CN117246810A - Transport control device, transport control method, and storage medium - Google Patents

Transport control device, transport control method, and storage medium Download PDF

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Publication number
CN117246810A
CN117246810A CN202310692790.3A CN202310692790A CN117246810A CN 117246810 A CN117246810 A CN 117246810A CN 202310692790 A CN202310692790 A CN 202310692790A CN 117246810 A CN117246810 A CN 117246810A
Authority
CN
China
Prior art keywords
speed
driving
abnormality
command
conveyed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310692790.3A
Other languages
Chinese (zh)
Inventor
斋藤正树
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo Heavy Industries Ltd
Original Assignee
Sumitomo Heavy Industries Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo Heavy Industries Ltd filed Critical Sumitomo Heavy Industries Ltd
Publication of CN117246810A publication Critical patent/CN117246810A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H20/00—Advancing webs
    • B65H20/02—Advancing webs by friction roller
    • 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
    • B65H23/02—Registering, tensioning, smoothing or guiding webs transversely
    • B65H23/032—Controlling transverse register of web
    • B65H23/038—Controlling transverse register of web by 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
    • B65H26/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H26/00—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
    • B65H26/02—Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms responsive to presence of irregularities in running webs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2801/00—Application field
    • B65H2801/03—Image reproduction devices

Landscapes

  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Treatment Of Fiber Materials (AREA)
  • Coating Apparatus (AREA)

Abstract

The invention provides a conveying control device and the like capable of effectively detecting abnormality of a conveyed object even though the device does not depend on a tension detector. The conveyance control device (1) is provided with: a drive motor (11) for driving the object (3) at a drive speed corresponding to the speed command; an encoder (12) for measuring the driving speed of the driving motor (11); and an abnormality detection unit (16) for detecting an abnormality of the object (3) to be conveyed on the basis of the difference between the speed command and the driving speed. When the driving speed exceeds a predetermined threshold value, an abnormality detection unit (16) detects an abnormality such as breakage of the object (3). The conveyance control device further includes: a speed control unit (13) for calculating a speed control value based on the speed command; and a torque control unit (15) that calculates a torque command to the drive motor (11) based on the difference between the speed control value and the rotational speed of the drive motor (11).

Description

Transport control device, transport control method, and storage medium
The present application claims priority based on japanese patent application No. 2022-097076 filed on 16 th month 6 of 2022. The entire contents of this japanese application are incorporated by reference into the present specification.
Technical Field
The present invention relates to a conveyance control device and the like.
Background
Patent document 1 discloses the following technique: in a coating device for applying a coating treatment to a material to be conveyed, the tension of the material to be conveyed is controlled so as not to cause breakage or the like in the material to be conveyed. Specifically, the rotation speed of the roller in the coating processing section is controlled based on a tension deviation between the tension detected by a tension detector provided at the front stage of the coating processing section and a tension command (tension set value), whereby the tension of the object to be conveyed is maintained within a desired range, and breakage or the like is prevented.
Patent document 1: japanese patent laid-open No. 11-79510
In patent document 1 in which a tension detector is provided to prevent breakage of an object to be conveyed, a space for installing a relatively large tension detector needs to be secured in a coating apparatus. However, in consideration of restrictions on space in the coating apparatus or restrictions on coating processing, it is sometimes not realistic to provide a tension detector. The tension detector is also a direct cause of the high cost of the coating device.
Disclosure of Invention
The present invention has been made in view of such a situation, and an object thereof is to provide a conveyance control device and the like capable of effectively detecting an abnormality of an object to be conveyed even without depending on a tension detector.
In order to solve the above problems, a transport control device according to one embodiment of the present invention includes: a driving unit that drives the object at a driving speed corresponding to the speed command; a driving speed measuring unit for measuring a driving speed; and an abnormality detection unit for detecting an abnormality of the object to be conveyed based on a difference between the speed command and the driving speed.
According to this embodiment, the abnormality can be effectively detected from the difference between the driving speed and the speed command generated when the abnormality such as breakage occurs in the object to be conveyed.
Another embodiment of the present invention is a conveyance control method. The method comprises the following steps: a driving step of driving the object to be conveyed at a driving speed corresponding to the speed command; a driving speed measuring step of measuring a driving speed; an abnormality detection step of detecting an abnormality of the conveyed object based on a difference between the speed command and the driving speed.
Any combination of the above constituent elements or means for converting these expressions into methods, apparatuses, systems, recording media, computer programs, and the like are also included in the present invention.
According to the present invention, an abnormality of an object to be conveyed can be effectively detected without depending on a tension detector.
Drawings
Fig. 1 schematically shows the structure of a conveyance control apparatus.
In the figure: 1-conveying control device, 2-conveying device, 3-conveyed object, 11-driving motor, 12-encoder, 13-speed control part, 14-subtracter, 15-torque control part, 16-abnormality detection part, 17-notification part, 21-driving roller.
Detailed Description
Hereinafter, modes for carrying out the present invention (hereinafter, also referred to as embodiments) will be described in detail with reference to the accompanying drawings. In the following description and/or drawings, the same or equivalent constituent elements, components, processes, and the like are denoted by the same reference numerals, and repetitive description thereof will be omitted. In the drawings, for convenience of description, the reduced scale or the shape of each portion is appropriately set, which is not to be construed in a limiting sense unless otherwise specifically described. The embodiments are examples, which do not limit the scope of the invention in any way. All the features described in the embodiments or the combination thereof are not necessarily essential to the present invention.
Fig. 1 schematically shows a configuration of a conveyance control device 1 that controls a conveyance operation of a conveyance device 2 for conveying an object 3. Examples of the objects 3 include: a wire such as a rope or a wire rope, or a planar or sheet-like material such as paper, cloth, film, foil, or rubber. In the present embodiment, a description will be given of a Roll-to-Roll (Roll-to-Roll) type conveying apparatus 2 that conveys a sheet-like substrate as a conveyance target 3 in a conveying direction (a direction substantially from left to right in fig. 1). The conveyor 2 may be any device that performs an arbitrary process on the conveyed object, and may be, for example, a part of an applicator or a coating device that performs a coating process such as coating on the conveyed object, a printer that performs printing on the conveyed object, a stretching device that stretches the conveyed object by applying tension, or the like. In the present embodiment, the conveying device 2 is a part of a coating device.
The conveying device 2 includes a plurality of rollers 21 to 23 provided on a conveying path of the object 3 and conveying or guiding the object 3 in a conveying direction. The driving roller 21 is driven by the driving motor 11 to rotate clockwise in fig. 1, and feeds the object 3 in the conveying direction. The driving roller 21 may constitute a coating processing section for coating a coating material on a coating surface (for example, an upper surface in fig. 1) of the object 3.
The guide rollers 22, 23 provided at the rear stage of the driving roller 21 guide the conveyed object 3 in the conveying direction while being in contact with the front surface (upper surface in fig. 1) of the conveyed object 3. The guide rollers 22 and 23 may be driven by a driving motor or a speed reducer, not shown, to rotate counterclockwise in fig. 1, similarly to the driving roller 21.
The conveyance control device 1 includes a drive motor 11 as a drive unit, an encoder 12 or a Pulse Generator (PG) as a drive speed measuring unit, a speed control unit 13, a subtractor 14, a torque control unit 15, an abnormality detection unit 16, and a notification unit 17. These functional blocks (particularly, the abnormality detection unit 16 and the notification unit 17) are realized by cooperation of hardware resources such as a central processing unit, a memory, an input device, an output device, and a device connected to the computer, and software executed by using these hardware resources. The above-described functional blocks may be realized by hardware resources of a single computer, or may be realized by combining hardware resources distributed among a plurality of computers, regardless of the kind of computer or the place where the computer is installed. For example, part or all of the functional blocks of the conveyance control apparatus 1 may be realized by being distributed or concentrated by a computer or a processor provided at the same site or a building as the conveyance apparatus 2, or may be realized by being distributed or concentrated by a computer or a processor provided at a site or a building different from the conveyance apparatus 2.
The drive motor 11 is a drive unit that drives the object 3 at a drive speed (conveyance speed) corresponding to a speed command described later. Specifically, the drive motor 11 rotates at a rotation speed corresponding to the speed command to drive the drive roller 21 to rotate in the clockwise direction in fig. 1. In the case where a speed reducer is provided between the drive motor 11 and the drive roller 21, the rotational speed of the drive motor 11 is different from the rotational speed of the drive roller 21 based on the gear ratio. Typically, the rotational speed of the drive motor 11 is greater than the rotational speed of the drive roller 21.
The encoder 12 is a driving speed measuring unit for measuring the driving speed of the driving motor 11. The encoder 12 may measure the rotational speed of the drive motor 11 as the drive speed, or may measure the rotational speed of the drive roller 21 as the drive speed. In addition, a driving speed measuring unit that measures the conveyance speed of the conveyance object 3 equivalent to the rotation speed of the driving roller 21 may be provided in addition to the encoder 12, or a driving speed measuring unit that measures the conveyance speed of the conveyance object 3 equivalent to the rotation speed of the driving roller 21 may be provided instead of the encoder 12. The encoder 12 for detecting the rotation angle or rotation position of the drive motor 11 and/or the drive roller 21 may be either a value-added type or an absolute type.
For example, the incremental encoder 12 outputs a pulse signal of a phase and a pulse signal of B phase and a pulse signal of Z phase a predetermined number of times (a plurality of times) each time the drive motor 11 and/or the drive roller 21 are rotated. The pulse signals of the A phase and the B phase are counted by a counter, and the pulse signal of the Z phase resets the count value. The count value of the pulse signals of the a phase and the B phase added in each rotation of the drive motor 11 and/or the drive roller 21 indicates the phase or the rotation position of the drive motor 11 and/or the drive roller 21. The rotational speed of the drive motor 11 and/or the drive roller 21 can be obtained by dividing the rotational position of the drive motor 11 and/or the drive roller 21 continuously detected based on such pulse signals by the time interval thereof.
The speed control unit 13 calculates a speed control value based on a speed command supplied from a host controller (not shown) outside the conveyance control apparatus 1 or inside the conveyance control apparatus 1. The speed control unit 13 may include at least one of a proportional control unit that multiplies the speed command by a proportional gain, an integral control unit that multiplies the speed command by an integral gain and integrates the integral gain, and a differential control unit that multiplies the speed command by a differential gain and differentiates the speed command.
The subtractor 14 subtracts the speed control value calculated by the speed control unit 13 from the driving speed (measured speed) measured by the encoder 12 to obtain a speed deviation. In this case, the subtractor 14 may calculate the speed deviation by subtracting the speed command supplied from the upper controller and the driving speed (measured speed) measured by the encoder 12, without the speed control unit 13.
The torque control unit 15 calculates a torque command for the drive motor 11 based on the speed deviation (difference between the speed control value or the speed command and the drive speed or the rotation speed) calculated by the subtractor 14. The torque control unit 15 may include at least one of a proportional control unit that multiplies the speed deviation by a proportional gain, an integral control unit that multiplies the speed deviation by an integral gain and integrates the speed deviation, and a differential control unit that multiplies the speed deviation by a differential gain and differentiates the speed deviation.
The drive motor 11 is rotationally driven to a desired rotational speed and torque based on a drive current corresponding to a speed command supplied from the upper controller and a torque command calculated by the torque control unit 15.
The abnormality detection unit 16 detects an abnormality of the object 3 based on a difference between a speed command supplied from the upper controller and a driving speed or a rotational speed measured by a driving speed measurement unit such as the encoder 12. Examples of types of abnormality of the conveyed object 3 include: breaking, tightening, relaxing, creasing, etc. If a break occurs in the belt, the tension of the object 3 to be conveyed, which is a load for maintaining the balance of the conveying operation, disappears or suddenly decreases, and as a result, the driving speed of the driving motor 11 and/or the driving roller 21 becomes a "run away" state deviating from the speed command. Typically, the drive motor 11 and the drive roller 21 are accelerated by the excessive torque caused by the continuous flow of the drive current to the drive motor 11 in accordance with the torque command (and the speed command), and as a result, an "overspeed" state in which the drive speed is greater than the speed command is generated. Therefore, if the driving speed becomes significantly higher than the speed command, the abnormality detection unit 16 can detect that an abnormality such as a break has occurred in the conveyed object 3. For example, if the difference between the driving speed and the speed command ("driving speed" - "speed command") is equal to or greater than an abnormality detection threshold set in advance for detecting an abnormality such as a break, the abnormality detection unit 16 detects that an abnormality such as a break has occurred in the conveyed object 3.
The abnormality detection unit 16 may use the speed control value calculated by the speed control unit 13 instead of the speed command provided by the upper controller. At this time, the abnormality detection unit 16 detects an abnormality of the conveyed object 3 based on a difference (same as the output of the subtractor 14) between the speed control value calculated by the speed control unit 13 and the driving speed or the rotational speed measured by the driving speed measurement unit such as the encoder 12. Further, since an abnormality of the conveyed object 3 such as tension, slack, or wrinkles other than the breakage may be a cause or a result of an imbalance between the speed command or the speed control value and the driving speed or the rotation speed, the abnormality detecting unit 16 monitoring such an imbalance in speed may be capable of detecting an abnormality of the conveyed object 3 other than the breakage. In this case, there are cases where not only the driving speed becomes larger than the speed command like at the time of breaking but also the driving speed different from at the time of breaking becomes smaller than the speed command.
The notification unit 17 notifies the abnormality such as the breakage of the conveyed object 3 detected by the abnormality detection unit 16 to the conveyance device 2 and/or the manager or the like of the conveyance control device 1. In particular, when breakage occurs in the object 3, there is a concern that not only the accurate coating process or the like cannot be continued, but also the broken object 3 may be wound around an undesired roller of the coating apparatus or the like, and therefore, it is preferable that the notification unit 17 itself or an unshown abnormal stop unit attached to the notification unit 17 abnormally stops the conveying apparatus 2 and/or the conveying control apparatus 1.
According to the present embodiment, the abnormality can be effectively detected without depending on the tension detector, based on the difference between the driving speed and the speed command generated when the abnormality such as breakage occurs in the object 3. Since there is no need to provide a tension detector as in patent document 1, there is no need to divide a limited space in the conveyor 2 or the applicator in order to provide the tension detector, and cost reduction of the conveyor 2 or the applicator can be achieved. However, the present invention is not intended to exclude the tension detector, and for example, a tension detector may be additionally provided to the structure of the present embodiment of fig. 1 (for example, a tension detector such as a tension adjuster may be provided between the guide rollers 22 and 23).
The present invention has been described above with reference to the embodiments. Various modifications of the components and combinations of the processes in the illustrated embodiments are possible, and such modifications are also included in the scope of the present invention, as will be apparent to those skilled in the art.
The structure, action, and function of each device or each method described in the embodiments can be realized by hardware resources or software resources, or by cooperation of hardware resources and software resources. As the hardware resources, for example, a processor, ROM, RAM, various integrated circuits can be used. As the software resource, for example, programs such as an operating system and an application program can be used.

Claims (8)

1. A conveyance control device is characterized by comprising:
a driving unit that drives the object at a driving speed corresponding to the speed command;
a driving speed measuring unit for measuring the driving speed; a kind of electronic device with high-pressure air-conditioning system
An abnormality detection unit configured to detect an abnormality of the object based on a difference between the speed command and the driving speed.
2. The transport control device according to claim 1, wherein,
if the driving speed becomes greater than the speed command, the abnormality detection unit detects an abnormality.
3. The transport control device according to claim 2, wherein,
the abnormality detection unit detects an abnormality when the driving speed becomes equal to or greater than the speed command by a predetermined threshold value.
4. The transport control device according to any one of claim 1 to 3, wherein,
the abnormality detection unit detects breakage of the conveyed object based on a difference between the speed command and the driving speed.
5. The transport control device according to any one of claim 1 to 3, wherein,
the driving part is a motor which rotates at a rotation speed corresponding to the speed command to drive the conveyed object,
the driving speed measuring unit measures the rotation speed,
the abnormality detection unit detects an abnormality of the object to be conveyed based on a difference between the speed command and the rotational speed.
6. The conveyance control apparatus according to claim 5, further comprising:
a speed control unit that calculates a speed control value based on the speed command; a kind of electronic device with high-pressure air-conditioning system
And a torque control unit that calculates a torque command to the motor based on a difference between the speed control value and the rotational speed.
7. A conveyance control method, characterized by comprising the steps of:
a driving step of driving the object to be conveyed at a driving speed corresponding to the speed command;
a driving speed measurement step of measuring the driving speed; a kind of electronic device with high-pressure air-conditioning system
An abnormality detection step of detecting an abnormality of the conveyed object based on a difference between the speed command and the driving speed.
8. A storage medium storing a conveyance control program, characterized in that,
the conveyance control program is executed by a computer to execute the steps of:
a driving step of driving the object to be conveyed at a driving speed corresponding to the speed command;
a driving speed measurement step of measuring the driving speed; a kind of electronic device with high-pressure air-conditioning system
An abnormality detection step of detecting an abnormality of the conveyed object based on a difference between the speed command and the driving speed.
CN202310692790.3A 2022-06-16 2023-06-12 Transport control device, transport control method, and storage medium Pending CN117246810A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2022097076A JP2023183518A (en) 2022-06-16 2022-06-16 Conveyance control device, conveyance control method, conveyance control program
JP2022-097076 2022-06-16

Publications (1)

Publication Number Publication Date
CN117246810A true CN117246810A (en) 2023-12-19

Family

ID=89135724

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310692790.3A Pending CN117246810A (en) 2022-06-16 2023-06-12 Transport control device, transport control method, and storage medium

Country Status (2)

Country Link
JP (1) JP2023183518A (en)
CN (1) CN117246810A (en)

Also Published As

Publication number Publication date
JP2023183518A (en) 2023-12-28

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