TW202337807A - Conveying control device, conveying control method, conveying control program wherein the conveying control device comprises a subtractor, a tension command generation unit and a thrust correction unit - Google Patents

Conveying control device, conveying control method, conveying control program wherein the conveying control device comprises a subtractor, a tension command generation unit and a thrust correction unit Download PDF

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TW202337807A
TW202337807A TW112106245A TW112106245A TW202337807A TW 202337807 A TW202337807 A TW 202337807A TW 112106245 A TW112106245 A TW 112106245A TW 112106245 A TW112106245 A TW 112106245A TW 202337807 A TW202337807 A TW 202337807A
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Taiwan
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tension
conveying control
command
thrust
conveyed object
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TW112106245A
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Chinese (zh)
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安藤高虎
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日商住友重機械工業股份有限公司
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Publication of TW202337807A publication Critical patent/TW202337807A/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/04Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/26Registering, tensioning, smoothing or guiding webs longitudinally by transverse stationary or adjustable bars or rollers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/04Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/048Registering, tensioning, smoothing or guiding webs longitudinally by positively actuated movable bars or rollers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/04Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/044Sensing web tension
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H23/00Registering, tensioning, smoothing or guiding webs
    • B65H23/04Registering, tensioning, smoothing or guiding webs longitudinally
    • B65H23/18Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web
    • B65H23/188Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web
    • B65H23/1888Registering, tensioning, smoothing or guiding webs longitudinally by controlling or regulating the web-advancing mechanism, e.g. mechanism acting on the running web in connection with running-web and controlling web tension
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H26/00Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms
    • B65H26/02Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms responsive to presence of irregularities in running webs
    • B65H26/04Warning or safety devices, e.g. automatic fault detectors, stop-motions, for web-advancing mechanisms responsive to presence of irregularities in running webs for variation in tension
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H59/00Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators
    • B65H59/10Adjusting or controlling tension in filamentary material, e.g. for preventing snarling; Applications of tension indicators by devices acting on running material and not associated with supply or take-up devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H63/00Warning or safety devices, e.g. automatic fault detectors, stop-motions ; Quality control of the package
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30Forces; Stresses
    • B65H2515/31Tensile forces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2555/00Actuating means
    • B65H2555/10Actuating means linear
    • B65H2555/11Actuating means linear pneumatic, e.g. inflatable elements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65HHANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2557/00Means for control not provided for in groups B65H2551/00 - B65H2555/00
    • B65H2557/20Calculating means; Controlling methods

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  • Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Controlling Rewinding, Feeding, Winding, Or Abnormalities Of Webs (AREA)
  • Control Of Conveyors (AREA)
  • Drives For Endless Conveyors (AREA)

Abstract

The present invention provides a conveying control device capable of controlling the tension of an object to be conveyed with high precision. The conveying control device (1) comprises: a subtractor (18) that acquires the tension of the conveyed object (3) to which tension is applied by the tension adjustment roller (243) from the tension detector (26); a tension command generation unit (17) that generates the tension command of the conveyed object (3); and a thrust correction unit (19) that corrects the thrust applied to the tension adjustment roller (243) in the opposite direction to the tension of the conveyed object (3) based on the difference between the tension obtained by the subtractor (18) and the tension command generated by the tension command generation unit (17). The thrust corrected by the thrust correction unit (19) is based on the air pressure of the cylinder (244) connected to the tension adjustment roller (243).

Description

輸送控制裝置、輸送控制方法、輸送控制程式Conveyor control device, conveyor control method, conveyor control program

本發明係有關一種輸送控制裝置等。The present invention relates to a conveying control device and the like.

作為輸送繩或鋼絲等線狀的被輸送物或者紙或布等面狀的被輸送物之輸送裝置,檢測被輸送物的張力之裝置是廣為人知的。例如專利文獻1中,揭示如下技術:依據鋼絲的張力的檢測值與基準值之差生成對馬達的操作量,將鋼絲的張力維持在基準值上。 [先前技術文獻] [專利文獻] As a device for conveying linear objects such as conveyor ropes and steel wires, or planar objects such as paper or cloth, devices that detect the tension of the conveyed objects are widely known. For example, Patent Document 1 discloses a technology that generates an operation amount for a motor based on the difference between a detected value of the steel wire tension and a reference value to maintain the steel wire tension at the reference value. [Prior technical literature] [Patent Document]

[專利文獻1] 日本特開2003-176080號公報[Patent Document 1] Japanese Patent Application Publication No. 2003-176080

[發明所欲解決之問題][Problem to be solved by the invention]

專利文獻1中的張力檢測器嚴格來說,並不直接檢測被輸送物的張力,而是檢測對被輸送物施加張力之張力調節輥的位置。因此,在張力調節輥的位置與被輸送物的張力的相關性不完全之情況下,導致在被輸送物的張力的控制中產生誤差。Strictly speaking, the tension detector in Patent Document 1 does not directly detect the tension of the object to be conveyed, but detects the position of the tension adjustment roller that applies tension to the object to be conveyed. Therefore, when the correlation between the position of the tension adjustment roller and the tension of the conveyed object is incomplete, an error occurs in the control of the tension of the conveyed object.

本發明係鑑於該種狀況而完成者,其目的在於提供一種能夠高精度地控制被輸送物的張力之輸送控制裝置等。 [解決問題之技術手段] The present invention was made in view of this situation, and an object thereof is to provide a conveyance control device and the like that can control the tension of an object to be conveyed with high precision. [Technical means to solve problems]

為了解決上述問題,本發明的一態樣的輸送控制裝置具備:張力檢測部,檢測藉由張力調節輥施加了張力之被輸送物的張力;張力指令生成部,生成被輸送物的張力指令;及推力校正部,依據檢測出之張力與張力指令之差,校正與被輸送物的張力相反方向地施加於張力調節輥之推力。In order to solve the above problem, a conveyance control device according to one aspect of the present invention includes: a tension detection unit that detects the tension of an object to be conveyed to which tension is applied by a tension adjustment roller; a tension command generation unit that generates a tension command for the object to be conveyed; And the thrust correction part corrects the thrust applied to the tension adjustment roller in the opposite direction to the tension of the object to be conveyed based on the difference between the detected tension and the tension command.

依該態樣,直接檢測被輸送物的張力,依據與張力指令之差來校正施加於張力調節輥之推力(與被輸送物的張力平衡),藉此能夠高精度地控制被輸送物的張力。According to this aspect, the tension of the conveyed object is directly detected, and the thrust applied to the tension adjustment roller is corrected based on the difference with the tension command (balanced with the tension of the conveyed object), thereby enabling high-precision control of the tension of the conveyed object. .

本發明的另一態樣係輸送控制方法。該方法具備:張力檢測步驟,檢測藉由張力調節輥施加了張力之被輸送物的張力;張力指令生成步驟,生成被輸送物的張力指令;及推力校正步驟,依據檢測出之張力與張力指令之差,校正與被輸送物的張力相反方向地施加於張力調節輥之推力。Another aspect of the invention is a transport control method. The method includes: a tension detection step, which detects the tension of the conveyed object with tension applied by the tension adjustment roller; a tension command generation step, which generates a tension command of the conveyed object; and a thrust correction step, based on the detected tension and the tension command. The difference corrects the thrust applied to the tension adjustment roller in the opposite direction to the tension of the conveyed object.

另外,以上構成要素的任意組合或將該等表現變換為方法、裝置、系統、記錄媒體、電腦程式等者亦包含在本發明中。 [發明之效果] In addition, any combination of the above constituent elements or the transformation of these expressions into methods, devices, systems, recording media, computer programs, etc. are also included in the present invention. [Effects of the invention]

依本發明,能夠高精度地控制被輸送物的張力。According to the present invention, the tension of the conveyed object can be controlled with high precision.

以下,一邊參照圖式,一邊對用於實施本發明之方式(以下亦稱為實施方式)進行詳細說明。說明及/或圖式中,對相同或等同的構成要素、構件、處理等標註相同的符號並省略重複之說明。關於圖示之各部的縮尺或形狀,為了說明的簡易化,適當地進行設定,除非另有特別說明,否則不作限定性解釋。實施方式係例示的,對本發明的範圍並不作任何限定。實施方式中記載之所有特徵和該等的組合並不一定係本發明的本質特徵。Hereinafter, modes for implementing the present invention (hereinafter also referred to as embodiments) will be described in detail with reference to the drawings. In the description and/or drawings, the same or equivalent components, members, processes, etc. are denoted by the same symbols, and repeated descriptions are omitted. The scale and shape of each part shown in the drawings are set appropriately for the sake of simplicity of explanation, and are not to be interpreted in a restrictive manner unless otherwise specified. The embodiments are illustrative and do not limit the scope of the present invention in any way. All features described in the embodiments and their combinations are not necessarily essential features of the present invention.

圖1示意地表示本發明的實施方式之輸送控制裝置1的構成。輸送控制裝置1係控制輸送被輸送物3之輸送裝置2的輸送動作之裝置。作為被輸送物3,例示有繩或鋼絲等線狀的被輸送物或者紙、布、膜、箔、橡膠等面狀的被輸送物。本實施方式中,對將面狀的基材作為被輸送物3向輸送方向(圖1中的左右方向)輸送之輥對輥(Roll-to-Roll)方式的輸送裝置2進行說明。輸送裝置2可以係對被輸送之被輸送物實施任意處理之裝置、例如對被輸送物實施塗布之塗布機或塗布裝置、對被輸送物實施印刷之印刷機、對被輸送物施加張力而延伸之延伸裝置等的一部分。FIG. 1 schematically shows the structure of the conveyance control device 1 according to the embodiment of the present invention. The conveying control device 1 is a device that controls the conveying operation of the conveying device 2 that conveys the object 3 . Examples of the conveyed object 3 include linear conveyed objects such as ropes and steel wires, and planar conveyed objects such as paper, cloth, film, foil, and rubber. In this embodiment, a roll-to-roll conveyance device 2 that conveys a planar base material as an object 3 in the conveyance direction (the left-right direction in FIG. 1 ) will be described. The conveying device 2 may be a device that performs any processing on the conveyed object, such as a coater or coating device that applies coating to the conveyed object, a printing press that prints on the conveyed object, or a device that applies tension to the conveyed object to extend it. part of the extension device, etc.

輸送裝置2具備驅動輥231、驅動輥251、張力調節器24及張力檢測器26。在由後述之驅動部161旋轉驅動之驅動輥231中,可以並列設置有在與該驅動輥231之間夾持被輸送物3並與該驅動輥231連動而旋轉之從動輥232。在由後述之驅動部16旋轉驅動之驅動輥251中,可以並列設置有在與該驅動輥251之間夾持被輸送物3並與該驅動輥251連動而旋轉之從動輥252。另外,在驅動輥231及/或驅動輥251由吸輥等構成之情況下,無需設置從動輥232及/或從動輥252。The conveyor device 2 includes a drive roller 231, a drive roller 251, a tension adjuster 24, and a tension detector 26. A driven roller 231 that is rotationally driven by a drive unit 161 to be described later may be provided in parallel with a driven roller 232 that clamps the conveyed object 3 therebetween and rotates in conjunction with the drive roller 231 . A driven roller 251 that is rotationally driven by a drive unit 16 to be described later may be provided in parallel with a driven roller 252 that clamps the conveyed object 3 between the drive roller 251 and the drive roller 251 and rotates in conjunction with the drive roller 251 . In addition, when the driving roller 231 and/or the driving roller 251 is composed of a suction roller or the like, it is not necessary to provide the driven roller 232 and/or the driven roller 252 .

驅動輥231/251及從動輥232/252係作為輸送被輸送物3之輸送部的一態樣的輸送輥,能夠繞與輸送方向(圖1中的左右方向)正交之方向(與圖1的紙面垂直的方向)的旋轉軸旋轉。驅動輥231/251根據由速度控制部151/15生成之旋轉速度指令藉由馬達等驅動部161/16旋轉驅動。在圖1中的被輸送物3的輸送方向為向右之情況下,驅動輥231/251藉由驅動部161/16向順時針方向旋轉驅動,從動輥232/252與驅動輥231/251連動而向逆時針方向旋轉。The driving rollers 231/251 and the driven rollers 232/252 are conveying rollers in one form as a conveying part for conveying the conveyed object 3, and can rotate in a direction orthogonal to the conveying direction (the left-right direction in Figure 1) (the direction in Figure 1). 1 (vertical direction to the paper). The drive rollers 231/251 are rotationally driven by a drive unit 161/16 such as a motor based on the rotation speed command generated by the speed control unit 151/15. When the conveying direction of the conveyed object 3 in FIG. 1 is to the right, the driving roller 231/251 is rotationally driven in the clockwise direction by the driving part 161/16, and the driven roller 232/252 and the driving roller 231/251 linked to rotate counterclockwise.

張力調節器24設置在驅動輥231與驅動輥251之間。The tension adjuster 24 is provided between the driving roller 231 and the driving roller 251 .

張力調節器24對被輸送物3施加輸送方向上的張力。張力調節器24具備:一對輥241、242,設置在被輸送物3的輸送路徑(圖1中被輸送物3延伸之左右方向的路徑)上:及張力調節輥243,在該一對輥241、242之間設置在從被輸送物3的輸送路徑脫離之位置。另外,張力調節輥亦稱為張力調節滾筒。The tension adjuster 24 applies tension in the conveying direction to the conveyed object 3 . The tension adjuster 24 is provided with: a pair of rollers 241 and 242, which are provided on the conveyance path of the object 3 (the path in the left-right direction in which the object 3 extends in FIG. 1); and a tension adjustment roller 243, which is provided on the conveyor path of the object 3. The space between 241 and 242 is provided at a position away from the conveyance path of the conveyed object 3 . In addition, the tension adjustment roller is also called a tension adjustment roller.

張力調節輥243在遠離被輸送物3的輸送路徑之方向(圖1中的上下方向)上以能夠在上端243A與下端243B之間移動的方式設置。作為推力施加部的氣缸244生成對張力調節輥243向遠離被輸送物3的輸送路徑之方向(圖1中的下方)蓄勢或加壓之推力。該推力基於經由活塞桿或連桿連接於張力調節輥243之氣缸244的氣壓。氣缸244的氣壓由後述之推力校正部19生成,前述推力校正部19由藉由電力控制氣壓之電動氣動調整器等構成。以往的電動氣動調整器中,一般而言施加有恆定的電壓,氣缸的氣壓亦即張力調節輥的推力被控制為恆定,但本實施方式中,自適應地控制氣缸244的氣壓亦即張力調節輥243的推力。另外,亦可以設置推力施加部(例如,依據電力對張力調節滾筒243施加推力之線性馬達等)來代替氣缸244,前述推力施加部依據其他原理對張力調節滾筒243施加推力。The tension adjustment roller 243 is provided movably between the upper end 243A and the lower end 243B in a direction away from the conveyance path of the conveyed object 3 (the up-and-down direction in FIG. 1 ). The air cylinder 244 as a thrust applying unit generates a thrust that accumulates or pressurizes the tension adjustment roller 243 in a direction away from the conveyance path of the conveyed object 3 (downward in FIG. 1 ). This thrust is based on the air pressure of the cylinder 244 connected to the tension adjustment roller 243 via a piston rod or connecting rod. The air pressure of the cylinder 244 is generated by a thrust correction unit 19 which will be described later. The thrust correction unit 19 is composed of an electro-pneumatic regulator that controls the air pressure with electricity. In conventional electropneumatic regulators, a constant voltage is generally applied, and the air pressure of the cylinder, that is, the thrust of the tension adjustment roller, is controlled to be constant. However, in this embodiment, the air pressure of the air cylinder 244, that is, the tension adjustment, is adaptively controlled. The thrust of roller 243. In addition, a thrust applying part (for example, a linear motor that applies thrust to the tension adjustment roller 243 based on electricity) may be provided instead of the cylinder 244. The thrust application part applies thrust to the tension adjustment roller 243 based on other principles.

藉由來自氣缸244的推力向下方蓄勢或加壓之張力調節輥243藉由向遠離輸送路徑之方向拉伸被輸送物3而對該被輸送物3施加張力。此時,張力調節輥243在從氣缸244受到之向下的推力與從被輸送物3受到之向上的張力平衡之位置靜止。如前所述,一般而言,由於張力調節輥243從氣缸244受到之向下的推力被維持或控制為大致恆定,因此張力調節輥243的上下方向的位置表示被輸送物3的張力。The tension adjustment roller 243 , which is biased or pressurized downward by the thrust from the air cylinder 244 , applies tension to the conveyed object 3 by stretching the conveyed object 3 in a direction away from the conveying path. At this time, the tension adjustment roller 243 is stationary at a position where the downward thrust received from the air cylinder 244 and the upward tension received from the conveyed object 3 are balanced. As mentioned above, generally speaking, since the downward thrust force that the tension adjustment roller 243 receives from the air cylinder 244 is maintained or controlled to be substantially constant, the vertical position of the tension adjustment roller 243 indicates the tension of the conveyed object 3 .

推力的方向(圖1中的上下方向)上的張力調節輥243的位置藉由位置檢測部245或位置感測器作為電訊號而被檢測,並提供給輸送控制裝置1的減法器14。除此以外,減法器14中輸入由輸送控制裝置1的位置指令生成部13生成之推力的方向上的張力調節輥243的位置指令。輸送控制裝置1的速度控制部15生成用於減小由減法器14提供之張力調節輥243的位置或被輸送物3的張力的偏差之速度指令。該速度指令係針對被輸送物3的輸送速度之指令,具體而言,係針對以下說明之驅動輥251的旋轉速度之指令。The position of the tension adjustment roller 243 in the thrust direction (the up-down direction in FIG. 1 ) is detected as an electrical signal by the position detection unit 245 or a position sensor, and is supplied to the subtractor 14 of the conveyance control device 1 . In addition, the position command of the tension adjustment roller 243 in the direction of the thrust force generated by the position command generation unit 13 of the conveyance control device 1 is input to the subtractor 14 . The speed control unit 15 of the conveyance control device 1 generates a speed command for reducing deviations in the position of the tension adjustment roller 243 supplied from the subtractor 14 or in the tension of the conveyed object 3 . This speed command is a command for the conveyance speed of the conveyed object 3, specifically, it is a command for the rotation speed of the driving roller 251 demonstrated below.

輸送控制裝置1的驅動部16及/或161根據由速度控制部15及/或151提供之速度指令,旋轉驅動並列設置於張力調節器24的緊後方及/或跟前之驅動輥251及/或驅動輥231。以下,對並列設置於張力調節器24的緊後方之驅動輥251的控制進行詳述,但該等內容亦能夠適用於並列設置於張力調節器24的跟前之驅動輥231的控制。又,圖1中,省略了與並列設置於張力調節器24的跟前之驅動輥231有關之構成(例如位置指令生成部13和減法器14等)。驅動輥251係能夠繞與被輸送物3的輸送方向正交之旋轉軸旋轉之輸送輥。若驅動輥251向圖1中的順時針方向旋轉驅動,則從動輥252與驅動輥251連動而向逆時針方向旋轉。驅動輥251的旋轉速度根據位置及/或張力的偏差而自適應地進行控制。如此,驅動輥251及從動輥252一邊輸送夾在其之間之被輸送物3,一邊控制由位置指令生成部13生成之張力調節輥243的位置。The driving parts 16 and/or 161 of the conveying control device 1 rotate and drive the driving rollers 251 and/or arranged in parallel immediately behind and/or in front of the tension adjuster 24 according to the speed command provided by the speed control part 15 and/or 151. Drive roller 231. In the following, the control of the drive roller 251 arranged in parallel immediately behind the tension adjuster 24 will be described in detail. However, the above description can also be applied to the control of the drive roller 231 arranged in parallel in front of the tension adjuster 24 . In addition, in FIG. 1 , the structure related to the drive roller 231 arranged in parallel in front of the tension adjuster 24 (for example, the position command generating unit 13 and the subtractor 14, etc.) is omitted. The driving roller 251 is a conveying roller that can rotate around a rotation axis orthogonal to the conveying direction of the object 3 . When the driving roller 251 is driven to rotate in the clockwise direction in FIG. 1 , the driven roller 252 rotates in the counterclockwise direction in conjunction with the driving roller 251 . The rotational speed of the drive roller 251 is adaptively controlled based on deviations in position and/or tension. In this way, the driving roller 251 and the driven roller 252 control the position of the tension adjustment roller 243 generated by the position command generating unit 13 while transporting the conveyed object 3 sandwiched therebetween.

如上所述,張力調節器24並不是僅藉由施加恆定推力(僅藉由推力與基材張力的平衡進行張力控制)而直接檢測實際的張力來進行控制,因此張力精度取決於對電動氣動轉換器的電壓指令或氣缸的氣壓指令,導致在被輸送物3的張力的控制中產生誤差。如以下所說明,依本實施方式之輸送控制裝置1,除了基於張力調節器24之「粗」張力控制以外及/或代替基於張力調節器24之「粗」張力控制,實現「細」張力控制,藉此與以往相比能夠高精度地控制被輸送物3的張力。為了進行細張力控制,在輸送裝置2中,直接檢測藉由張力調節輥243施加了張力之被輸送物3的張力之張力檢測器26設置在作為張力控制區間的驅動輥231與251之間。可以設置在張力調節器24的前級/後級。As mentioned above, the tension adjuster 24 does not control by directly detecting the actual tension only by applying a constant thrust (only performing tension control through the balance of the thrust and the substrate tension), so the tension accuracy depends on the electro-pneumatic conversion. The voltage command of the device or the air pressure command of the cylinder will cause an error in the control of the tension of the conveyed object 3. As explained below, according to the conveyance control device 1 of this embodiment, in addition to and/or instead of the "coarse" tension control based on the tension adjuster 24, "fine" tension control is realized. , whereby the tension of the object 3 to be conveyed can be controlled with high precision compared to conventional methods. In order to perform fine tension control, in the conveyance device 2, a tension detector 26 that directly detects the tension of the conveyed object 3 to which tension is applied by the tension adjustment roller 243 is provided between the drive rollers 231 and 251 as the tension control section. It can be set before/after the tension adjuster 24.

輸送控制裝置1中,作為用於實現粗張力控制之功能方塊,具備前述位置指令生成部13、減法器14、速度控制部15及驅動部16,作為用於實現細張力控制之功能方塊,具備張力指令生成部17、減法器18及推力校正部19。該等功能方塊藉由電腦的中央運算處理裝置、記憶體、輸入裝置、輸出裝置、連接於電腦之周邊機器等硬體資源和使用該等而執行之軟體的協作來實現。無論電腦的種類或設置場所如何,上述各功能方塊可以由單一電腦的硬體資源實現,亦可以組合分散在複數個電腦之硬體資源來實現。The conveyance control device 1 is provided with the aforementioned position command generation unit 13, subtractor 14, speed control unit 15, and drive unit 16 as functional blocks for realizing coarse tension control, and is provided with functional blocks for realizing fine tension control. Tension command generation unit 17, subtractor 18 and thrust correction unit 19. These functional blocks are realized through the cooperation of hardware resources such as the computer's central processing unit, memory, input devices, output devices, peripheral machines connected to the computer, and the software that is executed using these. Regardless of the type of computer or the installation location, each of the above functional blocks can be implemented by the hardware resources of a single computer, or can be implemented by combining hardware resources dispersed in multiple computers.

張力指令生成部17生成被輸送物3的張力指令。作為張力檢測部發揮功能之減法器18運算由張力檢測器26直接檢測出之被輸送物3的張力與由張力指令生成部17生成之張力指令之差。推力校正部19依據由減法器18運算出之實際的張力與張力指令之差,校正向與被輸送物3的張力相反的方向(圖1中的向下)施加於張力調節輥243之推力。具體而言,推力校正部19例如由電動氣動調整器構成,對氣缸244施加用於減小實際的張力與張力指令的張力偏差之電壓。並且,氣缸244自適應地生成直接與所期望的張力平衡之向下的推力或氣壓,藉此直接最小化張力偏差。如此,依本實施方式,與以往相比能夠高精度地控制被輸送物3的張力。The tension command generating unit 17 generates a tension command for the conveyed object 3 . The subtractor 18 functioning as a tension detector calculates the difference between the tension of the object 3 directly detected by the tension detector 26 and the tension command generated by the tension command generation unit 17 . The thrust correction unit 19 corrects the thrust applied to the tension adjustment roller 243 in the direction opposite to the tension of the object 3 (downward in FIG. 1 ) based on the difference between the actual tension calculated by the subtractor 18 and the tension command. Specifically, the thrust correction unit 19 is composed of, for example, an electro-pneumatic regulator, and applies a voltage to the cylinder 244 to reduce the tension deviation between the actual tension and the tension command. Furthermore, the cylinder 244 adaptively generates downward thrust or air pressure that is directly balanced with the desired tension, thereby directly minimizing tension deviation. In this way, according to this embodiment, the tension of the object 3 to be conveyed can be controlled more accurately than before.

以上,依據實施方式對本發明進行了說明。作為例示的實施方式中的各構成要素或各處理的組合中能夠有各種變形例,且該種變形例包含在本發明的範圍內,這對於本領域具有通常知識者來說係顯而易見的。The present invention has been described above based on the embodiments. It is obvious to a person with ordinary knowledge in the art that various modifications can be made to the combination of each component or each process in the illustrated embodiments, and that such modifications are included in the scope of the present invention.

另外,實施方式中所說明之各裝置或各方法的構成、作用、功能能夠藉由硬體資源或軟體資源或者藉由硬體資源和軟體資源的協作來實現。作為硬體資源,例如,能夠利用處理器、ROM、RAM、各種積體電路。作為軟體資源,例如,能夠利用操作系統、應用程式等程式。 本申請案係主張基於2022年3月24日申請之日本專利申請第2022-047933號的優先權。該日本申請案的全部內容係藉由參閱而援用於本說明書中。 In addition, the configuration, action, and function of each device or each method described in the embodiments can be realized by hardware resources or software resources, or by cooperation of hardware resources and software resources. As hardware resources, for example, a processor, ROM, RAM, and various integrated circuits can be used. As software resources, for example, programs such as operating systems and applications can be used. This application claims priority based on Japanese Patent Application No. 2022-047933 filed on March 24, 2022. The entire contents of this Japanese application are incorporated by reference into this specification.

1:輸送控制裝置 2:輸送裝置 3:被輸送物 13:位置指令生成部 14:減法器 15:速度控制部 16:驅動部 17:張力指令生成部 18:減法器 19:推力校正部 20:輸送輥群組 24:張力調節器 26:張力檢測器 243:張力調節輥 244:氣缸 245:位置檢測部 251:驅動輥 1:Conveyor control device 2: Conveying device 3: Object to be transported 13: Position command generation department 14:Subtractor 15: Speed control department 16:Drive Department 17: Tension command generation part 18:Subtractor 19:Thrust correction department 20:Conveyor roller group 24: Tension adjuster 26: Tension detector 243: Tension adjustment roller 244:Cylinder 245: Position detection department 251:Driving roller

[圖1]示意地表示輸送控制裝置的構成。[Fig. 1] Schematically shows the structure of the conveyance control device.

1:輸送控制裝置 1:Conveyor control device

2:輸送裝置 2: Conveying device

3:被輸送物 3: Object to be transported

13:位置指令生成部 13: Position command generation department

14:減法器 14:Subtractor

15:速度控制部 15: Speed control department

16:驅動部 16:Drive Department

17:張力指令生成部 17: Tension command generation part

18:減法器 18:Subtractor

19:推力校正部 19:Thrust correction department

24:張力調節器 24: Tension adjuster

26:張力檢測器 26: Tension detector

151:速度控制部 151: Speed control department

161:驅動部 161:Drive Department

231:驅動輥 231:Driving roller

232:從動輥 232: driven roller

241:輥 241:Roller

242:輥 242:Roller

243:張力調節輥 243: Tension adjustment roller

243A:上端 243A: Upper end

243B:下端 243B:Lower end

244:氣缸 244:Cylinder

245:位置檢測部 245: Position detection department

251:驅動輥 251:Driving roller

252:從動輥 252: driven roller

Claims (6)

一種輸送控制裝置,其具備: 張力檢測部,檢測藉由張力調節輥施加了張力之被輸送物的張力; 張力指令生成部,生成前述被輸送物的張力指令;及 推力校正部,依據前述檢測出之張力與前述張力指令之差,校正與前述被輸送物的張力相反方向地施加於前述張力調節輥之推力。 A conveying control device, which has: The tension detection part detects the tension of the conveyed object with tension applied by the tension adjustment roller; The tension command generating unit generates the tension command of the aforementioned transported object; and The thrust correction unit corrects the thrust applied to the tension adjustment roller in the opposite direction to the tension of the conveyed object based on the difference between the detected tension and the tension command. 如請求項1所述之輸送控制裝置,其中 前述推力係依據與前述張力調節輥連接之氣缸的氣壓。 The conveying control device according to claim 1, wherein The aforementioned thrust force is based on the air pressure of the air cylinder connected to the aforementioned tension adjustment roller. 如請求項1或請求項2所述之輸送控制裝置,其進一步具備: 位置檢測部,檢測前述推力的方向上的前述張力調節輥的位置; 位置指令生成部,生成前述推力的方向上的前述張力調節輥的位置指令;及 速度控制部,依據前述檢測出之位置與前述位置指令之差,控制前述被輸送物的輸送速度。 The conveying control device as described in claim 1 or claim 2 further includes: a position detection unit that detects the position of the tension adjustment roller in the direction of the thrust force; a position command generating unit that generates a position command of the tension adjustment roller in the direction of the thrust force; and The speed control unit controls the conveying speed of the object to be conveyed based on the difference between the detected position and the position command. 如請求項3所述之輸送控制裝置,其中 前述速度控制部依據前述檢測出之位置與前述位置指令之差,控制能夠繞與前述被輸送物的輸送方向正交之旋轉軸旋轉之輸送輥的旋轉速度。 The conveying control device according to claim 3, wherein The speed control unit controls the rotational speed of the conveyance roller rotatable about a rotation axis orthogonal to the conveyance direction of the conveyed object based on the difference between the detected position and the position command. 一種輸送控制方法,其具備: 張力檢測步驟,檢測藉由張力調節輥施加了張力之被輸送物的張力; 張力指令生成步驟,生成前述被輸送物的張力指令;及 推力校正步驟,依據前述檢測出之張力與前述張力指令之差,校正與前述被輸送物的張力相反方向地施加於前述張力調節輥之推力。 A conveying control method, which has: The tension detection step is to detect the tension of the conveyed object with tension applied by the tension adjustment roller; The tension command generating step generates the tension command of the aforementioned conveyed object; and The thrust correction step is to correct the thrust applied to the tension adjustment roller in the opposite direction to the tension of the conveyed object based on the difference between the detected tension and the tension command. 一種輸送控制程式,其使電腦執行如下步驟: 張力檢測步驟,檢測藉由張力調節輥施加了張力之被輸送物的張力; 張力指令生成步驟,生成前述被輸送物的張力指令;及 推力校正步驟,依據前述檢測出之張力與前述張力指令之差,校正與前述被輸送物的張力相反方向地施加於前述張力調節輥之推力。 A conveying control program that causes a computer to perform the following steps: The tension detection step is to detect the tension of the conveyed object with tension applied by the tension adjustment roller; The tension command generating step generates the tension command of the aforementioned conveyed object; and The thrust correction step is to correct the thrust applied to the tension adjustment roller in the opposite direction to the tension of the conveyed object based on the difference between the detected tension and the tension command.
TW112106245A 2022-03-24 2023-02-21 Conveying control device, conveying control method, conveying control program wherein the conveying control device comprises a subtractor, a tension command generation unit and a thrust correction unit TW202337807A (en)

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