JP7114329B2 - WEB PROCESSING APPARATUS AND PROCESSING METHOD OF PROCESSED PRODUCT - Google Patents

Description

The present invention relates to a web processing apparatus for processing a web and a method for manufacturing a processed product .

When processing a web, it is necessary to apply a tension suitable for processing to the web. Therefore, the web processing apparatus generally has a mechanism for applying tension to the web. Also, in this type of web processing apparatus, it is necessary to control the tension acting on the web.

Patent Document 1 discloses a tension measurement system comprising a dancer roller (tension roller), a pair of idler rollers staggered with the dancer roller, and a tension sensor attached to a bearing block holding the tension roller. there is By applying the tension measuring system described in Patent Document 1 to a web processing apparatus, the tension acting on the web can be controlled.

JP-A-5-99771

2. Description of the Related Art In recent years, web processing accuracy has been increasing, and it has been required to measure the tension acting on a portion of the web to be processed with high accuracy. However, in the tension measurement system described in Patent Document 1, there is a limit to increasing the accuracy of web tension measurement in response to the increase in web processing accuracy, and further improvements have been desired.

SUMMARY OF THE INVENTION It is an object of the present invention to improve the accuracy of web tension measurement.

According to a first aspect of the present invention, a web processing apparatus includes: a first gripping section having a gripping member used to grip a web pulled out from a web roll in a predetermined direction ; It is characterized by comprising a tension applying section that applies tension to the web, and a sensor section that outputs a signal according to deformation of the gripping member in a direction along the predetermined direction .
According to a second aspect of the present invention, a web processing apparatus includes a supporting portion that rotatably supports a web roll, and a gripping member that is used to grip the web pulled out from the web roll in a predetermined direction. a gripping portion, a tension applying portion that generates torque to be applied to the web roll and applies tension to the web gripped by the first gripping portion, and a sensor portion that outputs a signal according to deformation of the gripping member. and a control section for adjusting the tension applied to the web by controlling the torque generated by the tension applying section based on the signal.

According to the present invention, the accuracy of web tension measurement is improved.

1 is an explanatory diagram of a web processing apparatus according to a first embodiment; FIG. FIG. 3 is a schematic cross-sectional view of a support mechanism and a tension applying mechanism of the web processing apparatus according to the first embodiment; It is a perspective view of a first gripping portion of the web processing apparatus according to the first embodiment. FIG. 11 is a perspective view of a first gripping portion of the web processing apparatus according to the second embodiment; (a) is a schematic diagram of a gripping member. (b) is an explanatory diagram of a connecting portion. FIG. 11 is a perspective view of a first gripping portion of a web processing apparatus according to a third embodiment; FIG. 11 is a schematic diagram of a gripping member of a first gripping portion of a web processing apparatus according to a fourth embodiment; FIG. 11 is a perspective view of a first gripping portion of a web processing apparatus according to a fifth embodiment; FIG. 11 is a perspective view of a gripping member of a first gripping portion of a web processing apparatus according to a fifth embodiment; FIG. 11 is a perspective view of a first gripping portion of a web processing apparatus according to a sixth embodiment; It is a perspective view of a web processing apparatus according to a seventh embodiment. It is an explanatory view of a web processing apparatus according to an eighth embodiment. FIG. 12 is a graph showing tension variation in the web processing apparatus of the eighth embodiment; FIG. It is an explanatory view of a web processing apparatus according to a ninth embodiment. (a) is a schematic diagram of a pull-out mechanism, (b) is a graph schematically showing vibration, (c) is a schematic diagram of the pull-out mechanism, and (d) is a graph schematically showing vibration. FIG. 21 is a graph showing tension variation in the web processing apparatus of the ninth embodiment; FIG. It is explanatory drawing of the web processing apparatus which concerns on 10th Embodiment. It is explanatory drawing of the web processing apparatus which concerns on 11th Embodiment. FIG. 20 is an explanatory diagram of a web processing apparatus according to a twelfth embodiment; FIG. 21 is an explanatory diagram of a web processing apparatus according to a thirteenth embodiment; FIG. 22 is a graph showing tension variation in the web processing apparatus of the thirteenth embodiment; FIG. It is explanatory drawing of the web processing apparatus which concerns on 14th Embodiment. FIG. 20 is an explanatory diagram of a web processing apparatus according to a fifteenth embodiment; FIG. 21 is an explanatory diagram of a web processing apparatus according to a sixteenth embodiment; FIG. 21 is a graph showing tension variation in the web processing apparatus of the sixteenth embodiment; FIG. 5 is a graph showing tension variation in a web processing apparatus of a comparative example;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.
[First embodiment]
FIG. 1 is an explanatory diagram of a web processing apparatus 100 according to the first embodiment. The web roll 2 is configured by winding a web 4 around a paper tube 1 which is a shaft member. A web 4 can be drawn from the web roll 2 . The web 4 is a belt-like or thread-like member made of resin such as plastic, cloth, paper, metal, or a combination thereof.

A web processing apparatus 100 includes a frame 101 and a base plate 102 erected on the frame 101 . The web processing apparatus 100 also includes a support mechanism 200 that is an example of a support section, a tension application mechanism 300 that is an example of a tension application section, a drawer mechanism 400 that is an example of a drawer section, a processing mechanism 500 that is an example of a processing section, and a stationary gripping mechanism 600, which is an example of a stationary gripping section. The web processing apparatus 100 also includes a control system 700 that is an example of a control section and an input device 800 that is an example of an input section.

The support mechanism 200 rotatably supports the web roll 2 in a direction A1 in which the web 4 is pulled out and a direction A2 in which the web 4 is wound up, which is opposite to the direction A1. The pull-out mechanism 400 pulls out the web 4 from the web roll 2 supported by the support mechanism 200 . The tension applying mechanism 300 is provided in the support mechanism 200 and applies tension to the web 4 pulled out from the web roll 2 by the pulling mechanism 400 . The processing mechanism 500 processes the web 4 drawn out by the drawing mechanism 400 and tensioned by the tension applying mechanism 300 . The stationary gripping mechanism 600 is fixed to the base 101 and clamps and holds the web 4 drawn out by the drawing mechanism 400 . A free roller 22 is arranged between the support mechanism 200 and the stationary gripping mechanism 600 to keep the web 4 drawn out at a constant angle. The free roller 22 is arranged in the drawing path of the web 4 and has a curved surface that contacts the web 4 .

The free rollers 22 are attached to outer rings of a plurality of bearings (not shown). A collar (not shown) having a larger tolerance than the gap between the bearings may be inserted into the gap between the bearings in order to reduce the preload on the bearings. A shaft (not shown) fixed to the base plate 102 is fixed to the inner ring of the bearing. Thereby, the free roller 22 is rotatable about the shaft in the rotational direction. If the web 4 is narrow, the free roller 22 may be provided with a guide groove. In this case, even if the web 4 meanders, it is possible to prevent the web 4 from falling off the free rollers 22 .

FIG. 2 is a schematic cross-sectional view of the support mechanism 200 and the tension applying mechanism 300. As shown in FIG. First, the configuration of the support mechanism 200 will be described. The support mechanism 200 holds a rotating shaft 203 that supports the web roll 2, a fixing member 205 that fixes the paper tube 1 to the rotating shaft 203, a plurality of bearings 207 that rotatably support the rotating shaft 203, and the bearings 207. and a bearing holder 206 that

An inner ring of a bearing 207 is fixed to the rotating shaft 203 . The outer ring of bearing 207 is fixed to bearing holder 206 . A bearing holder 206 is fixed to the base plate 102 . The bearing holder 206 and the outer ring of the bearing 207 are fixed with a C-shaped retaining ring for a hole or the like so that the rotating shaft 203 does not move in the axial direction. A collar (not shown) having a larger tolerance than the gap between the bearings may be inserted into the gap between the bearings 207 . The bearing 207 is, for example, a single-row deep-groove ball bearing, but is not limited to this, and may be another bearing, such as a plain bearing or a bearing with a flange, as long as the rotating shaft 203 is rotatable.

A bearing pressing member 208 is attached to the base plate 102 to restrict axial movement of the inner ring of the bearing 207 . The bearing pressing member 208 is fixed to the rotating shaft 203 with a plurality of set screws (not shown). The rotary shaft 203 may be D-cut at the mounting position of the bearing pressing member 208 . As a result, the bearing pressing member 208 can be firmly attached to the rotary shaft 203, and the bearing 207 can be easily removed during maintenance. Note that instead of the bearing pressing member 208, a C-shaped retaining ring for the shaft may be used for fixing.

With the configuration of the support mechanism 200 described above, the web 4 can be pulled out smoothly, and the tension generated in the web 4 can be prevented from increasing more than necessary. Moreover, since the paper tube 1 can be strongly fixed to the rotating shaft 203 by providing the fixing member 205, the paper tube 1 can be prevented from slipping on the rotating shaft 203, and the web 4 can be unwound more than necessary. It becomes difficult for defective processing due to

Next, the tension applying mechanism 300 will be described. The tensioning mechanism 300 has a motor 312 and a plate 313 fixed to the base plate 102 by a plurality of posts 309 to support the motor 312 . The tension applying mechanism 300 also includes a clutch 311 attached to a plate 313 to transmit or block the rotational force of the motor 312, and a shaft coupling 310 attached to the end of the rotating shaft 203 and connected to the clutch 311. have.

Motor 312 may be a DC motor, such as a brushless DC motor, an AC motor, a stepping motor, a pulse motor, a synchronous motor, an induction motor, or a combination thereof with a speed reducer.

Clutch 311 is, for example, a hysteresis clutch. A shaft coupling 310 for coupling with a clutch 311 is attached to the end of the rotating shaft 203 . The shaft joint 310 has a slit (not shown) and has a structure that is resistant to angular deflection and eccentricity. It should be noted that if the clutch 311 is resistant to deflection angle and eccentricity, it may not have a slit shape. The motor 312 is configured to be drivable in the winding direction A2 of the web 4 shown in FIG.

Next, the drawer mechanism 400 shown in FIG. 1 will be described. The drawing mechanism 400 is arranged downstream of the free roller 22 in the drawing direction A1 of the web 4 . The pull-out mechanism 400 has a gripping portion 401 that is a first gripping portion that grips the web 4, and a drive mechanism 402 that is arranged on the base 101 and drives the gripping portion 401 in directions A1 and A2. Specifically, the grip part 401 is attached to a moving plate 405 via a bracket 404 . A moving plate 405 is attached to the drive mechanism 402 .

The drive mechanism 402 is, for example, a slider configured by a single-axis robot. If a single-axis robot is used as the drive mechanism 402 , the pullout speed value can be output and input to the control system 700 . Therefore, when a single-axis robot is used as the drive mechanism 402, there is no need to separately provide means for measuring the pull-out speed, which is one of the parameters required for tension control.

The drive mechanism 402 is attached to the pedestal 101 . The driving mechanism 402 can linearly move the gripping part 401 from the position on the upstream side in the drawing direction A1 of the web 4 to the position on the downstream side with respect to the processing mechanism 500 . The web 4 guided by the free rollers 22 can be gripped by the gripping portion 401 and driven in the direction A1 to convey the web 4 to a position facing the processing mechanism 500 .

FIG. 3 is a perspective view of the grip portion 401. FIG. As shown in FIG. 3, the gripping portion 401 includes a plurality of gripping members 411 and 412, two in this embodiment, and a drive mechanism 403 that drives the gripping members 411 and 412 to open and close in the direction Z to approach or separate from each other. . The gripping member 411 and the gripping member 412 are used to grip the web 4 , gripping the web 4 by coming close to each other and releasing the grip of the web 4 by separating from each other. The material of the gripping members 411 and 412 is, for example, resin or metal (steel, stainless steel, etc.).

The drive mechanism 403 is composed of, for example, an air cylinder, an electric chuck, etc., and can adjust the gripping force of the web 4 . When the drive mechanism 403 is an electric chuck, the acceleration/deceleration of the gripping operation can be easily adjusted, so that the impact force applied to the web 4 when gripping the web 4 can be reduced. Even if the driving mechanism 403 is an air cylinder, it is possible to reduce the impact force applied to the web 4 when the web 4 is gripped by providing an impact force reducing member (not shown).

Next, the processing mechanism 500 shown in FIG. 1 will be described. The processing mechanism 500 is located downstream of the free roller 22 in the drawing direction A1 of the web 4, and is positioned at the most upstream position in the drawing direction A1 of the web 4 where the gripping portion 401 moves, and at the most downstream position. is placed between. The processing mechanism 500 has a processing tool 510 and a driving mechanism 520 that brings the processing tool 510 into contact with the web 4 .

The processing tool 510 is, for example, a cutting mechanism or a punching mechanism. Examples of the cutting mechanism include a rotary cutter, a guillotine cutter, and a laser cutter, and the user himself/herself may select an appropriate one according to the material and thickness of the web 4 to be processed by the web processing apparatus 100 . The punching mechanism is similar to the cutting mechanism, except that the cut shape of the web 4 differs from the cutting mechanism. The drive mechanism 520 is, for example, an air cylinder, a single-axis robot, or the like, and the user may select an appropriate one according to restrictions on the arrangement space.

Next, the stationary gripping mechanism 600 shown in FIG. 1 will be described. The fixed gripping mechanism 600 is fixed to the frame 101 and arranged at a position upstream of the processing mechanism 500 in the drawing direction A1 of the web 4 and downstream of the free roller 22 in the drawing direction A1. It is The fixed gripping mechanism 600 is arranged between the most upstream position and the most downstream position in the pulling direction A1 of the web 4 where the gripping portion 401 of the pulling mechanism 400 can move. The fixed gripping mechanism 600 has a gripping portion 601 that is a second gripping portion. By holding the web 4 in the holding part 601, even if the holding part 401 releases the holding of the web 4, it is possible to prevent the web 4 from dropping out of the routing path.

The gripping portion 601 has a plurality of gripping members 611 and 612, which are two in this embodiment, and a driving mechanism 613 for opening and closing the gripping members 611 and 612 so as to approach or separate from each other. The gripping member 611 and the gripping member 612 are used to grip the web 4 , gripping the web 4 by approaching each other and releasing the grip of the web 4 by separating from each other.

The drive mechanism 613 is fixed to the pedestal 101 via a bracket 614 . The driving mechanism 613 is composed of, for example, an air cylinder or an electric chuck, and can adjust the gripping force of the web 4 . When the drive mechanism 613 is an electric chuck, the acceleration/deceleration of the gripping operation can be easily adjusted, so that the impact force applied to the web 4 when gripping the web 4 can be reduced. Even if the drive mechanism 613 is an air cylinder, it is possible to reduce the impact applied to the web 4 when the web 4 is gripped by providing a damping member (not shown).

When the gripping portion 401 grips the web 4 and moves the gripping portion 401 from the upstream side to the downstream side in the drawing direction A1 of the web 4 with respect to the fixed gripping mechanism 600, the driving mechanism 613 moves the gripping members 611 and 612 be opened at a specified interval or more. This can prevent the grip portion 401 from contacting the grip portion 601 . Conversely, when the gripping portion 601 grips the web 4 and moves the gripping portion 401 from the downstream side to the upstream side in the drawing direction A1 of the web 4 with respect to the fixed gripping mechanism 600, the driving mechanism 403 moves the gripping member 411 and 412 are opened at a predetermined interval or more. This can prevent the grip portion 401 from contacting the grip portion 601 . By adopting such a structure, it becomes possible to automatically perform re-drawing after processing.

By the way, if a web is sandwiched between a pair of rollers and a dancer roller, and a sensor unit is arranged on the dancer roller for tension measurement, the sliding resistance acting on the web by these rollers increases. If the frictional force due to this sliding resistance is superimposed on the detected tension, the tension measurement accuracy decreases.

In this embodiment, a sensor section 430 for detecting the tension applied to the web 4 by the tension applying mechanism 300 is provided on the gripping member 411 (FIG. 3) of the gripping section 401 instead of the dancer roller. The sensor unit 430 may be arranged at a location different from the gripping member 411 as long as it can detect the deformation of the gripping member 411. However, in order to reduce the size of the device, the sensor unit 430 is arranged at the gripping member 411. is preferred. The sensor section 430 is a strain gauge in this embodiment. Unlike the grip portion 401, the grip portion 601 shown in FIG. 1 is not provided with a sensor portion having a force detection function.

The sensor unit 430 outputs a signal corresponding to the deformation of the gripping member 411 to the control system 700 as a signal corresponding to the tension applied to the web 4 . The control system 700 acquires a signal from the sensor unit 430 and obtains a measured value of the tension generated in the web 4 as a value corresponding to this signal. The control system 700 receives data on the tension target value from the input device 800 such as a keyboard and mouse, and stores the data in advance in the storage unit. The control system 700 adjusts the tension applied to the web 4 by feedback-controlling the tension applying mechanism 300 based on the deviation between the obtained measured value and the preset target value. Specifically, the control system 700 PWM-controls the torque applied to the web roll 2 by turning on and off the clutch 311 based on the obtained deviation, and adjusts the tension applied to the web 4 gripped by the gripping portion 401 . Feedback control in control system 700 may be any of P control, PI control, and PID control.

A specific configuration of the control system 700 will be described. The control system 700 has a control device 701, which is an example of a command section, and a driver 702, which is an example of a drive control section. The control device 701 is composed of a computer having a CPU 711, a ROM 712, a RAM 713, and an I/O 714, and sends commands to the driver 702 to centrally control the entire device. The driver 702 controls the current to the drive mechanisms included in each of the tension applying mechanism 300 , the drawing mechanism 400 , the processing mechanism 500 and the stationary gripping mechanism 600 according to commands from the control device 701 .

The control device 701 obtains the diameter of the web roll 2, the rotation speed of the support mechanism 200, the pull-out speed of the pull-out mechanism 400, and the tension measurement value acquired from the sensor unit 430 as parameters. The control device 701 outputs to the driver 702 a torque command that provides an appropriate transmission torque in the clutch 311 by processing the parameters.

The driver 702 drives and controls the motor 312 in a direction A2 opposite to the direction A1 in which the web 4 is pulled out, and controls the on/off of the clutch 311 so as to achieve torque corresponding to the torque command received. By performing this feedback control at a high-speed cycle (for example, 1 ms), the tension generated in the web 4 is brought closer to the target value, and fluctuations in the tension are suppressed.

Alternatively, the tension of the web 4 may be controlled by using a servomotor as the motor 312 and controlling the torque of the servomotor in the winding direction A2. In this case, the clutch 311 may be omitted and the shaft of the motor 312 may be directly connected to the shaft coupling 310 . In this case, since the clutch 311 is not required, the device can be simplified and the torque control speed is improved.

Here, the rotating shaft 203 of the support mechanism 200 shown in FIG. 2 is arranged so as to be positioned above the free roller 22 shown in FIG. With this arrangement, even if the diameter of the web roll 2 changes, it is possible to maintain a constant pull-out angle of the web 4 on the free roller 22, thereby suppressing fluctuations in the measured value of the tension due to the pull-out angle.

The operation of web processing by the processing mechanism 500 will be specifically described. With the web 4 gripped by the gripping portion 601 of the stationary gripping mechanism 600, the gripping portion 401 of the pull-out mechanism 400 is moved upstream in the direction A1 with respect to the stationary gripping mechanism 600 to allow the gripping portion 401 to grip the web 4. . After gripping the web 4 by the gripping part 401, the gripping part 601 is caused to release the web 4, and the gripping part 401 is moved to the downstream side of the processing mechanism 500 in the direction A1 to pull out the web 4 from the web roll 2. . After the web 4 is pulled out by the pull-out mechanism 400 , the web 4 is gripped by the gripping portion 601 when the measured value of the tension measured using the sensor portion 430 converges to the target value. After that, by operating the driving mechanism 520 of the processing mechanism 500, the processing tool 510 is brought into contact with the portion of the web 4 between the portion gripped by the gripping portion 601 and the portion gripped by the gripping portion 401, and the web is 4 is subjected to desired processing such as cutting.

Here, the measured value converges to the target value means that the measured value falls within a predetermined range including the target value (for example, the target value±1% of the target value).

In this embodiment, since the sensor section 430 is arranged in the gripping section 401, the tension in the vicinity of the portion of the web 4 to be processed by the processing mechanism 500 can be measured with high accuracy.

The gripping member 411 and the gripping member 412 are preferably formed to deform together in the same manner under the tension of the gripped web 4 . Gripping members 411 , 412 have distal ends 422 , 432 . The tip portions 422 and 432 are portions that contact the web 4 . Specifically, the tip 422 and the tip 432 sandwich and hold the web 4 . Therefore, it is preferable that the sensor portion 430, which is a strain gauge, be arranged closer to the base than the distal end portion 422 of the gripping member 411. As shown in FIG.

In this embodiment, the sensor unit 430 outputs a signal corresponding to the amount of deformation in the direction A2 of the gripping member 411 that is deformed by the tension of the web 4 among the plurality of gripping members 411 and 412 . Therefore, the resistance applied to the web 4 is reduced and the tension of the web 4 can be measured with high accuracy, as compared with the case where dancer rollers are arranged to detect the tension of the web.

Further, since the sensor section 430 detects the deformation of the gripping member 411, the space can be saved, and the web processing apparatus 100 can be made compact. By making the web processing apparatus 100 more compact, the distance for routing the web 4 is shortened, and the simplification of the work for routing the web 4 can be realized.

In the first embodiment, the gripping member 411 is provided with the sensor unit 430 , but it is preferable that the gripping member 412 is also provided with the sensor unit. In this case, the plurality of sensor units are arranged to face each other in the direction Z in which the gripping members 411 and 412 approach or separate from each other.

[Second embodiment]
Next, a web processing apparatus according to a second embodiment will be described. FIG. 4 is a perspective view of a gripping portion 401A, which is the first gripping portion of the web processing apparatus according to the second embodiment. The configuration of the web processing apparatus of the second embodiment other than the grip part 401A is the same as that of the first embodiment, so the description is omitted.

As shown in FIG. 4, the gripping portion 401A includes a plurality of gripping members 411A and 412A in this embodiment, and the gripping members 411A and 412A are driven to open and close in a direction Z in which the gripping members 411A and 412A approach or separate from each other, as in the first embodiment. It has a similar drive mechanism 403 . The gripping member 411A and the gripping member 412A are used for gripping the web 4, gripping the web 4 by coming close to each other and releasing the grip of the web 4 by separating from each other.

In this embodiment, the gripping member 411A of the gripping portion 401A is provided with a sensor portion 450 that detects the tension applied to the web 4 by the tension applying mechanism 300 (FIG. 1). The sensor unit 450 outputs a signal corresponding to the deformation of the gripping member 411A as a signal corresponding to the tension applied to the web 4 to the control system 700 (FIG. 1). Unlike the grip portion 401A, the grip portion 601 (FIG. 1) is not provided with a sensor portion having a force detection function. In this embodiment, since the sensor section 450 is arranged on the gripping member 411A, the tension in the vicinity of the portion of the web 4 to be processed by the processing mechanism 500 (FIG. 1) can be measured with high accuracy.

The configuration of the sensor section 450 and the gripping members 411A and 412A will be specifically described with reference to FIG. In this embodiment, the sensor unit 450 outputs a signal corresponding to the amount of deformation in the direction A2 of the gripping member 411A, which is deformed by the tension of the web 4, among the plurality of gripping members 411A and 412A. Therefore, the sliding resistance applied to the web 4 is reduced and the tension of the web 4 can be measured with high accuracy, compared to the case where the pair of rollers and the dancer roller are alternately arranged to detect the tension of the web. can.

The gripping member 411A and the gripping member 412A are preferably formed so as to be deformed in the same manner by the tension of the gripped web 4 . The gripping member 411A has a base portion 421, a tip portion 422, and a connecting portion 423 that is arranged between the base portion 421 and the tip portion 422 and connects the base portion 421 and the tip portion 422 together. In this embodiment, the gripping member 412A has a base portion 431, a tip portion 432, and a connecting portion 433 that is disposed between the base portion 431 and the tip portion 432 and that connects the base portion 431 and the tip portion 432, similar to the gripping member 411A. have

The tip portions 422 and 432 are portions that contact the web 4 . Specifically, the tip 422 and the tip 432 sandwich and hold the web 4 . The base portions 421 and 431 are portions that support the tip portions 422 and 432 via connecting portions 423 and 433 . Each of the connecting portions 423 and 433 is composed of one spring, specifically a plate spring, and deforms by a deformation amount according to the tension of the web 4 sandwiched between the tip portions 422 and 432 . The sensor unit 450 outputs a signal corresponding to the amount of displacement of the distal end portion 422 with respect to the base portion 421 to the control system 700 (FIG. 1) as a signal corresponding to the deformation of the gripping member 411A.

The material of the gripping members 411A and 412A is, for example, resin or metal (steel, stainless steel, etc.). The connecting portions 423 and 433 are thinner in the directions A1 and A2 than the tip portions 422 and 432, and function as elastic portions that are easily deformed in the directions A1 and A2.

Since the gripping member 411A has the connecting portion 423, the gripping member 411A is easily deformed in the direction pulled by the tension of the web 4, which is the direction A2 in FIG. . Since the gripping member 412A also has the connecting portion 433, the gripping member 412A is deformed in the same manner as the gripping member 411A.

FIG. 5A is a schematic diagram for explaining the operation of the gripping member 411A. In the present embodiment, the sensor unit 450 outputs to the control system 700 a signal corresponding to the amount of displacement x of the distal end portion 422 with respect to the base portion 421 in the direction parallel to the direction A1, specifically in the opposite direction A2.

A control device 701 (CPU 711) of the control system 700 shown in FIG. A tension measurement F is obtained. Specifically, the control device 701 (CPU 711) obtains the tension measurement value F according to the formula F=k×x. In this case, a calculation of k×x may be performed, but F corresponding to x may be obtained using table data.

The sensor unit 450 may be arranged at a location different from the gripping member 411A, but is preferably arranged at the gripping member 411A in order to reduce the size of the device. The sensor unit 450 may be a strain gauge arranged in the connecting unit 423, but is preferably an optical linear encoder capable of detection over a wide range, and in this embodiment, is an optical linear encoder. . The sensor unit 450 has a scale 451 and a detection head 452 that detects position information from the scale 451 . In this embodiment, the scale 451 and the detection head 452 are arranged between the base portion 421 and the tip portion 422 . The scale 451 is arranged at one of the base portion 421 and the tip portion 422, which is the tip portion 422 in this embodiment, and the detection head 452 is arranged at the other of the base portion 421 and the tip portion 422, which is the base portion 421 in this embodiment. It is arranged so as to face the scale 451 . Considering the wiring of the detection head 452 , the detection head 452 is preferably arranged on the base 421 .

The detection head 452 is composed of a reflective optical sensor having a light emitting element (not shown) and a light receiving element (not shown), and outputs a signal corresponding to the amount of displacement x. A scale pattern (not shown) is arranged on the pattern surface of the scale 451 facing the detection head 452 . The scale pattern is configured by, for example, arranging specific patterns with different densities and reflectances.

The scale pattern may be composed of only one line depending on the method of detection calculation, but may be composed of, for example, a plurality of shading patterns with different arrangement phases. The pitch of the scale pattern may be determined according to the resolution required for position detection, and is preferably on the order of μm, for example.

Let f be the tension resolution required for tension measurement. Let d be the resolution of the relative movement amount between the scale 451 and the detection head 452 that can be detected by the detection head 452 . Let x be the amount of relative displacement between the scale 451 and the detection head 452 caused by the deformation of the connecting portion 423 when the tension of the resolution f acts on the tip portion 422 . In that case, the relationship between the resolution d of the relative movement amount between the scale 451 and the detection head 452 and the relative displacement amount x is
d≦x (1)
is.

The connecting portion 423 is a portion that bears most of the deformation when the tension of the web 4 acts on the gripping member 411A, and the dimensions of the connecting portion 423 greatly affect the tension measurement accuracy. FIG. 5B is an explanatory diagram of the connecting portion 423. As shown in FIG. The connecting portion 423 is composed of one leaf spring having a rectangular parallelepiped shape. As shown in FIG. 5B, S is the thickness in the direction A2 in which the web 4 is pulled by the tension of the connecting portion 423, W is the width in the direction parallel to the web surface and perpendicular to the direction A2, and W is the width in the direction perpendicular to the web surface. Let H be the direction, that is, the height in the gripping direction in which the web 4 is gripped.

In this embodiment, the thickness S and the height H of the connecting portion 423 are set so that the amount of deformation of the connecting portion 423 when tension acts on the gripping members 411A and 412A satisfies the above formula (1).
Also, the thickness S and the width W of the connecting portion 423 are
W≧2×S (2)
is preferably set so as to satisfy That is, it is preferable that the connecting portion 423 is configured such that the thickness S is smaller than the width W. As shown in FIG. By adopting such dimensional settings, the connecting portion 423 has low rigidity in which it is easily deformed in the direction A2 in which it is pulled by tension, and high rigidity in which it is difficult to deform in other directions, particularly the gripping direction. The stiffness of the connecting portion 423 can be anisotropic.

The height H of the connecting portion 423 is preferably smaller than the width W, for example, within a range that satisfies the required resolution shown in Equation (1). As a result, in directions other than the direction A2 pulled by the tension of the web, particularly in the gripping direction, a high rigidity that is difficult to deform can be secured, and in the direction A2 pulled by the tension of the web, a low rigidity that satisfies the required resolution can be obtained. .

Therefore, the gripping members 411A and 412A can obtain a large amount of deformation with a small tension in the direction A2. Therefore, it is possible to detect displacement with high accuracy and high resolution using the sensor unit 450, which is an optical encoder, thereby improving the resolution required for tension measurement and making it possible to improve the accuracy of tension measurement.

The gripping members 411A and 412A exhibit high rigidity that makes it difficult to deform with respect to forces in directions other than the direction of tension, that is, in the gripping direction. Therefore, when gripping the web 4, the gripping members 411A and 412A are less likely to be deformed by the gripping force applied in the gripping direction, and detection errors of the sensor unit 450 caused by the gripping force can be reduced. In addition, since the gripping members 411A and 412A are less likely to be deformed by the gripping force, uneven contact during gripping of the web is less likely to occur. Therefore, even if a strong gripping force acts on the gripping members 411A and 412A, the web 4 is less likely to slip on the gripping members 411A and 412A, thereby preventing the reduction in processing accuracy of the web 4. FIG.

In the gripping members 411A and 412A, the bases 421 and 431, the tip portions 422 and 432, and the connecting portions 423 and 433 may be formed as separate members and joined by screws, adhesion, welding, or the like. preferably formed. As a method for this, it is conceivable to form by machining, casting, or the like of a metal material or a resin material. By integrally manufacturing the base portion, the tip portion, and the connecting portion, the gripping members 411A and 412A can be manufactured with high accuracy, and the displacement amount of the tip portion with respect to the base portion can be detected with high accuracy in the sensor portion 450. become. In addition, the integral manufacturing can reduce the number of parts and reduce the cost of the device.

[Third embodiment]
Next, a web processing apparatus according to a third embodiment will be described. FIG. 6 is a perspective view of the first gripper of the web processing apparatus according to the third embodiment. A gripping portion 401A, which is the first gripping portion of the third embodiment, includes gripping members 411A and 412A and a drive mechanism 403 that opens and closes the gripping members 411A and 412A in a direction Z in which the gripping members 411A and 412A approach or separate from each other, as in the second embodiment. and

In the second embodiment, the web processing apparatus includes the sensor unit 450 corresponding to the gripping member 411A so as to detect deformation of one of the gripping members 411A and 412A. In the third embodiment, the web processing apparatus includes a sensor section 450 corresponding to the gripping member 411A and a sensor section 460 corresponding to the gripping member 412A so as to detect deformation of both of the pair of gripping members 411A and 412A. Prepare. Other configurations of the web processing apparatus of the third embodiment are the same as those of the second embodiment, so description thereof will be omitted.

The sensor section 460 has the same configuration as the sensor section 450 and has a scale 461 and a detection head 462 . The tension F generated in the web 4 is F=k1× where x1 is the displacement amount of the gripping member 411A, k1 is the spring coefficient of the gripping member 411A, x2 is the displacement amount of the gripping member 412A, and k2 is the spring coefficient of the gripping member 412A. Obtained by x1+k2×x2. Therefore, in the third embodiment, the control device 701 (CPU 711) of the control system 700 shown in FIG. 1 obtains the tension measurement value by F=k1×x1+k2×x2.

According to the third embodiment, the plurality of sensor units 450 and 460 are arranged on the plurality of gripping members 411A and 412A, so that the plurality of sensor units 450 and 460 move toward or away from each other on the gripping members 411A and 412A. are arranged facing each other in the direction of The control device 701 (CPU 711) can obtain the tension of the front surface and the back surface of the web 4 from the signals from the sensors 450 and 460, so that the tension of the web 4 can be obtained with high accuracy. can be processed with high precision.

[Fourth embodiment]
Next, a web processing apparatus according to a fourth embodiment will be described. FIG. 7 is a schematic diagram of a gripping member of the first gripping portion of the web processing apparatus according to the fourth embodiment. Of the plurality of gripping members of the first gripping portion of the fourth embodiment, a gripping member 411B has a configuration different from that of the gripping members 411 and 411A of the first to third embodiments.

The gripping member 411B has a base portion 421, a tip portion 422, and a connecting portion 423B that connects the base portion 421 and the tip portion 422 together. Between the base portion 421 and the tip portion 422, a sensor portion 450 having a structure similar to that of the second embodiment having a scale 451 and a detection head 452 is arranged.

Unlike the connecting portion 423 of the second and third embodiments, the connecting portion 423B includes a plurality of springs, and two springs in the fourth embodiment. Each spring has the same configuration as the springs forming the connecting portion 423 of the second and third embodiments. A plurality of springs forming the connecting portion 423B are arranged side by side at intervals in the directions A1 and A2. Of the plurality of gripping members, the gripping member 411B has been described, but other gripping members are preferably configured to have a base portion, a tip portion, and a connecting portion, similarly to the gripping member 411B.

In the fourth embodiment, the connecting portion 423B has multiple springs. Therefore, the tip portion 422 of the gripping member 411B is easily displaced while being parallel to the direction A1 in which the web 4 is pulled out. As a result, the optical distance between the scale 451 and the detection head 452 can be kept constant, and the reduction in processing accuracy of the web 4 can be effectively prevented.

In addition, in the fourth embodiment, the sensor section 450 is arranged on the gripping member 411B, but it is preferable that the sensor section is arranged on other gripping members as in the third embodiment.

[Fifth embodiment]
Next, a web processing apparatus according to a fifth embodiment will be described. FIG. 8 is a perspective view of the first gripper of the web processing apparatus according to the fifth embodiment. A gripping portion 401C, which is the first gripping portion of the fifth embodiment, has a driving mechanism similar to that of the first embodiment that opens and closes the gripping members 411C and 412B and the gripping members 411C and 412B in the direction Z to approach or separate from each other. 403.

411 C of grip members have the base 421, the front-end|tip part 422, and the connection part 423B like 4th Embodiment. The gripping member 412B has a base portion 431, a tip portion 432, and a connecting portion 433B that connects the base portion 431 and the tip portion 432 together. The connecting portion 433B has the same configuration as the connecting portion 423B, and has a plurality of springs, two springs in the fifth embodiment.

The gripping member 411C further has a support member 471C that supports one of the scale of the sensor section 450 and the detection head. The support member 471C is fixed to the base portion 421 or the distal end portion 422 (in the fifth embodiment, the base portion 421) with a gap from the connecting portion 423B.

FIG. 9 is a perspective view showing a state where the support member 471C is removed from the connecting portion 423B of the grip member 411C. As shown in FIG. 9, the detection head 452 of the sensor section 450 is attached to the support member 471C, and the scale 451 is attached to the tip portion 422. As shown in FIG.

In this embodiment, the support member 471C is a U-shaped member including a pair of side plates and a bottom plate connecting the pair of side plates, and the detection head 452 is fixed to the bottom plate. A support member 471C is arranged between the two springs of the connecting portion 423B and fixed to the base portion 421. As shown in FIG.

Since the scale 451 or the detection head 452 is thus fixed to the support member 471C fixed to the base portion 421 or the tip portion 422, the distance between the scale 451 and the detection head 452 is shortened. As a result, the amount of attenuation of the detection light is reduced, and the resolution of the amount of displacement detected by the detection head 452 can be improved. In addition, since the detection head 452 is surrounded by the support member 471C, dust is less likely to adhere to the detection head 452 .

8 formed by the connecting portion 423B and the support member 471C may be filled with a highly stretchable film material (not shown) or the like. This makes it difficult for dust to adhere to the scale 451 and the detection head 452 .

[Sixth embodiment]
Next, a web processing apparatus according to a sixth embodiment will be described. FIG. 10 is a perspective view of the first gripper of the web processing apparatus according to the sixth embodiment. A gripping portion 401D, which is the first gripping portion of the sixth embodiment, has a driving mechanism similar to that of the first embodiment, which opens and closes the gripping members 411C and 412C and drives the gripping members 411C and 412C in the direction Z to approach or separate from each other. 403.

The gripping member 411C has the same configuration as described in the fifth embodiment, and has a support member 471C. One of the scale and the detection head of the sensor section 450 is supported by the support member 471C.

In the sixth embodiment, similarly to the gripping member 411C, the gripping member 412C is also provided with the sensor unit 460, and the gripping member 412C has the support member 481C, like the gripping member 411C. One of the scale and the detection head of the sensor section 460 is supported by the support member 481C. The support member 481C is a U-shaped member composed of a pair of side plates and a bottom plate connecting the pair of side plates, and the scale or detection head is fixed to the bottom plate. Similar to the sensor section 450, the support member 481C improves the detection accuracy of the sensor section 460. FIG. In addition, the support member 481C can prevent dust from adhering to the sensor section 460. FIG. The gap formed between the connecting portion 433B and the support member 481C may be filled with a highly stretchable film material (not shown) or the like.

[Seventh embodiment]
Next, a web processing apparatus according to a seventh embodiment will be described. FIG. 11 is a perspective view of a web processing device 100E according to the seventh embodiment. The web processing apparatus 100E includes a support mechanism 200 having a configuration similar to that of the first embodiment, a tension applying mechanism 300 having a configuration similar to that of the first embodiment, and a first and a processing mechanism 500 having the same configuration as the embodiment. The web processing apparatus 100E also includes a control system 700 having the same configuration as in the first embodiment.

In the seventh embodiment, the web processing apparatus 100E has a pull-out mechanism that includes a plurality of first grippers having the same configuration as the first gripper in any one of the first to sixth embodiments, corresponding to the wide web 4. 400E. Each first gripping portion is provided with the sensor portion described in the first to sixth embodiments. A plurality of first gripping portions included in the pull-out mechanism 400E are arranged separately on both sides in the width direction of the web 4 .

In the seventh embodiment, the drawer mechanism 400E has two gripping portions 401E1 and 401E2 as a plurality of first gripping portions. The gripping portion 401E1 is arranged on one side of the web 4 in the width direction, and the gripping portion 401E2 is arranged on the other side of the web 4 in the width direction. Both ends of the web 4 in the width direction are gripped by the two gripping portions 401E1 and 401E2.

Therefore, according to the seventh embodiment, even if the web 4 is wide, the web 4 is gripped by the plurality of gripping portions 401E1 and 401E2. can be processed.

The web processing apparatus 100E includes a stationary gripping mechanism 600E having a plurality of gripping portions 601E1 and 601E2, which are a plurality of second gripping portions. A plurality of (two in this embodiment) gripping portions 601E1 and 601E2 are arranged separately on both sides in the width direction of the web 4, similar to the first gripping portion. Specifically, the gripping portion 601E1 is arranged on one side of the web 4 in the width direction, and the gripping portion 601E2 is arranged on the other side of the web 4 in the width direction.

The web processing apparatus 100E equipped with the two gripping portions 401E1 and 401E2 can detect the tension difference at the ends of the web 4 in the width direction that occurs when the web 4 meanders. That is, since the gripping portions 401E1 and 401E2 are each provided with a sensor portion, the tension difference between one end portion of the web 4 in the width direction and the other end portion of the web 4 in the width direction can be detected by the control system. 700 can be measured. By providing the meandering correction mechanism 414 in each of the gripping portions 401E1 and 401E2, it becomes possible to correct the meandering according to the bias of the left and right tension. The meandering correction mechanism 414 is realized by mounting an air cylinder or a single-axis robot on the drive mechanism 403, for example. The meandering correction mechanism 414 operates in a direction to eliminate the meandering according to the meandering of the web 4 to correct the meandering.

In addition, in the seventh embodiment, the case where the drawer mechanism 400E has two grips 401E1 and 401E2 has been described, but the present invention is not limited to this. Two drawing mechanisms having one first gripping portion may be arranged in the width direction of the web 4 . With this configuration as well, meandering detection and meandering correction of the web 4 can be performed. The principle of web meandering detection is the same as in the seventh embodiment, but in this method, the left and right grippers are mounted on independent pull-out mechanisms, so they can be driven independently. Meandering correction can be performed without installing the meandering correction mechanism 414 . With the configuration as described above, web meandering detection and meandering correction can be performed, and the web processing accuracy can be improved.

[Eighth embodiment]
Next, a web processing apparatus according to an eighth embodiment will be described. FIG. 12 is an explanatory diagram of a web processing apparatus 100F according to the eighth embodiment. A web processing apparatus 100F in the eighth embodiment differs in control from the web processing apparatuses in the first to seventh embodiments. The configuration of the web processing apparatus 100F other than the control unit is the same as that of the web processing apparatus 100, and the same reference numerals are used to omit detailed description.

The web processing apparatus 100F includes a tension applying mechanism 300, a pull-out mechanism 400, a processing mechanism 500, a control system 700F, and an input device 800. The drawer mechanism 400 has a grip portion 401 as described in the first embodiment. The gripping portion 401 is driven by the drive mechanism 402 in either a direction A1 in which the web 4 is pulled out or a direction A2 opposite to the direction A1. The motor 312 of the tension applying mechanism 300 is a servomotor in this embodiment. The control system 700F controls the torque generated in the pulling direction A1 of the web 4 or in the opposite direction A2.

In order to pull out the web 4 from the web roll 2 and process the web 4 with high accuracy, it is necessary to apply a constant tension to the web 4 . Therefore, when the tension generated in the web 4 deviates from the target value, the control system 700F controls the torque of the motor 312 to apply a constant tension to the web 4 .

A control system 700F, which is an example of a control unit in the eighth embodiment, has a control device 701F, which is a command unit, and a driver 702, which is a drive control unit and has the same configuration as in the first embodiment. The hardware configuration of the control device 701F is the same as that of the control device 701 shown in FIG. In this embodiment, the control in the control device 701F is performed in a constant cycle (for example, 1 ms cycle). FIG. 12 shows the control operation of the control device 701F using functional blocks. The CPU 711 (FIG. 1) of the control device 701F executes a program stored in advance in the ROM 712 (FIG. 1) or the like to operate the measuring section 721, the subtracting section 722, the tension control section 723, the differentiation calculating section 724, and the gain multiplying section. 725 and adder 726 .

A case where the measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation operation unit 724, the gain multiplication unit 725, and the addition unit 726 are realized by computer functions will be described. may be realized by an electric circuit of

The measuring unit 721 acquires a signal corresponding to the tension applied to the web 4 from the sensor unit 430 provided in the gripping unit 401, and obtains the measured value F of the tension applied to the web 4 from this signal.

The subtraction unit 722 and the tension control unit 723 perform feedback control so that the tension approaches the target value F ^* by P control, PI control, PID control, or the like. Specifically, the subtractor 722 obtains the deviation ΔF between the measured tension value F and the target value F ^* . The tension control unit 723 obtains a torque command value τ ₀ ^* that brings the tension closer to the target value F ^* according to the deviation ΔF. The tension target value F ^* is set by the user using the input device 800 .

When the web 4 is pulled out at a high speed, if there is a speed difference between the speed at which the web 4 is pulled out and the unwinding speed of the motor 312, the inertia (inertial force) of the web roll 2 causes the web 4 to expand and contract, causing tension vibration (time change) may occur. If the tension vibration occurs, the tension vibration continues even after the drawing, and the position to be processed cannot be determined. Therefore, it is necessary to wait until the tension converges to the target value before processing.

Therefore, in the present embodiment, the torque command value τ ₀ ^* is corrected according to the amount of time change of the measured value F by the differential operation unit 724, the gain multiplication unit 725, and the addition unit 726, and the corrected torque command value τ ^* is Generate.

More specifically, the differentiation calculation unit 724 performs a time differentiation calculation using the following equation (3) as the amount of change in the tension measurement value F over time. Here, the current time is T _n [s], the time of the previous cycle is T _b [s], the tension measured in the previous cycle is F _b [N], and the current time is Let F _n [N] be the measured tension value, and F(•) [N/s] be the time-differentiated value of the tension value. It should be noted that the superscript dot of F in Equation (3) indicates the first order differentiation of time, and is indicated by (·) in the text for convenience. Time differentiation is performed at a constant cycle, for example, 10 [ms] as described above.

A gain multiplier 725 obtains a correction value τR by multiplying the time change amount F(·) by the gain value G (τR=F(·)×G). Here, the gain value G is for conversion into the dimension of the torque command value, is a predetermined value, and is a constant. The adder 726 performs correction by adding the correction value τR to the torque command value τ ₀ ^* to obtain the torque command value τ ^* (τ ^* =τ ₀ ^* +τR).

The driver 702 adjusts the tension applied to the web 4 in the tension applying mechanism 300 by causing the motor 312 of the tension applying mechanism 300 to generate a torque corresponding to the torque command value τ ^* . Specifically, driver 702 outputs a current corresponding to torque command value τ ^* to motor 312 to control the torque generated by motor 312 .

The torque command value τ ₀ ^* drives the motor 312 in the direction A2 opposite to the direction A1 in which the web 4 is pulled out to pull the web 4 in the direction A2 and apply the torque required to apply tension to the web 4. generate. Then, the torque command value τ ₀ ^* is finely adjusted by the correction value τR so that the vibrating tension quickly converges to the target value F ^* .

Specifically, when the tension of the web 4 increases due to the vibrating tension, the web roll 2 is unwound with a torque corresponding to the amount of change, and the web 4 is loosened to cancel the increase in tension and reduce the tension. Suppress vibration. Therefore, the vibration of the tension generated by the expansion and contraction of the web 4 pulled out from the web roll 2 is quickly settled (converged). As a result, the waiting time of the processing mechanism 500 until the vibration is stabilized can be shortened, and the productivity of processed products is improved.

FIG. 13 is a graph showing tension fluctuations in the web processing apparatus of the eighth embodiment. FIG. 26 is a graph showing tension variation in the web processing apparatus of the comparative example. Note that the web processing apparatus of the comparative example does not include the differential operation section 724, the gain multiplication section 725, and the addition section 726 in FIG.

FIG. 13 and FIG. 26 show the results of experiments conducted with the tension target value F ^* =0.4 [N]. 13 and 26, the horizontal axis represents time [s] and the vertical axis represents tension [N]. Further, it is assumed that the vibration of the tension has stabilized, that is, the tension has converged to the target value when the vibration falls within ±1% of the target value. In addition, feedback control in the tension control unit 723 was experimented as PI control.

As shown in FIG. 26, in the comparative example, the time from the time when the pull-out ends to the time when the vibration settles (hereinafter referred to as settling time) is 0.8 [s]. On the other hand, as shown in FIG. 13, in the eighth embodiment, by correcting the torque command value τ ₀ ^* with the correction value τR, the settling time is 0.6 [s], which is longer than the comparative example. It can be seen that the time is shortened by 0.2 [s]. Thus, it can be confirmed that according to the eighth embodiment, the time for the tension to converge to the target value, that is, the settling time is shortened.

[Ninth Embodiment]
Next, a web processing apparatus according to a ninth embodiment will be described. FIG. 14 is an explanatory diagram of a web processing apparatus 100G according to the ninth embodiment. A web processing apparatus 100G in the ninth embodiment differs in control from the web processing apparatuses in the first to eighth embodiments. Note that the configuration of the web processing apparatus 100G other than the control unit is the same as that of the web processing apparatus 100, and detailed description thereof will be omitted using the same reference numerals.

The web processing apparatus 100G includes a tension applying mechanism 300, a pull-out mechanism 400, a processing mechanism 500, a control system 700G, and an input device 800. The drawer mechanism 400 has a grip portion 401 as described in the first embodiment. The gripping portion 401 is driven by the drive mechanism 402 in either a direction A1 in which the web 4 is pulled out or a direction A2 opposite to the direction A1. The motor 312 of the tension applying mechanism 300 is a servomotor in this embodiment. The control system 700G controls the torque generated in the drawing direction A1 of the web 4 or in the opposite direction A2.

A control system 700G, which is an example of a control section in the ninth embodiment, has a control device 701G that is a command section, and a driver 702 that is a drive control section and has the same configuration as in the first embodiment. The hardware configuration of the control device 701G is the same as that of the control device 701 shown in FIG. In this embodiment, control by the control device 701G is performed at a constant cycle (for example, 1 ms cycle). FIG. 14 shows the control operation in this control device 701G by functional blocks. The CPU 711 (FIG. 1) of the control device 701G operates according to a program to perform a measurement section 721, a subtraction section 722, a tension control section 723, a differential calculation section 724, a gain multiplication section 725, a distance calculation section 727G, and a gain calculation section 729G. and an adder 726.

A case where the measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation calculation unit 724, the gain multiplication unit 725, the distance calculation unit 727G, the gain calculation unit 729G, and the addition unit 726 are realized by computer functions will be described. However, it is not limited to this. For example, these functions may be realized by electrical circuits such as logic circuits. A measurement unit 721, a subtraction unit 722, a tension control unit 723, a differentiation calculation unit 724, a gain multiplication unit 725, and an addition unit 726 perform processing as described in the eighth embodiment.

In the ninth embodiment, the gain calculator 729G changes the gain value G to be multiplied by the time change amount F(·) according to the pull-out distance of the web 4 in the direction A1 with respect to the reference position. The pull-out distance of the web 4 is the distance that the gripping portion 401 moves in the direction A1 with respect to the reference position. The distance calculator 727G calculates the pull-out distance of the web 4 .

FIG. 15(a) is a schematic diagram when the web is pulled out by the pulling mechanism, and FIG. 15(b) is a graph schematically showing the vibration generated in the case of the pulling distance shown in FIG. 15(a). . FIG. 15(c) is a schematic diagram when the web is pulled out by the pulling mechanism, and FIG. 15(d) is a graph schematically showing the vibration generated in the case of the pulling distance shown in FIG. 15(c). . FIG. 15(d) shows a state in which the web 4 is further pulled out than in FIG. 15(a). When the web 4 is pulled out, the web 4 expands and contracts, generating vibrations like a spring. As shown in FIGS. 15(a) to 15(c), the longer the length of the web 4 is, the longer the spring becomes. The amount (displacement amount) also increases.

In order to suppress the vibration of the tension of the web 4, it is necessary to give a torque command value τ ^* that matches the amount of displacement of the web 4 to the driver 702 that drives the motor 312. Accordingly, it is necessary to change the correction value τR.

Therefore, in the present embodiment, the gain calculation section 729G changes the gain value G so as to increase as the pull-out distance of the web 4 increases. As a result, the vibration of the tension of the web 4 is stabilized more quickly, the waiting time of the processing mechanism 500 until the vibration is stabilized can be shortened, and the productivity of the processed products is improved.

FIG. 16 is a graph showing tension fluctuations in the web processing apparatus of the ninth embodiment. FIG. 16 shows the results of an experiment conducted with the tension target value F ^* =0.4 [N]. In FIG. 16, the horizontal axis represents time [s] and the vertical axis represents tension [N]. Further, it is assumed that the vibration of the tension has stabilized, that is, the tension has converged to the target value when the vibration falls within ±1% of the target value. Also, feedback control in the tension control unit 723 was simulated as PI control.

As shown in FIG. 16, in the ninth embodiment, by changing the gain value G for obtaining the correction value τR in accordance with the pull-out distance of the web 4, the settling time becomes 0.1 [s]. It can be seen that it is 0.5 [s] shorter than the morphology. As a result, according to the ninth embodiment, it can be confirmed that the time for the tension to converge to the target value, that is, the settling time, is further shortened.

In this embodiment, the distance calculator 727G obtains the pull-out distance of the web 4 . More specifically, the distance calculator 727G estimates the pull-out distance of the web 4 based on the drive command value issued to the drive mechanism 402 of the pull-out mechanism 400 . That is, since the drive mechanism 402 controls the gripping portion 401 according to the drive command value, the moving distance of the gripping portion 401, that is, the pull-out distance of the web 4 can be obtained from this drive command value.

[Tenth embodiment]
Next, a web processing apparatus according to a tenth embodiment will be described. FIG. 17 is an explanatory diagram of the web processing apparatus 100H according to the tenth embodiment. A web processing apparatus 100H in the tenth embodiment differs in control from the web processing apparatuses in the first to ninth embodiments. The configuration of the web processing apparatus 100H other than the control unit is the same as that of the web processing apparatus 100, and the same reference numerals are used to omit detailed description.

The web processing apparatus 100H includes a tension applying mechanism 300, a pullout mechanism 400, a processing mechanism 500, a control system 700H, and an input device 800. The drawer mechanism 400 has a grip portion 401 as described in the first embodiment. The gripping portion 401 is driven by the drive mechanism 402 in either a direction A1 in which the web 4 is pulled out or a direction A2 opposite to the direction A1. The motor 312 of the tension applying mechanism 300 is a servomotor in this embodiment. The control system 700H controls the torque generated in the drawing direction A1 of the web 4 or in the opposite direction A2.

A control system 700H, which is an example of a control unit in the tenth embodiment, has a control device 701H as a command unit, and a driver 702 as a drive control unit having the same configuration as in the first embodiment. The hardware configuration of the control device 701H is the same as that of the control device 701 shown in FIG. In this embodiment, the control in the control device 701H is performed at a constant cycle (for example, 1 ms cycle). FIG. 17 shows the control operation of the control device 701H using functional blocks. The CPU 711 (FIG. 1) of the control device 701H operates according to a program to perform a measurement section 721, a subtraction section 722, a tension control section 723, a differential calculation section 724, a gain multiplication section 725, a distance calculation section 727H, and a gain calculation section 729G. and an adder 726.

A case where the measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation calculation unit 724, the gain multiplication unit 725, the distance calculation unit 727H, the gain calculation unit 729G, and the addition unit 726 are realized by computer functions will be described. However, it is not limited to this. For example, these functions may be realized by electrical circuits such as logic circuits. The measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation calculation unit 724, the gain multiplication unit 725, and the addition unit 726 perform processing as described in the eighth embodiment, and the gain calculation unit 729G performs the processing described in the ninth embodiment. Processing is performed as described in the form.

In the tenth embodiment, the method of calculating the distance in the distance calculator 727H is different from the method of calculating the distance in the distance calculator 727G of the ninth embodiment. That is, the drive mechanism 402 of the drawer mechanism 400 is provided with an encoder 901 . Encoder 901 is, for example, a linear encoder. The encoder 901 outputs an encoder value corresponding to the movement position of the grip part 401 . The distance calculator 727H obtains the encoder value, and calculates the pulling distance of the web 4 based on the encoder value.

In the tenth embodiment, as in the ninth embodiment, it is possible to obtain the pull-out distance of the web 4, and the gain calculator 729G changes the gain value G according to the pull-out distance of the web 4, as in the ninth embodiment. do. As a result, according to the tenth embodiment, as in the ninth embodiment, the vibration of the tension is stabilized more quickly, and the waiting time of the machining mechanism 500 until the vibration is stabilized can be shortened. productivity.

Instead of the encoder 901, a rotary encoder provided on the motor, a laser measuring device, or the like may be used to determine the movement distance of the gripping portion 401, that is, the pull-out distance of the web 4. FIG.

[Eleventh embodiment]
Next, a web processing apparatus according to an eleventh embodiment will be described. FIG. 18 is an explanatory diagram of the web processing apparatus 100I according to the eleventh embodiment. A web processing apparatus 100I in the eleventh embodiment differs in control from the web processing apparatuses in the first to tenth embodiments. The configuration of the web processing apparatus 100I other than the control section is the same as that of the web processing apparatus 100, and the same reference numerals are used to omit detailed description.

The web processing apparatus 100I includes a tensioning mechanism 300, a pull-out mechanism 400, a processing mechanism 500, a control system 700I, and an input device 800. The drawer mechanism 400 has a grip portion 401 as described in the first embodiment. The gripping portion 401 is driven by a driving mechanism 402 in either a direction A1 for pulling out the web 4 or a direction A2 opposite to the direction A1. The motor 312 of the tension applying mechanism 300 is a servomotor in this embodiment. The control system 700I controls the torque generated in the drawing direction A1 of the web 4 or in the opposite direction A2.

A control system 700I, which is an example of a control unit in the eleventh embodiment, has a control device 701I, which is a command unit, and a driver 702, which is a drive control unit and has the same configuration as in the first embodiment. The hardware configuration of the control device 701I is the same as that of the control device 701 shown in FIG. In this embodiment, control by the control device 701I is performed at a constant cycle (for example, 1 ms cycle). FIG. 18 shows the control operation in this control device 701I in functional blocks. The CPU 711 (FIG. 1) of the control device 701I operates according to a program to perform a measurement unit 721, a subtraction unit 722, a tension control unit 723, a differential operation unit 724, a gain multiplication unit 725, a distance operation unit 727I, and a gain operation unit 729G. and an adder 726.

A case where the measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation calculation unit 724, the gain multiplication unit 725, the distance calculation unit 727I, the gain calculation unit 729G, and the addition unit 726 are realized by computer functions will be described. However, it is not limited to this. For example, these functions may be realized by electrical circuits such as logic circuits. The measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation calculation unit 724, the gain multiplication unit 725, and the addition unit 726 perform processing as described in the eighth embodiment, and the gain calculation unit 729G performs the processing described in the ninth embodiment. Processing is performed as described in the form.

In the eleventh embodiment, the method of calculating the distance in the distance calculator 727I is different from the method of calculating the distance in the distance calculator 727G of the ninth embodiment or the distance calculator 727H of the tenth embodiment. That is, the diameter of the web roll 2 is measured using the distance sensor 902, which is an example of a roll diameter measuring device. Also, the rotation angle of the web roll 2 is measured using an encoder 903, which is an example of a rotation angle measuring device. The distance calculator 727I calculates the pull-out distance of the web 4 using the measured value of the diameter of the web roll 2 and the measured value of the rotation angle.

The distance sensor 902 irradiates the outer peripheral surface of the target web roll 2 with laser light from a laser light source such as an LED, and receives reflected light of the laser light with a light receiving portion. Thereby, the distance from the distance sensor 902 to the outer peripheral surface of the roll can be measured. The distance from the distance sensor 902 to the outer peripheral surface of the web roll 2 decreases as the outer diameter of the web roll 2 increases. Therefore, the distance sensor 902 detects the distance from the distance sensor 902 to the outer peripheral surface of the web roll 2 during rotation of the web roll 2, for example, at predetermined time intervals, for example, at intervals of 1/n of the rotation period of the web roll 2. Sample continuously. For example, sample over n=10 times. The distance sensor 902 measures the outer diameter of the web roll 2 by dividing this measurement result by the number of times of sampling n to obtain an average value. As the distance sensor 902, a non-contact sensor using a laser beam has been described, but a contact sensor may be used as long as it can measure the diameter of the web roll 2. may be used.

The encoder 903 is used to measure the rotation angle of the web roll 2, and is a rotary encoder provided on the motor 312, for example. Note that the encoder 903 is not limited to a rotary encoder. Further, the rotation angle measuring device is not limited to the encoder 903, and any device that measures the rotation angle of the web roll 2 may be used.

The distance calculator 727I calculates the pull-out distance of the web 4 from the diameter of the web roll 2 and the rotation angle of the web roll 2 . The calculation method is as follows. Let ra [m] be the radius of the web roll 2 and θa [rad] be the rotation angle of the web roll 2 . The distance calculator 727I obtains the pull-out distance of the web 4 by ra×θa[m].

In the eleventh embodiment, similarly to the ninth and tenth embodiments, it is possible to obtain the distance of web 4 withdrawn. to change the gain value G. As a result, according to the eleventh embodiment, as in the ninth and tenth embodiments, the vibration of the tension is stabilized more quickly, and the waiting time of the processing mechanism 500 until the vibration is stabilized can be shortened. , the productivity of processed products is improved.

[Twelfth embodiment]
Next, a web processing apparatus according to a twelfth embodiment will be described. FIG. 19 is an explanatory diagram of a web processing apparatus 100J according to the twelfth embodiment. A web processing apparatus 100J in the twelfth embodiment differs in control from the web processing apparatuses in the first to eleventh embodiments. The configuration of the web processing apparatus 100J other than the control unit is the same as that of the web processing apparatus 100, and the same reference numerals are used to omit detailed description.

The web processing apparatus 100J includes a tensioning mechanism 300, a pull-out mechanism 400, a processing mechanism 500, a control system 700J, and an input device 800. The drawer mechanism 400 has a grip portion 401 as described in the first embodiment. The gripping portion 401 is driven by a driving mechanism 402 in either a direction A1 for pulling out the web 4 or a direction A2 opposite to the direction A1. The motor 312 of the tension applying mechanism 300 is a servomotor in this embodiment. The control system 700J controls the torque generated in the drawing direction A1 of the web 4 or in the opposite direction A2.

A control system 700J, which is an example of a control section in the twelfth embodiment, has a control device 701J that is a command section, and a driver 702 that is a drive control section and has the same configuration as in the first embodiment. The hardware configuration of the control device 701J is the same as that of the control device 701 shown in FIG. In this embodiment, control by the control device 701J is performed at a constant cycle (for example, 1 ms cycle). FIG. 19 shows the control operation of the control device 701J using functional blocks. The CPU 711 (FIG. 1) of the control device 701J operates according to a program to perform a measurement unit 721, a subtraction unit 722, a tension control unit 723, a differential operation unit 724, a gain multiplication unit 725, a distance operation unit 727J, and a gain operation unit 729G. and an adder 726.

A case will be described in which the measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation calculation unit 724, the gain multiplication unit 725, the distance calculation unit 727J, the gain calculation unit 729G, and the addition unit 726 are realized by computer functions. However, it is not limited to this. For example, these functions may be realized by electrical circuits such as logic circuits. The measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation calculation unit 724, the gain multiplication unit 725, and the addition unit 726 perform processing as described in the eighth embodiment, and the gain calculation unit 729G performs the processing described in the ninth embodiment. Processing is performed as described in the form.

In the twelfth embodiment, the method of calculating the distance in the distance calculator 727J is different from the method of calculating the distance in the distance calculators 727G, 727H, and 727I in the ninth to eleventh embodiments. That is, the distance calculation unit 727J receives the activation signal from the withdrawal mechanism 400, and measures the withdrawal time by measuring the time with the internal counter while this signal is ON. Further, the distance calculation unit 727J acquires the pullout speed of the web 4, that is, the value of the moving speed of the gripping unit 401, from the speedometer 904 provided in the pullout mechanism 400. FIG. The distance calculation unit 727J calculates the withdrawal distance of the web 4 using the measured withdrawal time. A method of calculating the pull-out distance of the web 4 is as follows. That is, the distance calculator 727J calculates the withdrawal distance by Lb=vb×tb[m], where vb [m/s] is the withdrawal speed, tb [s] is the measured withdrawal time, and Lb [m] is the withdrawal distance. Ask.

In the twelfth embodiment, as in the ninth to eleventh embodiments, the pull-out distance of the web 4 can be obtained. to change the gain value G. Thus, according to the twelfth embodiment, as in the ninth to eleventh embodiments, the vibration of the tension is stabilized more quickly, and the waiting time of the processing mechanism 500 until the vibration is stabilized can be shortened. , the productivity of processed products is improved.

[Thirteenth embodiment]
Next, a web processing apparatus according to a thirteenth embodiment will be described. FIG. 20 is an explanatory diagram of a web processing apparatus 100K according to the thirteenth embodiment. A web processing apparatus 100K in the thirteenth embodiment differs in control from the web processing apparatuses in the first to twelfth embodiments. Note that the configuration of the web processing apparatus 100K other than the control unit is the same as that of the web processing apparatus 100, and detailed description thereof will be omitted using the same reference numerals.

The web processing apparatus 100K includes a tension applying mechanism 300, a pull-out mechanism 400, a processing mechanism 500, a control system 700K, and an input device 800. The drawer mechanism 400 has a grip portion 401 as described in the first embodiment. The gripping portion 401 is driven by a driving mechanism 402 in either a direction A1 for pulling out the web 4 or a direction A2 opposite to the direction A1. The motor 312 of the tension applying mechanism 300 is a servomotor in this embodiment. The control system 700K controls the torque generated in the pulling direction A1 of the web 4 or in the opposite direction A2.

A control system 700K, which is an example of a control section in the thirteenth embodiment, has a control device 701K that is a command section, and a driver 702 that is a drive control section and has the same configuration as in the first embodiment. The hardware configuration of the control device 701K is similar to that of the control device 701 shown in FIG. In this embodiment, control by the control device 701K is performed at a constant cycle (for example, 1 ms cycle). FIG. 20 shows the control operation in this control device 701K by functional blocks. A CPU 711 (FIG. 1) of the control device 701K operates according to a program to perform a measurement unit 721, a subtraction unit 722, a tension control unit 723, a differential operation unit 724, a gain multiplication unit 725, a roll diameter operation unit 727K, a gain operation unit 729K and adder 726.

A case where the measurement unit 721, the subtraction unit 722, the tension control unit 723, the differential operation unit 724, the gain multiplication unit 725, the roll diameter operation unit 727K, the gain operation unit 729K, and the addition unit 726 are realized by computer functions will be described. However, it is not limited to this. For example, these functions may be realized by electrical circuits such as logic circuits. A measurement unit 721, a subtraction unit 722, a tension control unit 723, a differentiation calculation unit 724, a gain multiplication unit 725, and an addition unit 726 perform processing as described in the eighth embodiment.

In the thirteenth embodiment, the roll diameter calculator 727K obtains data on the diameter of the web roll 2 in advance as a parameter. The gain calculator 729K determines the gain value G using the diameter of the web roll 2 obtained from the roll diameter calculator 727K. Specifically, the gain calculator 729K changes the gain value G so as to decrease as the diameter of the web roll 2 decreases. That is, the smaller the diameter of the web roll 2, the smaller the inertia, so the gain value G is reduced accordingly.

The gain value G calculated by the gain calculation unit 729K is multiplied by the time change amount F(·) obtained by differential calculation in the gain multiplication unit 725, and is added to the torque command value τ ₀ ^* in the addition unit 726, A corrected torque command value τ ^* is obtained.

According to the thirteenth embodiment, tension vibration generated by expansion and contraction of the web 4 pulled out from the web roll 2 is quickly settled (converged). As a result, the waiting time of the processing mechanism 500 until the vibration is stabilized can be shortened, and the productivity of processed products is improved.

FIG. 21 is a graph showing tension variation in the web processing apparatus of the thirteenth embodiment. FIG. 21 shows the results of an experiment conducted with the tension target value F ^* =0.4 [N]. In FIG. 21, the horizontal axis represents time [s] and the vertical axis represents tension [N]. Further, it is assumed that the vibration of the tension has stabilized, that is, the tension has converged to the target value when the vibration falls within ±1% of the target value. In addition, feedback control in the tension control unit 723 was experimented as PI control.

As shown in FIG. 21, in the thirteenth embodiment, by changing the gain value G for obtaining the correction value τR according to the diameter of the web roll 2, the settling time becomes 0.3 [s], and the eighth embodiment It can be seen that it is 0.3 [s] shorter than the morphology. As a result, according to the thirteenth embodiment, it can be confirmed that the time for the tension to converge to the target value, that is, the settling time, is further shortened.

[14th embodiment]
Next, a web processing apparatus according to a fourteenth embodiment will be described. FIG. 22 is an explanatory diagram of the web processing apparatus 100L according to the fourteenth embodiment. A web processing apparatus 100L in the fourteenth embodiment differs in control from the web processing apparatuses in the first to thirteenth embodiments. The configuration of the web processing apparatus 100L other than the control unit is the same as that of the web processing apparatus 100, and the same reference numerals are used to omit detailed description.

The web processing apparatus 100L includes a tensioning mechanism 300, a pull-out mechanism 400, a processing mechanism 500, a control system 700L, and an input device 800. The drawer mechanism 400 has a grip portion 401 as described in the first embodiment. The gripping portion 401 is driven by a driving mechanism 402 in either a direction A1 for pulling out the web 4 or a direction A2 opposite to the direction A1. The motor 312 of the tension applying mechanism 300 is a servomotor in this embodiment. The control system 700L controls the torque generated in the pulling direction A1 of the web 4 or in the opposite direction A2.

A control system 700L, which is an example of a control unit in the fourteenth embodiment, has a control device 701L as a command unit and a driver 702 as a drive control unit having the same configuration as in the first embodiment. The hardware configuration of the control device 701L is the same as that of the control device 701 shown in FIG. In this embodiment, the control in the control device 701L is performed at a constant cycle (for example, 1 ms cycle). FIG. 22 shows the control operation of the control device 701L using functional blocks. The CPU 711 (FIG. 1) of the control device 701L operates according to a program to perform a measurement unit 721, a subtraction unit 722, a tension control unit 723, a differential operation unit 724, a gain multiplication unit 725, a roll diameter operation unit 727L, a gain operation unit 729K and adder 726.

A case will be described in which the measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation calculation unit 724, the gain multiplication unit 725, the roll diameter calculation unit 727L, the gain calculation unit 729K, and the addition unit 726 are realized by computer functions. However, it is not limited to this. For example, these functions may be realized by electrical circuits such as logic circuits. The measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation calculation unit 724, the gain multiplication unit 725, and the addition unit 726 perform processing as described in the eighth embodiment, and the gain calculation unit 729K performs the processing described in the thirteenth embodiment. Processing is performed as described in the form.

In the fourteenth embodiment, the method of obtaining the diameter of the web roll 2 in the roll diameter calculation section 727L differs from the method of obtaining the diameter of the web roll 2 in the roll diameter calculation section 727K of the thirteenth embodiment. That is, the roll diameter calculator 727L measures the diameter of the web roll 2 using the distance sensor 902, which is an example of a roll diameter measuring device. With such a configuration, a feedback value corresponding to the diameter of the web roll 2, which changes during operation, can be given to the gain calculation unit 729K, and tension vibration can be settled more quickly. can. As a result, the waiting time of the processing mechanism 500 until the vibration is stabilized can be shortened, and the productivity of processed products is improved.

[15th embodiment]
Next, a web processing apparatus according to a fifteenth embodiment will be described. FIG. 23 is an explanatory diagram of a web processing apparatus 100M according to the fifteenth embodiment. A web processing apparatus 100M in the fifteenth embodiment differs in control from the web processing apparatuses in the first to fourteenth embodiments. The configuration of the web processing apparatus 100M other than the control section is the same as that of the web processing apparatus 100, and the same reference numerals are used to omit detailed description.

The web processing apparatus 100M includes a tensioning mechanism 300, a pull-out mechanism 400, a processing mechanism 500, a control system 700M, and an input device 800. The drawer mechanism 400 has a grip portion 401 as described in the first embodiment. The gripping portion 401 is driven by a driving mechanism 402 in either a direction A1 for pulling out the web 4 or a direction A2 opposite to the direction A1. The motor 312 of the tension applying mechanism 300 is a servomotor in this embodiment. The control system 700M controls the torque generated in the drawing direction A1 of the web 4 or in the opposite direction A2.

A control system 700M, which is an example of a control section in the fifteenth embodiment, has a control device 701M that is a command section, and a driver 702 that is a drive control section and has the same configuration as in the first embodiment. The hardware configuration of the control device 701M is the same as that of the control device 701 shown in FIG. In this embodiment, the control in the control device 701M is performed at a constant cycle (for example, 1 ms cycle). FIG. 23 shows the control operation in this control device 701M in functional blocks. A CPU 711 (FIG. 1) of the control device 701M operates according to a program to perform a measurement unit 721, a subtraction unit 722, a tension control unit 723, a differential operation unit 724, a gain multiplication unit 725, a roll diameter operation unit 727M, a gain operation unit 729K and adder 726.

A case where the measurement unit 721, the subtraction unit 722, the tension control unit 723, the differential operation unit 724, the gain multiplication unit 725, the roll diameter operation unit 727M, the gain operation unit 729K, and the addition unit 726 are realized by computer functions will be described. However, it is not limited to this. For example, these functions may be realized by electrical circuits such as logic circuits. The measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation calculation unit 724, the gain multiplication unit 725, and the addition unit 726 perform processing as described in the eighth embodiment, and the gain calculation unit 729K performs the processing described in the thirteenth embodiment. Processing is performed as described in the form.

In the fifteenth embodiment, the method of determining the diameter of the web roll 2 in the roll diameter calculator 727M is different from the method of determining the diameter of the web roll 2 in the roll diameter calculators 727K and 727L of the thirteenth and fourteenth embodiments. That is, the roll diameter calculator 727M measures the pullout distance of the web 4 using the encoder 901, measures the rotation angle of the web roll 2 using the encoder 903, and calculates the diameter of the web roll 2 from these measurement results. Ask.

A specific calculation will be described. Let Lc [m] be the measured pull-out distance of the web 4 , θc [rad] be the measured rotation angle of the web roll 2 , and rc [m] be the radius of the web roll 2 . The roll diameter calculator 727M obtains the radius of the web roll 2 according to the conversion formula Lc=rc×θc[m].

With such a configuration, a feedback value corresponding to the diameter of the web roll 2, which changes during operation, can be given to the gain calculation unit 729K, and tension vibration can be settled more quickly. can. As a result, the waiting time of the processing mechanism 500 until the vibration is stabilized can be shortened, and the productivity of processed products is improved.

Further, in the fifteenth embodiment, since laser light is not used for measuring the diameter of the web roll 2, even if the web 4 is transparent, erroneous detection does not occur. In addition, since a contact-type linear gauge is not used, it is not necessary to apply the linear gauge to the outer peripheral surface of the web roll 2, and the formation of contact traces on the web 4 can be prevented.

[16th embodiment]
Next, a web processing apparatus according to a sixteenth embodiment will be described. FIG. 24 is an explanatory diagram of a web processing apparatus 100N according to the sixteenth embodiment. A web processing apparatus 100N in the sixteenth embodiment differs in control from the web processing apparatuses in the first to fifteenth embodiments. The configuration of the web processing apparatus 100N other than the control unit is the same as that of the web processing apparatus 100, and the same reference numerals are used to omit detailed description.

The web processing apparatus 100N includes a tension applying mechanism 300, a pull-out mechanism 400, a processing mechanism 500, a control system 700N, and an input device 800. The drawer mechanism 400 has a grip portion 401 as described in the first embodiment. The gripping portion 401 is driven by a driving mechanism 402 in either a direction A1 for pulling out the web 4 or a direction A2 opposite to the direction A1. The motor 312 of the tension applying mechanism 300 is a servomotor in this embodiment. The control system 700N controls the torque that is generated in the drawing direction A1 of the web 4 or in the opposite direction A2.

A control system 700N, which is an example of a control section in the sixteenth embodiment, has a control device 701N that is a command section, and a driver 702 that is a drive control section and has the same configuration as in the first embodiment. The hardware configuration of the control device 701N is similar to that of the control device 701 shown in FIG. In this embodiment, control by the control device 701N is performed at a constant cycle (for example, 1 ms cycle). FIG. 24 shows the control operation of the control device 701N using functional blocks. A CPU 711 (FIG. 1) of the control device 701N operates according to a program to perform a measurement section 721, a subtraction section 722, a tension control section 723, a differential calculation section 724, a gain multiplication section 725, an acceleration calculation section 727N, and a gain multiplication section 729N. and an adder 726N.

A case where the measurement unit 721, the subtraction unit 722, the tension control unit 723, the differentiation calculation unit 724, the gain multiplication unit 725, the acceleration calculation unit 727N, the gain multiplication unit 729N, and the addition unit 726N are realized by computer functions will be described. but not limited to this. For example, these functions may be realized by electrical circuits such as logic circuits. A measurement unit 721, a subtraction unit 722, a tension control unit 723, a differentiation calculation unit 724, and a gain multiplication unit 725 perform processing as described in the eighth embodiment.

In the sixteenth embodiment, the torque command value τ ₀ ^* is converted to the time change amount F(·) and the Correction is made according to the acceleration a in the direction A1.

Acceleration calculator 727N measures acceleration a using encoder 901 . Specifically, the acceleration calculator 727N obtains the encoder value from the encoder 901 that indicates the pull-out distance of the web 4 by second-order differentiation with respect to time. Although the case where the encoder 901 is used as an accelerometer has been described, the present invention is not limited to this, and a speedometer may be used for first-order differentiation with respect to time, or an accelerometer may be used.

A gain multiplier 729N multiplies the acceleration a by a gain value G2 to obtain a correction value a×G2. The adder 726N adds the correction value F(·)×G and the correction value a×G2 to the torque command value τ ₀ ^* to obtain the corrected torque command value τ ^* . By correcting the torque command value τ ₀ ^* in accordance with the acceleration a in this way, the vibration of the tension is settled more quickly, and the waiting time of the processing mechanism 500 until the vibration is settled can be shortened. , the productivity of processed products is improved.

FIG. 25 is a graph showing tension fluctuations in the web processing apparatus of the sixteenth embodiment. FIG. 25 shows the results of an experiment conducted with the tension target value F ^* =0.4 [N]. In FIG. 25, the horizontal axis represents time [s] and the vertical axis represents tension [N]. Further, it is assumed that the vibration of the tension has stabilized, that is, the tension has converged to the target value when the vibration falls within ±1% of the target value. In addition, feedback control in the tension control unit 723 was experimented as PI control.

As shown in FIG. 25, in the sixteenth embodiment, the settling time is 0.05 [s], which is 0.55 [s] shorter than in the eighth embodiment. Accordingly, it can be confirmed that the time for the tension to converge to the target value, that is, the settling time, is further shortened according to the sixteenth embodiment.

The present invention is not limited to the embodiments described above, and many modifications are possible within the technical concept of the present invention. Moreover, the effects described in the embodiments are merely enumerations of the most suitable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments.

In the above-described embodiment, the measured value of the tension generated in the web is obtained from the signal from the sensor unit, and feedback control is performed using this measured value. However, the present invention is not limited to this. The value indicated by the signal output from the sensor unit may not be converted into force, and feedback control may be performed using the value indicated by this signal itself or a value subjected to appropriate conversion processing. That is, feedback control may be performed using a value corresponding to the signal output by the sensor section.

Further, in the eighth to sixteenth embodiments described above, the first grip section and the sensor section have the configurations of the first embodiment, but the present invention is not limited to this. In the eighth to sixteenth embodiments, the first grip section and sensor section may be configured as in the second to seventh embodiments.

DESCRIPTION OF SYMBOLS 100... Web processing apparatus 300... Tension-applying mechanism (tension-applying part) 401... Gripping part (first gripping part) 411... Gripping member 430... Sensor part 500... Processing mechanism (processing part) 700... Control System (control section) 701... Control device (command section) 702... Driver (drive control section)

Claims (23)

a first gripping portion having a gripping member used to grip the web drawn in a predetermined direction from the web roll ;
a tension applying section that applies tension to the web gripped by the first gripping section;
and a sensor unit that outputs a signal according to deformation of the gripping member in a direction along the predetermined direction . 2. The web processing apparatus according to claim 1, wherein said gripping member has a base portion, a tip portion, and a connecting portion connecting said base portion and said tip portion. 3. The web processing apparatus of claim 2, wherein the coupling includes one or more springs. 4. The web processing apparatus according to claim 2, wherein the sensor unit outputs a signal corresponding to the amount of displacement of the tip portion with respect to the base portion as the signal. 5. A web processing apparatus according to claim 4, wherein said sensor unit is an optical linear encoder having a scale and a detection head disposed facing said scale. 6. A web processing apparatus according to claim 5, wherein said scale and said detection head are arranged between said base portion and said tip portion. The gripping member has a support member disposed between the base and the tip with a gap from the connecting part and fixed to the base or the tip,
7. The web processing apparatus according to claim 6, wherein said scale or said detection head is supported by said support member. A plurality of the sensor units are provided ,
The web processing apparatus according to any one of claims 1 to 7 , wherein the plurality of sensor units are arranged so as to face each other in a direction toward or away from the gripping member . A plurality of the first gripping parts are provided ,
The web processing apparatus according to any one of claims 1 to 8 , wherein the plurality of first gripping portions are arranged separately on both sides in the width direction of the web. further comprising a support for rotatably supporting the web roll;
The web processing apparatus according to any one of claims 1 to 9 , wherein the first gripper is movable in a direction in which the web is pulled out from the web roll. 11. The web processing apparatus according to claim 10 , wherein the first gripping portion is movable between an upstream position and a downstream position in the direction in which the web is pulled out. 12. The web processing apparatus according to claim 10 , further comprising a second gripping portion arranged upstream of the first gripping portion in a direction in which the web is pulled out and gripping the web. 13. The control unit according to any one of claims 1 to 12 , further comprising a control unit that controls the tension applying unit according to a deviation between the value corresponding to the signal and a target value to adjust the tension applied to the web. 1. A web processing apparatus according to claim 1. a support that rotatably supports the web roll;
a first gripping part having a gripping member used to grip the web pulled out in a predetermined direction from the web roll;
a tension applying section that generates torque to be applied to the web roll and applies tension to the web gripped by the first gripping section;
a sensor unit that outputs a signal according to the deformation of the gripping member;
and a control unit that adjusts the tension applied to the web by controlling the torque generated by the tension applying unit based on the signal. The control unit
A torque command value corresponding to the deviation between the value corresponding to the signal and the target value is obtained, and the torque command value is corrected according to the amount of change over time of the value corresponding to the signal to obtain the corrected torque command value. a directive that generates
15. The web processing apparatus according to claim 14 , further comprising a drive control section that causes the tension applying section to generate a torque corresponding to the corrected torque command value. The control unit
A torque command value corresponding to a deviation between a value corresponding to the signal and a target value is obtained, and the torque command value is combined with a time change amount of the value corresponding to the signal and the web of the first gripping portion is pulled out. a command unit that corrects according to the acceleration in the direction;
15. The web processing apparatus according to claim 14 , further comprising a drive control section that causes the tension applying section to generate a torque corresponding to the corrected torque command value. 17. The web processing apparatus according to claim 15 , wherein the command unit corrects the torque command value by adding a value obtained by multiplying the time change amount by a gain value. 18. The web processing apparatus according to claim 17 , wherein said gain value is a predetermined value. 3. The command unit changes the gain value so as to increase as the distance of movement of the first gripping unit in the direction of pulling out the web from the reference position increases. 18. Web processing apparatus according to 17 . 18. The web processing apparatus according to claim 17 , wherein the command section changes the gain value so as to decrease as the diameter of the web roll decreases. The control unit obtains the tension in the predetermined direction generated in the web based on a signal output from the sensor unit according to the deformation of the gripping member in the predetermined direction. Item 21. The web processing apparatus according to any one of items 13 to 20 . The web processing apparatus according to any one of claims 1 to 21, further comprising a processing section that processes the web to which tension is applied by the tension applying section . A method for manufacturing a processed product processed by the web processing apparatus according to claim 22 ,
A method of manufacturing a processed product, wherein the processing section processes the web after obtaining the tension in the predetermined direction generated in the web .

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