KR20230132691A - Transfer control apparatus, transfer control method, computer recordable medium storing transfer control program - Google Patents

Abstract

Provided is a transport control device that can effectively prevent excessive pulling or loosening of transported objects.
The conveyance control device 1 includes a target conveyance speed setting unit 13 that individually sets the target conveyance speed of a plurality of drive rollers 211 to 215 that convey the conveyed object 3, and each drive roller 211 to 215. A target conveyance speed arrival time setting unit 14 that sets a common target conveyance speed arrival time for a plurality of drive rollers 211 to 215 at which the conveyance speed of 215) must reach the target conveyance speed, and each drive roller ( 211 to 215) are provided with drive units 111 to 115 that drive each of the drive rollers 211 to 215 so that the conveyance speed reaches the target conveyance speed at the common target conveyance speed arrival time.

Description

A recording medium that can be read by a computer on which the transport control device, transport control method, and transport control program are recorded {TRANSFER CONTROL APPARATUS, TRANSFER CONTROL METHOD, COMPUTER RECORDABLE MEDIUM STORING TRANSFER CONTROL PROGRAM}

This application claims priority based on Japanese Patent Application No. 2022-035947, filed on March 9, 2022. The entire contents of the application are incorporated by reference into this specification.

The present invention relates to conveyance control devices and the like.

It is known that the transport device transports linear objects such as string or wire, or planar objects such as paper or cloth, and detects the tension of the objects. For example, Patent Document 1 discloses a technique for generating an operating amount for a motor based on the difference between a detected value of wire tension and a reference value and maintaining the wire tension at the reference value.

Patent Document 1: Japanese Patent Application Laid-Open No. 2003-176080

When a conveyed object is conveyed by a plurality of conveyance rollers, the rotational speed of each conveyance roller is controlled to be approximately uniform in a normal conveyance state. On the other hand, in cases such as acceleration and deceleration, there may be a significant difference in the rotational speed of each conveying roller, so there is a risk of excessive pulling or loosening of the conveyed object.

The present invention has been made in consideration of this situation, and its purpose is to provide a transport control device, etc. that can effectively prevent excessive pulling or loosening of the transported object.

In order to solve the above problem, the transport control device of one aspect of the present invention includes a target transport speed setting unit that individually sets the target transport speed of a plurality of transport units for transporting the transported object, and the transport speed of each transport unit is set to the target transport speed. A target conveyance speed arrival time setting unit that sets a common target conveyance speed arrival time for a plurality of conveyance units at which the speed must be reached, and a target conveyance speed arrival time setting unit that sets a common target conveyance speed arrival time for each conveyance unit to reach the target conveyance speed at the common target conveyance speed arrival time. , and a driving unit that drives each transport unit.

According to this aspect, in the case of acceleration/deceleration of the conveyed object, etc., the conveyance speed of the plurality of conveyance units is controlled so as to reach each target conveyance speed at the time of reaching the common target conveyance speed, resulting in excessive pulling on the conveyed object. It can effectively prevent relaxation.

Another aspect of the present invention is a conveyance control method. This method includes a target conveyance speed setting step for individually setting the target conveyance speed of a plurality of conveyance units that convey the object to be conveyed, and a common target for the plurality of conveyance units at which the conveyance speed of each conveyance unit must reach the target conveyance speed. It is provided with a target conveyance speed arrival time setting step for setting the conveyance speed arrival time, and a driving step for driving each conveyance unit so that the conveyance speed of each conveyance unit reaches the target conveyance speed at a common target conveyance speed arrival time.

However, any combination of the above components or conversion of these expressions into methods, devices, systems, recording media, computer programs, etc. are also included in the present invention.

According to the present invention, excessive pulling or loosening of the transported object can be effectively prevented.

Figure 1 schematically shows the configuration of a conveyance control device.
Figure 2 shows an example of speed control of the conveyance roller group by the conveyance control device.
Figure 3 shows an example of an operation screen of the conveyance control device.

EMBODIMENT OF THE INVENTION Hereinafter, the form (hereinafter also referred to as embodiment) for carrying out the present invention will be described in detail, referring to the drawings. In the description and/or drawings, identical or equivalent components, members, processes, etc. are assigned the same reference numerals and redundant descriptions are omitted. The scale and shape of each part shown are conveniently set to simplify explanation and are not to be construed as limited unless otherwise specified. The embodiments are illustrative and in no way limit the scope of the present invention. All features or combinations thereof described in the embodiments are not necessarily limited to what is essential to the present invention.

Figure 1 schematically shows the configuration of a conveyance control device 1 according to an embodiment of the present invention. The conveyance control device 1 is a device that controls the conveyance operation of the conveyance device 2 that conveys the conveyed object 3. Examples of the transported object 3 include linear objects such as string or wire, and planar objects such as paper, cloth, film, foil, and rubber. In the present embodiment, a conveying device 2 and a conveying control device 1 provided in a stretching device that stretches a planar base material by applying tension in the conveying direction while conveying it as the conveyed object 3 Explain. However, the conveyance control device 1 according to the present embodiment can be equally applied to any other conveyance device 2 (for example, one provided in a coater or a coating device).

The conveying device 2 is provided with a group of conveying rollers 20 and a dancer 24. The conveying roller group 20 is provided with a plurality of conveying rollers serving as a plurality of conveying units for conveying the conveyed object 3. The conveyance roller group 20 in the example of FIG. 1 includes five pairs of conveyance rollers arranged in series along the conveyance direction (left and right directions in FIG. 1) of the conveyed object 3. A plurality of conveying rollers are adjacent to each other in the conveying direction. Each pair of conveying rollers sandwiches the conveyed object 3 between the driving rollers 211 to 215, which are rotationally driven by the respective driving units 111 to 115 described later, and the driving rollers 211 to 215. It is provided with driven rollers (221 to 225) that rotate in conjunction with the rollers (211 to 215). Five conveyance roller pairs (211/221 to 215/225), five driving units (111 to 115) and five speed control units (121 to 125) provided in the conveyance control device (1) corresponding to each other, It can be configured the same way. Therefore, hereinafter, the first conveying roller pair (211/221), the first driving unit 111, and the first speed control unit 121 will be described, and the other conveying roller pairs (212/222 to 215/225) and the other driving unit will be described. (112 to 115) and other speed control units (122 to 125) are omitted. However, the number of conveyance roller pairs provided in the conveyance roller group 20 may be any number (an arbitrary integer of 2 or more).

The drive roller 211 and the driven roller 221 are conveyance rollers as one aspect of the conveyance unit that conveys the conveyed object 3, and are directed in a direction orthogonal to the conveyance direction (left and right directions in FIG. 1) (the paper surface of FIG. 1). It can rotate around the rotation axis (direction perpendicular to the paper surface). As will be described later, the drive roller 211 is rotationally driven by a drive unit 111, such as a motor, in accordance with a rotation speed command generated by the speed control unit 121. When the transport direction of the conveyed object 3 in FIG. 1 is to the right, the drive roller 211 is rotated clockwise by the drive unit 111, and the driven roller 221 is linked with the drive roller 211. and rotates counterclockwise.

The dancer 24 moves the conveyance roller group 20 upstream (left side in Fig. 1) and downstream (right side in Fig. 1) in the conveyance direction of the conveyance roller group 20. It is provided to be inserted from both sides. Since the two dancers 24 in the city can be configured identically to each other, one dancer 24 will be described.

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

The dancer roll 243 can move between the upper end 243A and the lower end 243B in a direction perpendicular to the conveyance path of the conveyed object 3 (up and down direction in FIG. 1). It is prepared to do so. The air cylinder 244, which serves as a pressure portion or pressure portion, biases or pressurizes the dancer roll 243 in a direction away from the conveyance path of the conveyed object 3 (downward in FIG. 1). The dancer roll 243 biased or pressed downward adds tension to the conveyed object 3 by pulling the transported object 3 in a direction away from the conveyance path. At this time, the dancer roll 243 stops at a position where the downward force received from the air cylinder 244 and the upward tension received from the conveyed object 3 are balanced. Since the downward force that the dancer roll 243 receives from the air cylinder 244 is maintained or controlled to be approximately constant, the vertical position of the dancer roll 243 represents the tension of the conveyed object 3.

The vertical position of the dancer roll 243 is detected as an electric signal by the position sensor 245 and provided to the subtractor 17 of the conveyance control device 1. In addition, the position command of the dancer roll 243 generated by the position command generator 16 of the conveyance control device 1 is input to the subtractor 17. As described above, since the position of the dancer roll 243 corresponds to the tension of the transported object 3, the position command of the dancer roll 243 generated by the position command generator 16 is that of the transported object 3. Equivalent to the tension command. The speed control unit 18 of the transfer control device 1 generates a speed command to reduce the deviation of the position of the dancer roll 243 or the tension of the conveyed object 3 provided from the subtractor 17. The drive unit 19 of the transfer control device 1 rotates the drive roller 231 installed immediately in front and/or behind the dancer 24 in accordance with the speed command provided from the speed control unit 18. When the driving roller 231 is driven to rotate clockwise in FIG. 1, the driven roller 232 rotates counterclockwise in conjunction with the driving roller 231. The driving roller 231 and the driven roller 232 transport the transported object 3 sandwiched between them, and the position command of the dancer roll 243 generated by the position command generator 16, that is, the transported object 3, is The desired tension according to the tension command is added to the transported object (3).

In the example of Fig. 1, since two dancers 24 are provided immediately in front and immediately behind the conveyance roller group 20 in the conveyance direction, the entrance portion (left end in Fig. 1) of the conveyance roller group 20 The tension of the conveyed object 3 at the (left end) and outlet portion (right end in FIG. 1) can be controlled to a desired value. In addition, as described in detail below, each drive roller 211 to 215 constituting the conveyance roller group 20 is individually rotated by each drive unit 111 to 115 of the conveyance control device 1. Since the speed and tension of each part of the conveyed object 3 can be controlled in detail, the conveying operation of the transported object 3 by the conveying device 2 or the stretching device in which the conveying device 2 is provided The stretching operation of the substrate (transferred object 3) can be optimized.

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

The target conveyance speed setting unit 13 individually sets the target conveyance speed as the target rotation speed of the plurality of drive rollers 211 to 215 (hereinafter also collectively referred to as drive roller 21). The target conveyance speed arrival time setting unit 14 sets the target conveyance speed as the common target rotation speed arrival time for the plurality of drive rollers 21 at which the rotation speed of each drive roller 21 must reach the target rotation speed. Set the time. The acceleration calculation unit 15 calculates the speed difference between the current rotation speed (current transfer speed) of each drive roller 21 and the target rotation speed (target transfer speed) set by the target transfer speed setting unit 13, and the current time. Calculates acceleration based on the time difference between the target conveyance speed arrival time and the target conveyance speed arrival time set by the target conveyance speed arrival time setting unit 14. The acceleration calculation unit 15 calculates the acceleration of each drive roller 21, for example, by dividing the speed difference by the time difference. However, the current rotational speed of each drive roller 21 used in calculating the acceleration is, for example, the rotational position detected by a rotational position detector such as a PG (Position Generator) installed in parallel with each driving unit 11 such as a motor. It is obtained by differentiating .

Each speed control unit 12 generates a rotation speed command for each drive unit 11 according to the acceleration of each drive roller 21 calculated by the acceleration calculation unit 15. For example, when the acceleration calculated by the acceleration calculation unit 15 is a, the speed control unit 12 of the control cycle T adds aT to the speed command every control cycle. Each drive unit 11 rotates each drive roller 21 in accordance with the speed command provided from each speed control unit 12. Specifically, each drive unit 11 determines the rotation speed (conveyance speed) of each drive roller 21 at a common target rotation speed arrival time (target transfer speed arrival time) set in the target transfer speed arrival time setting unit 14. time), each drive roller 21 is rotationally driven so as to reach the target rotation speed (target conveyance speed) set in the target conveyance speed setting unit 13.

FIG. 2 shows an example of speed control of the conveyance roller group 20 by the conveyance control device 1. In this embodiment, three conveyance rollers or drive rollers 21 are provided in the conveyance roller group 20. The three drive rollers 21 are initially stationary and accelerate simultaneously from time “0”. At this time, the target conveyance speed setting unit 13 individually sets the target rotation speeds "v ₁₁ ", "v ₂₁ ", and "v ₃₁ " of the three drive rollers 21. In addition, the target conveyance speed arrival time setting unit 14 sets a common goal that the rotational speed of the three drive rollers 21 must reach the respective target rotational speeds "v ₁₁ ", "v ₂₁ ", and "v ₃₁ ". Set the rotation speed arrival time “T1”.

The acceleration calculation unit 15 calculates the rotation speeds of the three drive rollers 21 at the current time “0” (all “0”) and the target rotation speed “v ₁₁ ” set by the target conveyance speed setting unit 13. The speed difference between "v ₂₁ " and "v ₃₁ ", "v ₁₁ ", "v ₂₁ " and "v ₃₁ ", and the current time "0" and the target conveyance speed arrival time set by the target conveyance speed arrival time setting unit 14. Calculate the acceleration based on the time difference "T1" of "T1". Specifically, the acceleration calculation unit 15 calculates "v ₁₁ /T1" obtained by dividing the speed difference "v ₁₁ " of the first driving roller by the time difference "T1" as the time "0" ~ " of the first driving roller. The acceleration is T1", and the speed difference " _v21 " of the second driving roller is divided by the time difference "T1", resulting in " _v21 /T1", which is the acceleration of the second driving roller from time "0" to "T1". , and “v ₃₁ /T1” obtained by dividing the speed difference “v ₃₁ ” of the third driving roller by the time difference “T1” is taken as the acceleration of the third driving roller from time “0” to “T1”. In this way, the acceleration of each drive roller 21 in the acceleration section “0” to “T1” typically has different values.

As a result, through each speed control unit 12 and each drive unit 11, the rotational speed of the three drive rollers 21 reaches the respective target transfer speed "v ₁₁ ""at the common target transfer speed arrival time "T1". Since v ₂₁ " is controlled to reach " v ₃₁ ", excessive pulling or loosening of the conveyed object 3 can be effectively prevented. However, in the example of FIG. 2, the speed of each drive roller 21 increased linearly by keeping the acceleration of each drive roller 21 constant in the acceleration section from time "0" to "T1". , the speed of each drive roller in the acceleration section may increase nonlinearly.

The three drive rollers 21, which have each reached the target rotational speeds "v ₁₁ ", "v ₂₁ ", and "v ₃₁ " at time "T1", are simultaneously decelerated from time "t2". At this time, the target conveyance speed setting unit 13 individually sets the target rotation speeds "v ₁₂ ", "v ₂₂ ", and "v ₃₂ " of the three drive rollers 21. In addition, the target conveyance speed arrival time setting unit 14 sets a common goal that the rotational speed of the three drive rollers 21 must reach the respective target rotational speeds "v ₁₂ ", "v ₂₂ ", and "v ₃₂ ". Set the rotation speed arrival time “T2”.

The acceleration calculation unit 15 calculates the rotational speeds “v ₁₁ ,” “v ₂₁ ,” and “v ₃₁ ” of the three drive rollers 21 at the current time “t2” and the target set by the target conveyance speed setting unit 13. Rotation speed "v ₁₂ ""v ₂₂ ""v ₃₂ " speed difference "v ₁₂ -v ₁₁ ""v ₂₂ -v ₂₁ ""v ₃₂ -v ₃₁ ", and current time "t2" and target conveyance speed The acceleration is calculated based on the time difference "T2-t2" between the target conveyance speed arrival time "T2" set by the arrival time setting unit 14. Specifically, the acceleration calculation unit 15 calculates "(v _{12 -v 11)/(T2-t2)" obtained by dividing the speed difference "v 12 -v 11 "} of the first drive roller by the time difference "T2-t2". "(v ₂₂ ) obtained by setting " as the acceleration from time "t2" to "T2" of the first driving roller and dividing the speed difference "v ₂₂ -v ₂₁ " of the second driving roller by the time difference "T2-t2" -v ₂₁ )/(T2-t2)" is the acceleration of the second driving roller from time "t2" to "T2", and the speed difference "v ₃₂ -v ₃₁ " of the third driving roller is the time difference "T2-". “(v ₃₂ -v ₃₁ )/(T2-t2)” obtained by dividing by “t2” is taken as the acceleration from time “t2” to “T2” of the third drive roller. In this way, the acceleration of each drive roller 21 in the deceleration section “t2” to “T2” typically has different values.

As a result, through each speed control unit 12 and each drive unit 11, the rotational speed of the three drive rollers 21 reaches the target transfer speed "v ₁₂ ""at the common target transfer speed arrival time "T2". Since v ₂₂ " is controlled to reach " v ₃₂ ", excessive pulling or loosening of the conveyed object 3 can be effectively prevented. However, in the example of FIG. 2, the speed of each drive roller 21 decreased linearly by making the acceleration of each drive roller 21 constant in the deceleration section from time “t2” to “T2”. , the speed of each drive roller in the deceleration section may decrease nonlinearly.

The three drive rollers 21, which have each reached the target rotational speeds "v ₁₂ ", "v ₂₂ ", and "v ₃₂ " at time "T2", are accelerated simultaneously from time "t3". At this time, the target conveyance speed setting unit 13 individually sets the target rotation speeds "v ₁₃ ", "v ₂₃ ", and "v ₃₃ " of the three drive rollers 21. However, in the example shown, all target rotational speeds "v ₁₃ ", "v ₂₃ ", and "v ₃₃ " are set to the same value. In addition, the target conveyance speed arrival time setting unit 14 sets a common goal that the rotational speed of the three drive rollers 21 must reach the respective target rotational speeds "v ₁₃ ", "v ₂₃ ", and "v ₃₃ ". Set the rotation speed arrival time “T3”.

The acceleration calculation unit 15 calculates the rotational speeds “v ₁₂ ,” “v ₂₂ ,” and “v ₃₂ ” of the three drive rollers 21 at the current time “t3” and the target set by the target conveyance speed setting unit 13. Rotation speed "v ₁₃ ""v ₂₃ ""v ₃₃ " speed difference "v ₁₃ -v ₁₂ ""v ₂₃ -v ₂₂ ""v ₃₃ -v ₃₂ ", and current time "t3" and target transfer speed The acceleration is calculated based on the time difference "T3-t3" from the target conveyance speed arrival time "T3" set by the arrival time setting unit 14. Specifically, the acceleration calculation unit 15 calculates "(v _{13 -v 12 )/(T3-t3)" obtained by dividing the speed difference "v 13 -v 12 "} of the first drive roller by the time difference "T3-t3". "(v ₂₃ ) obtained by setting " as the acceleration from time "t3" to "T3" of the first driving roller and dividing the speed difference "v ₂₃ -v ₂₂ " of the second driving roller by the time difference "T3-t3" -v ₂₂ )/(T3-t3)" is the acceleration of the second driving roller from time "t3" to "T3", and the speed difference "v ₃₃ -v ₃₂ " of the third driving roller is the time difference "T3-". “(v ₃₃ -v ₃₂ )/(T3-t3)” obtained by dividing by “t3” is taken as the acceleration from time “t3” to “T3” of the third drive roller. In this way, the acceleration of each drive roller 21 in the acceleration section “t3” to “T3” typically has different values.

As a result, through each speed control unit 12 and each drive unit 11, the rotational speed of the three drive rollers 21 reaches the respective target transfer speed "v ₁₃ ""at the common target transfer speed arrival time "T3". Since v ₂₃ "is controlled to reach "v ₃₃ ", excessive pulling or loosening of the conveyed object 3 can be effectively prevented. However, in the example of FIG. 2, the speed of each drive roller 21 increased linearly by keeping the acceleration of each drive roller 21 constant in the acceleration section from time “t3” to “T3”. , the speed of each drive roller in the acceleration section may increase nonlinearly.

Fig. 3 shows an example of an operation screen of the conveyance control device 1. The operator of the conveyance control device 1 selects a plurality of conveyance rollers (for example, five as in FIG. 1) displayed on the screen to which the speed control illustratively illustrated in FIG. 2 is to be applied (two). Any of the above conveying rollers can be specified. In the example shown, three conveyance rollers surrounded by a rectangular selection range SL arranged on the screen by the operator of the conveyance control device 1 are selected as the objects of the speed control described above.

Above, the present invention has been explained based on the embodiments. Various modifications are possible for the combination of each component or each process in the exemplary embodiment, and it is obvious to those skilled in the art that such modifications are included in the scope of the present invention.

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

1 Transfer control device
2 Transfer device
3 Items to be transported
13 Target transfer speed setting unit
14 Target transfer speed arrival time setting unit
15 Acceleration calculation unit
20 Transfer roller group
21 Drive roller
111 driving part
121 Speed control unit
211 driving roller

Claims (7)

A target transfer speed setting unit that individually sets target transfer speeds of a plurality of transfer units for transporting objects,
a target conveyance speed arrival time setting unit that sets a common target conveyance speed arrival time for the plurality of conveyance units at which the conveyance speed of each conveyance unit must reach the target conveyance speed;
A conveyance control device comprising a driving unit that drives each conveyance unit so that the conveyance speed of each conveyance unit reaches the target conveyance speed at the common target conveyance speed arrival time. According to paragraph 1,
The transport control device wherein the driving unit drives each transport unit with an acceleration based on a speed difference between the current transport speed of each transport unit and the target transport speed, and a time difference between the current time and the time at which the target transport speed is reached. According to paragraph 2,
The acceleration of each conveyance unit is a value obtained by dividing the speed difference by the time difference. According to any one of claims 1 to 3,
A transport control device wherein the plurality of transport units are adjacent to each other in the transport direction of the transported object. According to any one of claims 1 to 3,
Each of the conveying units is a conveying roller rotatable around a rotation axis perpendicular to the conveying direction of the conveyed object,
The target conveyance speed setting unit individually sets the target conveyance speed as the target rotation speed of the plurality of conveyance rollers,
The target conveyance speed arrival time setting section sets the target conveyance speed arrival time as a common target rotational speed arrival time for the plurality of conveyance rollers at which the rotational speed of each conveyance roller must reach the target rotational speed,
The conveyance control device wherein the drive unit rotates each conveyance roller so that the rotation speed of each conveyance roller reaches the target rotation speed at the time when the common target rotation speed is reached. A target conveyance speed setting step for individually setting target conveyance speeds of a plurality of conveyance units for conveying objects,
A target conveyance speed arrival time setting step for setting a common target conveyance speed arrival time for the plurality of conveyance units at which the conveyance speed of each conveyance unit must reach the target conveyance speed;
A conveyance control method comprising a driving step for driving each conveyance unit so that the conveyance speed of each conveyance unit reaches the target conveyance speed at the common target conveyance speed arrival time. A target conveyance speed setting step for individually setting target conveyance speeds of a plurality of conveyance units for conveying objects,
A target conveyance speed arrival time setting step for setting a common target conveyance speed arrival time for the plurality of conveyance units at which the conveyance speed of each conveyance unit must reach the target conveyance speed;
A recording medium readable by a computer that records a conveyance control program that executes driving steps for driving each conveyance unit so that the conveyance speed of each conveyance unit reaches the target conveyance speed at the common target conveyance speed arrival time.