," "above," and "upper" may be used to facilitate understanding of one element or feature and another element or feature depicted in the drawings. These space-related terms are provided to facilitate understanding of the present invention in various process states or usage states and are not intended to limit the present invention. For example, if an element or feature in a drawing is flipped, an element or feature described as "beneath" or "below" becomes "above" or "above." Therefore, "beneath" is a concept that includes "upper" or "below."

Hereinafter, a winding device and a control method of the winding device according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

First, let's explain the winding device in detail.

FIG. 1 is a side view schematically illustrating a winding device according to one embodiment of the present invention. FIG. 2 is a plan view schematically illustrating the winding device according to FIG. 1. FIG. 3 is a front view schematically illustrating a main part of the winding device according to FIG. 1. FIG. 4 is a side view schematically illustrating the operation of a main part of the winding device according to FIG. 3.

As shown in FIGS. 1 to 4, a winding device (10) according to an embodiment of the present invention is a device for automatically winding a winding material (1). The winding device (10) may largely include a first roller unit (100) for detecting tension of the winding material (1), a direction-changing roller (200) for guiding the winding material (1), a conveying unit (300), a second roller unit (400) for winding the winding material (1), a support unit (500), and a controller (600) for control.

For example, as shown in FIGS. 3 and 4, the support member (500) may include a plate-shaped base plate (510) for supporting the main components, a plurality of spindles (520) rotatably installed on the base plate (510), a drum (530) for moving the position of the spindles (520), a transfer shaft (540) for supporting the transfer member (300), etc. The spindles (520) and the transfer shaft (540) are arranged perpendicular to the plate surface of the base plate (510). In addition, the spindles (520) and the transfer shaft (540) may be arranged parallel to each other along the longitudinal direction.

The winding device (10) may include a number of configurations in addition to the configurations described above, but in this embodiment, only the configurations essential for explaining the function of the winding device (10) are briefly described.

The winding material (1) may include, for example, yarn (yarn or thread). Here, the yarn may mean various yarns such as elastic or inelastic yarn, yarns of various thicknesses, and yarns of various materials. The winding material (1) may be automatically supplied from the outside of the winding device (10) toward the first roller unit (100). For this purpose, although not shown in the drawing, a separate winding material supply mechanism may be provided. The winding material (1) is wound on a bobbin (not shown) that is detachably inserted into a spindle (520) to be described later, and a bundle of the winding material (1) and the bobbin that have been wound may be defined as a package (3). The winding material (1) is wound in a radial direction (circumferential direction of the spindle) based on the spindle (520).

As shown in FIG. 1 and FIG. 2, the first roller unit (100) may be configured to include a first roller (110), a lever (120), a lever shaft (130), a sensor (140), and a first actuator (150).

The first roller (110) is configured to check and detect the tension of the winding material (1). The first roller (110) can be arranged between the input position where the winding material (1) is input and the direction changing roller (200) to be described later. The winding material (1) is supplied in one direction and transported to the direction changing roller (200) along the outer surface of the first roller (110). The first roller (110) is rotatably supported by a first roller shaft (110a). At this time, the first roller (110) is installed so as to be rotatably along the direction in which the winding material (1) contacts the outer surface with reference to FIG. 1. For example, the first roller (110) can be provided as a dancer roller (or dancer roll). The dancer roller is a mechanism that applies a constant amount of force in a constant direction using a spring, air pressure, a weight, etc. so that a constant tension is applied to the winding material (1) regardless of positional change. In this embodiment, a first roller (110) is connected to a lever (120), a sensor (140) is installed on a lever shaft (130) that supports the lever (120), and the position of the first roller (110) can be controlled by a first actuator (150).

The lever (120) is a bar shape having a predetermined length, and one end is connected to a shaft that rotatably supports the first roller (110). A lever shaft (130) that rotatably supports the lever (120) is connected adjacent to the other end of the lever (120). In addition, a first actuator (150) may be connected to the other end of the lever (120). The lever (120) is operated by the first actuator (150), and the center of operation is the lever shaft (130). The lever (120) may be operated like a lever at an end connected to the first roller (110) centered on the lever shaft (130). A sensor (140) is installed at one end of the lever shaft (130). The lever (120) may be rotated (rotated) along the direction of the arrow in FIG. 1 at the opposite end centered on the lever shaft (130) by the first actuator (150). That is, since the opposite end of the lever (120) pivots around the lever shaft (130), the position of the first roller (110) can be adjusted according to the movement of the lever (120). To this end, the lever shaft (130) may be fixed on the support structure of the winding device (10), and the first roller shaft (110a) of the first roller (110) may not be fixed. For example, with reference to FIG. 1, if one end of the lever (120) connected to the first roller (110) pivots upward around the lever shaft (130), the first roller (110) may also move upward. Conversely, if one end of the lever (120) pivots downward around the lever shaft (130), the first roller (110) may also move downward. Such position adjustment of the first roller (110) may be performed even during the winding of the winding material (1).

Although the detailed structure is not illustrated, the rotational axis of the first actuator (150) may have a screw shape. A lever (120) is connected to the rotational axis of the first actuator (150) so that the lever (120) can move linearly by the rotation of the first actuator (150). The first actuator (150) can be operated in proportion to the tension setting value for each section according to the winding length (or winding time) within a preset tension range. For example, the tension value can be set within a range from the top position to the bottom position of the first roller (110). The operation range of the first actuator (150) can also be set so that the lever (120) can move linearly within a range from the top position to the bottom position of the first roller (110).

The sensor (140) described above is a sensor for detecting the deflection of the lever shaft (130), and may be, for example, a rotary encoder. When the tension of the winding material (1) increases, a load is applied to the first roller (110), so that the position of the first roller (110) becomes different from the initially set reference position. The sensor (140) detects the deflection of the lever (120) according to the change in the position of the first roller (110), and converts the detected deflection into an electrical signal and transmits it to the controller (600) (The deflection is detecting the degree of deviation in the upper or lower direction centered on the preset reference position of the lever (120). The controller (600) described below can determine that the tension of the winding material increases when the lever (120) is detected as being deflected upward, and that the tension of the winding material decreases when it is detected as being deflected downward).

The first actuator (150) can operate the lever (120) so that the first roller (110) can be placed in a preset position at the beginning of the supply of the winding material (1). The first actuator (150) can transmit an electric signal for the changed tension value to the controller (600) to be described later so that the rotational speed of the spindle (520) can be controlled according to the degree of deflection. Accordingly, the controller (600) to be described later controls the transport speed of the transport section (300) and the rotational speed of the spindle (520).

As illustrated in FIG. 1, the direction-changing roller (200) is a roller that changes the direction of the winding material (1), and its position can be fixed on the support structure of the winding device (10). That is, the direction-changing roller (200) can be rotatably installed by a shaft (200a) whose position is fixed. The direction-changing roller (200) can be installed at a predetermined distance from the first roller (110). For example, the winding material (1) can be fed to the lower side of the first roller (110) and then transferred to the upper side of the direction-changing roller (200). The winding material (1) transferred through the first roller (110) can be guided toward the transfer unit (300) through the direction-changing roller (200).

As illustrated in FIGS. 1 to 3, the transfer unit (300) is movably installed on the transfer shaft (540) of the support unit (500), which is one of the support structures of the winding device (10). The transfer unit (300) moves in the axial direction by a mechanism (e.g., a cylindrical cam) that converts the rotational motion of the transfer unit motor (not illustrated) into linear motion. That is, the cylindrical cam positioned on the transfer shaft (540) is rotated to move the transfer unit (300) in the axial direction. The transfer unit (300) reciprocates linearly on the transfer shaft (540) having a predetermined length (see the arrow direction of FIG. 3) and winds the winding material (1) onto the bobbin at a preset interval (an exemplary interval is illustrated in FIG. 2. The interval indicated by the dashed lines on both sides of the transfer unit (300) in FIG. 2 indicates the preset interval). The conveying unit (300) moves in a direction parallel to the longitudinal direction of the spindle (520) to be described later. For example, the preset interval may correspond to the width of the bobbin and the width of the package (3). The winding material (1) may not be supplied to only one point on the spindle (520) by the conveying unit (300), but may be supplied while reciprocating within the linear movement interval of the conveying unit (300). Therefore, the winding material (1) may be wound with a uniform thickness when wound on the bobbin. For example, the conveying unit (300) may be referred to as a 'traverse'. The winding material (1) conveyed by the conveying unit (300) may be wound by being brought into close contact with the bobbin on the spindle (520) by the second roller unit (400).

As shown in FIGS. 1 to 4, the second roller unit (400) may include a second roller (410) and a second actuator (420).

The second roller (410) is arranged between the conveying section (300) and the spindle (520), and presses the surface of the bobbin when the winding material (1) is wound on the bobbin on the spindle (520) so that the winding material (1) is wound firmly without unwinding. To this end, the second roller (410) can be rotatably supported by a second roller shaft (410a) arranged parallel to the spindle (520). The position of the second roller (410) can be adjusted by the second actuator (420) so that the pressing force for pressing the winding material (1) can be maintained. Since the second roller (410) has the function of pressing the winding material (1), it can be referred to as a 'pressure roller'. The second roller (410) and the second actuator (420) can have the same or similar structures as the first roller (110) and the first actuator (150) described above. In addition, since the second roller (410) must be able to press the entire bobbin, it may have a length at least equal to or greater than the width of the bobbin or the width of the preset package. That is, the second roller (410) has a length along the longitudinal direction of the spindle (520) equal to or greater than the width of the package. For example, as shown in FIG. 3, the length of the second roller (410) may be formed to be greater than the width of the package (3) (the width of the package along the longitudinal direction of the spindle). When the winding material (1) is wound and the outer diameter of the package (3) increases, the second roller (410) moves away from the spindle (520) by the increased outer diameter. Although not shown in the drawing, a sensor may be installed on one side of the second roller (410) to detect a change in the position of the second roller (410) according to a change in the outer diameter of the package (3). When the second roller (410) moves away from the spindle (520) by a predetermined distance or more according to a signal from a sensor that detects a change in the position of the second roller (410), the drum (530) can be controlled to rotate by a predetermined angle. Accordingly, as shown in FIG. 4, after the winding of the package (3) is completed, the drum (530) can rotate so that the empty spindle (520a) can move to the winding position. Accordingly, the second roller (410) is controlled to come closer to the spindle (520a) again, and the position control operation of the drum (530) and the second roller (410) described above can be repeatedly performed until the winding is completed. After the winding of the package (3) is completed, the cutting of the winding material (1) or the operation of the drum (530) can adopt a conventional structure (since this structure is not a main feature of the present invention, a detailed description thereof will be omitted). When the empty spindle (520a) moves to the winding position, the winding material (1) is wound on a new bobbin again, and the package (3) that has been wound can be separated from the spindle (520).

As described above, the transfer unit (300), the second roller (410), and the spindle (520) are arranged in parallel, so that one package can be wound in parallel.

In a winding device according to one embodiment of the present invention having the above-described configuration, a method for controlling the rotational speed of the spindle and the feed speed of the feed section according to the tension of the winding material will be described as follows with reference to FIGS. 5 and 6.

Fig. 5 is a schematic diagram illustrating a control flow of a winding device according to one embodiment of the present invention. Fig. 6 is a schematic diagram illustrating a control process of the controller of Fig. 5 in more detail.

As shown in Fig. 5, the controller (600) can control the rotation speed of the spindle (520) according to the change in tension of the winding material (1) through the signal transmitted from the first actuator (150) and the sensor (140). In addition, the transfer speed of the transfer unit (300) is controlled to follow the rotation speed of the spindle (520).

For example, the tension of the winding material (1) may increase, causing a change in position of the first roller (110). When the tension increases, the first roller (110) may move in one direction based on the initial setting position. For example, the controller (600) may determine that the tension has increased when the first roller (110) rises based on FIG. 1 (however, the direction in which the tension is determined to have increased may change if the installation position or direction of the rollers is changed). The detection of the change in position is performed through the sensor (140), and the signal measured by the sensor (140) is transmitted to the controller (600).

Below, we will examine in detail the method of controlling the rotation speed of the spindle (520) and the transport speed of the transport unit (300) accordingly in the controller (600).

As illustrated in FIG. 6, the controller (600) includes an upper controller and a spindle motor driving device (620), and a feed motor driving device (640). In addition, the spindle motor driving device (620) includes a motor speed PID controller (622) and a first motor frequency converter (624). The motor speed PID controller (622) calculates the rotation speed of the spindle (520) through PID control (proportional integral derivative control) based on the difference between the measured tension transmitted from the sensor (140) and the target tension. The first motor frequency converter (624) outputs a driving frequency for driving the spindle motor for the calculated rotation speed of the spindle (520). Thereafter, when the spindle motor is driven by the output driving frequency, the spindle motor rotates the spindle (520) at the calculated rotation speed.

The conveying motor driving device (640) includes a command frequency input unit (642) and a second motor frequency converter (644). At this time, the driving frequency output from the first motor frequency converter (624) of the spindle motor driving device is directly transmitted to the command frequency input unit (642) of the conveying motor driving device. In this way, real-time control is possible and the configuration is simplified by using the driving frequency value output from the spindle motor driving device (620) as the command frequency value of the conveying motor driving device (640) without controlling the conveying speed of the conveying device by measuring the actual rotation speed or rotation angle of the spindle. The second motor frequency converter (644) serves to convert the driving frequency of the spindle motor into the driving frequency of the conveying motor. For example, the driving frequency of the spindle motor can be converted into the driving frequency of the conveying motor through linear conversion (linear function conversion). Afterwards, when the transport motor is driven by the driving frequency converted from the second motor frequency converter (644), the transport unit (300) reciprocates in proportion to the rotation speed of the spindle (520).

Specifically, when the tension of the winding material (1) increases, the rotation speed of the spindle (520) is reduced by the controller (600) from the reference rotation speed, and accordingly, the transport speed of the transport unit (300) is also reduced, so that the same effect as physically lowering the tension of the winding material (1) can be achieved.

On the other hand, if the tension of the winding material (1) decreases, a change in position of the first roller (110) may occur. If the tension decreases, the first roller (110) may move in another direction based on the initial setting position. For example, the controller (600) may determine that the tension decreases when the first roller (110) descends based on FIG. 1 (however, if the installation position or direction of the rollers is changed, the direction in which the tension is determined to increase may change). If the tension of the winding material (1) decreases, the rotation speed of the spindle (520) is increased by the controller (600) more than the reference rotation speed, and accordingly, the transport speed of the transport unit (300) is also increased, which may have the same effect as physically increasing the tension of the winding material (1).

In this way, the controller (600) can respond to the change in tension of the winding material (1) by adjusting the rotation speed of the spindle (520) according to the change in tension. Therefore, the winding material (1) can be wound uniformly in the same way as winding the winding material (1) with a constant tension. After a certain period of time has passed after the change in speed of the spindle (520) and the conveying unit (300), the first roller (110) returns to the setting position before the change in tension.

As a result, the tension of the thread can be made uniform, and the ratio of the rotation speed (rpm) of the spindle (520) and the feed (reciprocating) speed (cpm) of the feed section (300) can be kept constant. Accordingly, the ribbon phenomenon (a phenomenon in which the thread is piled up multiple times at the same point and collapses) can be prevented from occurring during winding.

The above description is only one embodiment for carrying out the present invention, and the present invention is not limited to the above-described embodiment, and as claimed in the following claims, it will be understood that the technical spirit of the present invention encompasses a range in which various modifications can be implemented without departing from the gist of the present invention.

1: Cover 3: Package
10: Winding device 100: First roller section
110: 1st roller 110a: 1st roller shaft
120: Lever 130: Lever Shaft
140: Sensor 150: First actuator
200: Direction change roller 200a: Shaft
300: Transfer section 400: Second roller section
410: Second roller 410a: Second roller shaft
420: Second actuator 500: Support
510: Base plate 520, 520a: Spindle
530: Drum 540: Transfer shaft
600: Controller 620: Spindle motor drive device
622: Motor speed PID controller 624: First motor frequency converter
640: Transfer motor drive device 642: Command frequency input unit
644: 2nd motor frequency converter

Claims (9)

A first roller unit having a first roller for guiding a roll, a sensor connected to the first roller for detecting a change in the position of the first roller, and a first actuator for adjusting the position of the first roller;
At least one spindle to which a bobbin on which the above winding material is wound is coupled;
A transport unit installed adjacent to the spindle, performing reciprocating linear motion in a direction parallel to the longitudinal direction of the spindle, and guiding the winding material to the spindle;
A second roller unit having a second roller installed adjacent to the spindle and arranged parallel to the longitudinal direction of the spindle and pressurizing the winding material when the winding material is wound, and a second actuator for adjusting the position of the second roller; and
It includes a controller that receives a signal from the sensor and controls the rotation speed of the spindle and the transport speed of the transport part;
The above controller includes a spindle motor driving device and a transport motor driving device,
A winding device, characterized in that the driving frequency output from the spindle motor driving device is directly transmitted as a command frequency to the transfer motor driving device. In the first paragraph,
The above spindle motor driving device,
A motor speed PID controller that calculates the rotation speed of the spindle through PID control based on the difference between the measured tension transmitted from the sensor and the target tension; and
A winding device, comprising: a first motor frequency converter for outputting a driving frequency for driving a spindle motor for the rotational speed of the spindle calculated by the motor speed PID controller; In the second paragraph,
The above-mentioned transport motor driving device is,
A command frequency input section for receiving the driving frequency output from the first motor frequency converter; and
A winding device, comprising a second motor frequency converter that converts the driving frequency of the spindle motor into the driving frequency of the feed motor. In the third paragraph,
A winding device, characterized in that the driving frequency of the spindle motor is converted into the driving frequency of the feed motor through linear conversion. In the third paragraph,
A winding device, characterized in that the ratio of the rotational speed of the spindle and the transport speed of the transport section is maintained constant. In paragraph 5,
The above controller,
A winding device characterized in that when the tension of the winding material increases, the rotation speed of the spindle and the transport speed of the transport section are controlled to decrease, and when the tension of the winding material decreases, the rotation speed of the spindle and the transport speed of the transport section are controlled to increase. In a control method of a winding device for controlling a winding device according to Article 1,
A step in which a signal from the above sensor is transmitted to the above controller;
A step of calculating the rotation speed of the spindle through PID control based on the difference between the measured tension transmitted from the sensor and the target tension; and
A method for controlling a winding device, comprising: a step of outputting a driving frequency for driving a spindle motor for the rotational speed of the spindle calculated in the step of calculating the rotational speed of the spindle; In Article 7,
A control method for a winding device, further comprising a step of receiving the driving frequency of the spindle motor output in the step of outputting the driving frequency and converting the driving frequency of the spindle motor into the driving frequency of the feed motor. In Article 8,
A control method for a winding device, characterized in that the ratio of the rotational speed of the spindle and the transport speed of the transport section is maintained constant.