JP2021045800A - Roll cleaning device and roll cleaning method - Google Patents

Abstract

To provide a roll cleaning device by which an operator can feel a pressing force onto a roll surface as if the roll surface is directly wiped even when separating far from a roll by remote control or the like, and further, the pressing force can be freely changed and controlled with good responsiveness according to operation by the operator.SOLUTION: A roll cleaning device 100 acquires a first position corresponding to a position of a pressing component 10 which is pressed onto a surface of a roll R, acquires a second position corresponding to a position of operation equipment 60 which is operated by an operator P, converts parameters, which represent the operation based on the first position and the second position, into parameters in space where position and force are independent, performs calculation for so making the converted position parameter and force parameter as to be position target value and force target value for transmitting force tactile sensation respectively, and on the basis of the result of inverse conversion of the calculation result, controls drives of a first drive motor 20 for driving the pressing component and a second motor 40 for driving the operation equipment.SELECTED DRAWING: Figure 1

Description

The present invention relates to a roll cleaning technique for cleaning a roll for the purpose of removing foreign matter from a roll installed on a transfer line of a metal plate, and more specifically, force-tactile information obtained by applying a real haptics technique. The present invention relates to a roll cleaning device and a roll cleaning method capable of performing roll cleaning by remote operation based on the above.

In various fields such as the automobile field, the electric field, and the metal container field, a metal plate suitable for an exterior material or the like is used as an important core material. In the production of such a metal plate, surface treatment is generally applied for the purpose of imparting corrosion resistance and functionality or decorating the metal plate. As a specific aspect of the surface treatment, for example, a metal plate is transported via one or a plurality of rolls, and the plating treatment is performed in a galvanizing bath or a tin plating bath installed in the middle of the transport line.

For example, foreign substances such as metal powder and dust are unsteadily dropped onto the rolls installed in such a transport line from the frame (structure made of steel) constituting the transport line and the atmosphere around the transport line. , Such minute foreign matter may adhere to the roll surface.
Foreign matter adhering to the roll causes defects such as dents on the surface of the metal plate when the metal plate to be surface-treated and conveyed is pressed down. Since such defects occur continuously at the pitch of the circumference of the roll in the longitudinal direction of the metal plate, the product yield is significantly reduced.

For this reason, it is necessary to immediately remove foreign matter adhering to the roll, and in order to prevent a decrease in the productivity of the metal plate, a care material (grinding stone, abrasive paper, cloth, etc.) is applied to the surface of the rotating roll while the operator is in operation. The cleaning work is performed by pressing the provided jig). For this reason, the operator is obliged to work in the vicinity of the roll of the transport line.
On the other hand, as illustrated in Patent Documents 1 to 6, there is also a cleaning device capable of automatically polishing the surface of a roll without human intervention for the purpose of improving safety and improving the working environment. Proposed.

In recent years, real haptics technology capable of transmitting force and tactile information has been attracting attention as an innovative technology for improving safety. Real haptics technology controls the position of a remotely placed object and the force acting on the object according to human operation, and bidirectionally transmits contact information with the actual object and the surrounding environment. It is a technology that reproduces the sense of force and touch. By using this technology, it is possible to transmit the hardness and deformation of an object in contact on the slave side (for example, a robot hand) to the master side (operator) with high accuracy in almost real time.

For example, Patent Document 7 exemplifies a case where a medical forceps is remotely controlled as an application of this real haptics technique. When an operation unit on the master side is operated and an object is gripped by a grip portion on the slave side, a force is applied. A technique has been proposed in which a force corresponding to a reaction force applied to a grip portion is transmitted to an operation portion without using a sensor or an acceleration sensor.
It is disclosed that the operator can sense the reaction force or the like from the object gripped by the gripping portion by the operating portion.

Jikkai Sho 61-94568 Japanese Unexamined Patent Publication No. 06-297325 Japanese Unexamined Patent Publication No. 04-308069 Japanese Unexamined Patent Publication No. 2003-117782 Japanese Unexamined Patent Publication No. 2012-223393 Japanese Unexamined Patent Publication No. 03-73259 Patent No. 4696307

First, in the above-mentioned roll cleaning, if the surface of the roll is scratched, it causes a new defect on the surface of the metal plate. Therefore, the operator carefully cleans the material only in the vicinity of the part where the foreign matter is attached. Need to contact. In addition, since this cleaning work requires changing the pressing force of the care material depending on the type and size of the foreign matter and the adhesion between the foreign matter and the roll, it is currently necessary to introduce an automated general-purpose roll cleaning device. Is difficult. For this reason, the current situation is that manual cleaning work that relies on the long-standing craftsmanship cultivated by humans is still being carried out.

On the other hand, any of the automatic roll cleaning devices including the above-mentioned Patent Documents 1 to 6 has a structure based on the technical idea of polishing or cleaning with a predetermined constant pressing force. For example, in Patent Documents 2 to 5, the maintenance material is controlled to a constant load or a constant displacement in order to remove zinc that constantly adheres to the roll in contact with the hot-dip galvanizing layer after the heat treatment after the hot-dip galvanizing. , The purpose is to remove zinc on the entire width direction of the roll.
For this reason, these prior arts have not been configured so that the pressing force or its set value can be quickly changed during work at a pinpoint position according to the state of foreign matter on the roll surface.

The present invention has been made in view of solving such a problem as an example. For example, even when the roll surface is separated from the roll, the roll surface is as if the operator directly wipes the roll surface. It is an object of the present invention to provide a roll cleaning device and a roll cleaning method capable of feeling a pressing force against a force and further changing and controlling the pressing force freely and responsively according to an operation of an operator. And.

In order to solve the above problems, the roll cleaning device according to the embodiment of the present invention includes (1) a pressing member pressed against the surface of the roll, a first drive motor for driving the pressing member, and the pressing member. The first position information acquisition unit that acquires the first position corresponding to the position, the operation equipment operated by the operator, the second drive motor that drives the operation equipment, and the second that corresponds to the position of the operation equipment. A second position information acquisition unit that acquires a position, a conversion unit that converts parameters representing operations based on the first position and the second position into parameters on a space in which the position and the force are independent, and the conversion unit. The calculation unit that performs calculations to set the position parameter and the force parameter converted by the above to the target value of the position for transmitting the force and tactile sensation and the target value of the force, and the calculation result of the calculation unit. On the other hand, the inverse conversion unit that performs the inverse conversion of the conversion in the conversion unit, and the drive control unit that controls the drive of the first drive motor and the second drive motor based on the conversion result of the inverse conversion unit. It is characterized by being prepared.
In the roll cleaning device according to (1) above, it is preferable that (2) the pressing member can move along the axial direction of the roll.

Further, in the roll cleaning device according to (1) or (2) described above, it is preferable that (3) the conversion unit performs the conversion reflecting the mechanical characteristics of the roll cleaning device. ..

Further, in the roll cleaning device according to (3) described above, (4) the first drive motor includes a transmission, and the conversion unit responds to acceleration / deceleration and expansion / contraction of force in the transmission. It is preferable to perform coordinate transformation using the coefficient as an element.

Further, in the roll cleaning device according to any one of (1) to (4) described above, (5) the conversion unit performs coordinate conversion with a coefficient as an element for realizing scaling of position or force. It is preferable to do so.

Further, the roll cleaning device according to any one of (1) to (5) described above further includes (6) an imaging device that monitors the state of the surface of the roll or the operating state of the roll cleaning device. However, it is preferable that the operating equipment is operated based on the image obtained by the imaging device.

Further, in the roll cleaning device according to any one of (1) to (6) described above, the roll cleaning device is simply composed of (7) the operating equipment, the second drive motor, and the first position information acquisition unit. It has a plurality of slave-side devices including one master-side device, a roll to be cleaned, the corresponding pressing member, the first drive motor, and the second position information acquisition unit, and the master-side device. It is preferable to provide a switch for switching the drive command from the second drive motor and transmitting the drive command to any one of the plurality of slave-side devices.

Further, in the roll cleaning device according to any one of (1) to (7), (8) the control device is a control for visually displaying the physical quantity acquired in the transmission of the force and tactile sensation on the display device. It is preferable that the operation equipment is operated based on the display content displayed by the display device.

Further, in order to solve the above problems, the roll cleaning method according to the embodiment of the present invention is (9) a first position information acquisition step of acquiring a first position corresponding to a position of a pressing member pressed against the surface of the roll. The second position information acquisition process for acquiring the second position corresponding to the position of the operating equipment operated by the operator, and the parameters representing the operation based on the first position and the second position are set as the position and the force. Is converted into an independent spatial parameter, and the position parameter and the force parameter converted in the conversion step are converted into a position target value and a force target value for transmitting force and tactile sensation, respectively. The pressing member is driven based on the calculation step of performing the calculation for performing the calculation, the reverse conversion step of performing the reverse conversion of the conversion in the conversion step with respect to the calculation result of the calculation step, and the conversion result of the reverse conversion step. It is characterized by including a drive control step for controlling the drive of the first drive motor and the second drive motor for driving the operating equipment.

According to the present invention, the operator can freely change the pressing force of the pressing member in almost real time while feeling the reaction force from the roll. For example, the roll is directly wiped after ensuring safety at a place away from the roll. It is possible to realize a work environment equivalent to what you are doing.

It is a schematic diagram of the roll cleaning device 100 which concerns on 1st Embodiment. It is a schematic diagram which shows the concept of the control of the force-tactile transmission function realized in the master side control unit 70b and the slave side control unit 70c. It is a block diagram which shows the specific configuration example of the control system of a roll cleaning apparatus 100. It is a flowchart of the roll cleaning method which concerns on 1st Embodiment. It is a flowchart of the force-tactile transmission process executed by the roll cleaning apparatus 100. It is a schematic diagram of the roll cleaning device 101 which concerns on 2nd Embodiment. It is a schematic diagram of the roll cleaning device 102 which concerns on 3rd Embodiment. It is a block diagram which shows the specific configuration example of the control system of the roll cleaning apparatus 102 in 3rd Embodiment. It is a flowchart of the roll cleaning method which concerns on 3rd Embodiment.

Hereinafter, embodiments for carrying out the present invention will be described.
<< First Embodiment >>
[Roll cleaning device 100]
First, the roll cleaning device 100 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 3.
As shown in these figures, the roll cleaning device 100 includes a pressing member 10, a first drive motor 20, a first position information acquisition unit 30, a second drive motor 40, a second position information acquisition unit 50, and operating equipment. It is configured to include 60 and a control device 70.

The pressing member 10 is pressed against the surface of the roll R when cleaning (cleaning) the roll R. More specific examples of the pressing member 10 are not particularly limited as long as foreign matter can be removed from the surface of the roll R, and examples thereof include abrasive paper, cloth, sponge, brush, and grindstone. The material of the pressing member 10 is not particularly limited, and known materials such as paper, cloth, and resin can be widely applied.

The first drive motor 20 has a function of driving the pressing member toward the surface of the roll R. As a more specific first drive motor 20, for example, a known electromagnetic motor can be exemplified. In the present embodiment, the electromagnetic motor is preferable because relatively precise responsiveness is required when the pressing member 10 is pressed against the surface of the roll R.

As can be understood from FIG. 1, the first drive motor 20 in the present embodiment further includes a transmission mechanism 21, and the pressing head 23 to which the pressing member 10 is mounted is first driven via the transmission mechanism 21. It is driven by the motor 20. As the speed change mechanism 21, a known speed change mechanism incorporating several gears can be applied.

That is, in the present embodiment, the force acting on the first drive motor 20 is increased via the transmission mechanism 21 and used to drive the pressing member 10. From the viewpoint that the operation from the drive motor is more directly transmitted to the pressing member 10, the direct drive mechanism is desirable, but in the present embodiment, the first drive motor 20 is intentionally interposed by interposing the transmission mechanism 21. Can be made into a relatively small-scale configuration.

Under such a purpose, in the present embodiment, specifically, a reduction mechanism using planetary gears is adopted, and the input shaft and the output shaft are arranged coaxially to form the entire device in a compact configuration. As the transmission mechanism, the higher the force transmission efficiency and the smaller the loss, the better the back drive property of the system and the better the force and tactile sensation can be reproduced, which is preferable. Specific examples of the configuration of the transmission mechanism include a transmission mechanism using spur gears and the like. In this embodiment, the (rotation) position of the pressing member 10 and the (rotation) position of the operating equipment 60 (handle, etc.) match or are set while decelerating or the like by adopting the above-mentioned speed change mechanism. Since it is controlled so as to correspond with, it is suppressed that the operator feels uncomfortable with the input.
On the other hand, the second drive motor 40 is connected to the operating equipment 60 without a transmission mechanism, and a so-called direct drive type drive mechanism is adopted. This makes it possible to directly transmit the displacement of the operating equipment 60 to the second drive motor 40 while minimizing the power transmission error.

As shown in FIG. 1, the roll cleaning device 100 of the present embodiment further includes a transfer device 80 that moves the pressing member 10 along the axial direction of the roll R, and the transfer device 80 further includes a transmission mechanism 21 and a first drive. The pressing member 10 is placed on the mounting table 81 together with the motor 20 and moved along the axial direction.
As a more specific mode of incorporating the transport device 80 into the roll cleaning device 100, for example, installing a known operating means such as a foot pedal or an operating lever (not shown) in the vicinity of the operating equipment 60 can be exemplified. .. Then, for example, when the operating means is a foot pedal, the operator P can operate the foot pedal with his / her foot to move the mounting table 81 along the axial direction of the roll R.

As described above, the transport device 80 of the present embodiment is mounted on the mounting table 81 on which the first drive motor 20 and the transmission mechanism 21 are mounted, the drive motor 82 for driving the mounting table 81 in the axial direction, and the drive motor 82. It is configured to include a shaft 83 which is connected and mounts the mounting table 81 so as to be movable in the axial direction.

The operating equipment 60 is a member that can be operated by the operator P in order to indirectly operate the pressing member 10 described above when the roll R is wiped. As an example of such an operating device 60, there is no particular limitation as long as the device P is intuitively linked to the driving of the pressing member 10, but for example, a handle capable of rotational operation or a linear reciprocating operation is used. A possible known lever mechanism and the like can be exemplified.

The second drive motor 40 has a function of driving the operation equipment 60 described above, and gives the operation equipment 60 an operation corresponding to a reaction force received from the roll R by the pressing member 10 when the roll R is cleaned, as will be described later. As a more specific second drive motor 40, for example, a known electromagnetic motor, electrostatic motor, ultrasonic motor, or the like can be exemplified.

The second position information acquisition unit 50 has a function of detecting the second position of the operating equipment 60 changed due to the operation of the operator P by electrical or magnetic means or the like. As a more specific example of the second position information acquisition unit 50, a known encoder capable of detecting displacement information with high accuracy is suitable. Examples of such an encoder include a known absolute encoder capable of measuring an absolute position and a known incremental encoder capable of measuring a relative displacement.
The "second position of the operating equipment 60" detected by the second position information acquisition unit 50 is calculated by the rotation speed (angle) of the rotating shaft in the corresponding drive motor even if it is not a direct position. You may.

It is preferable that the second position information acquisition unit 50 described above can be connected to the second drive motor 40. More specifically, the second position information acquisition unit 50 can be appropriately set according to the type of the operating equipment 60, but the encoder as the second position information acquisition unit 50 is basically equipped as standard equipment on the second drive motor 40. It is also optimal in terms of cost to use the one. However, this embodiment is not limited to the example shown on the left. For example, instead of installing the position information detector on the drive motor side, a known position information detector is separately provided on the drive shaft side (handle side as the operation equipment 60). You may.

The first position information acquisition unit 30 has a function of detecting the first position of the pressing member 10 driven by the first drive motor 20 corresponding to the second position of the operation equipment 60 described above by an electric or magnetic means or the like. have. As a more specific example of the first position information acquisition unit 30, a known encoder is suitable as in the second position information acquisition unit 50.

The first position information acquisition unit 30 can also be appropriately set according to the driving mode of the pressing member 10. For example, in the case where the pressing member 10 is swiveled and pressed against the roll R, the first drive motor 20 It is also optimal in terms of cost to use the encoder that is standard equipment on the.
The "first position of the pressing member 10" detected by the first position information acquisition unit 30 is calculated by the rotation speed (angle) of the rotating shaft in the corresponding drive motor even if it is not a direct position. You may do so.

The control device 70 is a position for realizing the force-tactile transmission function in the first drive motor 20 and the second drive motor 40 based on the position information from the first position information acquisition unit 30 and the second position information acquisition unit 50. It has a function of calculating the control amount of (speed) and force and outputting drive signals to the first drive motor 20 and the second drive motor 40 according to the calculated control amount, respectively.
Specifically, the control device 70 includes a general control unit 70a that controls the entire roll cleaning device 100, a master side control unit 70b that controls the second drive motor 40, and a slave side that controls the first drive motor 20. It is configured to include a control unit 70c.

The integrated control unit 70a makes various settings for realizing the force-tactile transmission function in the first drive motor 20 and the second drive motor 40. For example, the integrated control unit 70a sets a magnification when scaling the position (speed) or force in force tactile transmission between the first drive motor 20 and the second drive motor 40, or sets the first drive motor 20 and The upper limit value in the output of the second drive motor 40 is set.

The master side control unit 70b transmits to the slave side control unit 70c parameters (for example, speed and force) representing the operation of the second drive motor 40 calculated based on the position information from the second position information acquisition unit 50. Further, the master side control unit 70b receives parameters (for example, speed and force) representing the operation of the first drive motor 20 from the slave side control unit 70c. Then, the master side control unit 70b calculates the control amount of the second drive motor 40 based on the parameters representing the operations of the first drive motor 20 and the second drive motor 40, and the second control amount corresponds to the calculated control amount. 2 Outputs a drive signal to the drive motor 40.

The slave side control unit 70c transmits parameters (for example, speed and force) representing the operation of the first drive motor 20 calculated based on the position information from the first position information acquisition unit 30 to the master side control unit 70b. Further, the slave side control unit 70c receives parameters (for example, speed and force) representing the operation of the second drive motor 40 from the master side control unit 70b. Then, the slave side control unit 70c calculates the control amount of the first drive motor 20 based on the parameters representing the operations of the first drive motor 20 and the second drive motor 40, and the second control amount corresponds to the calculated control amount. 1 Outputs a drive signal to the drive motor 20.
In the present embodiment, the control device 70 is composed of these three control units, but the present invention is not limited to this example, and each function may be integrated into one control unit.

Further, the roll cleaning device 100 in the present embodiment includes an imaging device 90 that monitors the state of the surface of the roll R or the operating state of the roll cleaning device 100 (specifically, the pressing member 10, the transport device 80, etc.). It is preferably composed of. A known camera can be exemplified as a specific example of the image pickup device 90, and in the present embodiment, the image acquired by the image pickup device 90 is projected on the monitor M.

Therefore, the operator P can operate the operating equipment 60 based on the image obtained by the image pickup device 90 (the state of the relative positional relationship between the foreign matter adhering portion on the surface of the roll R and the pressing member 10). .. In the present embodiment, the operator P operates the operating equipment 60 at a place separated from the roll R, but the present invention is not limited to this mode, and the operating equipment 60 is operated at a place where the operator P can directly see the roll R. You may operate it. In this case, the image detection by the image pickup apparatus 90 may be omitted as appropriate.
Further, the content of imaging by the imaging device 90 is not limited to the case of detecting the relative positional relationship between the foreign matter adhering portion on the roll R surface and the pressing member 10 described above, and for example, the operating status of the roll cleaning device 100. It may be used simply for grasping.

Next, the force-tactile transmission function realized by the roll cleaning device 100 of the present embodiment will be described.
In the roll cleaning device 100 of the present embodiment, the pressing member 10 and the operating equipment 60 are installed at a position separated from each other, and the pressing member 10 is remotely operated by the operator operating the operating equipment 60. At this time, the force and tactile sensation of the pressing member 10 pressed against the roll R is transmitted to the operator who operates the operating equipment 60. Specifically, control for force-tactile transmission is performed between the first drive motor 20 and the second drive motor 40.
As a result, the operator who performs the roll cleaning work can perform the work more safely at a position away from the roll R rotating at high speed, the work conveyed by the roll R at high speed, and the like.

In the present embodiment, in order to realize force-tactile transmission between the pressing member 10 and the operating equipment 60, the first drive motor 20 and the second drive motor 40 (or members that operate in correspondence with their output shafts). ) Is converted into a vector of virtual space that can handle velocity (or position) and force independently, and velocity (or position) and force in virtual space are converted into coordinates. The calculation is performed so that the state value of the force (element of the vector) becomes the target value of the velocity (or position) and the force.

Then, the vector represented by the state value obtained by the calculation is inversely converted from the virtual space to the real space, and the speed (or position) and the force in the real space calculated by the inverse transformation are realized by the first drive motor 20. And the second drive motor 40 is controlled.
As a result, the operations of the first drive motor 20 and the second drive motor 40 are controlled to a state in which the target force-tactile transmission function is realized.

As a method for realizing the force-tactile transmission function in the present embodiment, for example, the coordinate transformation described in Japanese Patent No. 6382203 can be used.
That is, as the coordinate conversion that is the basis of the position / force control method used in the present invention, a value (reference value) that serves as a reference for the function of the controlled system and an actuator that is controlled (first drive motor 20 or second drive motor 20 or second drive motor). A coordinate transformation can be defined with the current speed (or position) of 40) as input. This coordinate transformation generally involves an input vector whose elements are the reference value and the current velocity (or position), and an output vector (on virtual space) consisting of the velocity (or position) for calculating the control target value of the velocity (or position). The input vector whose elements are the reference value and the current force is converted into the output vector (variable group in the virtual space) consisting of the force for calculating the control target value of the force. is there.
Note that position and velocity (or acceleration) or angle and angular velocity (or angular velocity) are parameters that can be replaced by a minute integration calculation. Therefore, when processing related to position or angle, replace them with velocity or angular velocity as appropriate. Is possible.

Further, when the coordinate conversion for position / force control described above is used for bilateral control between the first drive motor 20 and the second drive motor 40, the position of the position in the first drive motor 20 and the second drive motor 40 is used. The state value in the virtual space is calculated on the condition that the difference is zero and the sum of the forces output by the first drive motor 20 and the second drive motor 40 is zero (forces equal to the opposite directions are output). Can be done.
In this case, bilateral control can be realized in the output stages of the first drive motor 20 and the second drive motor 40.

Further, the roll cleaning device 100 in the present embodiment can realize speed (or position) or force scaling in the force-tactile transmission function.
When scaling is realized in the force-tactile transmission function, the parameter transmitted from the slave side control unit 70c to the master side control unit 70b can be multiplied by a multiple (scaling ratio) corresponding to the scale of scaling. At this time, the parameter transmitted from the master side control unit 70b to the slave side control unit 70c is multiplied by the reciprocal of the multiple. For example, when the speed (or position) is multiplied by α (α is a positive number) and the force is multiplied by β (β is a positive number) from the slave side control unit 70c and transmitted to the master side control unit 70b, the master side control The speed (or position) is multiplied by 1 / α and the force is multiplied by 1 / β from the unit 70b, and the force is transmitted to the slave side control unit 70c.

Here, since the transmission mechanism 21 is installed in the output stage of the first drive motor 20 in the present embodiment, the transmission mechanism 21 is used for force-tactile transmission between the pressing member 10 and the operating equipment 60. Acceleration / deceleration or expansion / contraction of force acts.
Therefore, in the present embodiment, in the force-tactile transmission function realized by the control device 70, control for force-tactile transmission that reflects acceleration / deceleration and expansion / contraction of the force in the speed change mechanism 21 is performed.

For example, in order to prevent scaling in the force-tactile transmission between the pressing member 10 and the operating equipment 60, the speed change mechanism is used as a coefficient of coordinate conversion used by the master side control unit 70b and the slave side control unit 70c. It is possible to set the reciprocal of the acceleration / reduction ratio and the expansion / reduction ratio of the force caused by 21.
In this case, since scaling including the mechanical characteristics of the speed change mechanism 21 can be realized by coordinate transformation, the scaling function in force-tactile transmission can be flexibly realized while adapting to the mechanical configuration of the roll cleaning device 100. be able to.

In the roll cleaning device 100 of the present embodiment, in addition to the mechanical characteristics of the speed change mechanism 21, various mechanical characteristics of the roll cleaning device 100 can be reflected in the coordinate conversion.
For example, mechanical loss such as gear backlash and gear static friction coefficient, and the distance from the rotation axis of the first drive motor 20 and the second drive motor 40 to the point of action of force can be reflected in the coefficient of coordinate conversion. it can.
In this case, the accuracy of the physical quantity (magnitude, velocity, etc. of reaction force) estimated from the parameters in the control of force-tactile transmission can be improved.

FIG. 2 is a schematic diagram showing the concept of control of the force-tactile transmission function realized by the master-side control unit 70b and the slave-side control unit 70c.
As shown in FIG. 2, the force-tactile transmission functions realized by the master-side control unit 70b and the slave-side control unit 70c include the control target system S, the function-specific force / speed allocation conversion block FT, and the ideal force source block FC. Alternatively, it is expressed as a control rule including at least one of the ideal velocity (position) source block PC and the inverse conversion block IFT.

The controlled target system S is a second drive motor 40 controlled by the master side control unit 70b or a first drive motor 20 controlled by the slave side control unit 70c.

The function-specific force / velocity allocation conversion block FT is a block that defines the conversion of control energy into a region of speed (position) and force set according to the force-tactile transmission function in the controlled target system S. Specifically, in the function-specific force / speed allocation conversion block FT, a value (reference value) that serves as a reference for the function of the controlled system S and the current position of the first drive motor 20 or the second drive motor 40 are input. Coordinate transformation is defined. As described above, this coordinate transformation generally converts an input vector having a reference value and a current velocity (position) as elements into an output vector consisting of a velocity (position) for calculating a control target value of the velocity (position). At the same time, the input vector having the reference value and the current force as elements is converted into the output vector consisting of the force for calculating the control target value of the force. In the present embodiment, as a reference value, the master side control unit 70b uses parameters (for example, speed and force) representing the operation of the first drive motor 20, and the slave side control unit 70c uses the second drive. Parameters (eg, speed and force) representing the operation of the motor 40 are used.

The ideal force source block FC is a block that performs operations in the force region according to the coordinate transformation defined by the functional force / velocity allocation conversion block FT. In the ideal force source block FC, a target value related to the force when performing a calculation based on the coordinate conversion defined by the function-specific force / velocity allocation conversion block FT is set. This target value is set as a fixed value or a variable value depending on the function to be realized. For example, when realizing a function similar to the function indicated by the reference value, zero is set as the target value, and when scaling is performed, a value obtained by enlarging / reducing the information indicating the function to be reproduced is set. it can.

The ideal speed (position) source block PC is a block that performs calculations in the speed (position) region according to the coordinate conversion defined by the functional force / speed allocation conversion block FT. In the ideal speed (position) source block PC, a target value regarding the speed (position) when performing a calculation based on the coordinate conversion defined by the function-specific force / speed allocation conversion block FT is set. This target value is set as a fixed value or a variable value depending on the function to be realized. For example, when realizing a function similar to the function indicated by the reference value, zero is set as the target value, and when scaling is performed, a value obtained by enlarging / reducing the information indicating the function to be reproduced is set. it can.

The inverse conversion block IFT is a block that converts the values in the region of velocity (position) and force into the values in the region of input to the controlled system S (for example, voltage value or current value).
By such control, when the position information in the controlled target system S (first drive motor 20 and second drive motor 40) is input to the function-specific force / speed allocation conversion block FT, it is obtained based on the position information. Coordinate conversion for realizing the force-tactile transmission function is performed in the function-specific force / speed allocation conversion block FT using the speed (position) and force information to be obtained. Then, in the ideal power source block FC, the force is calculated according to the force-tactile transmission function, and in the ideal speed (position) source block PC, the speed (position) is calculated according to the force-tactile transmission function. Control energy is distributed to each of force and velocity (position).

The calculation results in the ideal power source block FC and the ideal speed (position) source block PC are information indicating the control targets of the controlled target system S (first drive motor 20 and second drive motor 40), and these calculation results are reversed. It is used as an input value of the actuator in the conversion block IFT and is input to the controlled target system S (first drive motor 20 and second drive motor 40).
As a result, the first drive motor 20 and the second drive motor 40 execute an operation according to the force-tactile transmission function, and the target operation of the roll cleaning device 100 is realized.

Next, a specific configuration example of the control system of the roll cleaning device 100 will be described.
FIG. 3 is a block diagram showing a specific configuration example of the control system of the roll cleaning device 100.
As shown in FIG. 3, the integrated control unit 70a, the master side control unit 70b, the master side driver Dm, the second drive motor 40, the second position information acquisition unit 50, the slave side control unit 70c, the slave side driver Ds, and the first It includes one drive motor 20 and a first position information acquisition unit 30.

The integrated control unit 70a makes various settings for the master side control unit 70b and the slave side control unit 70c in order to realize the force-tactile transmission function in the first drive motor 20 and the second drive motor 40.
The master side control unit 70b outputs command values of parameters (for example, speed and force) representing the operation of the second drive motor 40 calculated based on the position information from the second position information acquisition unit 50 to the master side driver Dm. To do.
The master-side driver Dm inputs a drive current to the second drive motor 40 according to a command value input from the master-side control unit 70b.

The second drive motor 40 operates by the drive current input from the master driver Dm, and gives a reaction force to the operation of the operating equipment 60.
The slave-side control unit 70c outputs command values of parameters (for example, speed and force) representing the operation of the first drive motor 20 calculated based on the position information from the first position information acquisition unit 30 to the slave-side driver Ds. To do.
The slave-side driver Ds inputs a drive current to the first drive motor 20 according to a command value input from the slave-side control unit 70c.
The first drive motor 20 operates by the drive current input from the slave side driver Ds, and generates a force for pressing the pressing member 10 against the roll R.

According to the control by the control device 70 (the integrated control unit 70a, the master side control unit 70b, and the slave side control unit 70c), the slave side pressing member 10 rolls R following the operation of the master side operating equipment 60. When it comes into contact with the surface of the pressing member 10, a force corresponding to the reaction force applied to the pressing member 10 is transmitted to the operating equipment 60. As a result, the operator P can feel the reaction force from the roll R and the like with the operating equipment 60 as if the pressing member 10 is directly pressed against the surface of the roll R.

<Roll cleaning method>
Next, a roll cleaning method will be described with reference to FIG.
That is, in the roll cleaning method in the present embodiment, when the operator P operates the operating equipment 60 connected to the second drive motor 40 described above, the pressing member 10 connected to the first drive motor 20 rolls. Wipe so that it is pressed against the surface of R and foreign matter is removed.

First, in step 1, a defect caused by the above-mentioned foreign matter is found. More specifically, when a foreign substance adheres to the surface of the roll R, a defect will occur in the manufactured product (metal plate) that comes into contact with the roll R thereafter. Therefore, for example, when a worker who inspects the product on the downstream side of the production line recognizes the occurrence of the defect, it is estimated that foreign matter adheres to the surface of the roll R. The mode of detecting foreign matter is not limited to the above, and for example, an imaging device (surveillance camera or the like) may be provided at a position where the surface of the roll R can be observed, and the foreign matter may be detected in real time using this imaging device.

Next, in step 2, the conveying device 80 is driven to move the pressing member 10 along the axial direction of the roll R, so that the pressing member 10 is conveyed to the defective region (cleaning position) where the foreign matter to be removed exists. To do.

In the following step 3, the operator P operates the operating equipment 60. As a result, the pressing member 10 makes a turning operation following the operation of the operating equipment 60 and is pressed against the surface of the roll R. More specifically, in step 3, first, the second position (displacement) of the operating equipment 60 changed due to the above operation of the operator P is detected by electrical or magnetic means or the like. Then, the first drive motor 20 drives the pressing member 10 corresponding to the detected second position and presses it against the surface of the roll R to clean it.

At this time, by force scaling control, the force (operating force) operated by the operating equipment 60 on the master side is increased several times to several tens of times (for example, about 10 to 30 times is preferable for cleaning the roll R of the present embodiment). It is output to the first drive motor 20 on the slave side. As a result, the following effects can be obtained in the present embodiment.

That is, first, the reaction force received by the operator P is transmitted as a relatively small force, so that the safety of the operator P can be ensured. Further, since the operation equipment 60 can be operated with a relatively small force, the work load of the operator P can be reduced. Furthermore, since the operating force is increased by scaling, the drive motor can be miniaturized, which makes it possible to save space and reduce costs.

Further, in step 3, the first position (displacement) of the pressing member 10 driven by the first drive motor 20 is detected by electrical or magnetic means or the like according to the second position described above. Therefore, the control device 70 can estimate the reaction forces received by the first drive motor 20 and the second drive motor 40 based on the information of the first position and the second position, respectively. The reaction force received by the first drive motor 20 and the second drive motor 40 can also be detected by a force sensor or the like.

The operator P applies a reaction force from the roll R from the operating equipment 60 as if the pressing member 10 is directly pressed against the surface of the roll R via the operating equipment 60 by driving the second drive motor 40. It becomes possible to feel. As a result, the operator P can freely change the pressing force while receiving the reaction force from the roll R in almost real time, and is flexible according to the cleaning conditions such as the type of the roll R and the type of the attached foreign matter. A cleaning operation is possible.
The process of the roll cleaning device 100 (force / tactile transmission process) in step 3 will be described later.

Then, in step 4, it is determined whether or not the defect has been removed.
Various embodiments can be exemplified for this determination method, and for example, a worker performing the above-mentioned inspection work may confirm the completion of removal. Alternatively, the operator P may confirm the completion of removal while monitoring the defective area with the monitor M based on the image from the image pickup device 90 installed near the roll R.

Then, after the removal of the above-mentioned defects is completed, it is determined in the following step 5 whether or not another defect exists, and if another defect exists, the process returns to step 2 and is pressed against the target next defect region. Control to move the member 10 is performed. As a result, for example, when a plurality of defects occur in a manufactured product on one manufacturing line, it is possible to efficiently remove each foreign matter.
On the other hand, when there are no other defects in step 5, the pressing member 10 is retracted from the surface of the roll R to complete the cleaning operation.

<Force and tactile transmission processing>
Next, the force-tactile transmission process will be described with reference to FIG.
FIG. 5 is a flowchart of the force-tactile transmission process executed by the roll cleaning device 100.
The force-tactile transmission process is started in response to an operation instructing the control device 70 to execute the force-tactile transmission process.

In step 31, the overall control unit 70a makes various settings for realizing the force-tactile transmission function in the first drive motor 20 and the second drive motor 40.
In step 32, the first position information acquisition unit 30 and the second position information acquisition unit 50 acquire the position information of the pressing member 10 and the operation equipment 60.
In step 33, the master-side control unit 70b calculates parameters (for example, speed and force) representing the operation of the first drive motor 20 from the acquired position information of the operating equipment 60, and transmits the parameters (for example, speed and force) to the slave-side control unit 70c. .. Similarly, the slave side control unit 70c calculates parameters (for example, speed and force) representing the operation of the second drive motor 40 from the acquired position information of the pressing member 10, and transmits the parameters (for example, speed and force) to the master side control unit 70b.

In step 34, the master side control unit 70b and the slave side control unit 70c can handle the parameters representing the operations of the first drive motor 20 and the second drive motor 40 independently of the speed (or position) and the force. Coordinate conversion to a vector in virtual space.
In step 35, the master-side control unit 70b and the slave-side control unit 70c set the velocity (or position) and force state values (vector elements) in the virtual space as the velocity (or position) and force target values. Perform the operation of. As a result, a state value representing an error between the current velocity (or position) and force state values and the velocity (or position) and force target values is acquired.

In step 36, the master-side control unit 70b and the slave-side control unit 70c reversely convert the vector represented by the state value acquired by the calculation from the virtual space to the real space.
In step 37, the master-side control unit 70b and the slave-side control unit 70c perform the first drive motor 20 and the second drive motor 40 so that the speed (or position) and force in the real space calculated by the inverse conversion are realized. To control.

In step 38, the overall control unit 70a determines whether or not the end of the force-tactile transmission process is instructed.
If the end of the force-tactile transmission process is not instructed, NO is determined in step 38, and the process proceeds to step 32.
On the other hand, when the end of the force-tactile transmission process is instructed, YES is determined in step 38, and the force-tactile transmission process ends.

According to the roll cleaning device 100 and the roll cleaning method of the first embodiment described above, in addition to the effects described above, the following effects can be appropriately enjoyed.
-Since the pressing member 10 is pressed against the roll R by controlling with the information from the drive motor and its position information detector, a simple and compact device configuration can be realized, and it can be installed in a narrow space near the roll in a small space. Because of this, it can be applied to various roles.
-Since the operator P can remotely control the pressing member 10 at a place separated from the roll R, the safety of the operator himself can be ensured.
-Generally, the plating line is long, but the operator does not have to go to the roll in question from the monitoring room, and if a defect is found, the cleaning work can be done quickly.
-When measuring the reaction force from the surface of the roll R, the pressing member 10 uses a position detection sensor that enables inexpensive non-contact measurement without using a torque sensor or force sensor, which is expensive and may change the system model. The pressing force can be controlled with good responsiveness.

Although the example in which the monitor M is installed as the display device is shown in the first embodiment described above, the control device 70 has various parameters (for example, a force (a reaction force acting on the pressing member 10)) acquired in the force-tactile transmission process. Etc.), position (position of pressing member 10 etc.) or other physical quantity) may be controlled to be visually displayed on the monitor M. As a result, the operating equipment 60 can be operated based on the display content displayed by the display device, and the operator P can sense the reaction force from the operating equipment 60 while visually recognizing various parameters at that time. Can be done.

<< Second Embodiment >>
Next, a second embodiment of the present embodiment will be described with reference to FIG.
In the first embodiment described above, the pressing head 23 and the first drive motor 20 are mounted on the mounting table 81 via the transmission mechanism 21, but in the present embodiment, the pressing head is replaced with the pressing head. The main feature is that only 23 is mounted on the mounting table 81.
Therefore, in the following, the points different from the above-described embodiments will be mainly described, and the members having the same functions as those of the above-described embodiments will be assigned the same numbers and the description thereof will be omitted as appropriate (the same applies to other embodiments). ).

As shown in the figure, in the roll cleaning device 101 of the present embodiment, the mounting table 81 is equipped with the pressing head 23 on which the pressing member 10 is mounted, while the first drive for driving the pressing head 23. The motor 24 does not move in the axial direction of the roll R and is fixedly arranged.
Further, the first drive motor 24 and the pressing head 23 are directly connected to each other without a transmission mechanism, and a so-called direct drive form is adopted.

In the present embodiment, the ball spline shaft is used as the shaft 25, and even if the pressing head 23 moves along the axial direction, the position of the first drive motor 24 on the slave side is fixed and unchanged.

According to the second embodiment described above, the weight of the member moving in the axial direction can be made compact and lightened by the configuration in which the drive motor and the transmission mechanism are not mounted on the mounting table 81. Further, by adopting the direct drive configuration, the driving force from the first drive motor 24 can be efficiently transmitted to the pressing member 10 without being unintentionally impaired. Further, since the speed change mechanism does not intervene, the displacement of the pressing member 10 can be extracted more accurately.

<< Third Embodiment >>
Next, a third embodiment of the present embodiment will be described with reference to FIGS. 7 to 9.
In each of the above-described embodiments, one pressing member 10 corresponds to one operating device 60, but in the present embodiment, the main point is that a plurality of pressing members 10 can be operated by one operating device 60. There is a characteristic.

That is, as shown in FIGS. 7 and 8, in the roll cleaning device 102 of the present embodiment, the operation equipment 60 (not shown), the master side control unit 70b, the master side driver Dm, the second drive motor 40, and the second position information. A single master-side device including the acquisition unit 50 is configured. Further, in the roll cleaning device 102, the roll R to be cleaned, the corresponding pressing member 10, the slave side control unit 70c, the slave side driver Ds, the first drive motor 20, and the first position information acquisition unit 30, respectively. A plurality of slave-side devices to be provided are configured.

In the figure, all of them are composed of slave-side devices in the roll cleaning device 101 described in the second embodiment of the same type, but the present invention is not limited to this mode. For example, it may be configured to include a plurality of slave-side devices in the roll cleaning device 100 of the first embodiment, or may be configured to include slave-side devices in both the roll cleaning device 100 and the roll cleaning device 101, respectively. You may be.

On the other hand, in the master side device, under the control of the control device 70, the drive command from the second drive motor 40 in the master side device is switched to any first drive motor 24 among the plurality of slave side devices. It is equipped with a switch SW that transmits a drive command as an acceleration command value.

According to the roll cleaning device 102 having the above configuration, it is possible to operate a plurality of pressing members 10 with one operating equipment 60.
Next, the roll cleaning method in the present embodiment will be described with reference to FIG. The same step numbers as those described in the first embodiment will be assigned the same step numbers, and the description thereof will be omitted as appropriate.

That is, first, in step 1, a defect is found in the same manner as in the first embodiment. At this time, since there are a plurality of rolls R as shown in FIG. 7, which pressing member 10 is to be operated is determined at this point.

Then, in the following step α, the transfer device 80 to be operated is selected via the switch SW under the control of the control device 70.
Next, in steps 2 to 4, defects are removed by wiping the surface of the roll R in the same manner as in the first embodiment.
In the following step β, it is determined whether or not another defect exists, and if the other defect still exists, the process continues to step γ, and if the other defect does not exist, the process is completed.

In step γ, it is determined whether the other defect is in another region of the currently targeted roll R or is a roll R other than the currently targeted roll R. If it is determined in step γ that the defect is caused by another roll R, the transfer device 80 returns to step α and corresponds to the roll R to be newly removed via the switch SW. Select.

On the other hand, if it is determined in step γ that the other defect is in another region of the roll R currently targeted, the process returns to step 2 and the transfer device 80 is driven and pressed under the control of the control device 70. Control is performed to move the member 10 to the other region described above.

According to the third embodiment described above, since a single master-side device can be prepared and a large number of slave-side devices can be operated, defects (adhered foreign matter, etc.) generated on the surface of the roll R can be efficiently removed. It becomes possible to do.
In the present embodiment, the plurality of slave-side devices described above may be arranged at a plurality of different positions on one production line, or the slave-side devices may be arranged on each of the plurality of production lines. There may be.

Each of the embodiments described above is an example, and various modifications can be made without departing from the spirit of the present invention.
For example, when a plurality of slave-side devices are installed, the materials and types (cloth, brush, etc.) of the pressing member 10 may be different from each other.

Further, in each of the above embodiments, the control device 70 is divided into the integrated control unit 70a to the slave side control unit 70c, but these functions may be integrated into one to form a single control device.
Further, in each of the overall control units 70a to the slave side control unit 70c, at least a part of the wiring may be wireless for information communication, or only a portion where the influence of noise is desired to be suppressed may be wired.

Further, the roll R to be wiped is not limited to the case of transporting the metal plate illustrated in the above embodiment, but can also be applied to a transport roll of, for example, a resin film or paper. Further, the roll R to which the present invention can be applied is not limited to a roll for transport, but can also be applied to other rolls such as a rolling roll and a casting roll.

The present invention can be applied to a roll cleaning technique in a transport line, and can transmit the operating force on the master side to the slave side with good responsiveness and the force applied to the slave side with good responsiveness to the master side. It is possible to clean the roll with delicate movements.

P Operator R Roll M Monitor 100, 101, 102 Roll cleaning device 10 Pressing member 20 First drive motor 30 First position information acquisition unit 40 Second drive motor 50 Second position information acquisition unit 60 Operation equipment 70 Control device 80 Transport device 90 Imaging device S Control target system FT Function-specific force / speed allocation conversion block FC Ideal power source block PC Ideal speed (position) source block IFT Inverse conversion block Dm Master side driver Ds Slave side driver SW switch

Claims (9)

The pressing member pressed against the surface of the roll,
The first drive motor that drives the pressing member and
A first position information acquisition unit that acquires a first position corresponding to the position of the pressing member, and
Operation equipment operated by the operator and
The second drive motor that drives the operating equipment and
A second position information acquisition unit that acquires a second position corresponding to the position of the operating equipment, and
A conversion unit that converts a parameter representing an operation based on the first position and the second position into a parameter on a space in which the position and the force are independent.
An arithmetic unit that performs calculations to set each of the position parameter and the force parameter converted by the conversion unit as a target value of a position for transmitting a force-tactile sensation and a target value of a force.
An inverse conversion unit that performs the inverse conversion of the conversion in the conversion unit with respect to the calculation result of the calculation unit,
A drive control unit that controls the drive of the first drive motor and the second drive motor based on the conversion result of the reverse conversion unit.
A roll cleaning device characterized by being provided with. The roll cleaning device according to claim 1, wherein the pressing member is movable along the axial direction of the roll. The roll cleaning device according to claim 1 or 2, wherein the conversion unit performs the conversion that reflects the mechanical characteristics of the roll cleaning device. The first drive motor includes a transmission and
The roll cleaning device according to claim 3, wherein the conversion unit performs coordinate conversion using a coefficient corresponding to acceleration / deceleration and expansion or contraction of force in the transmission as an element. The roll cleaning device according to any one of claims 1 to 4, wherein the conversion unit performs coordinate conversion using a coefficient as an element for realizing scaling of position or force. Further having an imaging device for monitoring the state of the surface of the roll or the operating state of the roll cleaning device.
The roll cleaning device according to any one of claims 1 to 5, wherein the operating equipment is operated based on an image obtained by the imaging device. A single master-side device composed of the operating equipment, the second drive motor, and the first position information acquisition unit, and
It has a plurality of slave-side devices including a roll to be cleaned, a pressing member corresponding to the roll, a first drive motor, and a second position information acquisition unit.
Claims 1 to 6 include a switch for switching a drive command from the second drive motor of the master-side device and transmitting the drive command to any of the first drive motors among the plurality of slave-side devices. The roll cleaning device according to any one of the above. The control device controls to visually display the physical quantity acquired in the transmission of the force and tactile sensation on the display device.
The roll cleaning device according to any one of claims 1 to 7, wherein the operating equipment is operated based on the display content displayed by the display device. The first position information acquisition step of acquiring the first position corresponding to the position of the pressing member pressed against the surface of the roll, and
A second position information acquisition process for acquiring a second position corresponding to the position of the operating equipment operated by the operator, and
A conversion step of converting a parameter representing an operation based on the first position and the second position into a parameter on a space in which the position and the force are independent.
A calculation step of performing a calculation for setting each of the position parameter and the force parameter converted in the conversion step as a target value of a position for transmitting a force-tactile sensation and a target value of a force.
An inverse conversion step of performing the inverse conversion of the conversion in the conversion step with respect to the calculation result of the calculation process, and
Based on the conversion result of the reverse conversion step, a drive control step of controlling the drive of the first drive motor for driving the pressing member and the second drive motor for driving the operating equipment, and
A roll cleaning method characterized by containing.

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