CN110304484B - Conveying system and tension adjusting unit - Google Patents

Conveying system and tension adjusting unit Download PDF

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Publication number
CN110304484B
CN110304484B CN201910048464.2A CN201910048464A CN110304484B CN 110304484 B CN110304484 B CN 110304484B CN 201910048464 A CN201910048464 A CN 201910048464A CN 110304484 B CN110304484 B CN 110304484B
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Prior art keywords
actuator
tension
tension adjusting
roller
dancer
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CN110304484A (en
Inventor
中岛龙太
吉田达矢
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Sumitomo Heavy Industries Ltd
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Sumitomo Heavy Industries Ltd
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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
    • B65H23/048—Registering, tensioning, smoothing or guiding webs longitudinally by positively actuated movable 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
    • 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
    • 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
    • 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 invention provides a conveying system and a tension adjusting unit for restraining meandering in the conveying system. The tension adjustment unit (310) comprises a tension adjustment roller (312), the rotation axis (314) of the tension adjustment roller (312) is capable of translating, and the rotation axis (314) of the tension adjustment roller (312) is capable of swinging. The oscillation of the dancer roll (312) is controlled in accordance with the deviation between the target conveyance state and the actual conveyance state.

Description

Conveying system and tension adjusting unit
The present application claims priority based on japanese patent application No. 2018-053248, applied on 3/20/2018. The entire contents of this Japanese application are incorporated by reference into this specification.
Technical Field
The present invention relates to a handling system.
Background
Roll-to-roll handling systems are used in coating devices or printing presses, etc. A roll-to-roll handling system is provided with a tension adjusting system that applies tension to a handled object (web, roll). With the increasing precision of processing such as thinning and printing of a web, a tension adjusting system is required to uniformly control tension with higher precision. Conventionally, a tension adjusting system as described in patent document 1 has been proposed.
The conventional tension control system described above drives the tension control roller for applying tension to the web by the pneumatic actuator, and therefore hardly generates frictional resistance accompanying the reciprocation of the rod body. Therefore, the tension applied to the web by the dancer roller can be adjusted with high accuracy while suppressing transmission loss of the driving force of the actuator.
Patent document 1: japanese patent laid-open publication No. 2010-13211
Patent document 2: japanese patent laid-open publication No. 2017-007782
Patent document 3: japanese laid-open patent publication No. 2004-292068
In the roll-to-roll conveying system, since meandering of the conveyed material affects the processing accuracy, suppression of the meandering is required.
Disclosure of Invention
The present invention has been made in view of the above circumstances, and an exemplary object of one embodiment thereof is to provide a conveyance system capable of suppressing meandering.
One aspect of the present invention relates to a conveyance system. The conveying system is provided with a tension adjusting unit which comprises a tension adjusting roller, wherein a rotating shaft of the tension adjusting roller can translate, the rotating shaft of the tension adjusting roller can swing, and the swing of the tension adjusting roller can be controlled according to the deviation between the target conveying state and the actual conveying state.
In addition, any combination of the above-described constituent elements, or constituent elements or expressions of the present invention, may be substituted for each other in methods, apparatuses, and the like, and the embodiments of the present invention are also effective.
Effects of the invention
According to the present invention, meandering can be suppressed.
Drawings
Fig. 1 is a perspective view of a conveyance system according to an embodiment.
Fig. 2(a) and 2(b) are diagrams illustrating a specific example of the conveyance state.
Fig. 3(a) and 3(b) are diagrams for explaining the operation of the conveyance system of fig. 1.
Fig. 4(a) and 4(b) are diagrams showing a control system of the tension adjusting system.
Fig. 5(a) and 5(b) are diagrams illustrating deviation detection by the mark detection.
Fig. 6(a) and 6(b) are diagrams showing another control system of the tension adjusting system.
Fig. 7 is a schematic diagram showing the configuration of the tension adjusting system according to embodiment 1.
Fig. 8 is a perspective view of the tension adjusting unit.
Fig. 9 is a plan view of the tension adjusting unit.
Fig. 10 is a view showing the tension adjusting unit.
Fig. 11 is a block diagram showing the function and structure of the control device.
Fig. 12 is a perspective view showing a tension adjusting unit according to embodiment 2.
Fig. 13 is a diagram showing a tension adjusting unit according to embodiment 2.
Fig. 14 is a plan view showing a tension adjusting unit of a tension adjusting system according to a modification of embodiment 1.
In the figure: 200-handling system, 202-rollers, 204-motor, 206-conveyance, 300-tensioning system, 310-tensioning unit, 312-tensioning rollers, 320-controller, 330-sensor.
Detailed Description
Hereinafter, the same or equivalent constituent elements, members and steps shown in the respective drawings will be denoted by the same reference numerals, and overlapping description thereof will be appropriately omitted. In addition, the dimensions of the components in the drawings are shown after being appropriately enlarged and reduced for easy understanding. In the drawings, parts that are not essential to the description of the embodiments are omitted.
Fig. 1 is a perspective view of a conveying system 200 according to an embodiment. The conveyance system 200 includes at least one roller (rotating body) 202 and a motor 204 for driving the roller 202. The roller 202 is rotated by a motor 204, and a target conveyed material (rolled material) 206 is conveyed along a predetermined path. The conveyance object 206 is a belt-like or sheet-like substrate such as paper or film, and is continuously present along the conveyance path.
A tension adjusting system 300 for adjusting the tension of the conveyance object 206 is provided on the conveyance path. The tension adjustment system 300 includes a tension adjustment unit 310 and a controller 320. The tension adjusting unit 310 includes a tension adjusting roller 312. The dancer roller 312 is rotatably supported about a rotation shaft 314. The rotation shaft 314 is capable of translating and is capable of oscillating.
The direction serving as a reference of the rotation axis 314 is the width direction of the conveyance object 206, and is defined as the X axis. The direction of the translational motion is the longitudinal direction (conveying direction) of the conveyed object 206, and this is defined as the Y axis. The axis of rotation of the oscillating movement (Z-axis) is perpendicular to the plane (X-Y plane) in which the axis of rotation 314 can be moved by a translational movement. That is, the rotation axis moves in the X-Y plane in either of the translational motion and the swinging motion. The swing about the Z axis is also referred to as a yaw (Yawing).
The controller 320 detects the tension of the conveyance 206 and translationally moves the rotary shaft 314 of the tension adjustment roller 312 so that the detected tension approaches a target value. In the example of fig. 1, when the dancer roll 312 is displaced in the positive Y-axis direction, the tension decreases, and when the dancer roll is displaced in the negative Y-axis direction, the tension increases.
The dancer system 300 controls the oscillation of the dancer roller 312 based on the deviation between the target transport state and the actual transport state.
Fig. 2(a) and 2(b) are diagrams illustrating a specific example of the conveyance state. As shown in fig. 2(a), the conveyance state can be a conveyance direction (delivery direction) of the conveyed object 206. As shown by the dotted line, the direction of the center line (or the side that becomes the edge) of the conveyance object 206 may be used as the conveyance direction. In this example, the target transport direction is the Y-axis direction.
As shown in fig. 2(b), the conveyance state can be a predetermined Y coordinate (Y)0) X coordinate of a specified position P (e.g., center or edge) of the conveyance 206.
The conveyance state is not limited to the state described here, and may be a state having a correlation with meandering of the conveyed object 206. Note that the term "meandering" generally refers to a shape in which a plurality of S-shapes are connected together, and is intended to be noted when only 1 tension adjusting unit 310 is focused, since the conveying object is not necessarily meandering in 1 direction.
The above is the basic structure of the conveying system 200. Next, the operation will be described. Fig. 3(a) and 3(b) are diagrams for explaining the operation of the conveyance system 200 of fig. 1. Fig. 3(a) and 3(b) show plan views of the conveyance system 200 of fig. 1 as viewed from above.
Here, the conveyance state as the control object is set as the conveyance direction. The actual conveying direction (traveling direction) of the conveyed object 206 is grasped as the center line of the conveyed object 206 and indicated by a one-dot chain line. As shown in fig. 3(a), when the transported object 206 meanders, the traveling direction of the transported object 206 deviates from the target transport direction (Y-axis direction). The conveyance system 200 rotates the dancer roller 312 about the Z-axis to correct the conveyance direction error Δ θ. Fig. 3(b) shows the state after the dancer roll 312 is rotated. In this example, since the error Δ θ occurs in the counterclockwise direction, the dancer roller 312 may be rotated in the clockwise direction to cancel the error. By rotating the rotation shaft of the dancer roller 312, the actual traveling direction of the conveyed item 206 can be brought closer to the target direction, and meandering can be suppressed.
Fig. 4(a) and 4(b) are diagrams illustrating a control system of the tension adjusting system 300. The tension adjusting system 300 shown in fig. 4(a) is provided downstream of the tension adjusting roller 312, that is, downstream of the tension adjusting rollerA sensor 330 positioned closer to the traveling direction (Y-axis positive direction) of the conveyed object 206 than the tension adjusting roller 312. The sensor 330 detects a designated Y coordinate (Y)0) The position of the edge E (displacement Δ X in the X direction) is set as the conveyance state of the conveyed object 206. The controller 340 controls the yaw of the dancer roll 312 according to the displacement Δ x. For example, the controller 340 feedback controls the yaw angle of the dancer roll 312
Figure BDA0001949967780000041
So that the displacement deltax approaches the target value.
The tension adjustment system 300 shown in fig. 4(b) includes a sensor 330 provided upstream of the tension adjustment roller 312, i.e., at a position (Y-axis negative direction) on the opposite side of the travel direction of the conveyed object 206 from the tension adjustment roller 312. The sensor 330 detects a designated Y coordinate (Y)0) The position of the edge E (the displacement Δ X in the X direction) is set as the conveyance state of the conveyed object 206. The controller 340 controls the yaw of the dancer roll 312 based on the displacement Δ x. For example, the controller 340 may also feedback control the yaw angle of the dancer roll 312 based on the displacement Δ x
Figure BDA0001949967780000042
In the example of fig. 4(a) and 4(b), the horizontal swing of the dancer roller 312 is controlled according to the position of the edge of the conveyance object 206, but the present invention is not limited to this. The conveyed object 206 may be marked with a mark, and the deviation in the conveying direction of the conveyed object 206 may be detected from the position where the mark passes.
Fig. 5(a) and 5(b) are diagrams illustrating deviation detection by the mark detection. In this example, the mark M is marked at two places near the edge of the conveyance object 2061，M2. Detection of two marks M by a sensor1，M2The passing position enables detection of the conveying direction of the conveyed object 206.
Based on the mark M1，M2The method of calculating the conveying direction of (a) is not particularly limited. For example, let M1，M2Has a Y coordinate of1，y2. When two marks M are marked1，M2Distance ofWhen the distance is set to be L,
Lsinθ＝(y1-y2) It is true that the first and second sensors,
therefore, the inclination angle θ can be obtained by the following equation:
θ＝arcsin{(y1-y2)/L}
can also detect M1，M2X coordinate X of1，x2. When two marks M are marked1，M2When the distance of (a) is set to L,
Lcosθ＝(x1-x2) It is true that the first and second sensors,
therefore, the inclination angle θ can be obtained by the following equation:
θ＝arccos{(x1-x2)/L}
the controller 320 may control the oscillation of the dancer roll 312 such that the tilt angle θ approaches zero.
The controller 320 may also perform position control instead of the control of the tilt angle θ. That is, the oscillation of the dancer roll 312 may be controlled so that two marks M are provided1、M2Both passing through the respective target locations.
A sensor for detecting the conveyance state may be incorporated in the tension adjusting unit 310. This enables the inside of the tension adjusting system 300 to be sealed.
Fig. 6(a) and 6(b) are diagrams showing another control system of the tension adjusting system 300. In this tension adjustment system 300, the sensor 330 measures the distribution (unevenness) of the thickness of the conveyance object 206 in the width direction. Fig. 6(a) and 6(b) show examples of measuring the thickness at position 3, but the number of measurement points is not limited.
Consider a conveyance 206 that is constant in thickness in a static state. As shown in fig. 6(a), when the conveyed material 206 is not meandering but is running straight, the distribution of the tension T in the width direction is substantially constant, and therefore the thickness is also nearly constant (d)1＝d2＝d3). As shown in fig. 6(b), when the conveyed material 206 meanders, the distribution of the tension T in the width direction becomes uneven, and therefore the thickness also becomes uneven (d)1≠d2≠d3). That is, the thickness distribution of the transported object 206 andthe conveyance state has a correlation. The controller 320 can thus be based on the thickness distribution (d)1，d2… …) to control the oscillation of the dancer roller 312.
A specific configuration example of the tension adjusting system 300 will be described below.
(embodiment 1)
Fig. 7 is a schematic diagram showing the configuration of a tension adjusting system 100 according to embodiment 1. The tensioning system 100 is assembled within a roll handling system. The roll processing system moves the roll 2 along a predetermined moving path via the plurality of rotating bodies 4, and performs a predetermined process on the moving roll 2. The roll 2 is a belt-like or sheet-like base material such as paper or film, and is continuously present along the moving path. The tension adjustment system 100 adjusts the tension of the roll 2.
The tension adjustment system 100 includes: a tension detector 10, a control device 12 and a tension adjusting unit 14. The tension detector 10 detects the tension of the web 2. As the tension detector, a differential transformer or a load cell is generally used, but the tension detector is a well-known device and therefore will not be described in detail here. The control device 12 controls the tension adjusting unit 14. The tension adjusting unit 14 applies tension to the web 2 so that the tension of the web 2 reaches a desired tension.
Fig. 8 to 10 are views showing the tension adjusting unit 14. Fig. 8 is a perspective view of the tension adjusting unit 14. Fig. 9 is a plan view of the tension adjusting unit 14. Fig. 10 is a sectional view taken along line a-a of fig. 9. The tension adjusting unit 14 includes: the seat frame 20, the 1 st to 4 th spindle support portions 22a to 22d, the roller moving portion 25, the tension adjusting roller 28, the coupling portion 30, and the actuator 32.
The 1 st to 4 th spindle support portions 22a to 22d are provided at four corners of the seat frame 20, respectively. The 1 st hydrostatic gas bearing 23a is inserted through the 1 st spindle support portion 22a in the X direction (a predetermined horizontal direction). Similarly, the 2 nd, 3 rd, and 4 th hydrostatic gas bearings 23b, 23c, and 23d are inserted in the X direction through the 2 nd, 3 rd, and 4 th stem support parts 22b, 22c, and 22d, respectively.
The roller movable portion 25 rotatably supports the dancer roller 28, and is supported by the 1 st spindle support portion 22a to the 4 th spindle support portion 22d so as to be movable in the X direction. The roller movable portion 25 includes: the 1 st to 2 nd spindles 24a to 24b (hereinafter, these spindles are also collectively referred to as "spindles 24"), the 1 st to 2 nd dancer roll support portions 26a to 26b, and the connecting member 27.
The 1 st stem 24a is disposed such that the central axis thereof is substantially parallel to the X direction, and has one end inserted through the 1 st static pressure gas bearing 23a of the 1 st stem support portion 22a and the other end inserted through the 2 nd static pressure gas bearing 23b of the 2 nd stem support portion 22 b. The compressed air is supplied to the gap between the 1 st hydrostatic gas bearing 23a and the 1 st shaft 24a, thereby generating a static pressure in the gap between the 1 st hydrostatic gas bearing 23a and the 1 st shaft 24 a. Similarly, the compressed air is also supplied to the gap between the 2 nd hydrostatic gas bearing 23b and the 1 st shaft 24a, thereby generating a hydrostatic pressure in the gap between the 2 nd hydrostatic gas bearing 23b and the 1 st shaft 24 a. The 1 st stem 24a is supported in the Y direction (other horizontal direction substantially orthogonal to the X direction) and the Z direction (vertical direction) by these static pressures, and is held in a state of not contacting the 1 st stem support portion 22a and the 2 nd stem support portion 22 b.
The 2 nd spindle 24b is disposed such that the central axis thereof is substantially parallel to the X direction, and one end thereof is inserted through the 3 rd hydrostatic gas bearing 23c of the 3 rd spindle support portion 22c, and the other end thereof is inserted through the 4 th hydrostatic gas bearing 23d of the 4 th spindle support portion 22 d. The compressed air is supplied to the gap between the 3 rd hydrostatic gas bearing 23c and the 2 nd shaft 24b, thereby generating a hydrostatic pressure in the gap between the 3 rd hydrostatic gas bearing 23c and the 2 nd shaft 24 b. Similarly, the compressed air is also supplied to the gap between the 4 th hydrostatic gas bearing 23d and the 2 nd shaft 24b, thereby generating a hydrostatic pressure in the gap between the 4 th hydrostatic gas bearing 23d and the 2 nd shaft 24 b. The 2 nd spindle 24b is supported in the Y direction and the Z direction by these static pressures, and is kept in a state of not contacting the 3 rd spindle support portion 22c and the 4 th spindle support portion 22 d.
The 1 st tension adjusting roller support portion 26a includes: the 1 st bracket 40a and the 1 st rolling bearing 41 a. The 1 st stem 24a is inserted through the 1 st bracket 40a along the X direction, and is fixed to the 1 st bracket 40 a. Therefore, the 1 st bracket 40a, i.e., the 1 st tension adjusting roller support 26a moves together with the 1 st shaft 24 a. The 2 nd dancer roller support 26b includes: a 2 nd bracket 40b and a 2 nd rolling bearing 41 b. The 2 nd stem 24b is inserted through the 2 nd bracket 40b along the X direction, and is fixed to the 2 nd bracket 40 b. Therefore, the 2 nd bracket 40b, i.e., the 2 nd dancer roller support 26b moves together with the 2 nd shaft 24 b.
The 1 st rolling bearing 41a is inserted through the 1 st bracket 40a in the Y direction. The 2 nd rolling bearing 41b is inserted in the Y direction through the 2 nd bracket 40 b. One end of the dancer roller 28 is inserted through the 1 st rolling bearing 41a, and the other end of the dancer roller 28 is inserted through the 2 nd rolling bearing 41 b. Therefore, the dancer roller 28 is rotatably supported by the brackets (specifically, the dancer roller support portions) via the rolling bearings. In addition, a static pressure gas bearing or another bearing may be used instead of the 1 st rolling bearing 41a and the 2 nd rolling bearing 41 b.
The connecting member 27 is an elongated plate-like member, and has one end fixed to the 1 st dancer roll supporting portion 26a and the other end fixed to the 2 nd dancer roll supporting portion 26 b. Therefore, when the link member 27 is moved in the X direction in accordance with the movement of the movable rod 50 (described later) in the X direction, the 1 st tension adjusting roller support portion 26a and the 2 nd tension adjusting roller support portion 26b are moved in the X direction along the extending direction of the stem 24.
The dancer roller 28 is a cylindrical member, and its rotation axis R is supported substantially parallel to the Y direction. The roll 2 is wound around a dancer roller 28. When the roller movable portion 25 is moved in the X direction by the actuator 32, the dancer roller 28 is also moved in the X direction in accordance with the movement, thereby adjusting the tension of the web 2. In the present embodiment, when the dancer roller 28 is moved toward the actuator 32, the pressing force applied to the web 2 increases, and the tension of the web 2 also increases. On the other hand, when the dancer roller 28 is moved to the opposite side of the actuator 32, the pressing force applied to the web 2 decreases, and the tension of the web 2 decreases.
The coupling portion 30 has a hinge shape in which a central portion is constricted. The connecting portion 30 is connected at one end side to the connecting member 27 via the constricted portion 30a, and at the other end side to the movable rod 50 of the actuator 32. That is, the connecting portion 30 connects the connecting member 27 and the movable rod 50 of the actuator 32.
The actuator 32 is a direct acting actuator. The actuator 32 moves the movable lever 50 in the X direction to move the roller movable portion 25 and the dancer roller 28 in the X direction via the connecting portion 30. In the present embodiment, the actuator 32 is a pneumatic actuator that moves the movable rod 50 and the cylinder 52 in a non-contact state by compressed air. A pressure detector capable of detecting the pressure inside the cylinder 52 is provided inside the actuator 32. Further, as the pneumatic actuator, for example, Airsonic (trade name) manufactured by Sumitomo Heavy mechanical and electrical Industries, ltd.
Next, the positional relationship among the dancer roll 28, the dancer roll support 26, the coupling section 30, and the actuator 32 will be described. The height at which the rotation axis R of the dancer roller 28 is located (i.e., the position in the Z direction) substantially coincides with the height at which the center axis of the shaft 24 is located. The height at which the rotation axis R of the dancer roller 28 is located substantially coincides with the central axis of the coupling portion 30 and the central axis of the movable rod 50 of the actuator 32. Further, a resultant force of the actuator 32 applied to the roller movable portion 25 and the dancer roller 28 via the coupling portion 30, which is a straight line passing through the central axis of the movable rod 50 and the central axis of the coupling portion 30, passes through the center of gravity G of the dancer roller 28. That is, the dancer roller 28 is subjected to a force in a direction that passes through the center of gravity G of the dancer roller 28 and is parallel to the shaft 24 that guides the dancer roller 28 in the X direction.
Fig. 11 is a block diagram showing the function and configuration of the control device 12. Each block shown here can be realized by an element represented by a CPU (central processing unit) of a computer or a mechanical device in terms of hardware, and can be realized by a computer program or the like in terms of software. Accordingly, those skilled in the art will appreciate the fact that these functional blocks can be implemented in various forms through a combination of hardware and software.
The control device 12 includes: an acquisition unit 60 and an actuator control unit 62. The acquisition unit 60 acquires a pressure measurement value in the cylinder 52 from the pressure detector of the actuator 32. The actuator control unit 62 calculates the urging force of the movable rod 50 to the dancer roller 28 based on the measurement value acquired by the acquisition unit 60, and calculates the tension of the web 2 from the urging force. The actuator control unit 62 controls the actuator 32 so that the tension of the web 2 calculated in this manner becomes a desired tension. When receiving an instruction from the actuator control unit 62, the actuator 32 moves the movable lever 50. The roller movable section 25 and the dancer roller 28 move in accordance therewith, and the tension applied to the web 2 changes.
The acquiring unit 60 may acquire a measured tension value of the web 2 from the tension detector 10. The actuator control unit 62 may control the actuator 32 so that the tension of the web 2 becomes a desired tension based on the measurement value acquired by the acquisition unit 60.
According to the tension adjustment system 100 of the embodiment described above, the extension line of the force applied by the actuator 32 to the roller movable portion 25 via the coupling portion 30 passes through the center of gravity G of the tension adjustment roller 28. Therefore, the force (resultant force) applied to the dancer roller 28 via the coupling section 30 and the roller movable section 25 passes through the center of gravity G of the dancer roller 28. This can suppress the transmission loss of the force applied by the actuator 32 to move the dancer roller 28, and as a result, the tension of the web 2 can be accurately controlled.
Further, according to the tension adjusting system 100 of the present embodiment, the height of the rotation axis R of the tension adjusting roller 28 substantially coincides with the height of the center axis of the stem 24 that guides the roller movable portion 25 and the tension adjusting roller 28 to move in the X direction. This can further suppress the transmission loss of the force applied by the actuator 32 to move the dancer roller 28.
Further, according to the tension adjustment system 100 of the present embodiment, the roller movable portion 25 and the actuator 32 are coupled to each other by the coupling portion 30 having a hinge shape. That is, the roller movable portion 25 and the actuator 32 are coupled to each other by a coupling portion 30 having a rotational degree of freedom. Further, according to the tension adjustment system 100 of the present embodiment, the spindle 24 of the roller movable portion 25 is supported by the static pressure gas bearing so as not to contact the spindle support portion. Therefore, a gap exists between the shaft 24 of the roller movable portion 25 and the static pressure gas bearing, and the roller movable portion 25 can swing within the range of the gap. The roller movable portion 25 is swingable in the Z direction, for example.
Here, there may be a skewed portion in the roll 2, and when the skewed portion passes through the dancer roller 28, the tension in the width direction of the roll 2 becomes uneven, and a force pulling in a direction oblique to the X direction is applied to the dancer roller 28. At this time, if the dancer roller 28 cannot oscillate in the Z direction, the tension at one end of the web 2 in the width direction increases, that is, the tension in the width direction of the web 2 becomes uneven. In contrast, according to the tension adjustment system 100 of the present embodiment, as described above, the roller movable portion 25 and the actuator 32 are coupled by the coupling portion 30 having a rotational degree of freedom, and the roller movable portion 25 is supported by the static pressure gas bearing so as not to contact the spindle support portion. Therefore, the roller movable portion 25 can swing in the Z direction within the range of the gap between the stem 24 and the static pressure gas bearing, and the dancer roller 28 can also swing in the Z direction in accordance with this. Therefore, the tension of the roll 2 in the width direction can be made relatively uniform.
In the tension adjustment system 100 according to embodiment 1, the 1 st to 4 th spindle support portions 22a to 22d as stationary bodies include static pressure gas bearings. Here, if the static pressure gas bearing is provided in the movable member, movement of the pipe for supplying air to the static pressure gas bearing may be hindered. In contrast, in the tension adjusting system 100 of the present embodiment, the static gas bearing is provided in the stationary body, and therefore, the occurrence of such a problem can be suppressed.
(embodiment 2)
The tension adjusting system according to embodiment 2 includes a tension detector 10, a control device 12, and a tension adjusting unit 14, as in the tension adjusting system 100 according to embodiment 1.
Fig. 12 and 13 are views showing a tension adjusting unit 14 according to embodiment 2. Fig. 12 is a perspective view of the tension adjusting unit 14. Fig. 13 is a plan view of the tension adjusting unit 14. Fig. 12 and 13 correspond to fig. 8 and 9, respectively. In the present embodiment, the tension adjusting unit 14 includes: the seat frame 20, the 1 st spindle support part 22a to the 4 th spindle support part 22d, the roller movable part 25, the tension adjusting roller 28, the 1 st coupling part 130a to the 2 nd coupling part 130b, and the 1 st actuator 132a to the 2 nd actuator 132 b.
The 1 st coupling part 130a and the 2 nd coupling part 130b have the same configuration as the coupling part 30 of embodiment 1, respectively. The 1 st coupling portion 130a has one end connected to the 1 st stem 24a and the other end fixed to the movable rod 50 of the 1 st actuator 132 a. One end side of the 2 nd coupling portion 130b is connected to the 2 nd stem 24b, and the other end side is fixed to the movable rod 50 of the 2 nd actuator 132 b.
The 1 st actuator 132a and the 2 nd actuator 132b each have the same configuration as the actuator 32 of embodiment 1. The 1 st actuator 132a and the 2 nd actuator 132b are arranged such that a resultant force of the 1 st actuator 132a and the 2 nd actuator 132b transmitted to the dancing roller 28 via the roller movable portion 25 passes through the center of gravity G of the dancing roller 28.
A position detector capable of detecting the amount of expansion and contraction of each movable rod (for example, the position of each movable rod) is provided inside the 1 st actuator 132a and the 2 nd actuator 132 b. The position detectors may be provided outside the 1 st actuator 132a and the 2 nd actuator 132 b.
The control device 12 includes: an acquisition unit 60 and an actuator control unit 62. In the present embodiment, the acquisition unit 60 acquires the position measurement value of each movable rod from the position detector of each actuator. The actuator control unit 62 controls the 1 st actuator 132a and the 2 nd actuator 132b so that the tension of the web 2 reaches a desired tension, based on the measurement value acquired by the acquisition unit 60. The actuator control unit 62 controls each actuator so that the amount of expansion and contraction of the movable rod of each actuator is substantially the same, based on the measurement value from the position detector of each actuator. Upon receiving an instruction from the actuator control unit 62, the 1 st actuator 132a moves the 1 st tension adjusting roller support portion 26a via the 1 st stem 24 a. Similarly, when receiving an instruction from the actuator control unit 62, the 2 nd actuator 132b moves the 2 nd dancer supporting unit 26b via the 2 nd stem 24 b. The dancer roller 28 moves with the movement of each dancer roller support, and the tension applied to the web 2 changes.
According to the tension adjusting system of embodiment 2 described above, the same operational effects as those of the tension adjusting system 100 of embodiment 1 can be obtained.
Further, according to the tension adjustment system of embodiment 2, the roller movable section 25 is moved by two actuators disposed at different positions in the Y direction (i.e., the width direction of the web 2). Therefore, the dancer roll 28 can be more accurately controlled. For example, as compared with a case where the roller movable portion is moved by one actuator, the dancer roller 28 can be moved in the X direction while the rotation axis R of the dancer roller 28 is more reliably kept parallel to the Y direction. This makes it possible to more uniformly tension the web 2 in the width direction.
(embodiment 3)
The tension adjusting system according to embodiment 3 includes a tension detector 10, a control device 12, and a tension adjusting unit 14, as in the tension adjusting system according to embodiment 2. This tension adjustment system can be used for the serpentine control described above.
In the present embodiment, the tension detector 10 detects the tension at both ends of the web 2 in the width direction. The tension detector 10 transmits the detected tension at both ends of the web 2 in the width direction to the control device 12. The tension adjusting unit 14 basically has the same function and structure as the tension adjusting unit 14 of embodiment 2. However, in the present embodiment, pressure detectors capable of detecting the pressures in the cylinders 52 are provided inside the 1 st actuator 132a and the 2 nd actuator 132 b.
The control device 12 includes: an acquisition unit 60 and an actuator control unit 62. The acquisition unit 60 acquires the measured pressure values in the cylinders 52 from the pressure detectors of the 1 st actuator 132a and the 2 nd actuator 132 b. The actuator control unit 62 calculates the biasing force applied to the dancer roller 28 by each of the movable bars 50 based on the measurement values acquired by the acquisition unit 60, and calculates the tension at both ends of the web 2 in the width direction from the biasing force. The actuator control unit 62 controls the 1 st actuator 132a and the 2 nd actuator 132b so that the tension at both ends of the roll 2 calculated in this manner can be a desired tension. The actuator control unit 62 controls each actuator so that the measurement values from the pressure detectors of each actuator are substantially the same.
Further, the acquisition unit 60 may acquire the measured values of the tension at both ends of the web 2 in the width direction from the tension detector 10. The actuator control unit 62 may control each actuator so that the tensions at both ends of the web 2 in the width direction are substantially the same, based on the measurement values acquired by the acquisition unit 60.
Upon receiving an instruction from the actuator control unit 62, the 1 st actuator 132a moves the 1 st tension adjusting roller support portion 26a via the 1 st stem 24 a. Upon receiving an instruction from the actuator control unit 62, the 2 nd actuator 132b moves the 2 nd dancer supporting portion 26b via the 2 nd stem 24 b. That is, the tension adjusting roller support portions are individually controlled by the actuators to move. The dancer roller 28 moves with the movement of each dancer roller support, and the tension applied to the web 2 changes.
According to the tension adjusting system of embodiment 3 described above, the same operational effects as those of the tension adjusting system of embodiment 2 can be obtained.
Also, according to the tension adjusting system of embodiment 3, the 1 st shaft 24a and the 1 st actuator 132a are coupled by the 1 st coupling portion 130a having a hinge shape. Similarly, the 2 nd stem 24b and the 2 nd actuator 132b are coupled by a 2 nd coupling portion 130b having a hinge shape. That is, each shaft and each actuator are coupled by a coupling portion having a rotational degree of freedom. Further, according to the tension adjusting system of embodiment 3, the roller movable portion 25 is supported by the static pressure gas bearing so as not to contact the 1 st to 4 th spindle support portions 22a to 22 d. Therefore, there is a gap between the roller movable portion 25 and the static pressure gas bearing of each spindle support portion, and the roller movable portion 25 can oscillate within the range of the gap. The roller movable portion 25 is swingable about the Z direction in particular. Further, according to the tension adjusting system of embodiment 3, the tension adjusting unit 14 includes two actuators, and can individually control the movement of each tension adjusting roller of the roller movable portion 25.
That is, according to the tension adjusting unit 14 of embodiment 3, the translational movement and the swinging movement of the rotation shaft of the tension adjusting roller can be generated by two actuators.
As described with reference to fig. 1, the roller movable portion 25, specifically, the dancer roller 28 can be actively oscillated in the Z direction by two actuators to suppress meandering and bring the conveyance state closer to the target state.
When the tension adjusting means 14 according to embodiment 3 is used for the meandering control, the conveyance state may be detected using the measured values of the pressures obtained by the two actuators.
The tension adjusting system of the embodiment is explained above. The embodiment is merely an example, and various modifications exist in combination of these respective constituent elements and respective processing steps, and such modifications are also within the scope of the present invention, which is recognized by those skilled in the art. Modifications will be described below.
(modification 1)
In embodiments 1 and 2, the case where the coupling portion has a hinge shape has been described, but the present invention is not limited to this, and the coupling portion may have any structure as long as it has a rotational degree of freedom. Fig. 14 is a plan view showing a tension adjusting unit of a tension adjusting system according to a modification of embodiment 1. Fig. 14 corresponds to fig. 9. In the present modification, one end side of the coupling portion 30 is connected to the movable rod 50 of the actuator 32. The other end of the connecting portion 30 has a spherical shape and abuts against the connecting member 27. According to this modification, the same operational effects as those of the tension adjustment system of embodiment 1 can be obtained.
(modification 2)
In embodiments 1 and 2, the case where the roller movable portion is supported so as to be movable in the X direction by the static pressure gas bearing has been described, but the present invention is not limited to this. The roller movable portion may be supported by a rolling bearing or other bearings.
(modification 3)
The case where the tension adjusting unit in embodiment 1 includes one actuator and the tension adjusting unit in embodiment 2 includes two actuators has been described, but the present invention is not limited to this. The tension adjusting unit may include three or more actuators. In addition, when a plurality of actuators are provided, an extension line of a resultant force of the actuators may pass through the center of gravity G. Further, an extension line of a resultant force of these actuators may be substantially equal to a height of the stem 24 that guides the roller movable portion and the dancer roller 28 to move in the X direction.
Any combination of the above-described embodiment and the modified examples is also effective as an embodiment of the present invention. The new embodiment combined has the effects of both the combined embodiment and the modified example.

Claims (8)

1. A conveying system is characterized by comprising:
a tension adjusting unit including a tension adjusting roller, an
A 1 st actuator and a 2 nd actuator disposed at both sides of the dancer roll,
a rotation shaft of the dancer roll is translatable, and the rotation shaft of the dancer roll is swingable,
the swing of the dancer roller and the tension applied to the conveyed object are controlled by controlling the 1 st actuator and the 2 nd actuator in accordance with a deviation between a target conveyance state and an actual conveyance state.
2. The conveyance system according to claim 1, further comprising a sensor for measuring the actual conveyance state,
and controlling the swinging of the tension adjusting roller according to the output of the sensor.
3. The handling system of claim 2,
the sensor is disposed downstream of the dancer roll,
and according to the output of the sensor, the swinging of the tension adjusting roller is controlled in a feedback mode.
4. The handling system of claim 2,
the sensor is disposed upstream of the dancer roll,
and according to the output of the sensor, the swinging of the tension adjusting roller is controlled in a feedback mode.
5. Handling system according to any one of claims 2 to 4,
the sensor detects the position of the edge of the conveyance.
6. Handling system according to any one of claims 2 to 4,
the sensor detects the position of a mark marked on the conveyed object.
7. Handling system according to any one of claims 2 to 4,
the sensor detects the thickness of the conveyance object.
8. A tension adjusting unit is characterized by comprising:
a dancer roll;
the 1 st actuator and the 2 nd actuator are arranged on two sides of the tension adjusting roller;
a sensor for detecting an actual conveyance state; and
and a control unit configured to control the 1 st actuator and the 2 nd actuator in accordance with a deviation between a target conveyance state and an actual conveyance state, thereby controlling the swing of the dancer roller and the tension applied to the conveyed object so that the actual conveyance state approaches the target conveyance state.
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KR102638001B1 (en) 2024-02-16
CN110304484A (en) 2019-10-08
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KR20190110424A (en) 2019-09-30
JP2019163150A (en) 2019-09-26
TWI683776B (en) 2020-02-01

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