CN110304484A - Handling system and tension adjustment unit - Google Patents
Handling system and tension adjustment unit Download PDFInfo
- Publication number
- CN110304484A CN110304484A CN201910048464.2A CN201910048464A CN110304484A CN 110304484 A CN110304484 A CN 110304484A CN 201910048464 A CN201910048464 A CN 201910048464A CN 110304484 A CN110304484 A CN 110304484A
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- China
- Prior art keywords
- tension
- dance roller
- roller
- actuator
- shaft
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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
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
- B65H23/048—Registering, tensioning, smoothing or guiding webs longitudinally by positively actuated movable bars or rollers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H23/00—Registering, tensioning, smoothing or guiding webs
- B65H23/04—Registering, tensioning, smoothing or guiding webs longitudinally
- B65H23/26—Registering, tensioning, smoothing or guiding webs longitudinally by transverse stationary or adjustable bars or rollers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
- B65H2511/10—Size; Dimensions
- B65H2511/13—Thickness
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
- B65H2511/20—Location in space
- B65H2511/23—Coordinates, e.g. three dimensional coordinates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
- B65H2515/30—Forces; Stresses
- B65H2515/31—Tensile forces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2553/00—Sensing or detecting means
- B65H2553/80—Arangement of the sensing means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H2555/00—Actuating means
- B65H2555/10—Actuating means linear
Abstract
The present invention provides a kind of sinuous handling system and tension adjustment unit inhibited in handling system.Tension adjustment unit (310) includes dance roller (312), the rotary shaft (314) of dance roller (312) can translate, and the rotary shaft (314) of dance roller (312) can be swung.According to the deviation of carrying state and actual carrying state as target, the swing of dance roller (312) is controlled.
Description
This application claims the priority based on Japanese patent application filed on March 20th, 2018 the 2018-053248th.
The entire content of this Japanese application is incorporated by reference in this manual.
Technical field
The present invention relates to a kind of handling systems.
Background technique
Roll-to-roll handling system is for apparatus for coating or printing machine etc..It is provided in roll-to-roll handling system to carrying object
The tension regulating system of (web, roll) application tension.With roll filming and printing etc. processing high precision int,
Tension regulating system is required with higher uniform precision to carry out tension force.In the past, it is thus proposed that as in patent document 1
Documented tension regulating system.
Above-mentioned previous tension regulating system drives the tension tune for applying tension to roll by gas pressure type actuator
Roller is saved, therefore hardly generates the frictional resistance of the reciprocating movement with the body of rod.Therefore, it is able to suppress the driving force of actuator
Transmitting loss, and the tension that apply to roll of dance roller can be adjusted with higher precision.
Patent document 1: Japanese Unexamined Patent Publication 2010-13211 bulletin
Patent document 2: Japanese Unexamined Patent Publication 2017-007782 bulletin
Patent document 3: Japanese Unexamined Patent Publication 2004-292068 bulletin
In roll-to-roll handling system, carrying the sinuous of object will affect machining accuracy, therefore it is required that inhibiting to wriggle.
Summary of the invention
The present invention is to complete in light of this situation, and the illustrative first purpose of one embodiment is to provide one kind
It is able to suppress sinuous handling system.
A mode of the invention is related to a kind of handling system.Handling system has tension adjustment unit, the tension adjustment list
Member includes dance roller, and the rotary shaft of dance roller can translate, and the rotary shaft of dance roller can be swung, root
According to the deviation of carrying state and actual carrying state as target, the swing of dance roller can control.
In addition, being replaced mutually any combination of the above constitutive requirements between method, apparatus etc. or composition of the invention is wanted
Part or statement, it is also equally effective as embodiments of the present invention.
Invention effect
In accordance with the invention it is possible to inhibit sinuous.
Detailed description of the invention
Fig. 1 is the perspective view of the handling system of embodiment.
Fig. 2 (a), Fig. 2 (b) are the figure for illustrating the concrete example of carrying state.
Fig. 3 (a), Fig. 3 (b) are the figure of the movement of the handling system of explanatory diagram 1.
Fig. 4 (a), Fig. 4 (b) are the figure for indicating the control system of tension regulating system.
Fig. 5 (a), Fig. 5 (b) are the figure for illustrating the deviation detection based on label detection.
Fig. 6 (a), Fig. 6 (b) are the figure for indicating another control system of tension regulating system.
Fig. 7 is the schematic diagram for indicating the structure of tension regulating system of the 1st embodiment.
Fig. 8 is the perspective view of tension adjustment unit.
Fig. 9 is the top view of tension adjustment unit.
Figure 10 is the figure for indicating tension adjustment unit.
Figure 11 is the block diagram for indicating the function and structure of control device.
Figure 12 is the perspective view for indicating the tension adjustment unit of the 2nd embodiment.
Figure 13 is the figure for indicating the tension adjustment unit of the 2nd embodiment.
Figure 14 is the top view for indicating the tension adjustment unit of the tension regulating system of variation of the 1st embodiment.
In figure: 200- handling system, 202- roller, 204- motor, 206- carry object, 300- tension regulating system, and 310- opens
Power adjusts unit, 312- dance roller, 320- controller, 330- sensor.
Specific embodiment
Hereinafter, by identical symbol is marked to each shown in the drawings identical or equivalent constitutive requirements, component, process,
And suitably omit its repeat description.Also, in order to make it easy to understand, the size of the component in each attached drawing is by suitably putting
Greatly, it is shown after reducing.Also, it omits show for illustrating unessential one in embodiment in the drawings
The component divided.
Fig. 1 is the perspective view of the handling system 200 of embodiment.Handling system 200 has at least one roller (rotary body)
202 and motor 204 that roller 202 is driven.Rotate roller 202 by motor 204, thus by the carrying object as object
(roll) 206 is carried along specified path.Carry the band-like or laminar base that object 206 is paper or film etc
Material, and along transport path continued presence.
The tension regulating system 300 for adjusting the tension for carrying object 206 is provided in transport path.Tension adjustment system
System 300 has tension adjustment unit 310 and controller 320.Tension adjustment unit 310 includes dance roller 312.Tension adjustment
Roller 312 is supported to rotate freely around rotary shaft 314.Rotary shaft 314 can translate, and can swing.
The direction of benchmark as rotary shaft 314 is the width direction for carrying object 206, as X-axis.Translational motion
Direction is the length direction (carry direction) for carrying object 206, as Y-axis.The rotary shaft (Z axis) of pendulum motion with by flat
The plane (X-Y plane) that shifting movement can move rotary shaft 314 is vertical.That is, any movement in translational motion, pendulum motion
In, rotary shaft is mobile in X-Y plane.Swing about the z axis is also referred to as flat pendulum (Yawing).
The tension of object 206 is carried in the detection of controller 320, and makes 314 translational motion of rotary shaft of dance roller 312,
So that the tension detected is close to target value.In the example of Fig. 1, if being displaced dance roller 312 to Y-axis positive direction, open
Power becomes smaller, if being displaced to Y-axis negative direction, tension increases.
Tension regulating system 300 controls tension according to the deviation of carrying state and actual carrying state as target
The swing of regulating roller 312.
Fig. 2 (a), Fig. 2 (b) are the figure for illustrating the concrete example of carrying state.As shown in Fig. 2 (a), carrying state can be set as
Carry the carry direction (transport direction) of object 206.Shown in dotted line, can by carry object 206 center line (or become edge
Side) direction as carry direction.In the example, target carry direction becomes Y direction.
As shown in Fig. 2 (b), carrying state can be set as specified Y-coordinate (y0) in carrying object 206 designated position P
The X-coordinate at (such as center or edge).
Carrying state is not limited to state described herein, as long as having correlation with wriggling for object 206 is carried
State.In addition, " sinuous " typically refers to the curved, shape that many S fonts connect together as snake, but ought be only
When being conceived to 1 tension adjustment unit 310, moving object is bent along 1 direction, is not necessarily limited to wriggle, it is desirable to pay attention to
To this point.
The above are the basic structures of handling system 200.Then, it is acted and is illustrated.Fig. 3 (a), Fig. 3 (b) are to illustrate
The figure of the movement of the handling system 200 of Fig. 1.The handling system 200 of display Fig. 1 viewed from above bows in Fig. 3 (a), Fig. 3 (b)
View.
Here, the carrying state for becoming control object is set as carry direction.The actual carry direction of object 206 will be carried
(direction of travel), to grasp, and is indicated as the center line for carrying object 206 using single dotted broken line.As shown in Fig. 3 (a), carrying
When object 206 wriggles, the direction of travel for carrying object 206 can be detached from from the carry direction (Y direction) for becoming target.Handling system
200 rotate dance roller 312 about the z axis, to correct the error delta θ of carry direction.Fig. 3 (b) display makes dance roller 312
The case where after rotation.In the example, error delta θ is produced, therefore in the counterclockwise direction in order to offset the error, as long as making tension
Regulating roller 312 rotates clockwise.By rotating the rotary shaft of dance roller 312, can make to carry object
206 actual direction of travel is close to the direction as target, so as to inhibit sinuous.
Fig. 4 (a), Fig. 4 (b) are the figure for indicating the control system of tension regulating system 300.The tension regulating system of Fig. 4 (a)
300 have the downstream for being set to dance roller 312, the direction of travel (Y-axis i.e. than dance roller 312 more by carrying object 206
Positive direction) side position sensor 330.Specified Y-coordinate (the y of the detection of sensor 3300) in edge E position (X-direction
Displacement x) as carry object 206 carrying state.Controller 340 controls dance roller 312 according to displacement x
Flat pendulum.Such as the yawing angle of 340 feedback control dance roller 312 of controllerSo that displacement x is close to target value.
The tension regulating system 300 of Fig. 4 (b), which has, to be set to the upstream of dance roller 312, compares dance roller
312 more lean on the sensor 330 of the position of the side (Y-axis negative direction) opposite with the direction of travel of object 206 is carried.Sensor 330
Specified Y-coordinate (the y of detection0) in edge E position (the displacement x) of X-direction as carry object 206 carrying state.
Controller 340 controls the flat pendulum of dance roller 312 according to displacement x.Such as controller 340 can also be according to displacement x
Carry out the yawing angle of feedback control dance roller 312
Fig. 4 (a), Fig. 4 (b) example in, according to the position control dance roller 312 at the edge for carrying object 206
Flat pendulum, but not limited to this.Can also to carry 206 annotated mark of object, according to label by position come detect carry
The deviation of the carry direction of object 206.
Fig. 5 (a), Fig. 5 (b) are the figure for illustrating the deviation detection based on label detection.In the example, on the side for carrying object 206
Near edge two at be labeled with label M1, M2.Two label M are detected by sensor1, M2The position passed through, thus, it is possible to examine
Survey the carry direction for carrying object 206.
Based on label M1, M2The calculation method of carry direction be not particularly limited.For example, setting M1, M2Y-coordinate be y1,
y2.When by two label M1, M2Distance when being set as L,
Lsin θ=(y1-y2) set up,
Therefore tiltangleθ can be found out by following formula:
θ=arcsin { (y1-y2)/L}
Also it can detecte M1, M2X-coordinate x1, x2.When by two label M1, M2Distance when being set as L,
Lcos θ=(x1-x2) set up,
Therefore tiltangleθ can be found out by following formula:
θ=arccos { (x1-x2)/L}
Controller 320 can control the swing of dance roller 312, so that tiltangleθ is close to zero.
Controller 320 can also carry out position control to replace the control of tiltangleθ.That is, also can control tension adjustment
The swing of roller 312, so that two label M1、M2The two passes through respective target position.
The sensor for being used to detect carrying state can also be built in tension adjustment unit 310.Thereby, it is possible in tension
The inside of regulating system 300 carries out Seal treatment.
Fig. 6 (a), Fig. 6 (b) are the figure for indicating another control system of tension regulating system 300.In the tension regulating system
In 300, the distribution (inhomogeneities) of the thickness of object 206 in the direction of the width is carried in the measurement of sensor 330.Fig. 6 (a), Fig. 6 (b)
In the example of thickness at measurement 3 is shown, but the number of measuring point is not limited.
Consider under static state with a thickness of constant carrying object 206.As shown in Fig. 6 (a), carries object 206 and do not wriggle
And when keeping straight on, the distribution of tension T in the direction of the width is essentially constant, therefore thickness is also close to constant (d1=d2=d3).Such as
Shown in Fig. 6 (b), when carrying object 206 wriggles, the width direction distribution of tension T becomes uneven, therefore thickness also becomes uneven
(d1≠d2≠d3).That is, carrying the distribution of the thickness of object 206 and the state of carrying has correlation.Therefore controller 320 being capable of root
According to the distribution (d of thickness1, d2...) detection carrying state, so as to control the swing of dance roller 312.
Hereinafter, the specific structural example to tension regulating system 300 is illustrated.
(the 1st embodiment)
Fig. 7 is the schematic diagram for indicating the structure of tension regulating system 100 of the 1st embodiment.100 quilt of tension regulating system
It is assembled in roll processing system.Roll processing system makes roll 2 move road along specified via multiple rotary bodies 4
Diameter is mobile, and implements specified processing to roll 2 on the move.Roll 2 is the band-like or laminar of paper or film etc
Substrate, and move along path continued presence.The tension of the adjustment of tension regulating system 100 roll 2.
Tension regulating system 100 has: tension detector 10, control device 12 and tension adjustment unit 14.Tension detection
The tension of the detection roll 2 of device 10.As tension detector, usually using differential transformer or load cell, but tension is detected
Device belongs to well known device, therefore it is not described here in detail.Control device 12 controls tension adjustment unit 14.Tension adjustment unit 14 is right
Roll 2 applies tension, so that the tension of roll 2 reaches desired tension.
Fig. 8~Figure 10 is the figure for indicating tension adjustment unit 14.Fig. 8 is the perspective view of tension adjustment unit 14.Fig. 9 is
The top view of power adjusting unit 14.Figure 10 is the cross-sectional view along the line A-A of Fig. 9.Tension adjustment unit 14 include: mounting 20,
The 1st shaft supporting part shaft supporting part of 22a~the 4th 22d, roller movable part 25, dance roller 28, linking part 30 and actuator
32。
The 1st shaft supporting part shaft supporting part of 22a~the 4th 22d is respectively arranged on four corners of mounting 20.1st is quiet
Gas bearing 23a is pressed to be inserted through the 1st shaft supporting part 22a towards X-direction (specified horizontal direction).Similarly, the 2nd pressurized air
Bearing 23b, the 3rd hydrostatic gas-lubricated bearing 23c, the 4th hydrostatic gas-lubricated bearing 23d are inserted through the 2nd shaft supporting part towards X-direction respectively
22b, the 3rd shaft supporting part 22c, the 4th shaft supporting part 22d.
25 supportive tensile force regulating roller 28 of roller movable part can rotate, and pass through the 1st shaft supporting part 22a~the 4th
Shaft supporting part 22d is supported to move in the X direction.Roller movable part 25 includes: the 1st shaft 24b of shaft 24a~the 2nd
(hereinafter, these shafts are also referred to as " shaft 24 "), the 1st dance roller supporting part dance roller supporting part of 26a~the 2nd
26b and connecting component 27.
It is substantially parallel with X-direction that 1st shaft 24a is configured to central axis, and one end inserts the 1st shaft supporting part 22a
The 1st hydrostatic gas-lubricated bearing 23a, the other end insert the 2nd shaft supporting part 22b the 2nd hydrostatic gas-lubricated bearing 23b.Compression is empty
Gas is fed into the gap between the 1st hydrostatic gas-lubricated bearing 23a and the 1st shaft 24a, thus the 1st hydrostatic gas-lubricated bearing 23a with
Gap between 1st shaft 24a generates static pressure.Similarly, compressed air is also fed with to the 2nd hydrostatic gas-lubricated bearing 23b and the 1st
Gap between shaft 24a, thus the gap between the 2nd hydrostatic gas-lubricated bearing 23b and the 1st shaft 24a generates static pressure.It utilizes
1st shaft 24a is supported (other substantially orthogonal with X-direction horizontal directions) and Z-direction (vertical in the Y direction by these static pressure
Direction) on, and be kept into and the 1st shaft supporting part 22a and the 2nd discontiguous state of shaft supporting part 22b.
It is substantially parallel with X-direction that 2nd shaft 24b is configured to central axis, and one end inserts the 3rd shaft supporting part 22c
The 3rd hydrostatic gas-lubricated bearing 23c, the other end insert the 4th shaft supporting part 22d the 4th hydrostatic gas-lubricated bearing 23d.Compressed air
It is fed into the gap between the 3rd hydrostatic gas-lubricated bearing 23c and the 2nd shaft 24b, thus in the 3rd hydrostatic gas-lubricated bearing 23c and
Gap between 2 shaft 24b generates static pressure.Similarly, compressed air is also fed with to the 4th hydrostatic gas-lubricated bearing 23d and the 2nd axis
Gap between bar 24b, thus the gap between the 4th hydrostatic gas-lubricated bearing 23d and the 2nd shaft 24b generates static pressure.Utilize this
A little static pressure support the 2nd shaft 24b in the Y direction and in Z-direction, and are kept into and the 3rd shaft supporting part 22c and the 4th shaft
The discontiguous state of supporting part 22d.
1st dance roller supporting part 26a includes: the 1st bracket 40a and the 1st rolling bearing 41a.1st shaft 24a is along X
Direction is inserted through the 1st bracket 40a, and is fixed on the 1st bracket 40a.Therefore, the 1st bracket 40a, i.e. the 1st dance roller supporting part
26a is moved together with the 1st shaft 24a.2nd dance roller supporting part 26b includes: the 2nd bracket 40b and the 2nd rolling bearing
41b.2nd shaft 24b is inserted through the 2nd bracket 40b along the X direction, and is fixed on the 2nd bracket 40b.Therefore, the 2nd bracket 40b, i.e.,
2nd dance roller supporting part 26b and the 2nd shaft 24b is moved together.
1st rolling bearing 41a is inserted through the 1st bracket 40a towards Y-direction.2nd rolling bearing 41b is inserted through the 2nd towards Y-direction
Bracket 40b.One end of dance roller 28 is inserted through the 1st rolling bearing 41a, and the other end of dance roller 28 is inserted through the 2nd
Rolling bearing 41b.Therefore, dance roller 28 via each rolling bearing by each bracket (specifically, be each dance roller branch
Bearing portion) it is supported to and is able to carry out rotation.Alternatively, it is also possible to use hydrostatic gas-lubricated bearing and other bearings, to replace the 1st axis of rolling
Hold 41a and the 2nd rolling bearing 41b.
Connecting component 27 is the component of elongated plate-shaped, and the 1st dance roller supporting part 26a is fixed in one end, and the other end is solid
Due to the 2nd dance roller supporting part 26b.Therefore, if as movable rod 50 (aftermentioned) towards moving for X-direction makes interconnecting piece
Part 27 is mobile towards X-direction, then the 1st dance roller supporting part 26a and the 2nd dance roller supporting part 26b will be along shafts
24 extending direction is mobile towards X-direction.
Dance roller 28 is columned component, and rotary shaft R is supported to substantially parallel with Y-direction.Roll 2
On dance roller 28.If keeping roller movable part 25 mobile towards X-direction by actuator 32, dance roller 28 also with
This is mobile towards X-direction, so as to adjust the tension of roll 2.In present embodiment, if make dance roller 28 towards actuator 32 this
Side is mobile, then the pushing force being applied on roll 2 becomes larger, so that the tension of roll 2 also becomes larger.On the other hand, if making
Dance roller 28 is mobile towards the side opposite with actuator 32, then the pushing force being applied on roll 2 becomes smaller, thus web-like
The tension of object 2 becomes smaller.
The hinge shape that there is linking part 30 central portion to shrink.In linking part 30 across contraction flow region 30a and one end side with
Connecting component 27 is connected, and another side is connected with the movable rod 50 of actuator 32.That is, linking part 30 links connecting component 27
With the movable rod 50 of actuator 32.
Actuator 32 is Direct Action Type actuator.Actuator 32 by make movable rod 50 towards X-direction movement and via linking part
30 keep roller movable part 25 and dance roller 28 mobile towards X-direction.In the present embodiment, actuator 32 is to utilize compressed air
Come so that movable rod 50 and cylinder body 52 are maintained under contactless state and carry out mobile gas pressure type actuator.In actuator 32
Portion is provided with the pressure detector for the pressure being able to detect in cylinder body 52.In addition, for example there is Sumitomo weight as gas pressure type actuator
What mechanical electromechanics Co., Ltd. (Sumitomo Heavy Industries, Ltd.Mechatronics division) manufactured
Airsonic (trade (brand) name).
Then, to the positional relationship of dance roller 28, dance roller supporting part 26, linking part 30 and actuator 32
It is illustrated.Central axis of the height (i.e. the position of Z-direction) substantially with shaft 24 where the rotary shaft R of dance roller 28
The height at place is consistent.Also, the height where the rotary shaft R of dance roller 28 substantially with the central axis of linking part 30 with
And the central axis of the movable rod 50 of actuator 32 is consistent.Moreover, passing through the central axis of movable rod 50 and the central axis of linking part 30
Straight line, i.e. actuator 32 passes through tension tune via the resultant force that linking part 30 is applied to roller movable part 25 or even dance roller 28
Save the center of gravity G of roller 28.That is, be applied through on dance roller 28 the center of gravity G of dance roller 28 and with guidance tension tune
The power in the parallel direction of the shaft 24 for saving roller 28 towards X-direction movement.
Figure 11 is the block diagram for indicating the function and structure of control device 12.Shown each frame herein comes from hardware aspect
See, can by the CPU (central processing unit, central processing unit) with computer be representative element or
Mechanical device is realized, from the point of view of software aspects, can be realized by computer program etc., still, be depicted pass through this herein
The functional block diagram for cooperating to realize of a little software and hardwares.Therefore, it will be appreciated by those skilled in the art that these functional block diagrams can lead to
The combination for crossing hardware and software, with various forms come the fact that realize.
Control device 12 has: acquisition unit 60 and actuator control unit 62.Pressure detecting of the acquisition unit 60 from actuator 32
Device obtains the pressure measurements in cylinder body 52.The measured value according to acquired in acquisition unit 60 of actuator control unit 62, calculating can
The active force that lever 50 applies dance roller 28, and go out by the Calculation of the force tension of roll 2.Actuator control
Portion 62 controls actuator 32, to make the tension according to calculated roll 2 in a manner of this become desired tension.Actuator
If 32 receive instruction from actuator control unit 62, keep movable rod 50 mobile.Roller movable part 25 and dance roller 28 are with this
It is mobile, and the tension for being applied to roll 2 changes.
In addition, acquisition unit 60 can obtain the tension detection value of roll 2 from tension detector 10.Actuator control unit 62
Actuator 32 can be controlled according to measured value acquired in acquisition unit 60, so that the tension of roll 2 becomes desired
Power.
According to the tension regulating system 100 of the implementation described above, actuator 32 can to roller via linking part 30
The extended line for the power that dynamic portion 25 applies passes through the center of gravity G of dance roller 28.Therefore, it is applied via linking part 30 and roller movable part 25
The power (resultant force) for being added on dance roller 28 passes through the center of gravity G of dance roller 28.Thereby, it is possible to inhibit to make tension adjustment
The transmitting for the strength that roller 28 is mobile and is applied by actuator 32 is lost, and as a result, it is possible to accurately control the tension of roll 2.
Also, tension regulating system 100 according to the present embodiment, the height essence of the rotary shaft R of dance roller 28
It is upper consistent towards the mobile height of central axis of shaft 24 of X-direction with guide reel movable part 25 and dance roller 28.As a result, can
The transmitting for enough further suppressing the strength applied to keep dance roller 28 mobile by actuator 32 is lost.
Also, tension regulating system 100 according to the present embodiment, roller movable part 25 and actuator 32 are by with hinge
The linking part 30 of shape and link.That is, roller movable part 25 and actuator 32 are connected by linking part 30 with rotary freedom
Knot.Moreover, tension regulating system 100 according to the present embodiment, the shaft 24 of roller movable part 25 passes through hydrostatic gas-lubricated bearing
It is supported to the state not contacted with shaft supporting part.Therefore, between the shaft 24 and hydrostatic gas-lubricated bearing of roller movable part 25
There are gaps, and roller movable part 25 can be swung in the range of the gap.Roller movable part 25 can for example be swung around Z-direction.
Here, there is the part of skew on roll 2 sometimes, pass through dance roller 28 in the part of the skew
When, the tension of the width direction of roll 2 can become unevenly, and to dance roller 28 apply to relative to X-direction in inclining
The strength that oblique direction pulls.At this point, if dance roller 28 can not be swung around Z-direction, the width direction of roll 2
The tension of one end get higher, i.e., the tension in the width direction of roll 2 becomes uneven.In contrast, according to this implementation
The tension regulating system 100 of mode, as described above, roller movable part 25 and actuator 32 pass through the linking part with rotary freedom
30 and link, and roller movable part 25 is supported to the state not contacted with shaft supporting part by hydrostatic gas-lubricated bearing.Cause
This, roller movable part 25 can be swung in the range of the gap between shaft 24 and hydrostatic gas-lubricated bearing around Z-direction,
Power regulating roller 28 can also be swung with this around Z-direction.Therefore, the warp tension ratio of roll 2 in the direction of the width is enabled to
It is more uniform.
The 1st shaft supporting part 22a~the 4th also, in the tension regulating system 100 of the 1st embodiment, as meront
Shaft supporting part 22d has hydrostatic gas-lubricated bearing.Here, if hydrostatic gas-lubricated bearing is arranged on movable component, it is likely that
The movement for the piping for supplying air to hydrostatic gas-lubricated bearing is set to be obstructed.In contrast, in the tension regulating system of present embodiment
In 100, due to being provided with hydrostatic gas-lubricated bearing on meront, it is able to suppress the generation of this problem.
(the 2nd embodiment)
The tension regulating system of 2nd embodiment has tension in the same manner as the tension regulating system 100 of the 1st embodiment
Detector 10, control device 12 and tension adjustment unit 14.
Figure 12, Figure 13 are the figure for indicating the tension adjustment unit 14 of the 2nd embodiment.Figure 12 is tension adjustment unit 14
Perspective view.Figure 13 is the top view of tension adjustment unit 14.Figure 12, Figure 13 are corresponding with Fig. 8, Fig. 9 respectively.In present embodiment
In, tension adjustment unit 14 includes: mounting 20, the 1st shaft supporting part shaft supporting part of 22a~the 4th 22d, roller movable part 25, opens
Power regulating roller 28, the 1st linking part 130b of linking part 130a~the 2nd and the 1st actuator 132b of actuator 132a~the 2nd.
1st linking part 130a, the 2nd linking part 130b are respectively provided with structure identical with the linking part 30 of the 1st embodiment.
The one end of 1st linking part 130a is connect with the 1st shaft 24a, and another side is fixed on the movable rod 50 of the 1st actuator 132a.
The one end of 2nd linking part 130b is connect with the 2nd shaft 24b, and another side is fixed on the movable rod 50 of the 2nd actuator 132b.
1st actuator 132a, the 2nd actuator 132b are respectively provided with structure identical with the actuator 32 of the 1st embodiment.
1st actuator 132a and the 2nd actuator 132b is configured to, and be transmitted to dance roller 28 via roller movable part 25 the 1st causes
The resultant force of dynamic device 132a and the 2nd actuator 132b passes through the center of gravity G of dance roller 28.
Stroke (the example of each movable rod is able to detect in the 1st actuator 132a, being internally provided with for the 2nd actuator 132b
As each movable rod position) position detector.It is caused in addition, position detector also can be set in the 1st actuator 132a, the 2nd
The outside of dynamic device 132b.
Control device 12 includes: acquisition unit 60 and actuator control unit 62.Acquisition unit 60 in the present embodiment, from each cause
The position detector of dynamic device obtains the position finding value of each movable rod.The survey according to acquired in acquisition unit 60 of actuator control unit 62
Definite value controls the 1st actuator 132a and the 2nd actuator 132b, so that the tension of roll 2 reaches desired tension.Actuating
Device control unit 62 controls each actuator in particular according to the measured value of the position detector from each actuator, so that each actuator
Movable rod stroke it is substantially the same.If the 1st actuator 132a receives instruction from actuator control unit 62, via
1 shaft 24a keeps the 1st dance roller supporting part 26a mobile.Similarly, if the 2nd actuator 132b connects from actuator control unit 62
Instruction is received, then keeps the 2nd dance roller supporting part 26b mobile via the 2nd shaft 24b.Dance roller 28 is with each tension
The movement of regulating roller supporting part and move, and the tension for being applied to roll 2 changes.
According to the tension regulating system of the 2nd embodiment discussed above, the tension tune with the 1st embodiment can get
The identical function and effect of the function and effect of section system 100.
Also, according to the tension regulating system of the 2nd embodiment, by (i.e. the width direction of roll 2) in the Y direction
Two actuators of different location are configured to keep roller movable part 25 mobile.Therefore, dance roller can be more accurately controlled
28.For example, can more reliably ensure dance roller compared with the situation for making roller movable part mobile by an actuator
28 rotary shaft R is parallel with Y-direction, and dance roller 28 can also be made mobile towards X-direction.Thereby, it is possible to make web-like
The tension of the width direction of object 2 is more uniform.
(the 3rd embodiment)
The tension regulating system of 3rd embodiment has tension inspection in the same manner as the tension regulating system of the 2nd embodiment
Survey device 10, control device 12 and tension adjustment unit 14.The tension regulating system can be used in above-mentioned sinuous control.
Tension detector 10 detects the tension at the both ends in the width direction of roll 2 in the present embodiment.Tension inspection
The tension for surveying the width direction both ends for the roll 2 that device 10 will test out is sent to control device 12.14 base of tension adjustment unit
There is function identical with the tension adjustment unit 14 of the 2nd embodiment and structure in sheet.But in present embodiment, the 1st
The pressure detector for being internally provided with the pressure being able to detect in each cylinder body 52 of actuator 132a, the 2nd actuator 132b.
Control device 12 includes: acquisition unit 60 and actuator control unit 62.Acquisition unit 60 is caused from the 1st actuator 132a, the 2nd
Each pressure detector of dynamic device 132b obtains the pressure measurements in each cylinder body 52.Actuator control unit 62 is according to 60 institute of acquisition unit
The measured value of acquisition is calculated to calculate the active force that each movable rod 50 applies dance roller 28 by the active force
The tension at the both ends of the width direction of roll 2 out.Actuator control unit 62 controls the 1st actuator 132a and the 2nd actuator
132b can become desired tension according to the tension at the both ends of calculated roll 2 in a manner of this to make.Actuator
Control unit 62 especially controls each actuating in the mode for keeping the measured value of the pressure detector from each actuator substantially the same
Device.
In addition, acquisition unit 60 can be from the tension detection value on the width direction both ends that tension detector 10 obtains roll 2.
Actuator control unit 62 can control each actuator according to measured value acquired in acquisition unit 60, so that the width side of roll 2
To both ends tension it is substantially the same.
If the 1st actuator 132a receives instruction from actuator control unit 62, make the 1st tension tune via the 1st shaft 24a
It is mobile to save roller supporting part 26a.If the 2nd actuator 132b receives instruction from actuator control unit 62, via the 2nd shaft 24b
Keep the 2nd dance roller supporting part 26b mobile.That is, each dance roller supporting part is by each actuator by unit control
And it moves.Dance roller 28 is moved with the movement of each dance roller supporting part, and is applied to the tension hair of roll 2
Changing.
According to the tension regulating system of the 3rd embodiment discussed above, the tension tune with the 2nd embodiment can get
The identical function and effect of the function and effect of section system.
Also, according to the tension regulating system of the 3rd embodiment, the 1st shaft 24a and the 1st actuator 132a is by having
1st linking part 130a of hinge shape and link.Similarly, the 2nd shaft 24b and the 2nd actuator 132b pass through with hinge shape
2nd linking part 130b of shape and link.That is, each shaft is linked and the linking part with rotary freedom with each actuator.
Moreover, according to the tension regulating system of the 3rd embodiment, roller movable part 25 is supported to not by hydrostatic gas-lubricated bearing with
The state of the 1 shaft supporting part shaft supporting part 22d of 22a~the 4th contact.Therefore, in roller movable part 25 and each shaft supporting part
There are gap between hydrostatic gas-lubricated bearing, roller movable part 25 can be swung in the range of the gap.Roller movable part 25 is especially
It can be swung around Z-direction.Moreover, tension adjustment unit 14 has two causes according to the tension regulating system of the 3rd embodiment
Dynamic device, and it is capable of the movement of each dance roller of unit control roller movable part 25.
That is, according to the tension adjustment unit 14 of the 3rd embodiment, by two actuators, dance roller can be generated
Rotary shaft translational motion and pendulum motion.
The explanation such as carried out with reference to Fig. 1, can make roller movable part 25 by two actuators, specifically make tension adjustment
Roller 28 is energetically swung around Z-direction, thus inhibits to wriggle, so that the state of carrying is close to dbjective state.
In the case where the tension adjustment unit 14 of the 3rd embodiment is used for sinuous control, also can use at two
The measured value of the pressure obtained in actuator detects carrying state.
More than, the tension regulating system of embodiment is illustrated.The embodiment is only to illustrate, these are each
There are various modifications examples for the combination of constitutive requirements and each treatment process, also, this variation is also within the scope of the invention
The fact is that approved by those skilled in the art.It will be described below variation.
(variation 1)
In the first and second embodiments, there is the case where hinge shape to be illustrated linking part, but be not limited to
This, as long as linking part has the construction of rotary freedom.Figure 14 is the tension tune for indicating the variation of the 1st embodiment
The top view of the tension adjustment unit of section system.Figure 14 is corresponding with Fig. 9.In this variation, the one end and cause of linking part 30
The movable rod 50 of dynamic device 32 connects.The another side of linking part 30 has spherical shape, and abuts with connecting component 27.According to this
Variation can get function and effect identical with the function and effect of tension regulating system of the 1st embodiment.
(variation 2)
In the first and second embodiments, being supported to roller movable part by hydrostatic gas-lubricated bearing can be in the X direction
Mobile situation is illustrated, and but it is not limited to this.Roller movable part can also be scrolled bearing or other bearings are propped up
It holds.
(variation 3)
Has an actuator to the tension adjustment unit in the 1st embodiment, the tension adjustment list in the 2nd embodiment
Member has the case where two actuators and is illustrated, and but it is not limited to this.Tension adjustment unit can also have three or more
Actuator.In addition, the extended line for being also configured to the resultant force of these actuators passes through center of gravity when having multiple actuators
G.Also, be also configured to the extended line of the resultant force of these actuators substantially with guide reel movable part and dance roller 28
The height of the shaft 24 mobile towards X-direction is consistent.
Any combination of above embodiment and variation is similarly effective as embodiments of the present invention.Pass through combination
Made of new embodiment have both the embodiment being combined and the respective effect of variation.
Claims (8)
1. a kind of handling system, which is characterized in that have:
Tension adjustment unit, the tension adjustment unit include dance roller, and the rotary shaft of the dance roller can translate,
And the rotary shaft of the dance roller can be swung,
According to the deviation of carrying state and actual carrying state as target, inhibit the swing of the dance roller.
2. handling system according to claim 1 is also equipped with the sensor for measuring the actual carrying state,
According to the output of the sensor, the swing of the dance roller is controlled.
3. handling system according to claim 2, wherein
The sensor is configured at the downstream of the dance roller,
According to the output of the sensor, the swing of dance roller described in feedback control.
4. handling system according to claim 2, wherein
The sensor is configured at the upstream of the dance roller,
According to the output of the sensor, the swing of dance roller described in feedback control.
5. handling system according to any one of claim 2 to 4, wherein
The position at the edge of object is carried in the sensor detection.
6. handling system according to any one of claim 2 to 4, wherein
The sensor detection mark is in the position for the label for carrying object.
7. handling system according to any one of claim 2 to 4, wherein
The thickness of object is carried in the sensor detection.
8. a kind of tension adjustment unit, which is characterized in that have:
Dance roller；
Actuator makes the rotary shaft of the dance roller translate and swing；
Sensor detects actual carrying state；And
Control unit controls the swing of the dance roller, so that the close carrying as target of the actual carrying state
State.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-053248 | 2018-03-20 | ||
| JP2018053248A JP7023761B2 (en) | 2018-03-20 | 2018-03-20 | Transport system and dancer unit |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110304484A true CN110304484A (en) | 2019-10-08 |
| CN110304484B CN110304484B (en) | 2022-06-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910048464.2A Active CN110304484B (en) | 2018-03-20 | 2019-01-18 | Conveying system and tension adjusting unit |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP7023761B2 (en) |
| KR (1) | KR102638001B1 (en) |
| CN (1) | CN110304484B (en) |
| TW (1) | TWI683776B (en) |
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| CN111017618A (en) * | 2019-12-31 | 2020-04-17 | 北京隆普智能科技有限公司 | Automatic printing die cutting tension control system and control method thereof |
| CN113247673A (en) * | 2020-01-28 | 2021-08-13 | 住友重机械工业株式会社 | Control device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6844727B1 (en) * | 2020-03-12 | 2021-03-17 | オムロン株式会社 | Transport control device and transport control program |
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Also Published As
| Publication number | Publication date |
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| TW201940400A (en) | 2019-10-16 |
| JP7023761B2 (en) | 2022-02-22 |
| TWI683776B (en) | 2020-02-01 |
| KR102638001B1 (en) | 2024-02-16 |
| KR20190110424A (en) | 2019-09-30 |
| JP2019163150A (en) | 2019-09-26 |
| CN110304484B (en) | 2022-06-03 |
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