TW202346190A - Transport control device, transport control method, and storage medium - Google Patents

Abstract

The invention provides a conveying control device and the like capable of effectively preventing excessive tension or slack in a conveyed object. A conveyance control device (1) is provided with: a target conveyance speed setting unit (13) that sets a target conveyance speed for each of a plurality of drive rollers (211-215) that convey an object to be conveyed (3); a target conveyance speed arrival time setting unit (14) that sets the same target conveyance speed arrival time among the plurality of drive rollers (211-215) at which the conveyance speed of each of the drive rollers (211-215) should reach the target conveyance speed; and drive units (111-115) that drive the drive rollers (211-215) so that the conveyance speeds of the drive rollers (211-215) reach the target conveyance speed at the same target conveyance speed arrival time.

Description

Conveyor control device, conveyor control method, conveyor control program

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

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]

[Patent Document 1] Japanese Patent Application Publication No. 2003-176080

[Problem to be solved by the invention]

When the object to be conveyed is conveyed by a plurality of conveying rollers, the rotational speed of each conveying roller is controlled to be substantially the same in a stable conveying state. On the other hand, during acceleration and deceleration, etc., a significant difference may occur in the rotational speed of each conveyor roller, so excessive tension or slack may occur in the conveyed object.

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 effectively prevent excessive tension or slack in conveyed objects. [Technical means to solve problems]

In order to solve the above problem, a conveyance control device according to one aspect of the present invention includes: a target conveyance speed setting unit that individually sets target conveyance speeds for a plurality of conveyance units that convey objects to be conveyed; and a target conveyance speed reaching time setting unit that sets target conveyance speeds for a plurality of conveyor units. The conveying parts set the conveying speed of each conveying part to reach the common target conveying speed at the target conveying speed; and the driving part drives each conveying part so that the conveying speed of each conveying part reaches the common target conveying speed at the common target conveying speed. Target conveying speed.

According to this aspect, when the object to be conveyed is accelerated or decelerated, the conveying speeds of the plurality of conveying parts are controlled so as to reach the respective target conveying speeds at the common target conveying speed reaching time, so that the object to be conveyed can be effectively prevented from being caught. Excessive tension or slack.

Another aspect of the invention is a transport control method. This method includes: a target conveying speed setting step, which individually sets the target conveying speed of a plurality of conveying parts that convey conveyed objects; and a target conveying speed reaching time setting step, which sets the conveying speed of each conveying part for the plurality of conveying parts to reach the target. The conveying speed reaches a common target conveying speed at a time; and a driving step of driving each conveying part so that the conveying speed of each conveying part reaches the target conveying speed at a common target conveying speed reaching time.

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]

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

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.

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, the conveyance device 2 and the conveyance control device 1 provided in the stretching device which applies tension in the conveyance direction while conveying the planar base material as the conveyed object 3 and extending it will be described. In addition, the conveyance control device 1 of this embodiment can be similarly applied to any other conveyance device 2 (for example, one installed in a coater or a coating device).

The conveying device 2 includes a conveying roller group 20 and a tension adjuster 24 . The conveyance roller group 20 is provided with a plurality of conveyance rollers as a plurality of conveyance parts for conveying the conveyed object 3 . The conveyor roller group 20 in the example of FIG. 1 includes five conveyor roller pairs arranged in series along the conveyance direction of the conveyed object 3 (the left-right direction in FIG. 1 ). A plurality of conveying rollers are adjacent to each other in the conveying direction. Each pair of conveying rollers is provided with: driving rollers 211 to 215, which are rotationally driven by driving portions 111 to 115 to be described later; and driven rollers 221 to 225, which sandwich the conveyed object 3 between the driving rollers 211 to 215. and rotates in conjunction with the driving rollers 211 to 215. The five conveyor roller pairs 211/221 to 215/225 and the five drive units 111 to 115 and the five speed control units 121 to 125 provided in the conveyor control device 1 corresponding to each conveyor roller pair can be configured identically to each other. Therefore, below, the first conveyor roller pair 211/221, the first drive part 111, and the first speed control part 121 are described, and the other conveyor roller pairs 212/222~215/225 and the other drive parts 112~115 are omitted. , repeated description of other speed control parts 122 to 125. In addition, the number of conveying roller pairs provided in the conveying roller group 20 may be any plural number (any integer greater than 2).

The driving roller 211 and the driven roller 221 are conveying rollers that serve as a conveying portion for conveying the conveyed object 3, and can rotate in a direction orthogonal to the conveying direction (the left-right direction in Figure 1) (perpendicular to the paper surface of Figure 1). direction) of the axis of rotation. As will be described later, the drive roller 211 is rotationally driven by the drive unit 111 such as a motor based on the rotation speed command generated by the speed control unit 121 . When the conveying direction of the conveyed object 3 is rightward in FIG. 1 , the driving roller 211 is rotationally driven in the clockwise direction by the driving part 111 , and the driven roller 221 rotates counterclockwise in conjunction with the driving roller 211 .

The tension adjuster 24 is provided upstream (left side in FIG. 1 ) and downstream (right side in FIG. 1 ) of the transportation roller group 20 in the transportation direction so as to sandwich the transportation roller group 20 from both sides in the transportation direction. . Since the two tension adjusters 24 shown in the figure can be configured identically to each other, one tension adjuster 24 will be described.

The tension adjuster 24 is a tension detection unit that detects the tension in the conveyance direction of the conveyed object 3 . In addition, in addition to or instead of the tension adjuster 24 , a tension detector that directly detects the tension of the conveyed object 3 may be provided. The tension adjuster 24 is provided with: a pair of rollers 241 and 242, which are provided on the conveyance path of the conveyed object 3 (the path in the left-right direction in which the conveyed object 3 extends in FIG. 1); and a tension adjustment roller 243, which is provided on the pair of rollers. The space between 241 and 242 is provided at a position away from the conveyance path of the conveyed object 3 .

The tension adjustment roller 243 is provided movably between the upper end 243A and the lower end 243B in the direction perpendicular to the conveyance path of the conveyed object 3 (the up-and-down direction in FIG. 1 ). The air cylinder 244 as an accumulating part or a pressurizing part 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 ). The tension adjustment roller 243 that is biased or pressurized downward exerts tension on 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 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 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 represents the tension of the conveyed object 3 .

The vertical position of the tension adjustment roller 243 is detected as an electrical signal by the position sensor 245 and is supplied to the subtractor 17 of the conveyance control device 1 . In addition, the position command of the tension adjustment roller 243 generated by the position command generation unit 16 of the conveyance control device 1 is input to the subtractor 17 . As mentioned above, since the position of the tension adjustment roller 243 corresponds to the tension of the object 3 to be conveyed, the position command of the tension adjustment roller 243 generated by the position command generation unit 16 corresponds to the tension command of the object 3 to be conveyed. The speed control unit 18 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 17 or in the tension of the conveyed object 3 . The drive unit 19 of the conveyance control device 1 rotates and drives the drive roller 231 arranged in parallel before and/or immediately behind the tension adjuster 24 based on the speed command provided by the speed control unit 18 . When the driving roller 231 is driven to rotate in the clockwise direction in FIG. 1 , the driven roller 232 rotates in the counterclockwise direction in conjunction with the driving roller 231 . The driving roller 231 and the driven roller 232 convey the object 3 sandwiched between them while applying the position command of the tension adjustment roller 243 generated by the position command generation unit 16 to the object 3 , that is, the object 3 The tension command corresponds to the desired tension.

In the example of FIG. 1 , two tension adjusters 24 are provided in front of and immediately behind the conveyor roller group 20 in the conveyance direction. Therefore, the inlet part (the left end in FIG. 1 ) and the outlet of the conveyor roller group 20 can be adjusted. The tension of the object 3 in the portion (right end in FIG. 1 ) is controlled to a desired value. Furthermore, as will be described in detail below, by individually rotating and driving the drive rollers 211 to 215 constituting the conveyor roller group 20 by the drive units 111 to 115 of the conveyor control device 1, the movement of the conveyed object 3 can be precisely controlled. The speed and tension of each part can therefore optimize the conveying operation of the conveyed object 3 by the conveying device 2 and the stretching action of the base material (the conveyed object 3 ) by the stretching device provided with the conveying device 2 .

The conveyance control device 1 is provided with five drive parts 111 to 115 (hereinafter also collectively referred to as the drive part 11) and five speed control parts 121 to 125 (hereinafter also collectively referred to as the drive part 11) as functional blocks for controlling the conveyor roller group 20. These are collectively referred to as the speed control unit 12), the target conveyance speed setting unit 13, the target conveyance speed reaching time setting unit 14, and the 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 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.

The target conveyance speed setting part 13 individually sets the target conveyance speed which is the target rotation speed of the plurality of drive rollers 211 to 215 (hereinafter also collectively referred to as the drive rollers 21 ). The target conveyance speed attainment time setting unit 14 sets a target conveyance speed attainment time as a common target rotation speed attainment time at which the rotation speed of each drive roller 21 should reach the target rotation speed for the plurality of drive rollers 21 . The acceleration calculation unit 15 calculates the speed difference between the current rotation speed (current conveyance speed) of each drive roller 21 and the target rotation speed (target conveyance speed) set by the target conveyance speed setting unit 13, and the current time and the target conveyance speed reaching time. The acceleration of the time difference when the target conveying speed set by the setting unit 14 is reached. The acceleration calculation part 15 calculates the acceleration of each drive roller 21 by dividing the said speed difference by the said time difference, for example. In addition, the current rotation speed of each drive roller 21 used in the calculation of acceleration is determined by, for example, the rotation position detected by a rotation position detector such as a PG (Position Generator) installed in parallel to each drive unit 11 such as a motor. Obtained by differentiation.

Each speed control unit 12 generates a rotation speed command for each drive unit 11 based on 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 and drives each drive roller 21 based on the speed command provided by each speed control unit 12 . Specifically, each drive unit 11 rotationally drives each drive roller 21 so that the rotation speed (conveyance speed) of each drive roller 21 reaches a common target rotation speed (target transfer speed) set by the target transfer speed arrival time setting unit 14 . The conveying speed reaching time) reaches the target rotation speed (target conveying speed) set by the target conveying speed setting part 13.

FIG. 2 shows an example of speed control of the conveyor roller group 20 of the conveyor control device 1 . In this embodiment, three conveyor rollers or drive rollers 21 are provided in the conveyor roller group 20. The three drive rollers 21 initially stop and accelerate simultaneously from time "0". At this time, the target conveyance speed setting part 13 sets the target rotation speeds "v ₁₁ ", "v ₂₁ ", and "v ₃₁ " of the three drive rollers 21 individually. Furthermore, the target conveying speed reaching time setting part 14 sets a common target rotation speed reaching time "T1" at which the rotational speeds of the three drive rollers 21 should reach the respective target rotational speeds "v ₁₁ ", "v ₂₁ ", and "v ₃₁ ".

The acceleration calculation unit 15 calculates the rotational speeds of the three drive rollers 21 at the current time "0" (all are "0") and the target rotational speeds "v ₁₁ ", "v ₂₁ " set by the target conveyance speed setting unit 13 The speed difference "v _{11 "} , "v ₂₁ ", "v ₃₁ " of v 31" and the time difference "T1" between the current time "0" and the target conveying speed reaching time "T1" set by the target conveying speed reaching time setting part 14 the acceleration. Specifically, the acceleration calculation unit 15 divides the speed difference "v ₁₁ " of the first driving roller by the time difference "T1" and obtains "v ₁₁ /T1" as the time "0" ~ " of the first driving roller. For the acceleration of "T1", "v ₂₁ /T1", which is obtained by dividing the speed difference "v ₂₁ " of the second driving roller by the time difference "T1", is set as the time "0" to "T1" of the second driving roller. For acceleration, "v ₃₁ /T1" obtained by dividing the speed difference "v ₃₁ " of the third drive roller by the time difference "T1" is assumed to be the acceleration of the third drive 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 speeds of the three drive rollers 21 are controlled so as to reach the respective target conveyance speeds "v ₁₁ " and "v ₂₁ " at the common target conveyance speed reaching time "T1". "v ₃₁ ", therefore excessive tension or slack in the conveyed object 3 can be effectively prevented. In addition, in the example of FIG. 2 , by setting the acceleration of each drive roller 21 to be constant in the acceleration section from time "0" to "T1", the speed of each drive roller 21 increases linearly. However, in the acceleration section The speed of each drive roller in can also be increased non-linearly.

The three drive rollers 21 that have reached their respective target rotation speeds "v ₁₁ ", "v ₂₁ ", and "v ₃₁ " at time "T1" start to decelerate simultaneously from time "t2". At this time, the target conveyance speed setting unit 13 sets the target rotational speeds “v ₁₂ ”, “v ₂₂ ” and “v ₃₂ ” of the three drive rollers 21 individually. Furthermore, the target conveying speed reaching time setting part 14 sets a common target rotation speed reaching time "T2" at which the rotation speeds of the three drive rollers 21 should reach the respective target rotation speeds "v ₁₂ ", " v ₂₂ ", and " v ₃₂ ".

The acceleration calculation unit 15 calculates the rotation speed "v ₁₁ ", "v ₂₁ ", "v ₃₁ " based on the three drive rollers 21 at the current time "t2" and the target rotation speed "v ₁₂ " set by the target conveyance speed setting unit 13 The speed difference "v ₂₂ " and "v ₃₂ ""v ₁₂ - v ₁₁ ""v ₂₂ - v _{21""v 32 -} v ₃₁ " and the current time "t2" are the same as those set by the target conveying speed reaching time setting part 14 The acceleration of the time difference "T2-t2" when the target conveying speed reaches time "T2". Specifically, the acceleration calculation unit 15 divides the speed difference "v ₁₂ -v ₁₁ " of the first driving roller by the time difference "T2-t2" to obtain "(v ₁₂ -v ₁₁ )/(T2-t2)" Assuming the acceleration of the first driving roller at time "t2" ~ "T2", divide the speed difference "v ₂₂ -v ₂₁ " of the second driving roller by the time difference "T2-t2" to obtain "(v ₂₂ -v ₂₁ )/(T2-t2)" Let the acceleration of the second drive roller at time "t2" ~ "T2" be divided by the speed difference "v ₃₂ -v ₃₁ " of the third drive roller by the time difference ""(v ₃₂ -v ₃₁ )/(T2-t2)" obtained by T2-t2" is assumed to be the acceleration of the third driving roller at time "t2" ~ "T2". In this way, the acceleration of each drive roller 21 in the deceleration section "t2" to "T2" typically has a different value from each other.

As a result, through each speed control unit 12 and each drive unit 11, the rotational speeds of the three drive rollers 21 are controlled so as to reach the respective target conveyance speeds "v ₁₂ " and "v ₂₂ " at the common target conveyance speed reaching time "T2". "v ₃₂ ", therefore excessive tension or slack in the conveyed object 3 can be effectively prevented. In addition, in the example of FIG. 2 , by setting the acceleration of each drive roller 21 constant in the deceleration section from time "t2" to "T2", the speed of each drive roller 21 decreases linearly. However, the speed of each drive roller 21 decreases linearly. The speed of each drive roller in the interval can also be reduced non-linearly.

The three drive rollers 21, which have reached their respective target rotation speeds "v ₁₂ ", "v ₂₂ " and "v ₃₂ " at time "T2", accelerate simultaneously from time "t3". At this time, the target conveyance speed setting unit 13 sets the target rotational speeds “v ₁₃ ”, “v ₂₃ ” and “v ₃₃ ” of the three drive rollers 21 individually. However, in the example shown in the figure, all the target rotation speeds "v ₁₃ ", "v ₂₃ " and "v ₃₃ " are set to the same value. Furthermore, the target conveying speed reaching time setting part 14 sets a common target rotation speed reaching time "T3" at which the rotation speeds of the three drive rollers 21 should reach the respective target rotation speeds "v ₁₃ ", " v ₂₃ ", and " v ₃₃ ".

The acceleration calculation unit 15 calculates the rotation speed "v ₁₂ ", "v ₂₂ ", "v ₃₂ " based on the three drive rollers 21 at the current time "t3" and the target rotation speed "v 13 " set by the target conveyance speed setting unit ₁₃ The speed difference "v ₂₃ " and "v ₃₃ ""v ₁₃ - v ₁₂ ""v ₂₃ - v ₂₂ ""v ₃₃ - v ₃₂ " and the current time "t3" are set by the target conveying speed reaching time setting part 14 The acceleration of the time difference "T3-t3" when the target conveying speed reaches time "T3". Specifically, the acceleration calculation unit 15 divides the speed difference "v ₁₃ -v ₁₂ " of the first drive roller by the time difference "T3-t3" to obtain "(v ₁₃ -v ₁₂ )/(T3-t3)" Assuming the acceleration of the first driving roller at time "t3" ~ "T3", divide the speed difference "v ₂₃ -v ₂₂ " of the second driving roller by the time difference "T3-t3" to obtain "(v ₂₃ -v ₂₂ )/(T3-t3)" Let the acceleration of the second drive roller at time "t3" ~ "T3" be divided by the speed difference "v ₃₃ -v ₃₂ " of the third drive roller by the time difference ""(v ₃₃ -v ₃₂ )/(T3-t3)" obtained by T3-t3" is assumed to be the acceleration of the third drive roller at time "t3" ~ "T3". In this way, the acceleration of each drive roller 21 in the acceleration section "t3" to "T3" typically has a different value from each other.

As a result, through each speed control unit 12 and each drive unit 11, the rotational speeds of the three drive rollers 21 are controlled so as to reach the respective target conveyance speeds "v ₁₃ " and "v ₂₃ " at the common target conveyance speed reaching time "T3". "v ₃₃ ", therefore excessive tension or slack in the conveyed object 3 can be effectively prevented. In addition, in the example of FIG. 2 , by setting the acceleration of each drive roller 21 to be constant in the acceleration section from time "t3" to "T3", the speed of each drive roller 21 increases linearly. However, in the acceleration section The speed of each drive roller in can also be increased non-linearly.

FIG. 3 shows an example of the operation screen of the conveyance control device 1 . The operator of the conveyance control device 1 can specify a plurality (two or more) of the conveyor rollers (for example, five as in FIG. 1 ) to which the speed control exemplarily illustrated in FIG. 2 should be applied, among the conveyor rollers displayed on the screen. ) Any conveyor roller. In the illustrated example, three conveyance rollers surrounded by a rectangular selection frame SL placed on the screen by the operator of the conveyance control device 1 are selected as targets for the aforementioned speed control.

The present invention has been described above based on the embodiments. It 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.

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. 2022-035947 filed on March 9, 2022. The entire contents of this Japanese application are incorporated by reference into this specification.

1:Conveyor control device 2: Conveying device 3: Object to be transported 13: Target conveying speed setting part 14: Target conveying speed reaches time setting part 15: Acceleration calculation part 20:Conveyor roller group 21:Driving roller 111:Drive Department 121: Speed control department 211:Driving roller

[Fig. 1] Schematically shows the structure of the conveyance control device. [Fig. 2] shows an example of speed control of a conveyor roller group by a conveyor control device. [Fig. 3] shows an example of the operation screen of the conveyance control device.

1:Conveyor control device

2: Conveying device

3: Object to be transported

13: Target conveying speed setting part

14: Target conveying speed reaches time setting part

15: Acceleration calculation part

16: Position command generation department

17:Subtractor

18: Speed control department

19:Drive Department

20:Conveyor roller group

24: Tension adjuster

111:Drive Department

112:Drive Department

113:Drive Department

114:Drive Department

115:Drive Department

121: Speed control department

122: Speed control department

123: Speed control department

124: Speed control department

125: Speed control department

211:Driving roller

212:Driving roller

213:Driving roller

214:Driving roller

215:Driving roller

221: driven roller

222: driven roller

223: driven roller

224: driven roller

225: driven roller

231:Driving roller

232: driven roller

241:Roller

242:Roller

243: Tension adjustment roller

243A: Upper end

243B:Lower end

244:Cylinder

245: Position sensor

Claims (7)

A conveying control device, which has: The target conveying speed setting part individually sets the target conveying speed of the plurality of conveying parts that convey the conveyed objects; The target conveying speed reaching time setting unit sets, for the plurality of conveying parts, a common target conveying speed reaching time at which the conveying speed of each conveying part should reach the aforementioned target conveying speed; and The driving unit drives each of the conveying units so that the conveying speed of each conveying unit reaches the target conveying speed at the time when the common target conveying speed is reached. The conveying control device according to claim 1, wherein The driving unit drives each conveying unit with an acceleration based on a speed difference between the current conveying speed of each conveying unit and the target conveying speed and a time difference between the current time and the target conveying speed reaching time. The conveying control device according to claim 2, wherein The acceleration of each conveyance section is a value obtained by dividing the speed difference by the time difference. The conveying control device according to any one of claims 1 to 3, wherein The plurality of conveying parts are adjacent to each other in the conveying direction of the conveyed object. The conveying control device according to any one of claims 1 to 3, wherein Each of the aforementioned conveying parts is a conveying roller rotatable around a rotational axis orthogonal to the conveying direction of the conveyed object, The target conveying speed setting unit individually sets the target conveying speed as the target rotational speed of the plurality of conveying rollers, The target conveying speed reaching time setting unit sets the target conveying speed reaching time as a common target rotating speed reaching time at which the rotational speed of each conveying roller should reach the target rotational speed for the plurality of conveying rollers, The driving unit rotationally drives each of the conveying rollers so that the rotational speed of each conveying roller reaches the target rotational speed at the time when the common target rotational speed is reached. A conveying control method, which has: The target conveying speed setting step is to individually set the target conveying speeds of a plurality of conveying parts that convey the conveyed objects; The target conveying speed reaching time setting step is to set, for the plurality of conveying parts, a common target conveying speed reaching time at which the conveying speed of each conveying part should reach the aforementioned target conveying speed; and The driving step is to drive each of the conveying parts so that the conveying speed of each conveying part reaches the aforementioned target conveying speed at the time when the aforementioned common target conveying speed is reached. A conveying control program that causes a computer to perform the following steps: The target conveying speed setting step is to individually set the target conveying speeds of a plurality of conveying parts that convey the conveyed objects; The target conveying speed reaching time setting step is to set, for the plurality of conveying parts, a common target conveying speed reaching time at which the conveying speed of each conveying part should reach the aforementioned target conveying speed; and The driving step is to drive each of the conveying parts so that the conveying speed of each conveying part reaches the aforementioned target conveying speed at the time when the aforementioned common target conveying speed is reached.

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