JP2023131290A - Conveyance control device, conveyance control method, conveyance control program - Google Patents

Abstract

To provide a conveyance control device capable of effectively preventing excessive tension and slack in a conveying object.SOLUTION: A conveyance control device 1 comprises: a target conveying speed setting part 13 for individually setting the target conveying speed of multiple driving rollers 211-215 for conveying a conveying object 3; a target conveying speed arrival time setting part 14 for setting target conveying speed arrival time common to the multiple driving rollers 211-215, to arrive at the target conveying speed of the respective driving rollers 211-215; and driving parts 111-115 for driving the respective driving rollers 211-215 so that the conveying speed of the respective driving rollers 211-215 arrive at the target conveying speed at the common target conveying speed arrival time.SELECTED DRAWING: Figure 1

Description

The present invention relates to a transport control device and the like.

2. Description of the Related Art As a conveyance device that conveys a linear object such as a string or wire, or a planar object such as paper or cloth, one that detects the tension of the object is known. For example, Patent Document 1 discloses a technique for generating an operation amount for a motor based on the difference between a detected wire tension value and a reference value, and maintaining the wire tension at the reference value.

Japanese Patent Application Publication No. 2003-176080

When a conveyed object is conveyed by a plurality of conveyance rollers, the rotational speed of each conveyance roller is controlled to be substantially uniform in a steady conveyance state. On the other hand, during acceleration/deceleration, etc., there may be a significant difference in the rotational speed of each transport roller, so there is a risk that excessive tension or slack may occur in the transported object.

The present invention has been made in view of these circumstances, and it is an object of the present invention to provide a conveyance control device and the like that can effectively prevent excessive tension and slack in conveyed objects.

In order to solve the above problems, a conveyance control device according to an aspect of the present invention includes a target conveyance speed setting section that individually sets target conveyance speeds of a plurality of conveyance sections that convey objects to be conveyed, and a conveyance control device for each conveyance section. A target conveyance speed arrival time setting section that sets a common target conveyance speed arrival time for a plurality of conveyance sections at which the speed should reach the target conveyance speed, and a target conveyance speed arrival time setting section that sets a common target conveyance speed arrival time for the conveyance speed of each conveyance section. A drive section that drives each of the conveyance sections so as to reach the conveyance speed is provided.

According to this aspect, when accelerating or decelerating the transported object, the transport speeds of the plurality of transport sections are controlled so that they reach their respective target transport speeds at the common target transport speed reaching time, so Excessive tension and slack in objects can be effectively prevented.

Another aspect of the present invention is a transport control method. This method consists of a target transport speed setting step in which target transport speeds are individually set for a plurality of transport units that transport objects, and a target transport speed setting step in which the transport speed of each transport unit is set to reach the target transport speed. a step of setting a time to reach a common target transport speed; and driving each transport unit so that the transport speed of each transport unit reaches the target transport speed at the common target transport speed arrival time. a driving step.

Note that the present invention also includes arbitrary combinations of the above-mentioned constituent elements and conversion of these expressions into methods, devices, systems, recording media, computer programs, and the like.

According to the present invention, excessive tension and slack in the transported object can be effectively prevented.

The configuration of the transport control device is schematically shown. An example of speed control of a group of conveyance rollers by a conveyance control device is shown. An example of an operation screen of the transport control device is shown.

Hereinafter, modes for carrying out the present invention (hereinafter also referred to as embodiments) will be described in detail with reference to the drawings. In the description and/or drawings, the same or equivalent components, members, processes, etc. are denoted by the same reference numerals, and redundant description will be omitted. The scales and shapes of the parts shown in the drawings are set for convenience to simplify the explanation, and should not be interpreted in a limited manner unless otherwise stated. The embodiments are illustrative and do not limit the scope of the present invention. Not all features or combinations thereof described in the embodiments are necessarily essential to the present invention.

FIG. 1 schematically shows the configuration of a transport control device 1 according to an embodiment of the present invention. The conveyance control device 1 is a device that controls the conveyance operation of the conveyance device 2 that conveys the object 3 to be conveyed. Examples of the transported object 3 include linear objects such as strings and wires, and planar objects such as paper, cloth, film, foil, and rubber. In this embodiment, a conveyance device 2 and a conveyance control device 1 provided in a stretching device that applies tension in the conveyance direction and stretches a planar base material as a conveyed object 3 while conveying the same will be described. Note that the conveyance control device 1 according to this embodiment can be similarly applied to any other conveyance device 2 (for example, one provided in a coater or coating device).

The conveyance device 2 includes a conveyance roller group 20 and a dancer 24. The conveyance roller group 20 includes a plurality of conveyance rollers serving as a plurality of conveyance sections that convey the object 3 to be conveyed. The conveyance roller group 20 in the example of FIG. 1 includes five conveyance roller pairs arranged in series along the conveyance direction of the conveyed object 3 (left-right direction in FIG. 1). The plurality of transport rollers are adjacent to each other in the transport direction. Each conveyance roller pair includes drive rollers 211 to 215 that are rotationally driven by respective drive units 111 to 115, which will be described later, and a conveyed object 3 sandwiched between the drive rollers 211 to 215. It includes driven rollers 221 to 225 that rotate in conjunction with each other. The five conveyance roller pairs 211/221 to 215/225, the five drive units 111 to 115 and the five speed control units 121 to 125 provided in the conveyance control device 1 in correspondence with each other are similar to each other. Can be configured. Therefore, below, the first conveyance roller pair 211/221, the first drive section 111, and the first speed control section 121 will be explained, and the other conveyance roller pairs 212/222 to 215/225, the other drive sections 112 to 115, Duplicate explanations regarding the other speed control units 122 to 125 will be omitted. Note that the number of conveyance roller pairs provided in the conveyance roller group 20 may be any plurality (any integer greater than or equal to 2).

The drive roller 211 and the driven roller 221 are transport rollers as one aspect of a transport unit that transports the transported object 3, and are arranged in a direction perpendicular to the transport direction (left-right direction in FIG. ) can be rotated around the rotation axis. As will be described later, the drive roller 211 is rotationally driven by the drive unit 111 such as a motor in accordance with a rotational speed command generated by the speed control unit 121. When the conveyance direction of the conveyed object 3 in FIG. 1 is rightward, the drive roller 211 is rotated clockwise by the drive unit 111, and the driven roller 221 is rotated counterclockwise in conjunction with the drive roller 211. .

The dancers 24 are provided upstream (left side in FIG. 1) and downstream (right side in FIG. 1) of the conveyance roller group 20 in the conveyance direction so as to sandwich the conveyance roller group 20 from both sides in the conveyance direction. Since the two illustrated dancers 24 can be constructed in the same way, only one dancer 24 will be described.

The dancer 24 is a tension detection unit that detects tension in the transport direction of the object 3 to be transported. Note that in addition to or in place of the dancer 24, a tension detector that directly detects the tension of the transported object 3 may be provided. The dancer 24 is arranged between a pair of rollers 241 and 242 provided on the conveyance path of the conveyed object 3 (the horizontal path along which the conveyed object 3 extends in FIG. 1) and the pair of rollers 241 and 242. A dancer roll 243 is provided at a position away from the conveyance path of the object 3 to be conveyed.

The dancer roll 243 is provided so as to be movable between the upper end 243A and the lower end 243B in a direction perpendicular to the transport path of the transported object 3 (vertical direction in FIG. 1). The air cylinder 244 serving as a biasing unit or a pressurizing unit biases or pressurizes the dancer roll 243 in a direction away from the conveyance path of the object 3 (downward in FIG. 1). The dancer roll 243 that is urged or pressurized downward applies tension to the transported object 3 by pulling the transported object 3 in a direction away from the transport path. At this time, the dancer roll 243 comes to rest at a position where the downward force received from the air cylinder 244 and the upward tension applied from the transported object 3 are balanced. Since the downward force that the dancer roll 243 receives from the air cylinder 244 is maintained or controlled substantially constant, the vertical position of the dancer roll 243 represents the tension of the object 3 to be transported.

The vertical position of the dancer roll 243 is detected as an electrical signal by the position sensor 245 and provided to the subtracter 17 of the conveyance control device 1 . In addition to this, the position command for the dancer roll 243 generated by the position command generation unit 16 of the transport control device 1 is input to the subtracter 17 . As described above, the position of the dancer roll 243 corresponds to the tension of the object 3 to be transported, so the position command for the dancer roll 243 generated by the position command generation unit 16 corresponds to the tension command of the object 3 to be transported. The speed control unit 18 of the transport control device 1 generates a speed command for reducing the deviation in the position of the dancer roll 243 or the tension of the transported object 3 provided from the subtractor 17. The drive unit 19 of the conveyance control device 1 rotates a drive roller 231 provided immediately before and/or after the dancer 24 in accordance with a speed command provided from the speed control unit 18 . When the drive roller 231 is driven to rotate clockwise in FIG. 1, the driven roller 232 rotates counterclockwise in conjunction with the drive roller 231. The drive roller 231 and the driven roller 232 convey the conveyed object 3 sandwiched between them, while generating a desired position command for the dancer roll 243 generated by the position command generation section 16, that is, the tension command of the conveyed object 3. Tension is applied to the transported object 3.

In the example of FIG. 1, two dancers 24 are provided immediately before and after the conveyance roller group 20 in the conveyance direction. ) can be controlled to a desired value. In addition, as will be described in detail below, by individually rotationally driving each of the drive rollers 211 to 215 constituting the transport roller group 20 by each drive unit 111 to 115 of the transport control device 1, the transported object 3 can be rotated. Since the speed and tension of each part can be precisely controlled, it is possible to optimize the transport operation of the transported object 3 by the transport device 2 and the stretching operation of the base material (transported object 3) by the stretching device provided with the transport device 2.

The conveyance control device 1 includes five drive units 111 to 115 (hereinafter also collectively referred to as the drive units 11) and five speed control units 121 to 125 as functional blocks for controlling the conveyance roller group 20. (hereinafter also collectively referred to as speed control section 12), a target conveyance speed setting section 13, a target conveyance speed attainment time setting section 14, and an acceleration calculation section 15. These functional blocks are realized through the collaboration of hardware resources such as the computer's central processing unit, memory, input devices, output devices, and peripheral devices connected to the computer, and the software that is executed using them. . Regardless of the type of computer or installation location, each of the above functional blocks may be realized using the hardware resources of a single computer, or may be realized by combining hardware resources distributed across multiple computers. .

The target conveyance speed setting unit 13 individually sets a target conveyance speed as a target rotation speed of a plurality of drive rollers 211 to 215 (hereinafter also collectively referred to as drive rollers 21). The target conveyance speed attainment time setting unit 14 sets a target conveyance speed attainment time as a common target rotational speed attainment time for the plurality of drive rollers 21 at which the rotational speed of each drive roller 21 should reach the target rotational speed. The acceleration calculation section 15 calculates the speed difference between the current rotation speed (current conveyance speed) of each drive roller 21 and the target rotation speed (target conveyance speed) set by the target conveyance speed setting section 13, and the current time and target conveyance speed. The acceleration is calculated based on the time difference between the target transport speed arrival times set by the arrival time setting unit 14. The acceleration calculation unit 15 calculates the acceleration of each drive roller 21 by dividing the speed difference by the time difference, for example. Note that the current rotational speed of each drive roller 21 used in the calculation of acceleration is, for example, the rotational position detected by a rotational position detector such as a PG (Position Generator) attached to each drive unit 11 such as a motor. It can be obtained by differentiating.

Each speed control section 12 generates a rotation speed command for each drive section 11 according to the acceleration of each drive roller 21 calculated by the acceleration calculation section 15. For example, when the acceleration calculated by the acceleration calculation section 15 is a, the speed control section 12 of the control period T adds aT to the speed command every control period. Each drive unit 11 rotationally drives each drive roller 21 according to a speed command provided from each speed control unit 12 . Specifically, each drive unit 11 causes the rotation speed (transport speed) of each drive roller 21 to reach a common target rotation speed (target transport speed arrival time) set by the target transport speed arrival time setting unit 14. Then, each drive roller 21 is rotationally driven so as to reach the target rotational speed (target transport speed) set by the target transport speed setting section 13.

FIG. 2 shows an example of speed control of the conveyance roller group 20 by the conveyance control device 1. As shown in FIG. In this embodiment, the conveyance roller group 20 is provided with three conveyance rollers or drive rollers 21 . The three drive rollers 21 are initially stopped, and are accelerated all at once from time "0". At this time, the target conveyance speed setting unit 13 individually sets the target rotational speeds "v ₁₁ ", "v ₂₁ ", and "v ₃₁ " of the three drive rollers 21. Further, the target conveyance speed attainment time setting unit 14 determines when the rotational speed of the three drive rollers 21 should reach the respective target rotational speeds “v ₁₁ ”, “v ₂₁ ”, and “v ₃₁ ”. Set time "T1".

The acceleration calculation unit 15 calculates the rotational speeds of the three drive rollers 21 at the current time “0” (all are “0”) and the target rotational speeds “v ₁₁ ” and “v ₂₁ ” set by the target conveyance speed setting unit 13. The speed difference between “v ₃₁ ”, “v ₁₁ ”, “v ₂₁ ”, and “v ₃₁ ”, and the time between the current time “0” and the target conveyance speed attainment time “T1” set by the target conveyance speed attainment time setting unit 14 Calculate acceleration based on the difference "T1". Specifically, the acceleration calculation unit 15 calculates "v ₁₁ /T1" obtained by dividing the speed difference "v ₁₁ " of the first drive roller by the time difference "T1" as the time "0" of the first drive roller. ” ~ “T1” acceleration, and “v ₂₁ /T1” obtained by dividing the speed difference “v ₂₁ ” of the second driving roller by the time difference “T1” is calculated as the time “0” of the second driving roller ~ The acceleration is "T1", and "v ₃₁ /T1" obtained by dividing the speed difference "v ₃₁ " of the third drive roller by the time difference "T1" is calculated as the acceleration of the third drive roller from "0" to "T1". ” acceleration. In this way, the accelerations of each drive roller 21 in the acceleration section "0" to "T1" typically have different values.

As a result, through each speed control unit 12 and each drive unit 11, the rotational speeds of the three drive rollers 21 change to their respective target conveyance speeds “v 11 ” and “v ₂₁ ” at the common target conveyance speed reaching time _“ T1”. ” and “v ₃₁ ”, it is possible to effectively prevent excessive tension or slack in the transported object 3. In the example of FIG. 2, the acceleration of each drive roller 21 in the acceleration section from time "0" to "T1" is kept constant, so that the speed of each drive roller 21 increases linearly, but in the acceleration section The speed of each drive roller in may increase non-linearly.

The three drive rollers 21 that have reached their respective target rotational speeds "v ₁₁ ,""v ₂₁ ," and "v ₃₁ " at time "T1" are decelerated all at once from time "t2." At this time, the target conveyance speed setting unit 13 individually sets the target rotational speeds "v ₁₂ ", "v ₂₂ ", and "v ₃₂ " of the three drive rollers 21. Further, the target conveyance speed attainment time setting unit 14 determines when the rotational speed of the three drive rollers 21 should reach the respective target rotational speeds “v ₁₂ ”, “v ₂₂ ”, and “v ₃₂ ”. Set time "T2".

The acceleration calculation unit 15 calculates the rotation speeds “v ₁₁ ”, “v ₂₁ ”, and “v ₃₁ ” of the three drive rollers 21 at the current time “t2” and the target rotation speed “v ₁₂ ” set by the target conveyance speed setting unit 13. ”, “v ₂₂ ”, and “v ₃₂ ”, the speed difference “v ₁₂ -v ₁₁ ”, “v ₂₂ -v ₂₁ ”, “v ₃₂ -v ₃₁ ”, the current time “t2” and the target conveyance speed arrival time setting unit 14 The acceleration is calculated based on the time difference "T2-t2" between the target conveyance speed arrival time "T2" set by . Specifically, the acceleration calculation unit 15 divides the speed difference “v ₁₂ −v ₁₁ ” of the first drive roller by the time difference “T2 − t2” to obtain “(v ₁₂ −v ₁₁ )/(T2 −t2)” is the acceleration of the first driving roller from time “t2” to “T2”, and the speed difference “v ₂₂ −v ₂₁ ” of the second driving roller is divided by the time difference “T2−t2”. Let "(v ₂₂ - v ₂₁ )/(T2 - t2)" be the acceleration of the second driving roller from time "t2" to "T2", and let the speed difference of the third driving roller "v ₃₂ - v ₃₁ " be "(v ₃₂ -v ₃₁ )/(T2-t2)" obtained by dividing by the time difference "T2-t2" is defined as the acceleration of the third drive roller from time "t2" to "T2". In this way, the accelerations of each drive roller 21 in the deceleration section "t2" to "T2" typically have different values.

As a result, through each speed control unit 12 and each drive unit 11, the rotational speeds of the three drive rollers 21 change to their respective target conveyance speeds “v 12 _” and “v ₂₂ ” at the common target conveyance speed reaching time “T2”. ” and “v ₃₂ ”, it is possible to effectively prevent excessive tension or slack in the transported object 3. In the example of FIG. 2, the acceleration of each drive roller 21 in the deceleration section from time "t2" to "T2" is kept constant, so that the speed of each drive roller 21 decreases linearly, but in the deceleration section The speed of each drive roller in may decrease non-linearly.

The three drive rollers 21 that have reached their respective target rotational speeds "v ₁₂ ,""v ₂₂ ," and "v ₃₂ " at time "T2" are accelerated all at once from time "t3." At this time, the target conveyance speed setting unit 13 individually sets the target rotational speeds "v ₁₃ ", "v ₂₃ ", and "v ₃₃ " of the three drive rollers 21. However, in the illustrated example, all the target rotational speeds "v ₁₃ ", "v ₂₃ ", and "v ₃₃ " are set to the same value. Further, the target conveyance speed attainment time setting unit 14 determines when the rotational speed of the three drive rollers 21 should reach the respective target rotational speeds “v ₁₃ ”, “v ₂₃ ”, and “v ₃₃ ”. Set time "T3".

The acceleration calculation unit 15 calculates the rotational speeds “v ₁₂ ”, “v ₂₂ ”, and “v ₃₂ ” of the three driving rollers 21 at the current time “t3” and the target rotational speed “v 13 ” set by the target conveyance speed setting unit ₁₃ . ”, “v ₂₃ ”, and “v ₃₃ ”, the speed difference “v ₁₃ -v ₁₂ ”, “v ₂₃ -v ₂₂ ”, “v ₃₃ -v ₃₂ ”, the current time “t3” and the target conveyance speed arrival time setting unit 14 The acceleration is calculated based on the time difference "T3-t3" between the target conveyance speed arrival time "T3" set by . Specifically, the acceleration calculation unit 15 divides the speed difference “v ₁₃ −v ₁₂ ” of the first drive roller by the time difference “T3 − t3” to calculate “(v ₁₃ −v ₁₂ )/(T3 −t3)” is the acceleration of the first driving roller from time “t3” to “T3”, and the speed difference “v ₂₃ −v ₂₂ ” of the second driving roller is divided by the time difference “T3−t3”. Let "(v ₂₃ - v ₂₂ )/(T3 - t3)" be the acceleration of the second drive roller from time "t3" to "T3", and let the speed difference of the third drive roller "v ₃₃ - v ₃₂ " be Let "(v ₃₃ - v ₃₂ )/(T3-t3)" obtained by dividing by the time difference "T3-t3" be the acceleration of the third drive roller from time "t3" to "T3". In this way, the accelerations of each drive roller 21 in the acceleration period "t3" to "T3" typically have different values.

As a result, via each speed control unit 12 and each drive unit 11, the rotational speeds of the three drive rollers 21 change to their respective target conveyance speeds “v 13 _” and “v ₂₃ ” at the common target conveyance speed reaching time “T3”. ” and “v ₃₃ ”, it is possible to effectively prevent excessive tension or slack in the transported object 3. In the example of FIG. 2, the acceleration of each drive roller 21 in the acceleration section from time "t3" to "T3" is kept constant, so that the speed of each drive roller 21 increases linearly, but in the acceleration section The speed of each drive roller in may increase non-linearly.

FIG. 3 shows an example of an operation screen of the transport control device 1. The operator of the conveyance control device 1 selects a plurality (two rollers, for example, of the plurality of conveyor rollers, for example, five rollers as in FIG. 1) to which the speed control described in FIG. Any conveyance roller (above) can be specified. In the illustrated example, three conveyance rollers surrounded by a rectangular selection frame SL placed on the screen by the operator of the conveyance control device 1 are selected as targets for the aforementioned speed control.

The present invention has been described above based on the embodiments. It will be obvious to those skilled in the art that various modifications can be made to the combinations of components and processes in the exemplary embodiments, and such modifications are within the scope of the present invention.

Note that the configuration, operation, and function of each device and each method described in the embodiments can be realized by hardware resources, software resources, or by cooperation of hardware resources and software resources. As hardware resources, for example, a processor, ROM, RAM, and various integrated circuits can be used. As software resources, for example, programs such as operating systems and applications can be used.

1 conveyance control device, 2 conveyance device, 3 conveyed object, 13 target conveyance speed setting section, 14 target conveyance speed arrival time setting section, 15 acceleration calculation section, 20 conveyance roller group, 21 drive roller, 111 drive section, 121 speed Control unit, 211 Drive roller.

Claims (7)

a target conveyance speed setting unit that individually sets target conveyance speeds of a plurality of conveyance units that convey objects to be conveyed;
a target conveyance speed attainment time setting unit that sets a common target conveyance speed attainment time for the plurality of conveyance units at which the conveyance speed of each of the conveyance units should reach the target conveyance speed;
a drive unit that drives each of the transport units so that the transport speed of each of the transport units reaches the target transport speed at the time when the common target transport speed is reached;
A transport control device comprising: The drive unit drives each of the transport units with an acceleration based on a speed difference between the current transport speed and the target transport speed of each transport unit, and a time difference between the current time and the time when the target transport speed is reached. 1. The transport control device according to 1. The conveyance control device according to claim 2, wherein the acceleration of each of the conveyance units is a value obtained by dividing the speed difference by the time difference. The transport control device according to any one of claims 1 to 3, wherein the plurality of transport units are adjacent to each other in the transport direction of the object to be transported. Each of the conveyance units is a conveyance roller that is rotatable around a rotation axis perpendicular to the conveyance direction of the conveyed object,
The target conveyance speed setting unit individually sets the target conveyance speed as a target rotation speed of the plurality of conveyance rollers,
The target conveyance speed attainment time setting unit sets the target conveyance speed attainment time as a common target rotational speed attainment time for the plurality of conveyance rollers at which the rotational speed of each of the conveyance rollers should reach the target rotational speed. death,
The driving unit rotationally drives each of the conveyance rollers so that the rotational speed of each of the conveyance rollers reaches the target rotational speed at the time when the common target rotational speed is reached.
A conveyance control device according to any one of claims 1 to 4. a target conveyance speed setting step of individually setting target conveyance speeds of the plurality of conveyance units that convey the conveyed object;
a target conveyance speed attainment time setting step of setting a common target conveyance speed attainment time for the plurality of conveyance units at which the conveyance speed of each of the conveyance units should reach the target conveyance speed;
a driving step of driving each of the transport units so that the transport speed of each of the transport units reaches the target transport speed at the time when the common target transport speed is reached;
A conveyance control method comprising: a target conveyance speed setting step of individually setting target conveyance speeds of the plurality of conveyance units that convey the conveyed object;
a target conveyance speed attainment time setting step of setting a common target conveyance speed attainment time for the plurality of conveyance units at which the conveyance speed of each of the conveyance units should reach the target conveyance speed;
a driving step of driving each of the transport units so that the transport speed of each of the transport units reaches the target transport speed at the time when the common target transport speed is reached;
A transport control program that causes a computer to execute the following.

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