CN101513964B - Transmission apparatus - Google Patents
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- CN101513964B CN101513964B CN2009101179323A CN200910117932A CN101513964B CN 101513964 B CN101513964 B CN 101513964B CN 2009101179323 A CN2009101179323 A CN 2009101179323A CN 200910117932 A CN200910117932 A CN 200910117932A CN 101513964 B CN101513964 B CN 101513964B
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Abstract
The invention provides a conveyance apparatus and a computer program capable of effectively correcting offset of either periodic feeding unequal conveying capacity or burst conveying capacity, and precisely implementing conveyance of a continuous body such as a belt, a sheet or the like. The conveyance apparatus comprises a pair of upper and lower conveyance rollers for conveying belt shaped continuous articles, a driving motor for driving the rollers, and a sensor for detecting the mark of continuous articles. Whether the mark is detected by the sensor is determined when the predetermined conveyance capacity is executed; an ON signal or an OFF signal is generated according to whether the mark is detected; a count value is set on the basis of generated ON signal or OFF signal, and stored;and the conveyance capacity of the belt shaped continuous body is corrected on the basis of a stochastic value of a plurality of count values and the count value set at the previous time point.
Description
Technical field
The present invention relates to stably to transmit the transmitting device of banded continuum such as belt conveyor.
Background technology
In the past, extensively provided a kind of transmitting device, and batched with the film on the roller, band material etc. long material, strip material etc. and possess the batching of rotating driver, transmitted long material, strip material etc. thus with on the roller twisting in feeding.Use this transmitting device, actuator discontinuously for example will temporarily stop the rotation in the process of Fabrication procedure, at stopping period the established part of long material, strip material etc. is implemented predetermined process, and then startup rotating driver, it is twisted in batch, make desired product thus with on the roller.
Along with compactization of e-machine (miniaturization) in recent years, the demand of small-sized parts such as LSI, superminiature capacitor, micro-miniature inducer increases severely, in order on belt conveyor, to form the wiring of finer pitch, and the enforcement screen printing, then with the electronic component of handling well, as the workpiece that the module chip that has lead-in wire etc. is handled well takes in etc., not only it is transmitted simply, and the transmission precision of belt conveyor etc. become problem.
In order to control the flap transmission amount of belt conveyor etc., for example in patent documentation 1, showed a kind of sheet conveying device, at first detect the skew of corner, calculate of the skew of flap transmission amount then off and on than the benchmark conveying capacity.In patent documentation 1, calculate the difference of flap transmission amount and benchmark conveying capacity in the moment of the integral multiple of the swing circle of the driven voller that transmits flap, calculate the conveying capacity that should revise then.
[patent documentation 1] spy opens flat 6-122238 communique
But, in the sheet conveying device that is showed in patent documentation 1, owing to be to calculate in the moment of the integral multiple of the swing circle of the driven voller that transmits flap, so can be for going out suitable correction because of the calculations of offset that produces the smaller conveying capacity that burr etc. happen suddenly, but, just can't calculate suitable correction for skew because of the bigger conveying capacity of the inhomogeneous grade of periodic feeding of the generations such as off-centre of roller self.Therefore, the situation of flap can take place stably to transmit.
In order to eliminate such problem, also has a kind of transmitting device, be provided with and detect the sensor be formed on the depression on the belt conveyor for example, sensor is set at " 1 " under the situation of depression and is set at " 1 " under the situation that depression and light passes through not detecting, increase and decrease the flap transmission amount of next time according to such ON/OFF signal.Like this, though can handle the periodic feeding inequality that produces because of the off-centre of roller self etc., can not increase correction, the certain skew that also just can not revise the bigger conveying capacity of burst.Also have a kind of belt conveyer,, also be provided with rotary angle transmitter, revise conveying capacity at the increase and decrease of corner not only by the ON/OFF signal.In this case, though can tackle the skew of the bigger conveying capacity of the inhomogeneous grade of periodic feeding that produces because of the off-centre of roller self etc., under the out-of-position situation of bigger conveying capacity that happened suddenly, can't calculate suitable correction.
In addition, at the material of for example belt conveyor, flap etc. is that paper, synthetic resin etc. are easily under the situation of the change of Yin Wendu, humidity and flexible material, the whole length of belt conveyor, flap etc. can be stretched, even if according to before offset correction conveying capacity, also can't eliminate on the whole and transmit skew.
Summary of the invention
In view of such situation, the object of the present invention is to provide a kind of transmitting device, even if still can both revise conveying capacity effectively, can realize transmission accurately with continuuies such as, sheets for the skew of the conveying capacity of burst for the skew of conveying capacities such as periodic feeding is inhomogeneous.
For achieving the above object, the transmission that relates to first invention has the transmitting device of the banded continuum of a plurality of marks to have a pair of transfer roller up and down of the banded continuum of transmission, drive the drive motor of this transfer roller and the sensor of the mark that detects described continuum, wherein, be provided with and judge whether that a/s conveying capacity carried out first judging unit that transmits, receive the receiving element of the detection signal in the described sensor for the moment of having carried out transmitting in this first judgment unit judges, judge whether received detection signal is second judging unit of ON signal, whether set the count value setup unit of count value for the ON signal according to this second judgment unit judges detection signal, the count value memory cell of the count value that storage sets and the conveying capacity amending unit of revising the conveying capacity of banded continuum according to the count value of statistical value that comes out based on a plurality of count value statistical computations of being stored and eve setting.
The transmitting device that relates to second invention is characterised in that: in first invention, described conveying capacity amending unit possesses statistical value calculating unit that the count value that calculates statistics according to a plurality of count values of being stored is a statistical value, set the weighting ratiometric weight setting unit of the count value that the statistical value that calculated and eve set and the conveying capacity calculating unit that calculates the conveying capacity of banded continuum according to the weighting ratio that sets.
The transmitting device that relates to the 3rd invention is characterised in that: in second invention, described statistical value calculating unit will calculate the moving average of the count value of the stipulated number amount of being stored.
For achieving the above object, the transmission that relates to the 4th invention has the transmitting device of the banded continuum of a plurality of marks to have a pair of transfer roller up and down of the continuum of the band shape of transmitting, drive the drive motor of this transfer roller, detect described transfer roller corner coder and detect the sensor of the mark of described continuum, wherein, be provided with according to mark that comes out by described sensor and the presumption units of inferring stop position by the corner that described coder detects, calculating the stop position inferred and the stop position of supposition is the Difference Calculation unit of the difference of reference position, the difference memory cell of the difference calculated of storage and the conveying capacity amending unit of revising the conveying capacity of banded continuum according to the difference that the statistics difference of coming out based on a plurality of difference statistical computations of being stored and eve are calculated.
The transmitting device that relates to the 5th invention is characterised in that: in the 4th invention, described conveying capacity amending unit possesses the difference that calculates statistics according to a plurality of differences of being stored and promptly adds up the statistics difference computational unit of difference, sets the weighting ratiometric weight setting unit of the difference that the statistics difference that calculated and eve calculated and the conveying capacity calculating unit that calculates the conveying capacity of banded continuum according to the weighting ratio that sets.
The transmitting device that relates to the 6th invention is characterised in that: in the 5th invention, described statistics difference computational unit will calculate the moving average of the difference of the stipulated number amount of being stored.
For achieving the above object, the computer program that can carry out by computing machine that relates to the 7th invention, this computer controlled transmits the action of the transmitting device of the banded continuum that a plurality of marks are arranged, this transmitting device has a pair of transfer roller up and down that transmits banded continuum, drive the drive motor of this transfer roller and the sensor of the mark that detects described continuum, wherein, this computer program makes described computing machine play the effect of following each unit: judge whether that a/s conveying capacity carried out first judging unit that transmits, receive the receiving element of the detection signal in the described sensor for the moment of having carried out transmitting in this first judgment unit judges, judge whether received detection signal is second judging unit of ON signal, whether set the count value setup unit of count value for the ON signal according to this second judgment unit judges detection signal, the count value memory cell of the count value that storage sets, and the conveying capacity amending unit of revising the conveying capacity of banded continuum according to the count value of statistical value that comes out based on a plurality of count value statistical computations of being stored and eve setting.
For achieving the above object, the computer program that can carry out by computing machine that relates to the 8th invention, this computer controlled transmits the action of the transmitting device of the banded continuum that a plurality of marks are arranged, this transmitting device has a pair of transfer roller up and down that transmits banded continuum, drive the drive motor of this transfer roller, detect described transfer roller corner coder and detect the sensor of the mark of described continuum, wherein, this computer program makes described computing machine play effect as lower unit: according to by as described in the mark that comes out of sensor and by as described in the corner that detects of coder infer the presumption units of stop position, calculating the stop position inferred and the stop position of supposition is the Difference Calculation unit of the difference of reference position, the difference memory cell of the difference that storage is calculated, and the conveying capacity amending unit of revising the conveying capacity of banded continuum according to the difference that the statistics difference of coming out based on a plurality of difference statistical computations of being stored and eve calculate.
In first invention and the 7th invention, carried out detection signal in the moment receiving sensor of transmission being judged as a/s conveying capacity; Whether set count value according to received detection signal for the ON signal; The count value that sets is stored; Revise the conveying capacity of banded continuum according to the count value of statistical value that comes out based on a plurality of count value statistical computations of being stored and eve setting.Carry out under the situation of bigger correction in the count value of only setting with eve, it only is the mutual change of conveying capacity and can not reach the effect of desirable correction, in contrast to this, the statistical value of (more piece apart from) of for example adding is over repeatedly revised conveying capacity, thus, do not make the conveying capacity steep variation just can carry out bigger correction.Therefore, can suppress the influence of error at measurment, can provide and transmit the high transmitting device of precision, and need not the transmission precision of equipment itself and the exigent grades such as making precision of continuum.
Here, so-called " count value " is meant the ON/OFF according to digital signal, and the ON signal is made as " 1 ", the OFF signal is made as " 1 " and the value that quantizes.So-called " mark " is meant that the depression, the Printing Department that are formed on the banded continuum grade is used for producing the ON/OFF signal and the generalized concept of the detected material that detects with the available sensors that uniformly-spaced is provided with substantially.So-called " statistical value " is the typical value of count value that statistical treatment repeatedly transmits the situation of (repeatedly transmitting 1 pitch amount) in the past, refers to moving average, weighted moving average etc.
In second invention, the count value that calculates statistics according to a plurality of count values of being stored is a statistical value; The weighting ratio of the count value that statistical value that setting is calculated and eve are set; Calculate the conveying capacity of banded continuum then according to the weighting ratio that sets, thus just can a situation arises calculates a plurality of conveying capacities that are corrected according to the periodic conveying capacity that produces because of the skew that produces the conveying capacity that burr etc. happen suddenly, because of the off-centre of roller self etc. inhomogeneous etc., can suppress the influence of error at measurment, can provide and transmit the high transmitting device of precision, and need not the transmission precision of equipment itself and the exigent grades such as making precision of continuum.
In the 3rd invention, calculate the moving average of the count value of the stipulated number amount of being stored, just can effectively utilize result in the past thus, and can suppress the influence of error at measurment.
In the 4th invention and the 8th invention, infer stop position according to the mark that comes out by sensor with by the corner that coder detects; Calculating the stop position inferred and the stop position of supposition is the difference of reference position; Then the difference of being calculated is stored.The difference that calculates according to the statistics difference of coming out based on a plurality of difference statistical computations of being stored and eve is revised the conveying capacity of banded continuum.Only use the skew of the stop position of eve, just might accuracy of positioning be worsened missing correction because of existing under the situation of failing adhering to of burr, impurity etc. to detect mark.For this, for example, like this, needn't sharply change conveying capacity and just can carry out bigger correction in conjunction with the out-of-position statistics difference correction conveying capacity of past stop position repeatedly.Therefore, can suppress the influence of error at measurment, can provide and transmit the high transmitting device of precision, and need not the transmission precision of equipment itself and the exigent grades such as making precision of continuum.
Here, the position that so-called " reference position " is meant at the rotating shaft center that does not have the skew that causes such as skid, transfer roller between the continuum of band shape and the transfer roller does not have off-centre, reached under by the situation that uneven rotation transmits without spin.That is to say the position that under identical conditions, is reached in theory.On the other hand, so-called " stop position of supposition " is meant the in-position of inferring according to the detected signal of sensor.So-called " mark " is meant that the depression, the Printing Department that are formed on the banded continuum grade is used for calculating amount of movement and the generalized concept of the detected material that detects with the available sensors that uniformly-spaced is provided with substantially.So-called " statistics difference " is the typical value of statistical treatment past difference repeatedly, means moving average, weighted moving average etc.
In the 5th invention, the difference that calculates statistics according to a plurality of differences of being stored is promptly added up difference, sets the weighting ratio of the difference that the statistics difference calculated and eve calculate then.Calculate the conveying capacity of banded continuum according to the weighting ratio that sets, just can calculate a plurality of conveying capacities that are corrected thus according to inhomogeneous etc. the situation occurred of the periodic conveying capacity that produces because of the skew that produces the conveying capacity that burr etc. happen suddenly, because of the off-centre of roller self etc., can suppress the influence of error at measurment, can provide and transmit the high transmitting device of precision, and need not the transmission precision of equipment itself and the exigent grades such as making precision of continuum.
In the 6th invention, calculate the moving average of the difference of the stipulated number amount of being stored, just can effectively utilize result in the past thus, and can suppress the influence of error at measurment.
In embodiment described later, first judging unit carries out the processing of the step S501 of CPU31; Receiving element carries out the processing of the step S502 of CPU31; Second judging unit carries out the processing of the step S503 of CPU31; The count value setup unit carries out the processing of step S504 and the step S505 of CPU31; The count value memory cell is carried out the processing of the step S506 of CPU31; The conveying capacity amending unit carries out the step S508 of CPU31, the processing of step S509.The statistical value calculating unit carries out the processing of the step S507 of CPU31; The weight setting unit carries out the processing of the step S601 of CPU31; The conveying capacity calculating unit is equivalent to the processing of the step S602 of CPU31.
In addition, presumption units is carried out the processing of the step S905 of CPU31; Difference computational unit is carried out the processing of the step S906 of CPU31; The difference memory cell is carried out the processing of the step S907 of CPU31; The statistics difference computational unit is carried out the processing of the step S908 of CPU31; The weight setting unit carries out the processing of the step S1001 of CPU31; The conveying capacity calculating unit carries out the processing of the step S1002 of CPU31.
If adopt above-mentioned formation, even if be difficult to keep under the situation of stable conveying capacity when only big correction is carried out in the skew of the count value of setting with eve, stop position, by for example passing by repeatedly (more piece apart from) quantitative statistics value and in conjunction with the offset correction conveying capacity of stop position, also can compare big correction, and need not to change sharp conveying capacity.Therefore, can suppress the influence of error at measurment, can provide and transmit the high transmitting device of precision, and need not the transmission precision of equipment itself and the exigent grades such as making precision of continuum.
Description of drawings
Fig. 1 is the block diagram that schematically shows the formation of the transmitting device that relates to embodiments of the present invention 1.
Fig. 2 is the planar view that schematically shows the part formation of the transmitting device that relates to embodiments of the present invention 1.
Fig. 3 is the block diagram of formation of the control setup of the expression transmitting device that relates to embodiments of the present invention 1.
Fig. 4 is the block diagram that the summary of the drive source of the expression transmitting device that relates to embodiments of the present invention 1 constitutes.
Fig. 5 is the diagram of circuit of treatment step of CPU of the control setup of the expression transmitting device that relates to embodiments of the present invention 1.
Fig. 6 is the diagram of circuit of treatment step of CPU of the control setup of the expression transmitting device that relates to embodiments of the present invention 1.
Fig. 7 is to use the exemplary plot of conveying capacity control of the count value of the moving average of count value and eve.
Fig. 8 is the block diagram that schematically shows the formation of the transmitting device that relates to embodiments of the present invention 2.
Fig. 9 is the diagram of circuit of treatment step of CPU of the control setup of the expression transmitting device that relates to embodiments of the present invention 2.
Figure 10 is the diagram of circuit of treatment step of CPU of the control setup of the expression transmitting device that relates to embodiments of the present invention 2.
Figure 11 is to use the exemplary plot of conveying capacity control of the difference of the moving average of difference and eve.
[nomenclature]
1 belt conveyor (continuum)
2 sensors
3 control setups
4 transfer rollers
5 drive sources
8 computer programs
9 movable-type recording mediums
10 transmitting devices
11 depressions (mark)
31 CPU
32 RAM
33 memory storages
34 input medias
35 output units
36 communicators
37 auxilary units
38 internal buss
The specific embodiment
Below, be example with the belt conveyor transmitting device, specify the transmitting device that relates to embodiments of the present invention with reference to the accompanying drawings.
(embodiment 1)
Fig. 1 is the block diagram that schematically shows the formation of the transmitting device that relates to embodiments of the present invention 1.As shown in Figure 1, the transmitting device 10 that relates to present embodiment 1 can be a belt conveyor 1 with the banded continuum of transfer roller 4 transmission, on the continuum of band shape, roughly equally spaced be formed with depression 11,11 ..., the mark when transmitting electronic component in order to conduct.
Transfer roller 4 is made of the pressure roll 42 that is connected the feed rolls 41 on the drive source 5 such as motor and holds belt conveyor 1 under the arm.Belt conveyor 1 is held under the arm between feed rolls 41 and pressure roll 42, and feed rolls 41 makes belt conveyor 1 transmit towards the direction shown in the arrow 12 along the rotation of the direction shown in the arrow 43.
Near the central authorities of Fig. 1, electronic component be inserted in belt conveyor 1 depression 11,11 ... in, start at from the position that is inserted into, the position of regulation forwardly be provided with detect depression 11,11 ... the sensor 2 that exists.Sensor 2 for example is an optical pickocff, is provided with illuminating part and light accepting part, only depression 11 by the situation of going under, light accepting part just can be experienced the light that shines out from illuminating part.Received optical signal outputs to the control setup 3 that couples together with signal wire (SW) as the impulse singla through light-to-current inversion.
Drive source 5 for example is made of stepping motor, and couples together with signal wire (SW).Specify hand of rotation and corner according to commanding impulse signal from control setup 3.Stepping motor is not limited to be attached on the feed rolls 41, for example, not only can be attached on the feed rolls 41, also can be attached at simultaneously on the pressure roll 42.
Fig. 2 is the planar view that schematically shows the part formation of the transmitting device 10 that relates to embodiments of the present invention 1.As shown in Figure 2, conveyer 15 make electronic component 13,13 ... towards along the groove 72,72 of the calibration rotating disk 7 of the direction shown in the arrow 71 rotation ... move, 7 rotations of calibration rotating disk and with electronic component 13 move to always belt conveyor 1 directly over.Then, electronic component 13,13 ... be configured at the insertion mouth mouth 6 directly over the belt conveyor 1 and fall into the depression 11 that is formed on the belt conveyor 1,, transmit along the direction shown in the arrow 14 along with moving of belt conveyor 1.
Fig. 3 is the block diagram of formation of the control setup 3 of the expression transmitting device 10 that relates to embodiments of the present invention 1.As shown in Figure 3, control setup 3 is made of CPU (central arithmetical device) 31, RAM32, memory storage 33, input media 34, output unit 35, communicator 36, auxilary unit 37 and the internal bus 38 that is connected above-mentioned hardware at least.CPU31 is connected with each one of above-mentioned hardware of control setup 3 through internal bus 38, control the action of each one of above-mentioned hardware, simultaneously according to being stored in the impulse singla that memory storage 33 interior computer programs 8 are handled from institute's bonded assembly sensor 2, the action that comes controlling and driving source 5, calibration rotating disk 7 etc.
RAM32 is made of SRAM, ultra-high access memory etc., when computer program 8 is carried out, load module is launched the ephemeral data that produces during storage computer program 8.
Fig. 4 is the block diagram that the summary of the drive source 5 of the expression transmitting device 10 that relates to embodiments of the present invention 1 constitutes.As shown in Figure 4, PPMC (pulse oscillator) 51 that receives actuating signal from the CPU31 of control setup 3 is transformed into the commanding impulse signal to actuating signal, and sends to motor driver 52.Motor driver 52 is according to pulse count drive stepping motor 53 rotations of the commanding impulse signal that receives.
For example, be under the situation of hand of rotation control signal at the commanding impulse signal, decide the hand of rotation of stepping motor 53 according to the numerical value 1 or 0 of expression hand of rotation.Can change the rotating speed of stepping motor 53 according to the frequency of commanding impulse signal.
Fig. 5 is the diagram of circuit of treatment step of CPU31 of the control setup 3 of the expression transmitting device 10 that relates to embodiments of the present invention 1.In Fig. 5, the CPU31 of control setup 3 has judged whether to finish the transmission (step S501) of specified conveying capacity as 1 pitch, is judged as (step S501: not), just become the wait completion status under the still uncompleted situation at CPU31.Be judged as at CPU31 (step S501: be) under the situation about having finished, CPU31 receives from sensor 2 but detection signal (step S502); Judge whether it is ON signal (step S503).
It is (step S503: be) under the situation of ON signal that CPU31 is judged as, and CPU31 is set at count value " 1 " (step S504); The count value that sets is stored in the record information storage part 331 interior (step S506) of memory storage 33.
CPU31 is judged as and is not that the ON signal promptly is that (step S503: not), CPU31 is set at count value " 1 " (step S505) under the situation of OFF signal; The count value that sets is stored in the record information storage part 331 interior (step S506) of memory storage 33.
CPU31 calculates moving average according to a plurality of count values that are stored in the record information storage part 331, as the statistical value (step S507) of past regulation pitch amount as the count value of 2000 pitch amounts.The statistical value of being calculated is not limited to moving average, so long as the value of the count value of statistics representative a plurality of pitch amounts of past is just passable.
CPU31 calculates the conveying capacity (step S508) of belt conveyor 1 according to moving average of being calculated and the count value that is right after before, like this, not only consider the count value of eve, the moving average of count value of 2000 pitch amounts of also considering over calculates conveying capacity, because do not make the conveying capacity steep variation, so can carry out the correction of big conveying capacity, and positively suppress to transmit inhomogeneous.Therefore, the influence of error at measurment be can suppress, and the transmission precision to equipment self, the exigent grades such as making precision of continuum there is no need.
Calculating to conveying capacity is not particularly limited, as long as it is just passable to calculate the conveying capacity that the moving average of the count value of eve and count value in the past is weighted and pro rata distributes.Fig. 6 is the diagram of circuit of treatment step of CPU31 of the control setup 3 of the expression transmitting device 10 that relates to embodiments of the present invention 1.
As shown in Figure 6, the CPU31 of control setup 3 calculates moving average according to a plurality of count values that are stored in the record information storage part 331, as the statistical value (step S507) of past regulation pitch amount as the count value of 2000 pitch amounts.CPU31 sets the weighting ratio (step S601) of the count value of moving average and eve; With both pro-ratas and calculate the conveying capacity (step S602) of belt conveyor 1.For example, calculate the conveying capacity Z of correction with coefficient of weight by formula (1).
Z＝f(aX+bY)……(1)
a+b＝1
In the formula (1), X represents the count value of eve, and Y represents the moving average of count value.Calculate the evaluation number of the moving average Y that has considered count value by coefficient a, b, using by evaluation number asks the function f of conveying capacity Z to calculate the conveying capacity Z of correction again, like this, even if under the situation of the exceptional value that has detected burst, also can calculate the suitable conveying capacity Z that does not have very big influence.
Specifically, for example will represent conveying capacity not exist the standard meter numerical value of out-of-position state to be made as " 0 ", as long as the deviation between basis and the standard meter numerical value is stored in the conveying capacity formization of the segmentation of calculating in the memory storage 33 just passable.Fig. 7 is to use the exemplary plot of conveying capacity control of the count value of the moving average of count value and eve.
Among Fig. 7, situation about receiving from the detection signal of sensor 2 output is made as ON signal " 1 ", the situation that shelters from light is made as OFF signal " 1 ", and transmission out-of-position standard meter numerical value is taken place in expression be made as " 0 ".The example shown of Fig. 7 is the conveying capacity control example of carrying out the transmitting device 10 of 2.000mm transmission under the situation of " 0 " in deviation.
In the example of Fig. 7, CPU31 is 2 times value addition of the count value of 6 times value of the moving average of the count value of the past 2000 pitch amounts in the record information storage part 331 that is stored in memory storage 33 and eve, obtain and as evaluation number P.CPU31 comes to change conveying capacity with the differential segmentation of 0.004mm according to the size of evaluation number P, specifically, evaluation number P and conveying capacity corresponding tables is stored in the memory storage 33, specifies conveying capacity according to the size of evaluation number P.
In the example of Fig. 7, equal at evaluation number P, greater than " 3 " or equal, under the situation less than " 3 ", conveying capacity just no longer changes from maxim or minimum value.This is because under must the also big situation of size than regulation the conveying capacity correction, when for example detecting very big error at measurment, probably can calculate wrong correction, is difficult to carry out stable transmission.
As mentioned above, in present embodiment 1, not only to revise conveying capacity with the count value of eve, but also in conjunction with for example pass by repeatedly the statistical value correction conveying capacity of the count value that (a plurality of pitch) measure, thereby can suppress the influence of error at measurment, simultaneously can according to circumstances carry out bigger correction again, can provide and transmit the high transmitting device of precision, and need not the transmission precision of equipment self and the very high grade of making accuracy requirement of continuum.Even under the situation of stretching in the whole Yin Wendu of belt conveyor, humidity etc., owing to revise conveying capacity according to statistical value, thus can positively be adapted to suitable conveying capacity.
(embodiment 2)
The formation of transmitting device 10 that relates to embodiments of the present invention 2 is the same with embodiment 1, so for the same symbol of inscape mark that plays same purpose, and omit its explanation.In the present embodiment 2, have the rotary encoder 20 of the corner that detects transfer roller 4, use the stop position of inferring according to the corner of drive source 5 to revise conveying capacity, this point is different from embodiment 1.
Fig. 8 is the block diagram that schematically shows the formation of the transmitting device that relates to embodiments of the present invention 2.As shown in Figure 8, the transmitting device 10 that relates to present embodiment 2 can transmit belt conveyor 1 on transfer roller 4, on belt conveyor 1, roughly equally spaced be formed with depression 11,11 ..., the mark when transmitting electronic component in order to conduct.
Transfer roller 4 is made of the pressure roll 42 that is connected the feed rolls 41 on the drive source 5 such as motor and holds belt conveyor 1 under the arm.Belt conveyor 1 is held under the arm between feed rolls 41 and pressure roll 42, and feed rolls 41 makes belt conveyor 1 transmit towards the direction shown in the arrow 12 along the rotation of the direction shown in the arrow 43.
Near the central authorities of Fig. 8, electronic component 13,13 ... be inserted in belt conveyor 1 depression 11,11 ... in, start at from the position that is inserted into, the position of regulation forwardly be provided with detect depression 11,11 ... the sensor 2 of existence.Sensor 2 for example is an optical pickocff, is provided with illuminating part and light accepting part, only the depression 11 that plays the mark effect by the situation of going under, light accepting part just can be experienced the light that shines out from illuminating part.Received optical signal outputs to the control setup 3 that couples together with signal wire (SW) as the impulse singla through light-to-current inversion.
Drive source 5 for example is made of stepping motor, and couples together with signal wire (SW).Specify hand of rotation and corner according to commanding impulse signal from control setup 3.Stepping motor is not limited to be attached on the feed rolls 41, for example, not only can be attached on the feed rolls 41, also can be attached on the pressure roll 42.
Drive source 5 is provided with the rotary angle transmitter such as the rotary encoder 20 of the corner that detects drive source 5, and related detection to the information of corner send to the control setup 3 that couples together with signal wire (SW).Certainly, rotary angle transmitter is not limited to rotary encoder.
The formation of the control setup 3 of transmitting device 10 is the same with embodiment 1.Promptly, the CPU31 of control setup 3 couples together through each one of hardware of internal bus and control setup 3, the action of each one of control hardware, simultaneously according to being stored in the impulse singla that memory storage 33 interior computer programs 8 are handled from the sensor 2 that is being connected, rotary encoder 20, the action that comes controlling and driving source 5, calibration rotating disk 7 etc.
Record information storage part 331 stored of memory storage 33 detect the impulse singla of depression 11 by sensor 2 and are the record information of the difference between the reference position according to the stop position of being inferred by the detected corners of rotary encoder 20 and the stop position of supposition.CPU31 uses the moving average of the difference that is stored in the past stipulated number amount in the record information storage part 331 to wait and revises conveying capacity.
Fig. 9 is the diagram of circuit of treatment step of CPU31 of the control setup 3 of the expression transmitting device 10 that relates to embodiments of the present invention 2.Among Fig. 9, the CPU31 of control setup 3 from rotary encoder 20 receive the conveying capacity of expression regulation, the angle signal (step S901) of the initial angle of feed rolls 41 before for example the transmission of 1 pitch amount begins; CPU31 judges whether to receive from sensor 2 that light has been experienced in expression, i.e. expression detects the ON signal (step S902) of depression 11.
Be judged as (step S902: deny) under the situation that does not receive the ON signal at CPU31, CPU31 is the wait receiving condition of ON signal.Be judged as at CPU31 (step S902: be) under the situation that has received the ON signal, CPU31 calculates corner (step S904) from the difference with initial angle again from the angle signal (step S903) of the corner of rotary encoder 20 these feed rolls 41 constantly of reception expression.
Stop position (step S905) when CPU31 infers that according to corner the transmission of 1 pitch amount finishes.As the estimation method of stop position, distinguish for example conveying capacity of 1 pitch (is 2mm as conveying capacity) in advance, the position when learning from the transmission beginning is to the absolute distance of depression 11.For this, owing to also can calculate the actual distance that should transmit from the corner of being calculated, so actual ratio of answering transmission distance that can go out to the absolute distance and the aforementioned calculation of depression 11 by above-mentioned position when transmitting beginning, extrapolate with respect to 2mm, actual and transmit until the transmission distance that stops can be calculated stop position thus.Projectional technique is not particularly limited to this.
CPU31 calculates the difference (step S906) of the reference position that the transmission of the stop position inferred and 1 pitch amount should stop the finish time, the difference of being calculated is stored in the record information storage part 331 of memory storage 33 (step S907).
CPU31 calculates moving average according to a plurality of differences that are stored in the record information storage part 331, as the statistics difference (step S908) of past regulation pitch amount as the difference of 50 pitch amounts.The statistics difference of calculating is not limited to moving average, so long as the value of the difference in a plurality of pitches of statistics ground representative past can.
CPU31 calculates the conveying capacity (step S909) of belt conveyor 1 according to the difference of moving average of being calculated and eve, like this, not only consider the difference of eve, the moving average of difference of regulation pitch amount of also considering over calculates conveying capacity, because do not make the conveying capacity steep variation, so can carry out the correction of big conveying capacity, and positively suppress to transmit inhomogeneous.Therefore, the influence of error at measurment be can suppress, and the transmission precision to equipment self, the exigent grades such as making precision of continuum there is no need.
Method of calculating to conveying capacity is not particularly limited, as long as it is just passable to calculate the conveying capacity that the moving average of the difference of eve and difference in the past is weighted and pro rata distributes.Figure 10 is the diagram of circuit of treatment step of CPU31 of the control setup 3 of the expression transmitting device 10 that relates to embodiments of the present invention 2.
Among Figure 10, the CPU31 of control setup 3 calculates moving average according to a plurality of differences that are stored in the record information storage part 331, stipulates the statistics difference (step S908) of the difference of pitch amount such as past 50 pitch amounts as the past.CPU31 sets the weighting ratio (step S1001) of the difference of moving average and eve, pro rata distributes both, calculates the conveying capacity (step S1002) of belt conveyor 1.Suc as formula (2) like that, calculate the conveying capacity S of correction with coefficient of weight.
S＝f(aT+bU)……(2)
a+b＝1
In the formula (2), T represents the difference of eve, and U represents the moving average of difference.Calculate the evaluation number of the moving average U that considers difference with coefficient a, b, and use from evaluation number and ask the function f of conveying capacity S to calculate the conveying capacity S of correction, like this, even if under the situation of the exceptional value that detects burst, also can calculate the suitable conveying capacity S that does not have extremely big sound.
Specifically, for example will represent conveying capacity not exist the standard conveying capacity of out-of-position state to be made as " 2mm ", as long as according to the difference between standard conveying capacity and the stop position that comes out from the stop position inverse of being inferred, and it is interior just passable that the conveying capacity formization of the segmentation of calculating is stored in memory storage 33.Figure 11 is to use the exemplary plot of conveying capacity control of the difference of the moving average of difference and eve.
Be to use difference shown in Figure 11, the conveying capacity control example of the transmitting device 10 that transmits with the standard conveying capacity of 2.000mm according to the stop position that calculates from the ON signal of sensor 2 with from the angle signal of rotary encoder 20.
In the example of Figure 11, CPU31 is 2 times the value of the moving average of the difference of going through the past 50 pitch amounts in the information storage part 331 that is stored in memory storage 33 and the difference addition of eve, obtain and as evaluation number P.CPU31, specifically, is stored in evaluation number P and conveying capacity corresponding tables in the memory storage 33, according to the size appointment conveying capacity of evaluation number P from-0.034mm to+0.034mm segmentation change conveying capacity according to the size of evaluation number P.
As mentioned above, in present embodiment 2, not only to revise conveying capacity with the skew of the stop position of eve, but also revise conveying capacity in conjunction with the stop position out-of-position statistics difference of repeatedly measuring in the past, like this, owing to do not make the conveying capacity steep variation, so can carry out bigger correction; Can provide and transmit the high transmitting device of precision, and need not the transmission precision of equipment self and the very high grade of making accuracy requirement of continuum.Even under the situation that belt conveyor integral body is stretched because of degree, humidity etc., owing to revise conveying capacity according to the statistics difference, thus can positively be adapted to suitable conveying capacity.
In the above-described embodiment, belt conveyor with the transmission electronic component is that example is described, even if but in the printer of the transmitting device that transmits banded continuum such as braider, corresponding long size, lamination machine etc., also same formation can be made, and the effect same can be expected with above-mentioned effect.
Self-evident, in the scope that does not deviate from aim of the present invention, above-mentioned embodiment 1 and 2 can change.For example, sensor 2 can not be an optical sensor also, but imageing sensor; Also can not to form depression to serve as a mark, but the cognizance code of making by image printing.
Claims (6)
1. a transmission has the transmitting device of the banded continuum of a plurality of marks, has a pair of transfer roller up and down that transmits banded continuum, drive the drive motor of this transfer roller and the sensor of the mark that detects described continuum, wherein, be provided with and judge whether that a/s conveying capacity carried out first judging unit that transmits, receive the receiving element of the detection signal in the described sensor for the moment of having carried out transmitting in this first judgment unit judges, judge whether received detection signal is second judging unit of ON signal, whether set the count value setup unit of count value for the ON signal according to this second judgment unit judges detection signal, the count value memory cell of the count value that storage sets, and the conveying capacity amending unit of revising the conveying capacity of banded continuum according to the count value of statistical value that comes out based on a plurality of count value statistical computations of being stored and eve setting.
2. according to the transmitting device of claim 1, it is characterized in that: described conveying capacity amending unit possesses statistical value calculating unit that the count value that calculates statistics according to a plurality of count values of being stored is a statistical value, set the weighting ratiometric weight setting unit of the count value that the statistical value that calculated and eve set and the conveying capacity calculating unit that calculates the conveying capacity of banded continuum according to the weighting ratio that sets.
3. according to the transmitting device of claim 2, it is characterized in that: described statistical value calculating unit will calculate the moving average of the count value of the stipulated number amount of being stored.
4. a transmission has the transmitting device of the banded continuum of a plurality of marks, has a pair of transfer roller up and down that transmits banded continuum, drive the drive motor of this transfer roller, detect described transfer roller corner coder and detect the sensor of the mark of described continuum, wherein, be provided with according to mark that comes out by described sensor and the presumption units of inferring stop position by the corner that described coder detects, calculating the stop position inferred and the stop position of supposition is the Difference Calculation unit of the difference of reference position, the difference memory cell of the difference that storage is calculated, and the conveying capacity amending unit of revising the conveying capacity of banded continuum according to the difference that the statistics difference of coming out based on a plurality of difference statistical computations of being stored and eve are calculated.
5. according to the transmitting device of claim 4, it is characterized in that: described conveying capacity amending unit possesses the difference that calculates statistics according to a plurality of differences of being stored and promptly adds up the statistics difference computational unit of difference, sets the weighting ratiometric weight setting unit of statistics difference that is calculated and the difference that is calculated before and the conveying capacity calculating unit that calculates the conveying capacity of banded continuum according to the weighting ratio that sets.
6. according to the transmitting device of claim 5, it is characterized in that: described statistics difference computational unit will calculate the moving average of the difference of the stipulated number of being stored.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2008039328A JP4609500B2 (en) | 2008-02-20 | 2008-02-20 | Carrier tape carrier device for electronic parts and computer program |
| JP2008039328 | 2008-02-20 | ||
| JP2008-039328 | 2008-02-20 |
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| Publication Number | Publication Date |
|---|---|
| CN101513964A CN101513964A (en) | 2009-08-26 |
| CN101513964B true CN101513964B (en) | 2011-01-05 |
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| CN2009101179323A Active CN101513964B (en) | 2008-02-20 | 2009-02-20 | Transmission apparatus |
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| JP (1) | JP4609500B2 (en) |
| KR (1) | KR101076310B1 (en) |
| CN (1) | CN101513964B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105307961A (en) * | 2013-07-31 | 2016-02-03 | 住友化学株式会社 | Conveyance device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5765864B2 (en) * | 2012-12-04 | 2015-08-19 | 上野精機株式会社 | Electronic component transfer device and taping unit |
| CN103241403A (en) * | 2013-05-24 | 2013-08-14 | 无锡市崇安区科技创业服务中心 | Automatic LED braiding device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2746746B2 (en) * | 1990-11-22 | 1998-05-06 | 大和製罐株式会社 | Intermittent feeder for continuous strip of thin metal plate |
| JP4202102B2 (en) * | 2002-12-03 | 2008-12-24 | 上野精機株式会社 | Taping device for semiconductor device |
| JP2004299736A (en) * | 2003-03-31 | 2004-10-28 | Sumitomo Bakelite Co Ltd | Method for detecting abnormality of intermittent feed |
| JP4357931B2 (en) * | 2003-11-11 | 2009-11-04 | アイパルス株式会社 | Component mounter |
| JP4860936B2 (en) * | 2005-03-31 | 2012-01-25 | ヤマハ発動機株式会社 | Surface mount machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105307961A (en) * | 2013-07-31 | 2016-02-03 | 住友化学株式会社 | Conveyance device |
| CN105307961B (en) * | 2013-07-31 | 2017-09-29 | 住友化学株式会社 | Conveying device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2009196750A (en) | 2009-09-03 |
| KR101076310B1 (en) | 2011-10-26 |
| KR20090090270A (en) | 2009-08-25 |
| JP4609500B2 (en) | 2011-01-12 |
| CN101513964A (en) | 2009-08-26 |
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